JP6456583B2 - Electric vacuum cleaner - Google Patents

Description

  Embodiments of the present invention relate to a vacuum cleaner having a drive wheel that enables a cleaner body to travel on a surface to be cleaned and a swivel cleaning unit provided in the cleaner body.

  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. In such a vacuum cleaner, a suction port communicating with the dust collection unit is formed in a lower portion of the main body case of the vacuum cleaner body having a dust collection unit and the like, and a vacuum cleaner body is formed on a side portion of the suction port. The drive wheel which makes it run autonomously is attached. Therefore, the suction port cannot be spread on both sides corresponding to these drive wheels. Therefore, in order to clean the wall where the suction port does not reach, etc. as a swivel cleaning unit that scrapes dust to the suction port by swirling on the floor surface on both sides of the lower part of the main body case and in front of the drive wheel It is necessary to provide a side brush.

  In such a configuration, for example, when cleaning the floor near the wall, the distance between the main body case and the wall may vary due to sensor variations. Therefore, it is conceivable to efficiently scrape dust on the floor surface such as near the wall by forming the brush hair of the side brush long, but in such a case, the drive wheel may step on the brush hair. is there.

Japanese Patent No. 3724637

  The problem to be solved by the present invention is a vacuum cleaner capable of cleaning up to the surface to be cleaned in the vicinity of an obstacle without making the bristles unnecessarily long, and capable of suppressing a decrease in running performance of the main body of the cleaner. Is to provide.

The vacuum cleaner of the embodiment has a cleaner body. Moreover, this vacuum cleaner has a drive wheel which makes the left-right pair which makes a vacuum cleaner main body drive | work on a to-be-cleaned surface. Furthermore, this electric vacuum cleaner has a turning wheel for turning provided in front of the drive wheel on the lower surface facing the surface to be cleaned of the cleaner body. Moreover, this vacuum cleaner has the swivel cleaning part which makes the pair provided in the vacuum cleaner main body. The main body of the vacuum cleaner includes concave portions provided on the lower surface facing the surface to be cleaned and recessed in the upper side at positions on both sides in front of the driving wheel and behind the turning wheel. The swivel cleaning unit includes a cleaning unit main body that can be rotated by contact with an obstacle in both directions sandwiching the neutral position from a neutral position in which one end side protrudes outward from the outline of the vacuum cleaner main body. In addition, the swivel cleaning unit includes a swivel unit that is movably disposed in the recess on one end side of the cleaning unit main body and is provided to be rotatable substantially parallel to the surface to be cleaned. Further, the swivel cleaning unit includes brush hairs that are provided in the swivel unit, can rotate integrally with the swivel unit, protrude from the cleaning unit main body, and can come into contact with the surface to be cleaned. The cleaning unit main body is provided so as not to protrude outward with respect to the outer shell of the cleaner main body at positions on both sides of the neutral position, and is biased toward the neutral position.

It is a top view which shows operation | movement of the vacuum cleaner of 1st Embodiment from the bottom, (a) shows the state which is cleaning the obstacle vicinity, (b) is a cleaner body turning in the obstacle vicinity. The cleaning unit body is retracted. It is a perspective sectional view which shows the vicinity of the rotation cleaning part of a vacuum cleaner same as the above from the inside of a cleaner main body. It is a top view which shows a vacuum cleaner same as the above from the downward direction. It is a side view which shows a vacuum cleaner same as the above. It is a block diagram which shows the internal structure of a vacuum cleaner same as the above. It is a perspective view which shows a vacuum cleaner same as the above. It is a top view which shows operation of the vacuum cleaner of one related technology from the lower part, (a) shows the state where the neighborhood of an obstacle is being cleaned, and (b) is the cleaner body swivels near the obstacle, and is cleaned This shows a state in which the main body is retracted. It is a perspective sectional view which shows the vicinity of the rotation cleaning part of a vacuum cleaner same as the above from the inside of a cleaner main body. It is a top view which shows operation | movement of the vacuum cleaner of 2nd Embodiment from the lower part, (a) shows the state which the cleaner main body turns in the obstacle vicinity, and the cleaning part main body rotates and retracts , (B) shows a state where the cleaner body is swiveled in the vicinity of the obstacle and the cleaning unit body is retracted linearly. It is a perspective sectional view which shows the vicinity of the rotation cleaning part of a vacuum cleaner same as the above from the inside of a cleaner main body.

