TW201320947A - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- TW201320947A TW201320947A TW101134535A TW101134535A TW201320947A TW 201320947 A TW201320947 A TW 201320947A TW 101134535 A TW101134535 A TW 101134535A TW 101134535 A TW101134535 A TW 101134535A TW 201320947 A TW201320947 A TW 201320947A
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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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
Description
本發明係關於在地板上自走之清掃機器人。 The present invention relates to a cleaning robot that walks on the floor.
先前之清掃機器人揭示於專利文獻1。該清掃機器人係於底面開口有吸入口且內建電動送風機及集塵部之本體框體於地板上自走而進行清掃。此時，為清掃桌子等之下方，本體框體需形成為高度較低之薄型。於本體框體設置自底面突出之驅動輪及前輪。前輪相對於驅動輪配置於清掃時之行進方向之前方，且於前輪與驅動輪之間配置吸入口。 The previous cleaning robot is disclosed in Patent Document 1. The cleaning robot is cleaned by a body frame having a suction port on the bottom surface and a built-in electric blower and a dust collecting portion on the floor. At this time, in order to clean the table or the like, the main body frame needs to be formed into a thin shape having a low height. A driving wheel and a front wheel protruding from the bottom surface are disposed on the body frame. The front wheel is disposed in front of the traveling direction of the cleaning wheel with respect to the driving wheel, and a suction port is disposed between the front wheel and the driving wheel.
於本體框體之前部之下表面開口有吸入口，於後部之周面則開口有排氣口。本體框體內於驅動輪之後方配置具有電動送風機及集塵部之吸塵部。電動送風機產生自吸入口吸入之吸入氣流，集塵部捕集吸入氣流所含之塵埃。又，於本體框體內設置對電動送風機或驅動輪等之各部供給電力之電池。 A suction port is opened on the lower surface of the front portion of the main body frame, and an exhaust port is opened on the circumferential surface of the rear portion. A dust suction portion having an electric blower and a dust collecting portion is disposed behind the driving wheel in the main body casing. The electric blower generates a suction airflow sucked from the suction port, and the dust collecting portion traps the dust contained in the suction airflow. Further, a battery for supplying electric power to each of the electric blower or the drive wheel is provided in the main body casing.
上述構成之清掃機器人，若開始清掃運轉，則驅動輪及電動送風機被驅動。本體框體藉由驅動輪及前輪之旋轉於期望之清掃區域之地板上自走。藉由電動送風機之驅動將含有地板上塵埃之氣流自吸入口吸入。氣流所含之塵埃由集塵部收集，並將除去塵埃後之氣流通過電動送風機排放至本體框體外。藉此，進行清掃區域之清掃，堆積於集塵部之塵埃則拆卸集塵部後進行廢棄。 When the cleaning robot configured as described above starts the cleaning operation, the drive wheels and the electric blower are driven. The body frame self-propelled on the floor of the desired cleaning area by the rotation of the driving wheel and the front wheel. The air containing dust on the floor is sucked from the suction port by the driving of the electric blower. The dust contained in the airflow is collected by the dust collecting portion, and the airflow after the dust is removed is discharged to the outside of the body casing through the electric blower. Thereby, the cleaning area is cleaned, and the dust deposited in the dust collecting portion is removed, and then discarded.
[專利文獻1]日本特開2000-202792號公報(第4頁-第7頁，第1圖) [Patent Document 1] JP-A-2000-202792 (Page 4 - Page 7, Figure 1)
然而，根據上述先前之清掃機器人，係存在因相對於吸入口配置於清掃時之行進方向之前方之前輪遮擋地板上之垃圾，而使集塵能力下降之問題。又，毛髮或線頭等之纖維狀垃圾會纏住前輪，從而使前輪無法正常旋轉，使得前輪無法越過地板上之階差。藉此，亦有本體框體停止導致運行異常，而無法清掃清掃區域整體之問題。 However, according to the above-described cleaning robot, there is a problem that the dust collecting ability is lowered by the front wheel that blocks the garbage on the floor before the traveling direction in the cleaning direction with respect to the suction port. Also, fibrous waste such as hair or thread ends can entangle the front wheel, so that the front wheel cannot rotate normally, so that the front wheel cannot cross the step on the floor. Therefore, there is also a problem that the main body frame is stopped to cause an abnormal operation, and the entire cleaning area cannot be cleaned.
本發明之目的在於提供一種提高集塵能力，且可防止運行異常之清掃機器人。 It is an object of the present invention to provide a cleaning robot that can improve dust collecting ability and prevent abnormal operation.
為達成目的，本發明之清掃機器人之特徵為具備：本體框體，其於底面開口有與地板對峙之吸入口；一對驅動輪，其具有水平之旋轉軸，使上述本體框體自走；前輪，其相對於上述驅動輪配置於清掃時之行進方向之前方；及後輪，其相對於上述驅動輪配置於清掃時之行進方向之後方；於上述前輪與上述驅動輪之間配置上述吸入口，且於平坦之地板自走時，上述前輪與地板脫離，上述驅動輪及上述後輪則接地。 In order to achieve the object, the cleaning robot of the present invention is characterized in that: a main body frame having a suction opening facing the floor on the bottom surface; and a pair of driving wheels having a horizontal rotating shaft for self-propelled body frame; a front wheel disposed in front of the traveling direction of the cleaning wheel with respect to the driving wheel; and a rear wheel disposed behind the driving direction of the driving wheel, wherein the suction is disposed between the front wheel and the driving wheel The front wheel is separated from the floor when the floor is self-propelled, and the driving wheel and the rear wheel are grounded.
