JPH0351023A - Self-propelled cleaner - Google Patents
Self-propelled cleanerInfo
- Publication number
- JPH0351023A JPH0351023A JP18785489A JP18785489A JPH0351023A JP H0351023 A JPH0351023 A JP H0351023A JP 18785489 A JP18785489 A JP 18785489A JP 18785489 A JP18785489 A JP 18785489A JP H0351023 A JPH0351023 A JP H0351023A
- Authority
- JP
- Japan
- Prior art keywords
- floor
- self
- agitator
- vacuum cleaner
- suction port
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000428 dust Substances 0.000 abstract description 17
- 239000000463 material Substances 0.000 abstract description 8
- 238000004140 cleaning Methods 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004441 surface measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Electric Suction Cleaners (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、清掃機能と自走機能とを備え、自動的に清
掃を行なう自走式掃除機に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a self-propelled vacuum cleaner that is equipped with a cleaning function and a self-propelled function and that performs cleaning automatically.
従来の技術
従来より、掃除機に自走機能を付加して清掃の自動化を
図った掃除機が開発されている。2. Description of the Related Art Conventionally, vacuum cleaners have been developed in which a self-propelled function is added to vacuum cleaners to automate cleaning.
この種の自走式掃除機は、清掃機能として本体下部に吸
込口やブラシ等を備え、自走機能としてモータで駆動さ
れる走行輪や操舵輪等を有し、床面上を移動しながら清
掃するものである。This type of self-propelled vacuum cleaner is equipped with a suction port, brushes, etc. at the bottom of the main body for cleaning functions, and has running wheels and steering wheels driven by a motor for self-propelled functions. It is something to be cleaned.
発明が解決しようとする課題
しかしながら、このような従来の自走式掃除機では、本
体下部の床ノズルが本体の走行の妨害となり、スムーズ
な方向転換ができなっかたり、段差を乗り越えにくいと
いう課題があり、特にじゅうたん面で使用する回転ブラ
シ等のアジテータは床面に接触させる必要があるため床
面の凹凸に引っかかりやすいという課題があった。Problems to be Solved by the Invention However, with such conventional self-propelled vacuum cleaners, the floor nozzle at the bottom of the main unit obstructs the movement of the main unit, making it difficult to change directions smoothly and making it difficult to climb over steps. In particular, since agitators such as rotating brushes used on carpet surfaces need to be brought into contact with the floor surface, they tend to get caught on uneven floor surfaces.
そこで本発明は、床ノズルが本体の走行の妨害とならな
い自走式掃除機を実現することを第1の目的としている
。Therefore, the first object of the present invention is to realize a self-propelled vacuum cleaner in which the floor nozzle does not interfere with the running of the main body.
第2の目的は、アジテータを本体に偏えた自走式掃除機
において、この゛rアジテータ本体の走行の妨害になら
ない自走式掃除機を得ることにある。The second object is to obtain a self-propelled vacuum cleaner in which the agitator is biased towards the main body, and which does not interfere with the movement of the agitator main body.
第3の目的は、上記アジテータが不必要な場合には自動
的にこれを本体内に格納し、アジテータと床面との衝突
を最小限にした自走式掃除機を得ることにある。A third object is to provide a self-propelled vacuum cleaner in which the agitator is automatically stored in the main body when it is unnecessary, thereby minimizing collisions between the agitator and the floor surface.
課題を解決するための手段
上記第1の目的を達成するために、本発明の自走式掃除
機は、掃除機本体を自走させる自走手段と、床面のゴミ
を吸引する吸込口および端面が床面と接するとともに後
方へ可倒な可倒板を吸込口の後部横手方向に設けた床ノ
ズルとを本体に備え、上記可倒板は、底面形状が吸込口
側辺を後退させた7字状またはU字状に取り付けた自走
式掃除機とすることを、第1の手段とするものである。Means for Solving the Problems In order to achieve the above-mentioned first object, the self-propelled vacuum cleaner of the present invention has a self-propelled means for self-propelling the vacuum cleaner body, a suction port for sucking dirt from the floor, and The main body is equipped with a floor nozzle having an end surface in contact with the floor and a retractable plate that can be folded backwards in the rear and lateral direction of the suction port, and the collapsible plate has a bottom shape that recedes the sides of the suction port. The first method is to use a self-propelled vacuum cleaner installed in a 7-shape or a U-shape.
