WO2016111168A1

WO2016111168A1 - Self-propelled electronic device

Info

Publication number: WO2016111168A1
Application number: PCT/JP2015/085841
Authority: WO
Inventors: 隼人佐藤; 康弘岡
Original assignee: シャープ株式会社
Priority date: 2015-01-08
Filing date: 2015-12-22
Publication date: 2016-07-14
Also published as: CN106604670B; JP2016123819A; JP6609410B2; CN106604670A

Abstract

Provided is a self-propelled electronic device in which the control and traveling of a housing can be stabilized. This self-propelled electronic device comprises: a housing that includes a bottom plate (2a) having a pair of left and right openings (2a₂), and that houses an electronic device component; a pair of left and right drive wheel units that is provided in the housing so as to be exposed from the respective openings (2a₂), and that makes the housing travel; a drive source that is provided in the housing, and that drives the drive wheel units; and a biasing member (41) that elastically biases the drive wheel units in a direction that makes the same project outward from the bottom plate (2a). The drive wheel unit includes: a drive wheel (22L); a drive wheel holder that holds the drive wheel (22L) rotatably about a first axis in the lateral direction, and pivotally about a second axis (P₂) parallel to the first axis; a motor (M) attached to the drive wheel holder; and a rotary force transmission mechanism that transmits the rotary force of an output shaft of the motor (M) to the drive wheel. The axis of the output shaft of the motor (M) is arranged coaxially with the second axis (P₂).

Description

Self-propelled electronic device

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

As self-propelled electronic devices,

Patent Documents

1 and 2 disclose a housing having a suction port on a lower surface, a pair of left and right drive wheels that support and run the housing, and a main provided rotatably at the suction port. A self-propelled cleaner provided with a brush and a side brush (auxiliary brush) provided to be rotatable forward of the main brush on the lower surface of the housing has been proposed.

Such a self-propelled cleaner performs cleaning while traveling on the floor surface of the room, but when there is a stepped portion on the floor surface, it becomes difficult to get on when the stepped portion becomes higher than a certain height. For example, there is a step between the floor and the carpet laid on the floor, a step with a sill that divides the room, a step with a floor partially laid on the tatami, etc. When the step-up performance of the self-propelled cleaner is low, the self-propelled cleaner may avoid the stepped portion, and the indoor area over the stepped portion may not be cleaned. Alternatively, when the self-propelled vacuum cleaner tries to get over the stepped portion, the front part of the casing gets on the stepped portion, and the driving wheel may float from the floor surface and slip into the state where it cannot move. .

Therefore, the self-propelled cleaners of

Patent Documents

1 and 2 are configured such that the left and right drive wheels are movable up and down and each drive wheel is pressed against the floor surface by an elastic biasing force of a spring. Specifically, a drive wheel, a holder for rotatably holding the drive wheel, a motor attached to the holder, and a rotational force transmission mechanism provided in the holder so as to transmit the rotational force of the motor to the drive wheel are provided. A pair of drive wheel units are provided at the left and right positions on the lower surface of the housing.

In order to enable the left and right drive wheel units to move up and down with respect to the housing and to store a part of them in the housing, left and right drive is provided at the left and right positions on the lower surface of the housing of the self-propelled cleaner. An opening through which the wheel unit is inserted is formed. The upper end of each drive wheel unit is pivotally attached to the housing via a pivot shaft, and is connected to a spring provided in the housing for elastically biasing each drive wheel downward. ing. As a result, the driving wheel is pressed against the floor surface even when the front part of the casing rides on the stepped part, so that the self-propelled cleaner can maintain the driving force and can get over the stepped part.

JP 2012-125652 A JP 2014-138899 A

However, since the drive wheel unit is equipped with a relatively heavy motor, the position of the center of gravity of the housing changes if the position of the motor relative to the housing changes when traveling on a step. Control and running were prone to instability.

The present invention has been made in view of the above circumstances, and provides a self-propelled electronic device that can stabilize the control and traveling of the casing.

Thus, according to the present invention, a housing that includes a bottom plate having a pair of left and right openings and that accommodates electronic device components, and a left and a right that are provided in the housing so as to be exposed from the openings and run the housing. A pair of drive wheel units; a drive source provided in the housing for driving the drive wheel unit; and a biasing member that elastically biases the drive wheel unit in a direction of projecting from the bottom plate to the outside. ,
The driving wheel unit includes a driving wheel and a driving wheel that holds the driving wheel so as to be rotatable about a first axial center in the left-right direction and to be swingable about a second axial center parallel to the first axial center. A holder, a motor attached to the drive wheel holder, and a rotational force transmission mechanism that transmits the rotational force of the output shaft of the motor to the drive wheel,
There is provided a self-propelled electronic device in which an axis of an output shaft of the motor is arranged coaxially with the second axis.

