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WO2016111169A1 - Appareil électronique autotracté - Google Patents

Appareil électronique autotracté Download PDF

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Publication number
WO2016111169A1
WO2016111169A1 PCT/JP2015/085843 JP2015085843W WO2016111169A1 WO 2016111169 A1 WO2016111169 A1 WO 2016111169A1 JP 2015085843 W JP2015085843 W JP 2015085843W WO 2016111169 A1 WO2016111169 A1 WO 2016111169A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive wheel
housing
self
electronic device
pair
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/085843
Other languages
English (en)
Japanese (ja)
Inventor
隼人 佐藤
康弘 岡
井上　健一郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sharp Corp
Original Assignee
Sharp Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sharp Corp filed Critical Sharp Corp
Priority to CN201580046750.5A priority Critical patent/CN106659342B/zh
Publication of WO2016111169A1 publication Critical patent/WO2016111169A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a self-propelled electronic device, and more particularly to a self-propelled electronic device capable of traveling on a floor surface having a step.
  • Patent Documents 1 and 2 disclose a housing having a suction port on a lower surface, a pair of left and right drive wheels that support and run the housing, and a main provided rotatably at the suction port.
  • a self-propelled cleaner provided with a brush and a side brush (auxiliary brush) provided to be rotatable forward of the main brush on the lower surface of the housing has been proposed.
  • Such a self-propelled cleaner performs cleaning while traveling on the floor surface of the room, but when there is a stepped portion on the floor surface, it becomes difficult to get on when the stepped portion becomes higher than a certain height. For example, there is a step between the floor and the carpet laid on the floor, a step with a sill that divides the room, a step with a floor partially laid on the tatami, etc.
  • the self-propelled cleaner may avoid the stepped portion, and the indoor area over the stepped portion may not be cleaned.
  • the self-propelled vacuum cleaner tries to get over the stepped portion, the front part of the casing gets on the stepped portion, and the driving wheel may float from the floor surface and slip into the state where it cannot move. .
  • the self-propelled cleaners of Patent Documents 1 and 2 are configured such that the left and right drive wheels are movable up and down and each drive wheel is pressed against the floor surface by an elastic biasing force of a spring.
  • a drive wheel, a holder for rotatably holding the drive wheel, a motor attached to the holder, and a rotational force transmission mechanism provided in the holder so as to transmit the rotational force of the motor to the drive wheel are provided.
  • a pair of drive wheel units are provided at the left and right positions on the lower surface of the housing.
  • left and right drive is provided at the left and right positions on the lower surface of the housing of the self-propelled cleaner.
  • An opening through which the wheel unit is inserted is formed.
  • the upper end of each drive wheel unit is pivotally attached to the housing via a pivot shaft, and is connected to a spring provided in the housing to elastically urge each drive wheel downward.
  • the driving wheel is pressed against the floor surface even when the front part of the casing rides on the stepped part, so that the self-propelled cleaner can maintain the driving force and can get over the stepped part.
  • the present invention has been made in consideration of the above circumstances, and provides a self-propelled electronic device that can suppress the intrusion of dust, mites, and the like into the housing.
  • a housing that includes a bottom plate having a pair of left and right openings and that accommodates electronic device components, and a left and a right that are provided in the housing so as to be exposed from the openings and run the housing.
  • a pair of drive wheel units a drive source provided in the housing for driving the drive wheel unit;
  • a pair of support members provided in the bottom plate in the vicinity of the pair of openings so as to close the openings, and supporting the pair of drive wheel units so as to be swingable about a horizontal axis;
  • a self-propelled electronic device including a pair of biasing members that elastically bias each of the drive wheel units in a direction in which the drive wheel unit protrudes from the inside of the housing to the outside.
  • the said self-propelled electronic device is a self-propelled electronic device which is a self-propelled cleaner provided with the cleaning function, or the self-propelled ion generator provided with the ion generation function. Is provided.
  • the support member is a member (for example, a cap-shaped member) provided so as to close the opening in the vicinity of the pair of openings in the bottom plate. It is supported so as to be swingable around a horizontal axis.
  • FIG. 2 is a simplified bottom view showing the shape of a pair of left and right openings formed in a bottom plate of a housing of the self-propelled electronic device shown in FIG. 1.
  • A) And (B) is explanatory drawing which shows the state which the drive wheel unit in the self-propelled electronic device of Embodiment 1 rock
