JP6670544B2 - Self-propelled electronic equipment - Google Patents

Description

  The present invention relates to a self-propelled electronic device, and more particularly, to a self-propelled electronic device capable of traveling on a floor having a step.

  As self-propelled electronic devices, Patent Literatures 1 and 2 disclose a housing having a suction port on a lower surface, a pair of left and right driving wheels for supporting and running the housing, and a main rotatably provided at the suction port. 2. Description of the Related Art A self-propelled vacuum cleaner including a brush and a side brush (auxiliary brush) rotatably provided forward of a main brush on a lower surface of a housing has been proposed.

  Such a self-propelled vacuum cleaner cleans while traveling on the floor in a room. However, when there is a step on the floor, it is difficult to get on when the step is higher than a certain height. For example, there are steps in the room between the floor and the carpet laid on the floor, steps on the sill that separates the rooms, and steps on the flooring partially laid on the tatami mat. In the case where the self-propelled cleaner has low riding performance on a step, the self-propelled cleaner may avoid the step and may not perform cleaning of an indoor area over the step. Alternatively, in a self-propelled vacuum cleaner, when trying to get over a step, the front part of the housing may get over the step, and this may cause the drive wheels to float up from the floor surface and slip and become unable to move. .

  Therefore, the self-propelled cleaners of Patent Literatures 1 and 2 are configured such that the left and right driving wheels can move up and down and press each driving wheel against the floor surface by the elastic biasing force of a spring. Specifically, it includes a driving wheel, a holder for rotatably holding the driving wheel, a motor attached to the holder, and a torque transmitting mechanism provided in the holder so as to transmit the torque of the motor to the driving wheel. A pair of drive wheel units are provided at left and right positions on the lower surface of the housing.

  Also, in order to make the left and right driving wheel units vertically movable with respect to the housing and to be able to store a part of them inside the housing, the left and right driving wheels are located at the left and right positions on the lower surface of the housing of the self-propelled cleaner. An opening through which the wheel unit is inserted is formed. The upper end of each drive wheel unit is swingably pivotally connected to the inside of the housing via a rotation shaft, and is connected to a spring provided in the housing to elastically urge each drive wheel downward. Have been. As a result, the drive wheels are pressed against the floor surface even when the front part of the housing has climbed over the step, so that the self-propelled cleaner can maintain the propulsion and get over the step.

JP 2012-125652 A JP 2014-138899 A

  However, since a pair of left and right openings are formed on the lower surface of the housing to enable the left and right drive wheel units to be able to move up and down, dust on the floor surface enters the housing from each opening, and the self-propelled cleaner is not used. Dust may accumulate on a circuit board or the like to be controlled, leading to a failure. In addition, there is a concern that the inside of the housing may become unsanitary due to dust, mites, and the like that have entered the housing.

  The present invention has been made in view of the above circumstances, and provides a self-propelled electronic device capable of suppressing intrusion of dust, ticks, and the like into a housing.

Thus, according to the present invention, a housing that includes a bottom plate having a pair of left and right openings and accommodates electronic device components, and a left and right that is provided in the housing so as to be exposed from the opening and allows the housing to travel. A pair of drive wheel units, and a drive source provided in the housing to drive the drive wheel units,
A pair of support members provided near the pair of openings in the bottom plate so as to close the openings, and supporting the pair of drive wheel units so as to swing about a left-right axis; A pair of urging members that elastically urge each of the drive wheel units in a direction to project from the inside of the housing to the outside ,
A self-propelled electronic device is provided in which the pair of urging members are provided outside the pair of support members .

  According to another aspect of the present invention, the self-propelled electronic device is a self-propelled vacuum device having a cleaning function or a self-propelled electronic device having a ion generating function. Is provided.

In the self-propelled electronic device of the present invention, the support member is a member (for example, a cap-shaped member) provided near the pair of openings in the bottom plate so as to close the openings. It is supported so that it can swing about the axis in the left-right direction.
With this configuration, dust on the floor surface enters the housing from each opening, and dust accumulates and breaks down on electronic device components that control the self-propelled electronic device. The concern that the inside of the housing becomes unsanitary due to ticks or the like is resolved.

