JPWO2004054423A1 - Unmanned vacuum cleaner - Google Patents

Unmanned vacuum cleaner Download PDF

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Publication number
JPWO2004054423A1
JPWO2004054423A1 JP2004560568A JP2004560568A JPWO2004054423A1 JP WO2004054423 A1 JPWO2004054423 A1 JP WO2004054423A1 JP 2004560568 A JP2004560568 A JP 2004560568A JP 2004560568 A JP2004560568 A JP 2004560568A JP WO2004054423 A1 JPWO2004054423 A1 JP WO2004054423A1
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JP
Japan
Prior art keywords
traveling
shaft
attached
casing
unmanned
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
Application number
JP2004560568A
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Japanese (ja)
Inventor
俊教 曽我部
俊教 曽我部
Original Assignee
ケア・フレッシュ有限会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ケア・フレッシュ有限会社 filed Critical ケア・フレッシュ有限会社
Priority to PCT/JP2002/013147 priority Critical patent/WO2004054423A1/en
Publication of JPWO2004054423A1 publication Critical patent/JPWO2004054423A1/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0215Vacuum cleaner

Abstract

Can move unattended and randomly move the floor surface, can be manufactured at low cost, can reduce the frequency of failure, can clean the vicinity along the wall surface, and escape even if it enters a deep place Provide an unmanned vacuum cleaner that can A vacuum cleaner, a casing 10 to which the vacuum cleaner is attached, a traveling unit 30 attached to the casing 10 so as to be rotatable in a horizontal plane, and a turning mechanism for rotating the casing 10 and the traveling unit with respect to each other in a horizontal plane. 50. The traveling unit 30 is provided with a shaft 34 rotatably provided around a horizontal axis, a driving wheel fixedly attached to one end of the shaft 34, and a traveling attached rotatably to the other end of the shaft. The clutch mechanism 40 is provided between the traveling wheel 36 and the shaft 34.