根據該構成，前輪自平坦之地板脫離，驅動輪及後輪接 地，本體框體藉由一對驅動輪之驅動於清掃區域內自走。藉由本體框體之前進，地板上之塵埃或垃圾通過前輪之下方自吸入口吸入。含有塵埃等之氣流於本體框體內除去塵埃等後被排出。若於本體框體之進路上出現階差，則前輪接觸於階差，本體框體藉由驅動輪之旋轉越過階差。 According to this configuration, the front wheel is separated from the flat floor, the drive wheel and the rear wheel are connected The body frame is self-propelled in the cleaning area by a pair of driving wheels. The dust or rubbish on the floor is sucked from the suction port through the lower side of the front wheel by the front body frame. The air containing dust or the like is discharged into the main body casing to remove dust and the like. If a step occurs on the path of the body frame, the front wheel is in contact with the step, and the body frame passes the step by the rotation of the driving wheel.
又，本發明之特徵為在上述構成之清掃機器人中，上述旋轉軸配置於上述本體框體之中心線上。根據該構成，若驅動輪之兩輪於相反方向旋轉，則本體框體繞著垂直之中心線旋轉。 Further, according to the present invention, in the cleaning robot configured as described above, the rotating shaft is disposed on a center line of the main body casing. According to this configuration, when the two wheels of the drive wheel rotate in opposite directions, the body frame rotates about the vertical center line.
又，本發明之特徵為在上述構成之清掃機器人中，具備配置於上述吸入口之旋轉刷，進行清掃時上述旋轉刷接地。根據該構成，旋轉刷、驅動輪及後輪接地，本體框體自走，藉由旋轉刷之旋轉，地板之塵埃揚起被引導至吸入口。 Further, according to the present invention, in the cleaning robot having the above configuration, the rotating brush disposed in the suction port is provided, and the rotating brush is grounded during cleaning. According to this configuration, the rotating brush, the driving wheel, and the rear wheel are grounded, and the main body frame is self-propelled, and the dust of the floor is lifted and guided to the suction port by the rotation of the rotating brush.
又，本發明之特徵為在上述構成之清掃機器人中，於上述驅動輪與上述後輪之間，配置對各部供給電力之電池及控制各部之控制基板。根據該構成，前輪自地板脫離之本體框體係藉由電池及控制基板之重量而更穩定地接地。 Further, according to the present invention, in the cleaning robot of the above configuration, a battery for supplying electric power to each unit and a control board for controlling each unit are disposed between the drive wheel and the rear wheel. According to this configuration, the main frame system in which the front wheels are detached from the floor is more stably grounded by the weight of the battery and the control substrate.
根據本發明，於前輪與驅動輪之間配置吸入口，於平坦之地板自走時，前輪與地板脫離，驅動輪及後輪接地。藉此，不會因前輪而遮擋地板上之垃圾，從而可提高清掃機器人之集塵能力。又，由於纖維狀之垃圾未纏住前輪，故可防止本體框體之運行異常。 According to the present invention, a suction port is disposed between the front wheel and the driving wheel, and when the flat floor is self-propelled, the front wheel is separated from the floor, and the driving wheel and the rear wheel are grounded. Thereby, the garbage on the floor is not blocked by the front wheel, thereby improving the dust collecting ability of the cleaning robot. Moreover, since the fibrous waste is not entangled with the front wheel, the operation of the main body casing can be prevented from being abnormal.
以下，參照圖式說明本發明之實施形態。圖1係顯示一實施形態之清掃機器人之立體圖。清掃機器人1具有藉由電池14驅動驅動輪29(均參照圖2)而自走之俯視圓形之本體框體2。於本體框體2之上表面設置取放集塵部30(參照圖2)時開關之蓋部3。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view showing a cleaning robot of an embodiment. The cleaning robot 1 has a circular body frame 2 that is self-propelled by the battery 14 driving the drive wheels 29 (both referring to FIG. 2). The cover portion 3 of the switch when the dust collecting portion 30 (see FIG. 2) is taken in and out is provided on the upper surface of the main body casing 2.
圖2、圖3係顯示清掃機器人1之側視剖面圖及仰視圖。於本體框體2配置自底面突出，由水平之旋轉軸29a旋轉之一對驅動輪29。驅動輪29之旋轉軸29a配置於本體框體2之中心線C上。若驅動輪29之兩輪朝同一方向旋轉，則本體框體2會前進後退，若朝相反方向旋轉，則本體框體2會繞著中心線C旋轉。 2 and 3 are a side cross-sectional view and a bottom view showing the cleaning robot 1. The main body casing 2 is disposed to protrude from the bottom surface, and is rotated by a pair of the driving wheels 29 by the horizontal rotating shaft 29a. The rotation shaft 29a of the drive wheel 29 is disposed on the center line C of the body casing 2. When the two wheels of the drive wheel 29 rotate in the same direction, the main body casing 2 advances and retreats, and when rotated in the opposite direction, the main body casing 2 rotates around the center line C.
在進行清掃時作為行進方向之前方之本體框體2之前部，於下表面設置有吸入口6。吸入口6藉由凹設於本體框體2之底面之凹部8之開放面，面向地板F地形成。於凹部8內配置以水平之旋轉軸旋轉之旋轉刷9，於凹部8之兩側配置以垂直之旋轉軸旋轉之側刷10。 The suction port 6 is provided on the lower surface as the front portion of the main body casing 2 in the forward direction of the cleaning. The suction port 6 is formed facing the floor F by being recessed on the open surface of the recess 8 on the bottom surface of the main body casing 2. A rotating brush 9 that rotates on a horizontal axis of rotation is disposed in the recessed portion 8, and a side brush 10 that rotates on a vertical axis of rotation is disposed on both sides of the recessed portion 8.
