JP6823132B2 - Autonomous vacuum cleaner - Google Patents

Description

The present invention relates to an autonomous traveling vacuum cleaner.

Conventionally, among electric vacuum cleaners, an autonomous traveling type vacuum cleaner that cleans a room while moving autonomously is known. The autonomous traveling type vacuum cleaner is equipped with a rechargeable battery as a power source, and while the traveling motor is controlled by a control device to perform autonomous traveling, dust is scraped in using a motor-driven rotating brush and sucked by a blower for cleaning. Do. Since the autonomous traveling type vacuum cleaner is powered by the installed rechargeable battery, there is a limit to the usable electric capacity. However, many users want to extend the operating time of autonomous vacuum cleaners.

Patent Document 1 discloses an autonomous traveling type vacuum cleaner provided with two motor-driven rotating brushes for the purpose of improving the ability to scrape dust (see the scope of claims). Patent Document 2 discloses a suction tool for a vacuum cleaner having improved dust suction (see the scope of claims).

Japanese Patent No. 5486657 JP-A-2015-116414

The autonomous traveling type vacuum cleaner described in Patent Document 1 is provided with two motor-driven rotating brushes, and therefore has a large resistance to the floor surface. Therefore, in the autonomous traveling type vacuum cleaner described in Patent Document 1, it is necessary to adopt a motor that generates a high torque or to increase the reduction ratio of the motor. Since the motor that generates high torque uses a high-performance magnet, there arises a problem that the manufacturing cost of the autonomous traveling vacuum cleaner increases. In order to increase the reduction ratio of the motor, it is necessary to increase the diameter of the pulleys and gears or increase the number of pulleys and gears. As a result, there arises a problem that the size of the main body of the autonomous traveling type vacuum cleaner is increased.

The suction port of the vacuum cleaner described in Patent Document 2 is intended to guide dust from the rear to the brush chamber, and does not increase the dust removing power.

Therefore, an object of the present invention is to provide an autonomous traveling type vacuum cleaner having a high dust removing power.

The present invention is arranged between a blower for generating a negative pressure, a mouthpiece structure having a mouthpiece for sucking dust on the surface to be cleaned by the negative pressure of the blower, and a flow path between the blower and the mouthpiece. In an autonomous traveling type vacuum cleaner including a dust collecting case for collecting dust and at least two driving wheels for autonomous traveling, the mouthpiece structure includes a rotating brush that is rotationally driven in a first direction by a motor and the above. Adjacent to the rotating brush, it is provided with a rotatable scraping brush, a rotating brush accommodating portion for rotatably accommodating the rotating brush, and a scraping brush accommodating portion for rotatably accommodating the scraping brush. The scraping brush has flocking in a second rotation direction which is a rotation direction opposite to the first rotation direction, and the scraping brush is in a direction in which the autonomous traveling type vacuum cleaner advances. When the direction in which the rotating brush is arranged is the forward direction, the bristles of the scraping brush are opposite to the forward direction of the autonomous traveling type vacuum cleaner, and the tip of the bristles of the rotary brush is set. The brush is in contact with the fleece of the scraping brush, and the outermost periphery of the scraping brush is farther from the surface to be cleaned than the outermost periphery of the rotating brush.

According to the present invention, it is possible to provide an autonomous traveling type vacuum cleaner having improved dust removing power.
Issues, configurations and effects other than those mentioned above will be described herein.

It is a perspective view which looked down on the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention from the left front. It is a perspective view which looked down from the left front in the state which removed the upper case of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention. It is the figure which looked up from the bottom of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention. It is a side sectional view cut along the line AA of FIG. It is the figure which looked up from the lower surface of the suction part of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention, and is the figure which the rotary brush and the scraping brush are removed. It is a perspective view which looked down at the suction part of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention from the left front. It is a perspective view of the rotary brush of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention. (A) is a perspective view of a scraping brush of the autonomous traveling type vacuum cleaner according to the first embodiment of the present invention, and (b) is a scratching of an autonomous traveling type vacuum cleaner according to the second embodiment of the present invention. It is a perspective view of the scraping brush, and (c) is the perspective view of the scraping brush of the autonomous traveling type vacuum cleaner which concerns on 3rd Embodiment of this invention. It is a perspective view of the mouthpiece cover assembly of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention. It is a side sectional view of the suction part of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention. It is an exploded schematic diagram which shows the positional relationship of the dust collection case in the autonomous traveling type vacuum cleaner main body which concerns on 1st Embodiment of this invention. It is a block diagram which shows the control device of the autonomous traveling type vacuum cleaner which concerns on 1st Embodiment of this invention, and the device connected to the control device. It is a side sectional view of the suction part of the autonomous traveling type vacuum cleaner which concerns on 2nd Embodiment of this invention.

Embodiments of the present invention will be described in detail with reference to the drawings as appropriate. The present embodiment is not limited to the following contents, and can be appropriately modified and implemented within the scope of the gist of the present invention.
Of the directions in which the autonomous traveling vacuum cleaner C (see FIG. 1) travels, the side provided with the side brush 7 is the front, the vertically upward direction is upward, and the directions in which the drive wheels 61 face are left and right. .. That is, as shown in FIG. 1 and the like, front and back, top and bottom, and left and right are defined.

<First Embodiment>
FIG. 1 is a perspective view of the autonomous traveling type vacuum cleaner according to the present embodiment looking down from the left front.
The autonomous traveling type vacuum cleaner C is a vacuum cleaner that cleans a predetermined cleaning area (for example, indoors) while autonomously moving. The autonomous traveling type vacuum cleaner C includes an upper case 91 which is an upper wall, a lower case 51 (see FIG. 2) which is a bottom wall (and a part of side walls), and a bumper 92 installed at the front portion. It includes a main body 50 composed of. The upper case 91 is provided with a lid 93 for taking in and out the dust collecting case K (see FIG. 11) described later.

(Main body)
FIG. 2 is a perspective view of the state in which the upper case 91 is removed, looking down from the front left.
The lower case 51 is a housing on which a traveling motor, a rotary brush motor 21, a blower 81, a control device 95, and the like are placed, and the outer shape thereof has a thin disk shape.

FIG. 3 is a view of the autonomous traveling vacuum cleaner looking up from below.
The lower case 51 includes a drive mechanism accommodating portion 54 that exposes the drive wheels 61 and accommodates a drive mechanism including a drive wheel 61, a traveling motor, and a reduction mechanism, and a side brush mounting portion 82. A hole 52 for fixing the suction portion 10, an exhaust port 53, and a battery accommodating portion 55 (see FIG. 4) for accommodating the rechargeable battery B (see FIG. 4) are formed.

Drive mechanism accommodating portions 54 are formed on both left and right sides of the central portion of the lower case 51, which has a disk shape in a plan view. Further, a plurality of exhaust ports 53 are formed near the center of the lower case 51, which has a circular shape in a plan view, and is sandwiched between the drive mechanism accommodating portions 54.
A battery accommodating portion 55 is formed on the front side of the center of the lower case 51. Side brush mounting portions 82 for mounting the side brush 40 are formed on the left and right sides of the battery housing portion 55.

A hole 52 for fixing the suction portion 10 is formed on the rear side of the center of the lower case 51, that is, on the exhaust port 53 and the rear side of the drive mechanism accommodating portion 54.
The suction portion 10 fixed to the hole portion 52 is a member in which the suction port 17 (see FIG. 5) is formed and the scraping brush 1 and the rotary brush 5 are housed.