Description

  The present invention relates to an unmanned cleaner.
Some conventional unmanned cleaners use a sensor to detect a tape affixed to a floor surface, and while moving along the tape, suck the floor surface and clean it unattended (see, for example, Patent Document 1).
JP 58-221925
However, since the conventional unmanned cleaner uses a sensor, a control unit including a controller or the like is incorporated. For this reason, a manufacturing cost becomes high and failure frequency increases.
Moreover, when a sensor is used, not only a tape but a wall surface may be detected, it may be unable to move along a wall surface, and it cannot clean to the vicinity of a wall surface.
In view of such circumstances, the present invention can move unattended and randomly move the floor to clean the floor, can be manufactured at low cost, can reduce the frequency of failure, can clean the vicinity along the wall surface, and in a recessed place An object is to provide an unmanned vacuum cleaner that can escape even if it enters.
An unmanned cleaner according to a first aspect of the present invention includes a vacuum cleaner, a casing to which the vacuum cleaner is attached, a traveling unit that is rotatably installed in the casing within a horizontal plane, and the casing and the traveling unit that are connected to each other in a horizontal plane. And a turning mechanism for turning inside.
An unmanned cleaner according to a second aspect of the present invention is the unmanned vacuum cleaner according to the first aspect of the present invention, wherein the traveling portion is provided with a shaft rotatably provided around a horizontal axis, and a drive wheel fixedly attached to one end of the shaft; The other end of the shaft includes a traveling wheel rotatably attached. A clutch mechanism is provided between the traveling wheel and the shaft, and the clutch mechanism has a load applied to the traveling wheel less than a threshold value. In this case, the traveling wheel and the shaft are connected to each other, and when the load applied to the traveling wheel is equal to or greater than a threshold value, the connection between the traveling wheel and the shaft is disconnected.
According to a third aspect of the present invention, there is provided an unmanned cleaner according to the second aspect of the present invention, wherein the clutch mechanism includes an elastic piece attached to the shaft and a pin attached to the running wheel so as to engage with the elastic piece. It is characterized by that.
FIG. 1 is a schematic perspective view of an unmanned cleaner 1 according to the present embodiment.
2 is a view taken along the line II-II in FIG.
FIG. 3 is a bottom view of the unmanned cleaner 1 of the present embodiment.
4 is a view taken along the line IV-IV in FIG.
FIG. 5 is a vertical sectional view of the unmanned cleaner 1 of the present embodiment.
FIG. 6 is an enlarged perspective view of the traveling wheel 36.
FIG. 7 is an explanatory diagram of the operation of the clutch mechanism 40.
FIG. 8 is a plan view for explaining the direction change of the unmanned cleaner 1.
FIG. 9 is a plan view showing a movement locus of the unmanned cleaner 1 of the present embodiment.
BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic perspective view of an unmanned cleaner 1 of this embodiment. FIG. 2 is a view taken along the line II-II in FIG. As shown in FIGS. 1-2, the unmanned cleaner 1 of this embodiment is comprised from the casing 10, the cleaner which is not shown in figure, the connection part 20, the traveling part 30, the clutch mechanism 40, and the turning mechanism 50. As shown in FIG. .
First, the casing 10 will be described.
The casing 10 has an upper surface formed in a disc shape and a side surface formed in a cylindrical shape.
The casing 10 may have a polygonal shape.
A protective material 11 is attached to the outer peripheral surface of the casing 10. The outer peripheral surface of the casing 10 can be protected by the protective material 11.
Whether or not the protective material 11 is attached to the casing 10 is arbitrary.
Next, the vacuum cleaner will be described.
A vacuum cleaner (not shown) is mounted on the upper surface of the casing 10. As this vacuum cleaner, a vacuum cleaner provided with a suction hole on the bottom surface or a suction nozzle extending from the suction hole to the bottom surface is preferable.
Next, the connecting portion 20 will be described.
The connection part 20 is for connecting between the casing 10 and the driving | running | working part 30 mentioned later. A hole 12 is formed in the center of the upper surface of the casing 10, and a bearing 21 is attached to the upper surface of the peripheral portion of the hole 12.
Inside the bearing 21, a suction cylinder 22 is vertically attached. This suction cylinder 22 is for connecting a suction hole and a suction nozzle of the vacuum cleaner to the upper part thereof to form a suction path for sucking dust on the floor surface. Since the suction cylinder 22 is pivotally supported by the casing 10 via the bearing 21, the suction cylinder 22 can be rotated in a horizontal plane.
Reference numerals 23 and 24 are fixing members for attaching the bearing 21 to the casing 10.
FIG. 3 is a bottom view of the unmanned cleaner 1 of the present embodiment. As shown in FIGS. 2 to 3, for example, a disc-shaped turning plate 25 is attached to the lower portion of the suction cylinder 22. A hole 26 is formed in the central portion of the swivel plate 25. Since the hole 26 and the lower end portion of the suction cylinder 22 communicate with each other, dust on the floor surface can be sucked by a vacuum cleaner (not shown).
A traveling unit 30 is attached to the lower surface of the swivel plate 25, which will be described in detail later.
Next, the turning mechanism 50 will be described.
4 is a view taken along the line IV-IV in FIG. As shown in FIGS. 2 and 4, a gear box 52 is attached to the upper surface of the swivel plate 25. The gear box 52 includes a turning motor 53 and a gear.
As shown in FIG. 3, a turning power supply box 54 is attached to the lower surface of the turning plate 25, and a dry battery is attached to the turning power supply box 54 as a turning power supply. The turning power source box 54 is provided with a power on / off switch, and power transmission to the turning motor 53 can be turned on / off.
As shown in FIG. 4 again, a shaft 55 is attached to the gear box 52. A turning wheel 56 is attached to the shaft 55. An annular rail 57 is attached to the lower surface of the casing 10.
The turning wheel 56 is disposed so as to contact both the upper surface of the turning plate 25 and the lower surface of the rail 57. For this reason, the turning plate 25 can be turned in the horizontal plane together with the suction cylinder 22 by rotating the turning wheel 56.
Therefore, the traveling unit 30 can be swung in the horizontal plane by the swivel mechanism 50.
Next, the traveling unit 30 will be described.
FIG. 5 is a vertical sectional view of the unmanned cleaner 1 of this embodiment. As shown in FIGS. 2, 3, and 5, a gear box 32 is attached to the lower surface of the turning plate 25 of the connecting portion 20. The gear box 32 incorporates a traveling motor 33 and a gear.
A traveling power supply box 34 is attached to the lower surface of the swivel plate 25, and a dry battery is attached to the traveling power supply box 34 as a traveling power supply. The traveling power supply box 34 includes a power on / off switch, and can turn on / off power transmission to the traveling motor 33.
A shaft 34 is horizontally attached to the gear box 32 and is rotated by the traveling motor 33. A pair of driving wheels 35 and traveling wheels 36 are respectively attached to both ends of the shaft 34.
A caster 37 is attached to the bottom front portion of the swivel plate 25. The caster 37 is configured such that a support bracket is pivotably attached to a mounting bracket, and a wheel is rotatably supported by the support bracket. Since the caster 37 and the pair of drive wheels 35 and 36 can support the turning plate 25 at three points, it is possible to travel stably.
Next, the clutch mechanism 40 will be described.