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

  In FIG. 1 thru | or 6, 11 shows a vacuum cleaner, and this vacuum cleaner 11 is autonomous running (self-propelled) on the floor surface F as a surface to be cleaned as this vacuum cleaner 11 in this embodiment. A description will be given below by taking as an example a so-called self-propelled robot cleaner that cleans the floor surface F.

  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 drive wheels 15 as a drive unit, a motor 16 as a drive means for driving these drive wheels 15, a turning wheel 17 for turning, and a lower part of the main body case 12 so as to be turnable on the floor F For example, a pair of side brushes 18 as a swivel cleaning unit, a turning motor 19 as a turning driving means for driving each of the side brushes 18, a distance measuring sensor 20 as a plurality of distance detecting means, and a circuit board The control means 22 is provided, and a secondary battery 23 that is a battery constituting the power supply unit. Hereinafter, the direction along the traveling direction of the vacuum cleaner 11 (main body case 12) is defined as the front-rear direction (arrows FR and RR shown in FIG. 6 and the like), and the left-right direction intersecting (orthogonal) with the front-rear direction. (Both sides direction) is described as the width direction.

  The main body case 12 is formed in a flat columnar shape (disk shape), for example, with synthetic resin, etc., for example, a flat bottomed cylindrical lower case 12a and a flat fitting that fits over the lower case 12a The upper case 12b has a cylindrical shape with a lid, and has a circular shape in plan view. A suction port 24 as a dust collection port communicating with the dust collection unit 14 is formed in the lower case 12a so as to face the floor surface F. Although not shown, various operation panels, a display unit, and the like are arranged on the upper part of the upper case 12b. And the main body case 12, the electric blower 13 housed in the main body case 12, each motor 16, each turning motor 19, the distance measuring sensor 20, the control means 22, the secondary battery 23, and the dust collecting section 14 The vacuum cleaner body 26 that is driven on the floor surface F by the drive wheels 15 is constituted by the side brush 18 and the like. Therefore, the cleaner body 26 is also circular in plan view (viewed from above or below).

  The suction port 24 is formed in a longitudinal shape in the left-right direction, that is, in a horizontally long shape, and is opened at a position behind the center portion of the lower case 12a of the main body case 12 and in the center portion in the left-right direction. In addition, a rotary brush 28 as a rotary cleaning body is rotatably disposed in the suction port 24.

  The rotary brush 28 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 28 has a lower side protruding from the suction port 24 to the lower side of the lower case 12a of the main body case 12, and a cleaning body portion positioned on the lower side with the vacuum cleaner 11 placed on the floor F It is comprised so that the front-end | tip may contact the floor surface F. FIG. The rotary brush 28 is rotationally driven by a drive motor 29 as a rotary cleaning body driving means.

  The drive motor 29 is housed inside the main body case 12 (the vacuum cleaner main body 26), and is connected to the rotating brush 28 via a gear mechanism (not shown) as a mechanism portion.

  The dust collecting unit 14 collects dust sucked from the suction port 24 by driving the electric blower 13. For example, the dust collecting unit 14 filters and collects dust with a dust collection bag such as a paper pack or a filter, or centrifugal separation. Any configuration can be used, such as a configuration in which dust is separated and collected by inertial separation such as (cyclonic separation) or linear separation. Further, the dust collecting portion 14 is located, for example, at the rear portion of the main body case 12 and is detachable from the main body case 12.

  Each drive wheel 15 travels the autonomous vacuum cleaner 11 (the vacuum cleaner body 26) on the floor surface F (autonomous traveling), that is, for traveling, and has a rotating shaft (not shown) along the left-right width direction. It is formed in a shape. In addition, these drive wheels 15 are disposed in the width direction on both sides of the suction port 24 at positions near the center in the front-rear direction of the lower part of the main body case 12 (the vacuum cleaner body 26). The position is symmetrical to the direction.

