M427117 五、新型說明： 【新型所屬之技術領域】 [0001] 本創作係有關一種地板清潔機的自動轉向架構，尤指一 種可讓地板清潔機遇障礙後轉向的自動轉向架構。 【先前技術】 [0002] 隨著生活水準的提升，居家環境之清潔越來越受人們所 重視，一般而言，在地板的清潔工作上，拖把是人們最 普遍使用的清潔器具之一，然而，在科技迅速發展的情 況下，除了傳統手動操作的清潔工具之外，更衍生出不 需手動操作的自動清潔裝置。 [0003] 如中華民國第M3771 97號專利案所示，其揭露一種自動清 潔機器人之脫困系統，包括：一本體，為一具自走控制 邏輯之自動清潔機器人，内部設有一動作控制單元，為 一藉由邏輯設定進而可控制本體之移動動作的電子元件 總成，本體底部處設有一移動裝置，其電性連結於動作 控制單元並受其驅動而控制本體之動作；至少一輔助輪 ，設於本體之底部，配合移動裝置以支撐本體之重量並 維持本體於立態、行進時之平穩，且輔助輪於輪面兩側 壁間貫穿設有至少一透孔，以使輔助輪於旋轉時可間歇 性地遮掩其輪面兩側壁間之透光；一感測組件，包含相 互對應之一發訊元件及一收訊元件，該發訊、收訊元件 為利用特定之光源進行訊號傳感之電子元件，其設於辅 助輪之兩側，且對應於輔助輪之透孔，當辅助輪旋轉時 ，，則發訊元件所射出之光源訊號可透過輔助輪上之透孔 而間歇性地傳遞至收訊元件上，且收訊元件電性連接至 表單编號A0101 第4頁/共19頁 本體之動作控制單元。所以，當本體受阻無法行進時， 不受機械力驅動之輔助輪將因本體未受任何推進動作而 靜止不旋轉，如此一來於發、收訊元件間之光傳導將不 會因輔助輪的轉動而呈間歇性的傳導，故藉此作為判斷 本體停止行進之依據，而後下達退後之指令將可以確實 達到讓本體脫困之目的。 [0004] [0005] 該專利案係以「收訊元件是否間歇性收訊」作為判斷基 準，因此需待輔助輪完全停止後才能判斷，尤其在 特殊狀況下，·輔助輪並不會馬上停止，例如，輔助輪: 進至階梯而懸空時’會繼續旋轉—陣子後才停止，或者 清潔機撞到障礙物時，輔助輪會先倒轉再正轉，相 擊力道完全吸收後才停止’如此〜來_ * ^ 里 采，該專利案便I法 在清潔機遇到突發狀況的第-時路就作出準 *、、、 延誤了轉向的時機，可能會造成清潔機摔落錢壞等= 象0 【新型内容】 ，在清潔機遇 防止清潔機因 本創作的主要目的·，在於解決上述之缺失 到突發狀況的第一時間觸發進行轉向，以 突發狀況而損壞° _為達上述目的，本創作提出-種地板清潔機的自動 架構，其包括設置於該地板清潔機的—驅動輪組與_輔 助輪組，該驅動輪組用以控制該地板清潔機的行進方向 ，而該輔助輪組具有-柩接於該地板清潔機的輪架該 輪架設有一可於地面的滾動的輪體以及一第—制動老μ 當輪體未接觸地面而懸空時，該輪架。 卞j運動该輪體與該 表單编號A0101 第5頁/共19頁 M427117 第一制動部相對該地板清潔機產生一柩轉行程；且該地 板清潔機前方另設有一緩衝模組，該緩衝模組具有一緩 衝體，該緩衝體延伸設有一第二制動部，且該緩衝體於 該地板清潔機行進中撞到障礙物時，將受障礙物推動而 連動該第二制動部相對該地板清潔機產生一位移行程； 且該地板清潔機透過一偵測模組偵測該第一制動部的樞 轉行程與該第二制動部的位移行程，來判斷該地板清潔 機是否懸空或撞到障礙物，並對應輸出一第一偵測訊號 與一第二偵測訊號至一控制模組，使該控制模組決定是 否觸發該驅動輪組驅動該地板清潔機轉向。 【實施方式】 [0007] 有關本創作之詳細說明及技術内容，現就配合圖式說明 如下： [0008] 請參閱『圖1』及『圖2』所示，本創作係為一種地板清 潔機的自動轉向架構，其包括有一驅動輪組20、一輔助 輪組30、一緩衝模組40、一偵測模組50、以及一控制模 組60。其中，該驅動輪組20係設置於該地板清潔機10上 ，用以控制該地板清潔機10的行進方向；而該輔助輪組 30具有一樞接於該地板清潔機1〇的輪架31，該輪架31設 有一可於地面滚動的輪體32以及一第一制動部33，且該 輪架31可連動該輪體32與該第一制動部33相對該地板清 潔機10產生一樞轉行程，此外，該地板清潔機10固設有 一位於該輪架31上方的蓋體34，該蓋體34具有一容置空 間341(如『圖3-1』）以容納一彈性體35，且該彈性體35 兩端抵掣該蓋體34與該輪架31，使該輪體32常態受抵掣 表單编號A0101 第6頁/共19頁 而向下支撐於地面。 [0009] 該緩衝模組40具有一設置於該地板清潔機1 0前方的缓衝 體，該緩衝體包含一設置於該地板清潔機10的活動板41 ，以及一設置於該活動板41上的擋板42，且該活動板41 伸設有一第二制動部411 ;而在本創作的圖式中，該地板 清潔機10設有一固定柱11，而該活動板41設有一穿套於 該固定柱11的活動孔412，且該活動板41設有一定位孔 413，而該擋板42設有一穿置固定於該定位孔413的定位 柱421 (如『圖3-1』）；另外，該地板清潔機10與該活動 板41設有對應的容置槽12、414，且分別於容置槽12、 414設有一插設部13、415，並於該活動板41與該地板清 潔機10之間設置一支樓體43 *以該支樓體43兩端分別設 置於該地板清潔機10與該活動板41的容置槽12、414， 並插置於該插設部13、415上，使該擋板42常態受支撐而 向前，令該緩衝體受障礙物推動而連動該第二制動部411 相對該地板清潔機10產生一位移行程。 [0010] 該偵測模組50具有一基板51，該基板51設有一用於偵測 該第一制動部33的第一偵測器52，以及一用於偵測該第 二制動部411的第二偵測器53，主要係偵測該第一制動部 33的樞轉行程與該第二制動部411的位移行程，並對應輸 出一第一偵測訊號與一第二偵測訊號，該第一偵測器52 與該第二偵測器53係為光感應器。該控制模組60係為一 電性連接該偵測模組50的電路板，且取得該第一偵測訊 號與該第二偵測訊號，以決定是否觸發該驅動輪組20驅 動該地板清潔機10轉向，如是構成本創作的主要架構。 表單编號A0101 第7頁/共19頁 M427117 [0011] 請參閱『圖3-1』至『圖3_2』所示，當該地板清潔機10 在地面上行進時’該輔助輪組30的輪體32係支撐於地面 ’並以該輪架31向上壓縮該彈性體3 5，此時，該第一制 動部33位於該偵測模組5〇的第一偵測器52中（如『圖3-1 』），當該地板清潔機10的輔助輪組30行進至有落差的區 域時’例如階梯，該辅助輪組30的輪體32將脫離地面’ 且該彈性體35將抵掣該輪架31，使該輪架31連動該輪體 32與該第一制動部33產生樞轉行程，導致該第一制動部 33脫離該第一偵測器52 (如『圖3-2』），令該第一偵測 器52輸出第一偵測訊號至前述的控制模組60，使該控制 模組60觸發該驅動輪組2〇驅動該地板清潔機1〇轉向，防 止該地板清潔機1 〇摔落而損壞。 [0012] 再請參閱『圖4-1』至『圖4-2』所示，當該地板清潔機 10在地面上行進時，該緩衝模組4〇的活動板4丨與擋板42 受該支撐體43支撐向前，此時，該第二制動部411脫離該 偵測模組50的第二偵測器53(如『圖4-1』）；當該地板 清潔機10的擋板42碰撞至障礙物時，如牆壁，該緩衝模 組40的擋板42與活動板41將受障礙物推動，而壓縮該支 撐體43並連動該第二制動部411產生位移行程，使該第二 制動部411位於該第二偵測器53中（如『圖4-2』），令該 第二偵測器53輸出第二偵測訊號至該控制模組6〇 ,使該 控制模組6 0觸發該驅動輪組2 0驅動該地板清潔機丨〇轉向 ，防止該地板清潔機10停靠在障礙物。 [0013] 綜上所述，本創作的偵測模組50主要是透過該輔助輪組 30偵測該地板清潔機1 0是否懸空，並透過該緩衝模組4〇 表單编號A0101 第8頁/共19頁 M427117 偵測該地板清潔機ίο是否遇到障礙物，並輸出第一偵測 訊號或第二偵測訊號至該控制模組60，使該地板清潔機 10如『圖5』所示，於原地進行轉向。 [0014] 上述僅為本創作的較佳實施例而已，並非用來限定本創 作之實施範圍，即凡依本創作申請專利範圍之内容所為 的等效變化與修飾，皆應為本創作之技術範疇。 【圖式簡單說明】 [0015] 圖1，係為本創作的外觀示意圖。