JPH06179502A - Elf-traveling cleaning machine - Google Patents

Abstract

PURPOSE:To provide a self-traveling cleaning machine making a vehicle body compact without hindering the cleaning function such as the sweeping of wastes and water and capable of assuring the function of driving wheels. CONSTITUTION:A self-traveling cleaning machine is provided with at least three wheel bodies 5, 5, 7 provided at the bottom section of a vehicle body 3 and travelably supporting the vehicle body 3, brushes 31, 31, 33 arranged on the vehicle body 3 and sweeping wastes when rotated, and a wastes recovering tank 39 storing the wastes swept by the brushes 31, 31, 33. At least one wheel body 5 among three wheel bodies 5, 5, 7 is a driving wheel, and this driving wheel is constituted of the rotor of an outer rotor type motor supported on the vehicle body side 301.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaning machine.

[0002]

2. Description of the Related Art Various types of self-propelled cleaners for cleaning dust, water, and the like accumulated on a slab in buildings such as office buildings under construction are provided. This type of self-propelled cleaning machine includes a plurality of wheels supporting the vehicle body, one or more wheels of which are configured as driving wheels, and the driving wheels rotate to drive the vehicle body. . Most of the driving wheels have a wheel body, a power source such as a motor arranged at a position distant from the wheel body, and a power transmission such as a belt pulley mechanism or a gear train connecting the power source and the wheel body. It is composed of a mechanism.

[0003]

However, in the conventional structure of such a drive wheel, it is necessary to secure a space for disposing the power source and the power transmission mechanism.
Dust, water, etc. are swept and scattered on the grounding surface where the drive wheels touch the ground, so that the sweeping of dust, water, etc. is not hindered, and the functions of the power source and power transmission mechanism are guaranteed. There are various restrictions on the location where the self-propelled cleaning device is installed, which inevitably results in an increase in size.

The present invention has been devised in view of the above circumstances, and an object of the present invention is to provide a self-propelled cleaning device which can be reliably driven and cleaned and can be made compact.

[0005]

In order to achieve the above object, a self-propelled cleaner according to the present invention is provided at the bottom of a vehicle body,
At least three wheels that support the vehicle so that it can travel;
A brush disposed on the vehicle body for sweeping out dust by rotating, and a dust collecting tank for storing the dust swept by the brush, at least one of the at least three wheels is driven. It is characterized in that the drive wheel is a wheel of an outer rotor type motor supported on the vehicle body side.

Further, according to the present invention, the drive wheels are mounted on a stator core of an outer rotor type motor around which multi-phase windings are energized in different patterns and the outer circumference of the stator core. A rotor of an outer rotor type motor and a bearing that rotatably supports the rotor on the stator core, and a supporting plate is hung from a vehicle body at a side surface portion of the drive wheel near the drive wheel. The stator core is supported by the support plate.

Further, according to the present invention, the wheels disposed on the left and right of the front portion of the vehicle body are configured as drive wheels, and the brush is
It is characterized in that it comprises a pair of vertical brushes which are disposed at the front of the drive wheels and rotate around respective axes extending in the vertical direction to sweep out dust to the inside and behind the vehicle body.

Further, according to the present invention, the brush further includes a horizontal brush which is disposed at a rear portion of the vehicle body and which rotates about an axis extending in the left-right direction of the vehicle body and bounces dust forward. It is characterized by being

Further, the present invention is characterized by further comprising a suction device for sucking the dust bounced up by the horizontal brush and guiding it to the dust collecting tank.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. 1 is a side view of the self-propelled cleaning device, FIG. 2 is a bottom view, FIG. 3 is a front view thereof, and FIG. 4 is a rear view thereof. Reference numeral 1 is a self-propelled cleaner, which is a vehicle body frame 3 and two drive wheels 5 disposed on the left and right front portions of the vehicle body frame 3.
And one driven wheel 7 arranged at the rear of the body frame 3.
And two vertical brushes 31 whose rotation axes are oriented vertically,
One horizontal brush 33 whose rotation axis is oriented in the horizontal direction,
It is composed of a suction device 35 for sucking dust and the like, a separating device 37 for separating the sucked dust from the air, a dust collecting tank 39 for collecting the dust separated from the air, a cover 41 for covering the vehicle body frame 3 and the like. .