  • FIG. 3 is an exploded view of a support member in Embodiment 1.
  • FIG. 11 It is the perspective view which looked at the inner surface side of the outer side case which comprises the supporting member shown by FIG. 11 from the bottom. It is a figure which shows the inner surface side of the inner side case which comprises the supporting member shown by FIG. (A) And (B) is explanatory drawing which shows the state which the drive wheel unit in the self-propelled electronic device of Embodiment 2 rock
  • FIG. 1 is a perspective view of a self-propelled electronic device according to Embodiment 1 of the present invention
  • FIG. 2 is a partial cross-sectional side view of the self-propelled electronic device shown in FIG. 1
  • FIG. 4 is a bottom view of the self-propelled electronic device shown
  • FIG. 4 is a simplified bottom view showing the shape of a pair of left and right openings formed in the bottom plate of the housing of the self-propelled electronic device shown in FIG.
  • the self-propelled electronic device 1 according to the present invention sucks air containing dust on the floor surface and exhausts the air from which dust is removed while self-propelled on the floor surface where it is installed.
  • the case of the self-propelled cleaner which cleans the floor surface by doing is illustrated.
  • the self-propelled electronic device 1 includes a disk-shaped housing 2, and a rotating brush 9, an auxiliary brush 10, a dust collection box (not shown), an electric blower (not shown), A pair of left and right drive wheel units 20 having a pair of left and right drive wheels 22L and 22R for moving the housing 2 straight forward and backward and turning left and right, and support members 31 and 32 for supporting the pair of drive wheels 22L and 22R, rear
  • the wheel 26 includes a pair of urging members 41 for elastically urging the pair of driving wheel units in a direction of projecting downward from the bottom plate, a charging terminal 13, a plurality of floor surface detection sensors 18 and electronic device parts.
  • the self-propelled electronic device 1 is characterized by the left and right drive wheel units 20 and the support structure thereof, which will be described in detail after the entire configuration of the self-propelled electronic device 1 is described.
  • a portion where the rear wheel 26 is disposed is a rear portion, a portion opposite to the rear wheel 26 is a front portion, and a portion where the pair of left and right drive wheels 22L and 22R are disposed is an intermediate portion.
  • the housing 2 is supported by three wheels, that is, a pair of left and right drive wheels 22L and 22R and a rear wheel 26. Therefore, in this specification, the forward direction (forward) refers to the direction in which the self-propelled electronic device 1 advances toward the front side, and the backward direction (backward) refers to the direction in which the self-propelled electronic device 1 advances toward the rear side.
  • the left and right directions refer to the left and right directions when the self-propelled electronic device 1 moves forward, and the up and down direction refers to the up and down direction when the casing 2 is supported on the floor by three wheels. Point to.
  • the housing 2 is opened and closed when a dust collection box (not shown) is inserted into and removed from the housing 2 and a circular bottom plate 2a having a suction port 6 formed near the boundary with the intermediate portion in the front portion.
  • a top plate 2b having a lid portion 3 at the intermediate portion, and a bottom plate 2a and a side plate 2c having an annular shape in plan view provided along the outer peripheral portion of the top plate 2b.
  • the bottom plate 2a is formed with a pair of left and right openings 2a 2 for housing a part of the left and right drive wheel units 20 in the housing 2, and an exhaust port is formed at the rear portion of the side plate 2c.
  • the side plate 2c is divided into two parts in the front-rear direction, and the side plate front part functions as a bumper.
  • the housing 2 includes components such as a motor unit, an electric blower, an ion generator, a dust collection box, a control board, and a battery.
  • the housing 2 includes a pair of left and right drive wheels 22L and 22R and a rear wheel 26.
  • the center of gravity of the housing 2 is disposed on the rear side so that the housing 2 can be supported.
  • a suction path is provided between the suction port 6 and the dust collection box, and an exhaust path is provided between the dust collection box and the exhaust port.
  • the suction port 6 is an open surface of a recess formed on the bottom surface of the housing 2 (the lower surface of the bottom plate 2a) so as to face the floor surface.
  • a rotating brush 9 is provided that rotates about a horizontal axis parallel to the bottom surface of the housing 2.
  • An axial center perpendicular to the bottom surface of the housing 2 is provided on both left and right sides of the recess.
  • An auxiliary brush 10 that rotates about the center is provided.
  • the rotating brush 9 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft.
  • the auxiliary brush 10 is formed by radially providing a bristle bundle at the lower end of the rotating shaft.
