JP2006020936A - Self-traveling vacuum cleaner and suspension structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the grounding performance of driving wheels on a traveling surface by optimizing buffering of an impact applied to the driving wheels. <P>SOLUTION: This suspension structure of the driving wheels 21L and 21R attached to a cleaner body of the self-traveling vacuum cleaner 100 performing cleaning by an autonomous traveling, is so formed that driving units 2L and 2R are constituted by integrating the driving wheels, driving motors 221 and 231 for rotatingly driving the driving wheels and a first to a third gear 251-253 together; unit support parts 210 supporting the driving units are attached and fixed to the cleaner body; and the driving units are energized to the traveling face side of the self-traveling vacuum cleaner by torsion coil springs 222 and 232 and connected to the unit support parts via a first link 220 and a second link 230 turnably attached to respective different two points of the drive units and the unit support parts. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner that performs autonomous running to clean and a suspension structure of a drive wheel provided in the self-propelled cleaner.

  2. Description of the Related Art Conventionally, a self-propelled cleaner that performs autonomous running and cleaning in a room based on a predetermined running pattern is known.

  This self-propelled cleaner includes, for example, two drive wheels arranged along a direction orthogonal to the traveling direction, and drives the drive wheels to travel in a predetermined direction while moving the floor surface, etc. It is designed to clean the running surface.

By the way, what is known as a self-propelled cleaner has a suspension structure for attenuating the vertical movement of the drive wheel with respect to the self-propelled cleaner caused by impact or vibration applied to the drive wheel during traveling. (For example, refer to Patent Document 1 and Patent Document 2.) More specifically, as this suspension structure, for driving (urging) the drive wheel, which integrally forms the drive unit together with a reduction mechanism such as a drive motor or gear, to the running surface side of the self-propelled cleaner. One provided with a spring member (elastic body) or the like is known (for example, see Patent Document 3 and Patent Document 4).
JP-T-2001-525567 JP 2002-360480 A JP 2003-33310 A JP 2004-16385 A

  However, in the case of the suspension structures disclosed in Patent Document 3 and Patent Document 4 and the like, it is not possible to suitably attenuate the vertical movement of the driving wheel during traveling with respect to the self-propelled cleaner. There is a problem that the machine cannot travel properly.

  That is, in the case of Patent Document 3, the drive unit is configured to be rotatable around one rotation shaft provided on the forward direction side of the self-propelled cleaner from the drive wheel. Mechanical errors are likely to occur due to errors such as mounting, etc., and the grounding property of the drive wheels is lowered, so that the self-propelled cleaner cannot travel properly. Moreover, in the case of patent document 4, a drive unit (running | running | working part) is attached via the compression spring arrange | positioned in the direction in which a compression direction (stretching direction) becomes substantially perpendicular | vertical with respect to the running surface of a self-propelled cleaner. ing. For this reason, when an impact is applied obliquely to the drive wheel from the front during traveling, the direction of the impact to the drive wheel differs from the expansion / contraction direction of the compression spring. The shock-absorbing force is reduced without being expanded or contracted (compressed), and the followability of the drive wheel to the running surface is reduced. In particular, when the suspension structure includes a guide member that guides the moving direction of the drive wheel, the expansion and contraction direction of the compression spring is regulated by the guide member, so that the frictional resistance increases and the vertical movement of the drive wheel is smooth. Can not be done.

  An object of the present invention is to provide a self-propelled cleaner and a suspension structure capable of appropriately buffering an impact applied to a driving wheel and improving a ground contact property with respect to a traveling surface of the driving wheel. is there.

