Time to read: 5 min
The Jetsons predicted flying cars, jetpacks, and robot maids serving us lucky people living in the 21st century. Well, we kind of have two of those things, but only one has achieved mass market adoption. No… I wasn’t talking about jetpacks.
Irobot可能是最常见的与机器人真空相关的品牌名称。这肯定是第一个上市，但自2002年第一个房间首次亮相以来，很少有竞争对手已经抵达该党。
如果你没有机器人吸尘器，你还在等什么？相信我，它会改变你的生活。为了帮助您的购买决定，我们将从领先的公司中拆除两个机器人真空，并将它们与您，内外进行比较。
First up is the contender from the market leader, iRobot: the Roomba 650, an entry-level offering at an MSRP of $374.99.
I have a special guest helping me navigate this enormous undertaking: Mr.Garran Gossage. Garran was a robotics engineer in iRobot’s military division. Needless to say, he’s a seasoned Roomba surgeon.
We heartlessly flipped the Roomba on its belly, exposing the parts that do the dirty work: brushes. There are actually three different ones, each with its own purpose:
- The bristle brush is for sweeping hard floor surfaces.
- The beater brush (with rubbery fins) is optimized for removing dust from carpets and rugs.
- The 3-armed sidebrush reaches along wall edges to sweep dirt towards the center of the Roomba.
我们看到了很少的螺丝，也是我们的入境点！Irobot设计工程师没有试图隐藏起来 - 实际上，模压箭头标记指向它们，所以您，客户，可以将它们删除修复或清洁您的房间BA。
肚皮板上没有提出战斗。
自攻，特别的肩螺钉巧妙地保留在腹部板上。肩部比其螺纹的内径窄，使得一旦操作员通过板式螺纹部分，螺杆就不能通过腹板中的孔掉出。这是一个周到的特色，以防止您在自修复过程中失去螺丝。
12单元3000mah镍氢电池电池很容易出现，没有腹部板握住它。织物标签粘在电池中，帮助您拉出另一个非常周到的功能，意味着帮助您更换家中的电池。NI-MH电池通常持续500-1,000次收费 - 两到三年，如果您每天使用并重新充电。
这是一个other good look at the Roomba’s guts.
The dust reservoir, which iRobot calls the “aerovac bin,” contains a filter and a fan. The fan creates air flow that pulls debris off the brushes and guides the debris to the back of the bin—iRobot says this allows you to empty the bin less often.
The aerovac bin is meant to be user replaceable, and you can also replace just the filter.
The brushes are all user-replaceable, as well. The three-arm edgebrush is held on by a single screw. Both the beater brush and the bristle brush come out easily, once you pop open the main brush cage.
一旦我们卸下刷子，我们就会在刷子笼中找到一个铜色金属盘，实际上是压电声传感器。随着碎片被刷子扫过的碎片，它们会从刷子笼中反弹并击中传感器。这些罢工产生了微小的电动冲动，并且过度数量的这些冲动触发了“污垢检测”，这使得房间公布追溯其步骤，在第二次慢慢地清洁一点，清洁一点。这是一个动画显示它的工作原理。
电刷是电动的 - 搅拌器刷和刷毛刷互相旋转，但它们通过这种复杂的齿轮箱仅由一个电机驱动。
这是驱动刷子箔带的大电机覆盖电机筒上的开放槽。Garran说录像带并不总是在内：较旧的房间BA模型将有电机随着时间的推移而堵塞头发和灰尘。显然，工程师发现一个简单而便宜的修复！
The motor is connected to a small rigid PCB with evenly-placed exposed traces. This is called an edge connector. Edge connectors are money-savers, since the male connector comes for “free” as a part of the PCB. The female connector is a discrete receptacle, soldered onto another PCBA.
These types of connectors are also robust and durable; they slide into the female mating socket easily—yet another thoughtful repairability feature.
这是驱动三臂边缘刷的变速箱。
This gearbox connects to the rest of the vacuum electrically, via big contact pads found on a PCB directly soldered onto the motor. Two spring contacts, reminiscent of those found in AA battery holders, poke out of the bottom of the gearbox’s pocket. This makes the gearbox super easy to swap out, another win for repairability!
Next, the wheel modules come off. These are also held in by self-tapping screws that are retained by their narrow shoulders—yes, these are also user-replaceable! You can buy them for $30 on the iRobot website.
每个车轮模块包含直流拉丝电动机和巨大的弹簧。由于左轮和右轮均由自己的电机驱动，我猜你可以说房间公布有全轮驱动，呵呵。
The spring is the Roomba’s suspension system, allowing the wheel to move vertically.
Here’s the wheel gearbox. The input shaft (motor) gets geared down four times! Gearing down decreases the rotation speed of the output shaft (wheel), but amplifies the output torque.
There’s a lot of grease inside the gearbox.
We also find a捕捉动作切换in the wheel module, in addition to a PCB edge connector that we already saw on the brush cage. The snap action switch is normally in the pressed position, but when you step on the Roomba, the wheel moves off the switch. When both snap action switches are “open,” the Roomba knows that you are intentionally abusing it, cuts power to the wheel motors, and complains verbally. Don’t believe me? Get one and try it!
The black disc on the PCBA soldered to the motor is actually a magnetic encoder, also known as a tachometer, when it’s measuring the speed of rotation. This provides feedback for speed control. Older Roombas used to have optical tachometers, but when they got dirty (inevitable, being a vacuum and all), the Roomba would drive around in circles.
And that’s everything in the “belly” of the Roomba! Look ma, no messy wires! Everything pulled out as a self-contained module. Everything on the underside is meant to be replaceable with iRobot’s blessing, and their online store stocks all of these modules.
留在房间的第2部分拆除，我们将看到导航传感器。然后循环偏出伟大的机器人真空摊牌，我们将将roomba与其最大竞争对手的一个进行比较......你能猜吗？
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