  • the rotating shaft of the rotating brush 9 and the rotating shaft of the pair of auxiliary brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2, and include a motor unit, a pulley, a belt, and the like provided in the vicinity thereof. It is independently connected through a mechanism.
  • This self-propelled electronic device 1 turns when the left and right drive wheels 22L, 22R rotate forward in the same direction, move forward, move backward in the same direction, move backward, and rotate in opposite directions. For example, when the self-propelled electronic device 1 reaches the periphery of the cleaning area or collides with an obstacle on the course, the driving wheels 22L and 22R stop, and the left and right driving wheels 22L and 22R are moved in opposite directions. Rotate to change direction. Thereby, the self-propelled electronic device 1 can be self-propelled while avoiding obstacles in the entire installation place or the entire desired range.
  • 5A and 5B are explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of Embodiment 1 swings in the vertical direction with respect to the housing.
  • FIGS. 6A and 6B are other explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of Embodiment 1 swings in the vertical direction with respect to the housing.
  • 7 is a view of the drive wheel holder of the drive wheel unit in the first embodiment as viewed from the outer surface side
  • FIG. 8 is a view of the drive wheel holder of the drive wheel unit in the first embodiment as viewed from the inner surface side.
  • FIG. 9 is a view of the drive wheel holder of the drive wheel unit according to the first embodiment as viewed from above
  • FIG. 10 is an explanatory view showing the internal structure of the drive wheel unit shown in FIG. 5 to 10 show the left driving wheel unit 20 and the support member 31, and the structures of the right driving wheel unit and the supporting member are symmetrical with the structures of the left driving wheel unit 20 and the supporting member 31. It is the same except that.
  • the left drive wheel unit 20 and the support member 31 will be described.
  • Driving wheel unit 20 includes a drive wheel 22L, a drive wheel holder 21 for rotatably holding the drive wheels 22L about a first axis P 1 in the horizontal direction, and a motor M which is mounted to the drive wheel holder 21, And a rotational force transmission mechanism 23 for transmitting the rotational force of the M motor to the drive wheels 22L.
  • the drive wheel holder 21 includes an inner case portion 21a and an outer case portion 21b each having a boss portion that can be connected to a plurality of locations on the outer peripheral portion with screws, and the inside thereof is a gear storage chamber for storing the rotational force transmission mechanism 23. 21r.
  • the drive wheel holder 21 has a cylindrical portion 21a 1 into which the motor M is fitted into the inner case portion 21a.
  • the cylindrical portion 21a 1 is provided on one end (front end) side in the longitudinal direction of the inner case portion 21a, and a through hole 21a 11 penetrating in the left-right direction is formed at the center position. Then, a motor M is fitted and fixed to the cylindrical portion 21a 1 so that the drive shaft m 1 is inserted into the through hole 21a 11 . As a result, the axis of the drive shaft m 1 of the motor M coincides with the second axis P 2 of the cylindrical portion 21a 1 . In addition, a projection 21a 12 that hooks one end of a tension spring as the biasing member 41 is provided on the outer peripheral surface of the cylindrical portion 21a 1 . The first axis P 1 and the second axis P 2 are parallel.
  • the gear housing chamber 21r and the rotational force transmission mechanism 23 configured by the inner case portion 21a and the outer case portion 21b are configured as follows. That is, the gear accommodating chamber 21r includes a first chamber 21r 1 for accommodating the first gear 23a fixed to the drive shaft m1 of the motor M which projects from the through hole through hole 21a 11 of the cylindrical portion 21a 1, the first chamber 21r 1 and the second chamber 21r 2 adjacent, comprising a third chamber 21r 3 adjacent to the second chamber 21r 2, and a fourth chamber 21r 4 and the adjacent third chamber 21r 3.
  • the first to fourth chambers 21r 1 to 21r 4 have a shape in which adjacent circles partially overlap each other and gradually increase toward the first to fourth chambers 21r 1 to 21r 4 .
  • the outer case portion 21b is formed in a shape corresponding to the first to fourth chambers 21r 1 to 21r 4 . Furthermore, the position corresponding to the first chamber 21r 1 on the outer surface of the outer casing portion 21b, a small diameter cylindrical portion 21b 1 is provided than the cylindrical portion 21a 1. The large and small cylindrical portions 21a 1 and 21b 1 are both disposed on the second axis P 2 .
  • the rotational force transmission mechanism 23 includes a first fixed shaft 23b 1 provided in the second chamber 21r 2 , second and third gears 23b 2 and 23b 3 rotatably attached thereto, and a third chamber 21r 3 .
  • the second fixed shaft 23c 1 provided, the fourth and fifth gears 23c 2 and 23c 3 rotatably attached thereto, the third fixed shaft 23d 1 provided in the fourth chamber 21r 4 and the rotation thereof.
  • a sixth gear 23d 2 that can be attached.
  • the first gear 23a and the second gear 23b 2 and meshes, the third gear 23b 2 and the fourth gear 23c 2 meshes, the fifth gear 23c 3 are a sixth gear 23d 2 meshes.
