JPH0539451U - Cleaning robot - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a tire-like damper with good cushioning properties and a non-control type cleaning robot equivalent to a control type cleaning robot. [Structure] The cleaning robot 1 has a feature in the buffer mechanism 3,
In the control type cleaning robot 1, the tire-like damper 6 and the pipe 9 connected to the exhaust portion 8 of the suction motor 7 are connected.
And an exhaust escape nozzle 10 and a switch portion 15 provided on the tire damper 6.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a cleaning robot, and more particularly, to a shock absorbing mechanism having means for operating a steering wheel of the cleaning robot.

[0002]

[Prior Art]

 Conventionally, the cushioning mechanism of this type of cleaning robot has a solid rubber-like elastic body 29 installed in the robot body 28 as shown in FIG. When the cleaning robot collided with a wall or the like, the elasticity of the rubber-like elastic body 29 was a cushion.

[0003]

[Problems to be solved by the device]

 The conventional cushioning mechanism of the cleaning robot is made of a solid rubber-like elastic body, and is made of a relatively hard material to prolong its life. Therefore, it is not possible to provide sufficient cushioning against the impact of the cleaning robot against a wall or the like, which may damage the cleaning robot or damage the wall or the like.

Therefore, when the cleaning robot is controlled by software, the purpose of the present invention is that the cleaning robot supports a cushioning mechanism having a sufficient cushioning property at the time of collision with a wall or the like by the software. In the case of non-control that is not performed, it is to provide a cushioning mechanism that has a steering wheel control function and sufficient cushioning.

[0005]

[Means for Solving the Problems]

 Therefore, in order to achieve the above-mentioned object, the present invention is provided with a tire-shaped damper that bulges due to the exhaust air from the suction motor around the exterior part of the cleaning robot, and a switch part that is operated by air pressure in the tire-shaped damper. It is equipped with a piston part that is activated by air pressure or deformation of the damper and is connected to the steered wheels of the wheel structure.

[0006]

[Action]

 According to the present invention, the tire-like damper installed around the exterior of the cleaning robot functions as a cushion for reducing the impact caused by the collision with the wall, etc., and the wheel operated by the air pressure or deformation of the tire-like damper. The piston part connected to the steering wheel of the structure functions to change the traveling direction of the cleaning robot by rotating the steering wheel by a certain angle when the cleaning robot collides with a wall or the like, and the switch detects the collision or the cleaning robot. It also functions as a forward / backward changeover switch to provide sufficient cushioning when the cleaning robot collides with a wall, etc., and is equivalent to being controlled by software even in a non-control type cleaning robot that is not controlled by software. It has become possible to have the cleaning effect of.

[0007]

【Example】

 Next, an embodiment of the present invention will be described with reference to FIGS.

In the figure, a cleaning robot 1 that runs under the control of software includes a robot body 2, a buffer mechanism 3 provided in the robot body 2, and the robot body 2 and the buffer mechanism 3 traveling along a floor surface 4. And a wheel structure 5 for allowing the wheel structure to be driven.

The buffer mechanism 3 pneumatically connects the hollow tire-like damper 6 (rubber-like elastic body), the exhaust unit 8 of the suction motor 7 constituting the robot body 2 and the tire-like damper 6. A pipe 9 and an exhaust escape nozzle 10 which is installed in the tire damper 6 and is open to the outside, a hollow portion 11 of the tire nozzle 6 and a piston 12 are connected to each other, and a switch 13 and a restoring spring 14 are provided. The switch unit 15 is provided.

In the non-control type cleaning robot 16 which is not controlled by software, a piston 20 supported by a spring 19 is newly provided in the hollow portion 18 of the tire-like damper 17 in addition to the above-described control type configuration. The end 21 is connected to the steered wheels 22 of the wheel structure 5, or the tire-like damper 24 forming the hollow portion 23 is provided with a piston 25, and the other end 26 is connected to the steered wheels 27.

