JP6345912B2 - Electric vacuum cleaner - Google Patents

Description

  Embodiments of the present invention relate to a vacuum cleaner provided with a pair of drive wheels that are arranged apart from each other in the axial direction and that allow a main body case to travel.

  Conventionally, a so-called autonomous traveling type vacuum cleaner (cleaning robot) that cleans the floor surface while autonomously traveling on the floor surface as a surface to be cleaned while detecting an obstacle using a sensor or the like is known. ing. Such a vacuum cleaner has suction ports that communicate with the dust collector while projecting driving wheels for autonomously running the cleaner main body on both sides of the lower part of the main body case of the cleaner body having a dust collector and the like. Is formed between these drive wheels. These drive wheels are urged by a spring or the like toward the floor surface in order to improve grip with the floor surface, and the spring expands and contracts via the drive wheel according to the unevenness of the floor surface. This enables stable running on the floor.

  In the case of such a vacuum cleaner, the width of the drive wheel must be narrowed in order to ensure the area of the suction port. Therefore, when the space between these drive wheels rides on unevenness or obstacles with a relatively low height, such as a controller part of a hot carpet, the drive wheels biased by the spring do not reach the floor surface, and the drive wheels May idle. Further, when a groundable traveling wheel is provided between these drive wheels, for example, if one of the drive wheels is rotated in the forward direction and the other is rotated in the reverse direction, the main body case may be turned. The traveling wheel gets caught on the floor and the turning performance is impaired.

US Patent Application Publication No. 2004/0143927

  The problem to be solved by the present invention is to provide a vacuum cleaner that can be escaped when the lower part of the main body case between the drive wheels rides on an object and that can prevent a decrease in running performance.

The vacuum cleaner of the embodiment has a main body case. In addition, this vacuum cleaner is provided rotatably from the lower part of the main body case so as to protrude toward the surface to be cleaned, and is arranged to be separated from each other in the axial direction so that the main body case can run. Have. Further, the electric vacuum cleaner has a turning wheel for turning, which is provided rotatably from the lower part of the main body case so as to protrude toward the surface to be cleaned and is located in front of the driving wheel in the traveling direction. Moreover , this vacuum cleaner has the auxiliary drive wheel rotatably provided in the main body case. The auxiliary drive wheels, with at least a portion is located away in the anti-cleaning surface direction than the lower drive wheel to the lower part of the main body case is located between the drive wheels, than the ground position of the drive wheels travel It is located forward in the direction and behind the turning wheel in the running direction . The auxiliary drive wheel is driven independently of the drive wheel and rotates at least when it comes into contact with an object protruding toward the main body case from the grounded portion of the drive wheel.

The main body case of the vacuum cleaner of 1st Embodiment shows the state located on the target object which protrudes in the main body case side from a to-be-cleaned surface, (a) is the front view, (b) expands that part. FIG. It is a top view which shows a vacuum cleaner same as the above from the downward direction. (a) is a front view of the same electric vacuum cleaner, and (b) is a side view of the electric vacuum cleaner. It is a block diagram which shows the internal structure of a vacuum cleaner same as the above. It is sectional drawing which expands and shows typically a part of electric vacuum cleaner of 2nd Embodiment, (a) shows the state which drive | works the normal surface to be cleaned, (b) is the surface to be cleaned The state which the auxiliary drive wheel protruded toward the target object which protrudes from the main body case side is shown. It is a block diagram which shows the internal structure of a vacuum cleaner same as the above. It is sectional drawing which expands and shows typically a part of electric vacuum cleaner of 3rd Embodiment, (a) shows the state which is drive | working the normal surface to be cleaned, (b) is the surface to be cleaned The state which the auxiliary drive wheel protruded toward the target object which protrudes from the main body case side is shown.

  The configuration of the first embodiment will be described below with reference to FIGS.

  1 to 4, reference numeral 11 denotes a vacuum cleaner. In this embodiment, the vacuum cleaner 11 cleans the floor F while autonomously running (self-running) on the floor F as a surface to be cleaned. A so-called self-propelled robot cleaner will be described below as an example.