於凹部8之前方設置滾輪形狀之前輪27。藉此，吸入口6配置於前輪27與驅動輪29之間。於本體框體2之後端設置包含萬向車輪之後輪26。如後所述，本體框體2之重量相對於配置於中心之驅動輪29分配於前後方向，前輪27與地板F脫離，而旋轉刷9、驅動輪29及後輪26接地於地板F進行清掃。因此，不會因前輪27而遮擋進路前方之塵埃或垃圾，可引導至吸入口6。前輪27接地於進路上出現之階 差，使本體框體2容易越過階差。 A wheel shape front wheel 27 is provided in front of the recess 8. Thereby, the suction port 6 is disposed between the front wheel 27 and the drive wheel 29. A rear wheel 26 including a universal wheel is disposed at a rear end of the body casing 2. As will be described later, the weight of the main body casing 2 is distributed in the front-rear direction with respect to the driving wheel 29 disposed at the center, the front wheel 27 is separated from the floor F, and the rotating brush 9, the driving wheel 29, and the rear wheel 26 are grounded to the floor F for cleaning. . Therefore, dust or garbage in front of the approach path is not blocked by the front wheel 27, and can be guided to the suction port 6. The front wheel 27 is grounded to the order of the road Poor, the body frame 2 easily crosses the step.
於前輪27之前方設置檢測地板F之地板檢測感測器18。於兩驅動輪29之前方設置相同之地板檢測感測器19。若於進路上出現下階梯等之階差，則藉由地板檢測感測器18之檢測停止驅動輪29。又，地板檢測感測器18產生誤作動時，藉由地板檢測感測器19之檢測而停止驅動輪29。 A floor detecting sensor 18 for detecting the floor F is provided in front of the front wheel 27. The same floor detecting sensor 19 is disposed in front of the two driving wheels 29. If a step of the lower step or the like occurs on the entry path, the drive wheel 29 is stopped by the detection of the floor detecting sensor 18. Further, when the floor detecting sensor 18 generates a malfunction, the driving wheel 29 is stopped by the detection of the floor detecting sensor 19.
於本體框體2之周面之後端設置進行電池14之充電之充電端子4。本體框體2自走返回至設置於室內之充電座40後，充電端子4接觸於設置於充電座40之端子部41，從而將電池14進行充電。連接於商用電源之充電座40通常沿著室內之側壁S設置。 A charging terminal 4 for charging the battery 14 is provided at a rear end of the peripheral surface of the main body casing 2. After the main body casing 2 is returned to the charging stand 40 installed in the room, the charging terminal 4 comes into contact with the terminal portion 41 provided in the charging stand 40, thereby charging the battery 14. The charging stand 40 connected to the commercial power source is usually disposed along the side wall S of the room.
於本體框體2內配置收集塵埃之集塵部30。集塵部30配置於驅動輪29之旋轉軸29a上，收納在設置於本體框體2之集塵室39內。集塵室39包含四方之周面及底面被覆蓋之隔離室，以將本體框體2內分隔的方式於左右方向延伸而形成。集塵室39之各壁面除於長度方向延伸之前壁外分別予以閉塞。於集塵室39之前壁導出與凹部8連通之第1吸氣路11及配置於凹部8之上方與後述之馬達單元20連通之第2吸氣路12。 A dust collecting portion 30 for collecting dust is disposed in the main body casing 2. The dust collecting portion 30 is disposed on the rotating shaft 29a of the drive wheel 29, and is housed in the dust collecting chamber 39 provided in the main body casing 2. The dust collection chamber 39 includes an isolation chamber in which the circumferential surface and the bottom surface of the four sides are covered, and is formed by extending the inside of the main body housing 2 in the left-right direction. The wall surfaces of the dust collection chamber 39 are respectively occluded except for the wall before the extension in the longitudinal direction. The first intake passage 11 that communicates with the recessed portion 8 and the second intake passage 12 that communicates with the motor unit 20, which will be described later, are disposed above the recessed portion 8 in front of the dust collecting chamber 39.
如圖4所示，集塵部30可打開本體框體2之蓋部3進行取放。集塵部30於有底筒狀之集塵容器31之上表面安裝具有過濾器33之上部蓋體32。上部蓋體32藉由可動之扣止部32a扣止於集塵容器31，藉由扣止部32a之操作開關集塵容器31之上表面。藉此，可丟棄堆積於集塵容器31之塵埃。 As shown in FIG. 4, the dust collecting portion 30 can open the lid portion 3 of the main body casing 2 for pick-and-place. The dust collecting portion 30 is provided with a top cover 32 having a filter 33 on the upper surface of the bottomed cylindrical dust collecting container 31. The upper cover 32 is fastened to the dust collecting container 31 by the movable locking portion 32a, and the upper surface of the dust collecting container 31 is operated by the operation of the locking portion 32a. Thereby, the dust accumulated in the dust collecting container 31 can be discarded.
集塵容器31之周面於前端開口有流入口34a，導出與第1吸氣路11連通之流入路34。於集塵容器31內設置自流入路34連續，藉由彎曲向下方引導氣流之流入部34b。上部蓋體32之周面於前端開口有流出口35a，導出與第2吸氣路12連通之流出路35。 The peripheral surface of the dust collecting container 31 has an inflow port 34a at the front end opening, and an inflow path 34 that communicates with the first intake path 11 is taken out. In the dust collecting container 31, an inflow portion 34b that is continuous from the inflow path 34 and guides the airflow downward is provided. The peripheral surface of the upper lid body 32 has an outflow opening 35a at the front end opening, and an outflow path 35 that communicates with the second intake passage 12 is led out.