1 is a perspective view of a self-propelled electronic device according to a first embodiment of the present invention. FIG. 2 is a partial cross-sectional side view of the self-propelled electronic device shown in FIG. 1. FIG. 2 is a bottom view of the self-propelled electronic device shown in FIG. 1. FIG. 2 is a simplified bottom view showing the shape of a pair of left and right openings formed in a bottom plate of a housing of the self-propelled electronic device shown in FIG. 1. FIGS. 4A and 4B are explanatory diagrams illustrating a state in which the drive wheel unit in the self-propelled electronic device of the first embodiment swings up and down with respect to the housing. FIGS. 5A and 5B are other explanatory diagrams illustrating a state in which the drive wheel unit in the self-propelled electronic device according to the first embodiment swings up and down with respect to the housing; FIGS. It is the figure which looked at the drive wheel holder of the drive wheel unit in Embodiment 1 from the outer surface side. It is the figure which looked at the drive wheel holder of the drive wheel unit in Embodiment 1 from the inner surface side. It is the figure which looked at the drive wheel holder of the drive wheel unit in Embodiment 1 from the top. It is explanatory drawing which shows the internal structure of the drive wheel unit shown in FIG. FIG. 3 is an exploded view of a support member according to the first embodiment. It is the perspective view which looked at the inner surface side of the outer case which comprises the support member shown in FIG. 11 from the bottom. FIG. 12 is a diagram illustrating an inner surface side of an inner case constituting the support member illustrated in FIG. 11. (A) and (B) are explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of the second embodiment swings up and down with respect to the housing. (A) and (B) is another explanatory view showing a state in which the drive wheel unit in the self-propelled electronic device of the second embodiment swings vertically with respect to the housing. FIG. 10 is a partial cross-sectional plan view of a state in which a drive wheel unit according to a second embodiment is supported by a support member when viewed from above.

(Embodiment 1)
FIG. 1 is a perspective view of a self-propelled electronic device according to Embodiment 1 of the present invention, FIG. 2 is a partial cross-sectional side view of the self-propelled electronic device shown in FIG. 1, and FIG. FIG. 4 is a bottom view of the self-propelled electronic device shown in FIG. 4, and FIG. 4 is a simplified bottom view showing the shape of a pair of left and right openings formed in the bottom plate of the housing of the self-propelled electronic device shown in FIG.
In the first embodiment, the self-propelled electronic device 1 according to the present invention suctions air containing dust on the floor surface and exhausts air from which dust has been removed while self-propelled on the floor surface of the installed place. The case of a self-propelled vacuum cleaner which cleans the floor surface by doing is illustrated.

  The self-propelled electronic device 1 includes a disk-shaped housing 2, and a rotating brush 9, an auxiliary brush 10, a dust collection box (not shown), an electric blower (not shown), A pair of left and right drive wheel units 20 having a pair of left and right drive wheels 22L, 22R for moving the housing 2 straight in the front-rear direction and turning left and right, and support members 31, 32 for supporting the pair of drive wheels 22L, 22R, The wheel 26 includes a pair of urging members 41 that elastically urge the pair of driving wheel units in a direction of projecting downward from the bottom plate, the charging terminal 13, a plurality of floor surface detection sensors 18, electronic device parts, and the like. Components such as a battery as a drive source for driving the control unit, the drive wheel unit 20, the rotary brush 9, the auxiliary brush 10, the electric blower and the like are provided. The self-propelled electronic device 1 has features in the left and right drive wheel units 20 and the support structure thereof. These features will be described in detail after the entire configuration of the self-propelled electronic device 1 is described.

  In the self-propelled electronic device 1, a portion where the rear wheel 26 is disposed is a rear portion, a side opposite to the rear wheel 26 is a front portion, and a portion where the pair of left and right drive wheels 22L and 22R is disposed is an intermediate portion. When the vehicle is stopped and traveling on a horizontal plane, the housing 2 is supported by a pair of left and right driving wheels 22L and 22R and a rear wheel 26. Therefore, in this specification, the forward direction (forward) refers to the direction in which the self-propelled electronic device 1 moves forward, and the backward direction (rearward) refers to the direction in which the self-propelled electronic device 1 moves rearward. , The left-right direction refers to the left and right directions when the self-propelled electronic device 1 moves forward, and the up-down direction refers to the up-down direction when the housing 2 is supported on the floor by three wheels. Point.

The housing 2 has a circular bottom plate 2 a having a suction port 6 formed at a position near the boundary with the intermediate portion in the front part, and is opened and closed when a dust collection box (not shown) is inserted into and removed from the housing 2. A top plate 2b having a cover 3 at an intermediate portion, and an annular side plate 2c in plan view provided along the outer periphery of the bottom plate 2a and the top plate 2b. A pair of left and right openings 2a2 for accommodating a part of the left and right drive wheel units 20 in the housing ₂ are formed in the bottom plate 2a, and an exhaust port is formed in a rear portion of the side plate 2c. . The side plate 2c is divided into two parts in the front and rear, and the front part of the side plate functions as a bumper.