  The vacuum cleaner 11 includes a hollow main body case 12, an electric blower 13 accommodated in the main body case 12, a dust collecting portion 14 communicating with the suction side of the electric blower 13, for example, a plurality ( A pair of driving wheels 15, a motor 16 as a driving means for driving these driving wheels 15, a turning wheel 17 for turning, and a pair of turning wheels 15 attached to the lower portion of the main body case 12 so as to be turnable. Side brush 18 as an auxiliary cleaning part (swivel cleaning part), a turning motor 19 as a turning driving means for driving the side brushes 18 respectively, and a distance measuring sensor 20 as a plurality of distance detecting means, for example, a plurality ( A pair of auxiliary drive wheels 21, an auxiliary motor 22 as an auxiliary drive means for driving these auxiliary drive wheels 21, a control means 23 constituted by a circuit board and the like, and a secondary battery which is a battery constituting a power supply unit With 24. Hereinafter, the direction along the traveling direction of the vacuum cleaner 11 (main body case 12) is the front-rear direction (arrow FR, RR direction shown in FIG. 2), and the left-right direction intersecting (orthogonal) with the front-rear direction ( The description will be made assuming that the width direction is the width direction.

  The main body case 12 is formed into a flat cylindrical shape (disk shape), for example, with synthetic resin, etc., and a suction port 25 as a dust collection port communicating with the dust collection unit 14 is formed on the circular lower surface 12a. An opening is formed facing F. Although not shown, various operation panels and a display unit are arranged on the upper part of the main body case 12. And the main body case 12, the electric blower 13 housed inside the main body case 12, each motor 16, each turning motor 19, the distance measuring sensor 20, each auxiliary motor 22, the control means 23 and the secondary battery 24, The dust collector 14, the side brush 18, and the like constitute a cleaner body 26 that travels on the floor surface F by the drive wheels 15.

  The suction port 25 is formed in a longitudinal shape, that is, horizontally long in the left-right direction, and is opened at a position rearward of the center portion of the lower surface 12a of the main body case 12 and in the center portion in the left-right direction. The suction port 25 is surrounded by a nozzle portion 27 whose outer edge portion protrudes downward from the lower surface 12a of the main body case 12 on the floor surface F side. In addition, a rotary brush 31 as a rotary cleaning body is rotatably disposed in the suction port 25.

  The nozzle portion 27 is formed so that the opening area gradually becomes narrower toward the lower side (front end side), and the lower end (front end) defines the front portion and the rear portion of the suction port 25.

  The rotating brush 31 is configured, for example, by attaching a plurality of cleaning body portions protruding in a wall shape spirally in the radial direction on the outer peripheral surface of a long shaft portion. The rotating brush 31 protrudes downward from the suction port 25 to below the lower surface 12a of the main body case 12, and the rotating brush 31 has a cleaning body portion positioned on the lower side with the vacuum cleaner 11 placed on the floor F. The tip is configured to contact the floor surface F. The rotating brush 31 is rotationally driven by a driving motor 32 as a rotational cleaning body driving means.

  The drive motor 32 is housed inside the main body case 12 (the vacuum cleaner main body 26), and is connected to the rotating brush 31 via a gear mechanism (not shown) as a mechanism portion.

  The electric blower 13 is housed inside the main body case 12 with the suction side facing rearward and the axial direction along the front-back direction (horizontal direction), for example, and the suction side communicates with the dust collecting portion 14 Yes.

  The dust collecting unit 14 collects dust sucked from the suction port 25 by driving the electric blower 13, and is located at the rear part of the main body case 12, for example.

  Each drive wheel 15 is for driving the vacuum cleaner 11 (the vacuum cleaner body 26) on the floor surface F (autonomous traveling), that is, for traveling, and is a flat having a rotating shaft 15a along the left-right width direction. It is formed in a disk shape. In addition, these drive wheels 15 are arranged in the width direction on both sides of the suction port 25 at positions near the center in the front-rear direction at the lower part of the main body case 12 (the vacuum cleaner body 26). The position is symmetrical to the direction. Further, these drive wheels 15 are fitted in an opening 34 opened in the lower surface 12a of the main body case 12, exposed to the lower portion of the main body case 12, and the lower portion from the lower portion (lower surface 12a) of the main body case 12. Also protrudes downwards. The drive wheels 15 can be moved back and forth in the vertical direction by being pivotally supported on the main body case 12 so as to be rotatable in the vertical direction, for example. The drive wheels 15 are elastically supported in the vertical direction with respect to the main body case 12 by, for example, a suspension device (suspension) (not shown). It is biased in a direction (downward) protruding downward from the opening 34 of 12a.

