JP3149266U - Self-propelled cleaner - Google Patents

Abstract

A self-propelled cleaner that goes up stairs and passes over obstacles is provided. A plurality of ball casters 12 that are arbitrarily rolled by receiving an external force action are provided on the bottom side periphery of a pedestal 1, and foreign matter and ash dust on the moving path are collected on the pedestal by the movement of the pedestal. A dust collector and a lift drive mechanism 3 are provided, which drive the two parallel extended first arms 4 and the two parallel extended second arms 5 through an interlocking mechanism to extend outwardly, thereby the pedestal. The lift drive mechanism further includes a first gear set 32 and a second gear set 34 that rotate in opposite directions, the movable ends of the two first arms. The driving wheel 41 provided on the movable arm, the driven wheel provided at the movable end of the two second arms, and provided on the middle stage of each first arm, each driving wheel is driven and rotated in the forward and reverse directions to move the pedestal. It has multiple driving power sources. [Selection] Figure 3

Description

  The present invention relates to a kind of self-propelled cleaner, and more particularly to a self-propelled cleaner that can go up stairs, pass over obstacles, and reach a set position by overcoming the difference in terrain.

  With the advancement of science and technology, the application of various automation devices has gradually evolved from the past large-scale production equipment to small precision life goods, thereby making daily life more convenient. Of these, self-propelled cleaners (cleaning robots) are typical of daily life applications.

  A known self-propelled cleaner is provided with at least one dust collecting device on a pedestal, and a roller-type wiping paper or a rotating brush is provided below the dust collecting device, if necessary. A plurality of moving devices (for example, wheels, caterpillars) are provided, and the moving device is driven by a power device (motor and reduction gear box) provided on the pedestal to move the pedestal and wipe The surface of the object is cleaned along the path of movement of the pedestal with paper or a rotating brush, and the ash dust or dust swept out by the dust collector is collected. However, such a self-propelled cleaner can perform straight running, spiral running, wall-side running or zigzag running on one plane, but has a projection (door frame or step structure, etc.) on the plane to be cleaned. Therefore, it cannot move continuously, the operator has to lift it, forms inconvenience in use, limits the application scene, and cannot achieve a true automation function.

  For this reason, the present inventor submitted Patent Document 1, which has a structure in which a dust collecting device is provided in the center of the pedestal, and a filter device is provided at the inlet portion below the dust collecting device. Provided with a plurality of rings extending downward on the side periphery, and optionally rotating balls at the bottom of each ring, and two first arms extending in parallel on one of the two opposite sides of the upper part of the pedestal Two second arms extending parallel to the other are provided, and the first and second gears and the belt are driven by the motor to drive the two shaft rods, whereby the first and second arms are moved to the pedestal. It can be expanded outward or folded inward. Among them, a driven wheel is provided at the outer ends of the two second arms, a power wheel is provided at the outer ends of the two first arms, and a plurality of running gears and belts are provided by two motors provided on the pedestal. To transmit power to the two power wheels, so that when the cleaner is used on a flat surface, the first and second arms are folded into the pedestal and the power wheels (combined with ball casters). Touch with the ground and run. When it is necessary to crawl up, the first and second arms are extended outward and out of the pedestal, and the pedestal is supported and lifted to an appropriate height. It responds to the demand for movement on different terrain.

Taiwan Utility Model Registration No. 096100909 Specification

  However, in the structure described above, the power source (motor) of the power wheel is installed on the pedestal, and the power needs to be transmitted to the power wheel at the outer end portion of the first arm by the belt. In addition to a plurality of gears connected to the belt and two pulleys coupled to the belt end, different separated rotational states of the first arm and belt (and pulley) must be overcome, so that the entire The structure is complicated, extremely inconvenient in assembly, increases production costs, is not easy to disassemble, is disadvantageous for repair maintenance work, cannot withstand relatively large transmission power, It is easily worn away by use and affects transmission efficiency.

  Therefore, the main object of the present invention is to provide a self-propelled cleaner that effectively simplifies the overall structure and has increased convenience during production and overhaul.

  Another object of the present invention is to provide a self-propelled cleaner having good power transmission efficiency and a relatively long service life.

The technical means employed by the present invention to achieve the above-described object include the following. That is, the present invention
A pedestal comprising a plurality of ball casters that are arbitrarily rolled by receiving an external force action on the bottom side periphery;
A dust collector, provided on the pedestal, for collecting foreign matter and ash on the movement path by the movement of the pedestal;
A lift drive mechanism comprising at least one lift power source provided on the pedestal and outputting power through at least one interlocking device;
A first arm set comprising at least two first arms extending in parallel, and an interlocking device of the lift drive mechanism is coupled to one end of each first arm and rotated by receiving the drive. Then, the first arm set that is expanded outward or folded inward and provided with a drive wheel at the other end of the first arm;
A second arm set comprising at least two second arms extending in parallel, and an interlocking device of the lift drive mechanism is coupled to one end of each second arm, and receives the drive to receive the second arm set; The second arm set rotating in the opposite direction to the first arm set and deployed outward or folded inward and provided with a driven wheel at the other end of the second arm;
A plurality of traveling power sources, provided in the middle stage of each first arm, driving each driving wheel to rotate forward and reverse;
Is included.