FIG. 6 is an enlarged perspective view of the traveling wheel 36. As shown in FIGS. 2 and 6, one drive wheel 35 is fixed to one end of a shaft 34, and the other traveling wheel 36 is attached to the other end of the shaft 34 so as to freely rotate.
An elastic piece 41 is attached to the shaft 34 in the vicinity of the traveling wheel 36. A pin 42 is attached to the inner side surface of the traveling wheel 36. The pin 42 is disposed so as to engage with the elastic piece 41.
The elastic piece 41 is, for example, a rubber piece, and has such elasticity that the shape is deformed when a certain force is applied to the elastic piece 41 by the pin 42 and the engagement between the elastic piece 41 and the pin 42 is released. .
When a small load is applied to the traveling wheel 36, the traveling piece 36 can be driven by engaging the elastic piece 41 with the pin 42 by the rotation of the shaft 34.
When a large load is applied to the traveling wheel 36, even if the shaft 34 rotates, the elastic piece 41 does not engage with the pin 42, the connection between the traveling wheel 36 and the shaft 34 is released, and the traveling wheel 36 can be in a free state.
Therefore, since the clutch mechanism 40 can be configured with simple parts, it can be manufactured at low cost.
The clutch mechanism 40 is not limited to the above-described configuration, and when the load applied to the traveling wheel 36 is less than the threshold value, the clutch wheel 40 connects the traveling wheel 36 and the shaft 34 and the load applied to the traveling wheel 36 is the threshold value. In the above case, it is only necessary to disconnect the running wheel 36 and the shaft 34, and various mechanisms can be adopted.
FIG. 7 is an explanatory view of the operation of the clutch mechanism 40. As shown in FIG. 7A, when the unmanned cleaner 1 is traveling normally, a load is not applied to the traveling wheel 36 so much that the traveling wheel 36 and the shaft 34 can be connected by the clutch mechanism 40. The traveling wheel 36 can be driven.
As shown in FIG. 7B, when the unmanned cleaner 1 hits an obstacle and cannot move in the traveling direction, a load is applied to the traveling wheel 36, and if the load applied to the traveling wheel 36 is equal to or greater than a threshold, The mechanism 40 disconnects the traveling wheel 36 and the shaft 34 from each other.
For this reason, since the traveling wheel 36 is in a free state, the traveling unit 30 can be smoothly turned by the turning mechanism 50, and the direction can be easily changed.
FIG. 8 is a plan view for explaining the direction change of the unmanned cleaner 1. As shown in the figure, according to the clutch mechanism 40, even if the unmanned cleaner 1 is incident on the wall surface F at the same angle θ0, the direction is not changed at the same angle, but at different angles θ1 and θ2 at random. Convert.
FIG. 9 is a plan view showing a movement locus of the unmanned cleaner 1 of the present embodiment. As shown in the figure, since the unmanned cleaner 1 of the present embodiment travels while repeating the direction change when hitting the wall surface F, the entire floor surface can be cleaned by the cleaner. And since the angle which changes direction every time it hits the wall surface F changes at random, even if it goes into the inside of a deep place, it can escape.
According to the unmanned cleaner 1 of this embodiment, there exist the following effects (1)-(3).
(1) While moving the vacuum cleaner along the floor surface by the traveling unit 30, dust on the floor surface can be sucked by a vacuum cleaner (not shown), so that the moved portion of the floor surface can be cleaned unattended. . In addition, during normal travel in which the casing 10 is not heavily loaded, the unmanned cleaner 1 can travel in the travel direction by the travel unit 30 while the casing 10 is swung by the swivel mechanism 50. When the unmanned cleaner 1 hits an obstacle and a load is applied to the casing 10 so that the casing 10 cannot travel in the traveling direction, the turning of the casing 10 is stopped and the traveling unit 30 can be turned by the turning mechanism 50 this time. For this reason, the traveling unit 30 can be turned to an angle at which the load is not so much applied to the casing, and the direction of the unmanned cleaner 1 can be changed. Therefore, since the direction can be changed even if the unmanned cleaner 1 hits an obstacle, the unattended cleaner 1 can be run at random along the floor surface. Therefore, it is possible to clean the entire floor surface, and even if it enters a deep place, it is possible to try to escape several times and to escape with a high probability. Furthermore, since the sensor is not used, it can move along the wall surface, the vicinity of the wall surface can be cleaned, it can be manufactured at low cost, and the failure frequency can be reduced.
(2) When the unmanned cleaner 1 is traveling normally, a load is not applied to the traveling wheel 36 so much that the traveling wheel 36 and the shaft 34 can be connected by the clutch mechanism 40 to drive the traveling wheel. Can do. On the other hand, when the unmanned cleaner 1 hits an obstacle and cannot move in the traveling direction, a load is applied to the traveling wheel 36. When the load applied to the traveling wheel 36 is equal to or greater than a threshold value, the clutch mechanism 40 causes the traveling wheel 36 and the shaft to move. 34 can be disconnected. For this reason, since the traveling wheel 36 is in a free state, the traveling unit 30 can be smoothly turned by the turning mechanism 50, and the direction can be easily changed.
According to the first aspect of the present invention, since the dust on the floor surface can be sucked by the cleaner while moving the cleaner along the floor surface by the traveling unit, the floor surface of the moved portion can be cleaned unattended. it can. In addition, during normal travel in which a load is not applied to the casing, the unmanned cleaner can be traveled in the travel direction by the travel unit while the casing is swiveled by the swivel mechanism. When the unmanned cleaner hits an obstacle and a load is applied to the casing so that the casing cannot travel in the traveling direction, the casing stops turning, and the traveling unit can be turned by the turning mechanism. For this reason, the traveling unit can be turned to an angle at which no load is applied to the casing, and the direction of the unmanned cleaner can be changed. Therefore, since the traveling direction can be changed even when the unmanned cleaner hits an obstacle, the unmanned cleaner can travel at random along the floor surface. Therefore, it is possible to clean the entire floor surface, and even if it enters a deep place, it is possible to try to escape several times and escape with a high probability. Furthermore, since the sensor is not used, it can move along the wall surface, the vicinity of the wall surface can be cleaned, it can be manufactured at low cost, and the failure frequency can be reduced.
According to the second aspect of the present invention, when the unmanned cleaner is normally traveling, a load is not applied to the traveling wheel so much, so the traveling wheel and the shaft can be connected by the clutch mechanism, and the traveling wheel can be driven. it can. On the other hand, if the unmanned vacuum cleaner hits an obstacle and cannot move in the direction of travel, a load is applied to the traveling wheel, and if the load applied to the traveling wheel exceeds a threshold value, the clutch mechanism disconnects the traveling wheel from the shaft. be able to. For this reason, since a traveling wheel will be in a free state, a traveling part can be smoothly turned by a turning mechanism.
According to the third aspect of the invention, when the load is not applied to the traveling wheel, the traveling wheel can be driven by engaging the elastic piece with the pin by the rotation of the shaft. When a large load is applied to the traveling wheel, the elastic piece does not engage the pin even if the shaft rotates, the connection between the traveling wheel and the shaft is released, and the traveling wheel can be in a free state. Therefore, since the clutch mechanism can be configured with simple parts, it can be manufactured at low cost.