  Each motor 16 is disposed, for example, corresponding to each drive wheel 15, and can drive each drive wheel 15 independently. These motors 16 are connected to the rotation shafts 15a of the respective drive wheels 15 via gear boxes (not shown) serving as transmission means. This gear box is used to decelerate the rotation of each motor 16 and transmit it to each drive wheel 15, and is urged downward by the suspension device together with each drive wheel 15, and in the vertical direction together with the drive wheel 15. It is possible to advance and retreat. These motors 16 are electrically connected to current detecting means (current sensors) 37 as idling detecting means, and it is determined whether or not idling together with the drive wheels 15 based on the current value detected by the current detecting means 37. It can be detected.

  The swivel wheel 17 is a driven wheel that is located at the front and substantially at the center in the width direction of the main body case 12 and that can swivel along the floor surface F.

  Each side brush 18 includes a hub portion 41 which is a cleaning portion main body as a swiveling main body portion, brush hairs 42 as a plurality of cleaning bodies that protrude radially from the hub portion 41 and come into contact with the floor surface F. Respectively. The side brushes 18 and 18 are disposed at positions on both sides of the front side of the drive wheels 15 and 15 and the rear side of the swivel wheel 17 in the lower part of the main body case 12 (the vacuum cleaner main body 26).

  The hub portion 41 is formed of a rigid member (hard synthetic resin) having rigidity, for example. The central portion of the hub portion 41 serves as a pivot shaft that is pivotally supported on the lower surface 12a of the main body case 12 so as to be pivotable.

  Further, each brush hair 42 is formed in a linear shape by a member such as a synthetic resin having flexibility (elasticity), for example, and configures a brush hair portion 43 that is a hair bundle by bundling a plurality of brush hairs, The brush bristle portions 43 are planted on the outer periphery of the hub portion 41, and are spaced apart from each other at substantially equal intervals (equal angles) in the circumferential direction of the hub portion 41. These brush bristles 42 (brush bristle portions 43) protrude downward from the base end side to the front end side, and the front end side is on the floor surface F with the vacuum cleaner 11 placed on the floor surface F. And is deformed along the floor surface F, and is rotated integrally with the hub portion 41 by the rotation (turning) of the hub portion 41 to scrape off dust on the floor surface F.

  Each turning motor 19 has a rotating shaft (not shown) protruding downward connected to each hub portion 41, and each side brush 18 is moved to the center side in the width direction of the body case 12, in other words, the right side brush 18 To the left side, and the left side brush 18 to the right side, that is, each side brush 18 can rotate so as to collect dust to the suction port 25 side.

  The distance measuring sensor 20 is a non-contact sensor such as an ultrasonic sensor, an infrared sensor, or an image sensor, for example, and is disposed over the front of the outer periphery of the main body case 12, for example, an obstacle ( The presence / absence of obstacles (walls) and side obstacles (walls) and the distance between them and the main body case 12 can be detected.

  Each auxiliary drive wheel 21 has a virtual surface in which the lower surface 12a of the main body case 12 passes through the rotating shaft 15a of the drive wheel 15 and is perpendicular to the floor surface F when viewed from the grounding portion P of the drive wheel 15, that is, from the width direction (side). Narrower than the drive wheels 15 and 15 such as convex portions on the floor surface F projecting to the main body case 12 side (upper side) or the large dust on the floor surface F from the intersection of the line and the floor surface F This is used to escape when the drive wheel 15 loses gripping force against the floor surface F by being caught on the object A, and can be rotated in the direction along the rotation direction of the drive wheel 15 by the body case 12. Is provided. That is, these auxiliary drive wheels 21 have a rotation shaft 21a along the left-right width direction, and this rotation shaft 21a is substantially parallel to the rotation shaft 15a of the drive wheels 15. Further, the auxiliary drive wheels 21 are arranged at positions below the main body case 12 and above the lower side of the drive wheels 15 in the anti-floor surface F direction (anti-cleaning surface direction). In the present embodiment, the lower portions of these auxiliary drive wheels 21 protrude slightly downward with respect to the lower surface 12a of the main body case 12, and do not come into contact with the floor surface F during normal traveling and enter the lower portion of the main body case 12. It comes in contact with the object A. Further, these auxiliary drive wheels 21 are disposed in front of the ground contact portion P of the drive wheels 15 and at a position behind the swivel wheels 17 and the side brushes 18 and spaced apart from each other in the width direction. The drive wheels 15 and 15 are symmetrical in the width direction. Further, these auxiliary drive wheels 21 are formed in a longitudinal shape in the width direction, and are disposed at positions that overlap with both sides of the suction port 25 in the width direction and do not overlap with the turning wheel 17 in the width direction. . That is, these auxiliary drive wheels 21 are formed to have a larger width dimension than the drive wheels 15. These auxiliary drive wheels 21 are fitted in an exposed opening 45 opened in the lower surface 12a of the main body case 12, and are exposed in the lower portion of the main body case 12.