於流入口34a及流出口35a之周圍設置密接於集塵室39之前壁之襯墊(未圖示)。藉此，將收納集塵部30之集塵室39內密閉。流入口34a之開口面、流出口35a之開口面及集塵室39之前壁形成為傾斜面，從而可防止取放集塵部30時之滑動導致之襯墊之劣化。 A gasket (not shown) that is in close contact with the wall before the dust collecting chamber 39 is provided around the inflow port 34a and the outflow port 35a. Thereby, the inside of the dust collecting chamber 39 which accommodates the dust collecting part 30 is sealed. The opening surface of the inflow port 34a, the opening surface of the outflow port 35a, and the front wall of the dust collecting chamber 39 are formed as inclined surfaces, thereby preventing deterioration of the pad due to sliding when the dust collecting portion 30 is taken.
於本體框體2內之集塵室39之後方之上部配置控制基板15。於集塵室39之後方之下部配置裝卸自如之電池14。藉此，控制基板15及電池14配置於驅動輪29與後輪26之間。控制基板15設置控制清掃機器人1之各部之控制電路。電池14經由充電端子4由充電座40充電，對控制基板15、驅動輪29、旋轉刷9、側刷10及電動送風機22等各部供給電力。 The control board 15 is disposed above the dust collecting chamber 39 in the main body casing 2. A detachable battery 14 is disposed below the dust collecting chamber 39. Thereby, the control board 15 and the battery 14 are disposed between the drive wheel 29 and the rear wheel 26. The control board 15 is provided with a control circuit that controls each unit of the cleaning robot 1. The battery 14 is charged by the charging stand 40 via the charging terminal 4, and supplies electric power to each of the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, and the electric blower 22.
於本體框體2之前部配置馬達單元20。圖5、圖6、圖7、圖8係分別顯示馬達單元20之立體圖、俯視圖、前視圖及側視圖。馬達單元20具備樹脂成形品之殼體21及收納於殼體21內之電動送風機22。電動送風機22係由以馬達外殼22a覆蓋之渦輪風扇形成。 The motor unit 20 is disposed in front of the main body casing 2. 5, 6, 7, and 8 show a perspective view, a plan view, a front view, and a side view of the motor unit 20, respectively. The motor unit 20 includes a casing 21 of a resin molded product and an electric blower 22 housed in the casing 21 . The electric blower 22 is formed by a turbo fan covered with a motor casing 22a.
電動送風機22之馬達外殼22a於軸向之一端開口有吸氣口(未圖示)，而於周面之2部位開口有排氣口(未圖示)。於 殼體21之前面面向馬達外殼22a之吸氣口設置開口部23。於殼體21之電動送風機22之兩側方設置分別與馬達外殼22a之各排氣口連通之第1排氣路24a及第2排氣路24b。第1、第2排氣路24a、24b與設置於本體框體2之上表面之排氣口7(參照圖2)連通。 The motor casing 22a of the electric blower 22 has an intake port (not shown) opened at one end in the axial direction, and an exhaust port (not shown) is opened at two places on the circumferential surface. to An opening 23 is provided in the air inlet of the front surface of the casing 21 facing the motor casing 22a. The first exhaust passage 24a and the second exhaust passage 24b that communicate with the respective exhaust ports of the motor casing 22a are provided on both sides of the electric blower 22 of the casing 21. The first and second exhaust passages 24a and 24b communicate with an exhaust port 7 (see FIG. 2) provided on the upper surface of the main body casing 2.
因此，第1、第2排氣路24a、24b及第2吸氣路12(參照圖2)構成連通集塵部30與排氣口7之氣流路。又，第1吸氣路11(參照圖2)構成連通吸入口6與集塵部30之氣流路。 Therefore, the first and second exhaust passages 24a and 24b and the second intake passage 12 (see FIG. 2) constitute an air flow path that connects the dust collecting portion 30 and the exhaust port 7. Further, the first intake passage 11 (see FIG. 2) constitutes an air flow path that communicates between the suction port 6 and the dust collecting portion 30.
藉此，含有電動送風機22之氣流路彙集於集塵室39之前方，配置於本體框體2之前部，從而可縮短氣流路。又，控制基板15及電池14彙集於集塵室39之後方，配置於本體框體2之後部，從而可削減配線等。因此，可謀求本體框體2之小型化。又，由於氣流之流路與控制基板15分離，故可在氣流洩漏時減少塵埃對控制基板15之附著，減少控制電路之故障。 Thereby, the air flow path including the electric blower 22 is collected in front of the dust collecting chamber 39, and is disposed in front of the main body casing 2, whereby the air flow path can be shortened. Moreover, the control board 15 and the battery 14 are collected behind the dust collecting chamber 39, and are disposed behind the main body casing 2, thereby reducing wiring and the like. Therefore, the size of the main body casing 2 can be reduced. Further, since the flow path of the air flow is separated from the control board 15, the adhesion of the dust to the control board 15 can be reduced when the air flow leaks, and the failure of the control circuit can be reduced.
又，由於將重量較大之電動送風機22及電池14分散配置於驅動輪29之旋轉軸29a之前後，故相對於通過本體框體2之中心線C之旋轉軸29a，於前後方向平衡分配重量。此時，由於電動送風機22之重量較大，故可藉由將控制基板15及電池14配置於驅動輪29之旋轉軸29a之後方，而處於更良好之重量平衡。 Further, since the electric blower 22 and the battery 14 having a large weight are dispersed and disposed in front of the rotating shaft 29a of the driving wheel 29, the weight is distributed in the front-rear direction with respect to the rotating shaft 29a passing through the center line C of the main body casing 2. . At this time, since the weight of the electric blower 22 is large, the control board 15 and the battery 14 can be disposed behind the rotating shaft 29a of the drive wheel 29, thereby achieving a better weight balance.