Moreover, according to another viewpoint of this invention, the said self-propelled electronic device is a self-propelled electronic device which is a self-propelled cleaner provided with the cleaning function, or the self-propelled ion generator provided with the ion generation function. Is provided.

In the self-propelled electronic device of the present invention, the shaft of the output shaft (drive shaft) of the motor of the drive wheel unit is disposed so as to coincide with the second shaft center.
With this configuration, even if the drive wheel unit swings up and down and the position of the housing fluctuates up and down, the position of the motor remains stable without fluctuation relative to the housing. Fluctuations are kept to a minimum. As a result, stable control and traveling of the housing can be realized.

It is a perspective view of the self-propelled electronic device concerning Embodiment 1 of the present invention. It is a partial cross section side view of the self-propelled electronic device shown by FIG. It is a bottom view of the self-propelled electronic device shown in FIG. FIG. 2 is a simplified bottom view showing the shape of a pair of left and right openings formed in a bottom plate of a housing of the self-propelled electronic device shown in FIG. 1. (A) And (B) is explanatory drawing which shows the state which the drive wheel unit in the self-propelled electronic device of Embodiment 1 rock | fluctuated to the up-down direction with respect to the housing | casing. (A) And (B) is another explanatory drawing which shows the state which the drive wheel unit in the self-propelled electronic device of Embodiment 1 rock | fluctuated to the up-down direction with respect to the housing | casing. 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 by FIG. 3 is an exploded view of a support member in Embodiment 1. FIG. It is the perspective view which looked at the inner surface side of the outer side case which comprises the supporting member shown by FIG. 11 from the bottom. It is a figure which shows the inner surface side of the inner side case which comprises the supporting member shown by FIG.

(Embodiment 1)
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. 4 is a bottom view of the self-propelled electronic device shown, 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 sucks air containing dust on the floor surface and exhausts the air from which dust is removed while self-propelled on the floor surface where it is installed. The case of the self-propelled cleaner which cleans the floor surface by doing is illustrated.

The self-propelled electronic device 1 includes a disk-shaped housing 2, and a rotating brush 9, an auxiliary brush 10, a dust collection box (not shown), an electric blower (not shown), A pair of left and right drive wheel units 20 having a pair of left and

right drive wheels

22L and 22R for moving the housing 2 straight forward and backward and turning left and right, and support

members

31 and 32 for supporting the pair of

drive wheels

22L and 22R, rear A pair of urging members 41, a charging terminal 13, a plurality of floor surface detection sensors 18, an electronic device component, etc. Components such as a battery as a drive source for driving the control unit, the driving wheel unit 20, the rotating brush 9, the auxiliary brush 10, and the electric blower are provided. The self-propelled electronic device 1 is characterized by the left and right drive wheel units 20 and the support structure thereof, which will be described in detail after the entire configuration of the self-propelled electronic device 1 is described.

In the self-propelled electronic device 1, a portion where the rear wheel 26 is disposed is a rear portion, a portion opposite to the rear wheel 26 is a front portion, and a portion where the pair of left and

right drive wheels

22L and 22R are disposed is an intermediate portion. When stopping and traveling on a horizontal plane, the housing 2 is supported by three wheels, that is, a pair of left and

right drive wheels

22L and 22R and a rear wheel 26. Therefore, in this specification, the forward direction (forward) refers to the direction in which the self-propelled electronic device 1 advances toward the front side, and the backward direction (backward) refers to the direction in which the self-propelled electronic device 1 advances toward the rear side. The left and right directions refer to the left and right directions when the self-propelled electronic device 1 moves forward, and the up and down direction refers to the up and down direction when the casing 2 is supported on the floor by three wheels. Point to.

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

The housing 2 includes components such as a motor unit, an electric blower, an ion generator, a dust collection box, a control board, and a battery. The housing 2 includes a pair of left and

right drive wheels

22L and 22R and a rear wheel 26. The center of gravity of the housing 2 is disposed on the rear side so that the housing 2 can be supported. 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 recess formed on the bottom surface of the housing 2 (the lower surface of the bottom plate 2a) so as to face the floor surface. In this recess, a rotating brush 9 is provided that rotates about a horizontal axis parallel to the bottom surface of the housing 2. An axial center perpendicular to the bottom surface of the housing 2 is provided on both left and right sides of the recess. An auxiliary brush 10 that rotates about the center is provided. The rotating brush 9 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The auxiliary brush 10 is formed by radially providing a bristle bundle at the lower end of the rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shaft of the pair of auxiliary brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2, and include a motor unit, a pulley, a belt, and the like provided in the vicinity thereof. It is independently connected through a mechanism.