また第2の目的を達成するために、掃除機本体を自走さ
せる自走手段と、床面のゴミを吸引する吸込口および回
転駆動されるアジテータを有する床ノズルとを本体に備
え、上記アジテータの回転軸を支持する支持部材を、こ
の回転軸と平行に設けた回動軸に対して回動自在に構成
したことを、第2の手段としている。In addition, in order to achieve the second objective, the main body is equipped with self-propelled means for self-propelling the vacuum cleaner main body, and a floor nozzle having a suction port for sucking dirt on the floor surface and an agitator that is rotationally driven. The second means is that the support member that supports the rotating shaft is configured to be rotatable about a rotating shaft provided parallel to the rotating shaft.
また第3の目的を達成するために、掃除機本体を自走さ
せる自走手段と、床面のゴミを吸引する吸込口および回
転駆動されるアジテータを有する床ノズルと、清掃する
床面の床質を判別する床面判別手段とを本体に備え、上
記アジテータの回転軸を支持する支持部材を、この回転
軸と平行な回動軸に対してアクチュエータによって回動
することを、第3の手段としている。In addition, in order to achieve the third objective, a self-propelled means for self-propelling the vacuum cleaner body, a floor nozzle having a suction port for suctioning dirt on the floor and an agitator that is rotationally driven, and a floor for cleaning the floor. The third means includes a floor surface discriminating means for discriminating the quality of the floor surface, and the support member that supports the rotation axis of the agitator is rotated by an actuator about a rotation axis parallel to the rotation axis. It is said that
作用
第1の手段による自走式掃除機は、床ノズル自体は床面
から離して配置し、後方に可倒な可倒板を床面に接触さ
せるから、これが本体の走行の妨害になることはなく、
可倒板を底面形状が吸込口眉辺を後退させた7字状また
はU字状に取り付けることにより、走行中はこの可倒板
により、床面のゴミが吸込口付近に集められるので、床
ノズル自体を床面から離して配置していても集塵効率が
低下することがない。In the self-propelled vacuum cleaner according to the first means, the floor nozzle itself is placed away from the floor surface, and a retractable plate that can be folded backward is brought into contact with the floor surface, so this does not interfere with the movement of the main body. Not,
By installing a retractable plate in the shape of a 7 or U-shape with the bottom of the suction port receding, the retractable plate collects dirt on the floor near the suction port while driving. Dust collection efficiency does not decrease even if the nozzle itself is placed away from the floor.
また、第2の手段によれば、本体下部のアジテータは、
アジテータを支持する支持部材が回動輪に対して回動す
ることにより、床ノズルに対して上下動自在となり、例
えば床面の凸部にアジテータが衝突した場合にはアジテ
ータは上方へ逃げるので本体の走行に影響を与えない。Moreover, according to the second means, the agitator at the bottom of the main body is
By rotating the support member that supports the agitator with respect to the rotation wheel, it can freely move up and down with respect to the floor nozzle. For example, if the agitator collides with a convex part of the floor surface, the agitator will escape upwards and the main body Does not affect driving.
また、第3の手段によれば、床面判別手段により床面の
材質を判別し、アジテータの使用が必要か不必要かによ
って、アクチュエータを駆動することによりアジテータ
を本体内に格納したり外部へ突出させたりすることがで
きる。Further, according to the third means, the material of the floor surface is determined by the floor surface determination means, and depending on whether the use of the agitator is necessary or not, the agitator is stored in the main body or moved outside by driving the actuator. It can be made to stick out.
実施例
以下、本発明の一実施例を第1図〜第4図に基づいて説
明する。EXAMPLE Hereinafter, an example of the present invention will be described based on FIGS. 1 to 4.