FIG. 4 is a side sectional view taken along the line AA of FIG.
The bumper 92 is installed so as to be movable in the front-rear direction in response to a pressing force acting from the outside. The bumper 92 is urged outward by a pair of left and right bumper springs (not shown). The tip of the bumper spring is curved in a J shape, and this curved portion is in contact with the inner wall surface of the bumper 92.

When a drag force from an obstacle acts on the bumper spring via the bumper 92, the bumper spring is deformed so as to fall inward in a plan view, and the bumper 92 is urged outward while allowing the bumper 92 to move backward. When the bumper 92 separates from the obstacle and the drag force described above disappears, the bumper 92 returns to its original position due to the urging force of the bumper spring. By the way, the retreat of the bumper 92 (that is, contact with an obstacle) is detected by the sensors 96 (photocoupler) described later (see FIG. 2), and the detection result is input to the control device 95 (see FIG. 12). To.

(Driving wheel)
As shown in FIG. 3, the drive wheel 61 is a wheel for moving the main body 50 forward, backward, and turning by rotating the drive wheel 61 itself. The drive wheels 61 are arranged on both the left and right sides of the central portion of the lower case 51.

(Support mechanism)
The support mechanism accommodated in the drive mechanism accommodating portion 54 shown in FIG. 3 is a mechanism for supporting the drive mechanism on the main body 50. The support mechanism includes an arm 71 that supports the drive mechanism.

(Battery housing)
As shown in FIG. 4, the battery accommodating portion 55 is a space formed in the lower case 51 for accommodating the rechargeable battery B, and is configured to have a downward opening surrounded by a wall surface.

(Front lid)
As shown in FIG. 3, the front lid 56 is a substantially rectangular plate-shaped member that closes the opening of the battery accommodating portion 55 (see FIG. 4) formed in the lower case 51 from the lower surface of the lower case 51.
The front lid 56 includes a locking claw 56a near the center of the front portion, and an overhanging portion 56b having screw holes on both the left and right sides of the rear portion. The front lid 56 is fixed to the lower case 51 from below by the locking claw 56a and the screw inserted into the screw hole.
The front lid 56 is formed with arcuate tapers 56c on both the left and right sides to prevent interference with the side brush 40 described later. As a result, the side brush 40 can be rotated.

The front lid 56 includes a circular training wheel mounting portion 84 for mounting the training wheels 83 near the center side of the lower case 51. The training wheel mounting portion 84 has a protruding portion in the front.
The front lid 56 includes a groove for fixing the guide brush (L) 45 at a position connecting the rotation axis of the side brush 40 and the hypotenuse of the arm 71, which will be described later, when attached to the lower case 51. The guide brush (L) 45 (brush) is provided in the groove portion.

(Training wheels)
As shown in FIG. 3, the training wheels 83 are auxiliary wheels for smoothly moving the autonomous traveling type vacuum cleaner C while keeping the main body 50 at a predetermined height. The training wheels 83 are pivotally supported so as to be driven and rotated by a frictional force generated with the floor surface as the main body 50 moves. Further, the training wheels 83 are configured to be rotatable 360 ° in the horizontal direction.
The training wheels 83 shown in FIG. 3 are provided at the center in the left-right direction in front of the main body 50, and are mounted on the training wheels mounting portion 84 described above.

(Suction part)
FIG. 5 is a view looking up from below the suction portion 10 according to the present embodiment in a state where the rotating brush 5 and the scraping brush 1 are removed. The suction portion 10 shown in FIG. 5 is attached to the hole portion 52 of the lower case 51 (see FIG. 3).
Then, as shown in FIG. 4, the suction unit 10 is connected to the dust collection case K, the dust collection filter F, the blower 81, and the exhaust port 53 (see FIG. 3) in this order from the suction unit 10 toward the downstream side. It forms part of the flow path through which air can flow. The suction portion 10 is a member in which the suction port 17 is formed and houses the rotary brush 5 and the scraping brush 1 (see FIG. 3), and is also a member for fixing the rotary brush motor 21 (see FIG. 6). ..

As shown in FIG. 5, a rotating brush accommodating portion 15 for accommodating the rotating brush 5 is formed in the front portion of the suction portion 10. A scraping brush accommodating portion 11 for accommodating the scraping brush 1 is formed at the rear portion of the suction portion 10. A rotating brush 5 (see FIG. 3) is arranged in the rotating brush accommodating portion 15. The scraping brush 1 is arranged in the scraping brush accommodating portion 11. That is, the rotating brush 5 and the scraping brush 1 are arranged in this order from the front portion of the autonomous traveling type vacuum cleaner C.
Further, the rotary brush 5 and the scraping brush 1 are rotatably attached. The rotary brush 5 and the scraping brush 1 are detachably attached to the suction portion 10.

FIG. 6 is a perspective view of the suction portion 10 as viewed from the front left.
As shown in FIG. 6, on the upper surface side of the suction portion 10, a rotary brush motor 21 for rotating the rotary brush 5 is provided, and a power transmission mechanism 22 is provided. The rotation direction of the rotary brush 5 is called the first rotation direction. The side of the rotary brush 5 that rotates in the first rotation direction rotates from the front to the rear on the side in contact with the floor surface (see FIG. 10).
The rotary brush motor 21 is attached to one end side of the suction portion 10 in the left-right direction. In the rotary brush motor 21, the rotary shaft is arranged in parallel with the rotary shaft 5b (see FIG. 7) of the rotary brush 5. Further, the rotating shaft (not shown) of the rotating brush motor 21 extends toward one end side in the left-right direction, and is connected to the rotating shaft 5b of the rotating brush 5 at one end of the suction portion 10 via a power transmission mechanism 22. There is.

(Rotating brush housing)
The shape of the rotating brush accommodating portion 15 will be described.
As shown in FIGS. 5 and 6, the rotating brush accommodating portion 15 is a recess having an arcuate curved cross section extending in the left-right direction. As shown in FIG. 5, the suction port 17 is formed on the curved surface on the rear side of the rotating brush accommodating portion 15. The suction port 17 communicates with the opening of the dust collecting case K (see FIG. 4).

As shown in FIG. 5, there are a plurality of dust collecting ribs 16 (three in this example) on the curved surface on the right side of the suction port 17 of the rotating brush accommodating portion 15, that is, on the curved surface on the opposite side (distant) from the suction port 17. ) It is provided. Similarly, a dust collecting rib 16 (one in this example) is provided on the curved surface on the left side of the suction port 17 of the rotating brush accommodating portion 15. When viewed from the lower surface side of the suction portion 10, the dust collecting rib 16 is provided obliquely so that the front side (forward direction side) faces the suction port 17 rather than the rear side (reverse direction side). Further, as shown in FIG. 10 described later, the shape of the dust collecting rib 16 is formed so as to follow the shape of the outer diameter of the rotating brush 5 when viewed in the left-right direction (rotation axis direction of the rotating brush 5). ..

On the right side of the rotating brush accommodating portion 15, bearings (A) 18 (see FIG. 5) that pivotally support one end of the rotating shaft 5b (see FIG. 7) of the rotating brush 5 are provided. The bearing (A) 18 corresponds to the outer shape of the fitting portion 6 provided at one end of the rotary brush 5 (see FIG. 7), and includes a fitting recess (not shown) into which the fitting portion 6 is fitted.
On the left side of the rotary brush accommodating portion 15, a locking portion 19 (see FIG. 5) for locking the bearing (B) 7 provided at the other end of the rotary shaft 5b (see FIG. 7) of the rotary brush 5, and a rotary brush. A recess 19a (see FIG. 5) is formed in which the rotating shaft 5b of 5 is rotatably housed in a non-contact manner.