  Each auxiliary motor 22 is arranged corresponding to each of the auxiliary driving wheels 21, for example, and can drive each auxiliary driving wheel 21. The auxiliary motors 22 are connected to the rotation shafts 21a of the auxiliary drive wheels 21 via auxiliary gear boxes (not shown) as auxiliary transmission means. Here, the auxiliary gear box is used to decelerate the rotation of each auxiliary motor 22 and transmit it to each auxiliary drive wheel 21.

  The control means 23 includes, for example, a timekeeping means such as a timer, a storage means such as a memory, and a control unit such as a microcomputer. The electric blower 13, each motor 16, each turning motor 19, a distance measuring sensor 20, and each auxiliary motor 22 The electric blower 13 and each motor are electrically connected to the drive motor 32 and the current detection means 37, etc., and whether or not the object A such as an obstacle or a step can be overcome is determined based on the detection result of the distance measuring sensor 20. The drive of 16 etc. can be controlled. Further, the control means 23 can control the driving of the auxiliary motor 22 based on the detection result by the current detection means 37. Specifically, the control unit 23 has a function of a rotation control unit that rotates the auxiliary drive wheel 21 when the current detection unit 37 detects the idling of the drive wheel 15.

  The secondary battery 24 supplies power to the control means 23, the electric blower 13, each motor 16, each turning motor 19, the distance measuring sensor 20, the drive motor 32, the current detection means 37, and the like. The secondary battery 24 is electrically connected to a charging terminal (not shown) located on the lower surface 12a of the main body case 12 on both sides of the swivel wheel 17, for example, a predetermined position installed in a predetermined position in a room (room). It can be charged by connecting a charging terminal to a charging stand (not shown).

  Next, the operation of the first embodiment will be described.

  In the vacuum cleaner 11, for example, when a predetermined time preset in the control means 23 is reached, the control means 23 drives the electric blower 13, each turning motor 19 (each side brush 18), and the drive motor 32 (rotating brush 31). For example, cleaning is started from the charging stand. The cleaning start position can be set at an arbitrary place such as the travel start position of the electric vacuum cleaner 11 or the entrance / exit of the room.

  In the electric vacuum cleaner 11, the control means 23 rotates the motors 16, 16 to autonomously travel on the floor surface F by the drive wheels 15, 15. At this time, the control means 23 detects the distance and the running state of the vacuum cleaner 11 by detecting the distance from the wall surrounding the cleaning area or an obstacle in the cleaning area through the distance measuring sensor 20. In response to the detection from the distance measuring sensor 20, the vehicle travels on the floor F while avoiding obstacles or steps that are recessed in steps.

  That is, when the distance measuring sensor 20 detects an obstacle that cannot reach the front of the main body case 12 or the like, the control means 23 detects, for example, one of the motors 16 and 16 (drive wheels 15 and 15). An obstacle is avoided by turning (super-confinement turning) by rotationally driving the forward direction, the other in the reverse direction, etc., and changing the forward direction of the vacuum cleaner 11 (main body case 12).

  At this time, since each drive wheel 15 is urged downward by each suspension device, it keeps grip force by following up and down directions with respect to fine unevenness and inclination on the floor surface F, Stable running is possible. In addition, each auxiliary drive wheel 21 is spaced apart and does not come into contact with the floor surface F with which each drive wheel 15 follows and comes into contact, so that the vacuum cleaner 11 (main body case 12) is turned. It does not interfere with the turn by being caught on the floor surface F.