Then, in order to solve the said subject, as shown in FIGS. 1-6, the self-propelled cleaner of this invention, for example,
A self-propelled vacuum cleaner (100) that performs autonomous running and cleaning,
It has a suspension structure of drive wheels (for example, left drive wheel 21L, right drive wheel 21R) attached to the cleaner body of the self-propelled cleaner,
The suspension structure is
The driving wheel, a driving source for rotating the driving wheel (for example, the left wheel driving motor 221 and the right wheel driving motor 231), and driving force transmission for transmitting the driving force of the driving source to the driving wheel. A drive unit (for example, the left wheel side drive unit 2L, the right wheel side drive unit 2R) configured integrally with a portion (for example, the first to third gears 251 to 253);
A unit support part (210) that is mounted and fixed to the cleaner body by shifting the position to the forward direction side of the self-propelled cleaner from the rotating shaft of the drive wheel, and supporting the drive unit;
The drive unit is
The drive unit is rotatably attached to a unit-side first connection part (241) provided coaxially with the rotation axis of the drive wheel and a support-part side first connection part (211) of the unit support part. The first link (220) and a position that is above the unit-side first connection portion of the drive unit and substantially overlaps in the direction substantially perpendicular to the unit-side first connection portion and the traveling surface. The unit side second connection part (242) provided on the upper side of the unit support part above the support part side first connection part, and substantially with respect to the support part side first connection part and the traveling surface. It is connected to the unit support part via a second link (230) rotatably attached to a support part side second connection part (212) provided at a position substantially overlapping in the vertical direction, and Installed on the unit support The biasing member (for example, torsion coil springs 222, 232) is biased toward the traveling surface side of the self-propelled cleaner through at least one of the first link and the second link. It is a feature.

  According to the self-propelled cleaner of the present invention, the drive unit configured integrally with the drive wheel, the drive source, and the driving force transmission unit is attached to the traveling surface side of the self-propelled cleaner by the biasing member. Since it is connected to the unit support via the first link and the second link, the shock applied to the drive wheel can be properly buffered and the grounding property of the drive wheel to the running surface is improved. Can be made. That is, the drive unit can be rotated about the rotation axis of the first link and the second link, so that, for example, an impact applied to the drive wheels during traveling of the self-propelled cleaner is applied to the first link and the second link. While being able to disperse | distribute suitably via the rotation axis | shaft of a link, an impact buffer can be appropriately performed by an urging member. As a result, the drive wheel can follow the running surface more appropriately, and the grounding property of the drive wheel can be improved.

  In addition, the drive unit has a unit-side first connection portion to which the first link is connected and a unit-side second connection portion to which the second link is connected at a position where they substantially overlap in a direction substantially perpendicular to the traveling surface. Since it is provided, the drive unit can be more appropriately rotated via the first link and the second link, and the shock can be buffered more appropriately.

  Furthermore, the unit support part has a support part side first connection part to which the first link is connected and a support part side second connection part to which the second link is connected, in a direction substantially perpendicular to the traveling surface. Since they are provided at the overlapping positions, the drive unit can be rotated more appropriately and shock can be buffered more appropriately.

  Further, since the unit support portion is disposed at a position shifted from the rotating shaft of the drive wheel toward the forward direction of the self-propelled cleaner, it is driven obliquely from the front during the forward movement of the self-propelled cleaner. The shock applied to the ring can be buffered more appropriately.

  Further, the urging member is disposed on the unit support portion and urges the drive unit via at least one of the first link and the second link, so that the drive unit is directly moved to the traveling surface side by the urging member. Compared with the case of energizing, the impact applied to the drive wheel can be more appropriately buffered via the first link and the second link.

  Moreover, according to the suspension structure of this invention, the effect similar to said self-propelled cleaner can be acquired.

  According to the self-propelled cleaner of the present invention, it is possible to suitably disperse the impact applied to the drive wheels via the rotation shafts of the first link and the second link, and to appropriately cushion the impact by the biasing member. Can be done. As a result, the drive wheel can follow the running surface more appropriately, and the grounding property of the drive wheel can be improved.

  According to the suspension structure of the present invention, it is possible to suitably disperse the impact applied to the drive wheels via the rotating shafts of the first link and the second link, and appropriately cushion the impact by the biasing member. Can do. As a result, the drive wheel can follow the running surface more appropriately, and the grounding property of the drive wheel can be improved.

  Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.

  FIG. 1 is a side view of a self-propelled cleaner illustrated as a preferred embodiment to which the present invention is applied as seen from the side, and FIG. 2 is a plan view of the self-propelled cleaner, FIG. 3 is a front view showing the self-propelled cleaner. Moreover, FIG. 4 is a block diagram which shows the principal part structure of a self-propelled cleaner.