第1図は本発明の自走式掃除機の全体構成を示す。1は
自走式掃除機の本体、2は電動送風機、3は集塵室、4
.5は集塵室3の内部に設けたフィルタである。Aは本
体1の底部中央に設けた床ノズル部で、床ノズル6は駆
動モータ(図示せず)で駆動される回転ブラシ等からな
るアジテータ7を備えている。この床ノズル部Aの詳細
説明は後述する。8は接続パイプで、床ノズル6と集塵
室3とを接続する。9は走行駆動部10に取り付けられ
た走行輪で、図には示していない減速機を介して走行モ
ータ11によって駆動される。12は本体1の後方に回
転自在に氏謔19itけられた従軸である。走行駆動部
10はこれに取り付けられた操舵軸13および操舵減速
機14を介して操舵モータ15によって駆動されており
、これによって左右に回転し走行方向が変えられる。以
上の9〜15によって自走手段を構成している。16は
走行モータ11の回転速度を検出するロータリエンコー
ダからなる走行エンコーダ、17は同じくロータリエン
コーダからなり操舵モータ15の回転速度を検出する操
舵エンコーダである。18は本体1の方向を検知する方
向検知センサで、本実施例ではレートジャイロを用いて
いる。そして、走行エンコーダ16が検出した回転速度
および方向検知センサ18が検出した本体1の方向から
本体1の走行距離および走行方向を検知して位置を認識
するようになっている。19は本体1の周囲に設けた超
音波センサからなる測距センサで、障害物までの距離を
計測する。20は本体1の外周に取り付けたバンパーで
、内部に接触センサを備え、障害物に接触したことを検
知する。21は走行駆動部17の前方に取り付けられた
超音波センサからなる床面センサで、iff掃する床面
がじゅうたんであるかベアフロアであるかの味質の判別
を超音波の反射状態で検知する。この床面センサ21は
床面判別手段を構成する。22は全体の制御を行なう制
御回路、23は蓄電池等からなる電源である。24は操
作部で、操作スイッチ25と表示ランプ、ブザー等の表
示器26とを備える。FIG. 1 shows the overall configuration of a self-propelled vacuum cleaner according to the present invention. 1 is the main body of the self-propelled vacuum cleaner, 2 is the electric blower, 3 is the dust collection chamber, 4
.. 5 is a filter provided inside the dust collection chamber 3. A is a floor nozzle section provided at the center of the bottom of the main body 1, and the floor nozzle 6 is equipped with an agitator 7 consisting of a rotating brush or the like driven by a drive motor (not shown). A detailed explanation of this floor nozzle section A will be given later. A connecting pipe 8 connects the floor nozzle 6 and the dust collection chamber 3. Reference numeral 9 denotes a running wheel attached to the running drive unit 10, which is driven by the running motor 11 via a reduction gear (not shown). 12 is a slave shaft rotatably mounted at the rear of the main body 1. The traveling drive section 10 is driven by a steering motor 15 via a steering shaft 13 and a steering speed reducer 14 attached thereto, and thereby rotates left and right to change the traveling direction. The above 9 to 15 constitute a self-propelled means. Reference numeral 16 denotes a travel encoder which is a rotary encoder that detects the rotational speed of the travel motor 11, and 17 is a steering encoder which is also a rotary encoder and which detects the rotational speed of the steering motor 15. A direction detection sensor 18 detects the direction of the main body 1, and in this embodiment, a rate gyro is used. The position is recognized by detecting the distance and direction of travel of the main body 1 from the rotational speed detected by the travel encoder 16 and the direction of the main body 1 detected by the direction detection sensor 18. Reference numeral 19 denotes a distance measuring sensor consisting of an ultrasonic sensor provided around the main body 1, which measures the distance to an obstacle. Reference numeral 20 denotes a bumper attached to the outer periphery of the main body 1, which is equipped with a contact sensor inside to detect contact with an obstacle. Reference numeral 21 denotes a floor sensor consisting of an ultrasonic sensor installed in front of the travel drive unit 17, which detects the quality of the floor to be swept by whether it is a carpet or a bare floor based on the reflected state of the ultrasonic waves. . This floor sensor 21 constitutes a floor discrimination means. 22 is a control circuit that performs overall control, and 23 is a power source consisting of a storage battery or the like. Reference numeral 24 denotes an operation section, which includes an operation switch 25 and an indicator 26 such as an indicator lamp or a buzzer.
第2図、第3図は床ノズル部Aの詳細図である。図にお
いて、矢印aは本体1の前方を示す。2 and 3 are detailed views of the floor nozzle section A. In the figure, an arrow a indicates the front of the main body 1.