  Further, inside the housing 2, components such as a motor unit, an electric blower, an ion generator, a dust collection box, a control board, and a battery are provided, and three left and right driving wheels 22L and 22R and a rear wheel 26 are provided. The center of gravity of the housing 2 is located on the rear side so that the housing 2 can be supported. Further, inside the housing 2, a suction path is provided between the suction port 6 and the dust collection box, and an exhaust path is provided between the dust collection box and the exhaust port.

  The suction port 6 is an open surface of a concave portion formed on the bottom surface of the housing 2 (the lower surface of the bottom plate 2a) so as to face the floor surface. A rotating brush 9 that rotates about an axis in the left-right direction parallel to the bottom surface of the housing 2 is provided in the recess, and an axis perpendicular to the bottom surface of the housing 2 is provided on both left and right sides of the recess. An auxiliary brush 10 that rotates around the center is provided. The rotating brush 9 is formed by implanting a spiral spiral brush on the outer peripheral surface of a roller serving as a rotating shaft. The auxiliary brush 10 is formed by radially providing a brush bristle bundle at a lower end of a rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shafts of the pair of auxiliary brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2, and a power transmission including a motor unit, a pulley, a belt and the like provided in the vicinity thereof. They are independently connected via a mechanism.

  In the self-propelled electronic device 1, the left and right drive wheels 22L, 22R rotate forward by rotating forward in the same direction, rotate backward by rotating in the same direction, and rotate in the opposite directions. For example, when the self-propelled electronic device 1 reaches the periphery of the cleaning area and collides with an obstacle on the course, the drive wheels 22L and 22R stop, and the left and right drive wheels 22L and 22R are moved in opposite directions. Rotate to change direction. Thereby, the self-propelled electronic device 1 can self-propell while avoiding obstacles in the entire installation place or the entire desired range.

<Drive wheel unit and its mounting structure>
FIGS. 5A and 5B are explanatory diagrams illustrating a state in which the drive wheel unit in the self-propelled electronic device according to the first embodiment swings vertically with respect to the housing. FIGS. 6A and 6B are other explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of the first embodiment swings up and down with respect to the housing. FIG. 7 is a view of the drive wheel holder of the drive wheel unit according to the first embodiment as viewed from the outside, and FIG. 8 is a view of the drive wheel holder of the drive wheel unit according to the first embodiment as viewed from the inside. FIG. 9 is a top view of the drive wheel holder of the drive wheel unit according to the first embodiment, and FIG. 10 is an explanatory diagram showing the internal structure of the drive wheel unit shown in FIG. 5 to 10, the left drive wheel unit 20 and the support member 31 are shown, and the structure of the right drive wheel unit and the support member is symmetric with the structure of the left drive wheel unit 20 and the support member 31. It is the same except that it is. Hereinafter, the left drive wheel unit 20 and the support member 31 will be described.

Driving wheel unit 20 includes a drive wheel 22L, a drive wheel holder 21 for rotatably holding the drive wheels 22L about a first axis P ₁ in the horizontal direction, and a motor M which is mounted to the drive wheel holder 21, And a torque transmitting mechanism 23 for transmitting the torque of the M motor to the drive wheels 22L.

The drive wheel holder 21 includes an inner case portion 21a and an outer case portion 21b each having a boss portion that can be connected to a plurality of locations on the outer peripheral portion with screws, and a gear storage chamber that stores the rotational force transmission mechanism 23 therein. 21r. The drive wheel holder 21 has a cylindrical portion 21a ₁ which fitted into the motor M to the inside case portion 21a.

The cylindrical portion 21a ₁ is provided on one longitudinal end (front end) side of the inner casing portion 21a, a through hole 21a ₁₁ penetrating in the lateral direction is formed at the center position. And, this is the cylindrical portion 21a ₁ is fixed the motor M is fitted so as to insert the drive shaft m ₁ to the through hole 21a _11. Thus, the axis of the drive shaft m ₁ of the motor M coincides on the second axis P ₂ of the cylindrical portion 21a _1. Further, the upper portion of the outer peripheral surface of the cylindrical portion 21a _1, the protrusion 21a ₁₂ for hooking one end of the tension spring as the biasing member 41 is provided. Note that the first axis P ₁ and the second axis P ₂ are parallel.