M427117 V. New Description: [New Technology Field] [0001] This creation is about the automatic steering architecture of a floor cleaning machine, especially an automatic steering structure that can make the floor cleaning opportunities hinder the steering. [Prior Art] [0002] With the improvement of living standards, the cleaning of the home environment has become more and more important. In general, mop is one of the most commonly used cleaning appliances in the cleaning of floors. In the case of rapid technological development, in addition to the traditional manual operation of the cleaning tool, an automatic cleaning device that does not require manual operation is derived. [0003] As shown in the Patent No. M3771 97 of the Republic of China, it discloses a system for removing the trap of an automatic cleaning robot, comprising: a body, an automatic cleaning robot with a self-propelled control logic, and an action control unit inside, An electronic component assembly capable of controlling the movement of the body by logic setting, a mobile device is disposed at the bottom of the body, and is electrically connected to the motion control unit and driven to control the action of the body; at least one auxiliary wheel is provided At the bottom of the body, the moving device is matched to support the weight of the body and maintain the body in a standing state and smooth during traveling, and the auxiliary wheel is provided with at least one through hole between the two sidewalls of the wheel surface so that the auxiliary wheel can rotate when rotated. Intermittently obscuring the light transmission between the two sidewalls of the wheel surface; a sensing component comprising a corresponding one of the transmitting component and the receiving component, wherein the transmitting and receiving components are used for signal sensing by using a specific light source The electronic component is disposed on both sides of the auxiliary wheel and corresponds to the through hole of the auxiliary wheel. When the auxiliary wheel rotates, the light source signal emitted by the transmitting component It can be intermittently transmitted to the receiving component through the through hole on the auxiliary wheel, and the receiving component is electrically connected to the motion control unit of the main body of Form No. A0101. Therefore, when the body is blocked and cannot travel, the auxiliary wheel that is not driven by the mechanical force will be stationary and not rotated because the body is not subjected to any propulsion action, so that the light transmission between the transmitting and receiving components will not be caused by the auxiliary wheel. Rotation and intermittent conduction, so as a basis for judging the body to stop travel, and then the command to retreat will be able to achieve the purpose of getting the body out of sleep. [0004] [0005] The patent case uses "whether the receiving component is intermittently received" as a criterion for judgment, so it is necessary to wait until the auxiliary wheel is completely stopped before judging, especially under special circumstances, the auxiliary wheel does not stop immediately. For example, the auxiliary wheel: When it enters the ladder and hangs, it will continue to rotate - it will stop after a while, or when the cleaning machine hits an obstacle, the auxiliary wheel will reverse and then rotate forward, and the phase of the force will be completely absorbed before stopping. ~来来_ * ^ 里采, the patent case I method in the cleaning machine encountered a sudden situation of the first time to make the right *,,, delay the timing of the steering, may cause the cleaning machine to fall money