  1 to 3 show a state in which the inside of the housing 1 of the self-propelled cleaner 100 is seen through, and each component disposed in the housing 1 is indicated by a broken line.

  Moreover, in the following description, the direction along the traveling direction of the self-propelled cleaner 100 is the front-rear direction X, the forward direction side is the front side, and the reverse direction side is the rear side. Further, one direction orthogonal to the front-rear direction X is defined as a left-right direction Y, and a direction orthogonal to both the front-rear direction X and the left-right direction Y is defined as a vertical direction Z.

  The self-propelled cleaner 100 of the present embodiment performs cleaning by autonomously traveling based on a predetermined traveling pattern in a room or the like, for example, and as shown in FIGS. And a traveling unit 2 that rotates the two left and right drive wheels 21L and 21R in the housing 1 to move the self-propelled cleaner 100 in a predetermined direction, and a cleaning that is a traveling surface during the movement. A cleaning unit 3 for cleaning dust and the like on the surface is disposed, and as shown in FIG. 4, an operation unit 4, a storage unit 5, a RAM 6, and a CPU 7 are provided. Connected to each other.

  The storage unit 5 includes, for example, a ROM (Read Only Memory), an EEPROM (Electronic Erasable Programmable ROM), and the like, and stores various programs executed under the control of the CPU 7, data related to the processing of each program, and the like. To do. Specifically, the memory | storage part 5 has memorize | stored the traveling pattern information which concerns on the predetermined traveling pattern of the self-propelled cleaner 100 preset, for example.

  A RAM (Random Access Memory) 6 is, for example, a volatile semiconductor memory, and constitutes a storage area, a work area, and the like for programs and data read from the storage unit 5 under the control of the CPU 7.

A CPU (Central Processing Unit) 7 controls and controls each part of the self-propelled cleaner 100, reads a predetermined program stored in the storage unit 5, and develops it in the work area of the RAM 6. Then, various processes are executed according to the program.

The operation unit 4 has, for example, a plurality of operation keys (not shown) for instructing execution of various functions of the self-propelled cleaner 100, and a predetermined key corresponding to the operation key operated by the user. An operation signal is output to the CPU 7.

  The traveling unit 2 independently rotates two drive wheels 21L and 21R disposed at both ends in the left-right direction Y at the substantially center of the bottom of the self-propelled cleaner 100, and each of the drive wheels 21L and 21R. The left wheel drive unit 22 and the right wheel drive unit 23 to be driven, a predetermined number of driven wheels 24 (five shown in FIG. 2) that are driven to rotate as the self-propelled cleaner 100 travels, and the forward direction side Proximity sensor 25 for detecting obstacles (not shown) such as existing walls and furniture,..., For detecting obstacles (not shown) such as horizontal walls on the left and right direction Y side of self-propelled cleaner 100 Proximity sensors 26, 26 for horizontal walls, a first flow sensor 27 and a second flow sensor 28 for detecting an air flow and detecting the flow velocity, and a step detection sensor 29 for detecting steps such as unevenness on the running surface , And so on.

  The left drive wheel 21L is disposed so as to be rotatable around an axis in the left-right direction Y, for example. The left drive wheel 21L is provided with a rotary encoder 211L that outputs a rotation signal based on the rotation drive, for example.

  The left wheel drive unit 22 transmits, for example, a left wheel drive motor 221 as a drive source for rotationally driving the left drive wheel 21L under the control of the CPU 7, and a driving force of the left wheel drive motor 221 to the left drive wheel 21L. The left wheel drive unit 22 is integrated with the left drive wheel 21L to form the left wheel side drive unit 2L.

  Hereinafter, the left wheel side drive unit 2L will be described in detail with reference to FIGS.

  Here, FIG. 5 and FIG. 6 are diagrams for explaining an example of a suspension structure including the left wheel side drive unit 2L, and FIG. 6 shows that the left wheel side drive unit 2L in the state of FIG. The state rotated to the upper side is illustrated.