Claims (3)

  1. A vacuum cleaner, a casing to which the vacuum cleaner is attached, a traveling unit attached to the casing so as to be rotatable in a horizontal plane, and a turning mechanism for rotating the casing and the traveling unit with respect to each other in a horizontal plane. An unmanned vacuum cleaner characterized by that.
  2. A shaft provided rotatably around a horizontal axis, a drive wheel fixedly attached to one end of the shaft, and a running wheel rotatably attached to the other end of the shaft; A clutch mechanism is provided between the traveling wheel and the shaft, and the clutch mechanism connects the traveling wheel and the shaft when a load applied to the traveling wheel is less than a threshold value, The unmanned cleaner according to claim 1, wherein when the load applied to the traveling wheel is equal to or greater than a threshold value, the connection between the traveling wheel and the shaft is disconnected.
  3. 3. The unmanned cleaner according to claim 2, wherein the clutch mechanism includes an elastic piece attached to the shaft and a pin attached to the running wheel so as to engage with the elastic piece.
JP2004560568A 2002-12-16 2002-12-16 Unmanned vacuum cleaner Pending JPWO2004054423A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2002/013147 WO2004054423A1 (en) 2002-12-16 2002-12-16 Unattended cleaner

Publications (1)

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JPWO2004054423A1 true JPWO2004054423A1 (en) 2006-04-13

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Application Number Title Priority Date Filing Date
JP2004560568A Pending JPWO2004054423A1 (en) 2002-12-16 2002-12-16 Unmanned vacuum cleaner

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JP (1) JPWO2004054423A1 (en)
AU (1) AU2002368468A1 (en)
WO (1) WO2004054423A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI380793B (en) * 2009-04-09 2013-01-01 Pegatron Corp Wheel module and vacuum cleaner
KR200472202Y1 (en) 2013-02-20 2014-04-11 제이슨얀 An automated clean machine with a steering mechanism

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0884696A (en) * 1994-09-16 1996-04-02 Fuji Heavy Ind Ltd Cleaning robot control method and device therefor

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AU2002368468A1 (en) 2004-07-09
WO2004054423A1 (en) 2004-07-01

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