and so on = Like 0 [new content], in the cleaning opportunity to prevent the cleaning machine due to the main purpose of this creation, is to solve the above-mentioned lack of the first time triggered to turn, the situation is damaged by sudden situation ° _ for the above purpose The present invention proposes an automatic structure of a floor cleaning machine, which includes a driving wheel set and a _ auxiliary wheel set disposed on the floor cleaning machine, the driving wheel set is used to control the traveling direction of the floor cleaning machine, and The auxiliary wheel set has a wheel frame that is coupled to the floor cleaning machine. The wheel carrier is provided with a wheel body that can roll on the ground and a first wheel brake. When the wheel body is not in contact with the ground and is suspended, the wheel frame.卞j 运动 The wheel body and the form number A0101 page 5 / 19 pages M427117 The first brake portion generates a twisting stroke relative to the floor cleaning machine; and the floor cleaning machine is further provided with a buffer module in front of the floor cleaning machine, the buffer The module has a buffer body, and the buffer body extends with a second braking portion, and the buffer body pushes the obstacle to move the second braking portion relative to the floor when the floor cleaning machine hits the obstacle during the running of the floor cleaning machine. The cleaning machine generates a displacement stroke; and the floor cleaning machine detects the pivoting stroke of the first braking portion and the displacement stroke of the second braking portion through a detecting module to determine whether the floor cleaning machine is suspended or hits The obstacle device outputs a first detection signal and a second detection signal to a control module, so that the control module determines whether to trigger the driving wheel set to drive the floor cleaning machine to turn. [Embodiment] [0007] The detailed description and technical contents of this creation are as follows: [0008] Please refer to Figure 1 and Figure 2, this is a floor cleaning machine. The automatic steering structure includes a driving wheel set 20, an auxiliary wheel set 30, a buffer module 40, a detecting module 50, and a control module 60. The driving wheel set 20 is disposed on the floor cleaning machine 10 for controlling the traveling direction of the floor cleaning machine 10; and the auxiliary wheel set 30 has a wheel frame 31 pivotally connected to the floor cleaning machine 1〇. The wheel frame 31 is provided with a wheel body 32 that can roll on the ground and a first braking portion 33, and the wheel frame 31 can interlock the wheel body 32 with the first braking portion 33 to generate a In addition, the floor cleaning machine 10 is provided with a cover body 34 above the wheel frame 31. The cover body 34 has an accommodating space 341 (such as FIG. 3-1) to accommodate an elastic body 35. And the two ends of the elastic body 35 abut against the cover body 34 and the wheel frame 31, so that the wheel body 32 is normally supported on the ground downward by the form number A0101, page 6 of 19 pages. The buffer module 40 has a buffer body disposed in front of the floor cleaning machine 10, the buffer body includes a movable panel 41 disposed on the floor cleaning machine 10, and a buffer plate 41 is disposed on the movable panel 41. a baffle 42 and a second braking portion 411 extending from the movable plate 41. In the present drawing, the floor cleaning machine 10 is provided with a fixing post 11 and the movable plate 41 