Next, the operation will be described. According to the block diagram as shown in FIG. 5, the cleaning robots 1 and 16 run, and in the case of the control type cleaning robot 1 which is controlled by software, the cleaning robot 1 moves forward by a start command, When it becomes out of control due to a cause, it collides with a wall. At this time, the air pressure in the hollow portion 11 of the tire damper 6 instantaneously rises, the piston 12 operates, the switch 13 operates, the collision is detected, and the cleaning robot 1 stops. Next, the above state is resolved (RESET) and the vehicle is made to run again.

In the case of the non-control type cleaning robot 16 which is not controlled by software, the cleaning robot 16 continues to run until it collides with a wall or the like by a start command, and when it collides with the wall or the like, the switch 13 also operates and at the same time. As shown in FIG. 6, the pistons 20 and 25 are actuated by the pressure increase in the hollow portion 23 or the deformation of the tire-shaped damper 24 to operate the steering angles of the steered wheels 22 and 27, and the cleaning robot 16 is rotated while rotating. Make a conversion. The switch 13 functions as a forward / reverse switch. During the turning direction of the cleaning robot 16, the piston 20 is returned by the restoring force of the spring 19, and the steering angles of the steered wheels 22 and 27 are restored.

As a result, the cleaning robot 16 operates as shown in FIG.

Therefore, by using the tire-like dampers 6, 17, 24 that utilize the exhaust gas of the suction motor 7 as the buffer mechanism 3, it is possible to provide dampers with good cushioning properties, and in the non-control type cleaning robot 16, As shown in Fig. 7, the cleaning of the floor surface 4 is no longer necessary, and more effective cleaning is possible, which is closer to the control type cleaning robot 1.

[0015]

[Effects of the Invention] As described above, the present invention applies a tire-like damper using the exhaust of the suction motor to the cushioning mechanism of the cleaning robot, and a tire-like damper and a forward / reverse switch for a non-control type cleaning robot. By providing a steering angle control means for the steering wheel and a steering wheel, a non-control type cleaning robot that can provide a cushioning mechanism with good cushioning properties and can expect the same cleaning effect as a controlled type cleaning robot is provided. it can.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of a cleaning robot according to the present invention.

FIG. 2 is a cross-sectional top view of an embodiment of the cushioning mechanism of the present invention.

FIG. 3 is a top sectional view of a second embodiment of the shock absorbing mechanism of the present invention.

FIG. 4 is a cross-sectional top view of a third embodiment of the cushioning mechanism of the present invention.

FIG. 5 is a block diagram illustrating the operation of the present invention.

FIG. 6 is a partial sectional view of a second and third embodiments of the present invention.

FIG. 7 is a diagram for explaining the operation of the second and third embodiments of the present invention.

FIG. 8 is a side view of a conventional example.

[Explanation of symbols]

 1, 16 Cleaning robot 2, 28 Robot body 3 Buffer mechanism 4 Floor surface 5 Wheel structure 6, 17, 24 Tire-like damper 7 Suction motor 8 Exhaust part 9 Piping 10 Exhaust escape nozzle 11, 18, 23 Hollow part 12, 20, 25 piston 13 switch 14 restoring spring 15 switch portion 19 springs 21, 26 other end 22, 27 steering wheel 29 rubber elastic body

Claims (2)

[Scope of utility model registration request] 1. A cleaner body including a suction unit for sucking dust on the floor surface, a suction motor for supplying suction pressure to the suction unit, a dust pack for storing the sucked dust, and an exterior unit surrounding these. In a cleaning robot composed of a vehicle structure in which a cleaner body is run along a floor surface, a tire-like damper that bulges due to exhaust of a suction motor around the exterior part, and a switch part that is actuated by air pressure on the tire-like damper are provided. A cleaning robot equipped. 2. The cleaning robot according to claim 1, further comprising a piston portion which is activated by air pressure or deformation of the tire-shaped damper and which is connected to a steering wheel of a vehicle structure.