  As shown in FIGS. 5 and 6, the left wheel side drive unit 2 </ b> L is attached and fixed to the main body of the vacuum cleaner while being biased by the torsion coil spring (biasing member) 222 toward the traveling surface side of the self-propelled cleaner 100. The unit support portion 210 is supported via the first link 220 and the second link 230, thereby forming a suspension structure of the left drive wheel 21L.

  The left wheel side drive unit 2L includes a gear box 240 in which first to third gears 251 to 253 serving as driving force transmission units are housed, and the left wheel drive motor 221 via the first to third gears 251 to 253. Is transmitted to the left drive wheel 21L. That is, the left wheel drive motor 221 is attached and fixed to the gear box 240, the first gear 251 is meshed with the output shaft of the left wheel drive motor 221, and the second gear 252 is meshed with the first gear 251, Further, the second gear 252 is meshed with a third gear 253 whose center axis is provided coaxially with the rotation shaft of the left drive wheel 21L.

  A unit-side first connection portion 241 to which one end portion of the first link 220 is rotatably connected is provided coaxially with the central shaft of the third gear 253 and the rotation shaft of the left drive wheel 21L.

  Further, the gear box 240 includes an extension part 243 formed to extend from the upper end part toward the front side of the self-propelled cleaner 100, and the extension part 243 is connected to the unit side first connection part 241 and the upper and lower sides. A unit-side second connection portion 242 to which one end portion of the second link 230 is rotatably connected is provided at a position substantially overlapping with the direction (substantially perpendicular to the traveling surface) Z. That is, the unit side second connection part 242 is provided above the unit side first connection part 241.

  Further, the unit support portion 210 is disposed with a position shifted from the rotating shaft of the left drive wheel 21L toward the forward direction of the self-propelled cleaner 100.

Furthermore, the unit support part 210 is a member that is formed in a substantially long direction along a direction substantially perpendicular to the traveling surface, and the other end of the first link 220 is rotatably connected to the lower part thereof. The support part side first connection part 211 is provided. In addition, the other end portion of the second link 230 is rotated at a position substantially overlapping the support portion side first connection portion 211 and the vertical direction (a direction substantially perpendicular to the traveling surface) Z on the upper portion of the unit support portion 210. A support portion side second connection portion 212 that is movably connected is provided.

  A torsion coil spring 222 is supported on the same axis as the rotation axis of the support portion side second connection portion 212 so that the portion wound in a coil shape serves as a fulcrum, and the end portion thereof is supported on the support portion side second connection portion 212. The second link 230 is attached to the traveling surface side by a portion that is fixed to the spring fixing portion 213 provided on the lower side of the two connecting portions 212 and is provided along the upper side of the second link 230 of the torsion coil spring 222. It is in a state of power.

  The right drive wheel 21R is arranged to be rotatable around the axis in the left-right direction Y, for example, in substantially the same manner as the left drive wheel 21L. The right drive wheel 21R is provided with a rotary encoder 211R that outputs a rotation signal based on the rotation drive.

  The right wheel drive unit 23 is configured in substantially the same manner as the left wheel drive unit 22, and, for example, a right wheel drive motor 231 as a drive source for rotating the right drive wheel 21R under the control of the CPU 7, and the right wheel And a driving force transmission unit for transmitting the driving force of the driving motor 231 to the right driving wheel 21R. The right wheel driving unit 23 is integrated with the right driving wheel 21R and transmits the right wheel side driving unit 2R. It is composed.

  The right wheel side drive unit 2R has substantially the same configuration as the left wheel side drive unit 2L, and a detailed description thereof will be omitted.

  For example, the driven wheel 24 considers the weight balance between the front and rear of the self-propelled cleaner 100 around the driving wheels 21L and 21R in order to improve the running stability according to the rotational driving of the driving wheels 21L and 21R. A predetermined number is arranged at a predetermined position.

  The proximity sensor 25 is composed of, for example, an infrared sensor, an ultrasonic sensor, or the like, and a plurality of proximity sensors 25 are arranged so that the front ends of the proximity sensors 25 are exposed through a plurality of openings provided on the front side of the housing 1. It is installed.