  Each motor 16 is disposed, for example, corresponding to each drive wheel 15, and can drive each drive wheel 15 independently. These motors 16 may be directly connected to the respective drive wheels 15, or may be connected to the respective drive wheels 15 via transmission means (not shown) such as gears or belts.

  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 cleaning unit main body 31 and brush hairs 32 as a plurality of cleaning bodies that project radially from the cleaning unit main body 31 in a radial direction and come into contact with the floor surface F. . The side brushes 18 and 18 are recessed portions 33 provided at positions on both sides of the lower case 12a of the main body case 12 (the vacuum cleaner main body 26) in front of the drive wheels 15 and 15 and behind the swivel wheel 17, respectively. 33 is movably arranged. Each recess 33 is formed along the circumferential direction of the main body case 12 (the vacuum cleaner main body 26), and communicates with the inside of the main body case 12 (the vacuum cleaner main body 26) via the communication opening 34.

  The cleaning unit main body 31 is formed in an oval shape (elliptical shape) in a plan view, and a cylindrical rotation shaft 41 protrudes downward from the base end side which is one end side thereof, and the other end side. A circular opening 42 opened downward is provided on the tip side, and a flat columnar turning part 43 is fitted in the opening 42 so as to be rotatable (turnable). In addition, a transmission member such as a gear for transmitting the driving force of the turning motor 19 to the turning portion 43 is accommodated inside the cleaning portion main body 31 (not shown). Further, a spring receiving portion 45 as a connecting portion protrudes from one end portion (base end portion) of the cleaning portion main body 31, and the spring receiving portion 45 has a coil spring 46 as an urging means. One end side is held. The other end portion (tip portion) of the cleaning portion main body 31 protrudes from the outline of the main body case 12 (the cleaner main body 26) in plan view, and is in contact with an obstacle W such as a wall portion. Due to (collision), it rotates around the rotation shaft 41 against the bias of the coil spring 46 and escapes into the recess 33, and than the outline of the main body case 12 (vacuum cleaner body 26) in plan view It does not protrude. Hereinafter, unless otherwise specified, the outline of the main body case 12 or the cleaner body 26 refers to an outline in a plan view, that is, an outline (outline) viewed from above or below.

  The rotation shaft 41 is pivotally supported by a bearing portion 51 which is a cylindrical boss provided on the lower case 12a of the main body case 12 (the vacuum cleaner main body 26). Therefore, the cleaning unit main body 31 (side brush 18) is rotatable about the rotation shaft 41 in the circumferential direction of the rotation shaft 41.

  An annular rib portion 53 is provided at the periphery of the opening portion 42 so as to protrude from the lower portion of the cleaning portion main body 31 so as to surround the entire opening portion 42. The tip (lower end) of the rib portion 53 is substantially flush with the lower surface of the lower case 12a of the main body case 12.

  The turning portion 43 faces the floor surface F and can rotate substantially parallel to the floor surface F. That is, the turning unit 43 has a rotation axis along the vertical direction. The base end side of the bristle 32 is planted on the outer periphery of the swivel unit 43. Further, the lower portion of the turning portion 43 is substantially flush with the tip (lower end) of the rib portion 53.

  The spring receiving portion 45 is formed, for example, in a bottomed cylindrical shape, and protrudes substantially horizontally from the outer periphery on one end side of the cleaning portion main body 31 along the radial direction on the one end side.

  Each coil spring 46 urges each cleaning portion main body 31 in a direction in which the tip end portion protrudes from the outer case of the main body case 12 (the vacuum cleaner main body 26), and one end side is held by the spring receiving portion 45. The other end is held by a spring holding portion 55 as a holding portion provided on the lower case 12a of the main body case 12 (the vacuum cleaner main body 26). Each coil spring 46 is configured to urge each cleaning unit main body 31 by generating a load by being expanded or compressed in a state where each cleaning unit main body 31 rotates around the rotation shaft 41, for example. It has become.