31は床ノズル6の中央に設けた吸込口で、接続バイブ
8を介して集塵室3と連通ずる。アジテータ7は回転軸
32を支持部材33で支持され、矢印すの方向に回転駆
動され、床面Bのゴミをかきあげる。支持部材33は、
第3図に示すようにコの字状を成し、アジテータ7の両
端の回転軸受34を保持する。支持部材33は、床ノズ
ル6に設けた回転軸32と平行な回動軸35で回動自在
に支持され、矢印Cの方向に自在である。36はアジテ
ータ7の片端部に設けたタイミングプーリで、回動軸3
5と同軸で支持される゛rイドルブーIJ37とタイミ
ングベルト38で接続される。アイドルブーIJ37は
タイミングベルト39を介して床ノズル6の上部に設け
た駆動モータ(図示せず)と接続する。40は床ノズル
6の吸込口31後部に横手方向に設けた可倒板で、その
先端は床面Bと接し、矢印dの方向に可倒となっている
。Reference numeral 31 denotes a suction port provided at the center of the floor nozzle 6, which communicates with the dust collection chamber 3 via a connecting vibrator 8. The agitator 7 has a rotary shaft 32 supported by a support member 33, and is driven to rotate in the direction of the arrow B to scrape up dirt on the floor B. The support member 33 is
As shown in FIG. 3, it has a U-shape and holds rotation bearings 34 at both ends of the agitator 7. The support member 33 is rotatably supported by a rotation shaft 35 parallel to the rotation shaft 32 provided on the floor nozzle 6, and is freely movable in the direction of arrow C. 36 is a timing pulley provided at one end of the agitator 7;
It is connected by a timing belt 38 to an idler boot IJ37 which is supported coaxially with the engine 5. The idle boob IJ 37 is connected via a timing belt 39 to a drive motor (not shown) provided above the floor nozzle 6 . Reference numeral 40 denotes a retractable plate provided laterally at the rear of the suction port 31 of the floor nozzle 6, the tip of which is in contact with the floor surface B, and is retractable in the direction of arrow d.
本実施例では、ゴム板などの可撓材料からなる板材を床
ノズル6の底部に固定している。また、この可倒板40
は第3図に示すように、その底面形状が吸込み口31周
辺を後退させたU字状に取り付けられている。41は床
ノズル6の前部および側部をおおう可撓材料からなるス
カートで、その下端は床面BからすきまIをあけて取り
付けられており、床ノズル6下部の吸引力の急激な圧力
低下を防止し集塵効率向上させる。42は床ノズル6内
壁のエアガイドで吸引空気をスムーズに吸込み口31に
導(。In this embodiment, a plate made of a flexible material such as a rubber plate is fixed to the bottom of the floor nozzle 6. In addition, this retractable board 40
As shown in FIG. 3, the bottom surface is installed in a U-shape with the suction port 31 and its surroundings set back. Reference numeral 41 denotes a skirt made of a flexible material that covers the front and side parts of the floor nozzle 6, and its lower end is attached with a gap I from the floor surface B, which prevents a sudden pressure drop in the suction force at the bottom of the floor nozzle 6. prevents dust collection and improves dust collection efficiency. 42 is an air guide on the inner wall of the floor nozzle 6 that smoothly guides suction air to the suction port 31.
以上のように構成した自走式掃除機において、以下その
動作を説明する。The operation of the self-propelled vacuum cleaner configured as above will be described below.
例えば、本実施例の自走式掃除機を四方を壁に囲まれた
部屋に置き、操作スイッチ25を操作すると、電動送風
機2が作動し、走行モータ11が駆動され本体1が自走
を開始する。走行中は、測距センサ19およびバンパー
20により障害物を検知しつつ、操舵モータ15を駆動
M御することにより走行方向を変更し、走行モータ11
を駆動制御することにより前進、停止、後退を繰り返し
、障害物を回避しながら部屋の周囲の壁に沿って走行を
行なう。部屋を一周し終わると、この−周した軌跡の内
部を清掃区域と判断し、この清掃区域全体を障害物を回
避しながら隈なく走行して自動清掃するものである。For example, when the self-propelled vacuum cleaner of this embodiment is placed in a room surrounded by walls on all sides and the operation switch 25 is operated, the electric blower 2 is activated, the travel motor 11 is driven, and the main body 1 starts self-propelled. do. While driving, the distance sensor 19 and the bumper 20 detect obstacles, and the driving direction is changed by driving the steering motor 15.