  • the second gear 23b 2 is larger than the first gear 23 and the third gear 23b 3
  • the fourth gear 23c 2 is larger than the third gear 23b 3 and the fifth gear 23c 3
  • the sixth gear 23d 2 is the second gear 23d 2 . It is larger than 5 gears 23c 3 .
  • FIG. 11 is an exploded view of the support member in the first embodiment
  • FIG. 12 is a perspective view of the inner surface side of the outer case constituting the support member shown in FIG. 11, viewed from below
  • FIG. 13 is shown in FIG. It is a figure which shows the inner surface side of the inner side case which comprises the supporting member.
  • Support member 31 is formed in a cap shape provided so as to seal the opening 2a 2 near the periphery of the opening 2a 2 of the bottom plate 2a of the housing 2, the lower end opening of the opening portion 2a 2 Screw around the periphery without any gaps. Thereby, the space above the opening 2a 2 is covered with the cap-shaped support member 31.
  • the support member 31 has an inner cover part 31a and an outer cover part 31b that can be divided into left and right parts, and boss parts that can be connected by screws are provided at a plurality of locations on the outer peripheral part thereof. .
  • the inner cover portion 31a is circular frame portion 31a 1 to one end (front end for inserting the cylindrical portion 21a 1 of the outer case portion 21a from the inside to the outside of the driving wheel unit 20 when assembling the driving wheel unit 20 to the support member 31 ) Side. Also, the part of the edge of the circular hole 31a 11 of the circular frame portion 31a 1, arcuate band plate portion 31a 12 for reinforcement along a substantially rear half portion of the edge of the circular hole 31a 11 is provided specifically It has been.
  • the inner cover portion 31a together with the engaging hole 31a 2 at one end and the other end (rear end) side is provided at its outer surface, to the other end at the outer surface of the biasing member 41 A protrusion 31a 3 for hooking the other end is provided (see FIG. 6).
  • the outer cover portion 31b has one end (front end) of the circular hole portion 31b 1 through which the cylindrical portion 21b 1 of the inner case portion 21b of the drive wheel unit 20 is inserted from the inside toward the outside when the drive wheel unit 20 is assembled to the support member 31. ) is formed in a side locking projections 31b 2 is provided on the one end and the other (rear) side of its outer surface.
  • the support in member 31, and a circular hole portion 31b 1 of the circular hole portion 31a 11 and the outer cover portion 31b of the inner cover portion 31a, the cylindrical portion 21a 1 of the driving wheel unit 20, 21b 1 of the second axis P 2 It is a pivotal support that pivots around the center.
  • the large and small cylindrical portions 21a 1 and 21b 1 of the drive wheel unit 20 are inserted through the large and small circular holes 31a 11 and 31b 1 of the support member 31 with almost no gap as described above. To do. Thereby, the drive wheel unit 20 is supported by the support member 31 so as to be swingable. At this time, since the motor M is fitted into the cylindrical portion 21a 1 of the cylindrical portion 21a 1 hardly passed through the circular hole portion 31a 11, the cylindrical portion of the motor M after passing the cylindrical portion 21a 1 in the cylindrical portion 21a 1 21a may be fitted to the 1. By fitting the motor M into the cylindrical portion 21 a 1 , the axis of the drive shaft m 1 of the motor M coincides with the axis of the cylindrical portions 21 a 1 and 21 b 1 of the drive wheel holder 21.
  • both ends of the urging member 41 are hooked on the protrusion 21a 12 of the drive unit 20 and the protrusion 31a 3 of the support member 31 as shown in FIG. .
  • the support member 31 is fixed to the position of the opening 2a 1 in the bottom plate 2a of the housing 2 with screws, and the lead wire m 2 of the motor M is electrically connected to the connection terminal provided in the housing 2.
  • the drive wheel unit 20 is attached to the housing 2 via the support member 31, and the drive wheel 22L can be controlled to be driven and stopped. Since the lead wire m 2 of the motor M comes out of the housing 2, it is not necessary to form a lead wire insertion hole in the support member 31.
  • the support member 31 assembled with the drive wheel unit 20 and the urging member 41 in this way is attached to the bottom plate 2a of the housing 2, and the housing 2 is placed on the floor F, so that FIG. As shown in FIG. 6A, the housing 2 is supported by the drive wheel unit 20 via the support member 31.
  • the cylindrical portion 21a 1, the 21b 1 driving wheel unit 20 as a rotation axis is swung about the second axis P 2 driving wheels 22L Most of them are stored in the support member 31.
  • the protrusion 21a 12 of the cylindrical portion 21a 1 is moved in a direction to pull the biasing member 41 forward.
  • the inside of the housing 2 is sealed from the outside by the support member 31, so that dust on the floor surface F can open the opening 2 a 2 . It does not penetrate into the inside of the housing 2 through. As a result, there is a problem that dust on the floor surface F enters the housing 2 from the opening 2a 2 and accumulates on the circuit board or the like that controls the self-propelled electronic device 1 to cause a failure, and the housing 2 The concern that the inside of the housing 2 becomes unsanitary due to dust, ticks or the like entering the inside is eliminated.