  Each bristle 32 is formed in a linear shape by a member such as a synthetic resin having elasticity (flexibility), for example, and plural (for example, four) are arranged for each swivel unit 43. They are spaced from each other at substantially equal intervals (equal angles) in the circumferential direction. That is, the brush bristles 32 are arranged radially from the outer periphery of the turning part 43 along the radial direction for each turning part 43. Further, the brush bristles 32 protrude from the cleaning unit main body 31 from the base end side to the tip end side and downward from the swivel unit 43, and the tip end side contacts the floor surface F along the floor surface F. It is deformed to rotate integrally with the turning portion 43 by the rotation (turning) of the turning portion 43 so as to scrape off dust on the floor surface F.

  Each turning motor 19 has a rotating shaft (not shown) projecting downward is connected to a transmission member in each cleaning unit main body 31, and each side brush 18 is moved to the center side in the width direction of the main body case 12. Then, the right side brush 18 can be rotated to the left side, the left side brush 18 can be rotated to the right side, that is, each side brush 18 can collect dust to the suction port 24 side. Further, these turning motors 19 are positioned so as to be rotatable about the rotation shaft 41 with respect to the main body case 12 (the vacuum cleaner main body 26) integrally with each side brush 18. Therefore, the relative position between the rotation shaft of each turning motor 19 and the transmission member of each side brush 18 is set so as not to change due to the rotation of the side brush 18 around the rotation shaft 41.

  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 or both sides of the outer periphery of the main body case 12, for example. The presence / absence of obstacles (walls) and side obstacles (walls) and the distance between them and the main body case 12 can be detected.

  The control means 22 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 a drive motor 29 and the like, and the drive of the electric blower 13 and each motor 16 can be controlled based on the detection result of the distance measuring sensor 20.

  The secondary battery 23 supplies power to the control means 22, the electric blower 13, each motor 16, each turning motor 19, the distance measuring sensor 20, the drive motor 29, and the like. The secondary battery 23 is electrically connected to the charging terminal 57 located on the lower surface of the lower case 12a of the main body case 12 on both sides of the swivel wheel 17, and is installed at a predetermined position in a room (room), for example. Charging is possible by connecting the charging terminal 57 to a predetermined charging stand (not shown).

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

  For example, when the predetermined time preset in the control means 22 is reached, the electric vacuum cleaner 11 drives the electric blower 13 and starts cleaning from the charging stand, for example. 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 this electric vacuum cleaner 11, the control means 22 rotates the motors 16, 16 and autonomously travels on the floor surface F by the drive wheels 15, 15. At this time, the control means 22 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, for example, via 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.

  The vacuum cleaner 11 sucks the dust on the floor surface F together with the air through the suction port 24 through which the negative pressure generated by driving the electric blower 13 acts via the dust collecting portion 14. At this time, the control means 22 rotates each side brush 18 via each turning motor 19 or drives the rotating brush 28 via a drive motor 29 as necessary.

  Here, in the normal cleaning state, each side brush 18 protrudes outward from the outer case of the main body case 12 (the vacuum cleaner main body 26) in the cleaning unit main body 31. Each brush bristle 32 protruding from the turning part 43 provided rotatably at the tip part extends to the floor surface F in the vicinity of the obstacle W such as a wall, and the turning part 43 is turned by the turning motor 19. Then, the dust on the floor surface F in the vicinity of the obstacle W is scraped off (FIG. 1 (a)).

