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TWI508692B - Self-propelled trailing machine - Google Patents

Self-propelled trailing machine Download PDF

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Publication number
TWI508692B
TWI508692B TW102105306A TW102105306A TWI508692B TW I508692 B TWI508692 B TW I508692B TW 102105306 A TW102105306 A TW 102105306A TW 102105306 A TW102105306 A TW 102105306A TW I508692 B TWI508692 B TW I508692B
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TW
Taiwan
Prior art keywords
self
mop
substrate
mopping machine
top surface
Prior art date
Application number
TW102105306A
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English (en)
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TW201431524A (zh
Inventor
Yao-His Chiu
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Priority to TW102105306A priority Critical patent/TWI508692B/zh
Priority to EP14152257.3A priority patent/EP2764813A3/en
Priority to EP17157125.0A priority patent/EP3192423A1/en
Priority to CN201420049732.5U priority patent/CN203763007U/zh
Priority to CN201410036655.4A priority patent/CN103976696B/zh
Priority to KR1020140010247A priority patent/KR101542815B1/ko
Priority to JP2014015747A priority patent/JP5897616B2/ja
Priority to AU2014200560A priority patent/AU2014200560B2/en
Priority to US14/171,278 priority patent/US9357894B2/en
Publication of TW201431524A publication Critical patent/TW201431524A/zh
Application granted granted Critical
Publication of TWI508692B publication Critical patent/TWI508692B/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Description