  • the axis of the drive shaft m 1 of the motor M and the axes of the cylindrical portions 21a 1 and 21b 1 of the drive wheel holder 21 are arranged on the same second axis P 2. Therefore, the following effects can be obtained. That is, when the driving wheel 22L is rotated by the motor M and the housing 2 is traveling on the floor surface F, the posture of the housing 2 is changed to the steps of FIGS. ) From the state of FIG. 5B and FIG. 6B, or vice versa. Thus, even if the drive wheel unit 20 swings up and down and the position of the housing 2 fluctuates up and down, the position of the motor M is stable without fluctuating with respect to the housing 2. The variation of the center of gravity position of 2 is kept to a minimum. As a result, stable control and traveling of the housing 2 can be realized.
  • FIGS. 14A and 14B are explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of Embodiment 2 swings in the vertical direction with respect to the housing.
  • FIGS. 15A and 15B are other explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of Embodiment 2 swings in the vertical direction with respect to the housing.
  • FIG. 16 is a partial cross-sectional plan view of a state in which the drive wheel unit according to the second embodiment is supported by a support member as viewed from above.
  • the same elements as those in FIGS. 1 to 13 are denoted by the same reference numerals.
  • the case where the axis serving as the center of oscillation of the drive wheel unit 20 and the axis of the drive shaft m 1 of the motor M are arranged on the same second axis P 2 is exemplified.
  • the axis that is the center of oscillation of the drive wheel unit 120 and the axis of the drive shaft m 1 of the motor M do not have to coincide with each other.
  • other configurations are substantially the same as those in the first embodiment.
  • FIG. 14 to 16 show the left drive wheel unit 120 and the support member 131, and the structures of the right drive wheel unit and the support member are symmetrical with the structures of the left drive wheel unit 120 and the support member 131. Other than that, the same applies.
  • the left drive wheel unit 120 and the support member 131 will be described.
  • the drive wheel unit 120 is attached to the drive wheel 22L, the drive wheel holder 121 that holds the drive wheel 22L so as to be rotatable about the first axis P 1 in the left-right direction, and the drive wheel holder 121.
  • Motor M a rotational force transmission mechanism (not shown) that transmits the rotational force of the motor M to the drive wheel 22L, and a left and right pivot that attaches the drive wheel holder 121 to the support member 131 so as to be swingable in the vertical direction.
  • a shaft 123 A shaft 123.
  • the third axis P 3 that is the center of rotation of the pivot shaft 123 is the second axis P 2 that is the rotation center of the drive shaft m 1 of the motor M and the first axis P that is the rotation center of the drive wheel 22L. Parallel to 1 .
  • the driving wheel holder 121 and the rotational force transmission mechanism in the second embodiment are basically the same as those in the first embodiment, but the outer periphery of the cylindrical portion 121a 1 into which the motor M is fitted in the driving wheel holder 121 in the second embodiment.
  • a swing piece 121a 2 is provided on the surface so as to protrude obliquely downward toward the front.
  • the pivot shaft 123 passes through the swing piece 121a 2 in the left-right direction, and both ends thereof are rotatably attached to the side wall of the inner cover portion 131a and the side wall of the outer cover portion 131b of the support member 131 described later. At this time, the pivot shaft 123 is fixed so as not to rotate relative to the swinging piece 121a 2.
  • a rotating member 150 for indirectly connecting the drive wheel holder 121 and the support member 131 with the biasing member 141 is fixed to one end of the pivot shaft 123 that passes through the inner cover portion 131a.
  • the rotating member 150 is formed in, for example, a cylindrical shape, and a protrusion 150a for hooking one end (front end) of the urging member 141 is provided on an upper portion of the outer peripheral surface.
  • the support member 131 is formed in a cap shape having a lower opening shape so as to cover the upper space of the opening 2a 2 , and the shape of the lower opening edge is along the periphery of the opening 2a 2 of the bottom plate 2a. And is screwed in the vicinity of the periphery of the opening 2a 2 without a gap.
  • the support member 131 includes the inner cover part 131a and the outer cover part 131b that can be divided into left and right parts, and a boss part (not shown) that can be connected with screws at a plurality of positions on the outer peripheral part thereof. Are provided.
  • the inner cover portion 131a is provided with a protruding portion 131a 1 for hooking the other end (rear end) of the urging member 141 on the rear end side of the rotating member 150 on the outer side surface. Further, an insertion hole 131a 2 for drawing out the lead wire m 2 of the motor M of the drive wheel unit 121 assembled to the support member 131 to the outside is formed on the side wall of the inner cover portion 131a.