  The present invention provides a self-propelled cleaner that effectively simplifies the overall structure and increases convenience during production and overhaul. The present invention also provides a self-propelled cleaner that has good power transmission efficiency and a relatively long service life.

It is a structure display figure of 1st Example of this invention. It is a three-dimensional view of the general running state of the first embodiment of the present invention. It is a side view of the general driving | running | working state of 1st Example of this invention. It is a three-dimensional operation | movement figure of the stairs climbing up of 1st Example of this invention (1). It is side surface operation | movement figure (1) of the stairs climbing up of 1st Example of this invention. It is a three-dimensional operation | movement figure (2) of the stair climbing of 1st Example of this invention. It is a side operation figure (2) of stair climbing of the 1st example of the present invention. It is a three-dimensional operation | movement figure (3) of the stairs climbing up of 1st Example of this invention. It is a side operation figure (3) of the stair climbing of 1st Example of this invention. It is a side operation figure over obstacles of the 1st example of the present invention. It is a structure display figure of 2nd Example of this invention.

  As shown in FIGS. 1 to 9, the structure of the first embodiment of the present invention includes a pedestal 1, a dust collector 2, a lift drive mechanism 3, a first arm 4, a second arm 5, and a power source 6. This is a configuration requirement. Among them, the pedestal 1 has a substantially flat plate shape, and includes a plurality of caster sheets 11 extending downward on the bottom side periphery, and ball casters 12 are provided at the bottom ends of the caster sheets 11. Can roll arbitrarily under external force. First and second sensors 13 and 14 are provided on at least two sides of the periphery of the base 1. The dust collector 2 is provided on the pedestal 1, an air inlet is provided below the dust collector 2, and a filter device 21 is provided on the air inlet, and the dust collector 2 moves the pedestal 1. To collect foreign matter and ash on the moving path. The lift driving mechanism 3 is provided on the pedestal 1 and includes a lift power source 31 (which may be a motor) and an interlocking device. The interlocking device includes a first gear set 32 provided on the periphery of the pedestal 1 and a first gear set 32. Two gear sets 34 and an interlocking shaft 33 connecting the first and second gear sets 32, 34, and the first and second gear sets 32, 34 are driven by the lift power source 31. The at least two first arms 4 extending in parallel constitute a first arm set, and a driving wheel 41 is provided at one end (movable end), and the other end is the second arm. Coupled to the output end of the gear set, the first arm 4 is rotated by the driving of the second gear set, thereby performing the outward deployment and inward folding operations. At least two parallelly extended second arms 5 constitute a second arm set, and one end (movable end) of a driven wheel 51 is provided, and the other end is coupled to the output end of the first gear set. As a result, the second arm 5 is rotated by receiving the drive of the first gear set, thereby performing outward expansion and inward folding operations. A plurality of travel power sources 6 (which may be motors) are provided in the middle stage of each first arm 4, and each drive wheel 41 is driven via a speed reduction mechanism 61 to rotate in the forward and reverse directions.

  In use, on a general plane, the first and second arms 4 and 5 are folded into the pedestal 1 and the driving wheels 41 are in contact with the ground, and the driving wheels are synchronously or asynchronously driven by the respective driving power sources 6. By driving 41, the pedestal 1 is made to travel linearly or non-linearly. At this time, the dust collector 2 collects foreign matter and ash on the travel route as the pedestal 1 moves (as shown in FIGS. 2 and 3), and the sensors 13 and 14 detect the characteristics of the environment around the pedestal 1. When the sensors 13 and 14 detect a relatively high protruding portion (for example, the staircase 7 structure in FIGS. 4 and 5) on the travel route, the pedestal 1 moves to the front of the staircase 7 and stops. The first gear set 32 is driven by the operation of the lift power source 31, and the second gear set 34 cooperates through the interlocking shaft rod 33, whereby the first and second arms 4 and 5 are deployed outward. The driving wheel 41 and the driven wheel 51 are supported on the ground outside the pedestal 1, and thus the pedestal 1 is lifted to be higher than the stairs 7, and the pedestal 1 is driven and moved by the driving wheel 41, and Climb up on the staircase 7 (see FIGS. 6 and 7), and then the first and second arms 4 and 5 are folded in opposite directions, respectively, to return to the first plane running form (see FIGS. 8 and 9). .