於第1排氣路24a配置具有一對電極28a之離子產生裝置28。對電極28a施加包含交流波形或脈衝波形之電壓，藉由電極28a之電暈放電生成之離子被釋放至第1排氣路 24a。 An ion generating device 28 having a pair of electrodes 28a is disposed in the first exhaust passage 24a. A voltage including an alternating current waveform or a pulse waveform is applied to the electrode 28a, and ions generated by the corona discharge of the electrode 28a are released to the first exhaust path. 24a.
對一個電極28a施加正電壓，電暈放電產生之氫離子與空氣中之水分鍵結產生主要包含H+(H2O)m之正離子。對另一個電極28a施加負電壓，電暈放電產生之氧離子與空氣中之水分鍵結，產生主要包含O2 -(H2O)n之負離子。此處，m、n為任意之自然數。H+(H2O)m及O2 -(H2O)n凝聚於空氣中之浮游菌或臭味成分之表面將該等包圍。 A positive voltage is applied to one of the electrodes 28a, and the hydrogen ions generated by the corona discharge are bonded to the moisture in the air to generate positive ions mainly containing H + (H 2 O) m. A negative voltage is applied to the other electrode 28a, and the oxygen ions generated by the corona discharge are bonded to the moisture in the air to generate an anion mainly containing O 2 - (H 2 O) n . Here, m and n are arbitrary natural numbers. H + (H 2 O) m and O 2 - (H 2 O) n are surrounded by the surface of the floating bacteria or odor components in the air.
且，如式(1)~(3)所示，藉由碰撞，於微生物等之表面上凝聚生成活性種即[．OH](羥自由基)或H2O2(過氧化氫)，從而破壞浮游菌或臭味成分。此處，m'、n'為任意之自然數。因此，可藉由產生正離子及負離子自排氣口7(參照圖2)送出，而進行室內之除菌及脫臭。 Further, as shown in the formulas (1) to (3), an active species is formed by agglomeration on the surface of microorganisms or the like by collision [. OH] (hydroxyl radical) or H 2 O 2 (hydrogen peroxide), thereby destroying the floating bacteria or odor components. Here, m' and n' are arbitrary natural numbers. Therefore, it is possible to carry out sterilization and deodorization in the room by generating positive ions and negative ions from the exhaust port 7 (see FIG. 2).
H+(H2O)m+O2 -(H2O)n → ．OH+1/2O2+(m+n)H2O………(1) H + (H 2 O)m+O 2 - (H 2 O)n → . OH+1/2O 2 +(m+n)H 2 O......(1)
H+(H2O)m+H+(H2O)m'+O2 -(H2O)n+O2 -(H2O)n' → 2．OH+O2+(m+m'+n+n')H2O………(2) H + (H 2 O)m+H + (H 2 O)m'+O 2 - (H 2 O)n+O 2 - (H2O)n' → 2. OH+O 2 +(m+m'+n+n')H 2 O......(2)
H+(H2O)m+H+(H2O)m'+O2 -(H2O)n+O2 -(H2O)n' → H2O2+O2+(m+m'+n+n')H2O………(3) H + (H 2 O)m+H + (H 2 O)m'+O 2 - (H 2 O)n+O 2 - (H 2 O)n' → H 2 O 2 +O 2 +(m +m'+n+n')H 2 O.........(3)
又，於第1排氣路24a之下部設置前面開口之回流口25。回流口25藉由於殼體21之前面突出之突出部25a覆蓋上方，使開口面形成為沿著凹部8(參照圖2)之壁面之曲面。藉此回流口25經由設置於凹部8之壁面之孔部(未圖示)面向凹部8內，而將含有在第1排氣路24a流通之離子之氣流之一部分引導至吸氣側。 Further, a return opening 25 having a front opening is provided in a lower portion of the first exhaust passage 24a. The return port 25 is covered by the protruding portion 25a protruding from the front surface of the casing 21, and the opening surface is formed as a curved surface along the wall surface of the recess 8 (refer to FIG. 2). The return port 25 faces the recess 8 through a hole (not shown) provided in the wall surface of the recess 8, and guides a part of the air stream containing the ions flowing through the first exhaust passage 24a to the intake side.
上述構成之清掃機器人1中，若指示清掃運轉，則電動 送風機22、離子產生裝置28、驅動輪29、旋轉刷9及側刷10被驅動。藉此，本體框體2係旋轉刷9、驅動輪29及後輪26接地於平坦之地板F地在特定之清掃區域內自走。 In the cleaning robot 1 configured as described above, when the cleaning operation is instructed, the electric motor is The blower 22, the ion generating device 28, the drive wheels 29, the rotating brush 9, and the side brush 10 are driven. Thereby, the main body casing 2 is rotated by the rotating brush 9, the drive wheel 29, and the rear wheel 26 to the flat floor F, and is self-propelled in a specific cleaning area.
藉由本體框體2之前進，地板F上之塵埃或垃圾通過前輪27之下方自吸入口6被吸入。此時，藉由旋轉刷9之旋轉，地板F上之塵埃揚起被引導至凹部8內。又，藉由側刷10之旋轉，吸入口6之側方之塵埃被引導至吸入口6。 By the forward advancement of the main body casing 2, dust or garbage on the floor F is sucked from the suction port 6 through the lower side of the front wheel 27. At this time, the dust on the floor F is lifted and guided into the recess 8 by the rotation of the rotary brush 9. Further, by the rotation of the side brush 10, the dust on the side of the suction port 6 is guided to the suction port 6.