The gear storage chamber 21r and the torque transmitting mechanism 23, which are formed by the inner case portion 21a and the outer case portion 21b, are configured as follows. That is, the gear accommodating chamber 21r includes a first chamber 21r ₁ for accommodating the first gear 23a fixed to the drive shaft m1 of the motor M which projects from the through hole through hole 21a ₁₁ of the cylindrical portion 21a _1, the first chamber 21r ₁ and the second chamber 21r ₂ adjacent, comprising a third chamber 21r ₃ adjacent to the second chamber 21r _2, and a fourth chamber 21r ₄ and the adjacent third chamber 21r _3. The first to fourth chamber 21r ₁ ~21r ₄ is a shape in which a circle adjacent to each other partially overlap, is gradually increased toward the first through fourth chamber 21r ₁ ~21r _4.

Outer case portion 21b is formed in a shape corresponding to the first to fourth chamber 21r ₁ ~21r _4. Furthermore, the position corresponding to the first chamber 21r ₁ on the outer surface of the outer casing portion 21b, a small diameter cylindrical portion 21b ₁ is provided than the cylindrical portion 21a _1. Incidentally, the magnitude of the cylindrical portion 21a _1, 21b ₁ are both disposed on the second axis P _2.

Rotational force transmitting mechanism 23 includes a second, third gear 23b _2, 23b ₃ rotatably mounted first fixing shaft 23b ₁ and thereto provided in the second chamber 21r _2, the third chamber 21r ₃ the second fixed shaft 23c ₁ and the fourth rotatably mounted thereto provided, a fifth gear 23c _2, 23c _3, rotates in the third fixed shaft 23d ₁ and this provided a fourth chamber 21r ₄ capable and a sixth gear 23d ₂ attached.

The first gear 23a and the second gear 23b ₂ and meshes, the third gear 23b ₂ and the fourth gear 23c ₂ meshes, the fifth gear 23c ₃ are a sixth gear 23d ₂ meshes. The second gear 23b ₂ greater than the first gear 23 and third gear 23b _3, and the fourth gear 23c ₂ larger than the third gear 23b ₃ and the fifth gear 23c _3, the sixth gear 23d ₂ second 5 greater than the gear 23c _3. Thus, it is transmitted in a state where the rotational force of the drive shaft m ₁ of the motor M is decelerated to the sixth gear 23d ₂ through the first to fifth gear 23a to 23c _3.

On the first axis P ₁ of the inner casing portion 21a and the other end of (rear end) side of the drive wheel holder 21 is formed with a through hole 21r _41, via the connecting shaft 22Lx passing through the through hole 21r ₄₁ a sixth gear 23d ₂ and the drive wheel 22L is integrally rotatably coupled. Thus, the rotational force from the sixth gear 23d ₂ is transmitted to the drive wheels 22L.

  FIG. 11 is an exploded view of the support member in the first embodiment, FIG. 12 is a perspective view of the inner surface side of the outer case constituting the support member shown in FIG. 11, viewed from below, and FIG. FIG. 4 is a diagram showing an inner surface side of an inner case constituting a supporting member to be formed.

Support member 31 is formed in a cap shape provided so as to seal the opening 2a ₂ near the periphery of the opening 2a ₂ of the bottom plate 2a of the housing 2, the lower end opening of the opening portion 2a ₂ Screw around the periphery without any gap. Accordingly, the space above the opening 2a ₂ is covered by the support member 31 of the shaped cap. The support member 31 has an inner cover portion 31a and an outer cover portion 31b that can be divided into right and left, and boss portions that can be connected by screws are provided at a plurality of locations on the outer peripheral portion. .

The inner cover portion 31a is circular frame portion 31a ₁ to one end (front end for inserting the cylindrical portion 21a ₁ of the outer case portion 21a from the inside to the outside of the driving wheel unit 20 when assembling the driving wheel unit 20 to the support member 31 ) Side. Also, the part of the edge of the circular hole 31a ₁₁ of the circular frame portion 31a _1, arcuate band plate portion 31a ₁₂ for reinforcement along a substantially rear half portion of the edge of the circular hole 31a ₁₁ is provided specifically Have been.

Further, the inner cover portion 31a, together with the engaging hole 31a ₂ at one end and the other end (rear end) side is provided at its outer surface, to the other end at the outer surface of the biasing member 41 is the protrusion 31a ₃ hooking the other end is provided (see FIG. 6).