This self-propelled electronic device 1 turns when the left and

right drive wheels

22L, 22R rotate forward in the same direction, move forward, move backward in the same direction, move backward, and rotate in opposite directions. For example, when the self-propelled electronic device 1 reaches the periphery of the cleaning area or collides with an obstacle on the course, the

driving wheels

22L and 22R stop, and the left and

right driving wheels

22L and 22R are moved in opposite directions. Rotate to change direction. Thereby, the self-propelled electronic device 1 can be self-propelled while avoiding obstacles in the entire installation place or the entire desired range.

<Driving wheel unit and its mounting structure>
5A and 5B are explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of Embodiment 1 swings in the vertical direction with respect to the housing. FIGS. 6A and 6B are other explanatory views showing a state in which the drive wheel unit in the self-propelled electronic device of Embodiment 1 swings in the vertical direction with respect to the housing. 7 is a view of the drive wheel holder of the drive wheel unit in the first embodiment as viewed from the outer surface side, and FIG. 8 is a view of the drive wheel holder of the drive wheel unit in the first embodiment as viewed from the inner surface side. 9 is a view of the drive wheel holder of the drive wheel unit according to the first embodiment as viewed from above, and FIG. 10 is an explanatory view showing the internal structure of the drive wheel unit shown in FIG. 5 to 10 show the left driving wheel unit 20 and the support member 31, and the structures of the right driving wheel unit and the supporting member are symmetrical with the structures of the left driving wheel unit 20 and the supporting member 31. It is the same except that. 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 rotational force transmission mechanism 23 for transmitting the rotational force of the M motor to the drive wheels 22L.

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

The cylindrical portion 21a ₁ is provided on one end (front end) side in the longitudinal direction of the inner case portion 21a, and a through hole 21a ₁₁ penetrating in the left-right direction is formed at the center position. A motor M is fitted and fixed in the cylindrical portion 21a _{1 so} that the drive shaft (output shaft) m ₁ is inserted into the through hole 21a ₁₁ . As a result, the axis of the drive shaft m ₁ of the motor M coincides with the second axis P ₂ of the cylindrical portion 21a ₁ . In addition, a projection 21a ₁₂ that hooks one end of a tension spring as the biasing member 41 is provided on the outer peripheral surface of the cylindrical portion 21a ₁ . The first axis P ₁ and the second axis P ₂ are parallel.

The gear housing chamber 21r and the rotational force transmission mechanism 23 configured by the inner case portion 21a and the outer case portion 21b are configured as follows. That is, the gear accommodating chamber 21r includes a first chamber 21r ₁ for accommodating the first gear 23a fixed to the drive shaft m1 of the motor M which projects from the through hole through hole 21a ₁₁ of the cylindrical portion 21a _1, the first chamber 21r ₁ and the second chamber 21r ₂ adjacent, comprising a third chamber 21r ₃ adjacent to the second chamber 21r _2, and a fourth chamber 21r ₄ and the adjacent third chamber 21r _3. The first to fourth chambers 21r ₁ to 21r ₄ have a shape in which adjacent circles partially overlap each other and gradually increase toward the _first to fourth chambers 21r ₁ to 21r ₄ .

The outer case portion 21b is formed in a shape corresponding to the first to fourth chambers 21r ₁ to 21r ₄ . Furthermore, the position corresponding to the first chamber 21r ₁ on the outer surface of the outer casing portion 21b, a small diameter cylindrical portion 21b ₁ is provided than the cylindrical portion 21a _1. The large and small

cylindrical portions

21a ₁ and 21b ₁ are both disposed on the second axis P ₂ .

The rotational force transmission mechanism 23 includes a first fixed shaft 23b ₁ provided in the second chamber 21r ₂ , second and third gears 23b ₂ and 23b ₃ rotatably attached thereto, and a third chamber 21r ₃ . The second fixed shaft 23c ₁ provided, the fourth and fifth gears 23c ₂ and 23c ₃ rotatably attached thereto, the third fixed shaft 23d ₁ provided in the fourth chamber 21r ₄ and the rotation thereof. And a sixth gear 23d ₂ that can be attached.