自吸入口6吸入之氣流如箭頭A1所示，於第1吸氣路11向後方流通，經由流入口34a流入至集塵部30。流入集塵部30之氣流藉由過濾器33捕集塵埃，經由流出口35a自集塵部30流出。藉此，塵埃或垃圾集塵堆積於集塵容器31內。自集塵部30流出之氣流如箭頭A2所示，於第2吸氣路12向前方流通，經由開口部23流入馬達單元20之電動送風機22。 The airflow sucked in from the suction port 6 flows backward in the first intake passage 11 as indicated by an arrow A1, and flows into the dust collecting portion 30 via the inflow port 34a. The airflow that has flowed into the dust collecting portion 30 collects dust by the filter 33, and flows out from the dust collecting portion 30 via the outflow port 35a. Thereby, dust or garbage dust is accumulated in the dust collecting container 31. The airflow flowing out of the dust collecting portion 30 flows forward in the second intake passage 12 as indicated by an arrow A2, and flows into the electric blower 22 of the motor unit 20 through the opening portion 23.
通過電動送風機22之氣流於第1排氣路24a及第2排氣路24b流通，且於第1排氣路24a流通之氣流中含有離子。且，自設置於本體框體2之上表面之排氣口7，如箭頭A3所示向上方後方於傾斜方向排出含有離子之氣流。藉此，進行室內之清掃，且自走之本體框體2之排氣所含之離子遍佈於室內，進行室內之除菌或脫臭。此時，由於係自排氣口7向上方排氣，故可防止地板F之塵埃揚起，從而提高室內之清潔度。 The airflow of the electric blower 22 flows through the first exhaust passage 24a and the second exhaust passage 24b, and the airflow flowing through the first exhaust passage 24a contains ions. Further, the exhaust port 7 provided on the upper surface of the main body casing 2 discharges the air containing ions in the oblique direction upward and rearward as indicated by an arrow A3. Thereby, the indoor cleaning is performed, and the ions contained in the exhaust gas of the self-propelled main body casing 2 are distributed throughout the room to perform sterilization or deodorization in the room. At this time, since the air is exhausted upward from the exhaust port 7, the dust of the floor F can be prevented from rising, thereby improving the cleanliness of the room.
於第1排氣路24a流通之氣流之一部分如箭頭A4所示，經由回流口25被引導至凹部8。因此，自吸入口6引導至第1 吸氣路11之氣流內含有離子。藉此，可進行集塵部30之集塵容器31或過濾器33之除菌及脫臭。 A portion of the airflow flowing through the first exhaust passage 24a is guided to the recess 8 via the return port 25 as indicated by an arrow A4. Therefore, it is guided from the suction port 6 to the first The gas flow in the suction path 11 contains ions. Thereby, sterilization and deodorization of the dust collecting container 31 or the filter 33 of the dust collecting part 30 can be performed.
又，若本體框體2到達至清掃區域之周緣之情形，或碰撞上進路上之障礙物，則停止驅動輪29。然後，使驅動輪29之兩輪相互於相反方向旋轉，本體框體2以中心線C為中心旋轉改變方向。藉此，可使本體框體2於清掃區域整體自走，且避開障礙物地自走。另，亦可將驅動輪29之兩輪相對於前進時反轉，使本體框體2後退。 Further, when the main body casing 2 reaches the periphery of the cleaning area or collides with an obstacle on the road, the drive wheel 29 is stopped. Then, the two wheels of the drive wheel 29 are rotated in opposite directions to each other, and the body casing 2 is rotated about the center line C to change the direction. Thereby, the main body casing 2 can be self-propelled in the entire cleaning area and self-propelled away from the obstacle. Alternatively, the two wheels of the drive wheel 29 may be reversed with respect to the forward movement to retract the body casing 2.
清掃一結束，則本體框體2自走返回至充電座40。藉此，充電端子4接觸於端子部41使電池14進行充電。 Upon completion of the cleaning, the body casing 2 returns to the charging stand 40 by itself. Thereby, the charging terminal 4 comes into contact with the terminal portion 41 to charge the battery 14.
又，根據設定，可在本體框體2之返回狀態下，於電池14之充電中或充電結束後，驅動電動送風機22及離子產生裝置28。藉此，自排氣口7向上方後方送出含有離子之氣流。由於充電端子4設置於本體框體2之後端，故含有離子之氣流於充電座40之方向流通，沿著側壁S上升。該氣流沿著室內之天花板壁及對向之側壁流通。因此，離子可遍佈於室內整體，從而提高除菌效果或脫臭效果。 Further, according to the setting, the electric blower 22 and the ion generating device 28 can be driven during or after the charging of the battery 14 in the return state of the main body casing 2. Thereby, the airflow containing ions is sent from the exhaust port 7 to the upper rear side. Since the charging terminal 4 is provided at the rear end of the main body casing 2, the air containing ions flows in the direction of the charging stand 40 and rises along the side wall S. The airflow circulates along the ceiling wall of the room and the opposite side walls. Therefore, the ions can be spread throughout the room, thereby improving the sterilization effect or the deodorizing effect.
根據本實施形態，於前輪27與驅動輪29之間配置吸入口6，於平坦之地板F自走時，前輪27與地板F脫離，驅動輪29及後輪26接地。藉此，不會因前輪27而遮擋地板F上之垃圾，從而可提高清掃機器人1之集塵能力。又，由於纖維狀之垃圾不會纏住前輪27，故可防止本體框體2之運行異常。 According to the present embodiment, the suction port 6 is disposed between the front wheel 27 and the drive wheel 29. When the flat floor F is self-propelled, the front wheel 27 is separated from the floor F, and the drive wheel 29 and the rear wheel 26 are grounded. Thereby, the garbage on the floor F is not blocked by the front wheel 27, and the dust collecting ability of the cleaning robot 1 can be improved. Further, since the fibrous waste does not entangle the front wheel 27, the operation of the main body casing 2 can be prevented from being abnormal.