The outer cover portion 31b, the circular hole portion 31b ₁ is one end (a front end for inserting the cylindrical portion 21b ₁ of the inner case portion 21b of the driving wheel unit 20 when assembling the driving wheel unit 20 to the support member 31 from the inside to the outside ) is formed in a side locking projections 31b ₂ is provided on the one end and the other (rear) side of its outer surface.

When assembling the supporting member 31 to fit inside the cover portion 31a and the outer cover portion 31b, for engaging the locking projection 31b ₂ of the front and rear of the front and rear locking hole 31a ₂ to the outer cover portion 31b of the inner cover portion 31a . At this time, the center of the circular hole portion 31b ₁ of the center and the outer cover portion 31b of the circular hole portion 31a ₁₁ of the circular frame portion 31a ₁ of the inner cover portion 31a is disposed on the same axis. Then, the support in member 31, and a circular hole portion 31b ₁ of the circular hole portion 31a ₁₁ and the outer cover portion 31b of the inner cover portion 31a, the cylindrical portion 21a ₁ of the driving wheel unit 20, 21b ₁ of the second axis P ₂ The shaft support portion rotatably supports around the center.

When assembling the driving wheel unit 20 to the support member 31, substantially without clearance through a circular hole 31a _11, 31b ₁ of the cylindrical portion 21a _1, 21b ₁ of the magnitude of the drive wheel unit 20 as described above is the magnitude of the support member 31 I do. Thus, the drive wheel unit 20 is swingably supported by the support member 31. At this time, since the motor M is fitted into the cylindrical portion 21a ₁ of the cylindrical portion 21a ₁ hardly passed through the circular hole portion 31a _11, the cylindrical portion of the motor M after passing the cylindrical portion 21a ₁ in the cylindrical portion 21a ₁ 21a may be fitted to the _1. Incidentally, by putting fitting the motor M in the cylindrical portion 21a _1, the axis of the drive shaft m ₁ of the motor M coincides with the axis of the cylindrical portion 21a _1, 21b ₁ of the drive wheel holder 21.

After assembling the supporting member 31 to the driving wheel unit 20 In this way, as shown in FIG. 6, hooking the ends of the biasing member 41 in the protruding portion 31a ₃ of the protrusion 21a ₁₂ and the support member 31 of the drive unit 20 . Thereafter, the support member 31 is fixed by screws to the position of the opening 2a ₁ in the bottom plate 2a of the housing 2, the lead wires m ₂ of the motor M electrically to a connection terminal provided in the housing 2 Connecting. Thereby, the drive wheel unit 20 is attached to the housing 2 via the support member 31, and the drive of the drive wheels 22L can be controlled to be stopped and driven. Since the lead wire m ₂ of the motor M is exposed inside the housing 2, it is not necessary to form a lead wire insertion hole in the support member 31.

By attaching the support member 31 to which the drive wheel unit 20 and the urging member 41 are assembled in this manner on the bottom plate 2a of the housing 2 and placing the housing 2 on the floor surface F, as shown in FIG. As shown in FIG. 6A, the housing 2 is supported by the drive wheel unit 20 via the support member 31. In this case, since according to the weight drive wheel unit 20 of the housing 2, the cylindrical portion 21a _1, the 21b ₁ driving wheel unit 20 as a rotation axis is swung about the second axis P ₂ driving wheels 22L Are mostly stored in the support member 31. At the same time, the protrusion 21a ₁₂ of the cylindrical portion 21a ₁ is moved in a direction to pull the biasing member 41 forward.

Backward from this state, as shown in FIG. 5 (B) and FIG. 6 (B), the the lifted relative to the housing 2 floor surface F, the protruding portion 21a ₁₂ of the cylindrical portion 21a ₁ is at the biasing member 41 because it is pulled, the state in which the drive wheel unit 20 and the cylindrical portion 21a _1, 21b ₁ as a rotation axis swing to drive wheels 22L about a second axis P ₂ protrudes to the outside of the support member 31 Becomes At this time, the drive wheel 22L is pressed against the floor surface F by both the own weight of the drive wheel unit 20 and the urging force of the urging member 41, so that the ability of the housing 2 to climb over the step is improved as compared with the case where only the own weight is used. . Note that the lead wire m ₂ protruding from the drive wheel unit 20 follows the movement of the drive wheel unit 20 by bending, and thus does not hinder the movement of the drive wheel unit 20.