By controlling the drive, it repeatedly moves forward, stops, and retreats, and runs along the walls around the room while avoiding obstacles. When the robot completes one round of the room, it determines that the inside of this circular path is the cleaning area, and automatically cleans the entire cleaning area by running all over the area while avoiding obstacles.
この走行中は、電動送風機2が作動し床ノズル6より床
面上のゴミを吸引して清掃を行ない、常に床面センサで
清掃する床面がじゅうたんであるかベアフロアであるか
の味質の判別を行ないつつ、床面がじゅうたんであれば
アジテータ7の駆動モータを駆動してアジテータ7を回
転させ、ベアフロアであればアジテータ7を回転させな
い。During this run, the electric blower 2 operates to clean the floor by suctioning dirt from the floor nozzle 6, and the floor sensor constantly detects whether the floor to be cleaned is a carpet or a bare floor. While making the determination, if the floor surface is a carpet, the drive motor of the agitator 7 is driven to rotate the agitator 7, and if it is a bare floor, the agitator 7 is not rotated.
またアジテータ7は、矢印Cの方向に回動自在であるの
で、床面上に凹凸に追従するから、アジテータ7が凸段
差にひっかかり本体1の走行の妨害となり、スムーズな
方向転換ができなっかたり段差を乗り越えに(いという
ことはない。Furthermore, since the agitator 7 is rotatable in the direction of the arrow C, it follows unevenness on the floor surface, so the agitator 7 may get caught on the convex steps and obstruct the movement of the main body 1, making it impossible to change direction smoothly. There's no need to go over bumps or steps.
また、走行中は床ノズル6の可倒板40は底面形状が吸
込み口31周辺を後退させたU字状に取り付けられてい
るから、第4図に示すように、床面上のゴミ43が可倒
板40に当たると矢印eの方向に運ばれ吸込口31近づ
き集塵効率が非常に良い。また、床ノズル6自体は床面
から離れて配置され、床面には可倒板40の先端のみが
接するから、床ノズル6が床面の凸段差に衝突すること
はなく、可倒板40は後方に可倒であるからこれが床面
の凸段差にひっかかることはない。Also, while the floor nozzle 6 is traveling, the collapsible plate 40 of the floor nozzle 6 is attached in a U-shape with the bottom surface receding around the suction port 31, so that the dust 43 on the floor is removed as shown in FIG. When it hits the collapsible plate 40, it is carried in the direction of arrow e and approaches the suction port 31, resulting in very high dust collection efficiency. Further, since the floor nozzle 6 itself is placed apart from the floor surface, and only the tip of the retractable plate 40 contacts the floor surface, the floor nozzle 6 does not collide with a convex step on the floor surface, and the retractable plate 40 Since it can be folded backwards, it won't get caught on bumps on the floor.
第5図は、本発明の他の実施例の床ノズル部を示す。図
に示していない部分および同番号を付した部分は前実施
例と同様である。図において、50はアジテータ7の支
持部材33に取り付けた駆動レバーで、その先端がソレ
ノイド51のプランジャー52の支点53と連結してい
る。このような構成で、走行清掃面がベアフロアであれ
ば、床面センサ21でこれを判別し、アジテータ7の駆
動モータを停止させると同時にソレノイド51に通電す
る。ソレノイド51に通電されるとプランジャー52は
矢印fの方向に移動後保持されるので、駆動レバー50
が押され支持部材33は矢印gの方向に回動し、図の想
像線で示すようにアジテータ7は床ノズル6内に格納さ
れる。走行清掃面がじゅうたんの場合は、逆にアジテー
タ7の駆動モータを駆動すると同時にソレノイド51の
通電を切る。この時、アジテータ7は回動自在となり床
面上に接触してゴミをかきあげる。このように、床面の
材質に応じて、アジテータ7が必要な場合にはこれを回
動自在とし、不必要な場合には自動的にこれを格納する
ことにより、アジテータ7と床面との衝突を最小限にす
ることができる。FIG. 5 shows a floor nozzle section of another embodiment of the invention. Portions not shown in the figures and portions given the same numbers are the same as in the previous embodiment. In the figure, 50 is a drive lever attached to the support member 33 of the agitator 7, the tip of which is connected to the fulcrum 53 of the plunger 52 of the solenoid 51. With such a configuration, if the surface to be cleaned is a bare floor, the floor sensor 21 determines this, and the drive motor of the agitator 7 is stopped, and at the same time, the solenoid 51 is energized. When the solenoid 51 is energized, the plunger 52 moves in the direction of arrow f and is held, so that the drive lever 50
is pushed, the support member 33 rotates in the direction of arrow g, and the agitator 7 is housed in the floor nozzle 6 as shown by the imaginary line in the figure. When the cleaning surface is a carpet, conversely, the drive motor of the agitator 7 is driven and at the same time the solenoid 51 is de-energized. At this time, the agitator 7 becomes rotatable and comes into contact with the floor surface to scrape up the dust. In this way, depending on the material of the floor surface, the agitator 7 is made rotatable when necessary, and automatically retracted when it is unnecessary, thereby making it possible to connect the agitator 7 and the floor surface. Collisions can be minimized.