  On the other hand, for example, an object A having a height gradually increasing in the traveling direction of the electric vacuum cleaner 11 (main body case 12) and having a width smaller than that between the drive wheels 15 and 15, or a controller of a hot carpet or the like. It is judged that the control means 23 can get over the object A or the like whose height is low and the width dimension is smaller than between the driving wheels 15 and 15 through the distance measuring sensor 20 and the grounding of the driving wheel 15 with respect to the floor F When the object A protruding from the portion P toward the main body case 12 is positioned on the floor surface F (FIGS. 1A and 1B), the drive wheels 15 and 15 are positioned on both sides of the object A. When the vacuum cleaner 11 (main body case 12) travels across the object A, in other words, the lower surface 12a (auxiliary drive wheel 21) of the main body case 12 may be caught on the object A. is there. At this time, each drive wheel 15 protrudes downward to near the position of the urging limit (protrusion limit) by each suspension device, the grip force against the floor surface F decreases, or the lower surface 12a of the object A and the body case 12 (auxiliary When the frictional force with the drive wheels 21) exceeds the grip force of the drive wheels 15, each drive wheel 15 is idled and the vacuum cleaner 11 (main body case 12) stops running at that position (stack ). Therefore, when such idling of the driving wheel 15 is detected by the current detection means 37, the control means 23 rotates each auxiliary driving wheel 21 by rotating each auxiliary motor 22, and makes contact with the object A. The state of being caught on the object A by the rotational drive of each auxiliary drive wheel 21 is released. When the current detecting means 37 detects that the idling of the drive wheels 15 has been released, the control means 23 stops driving each auxiliary motor 22 (each auxiliary drive wheel 21). 1 shows a state in which each of the auxiliary driving wheels 21 and 21 is in contact with the object A. However, if at least one of the auxiliary driving wheels 21 contacts the object A, the auxiliary driving wheels 21 and 21 are in contact with each other. By driving the auxiliary drive wheel 21 by the auxiliary motor 22 corresponding to the auxiliary drive wheel 21 that is present, the state of being caught on the object A can be removed.

  Then, the vacuum cleaner 11 removes the dust on the floor surface F scraped by the side brushes 18 together with the air through the suction port 25 through which the negative pressure generated by the driving of the electric blower 13 acts via the dust collecting unit 14. Suction and scraping up to the dust collecting unit 14 by the rotating brush 31. The dust is separated and collected by the dust collecting section 14, and the air from which the dust has been separated is sucked into the electric blower 13, and after cooling the electric blower 13, it becomes exhausted air and enters the main body case 12. The air is exhausted from an exhaust port (not shown) provided.

  When it is determined that the cleaning of the cleaning area has ended, the control means 23 autonomously runs the vacuum cleaner 11 to the position of the charging stand, stops the electric blower 13 and the like, and sets the charging terminal on the charging stand (machine And the motors 16 and 16 are stopped, the operation is terminated, and the secondary battery 24 is charged.

  As described above, according to the first embodiment, the lower part of each auxiliary drive wheel 21 is located farther upward than the lower part of the drive wheel 15 in the anti-floor surface F direction, and the lower surface 12a of the main body case 12 is disposed on the lower surface 12a. On the other hand, since the lower portion protrudes downward, for example, the auxiliary drive wheels 21 and 21 can be connected between the drive wheels 15 and 15 without requiring a configuration in which the auxiliary drive wheels protrude downward with respect to the main body case. When the lower part of the main body case 12 rides on the object A, it can be easily escaped. For example, when the main body case 12 is turned in a normal traveling state, each auxiliary drive wheel 21 is moved to the floor surface F. It is possible to prevent a decrease in running performance without touching the vehicle and preventing the turning.

  Next, a second embodiment will be described with reference to FIGS. In addition, about the structure and effect | action similar to the said 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  In the second embodiment, the auxiliary drive wheel 21 of the first embodiment can be protruded downward by an actuator 51 as a protruding means with respect to the main body case 12 on the floor surface F side. It is.

  That is, the rotation shaft 21a of each auxiliary drive wheel 21 is connected to an auxiliary gear box 53 as auxiliary transmission means for decelerating the rotation of each auxiliary motor 22 and transmitting it to each auxiliary drive wheel 21, respectively. The gear box 53 is rotated by the rotation shaft 53a along the width direction with respect to the main body case 12 together with each auxiliary motor 22, in other words, by the rotation shaft 53a parallel to the rotation shaft 15a of the drive wheel 15 and the rotation shaft 21a of the auxiliary drive wheel 21. By being pivotally supported, each auxiliary drive wheel 21 can advance and retreat in the vertical direction together with each auxiliary motor 22 by the rotation of the auxiliary gear box 53.