The body frame 3 is formed of a pipe material or the like into a frame shape, and support plates 301, 3 are provided from the left and right of the lower surface of the front portion.
01 (see FIG. 1 and FIG. 2) is projected downward, and support plates 303, 303 (FIG.
(See below), and the driven wheel 7 is provided at the center of the rear lower surface.
A bracket 305 (see FIG. 1 and FIG. 4) for supporting the is projected downward. Further, as shown in FIG. 1, a space 307 for mounting an engine and a generator is formed in a front portion of the body frame 3, and a space 309 for accommodating a dust recovery tank is formed in a rear portion of the body frame 3. The space 30
A space 309 is provided above the space 7.
A control device housing 311 is formed above 9.

FIG. 5 is a partially cutaway front view of the drive wheel, and FIG. 6 is a sectional side view of the same. The drive wheel 5 is a rotor of an outer rotor type servo motor, which is used as it is as a wheel.
As shown in FIG. 5, a stator iron core 11 having a substantially circular outer shape and a predetermined length in the axial direction, and an annular rotor 12 having a substantially U-shaped cross section and fitted on the outer periphery of the stator iron core 11. , Rotor 1
An annular wheel 13 fitted to the outer periphery of the wheel 2 and an annular urethane rubber 14 (corresponding to an elastic body) fitted to the outer periphery of the wheel 13 are provided.

As shown in FIG. 6, round grooves 114 are formed over the entire circumference at the edges of the outer peripheral surface 111 of the stator core 11 near both end surfaces 112, 113. As shown in FIG. 5, a plurality of concave portions 115 are formed at equal intervals in the circumferential direction on the outer peripheral surface 111 of the stator core 11 between the two circular grooves 114, and two adjacent concave portions are formed. 11
5, the salient poles 116 are formed. That is, salient pole 11
A plurality of 6 are formed on the outer circumference of the stator core 11 at equal intervals in the circumferential direction. Further, a concave groove 117 shown in FIG. 6 is formed on the outer peripheral surface 111 of the stator core 11 between the salient poles 116 and the both circular grooves 114 over the entire circumference of the stator core 11. , FIG. 5 and FIG.
As shown in, the stator windings 15 are respectively wound.

The stator core 11 has an opening 118 shown in FIG.
Are formed so as to penetrate in the axial direction, and an opening 211 is formed at a portion of the support plate 301 facing the opening 118 as shown in FIG.
Are formed. Further, as shown in FIG. 6, a disk-shaped spacer 26 is provided between one end surface 112 of the stator core 11 and the support plate 301, and the stator core 11 is supported by the spacer 26 via the spacer 26. It is connected to 301 with a bolt 22. As shown in FIG. 6, a through hole 23 that connects the opening 118 of the stator core 11 and the opening 211 of the support plate 301 is formed in the spacer 26 so as to penetrate therethrough in the axial direction. As shown in FIG. 6, a connector 24 is provided at the opening 211 on the surface opposite to the surface facing the iron core 11.

Leads (not shown) at both ends of each stator winding 15 wound around each salient pole 116 of the stator core 11 have openings 118 of the stator core 11, through holes 23 of the spacer 26,
Also, it reaches the connector 24 through the opening 211 of the support plate 301 and is connected to a terminal (not shown) provided on the connector 24. As shown in FIG. 6, a power supply cable 25 from a power supply side (not shown) is connected to the connector 24, and each stator winding 15 is connected to the AC power from the power supply side (not shown) via the power supply cable 25. Is supplied. The phase of the AC power supplied to each stator winding 15 differs between two adjacent stator windings 15.

As shown in FIG. 6, the inner peripheral surface 1 of the rotor 12 is
21 at the position where both circular grooves 114 of the stator core 11 face,
Round grooves 122 are formed along the entire circumference. Further, a permanent magnet 123 (corresponding to a magnetic body) shown in FIG. 6 is embedded in a portion of the inner peripheral surface 121 of the rotor 12 between the circular grooves 122, and the permanent magnet 123 is as shown in FIG. A plurality of them are provided at equal intervals in the circumferential direction. Further, both circular grooves 114 of the stator core 11 and both circular grooves 122 of the rotor 12
As shown in FIG. 6, steel balls 16 are respectively inserted between and, and as shown in FIG. 5, the steel balls 16 have a gap between both round grooves 114, 122 over the entire circumference thereof. They are lined up instead of lined up. This steel ball 16 causes the rotor 12 to move to the stator core 1
It is rotatably supported with respect to 1. That is, in the present embodiment, the bearing is constituted by the both round grooves 114 of the stator core 11, the both round grooves 122 of the rotor 12, and the steel balls 16.