  Further, the proximity sensor 25 outputs an obstacle detection signal for detecting an obstacle such as a wall or furniture existing on the forward direction side and in the predetermined range of the self-propelled cleaner 100 to the CPU 7. It has become. Then, based on the input of the obstacle detection signal output from the proximity sensor 25 during the traveling of the self-propelled cleaner 100, the CPU 7 executes a predetermined calculation program to execute the predetermined self-propelled cleaner 100. Obstacles that exist in the direction of travel are detected.

  The lateral wall proximity sensor 26 is composed of, for example, an infrared sensor, an ultrasonic sensor, etc., substantially the same as the proximity sensor 25, and is closer to the end than the left and right drive wheels 21L, 21R of the housing 1. Each of the lateral wall proximity sensors 26 is disposed so as to expose the front end portion thereof through the two openings provided.

  In addition, the lateral wall proximity sensor 26 sends an obstacle detection signal to the CPU 7 for detecting obstacles such as walls and furniture existing in the left-right direction Y substantially orthogonal to the forward direction and existing within a predetermined range. In contrast, it is designed to output. Based on the input of the obstacle detection signal output from the lateral wall proximity sensor 26, the CPU 7 detects an obstacle existing in the backward direction of the self-propelled cleaner 100 by executing a predetermined calculation program. It is supposed to be.

  The first flow sensor 27 and the second flow sensor 28 are disposed at a substantially central portion of the upper surface of the self-propelled cleaner 100. Specifically, the first flow sensor 27 can detect the airflow flowing in the traveling direction according to a predetermined traveling pattern of the self-propelled cleaner 100, and the second flow sensor 28 can be detected in the traveling direction. Each detection unit is exposed from the housing 1 and arranged in a predetermined direction so that an airflow flowing in a direction orthogonal to each other can be detected.

  During the travel (movement) of the self-propelled cleaner 100, the first flow sensor 27 outputs a first flow velocity signal related to the flow velocity of the airflow flowing in the traveling direction to the CPU 7, and the second flow sensor 28 The second flow velocity signal related to the flow velocity of the airflow flowing in the direction orthogonal to the traveling direction is output to the CPU 7. More specifically, the first flow sensor 27 and the second flow sensor 28 are provided with a temperature detection unit such as a microsensor, and the temperature detection unit detects a temperature lowered due to an airflow generated during traveling. After that, the flow velocity of each airflow flowing in the traveling direction and the direction orthogonal to the traveling direction, which has a predetermined relationship with the detected temperature decrease degree, that is, the moving speed of the self-propelled cleaner 100 is calculated and first calculated. It outputs to CPU7 as a flow velocity signal and a 2nd flow velocity signal.

  When at least one of the first flow velocity signal output from the first flow sensor 27 and the second flow velocity signal output from the second flow sensor 28 is input to the CPU 7, the CPU 7 Based on at least one of the flow velocity signal and the second flow velocity signal, a predetermined calculation program is executed to detect the moving direction of the self-propelled cleaner 100. Note that the CPU 7 executes the predetermined control program based on the detected moving direction, and causes the left wheel drive motor 221 and the right wheel drive motor 231 to move the self-propelled cleaner 100 according to a predetermined travel pattern. The drive is controlled.

  The step detection sensor 29 is composed of, for example, an infrared sensor, an ultrasonic sensor, etc., substantially the same as the proximity sensor 25 and the lateral wall proximity sensor 26, and includes a front end of the bottom and left and right drive wheels 21L, A front end portion of each step detecting sensor 29 is disposed on the front side of 21R with the traveling surface side facing. Further, the step detection sensor 29 outputs a step detection signal for detecting a step on the running surface to the CPU 7.

  The cleaning unit 3 includes a cleaning brush 31 that sweeps up dust on the cleaning surface (running surface), a suction fan 33 that is driven to collect dust on the cleaning surface via the suction port 32, and a suction port. 32 and the side cleaning for cleaning the cleaning surface outside the cleaning brush 31 and the dust collecting portion 35 for collecting the dust sucked in through the suction port 32. And a brush 36 for use.