  Further, when the distance measuring sensor 20 detects that the obstacle W is located in front of the electric vacuum cleaner 11 (the vacuum cleaner body 26) such as a corner of the room, the control means 22 is The drive wheel 15 is driven in the forward direction, and the other motor wheel 16 is driven in the reverse direction by the other motor 16, so that the vacuum cleaner 11 (the vacuum cleaner body 26) turns at that position (super Change direction (forward direction) by turning. At this time, if the cleaner main body 26 is approaching the obstacle W, the tip of the cleaning portion main body 31 of the side brush 18 that protrudes outward from the outline of the cleaner main body 26 contacts (impacts) the obstacle. To do. For this reason, the cleaning unit main body 31 retreats to the inside of the recess 33 around the rotation shaft 41, that is, in a direction in which the tip of the cleaning unit main body 31 does not protrude outward from the outline of the cleaner main body 26. Thus, by rotating in the opposite direction to the rotation direction of the cleaner main body 26, the cleaning unit main body 31 is not caught by the obstacle W and prevents the cleaner main body 26 from turning (FIG. 1 (b). )). When the tip of the cleaning unit main body 31 is separated from the obstacle W, the cleaning unit main body 31 is returned to the neutral position by the urging of the coil spring 46, and the outer surface of the cleaner main body 26 is again turned. The tip protrudes outward. The brush hairs 32 bend in the direction opposite to the turning direction of the cleaner body 26 by contact with the obstacle W. However, since the brush hairs 32 have elasticity, the contact with the obstacle W is released. To return to the original state.

  Then, the dust sucked together with the air from the suction port 24 is separated and collected by the dust collecting unit 14, and the air from which the dust is separated is sucked into the electric blower 13 and cooled after the electric blower 13 is cooled. The exhaust air is exhausted from an exhaust port (not shown) provided in the main body case 12 to the outside.

  When it is determined that the cleaning of the cleaning area has been completed, the control means 22 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 57 ( The motors 16 and 16 are stopped by connecting them (physically and electrically), the operation is terminated, and the secondary battery 23 is charged.

  As described above, according to the first embodiment, the cleaning part main body 31 of the side brush 18 that protrudes outward from the outline of the cleaner main body 26 is brought into contact with the obstacle W. Since it rotates in a direction that does not protrude from the outer casing of the cleaner body 26, especially when the cleaner body 26 changes its running direction due to turning, etc., the cleaning unit body 31 rotates and escapes in a direction opposite to this turning direction. Therefore, the obstacle W is not caught by the obstacle W, and the deterioration of the traveling performance of the cleaner body 26 by the side brush 18 can be reliably suppressed.

  In the first embodiment, instead of the coil spring 46, for example, a torsion spring that urges the rotation shaft 41 in the rotation direction may be used as the urging means.

Next, one related technique 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.

This one related technique is that, in the first embodiment, the cleaning unit body 31 of each side brush 18 cleans each side brush 18 of the cleaner body 26 with respect to the body case 12 (the cleaner body 26). In the direction intersecting the tangential direction at the position of the distal end portion of the main part 31, in this related technology, it is provided so as to be able to move (back and forth) linearly along the normal direction.

  That is, the cleaning unit main body 31 of each side brush 18 includes a slide shaft 61 at the lower end on one end side (base end side) instead of the rotation shaft 41 of the first embodiment. The shaft 61 is fitted into a guide groove 62 provided linearly on the lower case 12a of the main body case 12 (vacuum cleaner body 26) so that the cleaning portion main body 31 (side brush 18) is along the guide groove 62. Is movable.

  The sliding shaft 61 has a distal end portion 61a which is a lower end portion formed wider than the proximal end side.

  The guide groove 62 is formed in a straight line along the radial direction of the main body case 12 (the vacuum cleaner main body 26), and the plan view of the main body case 12 (the vacuum cleaner main body 26) from the communication opening 34 (recess 33) side. And radially extending along the radial direction of the lower case 12a. The guide groove 62 includes a pair of partition wall portions 63 and 63 projecting in parallel from above the upper part of the lower case 12a of the main body case 12 (the vacuum cleaner body 26), and the partition wall portions 63 and 63. It is formed between projecting portions 64 and 64 projecting in a direction approaching each other in the horizontal direction from the front end portion. That is, the sliding shaft 61 is configured such that the width dimension of the front end portion 61a is set smaller than the distance between the partition wall portions 63 and 63 and larger than the distance between the projecting portions 64 and 64. It fits between the parts 63 and 63 and is prevented from coming out upward by the protruding parts 64 and 64. The guide groove 62 is open at one end opposite to the communication opening 34, and the tip 61a of the slide shaft 61 can be slid into the guide groove 62 from this one end. It is.