  The actuator 51 is, for example, an electric cylinder that can be operated by feeding power from the secondary battery 24. The main body 55 is pivotally supported by the main body case 12, and the main body 55 projects and extends and contracts. And an arm portion 56 as a possible connecting portion. The distal end side of the arm portion 56 is pivotally supported with respect to the auxiliary gear box 53, and each auxiliary drive wheel 21 can protrude downward by expansion and contraction of the arm portion 56.

  When the current detecting means 37 does not detect the idling of each drive wheel 15, the control means 23 is running on the normal floor F (the normal running surface 11). Each auxiliary drive wheel 21 is retracted into the main body case 12 in a state where the arm portion 56 of each actuator 51 is contracted (FIG. 5A). In this state, the lower portion of each auxiliary drive wheel 21 is positioned substantially flush with, for example, the lower surface 12a of the main body case 12 or above the lower surface 12a, and does not protrude downward from the lower surface 12a of the main body case 12. .

  The object A that is determined to be able to get over by the control means 23 via the distance measuring sensor 20 and protrudes to the main body case 12 side from the grounding portion P of the driving wheel 15 with respect to the floor surface F is positioned on the floor surface F. Then, the driving wheels 15 and 15 travel on both sides of the object A, and the lower surface 12a (auxiliary driving wheel 21) of the main body case 12 is caught by the object A, so that each driving wheel 15 idles. In this case, when the control means 23 detects the idling of each drive wheel 15 by the current detection means 37, each actuator 51 is extended so that each auxiliary drive wheel 21 protrudes from each exposure opening 45 and contacts the object A. In addition, each auxiliary drive wheel 21 is driven to rotate by rotating each auxiliary motor 22, and the state where the object A is caught by the rotation drive of each auxiliary drive wheel 21 in contact with the object A is removed. (FIG. 5B). When the current detection means 37 detects that the idling of the drive wheels 15 has been released, the control means 23 stops driving each auxiliary motor 22 (each auxiliary drive wheel 21) and contracts each actuator 51 to The auxiliary drive wheel 21 is retracted into the main body case 12.

  Thus, according to the present embodiment, when the idling of the driving wheel 15 is detected by the current detection means 37, the auxiliary driving wheel 21 is protruded downward from the lower surface 12a of the main body case 12 by the actuator 51. When the auxiliary drive wheel 21 is brought into more reliable contact with the object A and the lower part of the main body case 12 between the drive wheels 15 and 15 rides on the object A, it is possible to escape more reliably. In the running state, the auxiliary drive wheel 21 can be stored in the exposed opening 45 above the lower surface 12a of the main body case 12, and the auxiliary drive wheel 21 contacts the floor surface F during normal running. Thus, it is possible to more reliably prevent the running performance such as turning performance from being reduced as a brake.

  In the second embodiment, the projecting means is not limited to the actuator 51 such as an electric cylinder, but may be any configuration such as a motor (screw motor) or a combination of a biasing means such as a spring and a solenoid. can do.

  According to at least one embodiment described above, the auxiliary drive wheel 21 (auxiliary motor 22) is rotationally driven when the idling of the drive wheel 15 is detected, so that it is compared with the case where the auxiliary drive wheel is always rotationally driven. Thus, the power consumption in the normal running state can be suppressed. Therefore, in the autonomous traveling vacuum cleaner 11 driven using the secondary battery 24, the power of the secondary battery 24 can be effectively used to ensure sufficient cleaning time and travel distance, and more accurate cleaning over a wide range. Is possible.

In each of the above embodiments, the idling detection means for detecting idling of the drive wheel 15 uses, for example, a movement detection means such as an optical sensor, a gyro sensor, or an acceleration sensor for detecting the movement of the main body case 12, and the drive wheel 15 If the movement of the main body case 12 is not detected even though the (motor 16) is rotating, it may be configured to indirectly detect that the drive wheel 15 is idling .