  As shown in FIG. 10, if there is a local protrusion on the ground (for example, the ridge 8 shown), when the first arm 4 (or the second arm 5) rotates outward and deploys, The pedestal 1 can be crossed over the ridge 8, and then the pedestal 1 is lifted to a height exceeding the ridge 8 by the above-described steps, and the pedestal 1 is driven and moved by the drive wheels 41 to cross the ridge 8 . With the above-described structure, the present invention can effectively move to a target position overcoming different terrain steps and obstacles.

  FIG. 11 shows the structure of the second embodiment of the present invention. It comprises a pedestal 10, a dust collector 2, a lift drive mechanism 30, a first arm 4, a second arm 5, and a traveling power source 6, of which two independent lift power sources 31, 35 are provided in the lift drive mechanism 30. And the two lift power sources 31 and 35 are connected to the first gear set 32 and the second gear set 34, respectively, and the apparatus of reference numeral 33 is omitted. The structure of each other part which has the accommodation space which can accommodate the sources 31 and 35 is completely the same as the structure of the above-mentioned 1st Example.

  In operation, the two independent lift power sources 31 and 35 drive and rotate the first arm 4 and the second arm 5 through the first gear set 32 and the second gear set 34, respectively, Since the operation of unfolding (lifting the pedestal 10) or folding inward (lowering the pedestal 10) is performed, and the operations of the other parts are completely the same as those in the first embodiment, a duplicate description is given. Does not.

  As can be seen from the above, the self-propelled cleaner of the present invention achieves the function of overcoming obstacles such as stairs or overcoming obstacles and overcoming the steps of different terrain, ensuring industrial utility value. , Novelty, inventive step.

  The above description is merely a preferred embodiment of the present invention, and does not limit the scope of the present invention.Equivalent changes and modifications that can be made based on the description of the claims of the utility model registration of the present invention are Both belong to the scope of the claims of the present invention.

DESCRIPTION OF SYMBOLS 1, 10 Base 33 Interlocking shaft rod 11 Caster seat 34 Second gear set 12 Ball caster 4 First arm 13 First sensor 41 Driving wheel 14 Second sensor 5 Second arm 2 Dust collector 51 Driven wheel 21 Filter device 6 Traveling Power source 3, 30 Lift drive mechanism 61 Deceleration mechanism 31, 35 Lift power source 7 Step 32 First gear set 8 框

Claims (3)

In self-propelled cleaners,
A pedestal comprising a plurality of ball casters that are arbitrarily rolled by receiving an external force action on the bottom side periphery;
A dust collector, provided on the pedestal, for collecting foreign matter and ash on the movement path by the movement of the pedestal;
A lift drive mechanism comprising at least one lift power source provided on the pedestal and outputting power through at least one interlocking device;
A first arm set comprising at least two first arms extending in parallel, and an interlocking device of the lift drive mechanism is coupled to one end of each first arm, and receives the drive to rotate. Then, the first arm set that is expanded outward or folded inward and provided with a drive wheel at the other end of the first arm;
A second arm set comprising at least two second arms extending in parallel, and an interlocking device of the lift drive mechanism is coupled to one end of each of the second arms; The second arm set rotating in the opposite direction to the first arm set and deployed outward or folded inward and provided with a driven wheel at the other end of the second arm;
A plurality of traveling power sources, provided in the middle stage of each first arm, driving each driving wheel to rotate forward and reverse;
A self-propelled cleaner characterized by including   2. The self-propelled cleaner according to claim 1, wherein the interlock device of the lift drive mechanism includes a first gear set and a second gear set, and an interlocking shaft rod that connects the first and second gear sets. The first gear set is coupled to the first arm set, the second gear set is coupled to the second arm set, the first gear set is driven by the lift power source, and the interlocking shaft The second gear set can be driven via a rod, and the first and second arm sets can be rotated in opposite directions, and a plurality of sensors are provided on the periphery of the pedestal, and each sensor has a surrounding environment. And a speed reduction mechanism is provided between the driving power source and the driving wheel, the dust collector has an air inlet for sucking air, and a filter device is provided on the air inlet. Self-propelled cleaner.   2. The self-propelled cleaner according to claim 1, wherein the interlock device of the lift drive mechanism includes a first gear set coupled to a lift power source and a second gear set coupled to another lift power source. The two lift power sources can directly drive the first and second arm sets to rotate in opposite directions, and a plurality of sensors are provided on the periphery of the pedestal. And a speed reduction mechanism is provided between the driving power source and the driving wheel, the dust collector has an air inlet for sucking air, and a filter device is provided on the air inlet. Self-propelled cleaner.

Images