  • other configurations are the same as those in the first embodiment.
  • both ends of the urging member 141 are hooked on the protrusion 150 a of the rotating member 150 and the protrusion 131 a 1 of the support member 131.
  • the support member 131 is fixed to the position of the opening 2a 1 in the bottom plate 2a of the housing 2 with screws, and the lead wire m 2 of the motor M is electrically connected to a connection terminal provided in the housing 2. Connecting.
  • the drive wheel unit 120 is attached to the housing 2 via the support member 131, and the drive wheel 22L can be controlled to be driven and stopped.
  • the support member 131 assembled with the drive wheel unit 120 and the urging member 141 in this way is attached to the bottom plate 2a of the housing 2, and the housing 2 is placed on the floor F, so that FIG. As shown in FIG. 15A, the housing 2 is supported by the drive wheel unit 120 via the support member 131. At this time, since the weight of the housing 2 is applied to the driving wheel unit 120, a pivot shaft 123 driving wheel unit 120 as the pivot center is the majority of the third center axis P 3 swings around the driving wheels 22L and It will be in the state accommodated in the support member 131. FIG. At the same time, the rotation member 150 rotates and the protrusion 150a moves in a direction to pull the biasing member 141 forward.
  • the second and third axes P 2 and P 3 that are the centers of oscillation of the drive wheel units 20 and 120 are more than the first axis P 1 that is the center of rotation of the drive wheels 22L.
  • the first axis P 1 is the second and third axis P 2
  • the drive wheel unit so as to be positioned further forward than P 3 20, 120 and the support member 31, 131 may be configured.
  • Embodiments 1 to 4 exemplify the case where the self-propelled electronic device 1 is a self-propelled cleaner, but the self-propelled electronic device may be a self-propelled ion generator equipped with an ion generator. .
  • a self-propelled electronic device includes a housing that includes a bottom plate having a pair of left and right openings and that accommodates electronic device components, and is provided in the housing so as to be exposed from the openings.
  • the self-propelled cleaner of the present invention may be configured as follows.
  • the drive wheel unit includes a drive wheel, a drive wheel holder that holds the drive wheel rotatably about a left-right axial center, a motor attached to the drive wheel holder, and rotation of the motor
  • a rotational force transmission mechanism for transmitting force to the drive wheel
  • the drive wheel holder has a cylindrical portion into which the motor is fitted,
  • the support member may include a shaft support portion that pivotally supports the cylindrical portion so as to be rotatable about a horizontal axis.
  • the axis of the drive shaft of the motor and the axis of the cylindrical portion of the drive wheel holder are arranged on the same axis.
  • the drive wheel unit includes a drive wheel, a drive wheel holder that rotatably holds the drive wheel around a lateral axis, a motor attached to the drive wheel holder, and rotation of the motor
  • the biasing member may connect the support member and the drive wheel holder directly or indirectly.
  • the support member incorporating the drive wheel unit and the urging member can be unitized and quickly attached to the bottom plate of the housing, and the assembly operation of the self-propelled cleaner can be performed efficiently.
  • the self-propelled electronic device may be a self-propelled cleaner having a cleaning function or a self-propelled ion generator having an ion generating function.
  • a self-propelled cleaner or a self-propelled cleaner that does not allow dust to enter the housing through the opening of the housing bottom plate that allows a part of the drive wheel unit to be housed in the housing.
  • An ion generator is obtained.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention fournit un appareil électronique autotracté permettant d'empêcher l'infiltration de poussière, d'acariens, ou similaire, à l'intérieur d'un boîtier. Cet appareil électronique autotracté est caractéristique en ce qu'il est équipé : du boîtier qui est muni d'une plaque de fond (2a) possédant une paire de parties ouverture gauche/droite (２ａ２), et qui admet un composant d'appareil électronique ; d'une paire d'unités roue d'entraînement gauche/droite qui est agencée à l'intérieur du boîtier de manière à être exposée depuis lesdites parties ouverture (２ａ２), et qui autorise la progression dudit boîtier ; d'une source d'entraînement qui est agencée à l'intérieur dudit boîtier, et qui entraîne lesdites unités roue d'entraînement ; d'une paire d'éléments soutien (31) qui est agencée à proximité de ladite paire de parties ouverture (２ａ２) sur ladite plaque de fond (2a) de manière à obturer lesdites parties ouverture (２ａ２), et qui soutient ladite paire d'unités roue d'entraînement de manière à permettre son oscillation avec pour centre un axe de direction gauche/droite ; et d'une paire d'éléments de sollicitation (41) qui sollicite de manière élastique ladite paire d'unités roue d'entraînement dans une direction mettant chacune des unités roue d'entraînement en saillie de la partie interne dudit boîtier vers une partie externe.
PCT/JP2015/085843 2015-01-08 2015-12-22 Appareil électronique autotracté Ceased WO2016111169A1 (fr)