  Each side brush 18 has a front end of the cleaning unit main body 31 that protrudes outward from the outline of the main body case 12 (the vacuum cleaner main body 26) in a normal cleaning state. Each bristle 32 projecting from the swivel part 43 provided rotatably at the part extends to the floor surface F near the obstacle W such as a wall, and the swivel motor 43 is swung by the swivel motor 19. The dust on the floor surface F in the vicinity of the obstacle W is scraped off (FIG. 7 (a)).

  Further, when the distance measuring sensor 20 detects that the obstacle W is located in front of the electric vacuum cleaner 11 (the vacuum cleaner body 26) such as a corner of the room, the control means 22 is The drive wheel 15 is driven in the forward direction, and the other motor wheel 16 is driven in the reverse direction by the other motor 16, so that the vacuum cleaner 11 (the vacuum cleaner body 26) turns at that position (super Change direction (forward direction) by turning. At this time, if the cleaner main body 26 is approaching the obstacle W, the tip of the cleaning portion main body 31 of the side brush 18 that protrudes outward from the outline of the cleaner main body 26 contacts (impacts) the obstacle. To do. Therefore, the cleaning unit main body 31 is moved along the guide groove 62 along the guide shaft 62 by the slide shaft 61 from the recess 33 to the inside of the main body case 12 (the vacuum cleaner main body 26), and the normal direction of the main body case 12 (the vacuum cleaner main body 26). The cleaning unit main body 31 is caught on the obstacle W by moving so that the tip of the cleaning unit main body 31 is retracted in a direction that does not protrude outwardly from the outline of the cleaner main body 26. The turning of the vacuum cleaner body 26 is not hindered (FIG. 7B). And if the front-end | tip part of the cleaning part main body 31 is separated with respect to the obstruction W, the cleaning part main body 31 will move so that it may return along a normal line direction by the urging | biasing of the coil spring 46, and a cleaner body again The tip projects beyond the outer shell of 26.

As described above, according to one related technique , the cleaning unit body 31 of the side brush 18 partially protruding outward from the outline of the cleaner body 26 is brought into contact with the obstacle W so that the cleaner body 26 Since it moves linearly in a direction intersecting (orthogonal) with respect to the tangential direction of the outer shell of the cleaner body 26 in a direction that does not protrude from the outer shell, the side brush 18 does not get caught on the obstacle W, It is possible to reliably suppress a decrease in traveling performance of the cleaner body 26 due to the side brush 18.

Next, a second embodiment will be described with reference to FIGS. The above for the first embodiment and one related art the same configuration and operation thereof is omitted will be denoted by the same reference numerals.

The second embodiment is a combination of the first embodiment and one related technique . That is, in the second embodiment, the cleaning unit main body 31 of each side brush 18 is rotatable with respect to the main body case 12 (the vacuum cleaner main body 26) and the main body case 12 (the vacuum cleaner main body 26) is cleaned. It is movable in a direction intersecting (orthogonal) with respect to the tangential direction at the position of the body part 31.

  The cleaning portion main body 31 of each side brush 18 includes a shaft portion 68 at the lower end on one end side (base end side) instead of the rotating shaft 41 and the sliding shaft 61, and the shaft portion 68 is a guide groove portion 62. The cleaning portion main body 31 (side brush 18) can be rotated in the guide groove portion 62 and the cleaning portion main body 31 (side brush 18) can be moved along the guide groove portion 62. ing.

  The shaft portion 68 is integrally provided with a base end portion 68a formed in a columnar shape and a tip end portion 68b that is a lower end portion formed larger in diameter than the base end portion 68a. The proximal end portion 68a is positioned between the projecting portions 64 and 64, and the distal end portion 68b is fitted in the guide groove portion 62 between the partition wall portions 63 and 63, so that it can be rotated in the guide groove portion 62. In addition, it is movable along the guide groove 62.