(Scraping brush housing)
The shape of the scraping brush accommodating portion 11 will be described.
As shown in FIGS. 5 and 6, the scraping brush accommodating portion 11 is a recess having an arcuate curved cross section extending in the left-right direction.

By providing the curved surface of the scraping brush accommodating portion 11 so as to approach the scraping brush 1 (flocking), the airtightness of the suction portion 10 is increased and the flow velocity of the air sucked by the rotating brush accommodating portion 15 can be kept high. And the dynamic pressure can be secured. Therefore, the performance of the autonomous traveling type vacuum cleaner C for removing dust can be improved.

(Rotating brush)
FIG. 7 is a perspective view of the rotating brush 5.
The rotary brush 5 is arranged along an axis (left-right direction) passing through the rotation center of the drive wheel 61 (see FIG. 3). The rotary brush 5 is continuously provided from one end side to the other end side in the longitudinal direction (left-right direction) of the rotary brush accommodating portion 15. The rotary brush 5 has a cylindrical shape having a rotary shaft 5b, and is rotatably supported by the suction portion 10.

The rotary brush 5 is rotationally driven in the first rotational direction by a rotary brush motor 21 (see FIG. 6) (see FIG. 10). The rotary brush 5 rotates in the same direction as the drive wheels 61 rotate when the main body 50 moves forward. In the present embodiment, even if the rotation direction of the drive wheel 61 changes (even if it is reversed) during reverse movement, the rotation direction of the rotary brush 5 does not change.

The rotary brush 5 includes flocking 5c protruding from the outer peripheral surface of the shaft portion 5a in the normal direction, and each of the flocking 5c is provided at approximately 90 ° with respect to the tangent line on the surface of the shaft portion 5a. ..

Further, the flocking 5c of the rotary brush 5 includes a plurality of types of flocking such as flocking having different lengths and flocking having different hardness, so that each flocking is spirally arranged with respect to the rotation axis 5b (see the figure). It is arranged.
In this embodiment, the case where two types of flocking are arranged has been described as an example, but the present invention is not limited to this, and may be one type or three or more types. .. Further, a configuration in which a blade member made of an elastic material such as rubber is spirally arranged between the flocked hairs arranged in a spiral shape may be added, and can be appropriately changed.

As shown in FIG. 7, one end (left side in the drawing) of the rotating shaft 5b of the rotating brush 5 is fitted into a fitting recess of the bearing (A) 18 (see FIG. 5) provided in the rotating brush accommodating portion 15. A fitting portion 6 is provided.
The fitting portion 6 is a polygon (pentagon in this embodiment) having an odd number of angles in a cross-sectional view perpendicular to the rotation shaft 5b from the viewpoint of transmission of rotational force, and is tapered toward the end of the rotation shaft 5b. Is formed.

The bearing (A) 18 (see FIG. 5) is connected to a power transmission mechanism 22 that transmits the rotational force of the rotary brush motor 21 (see FIG. 6) to the rotary brush 5.
The power transmission mechanism 22 can have an arbitrary configuration. The power transmission mechanism 22 may be configured to include, for example, a pulley, a gear, or a toothed belt or a timing belt.

As described above, the other end (right side in the drawing) of the rotating shaft 5b of the rotating brush 5 is provided with a bearing (B) 7 (see FIG. 7).
The bearing (B) 7 is locked to a locking portion 19 (see FIG. 5) formed on the left side of the rotating brush accommodating portion 15.

(Scraping brush)
FIG. 8 is a diagram of a scraping brush.
The scraping brush 1 is arranged along an axis (left-right direction) passing through the rotation center of the drive wheel 61 (see FIG. 3). The scraping brush 1 is continuously provided from one end side to the other end side in the longitudinal direction (left-right direction) of the scraping brush accommodating portion 11. The scraping brush 1 has a cylindrical shape having a rotating shaft 4, and is rotatably supported by a suction portion 10.

The scraping brush 1 is provided with flocking 2 on a part or the entire surface of the shaft portion surface. The scraping brush 1 is provided with flocking 2 protruding in the front direction of the main body 50 (at the time of mounting) on the outer peripheral surface of the shaft portion in contact with the floor surface, and each of the flocking brushes 2 is tangential to the surface of the shaft portion. On the other hand, it has an angle in a certain range (for example, 0 to 45 °) (see FIG. 10). From the root of the hair transplant 2 to the tip of the hair, the hair is planted so as to go in the second rotation direction, which is the direction opposite to the first rotation direction.

The flocking 2 of the scraping brush 1 is preferably long and preferably hard in order to improve the scraping force. The flocking of the scraping brush 1 is preferably soft in order to reduce power consumption.
If the flocking 2 of the scraping brush 1 is long, the flocking reaches the back of the carpet or the like, and dust can be scraped from the back. If the flocking 2 of the scraping brush 1 is hard, it is possible to scrape dust from the back against the resistance of the carpet bristles and the like. When the flocking 2 of the scraping brush 1 is soft, the contact resistance of the bristles of the carpet and the like is reduced, and the scraping brush 1 is easily rotated, so that the power consumption of the traveling motor and the rotating brush motor 21 is reduced.

The position of the flocking 2 of the scraping brush 1 is preferably about 0.5 mm above the floor surface when cleaning the flooring (between the boards). Further, the position of the flocking of the scraping brush 1 is preferably overlapped with the bristles of the carpet when cleaning the carpet.

The scraping brush 1 shown in FIG. 8A is of a type that continues to rotate driven by friction with a cleaning surface (floor surface, carpet) as the main body 50 moves. The scraping brushes 1A and 1B shown in FIGS. 8 (b) and 8 (c) have ribs 3a and 3b, and after starting driven rotation due to friction with the cleaning surface as the main body 50 moves, the ribs 3a, Since the rotation is regulated by 3b, the driven rotation is not continued, and the rotation is stopped. That is, the main body 50 advances while slipping the scraping brush 1 that has stopped rotating. The rotation of the scraping brushes 1A and 1B will be described later as the second and third embodiments.

(Bearing holding member)
FIG. 9 is a perspective view of the mouthpiece cover assembly 30A.
The mouthpiece cover assembly 30A has a mouthpiece cover 30, a mouthpiece cover mounting member 35, and a bearing holding member 37.
The bearing holding member 37 constituting the mouthpiece cover assembly 30A is a member located on the left side of the mouthpiece cover assembly 30A and holding the bearing (B) 7 provided on the rotating shaft 5b of the rotating brush 5 from the lower surface. That is, the bearing holding member 37 is a member that holds the rotating shaft 5b of the rotating brush 5.

As shown in FIG. 9, the bearing holding member 37 is provided with a latch 37a at the front portion and a locking claw 37b at the rear portion, and is fixed to the suction portion 10 by the latch 37a and the locking claw 37b. The bearing holding member 37 holds the bearing (B) 7 in the suction portion 10 by a recess formed between the latch 37a and the locking claw 37b.

The bearing holding member 37 has a meshing claw formed from the root of the locking claw 37b at the rear toward the lower surface (see FIG. 3). The meshing claws form a hinge that rotates from the lower surface of the main body 50 toward the floor surface by engaging with the meshing claws formed on the mouthpiece cover 30.
The bearing holding member 37 has a locking portion (not shown) for locking an elastic body (not shown) inserted between the bearing holding member 37 and the mouthpiece cover 30 on the lower surface side.

(Mouth cover mounting member)
The mouthpiece cover attachment member 35 constituting the mouthpiece cover assembly 30A is located on the right side of the mouthpiece cover assembly 30A and is a member capable of attaching the mouthpiece cover 30 to the rear portion of the suction portion 10. That is, the mouthpiece cover mounting member 35 is a member that covers the bearing (A) 18 provided in the suction portion 10.

As shown in FIG. 9, the mouthpiece cover mounting member 35 is provided with a latch 35a at the front portion and a locking claw 35b at the rear portion, and is fixed to the suction portion 10 by the latch 35a and the locking claw 35b.

The mouthpiece cover mounting member 35 has a meshing claw 35c formed from the base of the locking claw 35b at the rear toward the lower surface of the main body 50 (in the mounted state) (see FIG. 3). The meshing claw 35c constitutes a hinge by engaging with the meshing claw 30c (see FIG. 3) formed on the mouthpiece cover 30. The mouthpiece cover 30 uses a pair of left and right hinges composed of a meshing claw 30c and a meshing claw 35c to make the cleaning surface uneven from the lower surface of the main body 50 toward the cleaning surface (floor surface, carpet) around the pair of hinges. Correspondingly, it rotates so as to fit the cleaning surface.
The mouthpiece cover mounting member 35 has a locking portion (not shown) for locking an elastic body (not shown) inserted between the mouthpiece cover and the mouthpiece cover 30 on the lower surface side.

(Mouth cover)
The mouthpiece cover 30 constituting the mouthpiece cover assembly 30A is a member that covers the opening of the rotary brush accommodating portion 15 of the suction portion 10, and is an opening divided by a thin partition 30a in a region facing the opening of the rotary brush accommodating portion 15. It is a member having a part.

The mouthpiece cover 30 has an inclined portion in which the front side (traveling direction side) of the opening is inclined upward (see FIG. 9). An oval-shaped taper that is recessed upward is formed in the inclined portion, and the taper and the opening are communicated with each other by a rectangular opening near the center of the opening (see FIG. 3).

The mouthpiece cover 30 has a locking portion (not shown) at a position corresponding to the locking portion of the bearing holding member 37 on the lower surface and the mouthpiece cover mounting member 35, and is an elastic body (not shown) via the locking portion. ) Is provided. The mouthpiece cover 30 (mouthpiece cover assembly 30A) has a pair of left and right hinges formed by engaging two meshing claws 30c and 35c provided at the rear with the mouthpiece cover mounting member 35 and the bearing holding member 37 as described above. It can swing around.

The mouthpiece cover 30 has a rear hinge (the pair of hinges) as a rotation axis, and is pressed by an elastic member against a cleaning object such as a floor or a carpet to abut (fit the unevenness of the cleaning surface) to make the suction space airtight. Improve sex. That is, the mouthpiece cover 30 maintains and improves the airtightness of the suction space by following the cleaning target regardless of whether the cleaning target is inclined or has a step.

The mouthpiece cover 30 is provided with grooves on both the left and right sides of the opening to which the guide brush (S) 49 is fixed. The guide brush (S) 49 (brush) is provided in the groove (see FIG. 3).

When the vacuum cleaner C is placed on the cleaning surface, the suction portion 10 is grounded to the cleaning surface by the drive wheels 61 and the auxiliary wheels 83. Since the driving wheels 61 and the auxiliary wheels 83 are grounded at three places, the contact area between the flocking of the rotary brush 5 and the cleaning surface is not excessively widened. As a result, the load on the rotary brush motor 21 is prevented from increasing.

(Operation of scraping brush, etc.)
FIG. 10 is a side sectional view of the suction portion 10. The rotation of the scraping brush 1 of FIG. 8A will be described with reference to FIG.
Since the scraping brush 1 is in contact with the rotary brush 5, the rotation of the rotary brush 5 causes the rotation corresponding to the rotary brush 5, that is, the rotational force in the direction opposite to that of the rotary brush 5 (second rotation direction). Given.

Here, when the main body 50 advances while the scraping brush 1 is in contact with the cleaning surface, the scraping brush 1 rotates in the first rotation direction to cancel the rotational force given by the rotary brush 5 due to friction with the cleaning surface. Power is given.

The flocking 2 of the scraping brush 1 is opposite to the cleaning surface when the main body 50 is advanced, and is forward to the rotation of the rotating brush 5. Therefore, when the main body 50 is advanced, the scraping brush 1 has a rotational force from the cleaning surface that is superior to the rotational force from the rotary brush 5, and is driven to rotate in the first rotational direction. However, since the rotational force from the rotary brush 5 in the second rotational direction is applied, resistance to the floor surface of the scraping brush 1 is generated. Therefore, the scraping brush 1 can be collected so as to scrape dust from the floor surface. The flocking 2 of the present embodiment is provided over the entire circumference of the scraping brush 1 in the circumferential direction.

On the other hand, when it hits a wall, avoids an obstacle, or the like, the main body 50 moves backward with the scraping brush 1 in contact with the cleaning surface. Then, the scraping brush 1 is given a rotational force in the first rotational direction, which is the same as the rotational force given by the rotary brush 5 due to friction with the cleaning surface.

The flocking of the scraping brush 1 is in order with respect to the cleaning surface of the main body 50 when moving backward, and is in order with respect to the rotation of the rotating brush 5. Therefore, when the main body 50 is moving backward, the rotational force from the cleaning surface of the scraping brush 1 is strengthened by the rotational force from the rotary brush 5. Then, the scraping brush 1 is driven to rotate in the second rotation direction.

Since the flocking 2 of the scraping brush 1 extends in the opposite direction from the surface of the scraping brush 1 toward the front side (traveling direction) of the main body 50, it seems that dust is scraped from the cleaning surface (for example, a carpet) when moving forward. The entire surface of the scraping brush 1 in the width direction is continuously scraped out (see FIG. 10).
Further, the flocking 2 of the scraping brush 1 is in order with respect to the cleaning surface (for example, a carpet) when moving backward, but since the scraping brush 1 is rotated by the rotating brush 5, dust is removed from the cleaning surface. Dust is continuously scraped off using the entire width direction of the scraping brush 1 so as to scoop up (see FIG. 10).
That is, the scraping brush 1 can scrape dust both when the main body 50 moves forward and backward. Since the scraping brush 1 can collect dust deep in the carpet or the like, it is provided behind the rotating brush 5 in order to suppress a situation in which the dust is entangled and saturated. As a result, the relatively soft rotating brush 5 can first collect a certain amount of dust, and then the scraping brush 1 can collect the dust.

When the main body 50 advances, the dust scraped by the scraping brush 1 follows the flocking 2 of the scraping brush 1 and is sucked into the dust collecting case K from the suction port 17 through the scraping brush accommodating portion 11. Further, the dust remaining on the scraping brush 1 is swept from the scraping brush 1 by flocking the rotary brush 5 that rotates in the first rotation direction by the rotary motor 21.

When the main body 50 moves backward, the dust scraped by the scraping brush 1 is scraped from the flocking 2 by the rotating brush 5 in contact with the scraping brush 1. Further, since the direction of the flocking 2 of the scraping brush 1 and the rotation direction of the flocking of the rotating brush 5 are the same, the flocking of the rotating brush 5 easily removes dust from the flocking 2 of the scraping brush 1 (sweeping). It becomes possible to take).

That is, the surface of the scraping brush 1 is cleaned by the suction force to the suction port 17 when the main body 50 is moved forward, and by the rotating brush 5 when the main body 50 is moved backward. As a result, the cleaning surface such as the floor can be satisfactorily cleaned.

In either case, when the main body 50 moves forward or backward, the dust swept by the rotating brush 5 is introduced into the rotating brush accommodating portion 15 and sucked into the dust collecting case K via the suction port 17. ..
After the dust sucked by the dust collecting case K is removed, the air passes through the filter F and the blower 81, and is discharged to the outside of the main body 50 from the exhaust port 53 at the center of the lower case 51. The air discharged from the exhaust port 53 passes between the guide brushes (M) 47, passes through the rotating brush accommodating portion 15 of the suction portion 10 and the like, and is sucked into the suction port 17 again. That is, the air is circulating.

(Side brush)
The side brush 40 shown in FIG. 3 is located outside the main body 50 by rotationally driving the side brush 40 itself, and sucks dust in a place where it is not easy to reach the rotating brush 5, such as a corner of a room. It is a brush leading to (mouthpiece 17), and a part of the brush is exposed from the main body 50 in a plan view. The side brush 40 has three bundles of brushes extending radially at intervals of 120 ° in a plan view, and is arranged on the left and right in front of the suction portion 10.

The root of the right side brush 40 is fixed to the side brush holder 41. The flocking of the side brush 40 is inclined so as to approach the floor surface toward the tip, and the vicinity of the tip is in contact with the floor surface.

The side brush holder 41 is installed near the bottom surface of the lower case 51 and is connected to the side brush motor 42 (see FIG. 2). When the side brush motor 42 is driven, the side brush 40 rotates inward (in the direction of the arrow attached to FIG. 3), and dust is collected between the guide brushes (L) 45. ..
The same applies to the left side brush 40.

(Guide brush L)
The guide brush (L) 45 shown in FIG. 3 is a flocked hair fixed to a groove of the front lid 56. It is arranged at a position connecting the rotation axis of the side brush 40 and the hypotenuse of the arm 71 (near the front end of the guide brush 47).
The guide brush (L) 45 is a brush that guides the dust collected by the side brush 40 between the guide brushes (M) 47 and guides them to the suction portion 10. The guide brush (L) 45 preferably has a length of contact with a cleaning target (floor surface, carpet) during use. As a result, it is possible to prevent dust from escaping from between the guide brushes (L) 45. The material and length of the flocked hair of the guide brush (L) 45 are not limited to these, and can be appropriately selected.

(Guide brush M)
The guide brush (M) 47 shown in FIG. 3 is a flocked hair fixed to the groove of the arm (suspension arm) 71. It is arranged inside the extension line of the side wall of the rotating brush accommodating portion 15 and parallel to the drive wheel 61. The arm 71 is a member capable of rotating the drive wheel 61 by locating a rotation shaft along the front-rear direction inside the drive wheel 61 in the left-right direction.
The guide brush (M) 47 is a brush that guides the dust collected by the side brush 40 to the suction portion 10 via the guide brush (L) 45. The guide brush (M) 47 preferably has a length that always contacts the object to be cleaned even if the arm 71 moves up and down during use. The material and length of the flocked hair of the guide brush (M) 47 are not limited to these, and can be appropriately selected. The guide brush (L) 45 and the guide brush (M) 47 are attached in the direction toward the rear toward the inside in the left-right direction, respectively.

(Blower)
The blower 81 shown in FIG. 4 has a function of discharging the air in the dust collecting case K to the outside to generate a negative pressure by driving and sucking dust from the floor surface through the suction port 17 (suction portion 10). doing. The blower 81 is installed between the blower 81 and the lower case 51 via an elastic body (not shown). By interposing the elastic body in this way, the vibration of the blower 81 is attenuated and is less likely to be transmitted to the main body 50, and the vibration and noise of the main body 50 can be reduced.

As shown in FIG. 2, in the present embodiment, the blower 81 is arranged near the center of the lower case 51.

FIG. 11 is a schematic view showing the positional relationship between the suction portion 10 (suction port 17), the dust collecting case K, and the blower 81 in the main body 50.
As shown in FIG. 11, a dust collecting case K, a dust collecting filter F, a blower 81, and an exhaust port 53 (see FIG. 3) are provided in this order from the suction port 17 toward the downstream side. A rotating brush 5 for scraping dust on the floor surface is provided near the suction port 17 (see FIG. 10).

When the blower 81 and the rotary brush motor 21 are driven, dust on the floor surface and the like is sucked through the suction port 17 (suction portion 10) and is scraped by the rotary brush 5 (see FIG. 10). This dust is guided to the dust collecting case K via the inflow port K1. The air from which the dust has been removed by the dust collection filter F is discharged through the exhaust port 53 (see FIG. 3). The dust collecting case K can be attached and detached by opening the lid 93 (see FIG. 11) provided on the upper case 91.

(Sensors)
FIG. 12 is a schematic configuration diagram showing a control device 95 of the autonomous traveling vacuum cleaner and a device connected to the control device 95.

The bumper sensor (obstacle detecting means) is a photocoupler that detects the backward movement of the bumper 92 (that is, contact with an obstacle). As shown in FIG. 4, a photocoupler is provided in front of the main body 50. For example, when an obstacle comes into contact with the bumper 92, the light receiving time of the sensor light (reflected light) is shortened. A detection signal corresponding to the change in the light receiving time is output to the control device 95.

The distance measuring sensor (obstacle detecting means) is an infrared sensor that detects the distance to an obstacle. In this embodiment, distance measuring sensors are provided at three locations on the front surface and two locations on the side surface, for a total of five locations.
The distance measuring sensor has a light emitting unit (not shown) that emits infrared rays and a light receiving unit (not shown) that receives reflected light that is reflected by an obstacle and returned. The distance to the obstacle is calculated based on the intensity of the reflected light detected by the light receiving unit. Of the bumper 92, at least the vicinity of the distance measuring sensor is made of resin or glass that transmits infrared rays.
Incidentally, other types of sensors (for example, ultrasonic sensor, visible light sensor) may be used as the distance measuring sensor. It is also possible to reduce costs by using some of the distance sensors to determine only the presence or absence of obstacles (distance is unknown).

The floor surface measuring sensor (obstacle detecting means) is an infrared sensor that measures the distance to the floor surface, and is installed at four locations on the lower surface of the lower case 51, front, back, front, back, left, and right (see FIG. 3). By detecting a large step such as a staircase with a distance measuring sensor for the floor surface, it is possible to prevent the autonomous traveling type vacuum cleaner C from falling (from the stairs). For example, when a step of about 30 mm is detected in the front by the distance measuring sensor for the floor surface, the control device 95 (see FIG. 11) controls the traveling motor to move the main body 50 backward and change the traveling direction. Here, some of the distance measuring sensors for the floor surface, for example, a sensor that is not normally used at the rear, may be a sensor that determines only the presence or absence of a step (distance is unknown), and cost reduction can be achieved.

The rotation speed and rotation angle of the traveling motor are detected from the traveling motor pulse output shown in FIG. The control device 95 calculates the moving speed and moving distance of the main body 50 based on the rotation speed and rotation angle detected from the traveling motor pulse output, the gear ratio of the reduction mechanism, and the diameter of the drive wheel 61. ..

The traveling motor current measuring instrument is a measuring instrument that measures the current flowing through the armature winding of the traveling motor. Similarly, the blower current measuring instrument measures the current value of the blower 81, and the rotating brush motor current measuring instrument measures the current value of the rotating brush motor 21. The two side brush motor current measuring instruments measure the current value of the side brush motor 42. Each current measuring instrument outputs the measured current value to the control device 95.

(Manual operation button)
The operation button 97 is a button that outputs an operation signal according to the user's operation to the control device 95 (see FIG. 1). For example, a power button, a cleaning start / end button, and a cleaning mode for changing the cleaning mode. It has a cleaning mode selection button.

The display panel drive device is a device that applies a voltage to the electrodes of the display panel in response to a command from the control device 95.
The display panel (not shown) has a plurality of LEDs (Light Emitting Diode: not shown) and a 7-segment display (not shown), and displays the operating status of the autonomous traveling vacuum cleaner C and the like. ..
The rechargeable battery B is, for example, a secondary battery that can be reused by charging, and is housed in a battery housing portion 55 (see FIG. 4). The electric power from the rechargeable battery B is supplied to the sensors 96 (see FIG. 2), each motor, each drive device, and the control device 95.

(Drive)
The traveling motor drive device (left) (right) shown in FIG. 12 is an inverter that drives the traveling motors on the left and right sides, or a pulse waveform generator by PWM control, and operates in response to a command from the control device 95. The same applies to the blower drive device, the rotary brush motor drive device, and the side brush motor drive device (left) (right). Each of these drive devices is installed in a control device 95 (see FIG. 12) in the main body 50.

(Control device)
The control device 95 is, for example, a microcomputer (not shown), reads a program stored in a ROM (Read Only Memory), expands it into a RAM (Random Access Memory), and a CPU (Central Processing Unit) performs various processes. It is supposed to run.
The control device 95 executes arithmetic processing according to the signals input from the operation buttons 97 (see FIG. 1) and the sensors 96 described above, and outputs a command signal to each of the drive devices described above.

(Cleaning the scraping brush)
The autonomous traveling type vacuum cleaner C in the present embodiment returns to the charging device and charges the battery according to the command of the control device 95 mounted when the cleaning is completed or the electric capacity of the rechargeable battery B becomes low. The autonomous traveling type vacuum cleaner C that has returned to the charging device comes into contact with the rotating brush 5 by rotating the rotating brush 5 in the first rotation direction in a state where the rotation of the drive wheels 61 is stopped and driving the blower 81. It is possible to rotate the scraping brush 1 in the second rotation direction.
Since the flocking 2 of the scraping brush 1 faces the second rotation direction, the flocking of the rotating brush 5 can easily remove (sweep) the dust scraped by the flocking 2 of the scraping brush 1. ..
As a result, the scraping brush 1 is cleaned by the rotating brush 5. If necessary, the drive wheels may be stopped to clean the scraping brush 1 when it has not returned to the charging device.

(Cleaning the rotating brush)
The autonomous traveling type vacuum cleaner C in the present embodiment returns to the charging device and charges the battery according to the command of the control device 95 mounted when the cleaning is completed or the electric capacity of the rechargeable battery B becomes low. The autonomous traveling type vacuum cleaner C returned to the charging device adhered to the rotating brush 5 by rotating the rotating brush 5 in the second rotation direction in a state where the rotation of the drive wheels 61 was stopped and driving the blower 81. Dust is sucked from the opposite side of the vehicle. This makes it possible to clean the rotary brush 5 by sucking dust that is difficult to suck during traveling, such as wrapping around the rotary brush 5 and adhering to the back side in the rotation direction. If necessary, the rotating brush 5 may be cleaned when it has not returned to the charging device.

(Dust collection case)
The dust collecting case K is a container that collects dust sucked from the floor surface through the suction port 17 (suction portion 10) (see FIG. 11).
The dust collecting case K includes a main body for accommodating the collected dust, a lid for taking out the collected dust, and a foldable handle. The dust collecting case main body has a shape in which the lower surface is mainly composed of a cylindrical curved surface corresponding to the shape of the upper part of the suction portion 10, and the inflow port K1 having a shape corresponding to the suction port 17 is located at a position facing the suction port 17. It has a substantially rectangular parallelepiped shape as a whole. The lid faces the suction port of the blower and includes a dust collecting filter F. The handle is provided at the top of the main body.

The autonomous traveling type vacuum cleaner according to the present embodiment has the following effects.

The scraping brush 1 is configured to be driven and rotated by a frictional force with a cleaning surface when the main body 50 is moved. Since the scraping brush 1 does not require a motor, it is possible to improve the cleaning ability while reducing power consumption.
Since the direction of the flocking 2 when the scraping brush 1 faces the floor surface is toward the second rotation direction, dust can be effectively collected by advancing the autonomous traveling type vacuum cleaner.
Since the rotating brush 5 is provided in front of the scraping brush 1, the rotating brush 5 collects dust that can be collected relatively easily, and the scraping brush 1 scrapes and collects the dust from the back of the floor surface. Therefore, it is possible to prevent the scraping brush 1 from being saturated by collecting a large amount of dust that can be easily collected. This is particularly preferable for an autonomous traveling type vacuum cleaner in which the forward time tends to be larger than the reverse time.
Since the rotating brush 5 and the scraping brush 1 are in contact with each other, the rotating brush 5 can collect the dust adhering to the scraping brush 1.

By rotating the rotary brush 5 in the first rotation direction, the cleaning ability of the autonomous traveling type vacuum cleaner C is improved. In addition, the rotating brush 5 rotates in the first rotation direction, so that the traveling performance of the autonomous traveling type vacuum cleaner C is improved.

Since the shape of the fitting portion 6 (see FIG. 7) is a polygon having odd-numbered corners, the force applied to the rotating brush 5 is not canceled in the normal direction, so that the force always acts on the center of rotation and rotates. The rotation of the brush is stable.

A mouthpiece cover 30 is provided on the lower surface of the main body 50. As described above, the mouthpiece cover 30 includes an elastic body. The repulsive force of the elastic body improves the airtightness between the mouthpiece cover 30 and the cleaning surface.

The mouthpiece cover 30 prevents the rotating brush 5 from entraining an elongated string-like object such as a power cord by the thin partition 30a formed in the opening.

When the suction portion 10 is not in contact with the cleaning surface, the flocking of the rotating brush 5 and the scraping brush 1 project below the drive wheels 61. Therefore, when the main body 50 is in contact with the cleaning surface, the flocking of the rotating brush 5 in contact with the cleaning surface is deformed, and the contact area between the flocking and the cleaning surface becomes large. By rotating the rotating brush 5, the running performance of the vacuum cleaner C can be ensured and the operating time can be improved.

By providing the lower curved surface of the rotating brush accommodating portion 15 so as to approach the rotating brush 5 (fluff), the flow velocity of the air sucked by the rotating brush accommodating portion 15 can be kept high, and the dynamic pressure is secured. Therefore, it is possible to improve the performance of the autonomous traveling type vacuum cleaner C for removing dust.

The guide brush (S) 49 is pressed against the object to be cleaned by the elastic member to improve the airtightness and the suction force. Further, the guide brush (S) 49 prevents the scraped dust from coming off from the opening of the rotating brush accommodating portion 15.

Even if the arm 71 moves up and down when the guide brush (M) 47 is in use, it always comes into contact with the object to be cleaned, so that dust cannot escape from between the guide brush (M) 47.

The dust on the floor is scraped up on the rear side (reverse direction side) of the flocking by the flocking of the rotating rotating brush 5, but the scraped dust goes to the left side along the dust collecting rib 16 and finally Can be sucked into the suction port 17 provided on the left side.

The exhaust port 53 arranged near the center of the lower case 51 blows air between the guide brushes (M) 47 and sends dust to the suction portion 10 along the guide brushes (M) 47. Therefore, it becomes easier to collect dust when moving forward, and the cleaning efficiency of the autonomous traveling type vacuum cleaner C is improved.

Since the exhaust gas from the exhaust port 53 circulates through the suction portion 10 (particularly when moving forward), the airtightness and suction force are unlikely to decrease.

By arranging the blower 81 having a large mass near the center of the lower case 51, the center of gravity of the vacuum cleaner main body 50 is near the center, so that the autonomous traveling type vacuum cleaner C is less likely to lift up, and the autonomous traveling type vacuum cleaner C Driving stability increases.

By arranging the battery accommodating portion 55 near the front center of the lower case 51, the rechargeable battery B (see FIG. 4) having a relatively large mass is arranged near the front center of the lower case 51. That is, since the mass of the front portion of the main body 50 becomes large, the front portion of the main body 50 is less likely to be lifted. Therefore, when the autonomous traveling type vacuum cleaner C gets over the step, it becomes difficult to turn over, and the traveling stability of the autonomous traveling type vacuum cleaner C is increased.

<Second Embodiment>
The second embodiment is an embodiment in which the form of the scraping brush is changed. The configuration of this embodiment can be the same as that of the first embodiment except for the following points.
Hereinafter, the same components as those in the first embodiment are designated by the same reference numerals, and duplicate description will be omitted. Further, the duplicate description of the same effect as that of the first embodiment will be omitted.

(Scraping brush housing)
Locking portions 11a and 11a, which are protrusions extending in the left-right direction toward the inside of the scraping brush accommodating portion 11, are formed at the front end and the rear end of the scraping brush accommodating portion 11 according to the present embodiment. (See FIG. 13).

(Scraping brush)
FIG. 8B is an external perspective view of the scraping brush according to the present embodiment.
The scraping brush 1A according to the present embodiment has ribs 3a protruding in the radial direction along the rotation axis direction.
The scraping brush 1A is attached to the scraping brush accommodating portion 11 so that the rib 3a is located between the locking portions 11a and 11a and is located at a position facing the scraping brush accommodating portion 11. That is, the joint of the flocking 2 exists at a position facing the scraping brush accommodating portion 11. Therefore, it is difficult for a force to be applied to the end portion (joint) of the flocking 2, and the flocking 2 is hard to be peeled off from the scraping brush 1A even if the scraping brush 1A is used for a long period of time.

(Operation of scraping brush)
FIG. 13 is a side sectional view of the suction portion 10. The rotation of the scraping brush 1A of FIG. 8B will be described with reference to FIG.
Since the scraping brush 1A is in contact with the rotating brush 5, the rotation of the rotating brush 5 causes the rotation corresponding to the rotating brush 5, that is, the rotational force in the second rotation direction opposite to that of the rotating brush 5. Given.

Here, when the main body 50 advances while the scraping brush 1A is in contact with the cleaning surface, the scraping brush 1A rotates in the first rotation direction to cancel the rotational force given by the rotary brush 5 due to friction with the cleaning surface. Power is given.
The flocking of the scraping brush 1A is opposite to the cleaning surface when the main body 50 is advanced, and is forward to the rotation of the rotating brush 5. Therefore, when the main body 50 is advanced, the scraping brush 1A has a rotational force from the cleaning surface that is superior to the rotational force from the rotary brush 5, and follows the same first rotational direction as the rotational direction of the rotary brush 5. Start rotating.

The rib 3a of the scraping brush 1A that has started the driven rotation in the first rotation direction rotates from the rear end to the front end of the scraping brush accommodating portion 11. In the scraping brush 1A that continues the driven rotation, the rib 3a eventually comes into contact with the locking portion 11a at the front end of the scraping brush accommodating portion 11, and the driven rotation is stopped. After the driven rotation is stopped, the scraping brush 1A slips and cleans the cleaning surface (floor surface, carpet) so as to scrape off.

At this time, since each of the flocking 2 of the scraping brush 1A extends in the opposite direction from the surface of the scraping brush 1A toward the front side (traveling direction) of the main body 50, the flocking of the scraping brush 1A is performed. Each one of 2 is scraped so as to continuously scoop dust from the cleaning surface (for example, carpet) using only the portion of the scraping brush 1A that comes into contact with the cleaning surface in the width direction while slipping when moving forward. Take (see FIG. 13). By restricting the rotation of the scraping brush 1A in the first rotation direction, each of the flocking 2 of the scraping brush 1A is fixed toward the front side (traveling direction) of the main body 50. It is possible to scrape off the dust more reliably by using the flocking 2 than in the first embodiment.

On the other hand, when it hits a wall, avoids an obstacle, or the like, the main body 50 moves backward with the scraping brush 1A in contact with the cleaning surface. Then, the scraping brush 1A starts driven rotation in the second rotation direction from the front of the main body 50 through the scraping brush accommodating portion 11 due to friction with the cleaning surface as the main body 50 moves backward.

In the scraping brush 1A that continues the driven rotation in the second rotation direction, the rib 3a eventually comes into contact with the locking portion 11a at the rear end of the scraping brush accommodating portion 11 from the rotating brush accommodating portion 15 side, and the driven rotation is stopped. To do. At this time, the portion of the scraping brush 1 that scrapes out the dust during advancing comes into contact with the rotating brush 5, and the dust adhering to the scraping brush 1 is collected.

The flocking of the scraping brush 1A is in order with respect to the cleaning surface (for example, a carpet) when moving backward. Since the scraping brush 1 is rotated in the second rotation direction by the rotary brush 5, it is scraped so as to continuously scoop dust from the cleaning surface using only the portion in contact with the cleaning surface in the width direction. Take (see FIG. 13).
That is, the scraping brush 1 can scrape dust both when the main body 50 moves forward and backward.

In this way, since the rib 3a reciprocates between the locking portions 11a and 11a and at a position facing the scraping brush accommodating portion 11, the rib portion of the scraping brush 1A without the flocking 2 is the cleaning surface. It does not come into contact with the cleaning surface and does not damage the cleaning surface.

When the main body 50 advances, the dust scraped by the scraping brush 1 (until the rotation is regulated by the rib 3a) follows the flocking of the scraping brush 1 and passes through the scraping brush accommodating portion 11 and the suction port 17 Is sucked into the dust collecting case K.
Further, when the main body 50 moves forward, the rotary brush 5 rotated in the first rotation direction by the rotary motor 21 cleans the scraping brush 1 before scraping out the dust, which rotates in the second rotation direction. ..

When the main body 50 moves forward, the rotary brush 5 rotated by the rotary motor 21 (even after the rotation is restricted by the rib 3a) removes (sweeps) the scraped dust in the portion in contact with the scraping brush 1. ).

When the main body 50 moves backward, the dust scraped by the scraping brush 1 is collected by the rotating brush 5 in contact with the scraping brush 1. Further, since the direction of flocking of the scraping brush 1 and the direction of rotation of the rotating brush 5 are opposite, the flocking of the rotating brush 5 easily and surely removes dust from the flocking of the scraping brush 1 (sweeping). It is possible to clean the scraping brush 1A more reliably than in the first embodiment.

That is, in the second embodiment, the scraping brush 1 is mainly cleaned by the rotating brush 5 to remove (sweep) dust when the main body 50 moves backward.

<Third Embodiment>
The third embodiment is an embodiment in which the form of the scraping brush is changed. The configuration of this embodiment can be the same as that of the first embodiment or the second embodiment except for the following points.

(Scraping brush)
FIG. 8C is an external perspective view of the scraping brush 1B according to the present embodiment. The rotation of the scraping brush 1B of FIG. 8C will be described with reference to FIG.

The scraping brush 1B according to the present embodiment is provided along the four directions of the rotation shaft and has ribs 3b protruding in the radial direction. Further, in the scraping brush 1B according to the present embodiment, the direction of flocking is opposite between the central portion and the vicinity of both left and right ends, and the flocking 2 in the central portion is the scraping brush as in the first embodiment and the second embodiment. It extends from the surface of 1B in the second direction of rotation. The scraping brush 1B according to the present embodiment extends in the first rotation direction in the flocking 2b and 2b at both left and right ends.

In the scraping brush 1B according to the present embodiment, since the flocked 2b at both left and right ends face the cleaning surface when the main body 50 is moved backward, the frictional force between the scraping brush 1B and the cleaning surface becomes large, and the first embodiment, the first embodiment. 2 It is possible to rotate more reliably than in the embodiment, and the rotation speed is also reduced. That is, it is possible to remove (sweep) dust from the flocked 2 more reliably than in the second embodiment.

(Modification example)
In the second embodiment and the third embodiment, the scraping brush has one rib, but may have two or more ribs. The scraping brush has a plurality of ribs, so that the rotation range is more restricted. For example, when two ribs are present between the locking portions 11a and 11a, the scraping brush reciprocates in a narrower range about the rotation axis between the cleaning surface and the rotating brush 5. That is, the dust scraped off by the rotating brush 5 can be intensively removed (swept out).
The scraping brush may have flocking 2b toward the first rotation direction in the vicinity of either one end in the axial direction of the shaft portion, and the same effect as that of the third embodiment can be obtained.

The autonomous traveling type vacuum cleaner according to the present invention has been described in detail by showing an embodiment. Needless to say, the content of the present invention is not limited to the above-described embodiment, and can be appropriately modified or changed within a range that does not deviate from the gist thereof. Further, although the present invention has been described by taking an autonomous traveling type vacuum cleaner as an example in the present embodiment, it may be applied to the suction port of another type of vacuum cleaner such as a canister type, a stick type and a handy type.

1, 1A, 1B Scraping brush 2, 2b Flocking 3a, 3b Rib 4 Rotating shaft 5 Rotating brush 5a Shaft 5b Rotating shaft 5c Flocking 6 Fitting 7 Bearing (B)
10 Suction part (suction structure)
11 Scraping brush accommodating part 11a Locking part 15 Rotating brush accommodating part 16 Dust collecting rib 17 Suction port 18 Bearing (A)
19 Locking part 21 Rotating brush motor 22 Power transmission mechanism 30 Mouthpiece cover 30A Mouthpiece cover assembly 30a Partition 30b Tapered 30c Mating claw 35 Mouthpiece cover mounting member 35a Latch 35b Locking claw 35c Mating claw 37 Bearing holding member 37a Latch 37b Locking Claw 37c Meshing claw 40 Side brush 41 Side brush holder 42 Side brush motor 45 Guide brush (L)
47 Guide brush (M)
49 Guide brush (S)
50 Main body 51 Lower case 52 Hole 53 Exhaust port 54 Drive mechanism housing 55 Battery housing 56 Front lid 56a Locking claw 56b Overhang 56c Taper 60 Drive mechanism 61 Drive wheel 70 Support mechanism 71 Arm (suspension)
81 Blower 82 Side brush mounting part 83 Auxiliary wheel 84 Auxiliary wheel mounting part 91 Upper case 92 Bumper 93 Lid 95 Control device 96 Sensors (obstacle detection means)
97 Operation button C Autonomous vacuum cleaner K Dust collection case K1 Inflow port F Dust collection filter

Claims (5)

A blower for generating negative pressure, a mouthpiece structure having a suction port for sucking dust on the surface to be cleaned by the negative pressure of the blower, and a collection of dust arranged between the blower and the flow path of the suction port to collect dust. In an autonomous vacuum cleaner comprising a dust case and at least two drive wheels for autonomous travel.
The mouthpiece structure is
A rotating brush that is driven to rotate in the first direction by a motor,
Adjacent to the rotating brush, a rotatable scraping brush and
A rotating brush accommodating portion that rotatably accommodates the rotating brush,
A scraping brush accommodating portion for rotatably accommodating the scraping brush is provided.
The scraping brush has flocking directed in a second rotation direction, which is a rotation direction opposite to the first rotation direction.
In the direction in which the autonomous traveling type vacuum cleaner advances, when the direction in which the rotating brush is arranged with respect to the scraping brush is the forward direction, the flocking of the scraping brush is performed by the autonomous traveling type vacuum cleaner. It is opposite to the forward direction, and the tip of the flocking of the rotating brush is in contact with the flocking of the scraping brush.
An autonomous traveling type vacuum cleaner characterized in that the outermost circumference of the scraping brush is farther from the surface to be cleaned than the outermost circumference of the rotating brush. When the scraping brush is rotating in the first rotation direction of the rotary brush, the rotational force in the second rotation direction is applied to F2, and when the autonomous traveling type vacuum cleaner advances, the scraping is performed. Let F1 be the force in the first rotation direction due to the resistance that the brush receives from the cleaning surface.
F1> F2,
The scraping brush rotates in the first rotation direction and at the same time
When the autonomous traveling type vacuum cleaner is stopped, retracted, or moved on a hard floor, the force F1 in the first rotation direction due to the resistance received from the cleaning surface becomes small.
F1 <F2,
The autonomous traveling type vacuum cleaner according to claim 1, wherein the scraping brush rotates in a second rotation direction. The scraping brush has ribs on the outer peripheral surface of the shaft portion.
The front end and the rear end of the scraping brush accommodating portion have a locking portion that comes into contact with the rib when the scraping brush rotates, and the rib and the locking portion come into contact with each other. The autonomous traveling type vacuum cleaner according to claim 1 or 2, wherein the scraping brush is rotated in the first rotation direction and stopped in the second rotation direction. When the cleaning is completed or the electric capacity of the rechargeable battery is low, the autonomous traveling type vacuum cleaner automatically returns to the charging device and drives the blower with the drive wheels stopped. The rotating brush is rotated in the first rotation direction, and by the rotation of the rotating brush, the scraping brush is arranged on the rib having the outer peripheral surface of the shaft portion of the scraping brush and the scraping brush accommodating portion. Rotate in the second rotation direction until it comes into contact with the locking part.
Further, the autonomous traveling type vacuum cleaner rotates the rotating brush in the second direction, and the rotation of the rotating brush causes the scraping brush to come into contact with the rib and the locking portion. The autonomous traveling type vacuum cleaner according to any one of claims 1 to 3, wherein the vacuum cleaner is rotated in one rotation direction. The autonomous traveling type vacuum cleaner temporarily stops the drive wheel during cleaning to drive the blower, rotates the rotating brush in the first rotation direction, and rotates the rotating brush to remove the scraping brush. , Rotate in the second rotation direction until the ribs on the outer peripheral surface of the shaft portion of the scraping brush and the locking portion arranged in the scraping brush accommodating portion come into contact with each other.
Further, the autonomous traveling type vacuum cleaner rotates the rotating brush in the second direction, and the rotation of the rotating brush causes the scraping brush to come into contact with the rib and the locking portion. The autonomous traveling type vacuum cleaner according to any one of claims 1 to 3, wherein the vacuum cleaner is rotated in one rotation direction.

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