自走式拖地機
本發明關於一種自走式清潔裝置，尤指一種自走式拖地機。
一般清潔地板的工具最常見的是使用拖把與水桶的搭配，亦即先將拖把之拖布浸入水桶中，再以雙手將拖布稍微扭乾，然後在地板上來回擦洗，接著將髒污之拖布浸入水桶中以雙手去除髒污部分，最後將拖布扭乾之後再進行下一次的擦洗動作，如此重複的操作至將地面清潔乾淨為止，對一般人來說實在相當的費時費力。
雖然目前已經有許多可以快速扭乾拖布之脫水裝置，例如中華民國公告第M394793號、中華民國公告第M427121號及中華民國公告第M436438號等專利案，但是在拖布扭乾之後仍然得以人工方式使用拖把對地面進行擦洗，故在使用上所能改善的地方還是有限。因此，為了有效提升擦洗地板的便利性，中華民國第I345961號專利案利用機器人自動執行地板的清洗工作，以減輕人們在清潔上的負擔，然而此專利案除了具有結構複雜及清潔效果有限的問題之外，一旦刷毛結構遇到損壞或髒污而需要更換時必須連同與其相連接之刷洗盤一起拆卸下來，如此將會造成在維修上的麻煩與不便。
本發明之主要目的在於提供一種自走式拖地機，其具有簡單的結構配置及良好的清潔效果。
本發明之自走式拖地機包含有一機體、一拖布、一動力裝置，以及一控制裝置。該拖布可拆卸地設於該機體，用以清潔地面；該動力裝置設於該機體且具有二相對之動力輪及二相對之馬達，各該馬達連接一該動力輪，用以驅動各該動力輪轉動，使得該機體能藉由該二動力輪之正轉而帶動該拖布前進；該控制裝置設於該機體內且電性連接各該馬 達，用以控制各該馬達之作動，當該機體前進一預定距離時，該控制裝置會控制其中一該馬達反轉，並且控制另外一該馬達持續正轉，使該機體藉由該二動力輪之正、反轉而帶動該拖布旋轉一預定角度(例如30度至360度)，以提升清潔效果。
在本發明之實施例中，該機體具有一翼板，該翼板具有至少二翼部，該拖布具有一基材、多數個纖維條，以及至少二固定片，各該纖維條連接於該基材之底面，各該固定片設於該基材之頂面且與該基材之頂面之間形成一裝配槽，用以供該翼板之各該翼部插設，使該拖布可以快速地從該機體上拆卸下來，以達到方便清洗或更換的功效。
在本發明之實施例中，該翼板之各該翼部設有一磁鐵，藉由至少二感磁件分別壓抵於其中一該固定片之頂面且被相對應之該磁鐵吸附固定，用以增加對該拖布的下壓力量而提升該拖布的清潔效果。
在本發明之實施例中，該翼板之底面設有至少二磁鐵，該拖布具有多數個纖維條及至少二感磁件，各該纖維條連接於該基材之底面，各該感磁件固定於該基材之頂面且被其中一該磁鐵吸附固定，用以增加該拖布的拆裝便利性。
10‧‧‧自走式拖地機
20‧‧‧機體
22‧‧‧外殼
221‧‧‧穿孔
24‧‧‧安裝座
242‧‧‧充電插孔
26‧‧‧翼板
262‧‧‧翼部
28‧‧‧提持部
30‧‧‧拖布
32‧‧‧基材
34‧‧‧纖維條
36‧‧‧固定片
362‧‧‧魔鬼氈
38‧‧‧裝配槽
40‧‧‧動力裝置
42‧‧‧動力輪
44‧‧‧馬達
46‧‧‧充電電池
50‧‧‧控制裝置
52‧‧‧測距單元
54‧‧‧電流感測單元
60‧‧‧磁鐵
62‧‧‧感磁件
64‧‧‧頂面凹槽
第1圖為本發明第一實施例之立體圖。
第2圖為本發明第一實施例之局部分解圖。
第3圖為本發明第一實施例之底視圖。
第4圖為本發明第一實施例之方塊圖。
第5圖為本發明第二實施例之局部分解圖。
第6圖為本發明第三實施例之局部分解圖。
請參閱第1至3圖，本發明之自走式拖地機10包含有一機體20、一拖布30、一動力裝置40，以及一控制裝置50。
機體20具有一外殼22、一安裝座24及一翼板26，其中的翼板26是由軟性塑膠、軟性橡膠或其他軟膠材質所製成。外殼22之頂面凹陷形成二相對之提持部28(實際上只要至少一個即可)，用以方便使用者之手指卡住其中一個提持部28而將機體20抬起；安裝座24固定於外殼22內；翼板26連接於外殼22之外周緣且具有呈對稱分佈之四翼部262。
拖布30具有一基材32、多數個纖維條34，以及四固定片36。各纖維條34連接於基材32之底面，用以提供清潔地面及吸附雜物的功能，在實際使用時可以完全不用浸水或者稍微沾水濕潤即可；各固定片36之一端車縫固定於基材32之頂面，各固定片36之另一端藉由一魔鬼氈362黏貼於基材32之頂面，使得各固定片36與基材32之頂面之間形成一裝配槽38，用以供機體20之翼板26的翼部262插設，使拖布30能以可拆卸的方式安裝於機體20。
如第3圖所示，動力裝置40具有二相對之動力輪42、二相對之馬達44，以及一充電電池46。各動力輪42可轉動地設於機體20之安裝座24的兩相對側，並且局部露出於安裝座24的底面；各馬達44設於機體20之安裝座24內且連接一個動力輪42，用以驅動各動力輪42轉動；充電電池46安裝於機體20之安裝座24內且電性連接各馬達44，用以提供電力來源。此外，為了方便對充電電池46進行充電，機體20之安裝座24設有一電性連接充電電池46之充電插孔242，且機體20之外殼22設有一連通充電插孔242之穿孔221，以便充電器之一充電端子能經由穿孔221插入充電插孔242內。
控制裝置50設於機體20之外殼22內且電性連接各馬達44及充電電池46，用以控制各馬達44之作動，例如正轉、反轉或停止運轉。此外，如第4圖所示，控制裝置50具有一測距單元52，用以量測機體20與障礙物之間的距離，使得控制裝置50能根據各測距單元60之量測結果控制 其中一個馬達44停止運轉或控制兩個馬達44同步反轉，以驅動機體20轉向或後退而有效避開障礙物；再者，控制裝置50具有一電流感測單元54，用以感測各馬達44於運轉時之電流大小變化，使得控制裝置50能根據電流感測單元54之感測結果控制各馬達44配合周遭環境之變化產生相對應之作動。
在開始使用時，各馬達44會受到控制裝置50之控制以驅動與其相連接之動力輪42同步正轉，使機體20能藉由兩動力輪42之正轉而帶動拖布30前進，用以對地面進行清潔，當機體20前進控制裝置50所設定之一預定距離時(例如10公尺)，控制裝置50會控制其中一個馬達44驅動與其相連接之動力輪42反轉，同時控制另外一個馬達44驅動與其相連接之動力輪42持續正轉，此時的機體20便會藉由兩動力輪42之正、反轉而帶動拖布30旋轉一預定角度(在此以30度至360度為旋轉的角度範圍，其中以180度為最佳旋轉角度)，接著在機體20帶動拖布30旋轉該預定角度之後，控制裝置50會再控制兩個馬達44同步正轉，使機體20帶動拖布30朝旋轉後的方向繼續前進，待機體20前進上述預定距離時會再次帶動拖布30進行旋轉動作。換言之，機體20在整個使用過程中會帶動拖布30一直重複前進、旋轉、前進、旋轉的動作，直到完成地面的清潔為止。
另一方面，若要將拖布30從機體20拆下進行清洗或更換時，只要將拖布30之各固定片36從魔鬼氈362的黏貼位置撕開，即可讓機體20之翼板26的各翼部262快速地脫離拖布30之各裝配槽38，當清洗結束或更換新的拖布30時，只要將機體20之翼板26的各翼部262置於拖布30之各裝配槽38的位置，最後藉由各魔鬼氈362將各固定片36黏貼固定住，如此即完成兩者之間的組裝。
請再參閱第5圖，為了配合地板的材質而增加拖布30的清潔效果，翼板26之各翼部262的頂面設有一磁鐵60，當翼板 26之各翼部262裝設於拖布30之各裝配槽38內之後，藉由四感磁件62(例如鐵片)分別壓抵於拖布30之各固定片36的頂面，使得各感磁件62會被相對應之磁鐵60給吸附固定住，如此便能增加對拖布30的下壓力量，使拖布30之清潔效果可以更有效地提升。
除此之外，磁鐵60與感磁件62的位置可以有不同變化，如第6圖所示，磁鐵60固定於翼板26之各翼部262的底面，各感磁件62直接固定於拖布30之基材32的頂面，用以取代原本的固定片36，而且，各感磁件62具有一頂面凹槽64，用以供相對應之磁鐵60嵌設固定。藉此，機體20與拖布30之間可以藉由相互吸附之各磁鐵60與各感磁件62而快速地完成拆裝，用以增加拖布30的拆裝便利性。
綜上所陳，本發明之自走式拖地機10不但具有極為簡單的結構配置，在使用過程中能夠藉由拖布30的旋轉動作而提升清潔效果，一旦拖布30髒污時又可以快速地從機體20上拆下進行清洗或更換，如此便能確實達到增加使用便利性之目的。
10‧‧‧自走式拖地機
20‧‧‧機體
22‧‧‧外殼
26‧‧‧翼板
262‧‧‧翼部
28‧‧‧提持部
30‧‧‧拖布
32‧‧‧基材
34‧‧‧纖維條
36‧‧‧固定片