is provided with a sleeve. The movable hole 412 of the fixing column 11 is disposed, and the movable plate 41 is provided with a positioning hole 413, and the baffle 42 is provided with a positioning post 421 which is fixed to the positioning hole 413 (as shown in FIG. 3-1); The floor cleaning machine 10 and the movable panel 41 are provided with corresponding accommodating slots 12, 414, and an insertion portion 13, 415 is disposed in the accommodating slots 12, 414, respectively, and the movable panel 41 and the floor cleaning machine are provided. A slab 43 is disposed between the slabs. The slabs are disposed on the floor cleaning machine 10 and the accommodating slots 12 and 414 of the movable panel 41, and are inserted into the insertion portions 13 and 415. Up, the baffle 42 is normally supported and forwarded, and the buffer body is pushed by the obstacle to interlock the second braking portion 411 relative to the floor. The cleaner 10 produces a displacement stroke. The detection module 50 has a substrate 51. The substrate 51 is provided with a first detector 52 for detecting the first braking portion 33, and a second detecting portion 411 for detecting the second braking portion 411. The second detector 53 mainly detects the pivoting stroke of the first braking portion 33 and the displacement stroke of the second braking portion 411, and correspondingly outputs a first detection signal and a second detection signal. The first detector 52 and the second detector 53 are light sensors. The control module 60 is a circuit board electrically connected to the detecting module 50, and obtains the first detecting signal and the second detecting signal to determine whether to trigger the driving wheel set 20 to drive the floor cleaning. Machine 10 turns, if it constitutes the main structure of this creation. Form No. A0101 Page 7 of 19 M427117 [0011] Please refer to Figure 3-1 to Figure 3_2 for the wheel of the auxiliary wheel set 30 when the floor cleaning machine 10 is traveling on the ground. The body 32 is supported on the ground and the upper body 33 is compressed upward by the wheel frame 31. At this time, the first braking portion 33 is located in the first detector 52 of the detecting module 5 (eg, 3-1 』), when the auxiliary wheel set 30 of the floor cleaning machine 10 travels to the area with a drop, such as a step, the wheel body 32 of the auxiliary wheel set 30 will be off the ground and the elastic body 35 will resist The wheel frame 31 causes the wheel frame 31 to interlock with the first braking portion 33 to cause a pivoting stroke, so that the first braking portion 33 is disengaged from the first detector 52 (as shown in FIG. 3-2). The first detector 52 outputs the first detection signal to the foregoing control module 60, so that the control module 60 triggers the driving wheel set 2 to drive the floor cleaning machine 1 〇 to prevent the floor cleaning machine. 1 〇 fell and damaged. [0012] Referring to FIG. 4-1 to FIG. 4-2, when the floor cleaning machine 10 is traveling on the ground, the movable panel 4丨 of the buffer module 4〇 and the baffle 42 are subjected to The support body 43 supports the forward direction. At this time, the second braking portion 411 is separated from the second detector 53 of the detecting module 50 (such as FIG. 4-1); when the floor cleaning machine 10 is used as the baffle When the object 42 collides with an obstacle, such as a wall, the baffle 42 and the movable plate 41 of the buffer module 40 are pushed by the obstacle, and the support body 43 is compressed and the second braking