  The cleaning brush 31 is rotatable around the axis in the left-right direction Y based on the rotation of the brush drive motor 311 under the control of the CPU 7. A suction port 32 is provided on the rear side of the cleaning brush 31.

  The suction port 32 is provided at a substantially central portion in the longitudinal direction of the cleaning brush 31, and is connected to the rear end portion of the dust collecting portion 35 via the communication portion 34.

  The suction fan 33 communicates with the front end portion of the dust collecting unit 35 through a filter 37 for filtering dust, and is based on the fan drive motor 331 being rotationally driven under the control of the CPU 7. And can be rotated.

  The side cleaning brush 36 is disposed on the front side of the left and right drive wheels 21 </ b> L and 21 </ b> R so that a part of the brush protrudes outside the housing 1. That is, the side cleaning brush 36 can rotate around the axis center in the vertical direction Z provided on the edge portion of the housing 1 based on the rotation of the side brush drive motor 361 under the control of the CPU 7. It has become. Accordingly, a part of the side cleaning brush 36, for example, approximately half is located outside the housing 1, so that dust or the like existing on the cleaning surface outside the cleaning brush 31 can be cleaned. .

As described above, according to the self-propelled cleaner 100 of the present embodiment, the drive wheels 21L and 21R, the drive motors 221 and 231 and the first to third gears 251 to 253 are integrally configured. The units 2L and 2R are urged by the torsion coil springs 222 and 232 toward the traveling surface side of the self-propelled cleaner 100, and are connected to the unit support 210 via the first link 220 and the second link 230. Therefore, the shock applied to the drive wheels 21L and 21R can be appropriately buffered, and the grounding performance of the drive wheels 21L and 21R can be improved. That is, since the drive units 2L and 2R can be rotated around the rotation axes of the first link 220 and the second link 230, the impact applied to the drive wheels 21L and 21R while the self-propelled cleaner 100 is traveling. Can be suitably dispersed through the rotation shafts of the first link 220 and the second link 230, and the shock can be appropriately buffered by the torsion coil springs 222 and 232. As a result, the driving wheels 21L and 21R can follow the traveling surface more appropriately, and the grounding performance of the driving wheels 21L and 21R can be improved. Therefore, self-propelled cleaner 100 can be run appropriately.

  Further, in the drive units 2L and 2R, the unit side first connection part 241 to which the first link 220 is connected and the unit side second connection part 242 to which the second link 230 is connected are substantially overlapped in the vertical direction Z. Since it is provided, the drive units 2L and 2R can be more appropriately rotated via the first link 220 and the second link 230, and shock can be buffered more appropriately.

  Furthermore, in the unit support part 210, the support part side first connection part 211 to which the first link 220 is connected and the support part side second connection part 212 to which the second link 230 is connected substantially overlap in the vertical direction Z. Therefore, the drive units 2L and 2R can be rotated more appropriately, and shock can be buffered more appropriately. Further, since the unit support portion 210 is disposed at a position shifted from the rotating shaft of the drive wheels 21L and 21R toward the forward direction of the self-propelled cleaner 100, the unit support portion 210 is being moved forward. The shock applied to the drive wheels 21L and 21R obliquely from the front can be more appropriately buffered.

  Further, the torsion coil springs 222 and 232 are disposed on the unit support portion 210 and bias the drive units 2L and 2R via the second link 230. Therefore, the torsion coil springs 222 and 232 cause the drive units 2L and 2R to travel on the running surface. The impact applied to the drive wheels 21L and 21R can be more appropriately buffered via the second link 230 than in the case of directly urging to the side.

  Note that the present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the configuration in which the driving wheel is urged toward the traveling surface via the second link 230 by the torsion coil springs 222 and 232 as the urging members is illustrated, but the present invention is not limited thereto. The first link 220 may be biased, or the first link 220 and the second link 230 may be biased.

  Further, the positions of the unit side first connection part 241 and the unit side second connection part 242, the positions of the support part side first connection part 211 and the support part side second connection part 212, the first link 220 and the second link 230. The length or the like may be arbitrarily changed as appropriate.