又，亦可將驅動輪29之旋轉軸29a自本體框體2之中心線 C上偏移而配置，但如本實施形態所示，若將旋轉軸29a配置於中心線C上則更佳。藉此，可使驅動輪29之兩輪於相反方向旋轉，從而容易於相同之位置改變本體框體2之方向。此時，如本實施形態所示，若本體框體2俯視時形成為圓形，則可防止改變方向時，本體框體2與障礙物之碰撞。 Moreover, the rotating shaft 29a of the driving wheel 29 can also be from the center line of the body frame 2 C is arranged to be offset, but as shown in the present embodiment, it is more preferable to arrange the rotating shaft 29a on the center line C. Thereby, the two wheels of the drive wheel 29 can be rotated in the opposite direction, so that the direction of the body casing 2 can be easily changed at the same position. At this time, as shown in the present embodiment, when the main body casing 2 is formed in a circular shape in plan view, it is possible to prevent the main body casing 2 from colliding with the obstacle when the direction is changed.
又，由於進行清掃時旋轉刷9接地，故可藉由旋轉刷9、驅動輪29及後輪26，使前輪27自地板F脫離之本體框體2更穩定接地。 Further, since the rotating brush 9 is grounded during cleaning, the rotating body 9, the driving wheel 29, and the rear wheel 26 can be used to more stably ground the front body 27 from the floor F.
又，由於在驅動輪29與後輪26之間配置電池14及控制基板15，故可藉由電池14及控制基板15之重量，使後輪27自地板F脫離之本體框體2以驅動輪29及後輪26穩定接地。 Moreover, since the battery 14 and the control board 15 are disposed between the drive wheel 29 and the rear wheel 26, the rear wheel 27 can be detached from the floor F by the weight of the battery 14 and the control board 15 to drive the wheel. 29 and the rear wheel 26 are stably grounded.
根據本發明，可利用於在地板上自走之清掃機器人。 According to the present invention, it is possible to use a cleaning robot for self-propelled on the floor.
1‧‧‧清掃機器人 1‧‧‧ cleaning robot
2‧‧‧本體框體 2‧‧‧ body frame
3‧‧‧蓋部 3‧‧‧ Cover
4‧‧‧充電端子 4‧‧‧Charging terminal
6‧‧‧吸入口 6‧‧‧Inhalation
7‧‧‧排氣口 7‧‧‧Exhaust port
8‧‧‧凹部 8‧‧‧ recess
9‧‧‧旋轉刷 9‧‧‧Rotary brush
10‧‧‧側刷 10‧‧‧ side brush
11‧‧‧第1吸氣路 11‧‧‧1st inspiratory road
12‧‧‧第2吸氣路 12‧‧‧2nd inhalation path
14‧‧‧電池 14‧‧‧Battery
15‧‧‧控制基板 15‧‧‧Control substrate
18‧‧‧地板檢測感測器 18‧‧‧Floor detection sensor
19‧‧‧地板檢測感測器 19‧‧‧Floor detection sensor
20‧‧‧馬達單元 20‧‧‧Motor unit
21‧‧‧殼體 21‧‧‧ housing
22‧‧‧電動送風機 22‧‧‧Electric blower
22a‧‧‧馬達外殼 22a‧‧‧Motor housing
23‧‧‧開口部 23‧‧‧ openings
24a‧‧‧第1排氣路 24a‧‧‧1st exhaust road
24b‧‧‧第2排氣路 24b‧‧‧2nd exhaust road
25‧‧‧回流口 25‧‧‧Return port
25a‧‧‧突出部 25a‧‧‧Protruding
26‧‧‧後輪 26‧‧‧ Rear wheel
27‧‧‧前輪 27‧‧‧ front wheel
28‧‧‧離子產生裝置 28‧‧‧Ion generator
28a‧‧‧電極 28a‧‧‧electrodes
29‧‧‧驅動輪 29‧‧‧Drive wheel
30‧‧‧集塵部 30‧‧‧Dust collection department
31‧‧‧集塵容器 31‧‧‧dust container
32‧‧‧上部蓋體 32‧‧‧Upper cover
32a‧‧‧扣止部 32a‧‧‧Deduction Department
33‧‧‧過濾器 33‧‧‧Filter
34‧‧‧流入路 34‧‧‧Incoming road
34a‧‧‧流入口 34a‧‧‧Inlet
34b‧‧‧流入部 34b‧‧‧Inflows
35‧‧‧流出路 35‧‧‧Outflow
35a‧‧‧流出口 35a‧‧‧Export
39‧‧‧集塵室 39‧‧‧dust room
40‧‧‧充電座 40‧‧‧ charging stand
41‧‧‧端子部 41‧‧‧ Terminals
F‧‧‧地板 F‧‧‧Floor
S‧‧‧側壁 S‧‧‧ side wall
圖1係顯示本發明之實施形態之清掃機器人之立體圖。 Fig. 1 is a perspective view showing a cleaning robot according to an embodiment of the present invention.
圖2係顯示本發明之實施形態之清掃機器人之側視剖面圖。 Fig. 2 is a side sectional view showing the cleaning robot according to the embodiment of the present invention.
圖3係顯示本發明之實施形態之清掃機器人之仰視圖。 Fig. 3 is a bottom view showing the cleaning robot according to the embodiment of the present invention.