Further, as shown in FIGS. 5 and 6, a wheel 13 is fitted on the outer peripheral surface 124 of the rotor 12, and as shown in FIG. 6, the rotor 12 and the wheel 13 are fitted.
Of the end surfaces 125, 1 on the side opposite to the surface facing the support plate 301.
A cover 17 is provided at 31. The cover 17 is fixed by screws 171 to the end surface 1 of the rotor 12 and the wheel 13.
The wheel 13 is fixed to the rotor 12 by the cover 17. Further, the cover 17 prevents dust, water, and the like from entering between the outer peripheral surface 111 of the stator core 11 and the inner peripheral surface 121 of the rotor 12. Further, as shown in FIG. 6, the end surface 134 of the wheel 13 that faces the support plate 301 has the rotor 1
Second support plate 301, the end plate 126 facing the support plate 301
A ring-shaped seal member 18 is attached between the inner peripheral surface 135 of the wheel 13 and the outer peripheral surface 27 of the spacer 26 at the extending portion. With this seal member 18, the stator core 1 is provided on the support plate 301 side.
It prevents dust and water from entering between the outer peripheral surface 111 of No. 1 and the inner peripheral surface 121 of the rotor 12.

Urethane rubber 14 is fitted on the outer peripheral surface 132 of the wheel 13 as shown in FIGS.
As shown in FIG. 6, the inner peripheral surface 141 of the urethane rubber 14 has a recess 1 formed on the outer peripheral surface 132 of the wheel 13.
33 is formed with a convex portion 142 that engages with the concave portion 133 of the wheel 13 and the convex portion 142 of the urethane rubber 14 to cause the urethane rubber 14 to move to the outer peripheral surface 13 of the wheel 13.
It is prevented from dropping from 2.

A connector 24 is attached to each stator winding 15.
When AC power is supplied via the power feeding cable 25 and the phase of the AC power supplied between two adjacent stator windings 15 is different, the outer peripheral surface 11 of the stator core 11 is
A rotating magnetic field is generated at 1. This rotating magnetic field acts on a plurality of permanent magnets 123 embedded in the inner peripheral surface 121 of the rotor 12, thereby generating a rotating torque in the rotor 12, and the rotor 12 rotates, and the wheel 13 and the urethane rubber 14 are integrated with this. It rotates and functions as a drive wheel 5.

Further, in a state where no AC voltage is applied to each stator winding 15, no rotational torque is generated in the rotor 12, and the steel balls 16 are simply rotatably supported by the stator core 11. Therefore, the drive wheel 5 functions as a driven wheel that can be freely rotated by an external force.

The driven wheel 7 is a free caster wheel, and is configured to easily follow when the direction of the vehicle body is changed due to the rotation difference between the left and right drive wheels 5.

The vertical brush 31 is in front of each drive wheel 5,
The rotary shaft 3101 is arranged inside the drive wheel 5. The vertical brush 31 includes a brush portion 3103.
And a rotary shaft 3101 extending upward from the center of the brush portion 3103, a vertical brush rotating motor 3105 is connected to the upper end of the rotary shaft 3101, and the vertical brush 31 is a vertical brush vertical moving motor 3106. The height is adjusted by. As shown in FIG. 2, the vertical brush 31
Is rotated by a vertical brush rotation motor 3105 in a direction in which dust is swept rearward inside the vehicle body frame 3.

The horizontal brush 33 is arranged behind the drive wheel 5 and in front of the driven wheel 7. The horizontal brush 33 includes a brush portion 3301 formed in a cylindrical shape with a predetermined length,
The rotation shaft 3303 is supported by the tips of a pair of arms 3305 so as to be rotatable, and the base of the arm 3305 is rotatable on the support plate 303 via a shaft 3307. Supported by. A horizontal brush rotation motor (not shown) is attached to one side of the arm 3305. The horizontal brush rotation motor (not shown) and the rotary shaft 3303 are connected via a belt pulley mechanism 3309 (see FIG. 4). The horizontal brushes 33 are connected to each other, and the horizontal brushes 33 are rotated by a horizontal brush rotation motor in a direction of bouncing up dust toward the front of the vehicle body. An arm swinging motor (not shown) is provided on a support plate 303 that supports the base of the arm 3305, and the shaft 3307 is a gear mechanism 3311.
4 (see FIG. 4), the arm 3305 swings up and down by the arm swing motor, and the swing of the arm 3305 causes the horizontal brush 33 to move.
Comes into contact with the ground surface at a distance.

The suction device 35 includes a vacuum pump 3501 supported by the vehicle body frame 3, and the suction force generated by the vacuum pump 3501 acts on a suction port 3503 arranged in front of the horizontal brush 33.
The suction port 3503 is provided in front of the horizontal brush 33.
Widely formed in a fan shape to face the entire length of 3,
The periphery of the horizontal brush 33 and the suction port 3503 is covered with a brush cover 3504, so that the suction capability at the suction port 3503 is enhanced. A vacuum hose 3505 is connected to the base end of the suction port 3503, and the vacuum hose 3505 is a cyclone 37 that constitutes a separator 37.
01 is connected. The cyclone 3701 includes a cylindrical case body 3703 to which the vacuum hose 3505 is connected, and a vacuum hose 3 connected to the vacuum pump 3501 at the center of the top of the case body 3703.
The air sucked together with dust from the suction port 3503 is sent to the vacuum pump 3501 side, dust and water are rotated along the inner surface of the case body 3703, and the lower bottom portion is formed by a so-called spiral shot method. It moves to the opening and drops from the bottom opening to the dust collection tank 39 below.

The dust collecting tank 39 has a rectangular shape in a plan view, an open upper portion, and a rubber material 390 on the opening edge of the upper portion.
1 is attached. A caster wheel 3903 is provided at the bottom of the dust collection tank 39 so that it can move on the slab. At the time of sucking dust, a plurality of jacks 3905 arranged on the vehicle body frame 3 side raise the dust collecting tank 39 and airtightly contact the bottom opening of the case body 3703.

In the space 307 for mounting the generator, the generator 51 and the gasoline engine 5 for driving the generator 51 are installed.
3 is mounted, the control device 55 is disposed in the control device accommodating portion 311, and the space 309 and the space 309 are provided.
The heat of the engine 53 is not transmitted to the control device 55 by glass wool (not shown) laid on the bottom surface of the. The generator 51 and the engine 53 are covered with a cover 57 and supported on the vehicle body frame 3 via a rubber damper 59, and a fuel tank 61 is arranged on the front side of the vehicle body frame 3. Exhaust gas from the engine 53 is exhausted to the outside of the vehicle body by an exhaust pipe (not shown). If the temperature of the exhaust gas is applied to the dust collection tank 39 and used to evaporate the water in the dust collection tank 39, , Garbage collection tank 3
This is advantageous in increasing the garbage collection rate of item 9. The electric power generated by the generator 51 is supplied to the control device 55, and the control device 55 is operated based on the operation of the remote controller.
Operation of each stator winding 1 that constitutes the drive wheel 5 respectively.
5, the vertical brush rotation motor 3105, the vertical brush vertical movement motor 3106, the horizontal brush rotation motor, the arm swing motor, and the vacuum pump 3501 to clean the floor surface by the brushes 31 and 33 and the suction device 35. Driving steering by the drive wheels 5 is controlled, and 63 in FIG.
Is a halogen lamp that emits light for position recognition of the self-propelled cleaning device 1.

According to this embodiment, the rotation of the drive wheels 5 causes the vehicle body frame 3 to travel, and the vertical brush 31 sweeps away dust and water inside the vehicle body. The horizontal brush 33 forwards the dust and water. Is slanted upwards and is sucked from the suction port 3503. Then, the cyclone 3701 separates air from dust and water, and the dust and water separated from the air fall into the dust collection tank 39 and are collected.

In the above, the drive wheel 5 has the drive source and the power transmission mechanism built therein as described above, and the power source and the power transmission mechanism are not located at the inner side or the upper side of the drive wheel 5 as in the conventional case. Therefore, dust and water can be swept out smoothly by the pair of vertical brushes 31, and dust and water can be efficiently collected by the horizontal brush 33 and the suction port 3503. Further, even if the distance between the left and right drive wheels 5 is made small, a large space for sweeping dust backward by the pair of vertical brushes 31 can be secured between the drive wheels 5, so that the self-propelled cleaning machine 1 can be compact. Can be realized. Further, although dust and water are scattered on the drive wheel 5, since the inside of the drive wheel 5 is sealed via the support plate 301 and the like, the function of the drive wheel 5 is guaranteed, and the drive wheel 5 is guaranteed.
Is advantageous in terms of durability. Further, since the dust brushed up by the horizontal brush 33 is sucked and the air is separated by the cyclone 3701, the dust is guided to the dust collection tank 39, which is also advantageous in improving the collection efficiency of dust and water. Become.