Claims (12)

  1. 一種自走式拖地機，包含有：一機體，該機體具有一翼板，該翼板具有至少二翼部；一拖布，可拆卸地設於該機體，該拖布具有至少二裝配槽，用以分別供該翼板之一該翼部插設；一動力裝置，設於該機體且具有二相對之動力輪及二相對之馬達，各該馬達連接一該動力輪，用以驅動各該動力輪轉動；以及一控制裝置，設於該機體內且電性連接各該馬達，用以控制各該馬達之作動；其中，當該機體藉由該二動力輪之同步正轉而帶動該拖布前進一預定距離時，該控制裝置會控制其中一該馬達反轉，並且控制另外一該馬達持續正轉，使該機體藉由該二動力輪之正、反轉而帶動該拖布旋轉一預定角度。
  2. 如請求項1所述之自走式拖地機，其中該控制裝置於該機體旋轉該預定角度之後會控制該二馬達同步正轉，使該機體藉由該二動力輪之正轉而帶動該拖布朝旋轉後的方向繼續前進。
  3. 如請求項1所述之自走式拖地機，其中該預定角度為30度至360度。
  4. 如請求項1所述之自走式拖地機，其中該拖布具有一基材、多數個纖維條及至少二固定片，各該纖維條連接於該基材之底面，各該固定片設於該基材之頂面且與該基材之頂面之間形成一該裝配槽。
  5. 如請求項4所述之自走式拖地機，更包含有至少二感磁件，該翼板之各該翼部設有一磁鐵，各該感磁件壓抵於一該固定片之頂面且被該磁鐵吸附固定。
  6. 如請求項4所述之自走式拖地機，其中各該固定片之一端固定於該基材之頂面，各該固定片之另一端藉由一魔鬼氈黏貼於該基材之頂面。
  7. 如請求項1至3中任一項所述之自走式拖地機，其中該翼板之底面設有至少二磁鐵，該拖布具有一基材、多數個纖維條及至少二感磁件，各該纖維條連接於該基材之底面，各該感磁件固定於該基材之頂面且被其中一該磁鐵吸附固定。
  8. 如請求項7所述之自走式拖地機，其中各該感磁件具有一頂面凹槽，用以供該磁鐵嵌設固定。
  9. 如請求項1所述之自走式拖地機，其中該機體之頂面凹陷形成至少一提持部。
  10. 如請求項1所述之自走式拖地機，其中該機體具有一充電插孔，該動力裝置更具有一充電電池，該充電電池電性連接各該馬達、該控制裝置及該充電插孔。
  11. 如請求項1所述之自走式拖地機，其中該控制裝置具有一測距單元，用以量測該機體與障礙物之間的距離。
  12. 如請求項1所述之自走式拖地機，其中該控制裝置具有一電流感測單元，用以感測該馬達之電流大小。
TW102105306A 2013-02-08 2013-02-08 Self-propelled trailing machine TWI508692B (zh)

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TW102105306A TWI508692B (zh) 2013-02-08 2013-02-08 Self-propelled trailing machine
EP17157125.0A EP3192423A1 (en) 2013-02-08 2014-01-23 Mobile robot mopping machine
EP14152257.3A EP2764813A3 (en) 2013-02-08 2014-01-23 Mobile robot mopping machine
CN201410036655.4A CN103976696B (zh) 2013-02-08 2014-01-24 自走式拖地机
CN201420049732.5U CN203763007U (zh) 2013-02-08 2014-01-24 自走式拖地机
KR1020140010247A KR101542815B1 (ko) 2013-02-08 2014-01-28 자주식 걸레 청소기
JP2014015747A JP5897616B2 (ja) 2013-02-08 2014-01-30 自走式モップ装置
AU2014200560A AU2014200560B2 (en) 2013-02-08 2014-01-31 Mobile robotistic mopping machine
US14/171,278 US9357894B2 (en) 2013-02-08 2014-02-03 Mobile robotistic mopping machine

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