なお、本実施例では支持部材33を回動するアクチュエ
ータにソレノイド51を用いているが、例えばモータな
どの別のアクチュエータであってもよい。In this embodiment, the solenoid 51 is used as the actuator for rotating the support member 33, but another actuator such as a motor may be used.
第6図は、さらに別の実施例の可倒板を示す。FIG. 6 shows yet another embodiment of the foldable plate.
以上の実施例では、可倒板に可撓材料からなる板材を固
定して用いていたが、本実施例では、2枚の板材54.
55を床ノズル6の底部に7字状に設けた支持軸56.
57でそれぞれ軸支し、矢印りの方向に可動としている
。In the above embodiments, a plate made of a flexible material was fixed to the retractable plate, but in this embodiment, two plates 54.
55 is provided at the bottom of the floor nozzle 6 in a 7-shape support shaft 56.
57, respectively, and are movable in the direction of the arrow.
発明の効果
以上のように本発明の自走式掃除機は、床ノズル自体は
床面から離して配置し、後方に可倒な可倒板を床面に接
触させるから、これが本体の走行の妨害になることはな
(、可倒板を底面形状が吸込口周辺を後退させた7字状
またはU字状に取り付けることにより、走行中はこの可
倒板により、床面のゴミが吸込口付近に集められるので
、床ノズル自体を床面から離して配置していても集塵効
率が低下することがない。Effects of the Invention As described above, in the self-propelled vacuum cleaner of the present invention, the floor nozzle itself is placed away from the floor surface, and the retractable plate that can be folded at the rear is brought into contact with the floor surface, which improves the running of the main body. (By installing the foldable plate in a 7-shaped or U-shaped bottom shape with the area around the suction port receded, the foldable plate will prevent dirt from the floor from being removed from the suction port while driving.) Since the dust is collected nearby, the dust collection efficiency does not decrease even if the floor nozzle itself is placed away from the floor surface.
また、本体下部のアジテータは、アジテータを支持する
支持部材が回動軸に対して回動することにより、床ノズ
ルに対して上下動自在となり、例えば床面の凸部にアジ
テータが衝突した場合にはアジテータは上方へ逃げるの
で本体の走行に影響を与えない。In addition, the agitator at the bottom of the main body can freely move up and down with respect to the floor nozzle by rotating the support member that supports the agitator about the rotation axis. For example, when the agitator collides with a convex part of the floor, Since the agitator escapes upward, it does not affect the running of the main unit.
さらに、床面判別手段により床面の材質を判別し、アジ
テータの使用が必要か不必要かによって、アクチュエー
タを駆動することによりアジテータを本体内に格納した
り外部へ突出させたりできるから、アジテータと床面と
の衝突を最小限にすることができる。Furthermore, the material of the floor surface is determined by the floor surface determination means, and the agitator can be stored inside the main body or protruded outside by driving the actuator depending on whether the use of the agitator is necessary or not. Collisions with the floor can be minimized.
このように本発明によれば、本体下部の床ノズルが本体
の走行の妨害となることがなく、スムーズな方向転換が
でき、段差の乗り越え性能の良い走行性に優れ、しかも
集塵効率の良い自走式掃除機を得ることができるもので
ある。As described above, according to the present invention, the floor nozzle at the bottom of the main body does not interfere with the movement of the main body, allowing smooth direction changes, excellent running performance with good ability to overcome steps, and moreover, high dust collection efficiency. A self-propelled vacuum cleaner can be obtained.