Priority Applications (1)

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CN201580046750.5A CN106659342B (zh) 2015-01-08 2015-12-22 自走式电子设备

Applications Claiming Priority (2)

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JP2015002471A JP6670544B2 (ja) 2015-01-08 2015-01-08 自走式電子機器
JP2015-002471 2015-01-08

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WO2016111169A1 true WO2016111169A1 (fr) 2016-07-14

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JP (1) JP6670544B2 (fr)
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WO (1) WO2016111169A1 (fr)

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WO2018225174A1 (fr) * 2017-06-07 2018-12-13 学校法人 千葉工業大学 Aspirateur autopropulsé

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JP6928514B2 (ja) 2017-08-31 2021-09-01 株式会社マキタ ロボット集塵機及び自走式機器

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WO2013009060A2 (fr) * 2011-07-13 2013-01-17 주식회사 유진로봇 Ensemble roue de robot mobile
JP2013052239A (ja) * 2011-09-01 2013-03-21 Samsung Electronics Co Ltd 駆動輪組立体及びこれを備えるロボット掃除機
JP2014230714A (ja) * 2013-05-30 2014-12-11 シャープ株式会社 自走式電子機器

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KR101523980B1 (ko) * 2011-01-18 2015-06-01 삼성전자 주식회사 로봇 청소기
JP6068823B2 (ja) * 2012-04-27 2017-01-25 シャープ株式会社 自走式掃除機
JP5986794B2 (ja) * 2012-05-01 2016-09-06 シャープ株式会社 自走式電子機器
KR101984575B1 (ko) * 2012-06-25 2019-09-03 엘지전자 주식회사 로봇 청소기 및 그 제어 방법

Patent Citations (3)

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WO2013009060A2 (fr) * 2011-07-13 2013-01-17 주식회사 유진로봇 Ensemble roue de robot mobile
JP2013052239A (ja) * 2011-09-01 2013-03-21 Samsung Electronics Co Ltd 駆動輪組立体及びこれを備えるロボット掃除機
JP2014230714A (ja) * 2013-05-30 2014-12-11 シャープ株式会社 自走式電子機器

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018225174A1 (fr) * 2017-06-07 2018-12-13 学校法人 千葉工業大学 Aspirateur autopropulsé

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JP2016123821A (ja) 2016-07-11
CN106659342B (zh) 2020-01-17
CN106659342A (zh) 2017-05-10
JP6670544B2 (ja) 2020-03-25

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