According to the self-propelled electronic device 1 of Embodiment 1 thus constructed, since the inside of the housing 2 is sealed from the outside by the support member 31, the dust on the floor surface F is an opening 2a ₂ It does not pass through and enter the inside of the housing 2. As a result, dust on the floor surface F to penetrate through the opening 2a ₂ in the housing 2, a problem that dust on a circuit board for controlling the self-propelled electronic device 1 fails deposited, and the housing 2 The concern that the inside of the housing 2 becomes unsanitary due to dust, ticks, and the like that have entered the interior is eliminated.

Further, in the embodiment 1, and the axis drive shaft m ₁ of the motor M, and the axial center cylindrical portion 21a _1, 21b ₁ of the drive wheel holder 21, are disposed on the same second axis P ₂ Therefore, the following effects can be obtained. That is, when the drive wheel 22L is rotated by the motor M and the housing 2 is traveling on the floor F, the posture of the housing 2 is changed by the steps on the floor F as shown in FIGS. ) From the state shown in FIG. 5B and FIG. 6B, or the opposite state. Thus, even if the drive wheel unit 20 swings up and down and the position of the housing 2 fluctuates up and down, the position of the motor M does not fluctuate with respect to the housing 2 and is stable. The variation of the position of the center of gravity of No. 2 is kept to a minimum. As a result, stable control and running of the housing 2 can be realized.

(Embodiment 2)
14A and 14B are explanatory diagrams illustrating a state in which the drive wheel unit in the self-propelled electronic device according to the second embodiment swings up and down with respect to the housing. FIGS. 15A and 15B are other explanatory diagrams showing a state in which the drive wheel unit in the self-propelled electronic device according to the second embodiment swings vertically with respect to the housing. FIG. 16 is a partial cross-sectional plan view of a state in which the drive wheel unit according to the second embodiment is supported by the support member, as viewed from above. 14 to 16, the same components as those in FIGS. 1 to 13 are denoted by the same reference numerals.

In the first embodiment, a case has been exemplified where the center of swing of the driving wheel unit 20 composed of the axis and the axis of the drive shaft m ₁ of the motor M is disposed in the second upper axis P ₂ identical, Figure 14 as in the embodiment 2 shown in Figure 15, the axis of the drive shaft m ₁ of the axis and the motor M as the center of swing of the driving wheel units 120 may not coincide. In the second embodiment, the other configuration is almost the same as the first embodiment.

  14 to 16 show the left drive wheel unit 120 and the support member 131, and the structure of the right drive wheel unit and the support member is symmetrical to the structure of the left drive wheel unit 120 and the support member 131. Other than that is the same. Hereinafter, the left drive wheel unit 120 and the support member 131 will be described.

In the embodiment 2, the drive wheel unit 120 includes a drive wheel 22L, a drive wheel holder 121 for rotatably holding the drive wheels 22L about a first axis P ₁ in the lateral direction, attached to a drive wheel holder 121 Motor M, a rotational force transmitting mechanism (not shown) for transmitting the rotational force of the motor M to the drive wheels 22L, and a left-right pivot that attaches the drive wheel holder 121 to the support member 131 so as to be vertically swingable. And a shaft 123. The third axis P ₃ as the center of rotation of the pivot shaft 123 is the second axis P ₂ which is the center of rotation of the drive shaft m ₁ of the motor M and the first axis P which is the center of rotation of the drive wheel 22L. Parallel to ₁ .

Drive wheel holder 121 and the rotational force transmission mechanism in the second embodiment is the same as in the case of basically embodiment 1, the driving wheel holder 121 in the second embodiment of the cylindrical portion 121a ₁ which fitted into the motor M periphery swinging pieces 121a ₂ is provided to protrude obliquely downward toward the front in the plane.

Pivot shaft 123 penetrates the swinging piece 121a ₂ in the left-right direction, and pivotally attached to the side walls of the outer cover portion 131b of the inner cover portion 131a of the supporting member 131 at both ends thereof will be described later. At this time, the pivot shaft 123 is fixed so as not to rotate relative to the swinging piece 121a _2.

  Further, a rotating member 150 for indirectly connecting the driving wheel holder 121 and the supporting member 131 with a biasing member 141 is fixed to one end of the pivot shaft 123 penetrating through the inner cover portion 131a. . The rotating member 150 is formed, for example, in a cylindrical shape, and is provided with a projection 150a for hooking one end (front end) of the urging member 141 at an upper portion of an outer peripheral surface thereof.

Support member 131 is formed in a lower opening shaped cap-shaped formed so as to cover the upper space of the opening 2a _2, the shape of the lower opening edge is along the periphery of the opening 2a ₂ of the bottom plate 2a shape to be formed is no gap screwed around the vicinity of the opening portion 2a _2.