第1図は本発明の実施例を示す自走式掃除機の縦断面図
、第2図、第3図は同自走式掃除機の要部詳細図、第4
図は同自走式掃除機の動作説明図、第5図は本発明の他
の実施例を示す自走式掃除機の要部詳細図、第6図は第
3の実施例を示す自走式掃除機の要部詳細図ある。
■・・・本体、2・・・電動送風機、3・・・集塵室、
4゜5・・・フィルタ、6・・・床ノズル、7・・・ア
ジテータ、9・・・走行輪、10・・・走行駆動部、1
1・・・走行モータ、12・・・従軸、13・・・操舵
軸、14・・・操舵減速機、15・・・操舵モータ、2
1・・・床面センサ、31・・・吸込口、32・・・回
転軸、33・・・支持部材、35・・・回動軸、40.
54.55・・・可倒板、51・・・ソレノイド。FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner showing an embodiment of the present invention, FIGS. 2 and 3 are detailed views of main parts of the self-propelled vacuum cleaner, and FIG.
The figure is an explanatory diagram of the operation of the self-propelled vacuum cleaner, FIG. 5 is a detailed view of the main parts of a self-propelled vacuum cleaner showing another embodiment of the present invention, and FIG. 6 is a self-propelled vacuum cleaner showing a third embodiment. There is a detailed diagram of the main parts of the vacuum cleaner. ■...Body, 2...Electric blower, 3...Dust collection chamber,
4゜5... Filter, 6... Floor nozzle, 7... Agitator, 9... Traveling wheel, 10... Traveling drive unit, 1
DESCRIPTION OF SYMBOLS 1... Traveling motor, 12... Slave shaft, 13... Steering shaft, 14... Steering speed reducer, 15... Steering motor, 2
DESCRIPTION OF SYMBOLS 1... Floor sensor, 31... Suction port, 32... Rotating shaft, 33... Supporting member, 35... Rotating shaft, 40.
54.55...Flaptable plate, 51...Solenoid.
Claims (3)
を吸引する吸込口および端面が床面と接するとともに後
方へ可倒な可倒板を吸込口の後部横手方向に設けた床ノ
ズルとを本体に備え、上記可倒板は、底面形状が吸込口
周辺を後退させたV字状またはU字状に取り付けた自走
式掃除機。(1) Self-propelled means for making the vacuum cleaner itself move, a suction port that sucks up dirt from the floor, and a collapsible plate whose end surface touches the floor and which can be folded backwards is provided at the rear and lateral direction of the suction port. The self-propelled vacuum cleaner is equipped with a floor nozzle in the main body, and the retractable plate is attached in a V-shape or U-shape with the bottom surface receding around the suction port.
を吸引する吸込口および回転駆動されるアジテータを有
する床ノズルとを本体に備え、上記アジテータの回転軸
を支持する支持部材を、この回転軸と平行に設けた回動
軸に対して回動自在に構成した自走式掃除機。(2) The main body is equipped with self-propelling means for self-propelling the vacuum cleaner main body, a floor nozzle having a suction port for sucking dirt on the floor surface, and a rotationally driven agitator, and a support member supporting the rotation shaft of the agitator. A self-propelled vacuum cleaner configured to be rotatable about a rotation axis provided parallel to the rotation axis.