  Next, a third embodiment will be described with reference to FIG. In addition, about the structure and effect | action similar to said each embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  In the third embodiment, each auxiliary drive wheel 21 of the first embodiment serves as interlocking protrusion means for elastically supporting each drive wheel 15 so as to protrude downward on the floor surface F side. The suspension device 61 is configured to be able to project downward integrally with each drive wheel 15.

  Each suspension device 61 is, for example, a compression spring, and both ends are connected between one and the other support portions 64 and 65. One support portion 64 is provided on a wall portion 66 projecting from the inside of the main body case 12, and this wall portion 66 accommodates the upper side of each drive wheel 15 and the outside of the main body case 12 by the opening 34. A storage room 67 that communicates with the storage room 67 is partitioned. The other support portion 65 protrudes from the upper portion of a gear box 68 as a transmission means for connecting each drive wheel 15 and each motor 16.

  This gear box 68 is pivotally supported by a rotation shaft 68a along the width direction with respect to the main body case 12, in other words, by a rotation shaft 68a parallel to the rotation shaft 15a of the drive wheel 15 and the rotation shaft 21a of the auxiliary drive wheel 21. As a result, each drive wheel 15 can advance and retreat in the vertical direction together with each motor 16 by the rotation of the gear box 68.

  Each auxiliary drive wheel 21 is connected to each drive wheel 15 via a bracket 69 as a connecting body, and maintains a predetermined angle with each drive wheel 15 with respect to the rotation shaft 68a of the gear box 68. It is configured.

  When the vacuum cleaner 11 (main body case 12) travels on the floor surface F, each drive wheel 15 is urged downward by each suspension device 61. Keeps gripping power by following up and down against uneven surfaces and slopes. At this time, each auxiliary drive wheel 21 is urged downward together with each drive wheel 15 by each suspension device 61, so that, for example, a normal running state, that is, each drive wheel 15 and turning wheel 17 are substantially equal. When the vehicle is running in contact with the floor F having a height, the lower part is housed inside the main body case 12 and the lower part is positioned above the lower surface 12a of the main body case 12 or flush with the lower surface 12a (see FIG. 7 (a)), as each driving wheel 15 protrudes downward on the floor surface F side with respect to the main body case 12, the lower side of each auxiliary driving wheel 21 is the lower side from the exposed opening 45 to the floor surface F side. It protrudes to the side (FIG. 7 (b)).

  Therefore, for example, control is performed via the distance measuring sensor 20 such as the object A whose height gradually increases in the traveling direction of the vacuum cleaner 11 (main body case 12) and whose width dimension is smaller than between the drive wheels 15 and 15. When the vehicle 23 is determined to be able to get over by the means 23 and the object A projecting toward the main body case 12 from the grounding portion P of the driving wheel 15 with respect to the floor surface F is positioned on the floor surface F, each driving wheel 15 is When the gripping force with respect to the floor surface F is lowered by projecting downward to the vicinity of the position of the biasing limit (protrusion limit) by the suspension device 61, each auxiliary drive wheel 21 is against the lower part (lower surface 12a) of the main body case 12. These auxiliary drive wheels 21 are surely brought into contact with the object A by being at a position that protrudes downward to the maximum. Then, the control means 23 drives each auxiliary motor 22 to rotate, thereby rotating each auxiliary drive wheel 21, and is caught on the object A by the rotation drive of each auxiliary drive wheel 21 in contact with the object A. Take off. Each auxiliary drive wheel 21 (each auxiliary motor 22) may be driven to rotate at all times during traveling, as in the case of each drive wheel 15. For example, the current value of each auxiliary motor 22 is detected using a current sensor or the like. Thus, when the contact of each auxiliary drive wheel 21 with the object A is detected, or when each auxiliary drive wheel 21 (each drive wheel 15) protrudes downward from the body case 12 by a predetermined amount or more, etc. It may be driven.

  In this way, the forward and backward movement of each drive wheel 15 and the advance and retreat of each auxiliary drive wheel 21 are interlocked by the suspension device 61, so that the amount of downward projection of each drive wheel 15 from the main body case 12 is relatively small. In the traveling state, each auxiliary driving wheel 21 does not come into contact with the floor surface F, the traveling performance of the vacuum cleaner 11 (main body case 12) is not deteriorated, and the object between the driving wheels 15, 15 is an object, for example. In a state where the amount of protrusion of each drive wheel 15 downward from the main body case 12 such as riding on A is relatively large, each auxiliary drive wheel 21 reliably contacts the object A, and this object A You can get out of the state.