  The support member 131 has the inner cover portion 131a and the outer cover portion 131b which can be divided into right and left, and a boss portion (not shown) which can be connected to a plurality of portions of the outer peripheral portion with screws. Are provided respectively.

The inner cover portion 131a is on the rear end side of the rotating member 150 in its outer surface, the protrusion 131a ₁ for hooking the other end (rear end) of the biasing member 141 is provided. Further, in the side wall of the inner cover portion 131a, the insertion hole 131a ₂ for drawing out lead wires m ₂ of the motor M of the driving wheel units 121 assembled to the support member 131 to the outside is formed.
Other configurations in the second embodiment are the same as those in the first embodiment.

After assembling the drive wheel unit 120 to the support member 131, both ends of the urging member 141 are hooked on the protrusion 150 a of the rotating member 150 and the protrusion 131 a ₁ of the support member 131. Thereafter, the support member 131 is fixed by screws to the position of the opening 2a ₁ in the bottom plate 2a of the housing 2, the lead wires m ₂ of the motor M electrically to a connection terminal provided in the housing 2 Connecting. Thus, the drive wheel unit 120 is attached to the housing 2 via the support member 131, and can control the driving and stop of the drive wheel 22L.

By attaching the support member 131 in which the drive wheel unit 120 and the urging member 141 are assembled to the bottom plate 2a of the housing 2 and placing the housing 2 on the floor F as shown in FIG. As shown in FIG. 15A, the housing 2 is supported by the drive wheel unit 120 via the support member 131. At this time, since the weight of the housing 2 is applied to the driving wheel unit 120, a pivot shaft 123 driving wheel unit 120 as the pivot center is the majority of the third center axis P ₃ swings around the driving wheels 22L and It will be in the state accommodated in the support member 131. At the same time, the rotating member 150 rotates and the protrusion 150a moves in a direction to pull the urging member 141 forward.

From this state, as shown in FIGS. 14 (B) and 15 (B), when the housing 2 rises with respect to the floor F, the projection 150a of the rotating member 150 is moved rearward by the urging member 141. Since the drive wheel unit 120 is pulled, the drive wheel unit 120 swings about the third axis P ₃ around the pivot shaft 123, so that the drive wheel 22 </ b> L projects outside the support member 131. At this time, the drive wheel 22L is pressed against the floor surface F by both the own weight of the drive wheel unit 120 and the urging force of the urging member 141, so that the ability of the housing 2 to climb over the step is improved as compared with the case of only the own weight. . Note that the lead wire m ₂ between the drive wheel unit 120 and the support member 131 follows the movement of the drive wheel unit 120 by bending, so that the movement of the drive wheel unit 120 is not hindered.

In the case of self-propelled electronic device of the second embodiment thus configured, since the inside of the housing 2 is sealed from the outside by the support member 131, the dust on the floor surface F is passed through the opening 2a ₂ And does not enter the inside of the housing 2.

(Embodiment 3)
In the first and second embodiments, the second and third axes P ₂ , P _{3 that} are the centers of swing of the drive wheel units 20, 120 are larger than the first axis P ₁ that is the center of rotation of the drive wheel 22 L. was exemplified when placed in front, the first axis P ₁ is the second and third axis P _2, the drive wheel unit so as to be positioned further forward than P ₃ 20, 120 and the support member 31, 131 may be configured.

(Embodiment 4)
In the first to third embodiments, the case where the support members 31 and 131 and the drive wheel holders 20 and 120 are directly or indirectly connected by the urging members 41 and 141 is illustrated. The housing 2 and the drive wheel holders 20 and 120 may be connected directly or indirectly. In this case, a projection for hooking the other end (rear end) of the urging members 41, 141 is provided on the bottom plate 2a of the housing 2.

(Embodiment 5)
In the first to fourth embodiments, the self-propelled electronic device 1 is a self-propelled vacuum cleaner, but the self-propelled electronic device may be a self-propelled ion generator including an ion generator. .

(Summary)
A self-propelled electronic device according to the present invention includes a housing that includes a bottom plate having a pair of left and right openings and accommodates electronic device components, and is provided in the housing so as to be exposed from the opening and travels through the housing. A pair of left and right drive wheel units to be driven, and a drive source provided in the housing to drive the drive wheel unit;
A pair of support members provided near the pair of openings in the bottom plate so as to close the openings, and supporting the pair of drive wheel units so as to swing about a left-right axis; A pair of urging members that elastically urge each of the drive wheel units in a direction to project from the inside of the housing to the outside ,
The pair of urging members are provided outside the pair of support members .
The self-propelled cleaner of the present invention may be configured as follows.