を吸引する吸込口および回転駆動されるアジテータを有
する床ノズルと、清掃する床面の床質を判別する床面判
別手段とを本体に備え、上記アジテータの回転軸を支持
する支持部材を、この回転軸と平行な回動軸に対してア
クチュエータによって回動する自走式掃除機。(3) Self-propelled means for self-propelling the vacuum cleaner body, a floor nozzle having a suction port for suctioning dirt on the floor and an agitator that is rotationally driven, and a floor discriminating means for discriminating the quality of the floor to be cleaned. A self-propelled vacuum cleaner comprising: a main body, and an actuator that rotates a support member that supports a rotation axis of the agitator about a rotation axis parallel to the rotation axis.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18785489A JPH0351023A (en) | 1989-07-20 | 1989-07-20 | Self-propelled cleaner |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18785489A JPH0351023A (en) | 1989-07-20 | 1989-07-20 | Self-propelled cleaner |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0351023A true JPH0351023A (en) | 1991-03-05 |
Family
ID=16213379
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18785489A Pending JPH0351023A (en) | 1989-07-20 | 1989-07-20 | Self-propelled cleaner |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0351023A (en) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0570450U (en) * | 1992-03-06 | 1993-09-24 | 松下電器産業株式会社 | Floor cleaning |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US9038233B2 (en) | 2001-01-24 | 2015-05-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US9713302B2 (en) | 2006-03-17 | 2017-07-25 | Irobot Corporation | Robot confinement |
US9826678B2 (en) | 2014-12-22 | 2017-11-28 | Irobot Corporation | Robotic mowing of separated lawn areas |
US9854737B2 (en) | 2014-10-10 | 2018-01-02 | Irobot Corporation | Robotic lawn mowing boundary determination |
US9949608B2 (en) | 2002-09-13 | 2018-04-24 | Irobot Corporation | Navigational control system for a robotic device |
US9955841B2 (en) | 2006-05-19 | 2018-05-01 | Irobot Corporation | Removing debris from cleaning robots |
US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
US10067232B2 (en) | 2014-10-10 | 2018-09-04 | Irobot Corporation | Autonomous robot localization |
US10070764B2 (en) | 2007-05-09 | 2018-09-11 | Irobot Corporation | Compact autonomous coverage robot |
US10274954B2 (en) | 2014-12-15 | 2019-04-30 | Irobot Corporation | Robot lawnmower mapping |
US10314449B2 (en) | 2010-02-16 | 2019-06-11 | Irobot Corporation | Vacuum brush |
US10470629B2 (en) | 2005-02-18 | 2019-11-12 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US11470774B2 (en) | 2017-07-14 | 2022-10-18 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
-
1989
- 1989-07-20 JP JP18785489A patent/JPH0351023A/en active Pending
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0570450U (en) * | 1992-03-06 | 1993-09-24 | 松下電器産業株式会社 | Floor cleaning |
US9038233B2 (en) | 2001-01-24 | 2015-05-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US9949608B2 (en) | 2002-09-13 | 2018-04-24 | Irobot Corporation | Navigational control system for a robotic device |
US10470629B2 (en) | 2005-02-18 | 2019-11-12 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US10037038B2 (en) | 2006-03-17 | 2018-07-31 | Irobot Corporation | Lawn care robot |
US9713302B2 (en) | 2006-03-17 | 2017-07-25 | Irobot Corporation | Robot confinement |
US11194342B2 (en) | 2006-03-17 | 2021-12-07 | Irobot Corporation | Lawn care robot |
US9955841B2 (en) | 2006-05-19 | 2018-05-01 | Irobot Corporation | Removing debris from cleaning robots |
US10244915B2 (en) | 2006-05-19 | 2019-04-02 | Irobot Corporation | Coverage robots and associated cleaning bins |
US11072250B2 (en) | 2007-05-09 | 2021-07-27 | Irobot Corporation | Autonomous coverage robot sensing |
US10070764B2 (en) | 2007-05-09 | 2018-09-11 | Irobot Corporation | Compact autonomous coverage robot |
US10299652B2 (en) | 2007-05-09 | 2019-05-28 | Irobot Corporation | Autonomous coverage robot |
US11058271B2 (en) | 2010-02-16 | 2021-07-13 | Irobot Corporation | Vacuum brush |
US10314449B2 (en) | 2010-02-16 | 2019-06-11 | Irobot Corporation | Vacuum brush |
US9854737B2 (en) | 2014-10-10 | 2018-01-02 | Irobot Corporation | Robotic lawn mowing boundary determination |
US10067232B2 (en) | 2014-10-10 | 2018-09-04 | Irobot Corporation | Autonomous robot localization |
US10274954B2 (en) | 2014-12-15 | 2019-04-30 | Irobot Corporation | Robot lawnmower mapping |
US11231707B2 (en) | 2014-12-15 | 2022-01-25 | Irobot Corporation | Robot lawnmower mapping |
US10159180B2 (en) | 2014-12-22 | 2018-12-25 | Irobot Corporation | Robotic mowing of separated lawn areas |
US9826678B2 (en) | 2014-12-22 | 2017-11-28 | Irobot Corporation | Robotic mowing of separated lawn areas |
US10426083B2 (en) | 2016-02-02 | 2019-10-01 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
US11470774B2 (en) | 2017-07-14 | 2022-10-18 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
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