It is the side view which looked and showed the self-propelled cleaner illustrated as a suitable one embodiment to which the present invention is applied from the side. It is a top view which shows the self-propelled cleaner of FIG. It is a front view which shows the self-propelled cleaner of FIG. It is a block diagram which shows the principal part structure of the self-propelled cleaner of FIG. It is a figure for demonstrating an example of the suspension structure with which the self-propelled cleaner of FIG. 1 is equipped. It is a figure for demonstrating an example of the suspension structure with which the self-propelled cleaner of FIG. 1 is equipped.

Explanation of symbols

100 Self-propelled vacuum cleaner 1 Housing 2L Left wheel side drive unit 2R Right wheel side drive unit 22 Left wheel drive unit (first drive unit)
23 Right wheel drive unit (second drive unit)
21L Left drive wheel 21R Right drive wheel 221 Left wheel drive motor (drive source)
231 Right wheel drive motor (drive source)
210 unit support part 211 support part side first connection part 212 support part side second connection part 220 first link 230 second link 241 unit side first connection part 242 unit side second connection part 251 first gear (driving force transmission) Part)
252 Second gear (driving force transmission part)
253 Third gear (drive force transmission part)

Claims (6)

A self-propelled vacuum cleaner that runs autonomously and cleans it,
Provided with a suspension structure of drive wheels attached to the main body of the self-propelled cleaner,
The suspension structure is
A drive unit configured integrally with the drive wheel, a drive source for rotationally driving the drive wheel, and a drive force transmission unit for transmitting the drive force of the drive source to the drive wheel;
A unit support part that is mounted and fixed to the vacuum cleaner body by shifting the position to the forward direction side of the self-propelled cleaner from the rotation shaft of the drive wheel, and has a unit support part,
The drive unit is
A first link pivotally attached to a unit-side first connection portion provided coaxially with a rotation axis of the drive wheel of the drive unit, and a support-side first connection portion of the unit support portion; and The unit-side second connection provided above the unit-side first connection portion of the drive unit and at a position substantially overlapping with the unit-side first connection portion in a direction substantially perpendicular to the traveling surface. And a support provided at a position that is substantially above the support portion side first connection portion of the unit support portion and the unit support portion and substantially overlaps the support portion side first connection portion and the traveling surface. The unit link is connected to the unit support part via a second link rotatably attached to the part side second connection part, and the first link and the urging member disposed on the unit support part A small amount of the second link Self-propelled cleaner, characterized by comprising urged to the running surface side of the self-propelled cleaner be via either a. It is a suspension structure of a driving wheel that is attached to the main body of a self-propelled cleaner that performs autonomous cleaning and performs cleaning,
The drive unit is configured by integrating the drive wheel, a drive source for rotationally driving the drive wheel, and a drive force transmission unit for transmitting the drive force of the drive source to the drive wheel,
A unit support for supporting the drive unit is fixedly attached to the cleaner body,
The drive unit is urged by a urging member to the traveling surface side of the self-propelled cleaner, and is rotatably attached to two different points of the drive unit and the unit support part. A suspension structure, wherein the suspension structure is connected to the unit support portion via one link and a second link. The drive unit is
A unit-side first connection portion provided coaxially with the rotation shaft of the drive wheel, to which the first link is connected, and above the unit-side first connection portion and the unit-side first connection portion The suspension structure according to claim 2, further comprising: a unit-side second connection portion that is provided at a position substantially overlapping in a direction substantially perpendicular to the traveling surface and to which the second link is connected. . The unit support is
The support part side first connection part to which the first link is connected, the support part side first connection part and the support part side first connection part, and substantially perpendicular to the support part side first connection part and the traveling surface. The suspension structure according to claim 2 or 3, wherein a support portion side second connection portion to which the second link is connected is provided at a position substantially overlapping in the direction.   The said unit support part is shifted and arrange | positioned rather than the rotating shaft of the said driving wheel to the advancing direction side of the said self-propelled cleaner, It is any one of Claims 2-4 characterized by the above-mentioned. The suspension structure described. 3. The urging member is disposed on the unit support portion and urges the drive unit via at least one of the first link and the second link.
The suspension structure according to any one of?

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