  Each side brush 18 has a front end of the cleaning unit main body 31 that protrudes outward from the outline of the main body case 12 (the vacuum cleaner main body 26) in a normal cleaning state. Each bristle 32 projecting from the swivel part 43 provided rotatably at the part extends to the floor surface F near the obstacle W such as a wall, and the swivel motor 43 is swung by the swivel motor 19. The dust on the floor surface F in the vicinity of the obstacle W is scraped off.

  Further, when the distance measuring sensor 20 detects that the obstacle W is located in front of the electric vacuum cleaner 11 (the vacuum cleaner body 26) such as a corner of the room, the control means 22 is The drive wheel 15 is driven in the forward direction, and the other motor wheel 16 is driven in the reverse direction by the other motor 16, so that the vacuum cleaner 11 (the vacuum cleaner body 26) turns at that position (super Change direction (forward direction) by turning. At this time, if the cleaner main body 26 is approaching the obstacle W, the tip of the cleaning portion main body 31 of the side brush 18 that protrudes outward from the outline of the cleaner main body 26 contacts (impacts) the obstacle. To do. For this reason, the cleaning unit main body 31 is retreated to the inside of the recess 33 with the shaft portion 68 as the center, that is, in a direction in which the tip of the cleaning unit main body 31 does not protrude outward from the outline of the cleaner main body 26. The cleaning unit body 31 is rotated in the opposite direction to the rotation direction of the cleaner body 26 (FIG. 9A), or the cleaning unit body 31 is moved from the recess 33 along the guide groove 62 by the shaft portion 68 ( The tip of the cleaning unit body 31 does not protrude outwardly from the outline of the vacuum cleaner body 26 along the normal direction of the main body case 12 (the vacuum cleaner body 26) into the vacuum cleaner body 26). By moving so as to retreat in the direction (FIG. 9B), the cleaning unit main body 31 is not caught by the obstacle W to prevent the cleaner main body 26 from turning. And if the front-end | tip part of the cleaning part main body 31 is separated with respect to the obstruction W, the cleaning part main body 31 will return to a neutral position or return along a normal direction by the urging | biasing of the coil spring 46. The tip portion protrudes outward from the outer shell of the cleaner body 26 again.

  In FIG. 9, the rotation and the linear movement of the cleaning unit main body 31 (side brush 18) are separately shown. However, these are independent operations, and thus an operation combining these operations is performed. Is possible.

As described above, according to the second embodiment, the cleaning unit main body 31 of the side brush 18 partially protruding outward from the outer shell of the cleaner main body 26 is brought into contact with the obstacle W so that the cleaner Rotate in a direction that does not protrude from the outer shell of the main body 26, or move linearly in a direction intersecting (orthogonal) to the tangential direction of the outer shell of the cleaner main body 26, so the cleaner main body 26 travels by turning etc. Even when the direction is changed, the side brush 18 rotates or moves in a straight line so that it can escape more effectively and is not caught by the obstacle W. It is possible to more reliably suppress a decrease in running performance.

  In each of the above embodiments, the side brush 18 may be disposed only on one side in front of the suction port 24 of the main body case 12.

  Alternatively, the electric blower 13 may not be provided, and the rotating brush 28 may be used to collect dust on the floor surface F and collect the dust onto the dust collecting unit 14.

  Further, the rotary brush 28 and the drive motor 29 may not be provided, and the dust may be sucked from the suction port 24 by the suction force of the electric blower 13.

  And according to at least one embodiment described above, a part of the cleaning unit main body 31 of the side brush 18 protrudes outward from the outline of the cleaner main body 26, and thus protrudes from the cleaning unit main body 31. The brush bristles 32 can be cleaned up to the floor surface F near the obstacle W without making the bristles 32 longer than necessary, and the bristles 32 do not enter the lower part of the drive wheels 15 so that the drive wheels 15 It does not interfere with the turning of the side brush 18 by stepping on 32 by mistake. Moreover, since the cleaning unit body 31 moves in a direction that does not protrude from the outline of the cleaner body 26 due to contact with the obstacle W, for example, the cleaning unit body 31 is cleaned when the traveling direction is changed by turning or the like. The part main body 31 is not caught by the obstacle W, and the running performance of the cleaner main body 26 due to the side brush 18 can be suppressed.