portion 411 is interlocked to generate a displacement stroke. The second detecting unit 53 is located in the second detecting unit 53 (such as FIG. 4-2), and the second detecting unit 53 outputs a second detecting signal to the control module 6〇 to enable the control module. The triggering of the drive wheel set 20 drives the floor cleaning machine to turn, preventing the floor cleaning machine 10 from docking at an obstacle. [0013] In summary, the detection module 50 of the present invention mainly detects whether the floor cleaning machine 10 is suspended through the auxiliary wheel set 30, and transmits the buffer module 4 through the buffer module 4, Form No. A0101, page 8. / 19 pages of M427117 detect whether the floor cleaning machine ίο encounters an obstacle and outputs a first detection signal or a second detection signal to the control module 60, so that the floor cleaning machine 10 is as shown in FIG. Show, turn in place. The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of implementation of the present invention, that is, the equivalent changes and modifications of the content of the patent application scope of the present invention should be the technology of the creation. category. BRIEF DESCRIPTION OF THE DRAWINGS [0015] FIG. 1 is a schematic view of the appearance of the present creation.
[0016] 圖2，係為本創作的分解示意圖。 [0017] 圖3-l·至圖3-2，係為本創作的作動示意圖（一）。 [0018] 圖4-1至圖4-2，係為本創作的作動示意圖（二）。 [0019] 圖5，係為本創作的轉向示意圖。 【主要元件符號說明】 [0020] 10.............地板清潔機[0016] FIG. 2 is an exploded perspective view of the present creation. [0017] FIG. 3-l to FIG. 3-2 are schematic diagrams of the operation of the present creation (1). [0018] FIG. 4-1 to FIG. 4-2 are schematic diagrams of the operation of the present creation (2). [0019] FIG. 5 is a schematic diagram of the steering of the present creation. [Main component symbol description] [0020] 10.............floor cleaning machine
[0021] 11.............固定柱 [0022] 12.............容置槽 [0023] 13.............插設部 [0024] 20....... ......驅動輪組 [0025] 30....... ......輔助輪組 [0026] 31...... · ......輪架 [0027] 32....... .......輪體 表單编號A0101 第9頁/共19頁 M427117 [0028] 33...... .......第一制動部 [0029] 34...... .......蓋體 [0030] 341...... [0031] 35...... .......彈性體 [0032] 40....... .......緩衝模組 [0033] 41....... [0034] 411...... .......第二制動部 [0035] 412...... .......活動孔 [0036] 413...... .......定位孔 [0037] 414...... .......容置槽 [0038] 415...... .......插設部 [0039] 42....... .......擋板 [0040] 421....... .......定位柱 [0041] 43....... .......支撐體 [0042] 50....... [0043] 51....... .......基板 [0044] 52....... ......第一偵測器 [0045] 53....... ......第二偵測器 [0046] 60....... 表單编號A0101 第10頁/共19頁[0021] 11.............fixed column [0022] 12............. accommodating groove [0023] 13....... ......Interposer [0024] 20.............Drive wheel set [0025] 30.............Auxiliary wheel set [ 0026] 31... · ...... Wheel carrier [0027] 32....... ....... Wheel form number A0101 Page 9 of 19 M427117 [0028] 33..................First Brake [0029] 34.................. Cover [0030] 341... [0031] 35.................. Elastomer [0032] 40................... Buffer module [0033] 41... [0034] 411..................Second brake [0035] 412...... .......active hole [0036] 413..... .............Positioning hole [0037] 414...... ....... accommodating groove [0038] 415.................. [0039] 42.............Baffle [0040] 421...................Positioning column [0041] 43... . . . Support [0042] 50....... [0043] 51...................Substrate [0044] 52... .......First Detector [0045] 53....... ......Second Detector [0046] 60....... Form No. A0101 10 pages / total 19 pages