(1) The drive wheel unit includes a drive wheel, a drive wheel holder that holds the drive wheel rotatably around a left-right axis, a motor attached to the drive wheel holder, and a rotational force of the motor. And a rotational force transmitting mechanism for transmitting to the drive wheels,
The drive wheel holder has a cylindrical portion into which the motor is fitted,
The support member may have a circular hole as a shaft support that rotatably supports the cylindrical portion around a left-right axis.

  With this configuration, the axis of the drive shaft of the motor and the axis of the cylindrical portion of the drive wheel holder are arranged on the same axis. With this configuration, when the housing is traveling on the floor, even if the position of the housing fluctuates up and down due to a step on the floor, the position of the motor does not fluctuate with respect to the housing and is stable. As a result, fluctuations in the position of the center of gravity of the housing are minimized. As a result, stable control and running of the housing can be realized. In addition, since the supporting member can be made compact, it is advantageous for making the self-propelled cleaner compact, and it is not necessary to form a hole through which the lead wire of the motor is inserted in the supporting member.

(2) The drive wheel unit includes a drive wheel, a drive wheel holder that rotatably holds the drive wheel around a left-right axis, a motor attached to the drive wheel holder, and rotation of the motor. It may have a rotational force transmitting mechanism for transmitting a force to the drive wheel, and a left-right pivot shaft that pivotally attaches the drive wheel holder to the support member so as to swing up and down.
By doing so, the structure of the support member can be simplified.

(3) The urging member may directly or indirectly connect the support member and the drive wheel holder.
With this configuration, the support member incorporating the drive wheel unit and the urging member can be unitized and quickly attached to the bottom plate of the housing, and the self-propelled cleaner can be efficiently assembled.

(4) The self-propelled electronic device may be a self-propelled vacuum cleaner having a cleaning function or a self-propelled ion generator having an ion generation function.
With this configuration, a self-propelled cleaner or a self-propelled cleaner in which dust does not enter the housing through the opening of the housing bottom plate that allows a part of the drive wheel unit to be housed in the housing. An ion generator is obtained.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 self-propelled electronic device 2 housing 2a the bottom plate 2a ₂ openings 20,120 driving wheel units 21, 121 driving wheel holder 21a _1, 21b _1, 121a ₁ cylinder 22L, 22R drive wheel 23 rotational force transmitting mechanism 31, 131 support member 41 biasing member 123 pivot shaft M motor m ₁ drive shaft m ₂ leads P ₁ the first axis P ₂ second axis P ₃ third axis

Claims (5)

A housing that includes a bottom plate having a pair of left and right openings and accommodates electronic device components, a pair of left and right drive wheel units that are provided in the housing so as to be exposed from the openings and run the housing, A drive source provided in the housing to drive the drive wheel unit, and a pair of drive wheel units provided in the bottom plate in the vicinity of the pair of openings to close the openings so that the pair of drive wheel units move in the horizontal direction. A pair of support members that swingably support the center, and a pair of urging members that elastically urge the pair of drive wheel units in a direction of projecting from the inside of the housing to the outside, respectively.
Self-propelled electronic device the pair of the biasing member, characterized in Oh Rukoto in which tension spring is provided along the outer surface of the pair of support members. The drive wheel unit includes a drive wheel, a drive wheel holder that holds the drive wheel rotatably about a left-right axis, a motor attached to the drive wheel holder, and a drive force of the motor. A torque transmitting mechanism for transmitting to the wheels,
The drive wheel holder has a cylindrical portion into which the motor is fitted,
2. The self-propelled electronic device according to claim 1, wherein the support member has a circular hole as a shaft support that rotatably supports the cylindrical portion about a left-right axis. 3.   The drive wheel unit includes a drive wheel, a drive wheel holder that holds the drive wheel rotatably about a left-right axis, a motor attached to the drive wheel holder, and a drive force of the motor. 2. The self-propelled electronic device according to claim 1, further comprising: a rotational force transmitting mechanism that transmits the driving force to a wheel; and a pivot that pivotally connects the driving wheel holder to the support member so as to swing about a left-right axis. 3. .   The self-propelled electronic device according to claim 2, wherein the urging member connects the support member and the drive wheel holder directly or indirectly.   The self-propelled electronic device according to any one of claims 1 to 4, wherein the self-propelled electronic device is a self-propelled vacuum cleaner having a cleaning function or a self-propelled ion generator having an ion generation function. machine.

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