  In addition, each suspension device 61 is generally incorporated in the autonomous traveling vacuum cleaner 11 in order to cause the driving wheel 15 to follow the floor surface F, and thus connects the driving wheel 15 and the auxiliary driving wheel 21. By simply adding the bracket 69, it is possible to easily form a configuration in which the auxiliary driving wheel 21 protrudes in conjunction with the driving wheel 15, thereby suppressing an increase in cost.

  In the third embodiment, each auxiliary drive wheel 21 is configured to project downward in conjunction with these drive wheels 15 by a suspension device 61 that biases each drive wheel 15 downward. When the idling detection means such as the current detection means 37 detects the idling of each driving wheel 15 using an interlocking projecting means such as an electric cylinder or a motor (screw motor), for example, the lower part integrally with each driving wheel 15 You may comprise so that it may protrude forcibly.

  In the second and third embodiments, the auxiliary drive wheel 21 is lower than the lower surface 12a of the main body case 12 to the extent that the lower part does not come into contact with the floor surface F during normal traveling, as in the first embodiment. It may protrude slightly downward.

  Furthermore, in each of the above-described embodiments, the auxiliary drive wheels 21 and 21 may be coupled to each other and may be rotationally driven integrally by one auxiliary motor 22, for example.

  Further, the rotation shaft 21a of the auxiliary drive wheel 21 does not necessarily have to be parallel to the rotation shaft 15a of the drive wheel 15.

According to at least one of the embodiments described above, rotatable auxiliary drive wheels 21 in the direction along the direction of rotation of the drive wheels 15 to the main body case 12, drives the auxiliary drive wheels 21 at the lower part of the main body case 12 The drive wheels 15 and 15 are arranged between the wheels 15 and 15 at a position distant from the lower portion of the drive wheels 15 in the direction opposite to the floor F and are rotated when they contact the object A. When the lower part of the main body case 12 rides on the object A, it is possible to escape, and for example, when the main body case 12 turns in a normal traveling state, each auxiliary drive wheel 21 is set to the floor surface F. It is possible to prevent a decrease in running performance without touching the vehicle and preventing the turning.

  Moreover, although the auxiliary drive wheel 21 is located in front of the suction port 25, it does not basically contact the floor surface F, so that dust on the floor surface F is not caught by these auxiliary drive wheels 21. (It is hard to get caught) and does not degrade the cleaning performance.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

11 Vacuum cleaner
12 Body case
15 Drive wheels
17 turning wheel
21 Auxiliary drive wheel
23 Control means having function of rotation control means
37 Current detection means as idling detection means
51 Actuator as protruding means
61 Suspension device as interlocking protrusion means A Object F Floor surface as surface to be cleaned P Grounding part

Claims (4)

A body case,
A pair of drive wheels that protrude from the lower part of the main body case to the surface to be cleaned and are rotatably provided, are arranged apart from each other in the axial direction, and that make the main body case travelable,
A turning wheel for turning, which is provided rotatably from the lower part of the main body case so as to protrude toward the surface to be cleaned, and is located in front of the driving wheel in the running direction;
The main body case is rotatably provided, and is disposed in a lower portion of the main body case in a position away from the lower portion of the drive wheel in the anti-cleaning surface direction, and at least a part thereof is located between the drive wheels , and It is located in the front of the driving wheel in the running direction and behind the turning wheel in the running direction, and is driven independently of the driving wheel. An electric vacuum cleaner comprising: an auxiliary drive wheel that rotates at least when it comes into contact with a protruding object . A slip detection means for detecting slipping of the drive wheel;
Vacuum cleaner according to claim 1 wherein characterized by comprising a rotation control means for rotating the auxiliary drive wheels to detect the idling of the drive wheel by the idling detection unit. A slip detection means for detecting slipping of the drive wheel;
The electric vacuum cleaner according to claim 1 or 2 , further comprising: a projecting means for projecting the auxiliary driving wheel toward the surface to be cleaned when the idling of the driving wheel is detected by the idling detection means. The vacuum cleaner according to any one of claims 1 to 3 , further comprising interlocking projecting means for projecting the auxiliary drive wheel relative to the main body case in conjunction with the drive wheel.

Images