  Further, by providing the cleaning unit body 31 with the swivel unit 43 provided with the bristles 32 so as to be rotatable substantially parallel to the floor surface F, the cleaning unit body 31 comes into contact with the obstacle W and Even when it is rotated or moved in a direction that does not protrude from the outer shell, the dust on the floor surface F can be scraped off by the bristles 32 rotated by the turning portion 43, and the floor surface F in the vicinity of the obstacle W can be removed. Can be surely cleaned.

  Further, the swivel unit 43 is fitted into the opening 42 opened downward toward the distal end side of the cleaning unit body 31 and is not exposed to the outer edge of the cleaning unit body 31, so that the cleaning unit body 31 contacts the obstacle W In this case, the turning part 43 does not contact the obstacle W. For this reason, the turning unit 43 is reliably protected, and the rotating turning unit 43 does not come into contact with the obstacle W and acts as a brake to reduce the traveling performance of the cleaner body 26.

  The cleaning unit main body 31 is a position that does not completely protrude with respect to the outer casing of the cleaner main body 26 if the cleaning section main body 31 rotates or moves in a direction that does not protrude from the outer casing of the cleaner main body 26 due to contact with the obstacle W. It is not necessary to rotate or move up to. That is, the cleaning unit main body 31 may partially protrude from the outer shell in a state where the cleaning unit main body 31 is rotated or moved in a direction not protruding from the outer shell of the cleaner main body 26 by contact with the obstacle W.

  Further, the brush bristles 32 may protrude from the outer casing of the cleaner main body 26 in a state where the cleaning section main body 31 is rotated or moved in a direction not protruding from the outer casing of the cleaner main body 26 due to contact with the obstacle W. Good.

  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
15 Drive wheels
17 turning wheel
18 Side brush as swivel cleaning section
26 Vacuum cleaner body
31 Cleaning unit body
32 brush hair
33 recess
43 Swiveling part F Floor surface to be cleaned W Obstacle

Claims (2)

The vacuum cleaner body,
A pair of left and right drive wheels that allow the cleaner body to run on the surface to be cleaned;
A turning wheel for turning provided in front of the drive wheel on the lower surface facing the surface to be cleaned of the cleaner body;
A swivel cleaning unit that forms a pair provided in the vacuum cleaner body,
The vacuum cleaner main body includes a recess provided on the lower surface facing the surface to be cleaned, recessed in the upper side at positions on both sides in front of the drive wheel and behind the swivel wheel,
The swivel cleaning unit is
A cleaning unit main body that is rotatable by contact with an obstacle in both directions sandwiching the neutral position from a neutral position in which one end side protrudes outward from the outline of the vacuum cleaner main body,
A swivel unit that is movably disposed in the recess on one end side of the cleaning unit main body, and is provided to be rotatable substantially parallel to the surface to be cleaned.
Provided in the swivel unit, and rotatable with the swivel unit integrally, and comprises brush hairs protruding from the cleaning unit main body and capable of contacting the surface to be cleaned;
The cleaning unit body is provided so as not to protrude outward with respect to the outline of the cleaner body at both sides of the neutral position, and is biased toward the neutral position. Electric vacuum cleaner. The vacuum cleaner body is formed in a circular shape in plan view,
The cleaning unit body of the swivel cleaning unit has both ends within the recesses from the neutral position where one end protrudes outward from the outer shell of the cleaner body to the direction where it does not protrude from the outer shell of the cleaner body due to contact with an obstacle. The electric vacuum cleaner according to claim 1, wherein the electric vacuum cleaner is capable of rotating in a direction and linearly movable in a direction intersecting with a tangential direction of an outline of the vacuum cleaner body.

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