Although the wheel 13 is provided between the rotor 12 and the urethane rubber 14 in the embodiment, the wheel 1
3 may be omitted. Further, the urethane rubber 14 may be omitted, or another elastic body may be fitted to the outer peripheral surface 132 of the wheel 13 or the outer peripheral surface 124 of the rotor 12. In addition, in the embodiment, both round grooves 114 of the stator core 11 and the rotor 12 are provided.
Although the bearing was constituted by the both round grooves 122 and the steel balls 16, the constitution of the bearing is not limited to this, and the rotor 12
Alternatively, the cover 17 fixed to the end surfaces 125 and 131 of the wheel 13 may be omitted, and the wheel 13 may be directly fixed to the rotor 12. Further, in the embodiment, the case where the rotor of the outer rotor type servo motor is used as a wheel as it is has been described. By that,
The drive wheel 5 of the present invention can be configured. Further, in the embodiment, the case where the generator 51 and the engine 53 are mounted on the vehicle body frame 3 has been described, but the generator 51 and the engine 53 are not mounted on the vehicle body frame 3, and the electric power is supplied by the cable by the self-propelled cleaning device 1 side. May be supplied to.

[0030]

As is apparent from the above description, according to the present invention, at least three wheels provided on the bottom of a vehicle body and movably supporting the vehicle body, and arranged on the vehicle body and rotating. A brush for sweeping out dust with a dust collection tank for containing the dust swept out by the brush, at least one of the at least three wheels is a drive wheel, and the drive wheel is Since it is composed of the rotor of the outer rotor type motor supported on the vehicle body side, it is possible to obtain a self-propelled cleaning machine which can surely run and clean and can be made compact.

[Brief description of drawings]

FIG. 1 is a side view of a self-propelled cleaning device.

FIG. 2 is a bottom view of the self-propelled cleaning device.

FIG. 3 is a front view of a self-propelled cleaning device.

FIG. 4 is a rear view of the self-propelled cleaning device.

FIG. 5 is a partially cutaway front view of drive wheels.

FIG. 6 is a sectional side view of a drive wheel.

[Explanation of symbols]

 1 Self-propelled cleaner 5 Drive wheel 7 Driven wheel 31 Vertical brush 33 Horizontal brush 35 Suction device 37 Separation device 39 Garbage collection tank

Claims (5)

[Claims] 1. At least three wheels provided on the bottom of a vehicle body for movably supporting the vehicle body, a brush disposed on the vehicle body and sweeping out dust by rotating, and a brush swept by the brush. And a garbage collection tank for storing dirt, wherein at least one of the at least three wheels is a drive wheel, and the drive wheel is a rotor of an outer rotor type motor supported on the vehicle body side. A self-propelled cleaning machine that is configured. 2. A stator core of an outer rotor type motor, wherein the drive wheels are wound with multi-phase windings that are energized in different patterns, and an outer rotor type motor fitted around the outer periphery of the stator core. A rotor and a bearing that rotatably supports the rotor on the stator core. A support plate is hung vertically from the vehicle body at a side surface of the drive wheel near the drive wheel. The self-propelled cleaning device according to claim 1, wherein the stator core is supported by the. 3. Wheels disposed on the left and right of the front portion of the vehicle body are configured as drive wheels, and the brushes are disposed in front of the drive wheels and each has a shaft extending vertically. The self-propelled cleaning machine according to claim 1 or 2, further comprising a pair of vertical brushes that rotate and sweep dust to the inside and rear of the vehicle body. 4. The brush is arranged at a rear portion of a vehicle body,
4. The self-propelled cleaning machine according to claim 3, further comprising a horizontal brush that rotates about an axis extending in the left-right direction of the vehicle body and bounces dust forward. 5. The self-propelled cleaning machine according to claim 4, further comprising a suction device for sucking the dust bounced up by the horizontal brush and guiding the dust to the dust collecting tank.