圖4係顯示將本發明之實施形態之清掃機器人之集塵部拆卸後之狀態的側視剖面圖。 Fig. 4 is a side cross-sectional view showing a state in which the dust collecting portion of the cleaning robot according to the embodiment of the present invention is removed.
圖5係顯示本發明之實施形態之清掃機器人之馬達單元的立體圖。 Fig. 5 is a perspective view showing a motor unit of the cleaning robot according to the embodiment of the present invention.
圖6係顯示本發明之實施形態之清掃機器人之馬達單元 的前視圖。 6 is a view showing a motor unit of a cleaning robot according to an embodiment of the present invention; Front view.
圖7係顯示本發明之實施形態之清掃機器人之馬達單元的俯視圖。 Fig. 7 is a plan view showing a motor unit of the cleaning robot according to the embodiment of the present invention.
圖8係顯示本發明之實施形態之清掃機器人之馬達單元的側視圖。 Fig. 8 is a side view showing a motor unit of the cleaning robot according to the embodiment of the present invention.
1‧‧‧清掃機器人 1‧‧‧ cleaning robot
2‧‧‧本體框體 2‧‧‧ body frame
3‧‧‧蓋部 3‧‧‧ Cover
4‧‧‧充電端子 4‧‧‧Charging terminal
6‧‧‧吸入口 6‧‧‧Inhalation
7‧‧‧排氣口 7‧‧‧Exhaust port
8‧‧‧凹部 8‧‧‧ recess
9‧‧‧旋轉刷 9‧‧‧Rotary brush
10‧‧‧側刷 10‧‧‧ side brush
11‧‧‧第1吸氣路 11‧‧‧1st inspiratory road
12‧‧‧第2吸氣路 12‧‧‧2nd inhalation path
14‧‧‧電池 14‧‧‧Battery
15‧‧‧控制基板 15‧‧‧Control substrate
20‧‧‧馬達單元 20‧‧‧Motor unit
21‧‧‧殼體 21‧‧‧ housing
22‧‧‧電動送風機 22‧‧‧Electric blower
26‧‧‧後輪 26‧‧‧ Rear wheel
27‧‧‧前輪 27‧‧‧ front wheel
29‧‧‧驅動輪 29‧‧‧Drive wheel
30‧‧‧集塵部 30‧‧‧Dust collection department
31‧‧‧集塵容器 31‧‧‧dust container
32‧‧‧上部蓋體 32‧‧‧Upper cover
33‧‧‧過濾器 33‧‧‧Filter
34‧‧‧流入路 34‧‧‧Incoming road
34b‧‧‧流入部 34b‧‧‧Inflows
35‧‧‧流出路 35‧‧‧Outflow
39‧‧‧集塵室 39‧‧‧dust room
40‧‧‧充電座 40‧‧‧ charging stand
41‧‧‧端子部 41‧‧‧ Terminals
F‧‧‧地板 F‧‧‧Floor
S‧‧‧側壁 S‧‧‧ side wall
Claims (4)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011214466A JP5159934B1 (en) | 2011-09-29 | 2011-09-29 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201320947A true TW201320947A (en) | 2013-06-01 |
| TWI486142B TWI486142B (en) | 2015-06-01 |
Family
ID=47995089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101134535A TWI486142B (en) | 2011-09-29 | 2012-09-20 | Cleaning robots |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5159934B1 (en) |
| CN (1) | CN203736120U (en) |
| TW (1) | TWI486142B (en) |
| WO (1) | WO2013047039A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013075175A (en) * | 2012-12-04 | 2013-04-25 | Sharp Corp | Cleaning robot |
| EP2912981B1 (en) * | 2014-02-28 | 2019-09-04 | Samsung Electronics Co., Ltd. | Autonomous cleaner |
| JP6774736B2 (en) * | 2015-03-09 | 2020-10-28 | シャープ株式会社 | Self-propelled electronic equipment |
| KR101660749B1 (en) | 2015-07-28 | 2016-10-10 | 엘지전자 주식회사 | Robot Cleaner |
| KR101678443B1 (en) | 2015-09-23 | 2016-12-06 | 엘지전자 주식회사 | Robot Cleaner |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3030345B1 (en) * | 1998-11-02 | 2000-04-10 | 工業技術院長 | Wheelchair wheel casters |
| JP2000202792A (en) * | 1999-01-14 | 2000-07-25 | Sharp Corp | Cleaning robot |
| JP4195968B2 (en) * | 2002-06-14 | 2008-12-17 | パナソニック株式会社 | Self-propelled vacuum cleaner |
| JP4277214B2 (en) * | 2004-11-30 | 2009-06-10 | 日立アプライアンス株式会社 | Self-propelled vacuum cleaner |
| JP3114865U (en) * | 2005-07-15 | 2005-10-27 | 株式会社クリエイション団 | caster |
| JP5430886B2 (en) * | 2008-06-30 | 2014-03-05 | 株式会社東芝 | Electric vacuum cleaner |
-
2011
- 2011-09-29 JP JP2011214466A patent/JP5159934B1/en active Active
-
2012
- 2012-08-24 WO PCT/JP2012/071402 patent/WO2013047039A1/en active Application Filing
- 2012-08-24 CN CN201290000744.8U patent/CN203736120U/en not_active Expired - Lifetime
- 2012-09-20 TW TW101134535A patent/TWI486142B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| CN203736120U (en) | 2014-07-30 |
| TWI486142B (en) | 2015-06-01 |
| JP5159934B1 (en) | 2013-03-13 |
| WO2013047039A1 (en) | 2013-04-04 |
| JP2013070953A (en) | 2013-04-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |