JPWO2019054129A1 - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of reducing an occupied space in a standby state. A self-propelled cleaner (1) includes a cleaner body (2) and a charging station (6). The charging station (6) includes a hook (64) for locking a locked portion (16) provided on the rear side of the cleaner body (2), and a lifting drive unit (61) for lifting the hook (64). ) And a second slope (61D) that guides one end side of the cleaner body (2) obliquely upward until the cleaner body (2) reaches a predetermined position where it can be lifted. 2) is lifted up so that it can be stored in a standing state with its rear side facing upward. [Selection diagram] Fig. 3

Description

  The present invention relates to a self-propelled vacuum cleaner.

  Conventionally, there is known a self-propelled cleaner including a traveling unit, a dust collecting unit that collects dust removed from a floor surface, and a battery that supplies electric power to the traveling unit and the like (for example, Patent Document 1). The battery of this self-propelled vacuum cleaner is designed to be charged from a charging stand separately installed on the floor and connected to a power source. The self-propelled vacuum cleaner relies on the return signal from the charging stand to control the drive wheels of the traveling means to return to the charging stand, and the charging terminal of the self-propelled cleaner and the power supply terminal of the charging stand are electrically connected. The connection to the charging stand is detected, and the driving of the traveling unit and the dust collecting unit is stopped.

JP, 2014-188062, A

  However, in the conventional self-propelled cleaner as described in Patent Document 1, the self-propelled cleaner and the charging stand are flat in a standby state where the self-propelled cleaner returns to the charging stand and stands by. Connected to. For this reason, the area of the floor surface is occupied only by the projected area of the self-propelled cleaner and the charging stand, and there is a problem that the occupied space in the standby state is large.

  An object of the present invention is to provide a self-propelled cleaner that can reduce the occupied space in the standby state.

  The self-propelled cleaner of the present invention is a self-propelled cleaner that can be cleaned while traveling along a floor surface, and has a cleaner body having a cleaning unit that sucks dust and the like on the floor surface, and the non-cleaning unit described above. A storage device for storing the cleaner body, wherein the storage device includes a locking portion that locks a part of one end side of the cleaner body, and a lifting unit that moves the locking portion up and down. A slope that guides one end side of the cleaner body obliquely upward until the cleaner body reaches a predetermined position where it can be lifted, and the locking portion that locks a part of the cleaner body. It is characterized in that the vacuum cleaner main body is lifted by the elevating means and can be stored in a standing state with one end side facing upward.

According to the present invention as described above, in the storage device, the lifting portion raises the locking portion, and the cleaner main body locked by the locking portion is lifted and stored in a standing state with one end side facing upward. The projected area of the housed cleaner main body on the floor can be reduced, and the space occupied by the cleaner main body and the storage device in the standby state can be reduced.
Further, by guiding the one end side of the cleaner main body obliquely upward by the slope of the storage device, the cleaner main body can be tilted and then lifted by the locking portion, and the cleaner main body can be lifted more smoothly. Further, since the slope forms a portion higher than the floor surface, this portion can be used as a retracting space for the locking portion.

  In the present invention, it is preferable that the slope guides the other end side of the cleaner main body obliquely downward by lowering the locking part that locks a part of the cleaner main body by the elevating means. ..

  According to such a configuration, by guiding the other end side of the cleaner main body obliquely downward by the slope of the storage device, it is possible to lower the locking portion that locks a part of the cleaner main body by the elevating means. The cleaner body can be lowered more smoothly, and the cleaner body can be prevented from falling toward the storage device side.

  In the present invention, it is preferable that at least one of the cleaner body and the storage device be provided with a guide means for rollingly or slidingly guiding the other end of the cleaner body that is being lifted.

  With such a configuration, the cleaner body or the storage device is provided with the guide means, and the guide means rolls or slides the other end side of the cleaner body to raise or lower the cleaner body. The sliding contact resistance between the other end of the cleaner body and the floor surface or the storage device, the angle of which changes, can be reduced, and the cleaner body can be raised and lowered more smoothly.

  In the present invention, it is preferable that the locking portion locks a part of a rear side of the cleaner main body, and the guide means is provided on a front side of the cleaner main body.

  According to this structure, the locking portion locks a part of the rear side of the cleaner main body, so that the cleaner main body retracts toward the storage device and cleans when it reaches a predetermined position where it can be lifted. A part of the rear side of the machine body is locked by the locking part. Therefore, the main body of the cleaner only needs to be provided with a sensor for detecting the left-right position and the distance of itself with respect to the storage device on the rear side of the cleaner main body, and does not need to be provided on the front side of the cleaner main body. The space on the front side of the machine body can be effectively used.

  In the present invention, it is preferable that the locking portion locks a part of a front side of the cleaner main body, and the guide means is provided on a rear side of the cleaner main body.

  According to such a configuration, the locking portion locks a part of the front side of the cleaner body, so that the cleaner body advances toward the storage device and reaches a predetermined position where it can be lifted. A part of the front side of the cleaner body is locked by the locking part. Therefore, the main body of the cleaner only needs to be provided with a sensor for detecting the left-right position or distance of itself with respect to the storage device on the front side of the main body of the cleaner, so that the guide means provided on the rear side of the main body of the cleaner can be used. The size can be increased, and the vacuum cleaner body can be raised and lowered more smoothly.

  In the present invention, it is preferable that the storage device has charging means for charging the cleaner body, and the locking portion functions as a power supply terminal for supplying power from the charging means to the cleaner body. ..

  According to such a configuration, in the storage device, the locking portion for hoisting the cleaner body functions as a power supply terminal, so that it is easy to face the hoisted cleaner body without preparing a separate power supply terminal. Can be powered.

  In the present invention, the charging means has a power feeding portion that is capable of feeding power by contacting the locking portion, and the power feeding portion contacts the locking portion at a locking position before lifting the cleaner body. It is preferable to have a first terminal that can be connected and a second terminal that can contact the locking portion that is in the storage position after the cleaner body is lifted.

  According to such a configuration, the charging unit has the power feeding unit that is in contact with the locking unit and is capable of feeding power, and the power feeding unit has the first terminal and the second terminal, so that the charging unit is locked before being lifted. In each of the position and the storage position after hoisting, each terminal contacts the engaging portion to energize, and power can be supplied to the cleaner main body through the engaging portion. Further, since it is not necessary to directly connect the power supply wiring to the movable locking portion, there is no need to entangle the wiring or secure a space for the wiring to move.

  In the present invention, the storage device has a detection means for detecting whether or not the cleaner body is in a predetermined position where it can be lifted, and the lifting means is based on the detection by the detector means. It is preferable to lower the locking portion to the retracted position until is at a predetermined position, and raise the locking portion to the locking position when the cleaner body is at the predetermined position.

  With such a configuration, in the storage device, the elevating means lowers the locking portion to the retracted position until the cleaner body reaches the predetermined position, so that the locking portion does not project and the human foot It is possible to prevent the clothes, clothes, and the like from being caught, and prevent a part of the cleaner body from slidingly contacting the locking portion, so that wear of the locking portion can be reduced. Further, in the storage device, after the detection means detects that the cleaner body has reached the predetermined position, the elevating means raises the locking portion to the locking position, so that the locking portion causes a part of the cleaner body to move. Can be reliably locked, and the cleaner body can be stably lifted.

  In the present invention, it is preferable that the elevating means elevates and lowers the locking portion along an inclined direction that is rearward and upward with respect to the cleaner body.

  With such a configuration, the lifting means moves up and down the locking portion along the tilt direction, so that one end of the cleaner body can be lifted diagonally upward, as compared with the case of lifting in the vertical direction. Therefore, the cleaner body can be lifted stably and smoothly.

  In the present invention, the locking portion has an extension piece extending toward the cleaner body, and an engagement recess recessed in an arc shape is formed on an upper surface of the extension piece. It is preferable that a locked portion that is formed in a cylindrical shape having a diameter smaller than that of the locking recess and that is locked in the locking recess is provided in a part of the.

  According to this structure, the locking recess, which is recessed in an arc shape, is formed on the upper surface of the extending piece of the locking part, and the cleaning recess is formed in a columnar shape having a smaller diameter than the locking recess. Since the locked portion is provided, the locked portion can be reliably locked by the locking recess. In addition, as one end of the cleaner body is lifted, the angle between the cleaner body and the storage device changes, but the cylindrical locked portion may rotate in the arcuate locking recess. Therefore, the vacuum cleaner body can be smoothly lifted while suppressing the resistance while maintaining a stable locked state.

Front view of a self-propelled vacuum cleaner according to an embodiment of the present invention A side view of a cleaner body and a sectional view of a storage device in the self-propelled cleaner. The side view which shows the lifting state of the cleaner body in the said self-propelled cleaner. Side view showing a retracted state of the cleaner body in the self-propelled cleaner Functional block diagram showing a schematic configuration of the self-propelled cleaner Perspective view of the cleaner body seen from above Perspective view of the cleaner body seen from below The perspective view which looked at the protrusion state of the surrounding cleaning means in the said cleaner body from the upper part. The perspective view which looked at the protrusion state of the circumference cleaning means in the said cleaner body from the lower part. The front view which shows the protrusion state of the surrounding cleaning means in the said cleaner body. Right side view showing the protruding state of the surrounding cleaning means in the cleaner body Rear view showing the protruding state of the surrounding cleaning means in the cleaner body A perspective view showing a storage device of the self-propelled cleaner. Front view showing the storage device Sectional drawing which shows the said storage apparatus (A)-(D) is sectional drawing which shows operation|movement of the said storage apparatus. (A), (B) is sectional drawing which expands and shows a part of said storage device. Sectional drawing which shows the detection means of the said storage apparatus. (A), (B) is sectional drawing which shows the raising/lowering means of the said storage apparatus. Sectional drawing which expands and shows the raising/lowering means of the said storage apparatus. Sectional drawing which expands and shows the raising/lowering means of the said storage apparatus. A side view and a sectional view showing the operation of the storage device. FIG. 22 is a side view and a sectional view showing the operation of the storage device following FIG. 22. FIG. 23 is a side view and a sectional view showing the operation of the storage device following FIG. 23. FIG. 24 is a side view and a sectional view showing the operation of the storage device following FIG. 24. (A)-(C) is sectional drawing which expands and shows the charging means of the said storage device. The perspective view which looked at the cleaner body concerning the modification of the present invention from the lower part. The perspective view which looked at the protrusion state of the circumference cleaning means in the said cleaner body from the lower part.

An embodiment of the present invention will be described below with reference to FIGS.
FIG. 1 is a front view of a self-propelled cleaner according to an embodiment of the present invention, and FIG. 2 is a side view of a cleaner body and a sectional view of a storage device in the self-propelled cleaner.
The self-propelled cleaner 1 includes a cleaner body 2 that is a cleaning robot that runs along the floor surface F and cleans the floor surface F, and a charge as a storage device that stores the cleaner body 2 when not cleaning. And a station 6.

  As will be described later, the cleaner body 2 has a traveling drive unit 12 having a pair of left and right wheels 121 for self-propelling, and an elevating unit 13 provided so as to be able to ascend and descend from the upper surface 101 of the body 10. A suction unit 14 for sucking dust on the floor F and a main body operation unit 15 (see FIG. 5) for operating the cleaner main body 2 are provided. The charging station 6 is installed immovably at a predetermined position in the room and is connected to a power source such as an outlet.

FIG. 3 is a side view showing a lifted state of the cleaner body in the self-propelled cleaner, and FIG. 4 is a side view showing a retracted state of the cleaner body in the self-propelled cleaner.
As shown in FIGS. 3 and 4, the charging station 6 is configured so that the cleaner body 2 can be lifted and stored in an upright state with the rear side, which is one end side, facing upward. The charging station 6 includes a hook 64 as a locking portion that locks a locked portion 16 (described later) provided on the rear side of the cleaner body 2, and a lifting drive unit as lifting means for lifting the hook 64. And 51 (described later).

FIG. 5: is a functional block diagram which shows schematic structure of a self-propelled cleaner.
As shown in FIG. 5, the cleaner body 2 includes a surrounding cleaning means 3 for cleaning the periphery of the cleaner body 2, a sensor unit 4 for detecting an obstacle around the cleaner body 2, and a cleaning unit. The machine main body 2, the surrounding cleaning means 3, and the control section 5 as a control means for driving and controlling the sensor section 4 are provided.

  The peripheral cleaning means 3 is provided in a pair of left and right in the front part of the cleaner main body 2, and is an arm 21 that projects laterally from the cleaner main body 2 and is rotatable, a motor 22 that rotationally drives the arm 21, and a motor. A load sensor 23 for detecting a load applied from the outside to 22 and an angle sensor 24 for detecting a rotation angle of the arm 21 are provided.

  The sensor unit 4 includes a front sensor 31 provided at the front part of the cleaner body 2, a surrounding sensor 32 provided at the elevating part 13, and a rear sensor 33 provided at the rear part of the cleaner body 2. ..

  The control unit 5 includes a travel control unit 41 that controls the travel drive unit 12, a suction control unit 42 that controls the suction unit 14, a front sensor 31, a surrounding sensor 32, a rear sensor 33, and a surrounding cleaning unit 3 of the sensor unit 4. Of the load sensor 23 and the angle sensor 24, and the arm controller 44 that drives and controls the motor 22 of the surrounding cleaning means 3 to rotate the arm 21.

  The charging station 6 has returned to the charging station 6 and an ascending/descending driving unit 51 as an ascending/descending unit for ascending/descending the hook 64, a charging unit 52 as a charging unit for supplying power to the battery of the cleaner body 2 to charge the battery. A position detection unit 53 as a detection unit that detects the position of the cleaner body 2 and a charging control unit 54 that controls the power supply by the charging unit 52 are provided.

Next, the structure of the cleaner body 2 will be described with reference to FIGS. 6 to 12.
FIG. 6 is a perspective view of the cleaner body as seen from above, and FIG. 7 is a perspective view of the cleaner body as seen from below. FIG. 8 is a perspective view of the surrounding cleaning means in the cleaner body as viewed from above, and FIG. 9 is a perspective view of the surrounding cleaning means in the cleaner body as viewed from below. 10 to 12 are a front view, a right side view and a rear view showing a protruding state of the peripheral cleaning means in the cleaner body.

  The cleaner main body 2 includes a body 10 having an upper surface portion 101, a front surface portion 102, left and right side surface portions 103, and a rear surface portion 104, a chassis 11 forming a bottom surface portion 105, and a pair of left and right wheels 121 for self-propelling. A traveling drive unit 12 having the above-described structure, an elevating unit 13 that can be moved up and down from the upper surface 101 of the body 10, and a bottom surface 105 of the body 10 for sucking dust and dirt on the floor surface F. The suction unit 14 and a main body operation unit 15 (FIG. 5) for operating the cleaner main body 2 are provided. The main body operation unit 15 is, for example, a touch sensor type switch (not shown) provided on the upper surface portion 101 of the cleaner main body 2, and operates the cleaner main body 2 by a touch operation by a user, and is in operation. The cleaner body 2 is stopped by a touch operation.

  The arm 21 of the surrounding cleaning means 3 includes a first arm 21A whose one end side is rotatably supported by the cleaner body 2 and a second arm 21B which is rotatably supported on the other end side of the first arm 21A. It is configured to have. The first arm 21A is entirely hollow, and one end of the first arm 21A is rotatably supported by the chassis 11. The second arm 21B is formed in a generally long bowl shape that opens downward, and an intermediate portion thereof is rotatably supported on the other end side of the first arm 21A. The second arm 21B has a sub-suction port 25 that opens downward to suck in dust or the like on the floor surface F, and the sub-suction port 25 passes through the internal space of the second arm 21B and the first arm 21A to allow suction of the suction portion 14. It communicates with the duct and the dust collection chamber. Further, as will be described later, on the lower surface of the second arm 21B, there is provided a rotating ball 26 as guide means for rollingly guiding the front side (the other end side) of the cleaner body 2 being lifted by the charging station 6. Has been.

  The sensor portion 4 includes a front sensor 31 provided on the front surface portion 102 of the body 10, a surrounding sensor 32 as a surrounding area detection means provided on the elevating portion 13, and a rear sensor 33 provided on the back surface portion 104 of the body 10. And are configured. The front sensor 31 is composed of an ultrasonic sensor, an infrared sensor, or the like, and detects an obstacle in front of the cleaner body 2. The ambient sensor 32 is a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) that is rotationally driven inside the elevating unit 13 and emits a laser beam such as an infrared laser to measure a distance. Then, the distance to the obstacle and the shape of the obstacle are calculated. The ambient sensor 32 is not limited to the one provided on the elevating part 13, and may be any position on the body 10. The rear sensor 33 is for detecting a distance and a position with respect to the charging station 6, and communicates with an infrared ray emitting section 53C (see FIG. 13) of the position detecting section 53 of the charging station 6 by infrared rays or the like. ..

  The traveling drive unit 12 includes a pair of left and right wheels 121, and a motor (not shown) that independently rotationally drives the pair of wheels 121. Further, an auxiliary wheel 122 is provided on the rear portion of the chassis 11. A roller brush 141, a duct (not shown), a suction fan, a dust collecting chamber, and an exhaust port are connected to the suction unit 14, and the sucked dust and the like are collected by a filter in the dust collecting chamber and the sucked air is discharged. It is designed to exhaust from the mouth. The duct of the suction portion 14 and the internal space of the arm 21 of the surrounding cleaning means 3 are communicated with each other.

Next, the structure of the charging station 6 will be described with reference to FIGS.
FIG. 13 is a perspective view showing a storage device of the self-propelled vacuum cleaner, and FIG. 14 is a front view showing the storage device. 15 is a cross-sectional view showing the storage device, and is a cross-sectional view taken along the line AA in FIG. 16A to 16D are cross-sectional views showing the operation of the storage device. 17A and 17B are cross-sectional views showing a part of the storage device in an enlarged manner, and are partially enlarged views of FIG. FIG. 18 is a sectional view showing the detection means of the storage device.

  As shown in FIGS. 13 to 15, the charging station 6 as a storage device includes a base 61 placed on the floor F, a pair of left and right pillars 62 standing up from the left and right of the base 61, and upper ends of the pillars 62. It is provided with an arch-shaped top portion 63 that connects the portions, and a pair of hooks 64 as locking portions. The base 61 includes a wedge-shaped base front part 61A that is inclined upward from the front side to the rear side (from the lower left side to the upper right side in FIG. 13), and a box-shaped base rear part 61B that stands up behind the base front part 61A. , And are formed in a hollow shape as a whole. The column portion 62 continuously rises from the base rear portion 61B, has a column front surface portion 62A, a column inner side surface portion 62B, a column outer surface portion 62C, and a column rear surface portion 62D, and is formed into a generally cylindrical shape. Inside such a base portion 61 and a pillar portion 62, a lifting drive unit 51, a charging unit 52, a position detection unit 53, and a charging control unit (control board) 54 are provided.

  A slope 61C that guides the auxiliary wheel 122 of the cleaner body 2 is provided at the center of the upper surface of the base front portion 61A. The slope 61C has an upward slope from the front side toward the rear side, and the auxiliary wheel 122 of the cleaner body 2 approaching while retracting toward the charging station 6 rides on the slope 61C, so that FIG. As shown, the rear side (one end side) of the cleaner body 2 is guided obliquely upward. A substantially horizontal flat portion (see FIG. 18) is provided at the rear end of the slope 61C, and the auxiliary wheel 122 rides on the flat portion to prevent the cleaner body 2 from slipping forward. .. Further, second slopes 61D are provided at both left and right ends on the upper surface of the base front part 61A, and by the second slopes 61D, as shown in FIG. 4, the second slope 61D is provided on the front side (the other end side) of the cleaner body 2. It is configured to guide the provided rotating ball 26.

  On the front surface of the base rear portion 61B, a plurality of infrared light emitting portions 53C that form the position detecting portion 53 are provided. The rear sensor 33 of the cleaner body 2 receives the infrared rays emitted by these infrared ray emitting portions 53C, so that the cleaner body 2 moves backward toward the charging station 6 and moves to the charging station 6 in the left-right position and the distance thereof. To detect. The cleaner body 2 moves backward while appropriately adjusting the traveling drive unit 12 based on the detection of the rear sensor 33, and enters a predetermined hoistable position (the docking position shown in FIG. 2) in the charging station 6. Further, a slit 62E that guides the hook 64 up and down is formed on the pillar inner side surface portion 62B of the pillar portion 62 from the base rear portion 61B. The pillar front surface portion 62A and the slit 62E of the pillar portion 62 are provided so as to be inclined rearward as they go upward, and as a result, as shown in FIGS. It is designed to be lifted up.

  As shown in FIG. 16, the hook 64 is driven by the up-and-down drive unit 51 and is provided so as to be able to move up and down from the base portion 61 to the column portion 62. That is, the hook 64 passes from the retracted position shown in FIG. 16(A) to the locking position shown in FIG. 16(B), the mid-lifting position shown in FIG. 16(C), and the storage shown in FIG. 16(D). It is configured to be able to move up and down to the position.

  As shown in FIG. 17, the hook 64 has a hook base 64A connected to the elevating/lowering drive unit 51, and an extension piece 64B extending from the hook base 64A forward, that is, substantially horizontally toward the cleaner body 2. A locking recess 64C that is recessed in an arc shape is formed on the upper surface of the tip of the extending piece 64B. On the other hand, on the rear side (one end side) of the bottom surface of the cleaner body 2, as shown in FIGS. 7, 9 and 17, a pair of locked portions 16 that are locked by the hooks 64 are provided. There is. The locked portion 16 is formed in a cylindrical shape having a smaller diameter than the locking recess 64C, is movable in the locking recess 64C back and forth by a minute distance, and is locked so as to be rotatable with respect to the locking recess 64C. It is supposed to be done. The locked portion 16 is electrically connected to a battery (not shown) of the cleaner body 2 and functions as a charging terminal of the cleaner body 2 as described later.

  In addition to the infrared light emitting unit 53C, the position detecting unit 53 includes a Hall sensor substrate 53A provided inside the base front portion 61A and a Hall element 53B provided on the Hall sensor substrate 53A, as shown in FIG. , Is provided. On the other hand, a magnet 17 is provided on the rear side (one end side) of the bottom surface of the cleaner body 2. When the cleaner body 2 retracts and the auxiliary wheel 122 rides over the slope 61C and rides on the flat portion, the cleaner body 2 is returned to the docking position where it can be lifted by the hook 64. At this time, the hall element 53B detects the magnet 17 and the position detector 53 detects that the cleaner body 2 has returned to the docking position.

  Until the position detector 53 detects that the cleaner body 2 has returned to the docking position as described above, the elevating/lowering drive unit 51 lowers the hook 64 to the retracted position as shown in FIG. The hook 64 and the locked portion 16 do not come into contact with each other while the cleaner body 2 is retracted. On the other hand, when the position detection unit 53 detects that the cleaner body 2 has returned to the docking position, the lifting drive unit 51 raises the hook 64 to the locking position and locks it, as shown in FIG. The locked portion 16 is locked by the recess 64C. Further, the hook 64 functions as a power supply terminal for supplying power from the charging unit 52 to the cleaner body 2, and the locked portion 16 is electrically connected to a battery (not shown) inside the cleaner body 2 to hook the hook 64. The electric power supplied from is supplied to the battery via the locked portion 16.

Next, the elevating/lowering drive unit (elevating means) 51 of the charging station 6 will be described with reference to FIGS.
19(A) and 19(B) are cross-sectional views showing the elevating means of the storage device, and are cross-sectional views taken along the line BB and CC in FIG. 14, respectively. FIG. 20 is an enlarged sectional view showing the elevating means of the storage device, and FIG. 21 is an enlarged sectional view showing the elevating means of the storage device.

  As shown in FIGS. 19 to 21, the lifting drive unit 51 includes a motor 71, a drive shaft 72, a pair of left and right ball screw shafts 73, a ball screw 74 fixed to each of the left and right hooks 64, and a ball screw. And a linear guide 75 that guides 74 up and down.

  The drive shaft 72 is provided so as to extend left and right, and worm gears 72A are fixed to both ends thereof. As shown in FIG. 19, a pinion gear 71A is fixed to the output shaft of the motor 71, and a driven gear 72B is fixed to an intermediate portion on one side (left side in the drawing) of the drive shaft 72. A gear train including a first gear 76A and a second gear 76B is provided between the pinion gear 71A and the driven gear 72B of the motor 71, and the gear train of the motor 71 is provided via these respective gears 71A, 76A, 76B, 72B. The output is transmitted to the drive shaft 72, and the drive shaft 72 rotates.

  The ball screw shaft 73 is provided so as to extend vertically from the base portion 61 to the column portion 62, and the upper and lower ends thereof are pivotally supported. A worm wheel 73A is fixed to the lower end of the ball screw shaft 73. The worm wheel 73A meshes with the worm gear 72A of the drive shaft 72, and when the drive shaft 72 rotates, the rotation thereof causes the rotation of the ball screw shaft 73. To be converted. The ball screw 74 meshes with the ball screw shaft 73, and when the ball screw shaft 73 rotates, the ball screw 74 and the hook 64 move up and down. The linear guide 75 includes a rail 75A vertically extending and fixed from the base portion 61 to the column portion 62, and a movable portion 75B fixed to the ball screw 74 and guided by the rail 75A. The hook 64 is guided so as to be linearly movable.

Next, the charging unit (charging means) 52 of the charging station 6 will be described with reference to FIGS.
22 to 25 are a side view and a sectional view showing the operation of the storage device, and each drawing (B) is a sectional view taken along the line AA in each drawing (A). 26(A) to (C) are enlarged sectional views showing the charging means of the storage device, and FIG. 26(A) is an enlarged sectional view of a part of FIG. 22(B). 26B is a partially enlarged cross-sectional view of FIG. 23B, and FIG. 26C is a partially enlarged cross-sectional view of FIG. 25B.

  The charging unit 52 includes a power supply unit 52A (see FIGS. 17 to 21) connected to a power supply by an outlet, and the power supply unit 52A includes insides of the left and right pillars 62 as shown in FIGS. 22 to 25. A first terminal 52B provided from below to the inside of the base rear portion 61B and a second terminal 52C provided above the inside of the left and right pillar portions 62 are electrically connected. The upper end of the first terminal 52B is fixed to the terminal fixing portion 52D on the inner surface of the column outer surface portion 62C, and the first terminal 52B is attached in a cantilever shape downward. The second terminal 52C has a lower end fixed to the terminal fixing portion 52E on the inner surface of the column outer surface 62C, and is attached in a cantilever shape upward. As shown in FIGS. 26A and 26B, the first terminal 52B has a first contact portion 52F protruding inward in the left-right direction, and the second terminal 52C is shown in FIG. As shown, the second contact portion 52G is formed so as to project inward in the left-right direction. On the other hand, the hook 64 is formed with a conducting portion 64D that protrudes outward in the left-right direction and is in contact with the first contact portion 52F and the second contact portion 52G.

  The first conducting portion 52F of the first terminal 52B does not come into contact with the conducting portion 64D when the hook 64 is in the retracted position as shown in FIG. 26(A), and as shown in FIG. When 64 is in the locked position, it contacts the conducting portion 64D. The second contact portion 52G of the second terminal 52C contacts the conducting portion 64D when the hook 64 is at the retracted position, as shown in FIG. 26(C). On the other hand, as shown in FIG. 24, when the hook 64 is in the hoisting position, the conducting portion 64D does not come into contact with either the first conducting portion 52F or the second contact portion 52G.

  As described above, the hook 64 in the locking position is electrically connected to the charging unit 52 via the first terminal 52B, and the hook 64 in the storage position is electrically connected to the charging unit 52 via the second terminal 52C. There is. Since the locked portion 16 of the cleaner body 2 is locked to the hook 64, the charging controller 54 causes the electric power from the charging portion 52 to pass through the hook 64 and the locked portion 16 inside the cleaner body 2. Is supplied to the battery, and the battery is charged.

  Next, the operation of the self-propelled cleaner 1 will be described. When the cleaner body 2 that has finished cleaning the floor surface F returns to the vicinity of the charging station 6, the rear side (back surface 104 side) is directed toward the charging station 6, and the rear sensor 33 causes infrared rays of the charging station 6. The infrared ray from the light emitting portion 53C is received, and the vehicle moves backward while detecting the distance and position with respect to the charging station 6. Further, in the cleaner body 2, the auxiliary wheel 122 rides on the slope 61C of the base front portion 61A and is guided obliquely upward, and retracts to the docking position shown in FIGS. As shown in FIG. 18, when the hall element 53B of the position detector 53 detects the magnet 17 and it is detected that the cleaner body 2 has retracted to the docking position, the cleaner body 2 causes the traveling drive unit 12 to move. Stop driving.

  When the cleaner body 2 retracts to the docking position, the lifting drive unit 51 of the charging station 6 raises the hook 64 from the retracted position shown in FIG. 17A to the locked position shown in FIG. The locked portion 16 is locked by the recess 64C. In this way, the hook 64 is in the locking position and locks the locked portion 16, so that the first terminal 52B, the hook 64, and the locked portion 16 are interposed as shown in FIG. The charging unit 52 and the battery of the cleaner body 2 are electrically connected to each other, and the charging control unit 54 supplies power from the charging unit 52 to charge the battery. When cleaning is started again after charging the battery at the docking position in this way, the lifting drive unit 51 lowers the hook 64 to the retracted position, and then the cleaner body 2 drives the traveling drive unit 12. To move forward and separate from the charging station 6.

  When the cleaner body 2 is stored in the charging station 6, the lifting drive unit 51 raises the hook 64 that locks the locked portion 16. As the hook 64 rises in this way, as shown in FIG. 3, the rear side of the cleaner body 2 is slanted upward. At the time of this hoisting, the rotating ball 26 provided on the front side of the cleaner body 2 rolls along the floor surface F, and the rotating ball 26 rides on the second slope 61D of the base front part 61A to make the second slope. The cleaner body 2 can be smoothly guided by the rolling ball 26 rolling along 61D. When the lifting drive unit 51 further raises the hook 64 and the hook 64 reaches the storage position, as shown in FIG. 4, the cleaner body 2 is stored in the charging station 6 in a standing state with its rear side facing upward.

  In this state where the cleaner body 2 is stored, as shown in FIG. 26(C), the charging unit 52 and the battery of the cleaner body 2 are charged via the second terminal 52C, the hook 64 and the locked portion 16. And are conducted, and the battery is charged by supplying power from the charging unit 52 by the charging control unit 54.

  When the cleaning is started again, the lifting drive unit 51 lowers the hook 64 that locks the locked portion 16. At this time, the cleaner body 2 is not only lowered by its own weight, but also lowered by the hook 64 pushing down the chassis 11. As the hook 64 descends in this manner, the rear side of the cleaner body 2 is guided obliquely downward. At this time, the rotating ball 26 provided on the front side of the cleaner body 2 rolls along the second slope 61D of the base front part 61A, and further, the rotating ball 26 rolls along the floor surface F. The cleaner body 2 is smoothly guided. When the lifting drive unit 51 further lowers the hook 64 and the hook 64 reaches the retracted position, the cleaner body 2 drives the traveling drive unit 12 to move forward and separate from the charging station 6.

According to this embodiment as described above, the following actions and effects can be achieved.
(1) The charging station 6 is in the retracted state because the rear surface side of the cleaner body 2 is lifted up and stored in an upright state, whereby the projected area of the stored cleaner body 2 on the floor surface F can be reduced. The space occupied by the cleaner body 2 and the charging station 6 can be reduced.

(2) In the charging station 6, the hook 64 for hoisting the cleaner body 2 functions as a power supply terminal, so that power can be easily supplied to the battery of the hoisted cleaner body 2 without preparing a separate power supply terminal. , The battery can be charged.

(3) The charging unit 52 has a first terminal 52B and a second terminal 52C that are in contact with the hook 64 and capable of supplying power, and the hook 64 is electrically connected to the first terminal 52B at the locking position before lifting. The hook 64 conducts to the second terminal 52C at the retracted position after being lifted, so that the cleaner main body can be connected via the hook 64 at both the docking position and the retracted position without directly connecting the wiring to the movable hook 64. 2 batteries can be charged.

(4) In the charging station 6, the lifting drive unit 51 lowers the hook 64 to the retracted position until the cleaner body 2 reaches the docking position, so that a part of the cleaner body 2 and the hook 64 are in sliding contact with each other. It is possible to prevent the hook 64 from being worn and reduce the wear of the hook 64, and even when the cleaner body 2 is absent from the charging station 6, the hook 64 is prevented from protruding from the base portion 61, so that the hook 64 has a human foot or a foot. It is possible to prevent the clothes from being caught.

(5) The charging station 6 cleans with the hook 64 by the lifting drive unit 51 lifting the hook 64 to the locking position after the position detection unit 53 detects that the cleaner body 2 has reached the docking position. The locked portion 16 of the machine body 2 can be reliably locked, and the cleaner body 2 can be stably lifted.

(6) By raising and lowering the hook 64 by the elevating/lowering drive unit 51 along the rearward inclination direction, the rear side of the cleaner body 2 can be lifted obliquely upward, as compared with the case of lifting in the vertical direction. Thus, the cleaner body 2 can be lifted stably and smoothly.

(7) By guiding the auxiliary wheel 122 of the cleaner body 2 that moves backward obliquely upward by the slope 61C, the rear side of the cleaner body 2 can be tilted upward and then lifted by the hook 64, so that cleaning can be performed more smoothly. The machine body 2 can be lifted.

(8) A locking recess 64C that is recessed in an arc shape is formed on the upper surface of the extending piece 64B of the hook 64, and the cleaner main body 2 is provided with a locked portion 16 having a cylindrical shape with a diameter smaller than that of the locking recess 64C. Accordingly, the locked portion 16 can be reliably locked by the locking recess 64C.

(9) The angle between the cleaner body 2 and the charging station 6 changes as the rear side of the cleaner body 2 is lifted, but a cylindrical locked portion in the arc-shaped locking recess 64C. Since 16 can rotate, the vacuum cleaner body 2 can be smoothly lifted while suppressing resistance while maintaining a stable locked state.

(10) The rotary ball 26 is provided on the front side of the cleaner body 2, and the rotary ball 26 rolls along the floor surface F or the second slope 61D of the charging station 6 so that the angle is raised or lowered. The sliding contact resistance between the fluctuating front side of the cleaner body 2 and the floor surface F or the charging station 6 can be reduced, and the cleaner body 2 can be raised and lowered more smoothly.

(11) The second slope 61D of the charging station 6 guides the rear side of the cleaner body 2 obliquely downward so that the lifting drive unit 51 causes the hook 64 that locks the locked portion 16 of the cleaner body 2 to move. When the cleaner body 2 is lowered, the cleaner body 2 can be lowered more smoothly, and the cleaner body 2 can be prevented from falling toward the charging station 6 side.

(12) The hook 64 locks a part of the rear side of the cleaner body 2, so that the cleaner body 2 retracts toward the charging station 6 and reaches the predetermined position where it can be lifted up. A part of the rear side is locked by the hook 64. For this reason, the cleaner body 2 only needs to be provided with a rear sensor 33 for detecting the left-right position and distance of itself with respect to the charging station 6, on the rear side of the cleaner body 2, and provided on the front side of the cleaner body 2. Since it is not necessary, the space on the front side of the cleaner body 2 can be effectively used.

[Modification of Embodiment]
It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within the scope of achieving the object of the present invention are included in the present invention.
For example, in the self-propelled cleaning device 1 of the above-described embodiment, the cleaning device body 2 is provided with the peripheral cleaning means 3, but the peripheral cleaning means 3 may be omitted. Further, the arm 21 of the surrounding cleaning means 3 is provided with the rotating ball 26, and the rotating ball 26 rolls along the floor surface F or the second slope 61D of the charging station 6 to form the guiding means. The rotating ball 26 may be provided in the lower front portion of the body 10 of the cleaner body 2. Further, the guide means is not limited to the one in which the rotary ball 26 is rollingly guided, and a sliding surface having a small frictional resistance is provided at the front part of the cleaner body 2, and the sliding surface is the floor surface F or the second surface. It may be configured to be slidably guided along the slope 61D. Further, the guide means is not limited to one provided in the cleaner body, and may be a rolling portion or a sliding portion provided in the storage device (for example, the second slope 61D or the like).

  In the above-described embodiment, the hook 64 functions as a power supply terminal, and power is supplied to the battery of the cleaner body 2 via the hook 64 and the locked portion 16. However, a power supply terminal is provided separately from the hook 64. It may be. In this case, in the storage device, the power supply terminal may be configured to move up and down in synchronization with the locking portion, or one or more power supply terminals may be provided at a predetermined height without moving up and down. Good. Further, the power supply structure for supplying power to the battery of the cleaner body 2 is not limited to the contact type structure in which terminals contact each other, and may be, for example, an electromagnetic induction type non-contact power supply structure.

  In the above-described embodiment, the charging unit 52 has the first terminal 52B and the second terminal 52C, and is configured to charge the battery of the cleaner body 2 at the locking position before lifting and the storage position after lifting. However, the rechargeable position is not limited to the two positions of the locking position and the storage position, and may be either the locking position or the storage position, or 3 or more in addition to the two positions of the locking position and the storage position. A rechargeable position may be provided. Further, the charging unit (charging means) 52 is not limited to the one in which the first terminal 52B and the second terminal 52C are provided separately, but is constituted by an integrated terminal member in which these respective terminals are continuous. Good.

  In the above-described embodiment, the hall element 53B of the position detection unit (detection means) 53 of the charging station 6 detects the magnet 17 of the cleaner body 2 to detect that the cleaner body 2 is in the docking position where it can be lifted. Then, the hook 64 starts to move up based on this detection, but the structure of the detection means is not limited, and for example, a contact sensor may be used. Further, the hook (locking portion) 64 is not limited to the retracted position until the cleaner body 2 reaches the docking position, and the locked portion of the cleaner body is lowered to the lock position and locked. It may be configured to be locked with the section.

  In the above-described embodiment, the hook (locking portion) 64 has the locking recessed portion 64C and the locked portion 16 is formed in a cylindrical shape, but the structure of the locking portion and the locked portion is the same as that of the above-described embodiment. Not limited to this, any locking structure can be adopted. For example, the locking portion may be formed in a cylindrical shape, a concave portion that is recessed upward is formed on the lower surface of the locked portion, and the locking portion may be locked in this concave portion.

  In the above-described embodiment, the lifting drive unit (lifting unit) 51 of the charging station 6 includes the motor 71, the drive shaft 72, the pair of left and right ball screw shafts 73, the ball screw 74, and the linear guide 75. The structure of the elevating means is not particularly limited. As the elevating means, for example, a wire, a belt or the like for elevating the engaging part may be provided, or the elevating part may be elevating the engaging part by a linear motor.

  In the above-described embodiment, the hook 64 locks a part of the rear side of the cleaner body 2, and the rotary ball 26 is provided on the front side of the cleaner body 2. The part of the main body of the vacuum cleaner and the position where the guide means are provided are not particularly limited. For example, the locking part may lock a part of the front side of the cleaner body, and the guide means may be provided on the rear side of the cleaner body.

FIG. 27 is a perspective view of a cleaner body according to a modified example of the present invention as seen from below. FIG. 28 is a perspective view of the protruding state of the surrounding cleaning means in the cleaner body as seen from below.
In the above-described embodiment, the pair of engaged portions 16 that are engaged with the hooks 64 are provided on the rear side of the bottom surface of the cleaner body 2, but in the present modification, the bottom surface of the cleaner body 2 is provided. As shown in FIGS. 27 and 28, a pair of engaged portions 16A that are engaged with the hooks 64 are provided on the front side (one end side) of the section.

  Further, in the above-described embodiment, the rotation ball 26 is provided on the lower surface of the second arm 21B as guide means for rollingly guiding the front side of the cleaner body 2 which is being lifted by the charging station 6, In the present modification, a rotary ball 26A is provided on the rear side of the bottom surface of the cleaner body 2 as a guide means for rollingly guiding the rear side of the cleaner body 2 being lifted by the charging station 6.

  In this modification, the second arm 21B is shorter than that in the above-described embodiment in order to arrange the pair of locked portions 16A on the bottom surface of the cleaner body 2. In this modification, the magnet 17 is provided on the front side of the bottom surface of the cleaner body 2, and the rear sensor 33 is provided on the front part of the cleaner body 2 (not shown).

  According to such a modified example, the hook 64 locks a part of the front side of the cleaner body 2, so that the cleaner body 2 advances toward the charging station 6 and can be lifted at a predetermined position. When it comes to, the part of the front side of the cleaner body 2 is locked by the hook 64. For this reason, the cleaner body 2 may be provided with the rear sensor 33 for detecting the left-right position and the distance of itself with respect to the charging station 6, on the front side of the cleaner body 2, and thus on the rear side of the cleaner body 2. The size of the rotating ball 26A provided can be increased, and the cleaner body 2 can be raised and lowered more smoothly.

Further, other sensors such as the front sensor 31 provided on the front part of the cleaner body 2 can be used together with the rear sensor 33 to detect the left and right position and the distance of itself with respect to the charging station 6. The main body 2 can surely enter the predetermined hoistable position in the charging station 6.
Further, since the cleaner body 2 is formed such that the width on the front side is wider than the width on the rear side, the interval between the pair of locked portions 16A is the same as that of the pair of engaged portions in the above embodiment. It can be made wider than the interval of the stoppers 16. According to this, the charging station 6 can stably lift the cleaner body 2. When the distance between the pair of locked portions 16A is increased in this way, the distance between the pair of hooks 64 may be increased according to the distance between the pair of locked portions 16A.

  INDUSTRIAL APPLICABILITY As described above, the present invention can be suitably used for a self-propelled cleaner that can reduce the occupied space in the standby state.

1 Self-propelled vacuum cleaner 2 Vacuum cleaner body 6 Charging station (storage device)
26 Rotating balls (guide means)
14 Suction part (cleaning means)
16 Locked part 51 Lifting drive part (lifting means)
52 Charging unit (charging means)
52B 1st terminal 52C 2nd terminal 53 Position detection part (detection means)
61C slope 64 hook (locking part)
64B extension piece 64C locking recess 121 wheel F floor

Claims (10)

A self-propelled vacuum cleaner that can be cleaned while traveling along the floor,
A cleaner body having a cleaning means for sucking dust on the floor,
A storage device for storing the cleaner body during non-cleaning,
The storage device is
An engaging portion for engaging a part of one end side of the cleaner body,
Elevating means for elevating and lowering the locking portion,
A slope that guides one end side of the cleaner body diagonally upward until the cleaner body reaches a predetermined position where it can be lifted,
It is configured such that the vacuum cleaner body can be lifted and stored in a standing state with one end side facing upward by raising the locking portion that locks a part of the vacuum cleaner body by the elevating means. Self-propelled vacuum cleaner characterized by. In the self-propelled vacuum cleaner described in claim 1,
The slope is self-propelled, which guides the other end side of the cleaner body obliquely downward by lowering the locking portion that locks a part of the cleaner body by the elevating means. Vacuum cleaner. In the self-propelled vacuum cleaner according to claim 1 or 2,
At least one of the cleaner body and the storage device is provided with guide means for rollingly or slidingly guiding the other end side of the cleaner body that is being lifted. Machine. In the self-propelled vacuum cleaner described in claim 3,
The self-propelled cleaner according to claim 1, wherein the locking portion locks a part of a rear side of the cleaner body, and the guide means is provided on a front side of the cleaner body. In the self-propelled vacuum cleaner described in claim 3,
The self-propelled cleaner according to claim 1, wherein the locking portion locks a part of a front side of the cleaner body, and the guide means is provided on a rear side of the cleaner body. In the self-propelled vacuum cleaner according to any one of claims 1 to 5,
The storage device has a charging unit for charging the cleaner body,
A self-propelled cleaner, wherein the locking portion functions as a power supply terminal for supplying power from the charging means toward the cleaner body. In the self-propelled vacuum cleaner described in claim 6,
The charging unit has a power supply unit that is in contact with the locking unit and can supply power.
The power feeding unit contacts a first terminal that can come into contact with the locking unit at a locking position before lifting the cleaner body, and a locking unit at a storage position after lifting the cleaner body. A self-propelled vacuum cleaner characterized in that it is configured to have a possible second terminal. In the self-propelled vacuum cleaner according to any one of claims 1 to 7,
The storage device has detection means for detecting whether or not the cleaner body is in a predetermined position where it can be lifted,
Based on the detection by the detection means, the elevating means lowers the locking portion to the retracted position until the cleaner body reaches a predetermined position, and engages the locking portion when the cleaner body reaches the predetermined position. A self-propelled vacuum cleaner characterized by being raised to a stop position. In the self-propelled vacuum cleaner according to any one of claims 1 to 8,
The self-propelled cleaner, wherein the elevating means elevates and lowers the locking portion along an inclined direction that is rearward and upward with respect to the cleaner body. In the self-propelled vacuum cleaner according to any one of claims 1 to 9,
The locking portion has an extension piece extending toward the cleaner body, and an engagement recess recessed in an arc shape is formed on an upper surface of the extension piece.
A self-propelled type characterized in that a part of the cleaner main body is provided with a locked part formed in a cylindrical shape having a diameter smaller than that of the locking recess and locked in the locking recess. Vacuum cleaner.

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