The first gear 23a and the second gear 23b ₂ and meshes, the third gear 23b ₂ and the fourth gear 23c ₂ meshes, the fifth gear 23c ₃ are a sixth gear 23d ₂ meshes. The second gear 23b ₂ is larger than the first gear 23 and the third gear 23b ₃ , the fourth gear 23c ₂ is larger than the third gear 23b ₃ and the fifth gear 23c ₃ , and the sixth gear 23d ₂ is the _second gear 23d ₂ . It is larger than 5 gears 23c ₃ . As a result, the rotational force of the drive shaft m ₁ of the motor M is transmitted in a decelerated state to the sixth gear 23d ₂ via the first to fifth gears 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. As a result, 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. 13 is shown in FIG. It is a figure which shows the inner surface side of the inner side case which comprises the supporting member.

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

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

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 A protrusion 31a ₃ for hooking the other end is provided (see FIG. 6).

The outer cover portion 31b has one end (front end) of the circular hole portion 31b ₁ through which the cylindrical portion 21b ₁ of the inner case portion 21b of the drive wheel unit 20 is inserted from the inside toward the outside when the drive wheel unit 20 is assembled to the support member 31. ) is formed in a side locking projections 31b ₂ is provided on the one end and the other (rear) side of its outer surface.

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 It is a pivotal support that pivots around the center.

When the drive wheel unit 20 is assembled to the support member 31, the large and small

cylindrical portions

21a ₁ and 21b ₁ of the drive wheel unit 20 are inserted through the large and small

circular holes

31a ₁₁ and 31b ₁ of the support member 31 with almost no gap as described above. To do. Thereby, the drive wheel unit 20 is supported by the support member 31 so as to be swingable. At this time, since the motor M is fitted into the cylindrical portion 21a ₁ of the cylindrical portion 21a ₁ hardly passed through the circular hole portion 31a _11, the cylindrical portion of the motor M after passing the cylindrical portion 21a ₁ in the cylindrical portion 21a ₁ 21a may be fitted to the _1. By fitting the motor M into the cylindrical portion 21 a ₁ , the axis of the drive shaft m ₁ of the motor M coincides with the axis of the

cylindrical portions

21 a ₁ and 21 b ₁ of the drive wheel holder 21.

After the drive wheel unit 20 is assembled to the support member 31 in this manner, both ends of the urging member 41 are hooked on the protrusion 21a ₁₂ of the drive unit 20 and the protrusion 31a ₃ of the support member 31 as shown in FIG. . Thereafter, the support member 31 is fixed to the position of the opening 2a ₁ in the bottom plate 2a of the housing 2 with screws, and the lead wire m ₂ of the motor M is electrically connected to the connection terminal provided in the housing 2. Connecting. Thereby, the drive wheel unit 20 is attached to the housing 2 via the support member 31, and the drive wheel 22L can be controlled to be driven and stopped. Since the lead wire m ₂ of the motor M comes out of the housing 2, it is not necessary to form a lead wire insertion hole in the support member 31.

The support member 31 assembled with the drive wheel unit 20 and the urging member 41 in this way is attached to the bottom plate 2a of the housing 2, and the housing 2 is placed on the floor F, so that FIG. As shown in FIG. 6A, the housing 2 is supported by the drive wheel unit 20 via the support member 31. 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 Most of them are 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.

From this state, as shown in FIGS. 5B and 6B, when the casing 2 is lifted with respect to the floor surface F, the protruding portion 21a ₁₂ of the cylindrical portion 21a ₁ is moved backward by the urging member 41. The drive wheel unit 20 swings about the second axis P ₂ around the

cylindrical portions

21a ₁ and 21b ₁ and the drive wheel 22L protrudes to the outside of the support member 31. It becomes. At this time, since the driving wheel 22L is pressed against the floor F by both the own weight of the driving wheel unit 20 and the urging force of the urging member 41, the step-over performance of the casing 2 is improved as compared with the case of only the own weight. . 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 the first embodiment configured as described above, the inside of the housing 2 is sealed from the outside by the support member 31, so that dust on the floor surface F can open the opening 2 a ₂ . It does not penetrate into the inside of the housing 2 through. As a result, there is a problem that dust on the floor surface F enters the housing ₂ from the opening 2a ₂ and accumulates on the circuit board or the like that controls the self-propelled electronic device 1 to cause a failure, and the housing 2 The concern that the inside of the housing 2 becomes unsanitary due to dust, ticks or the like entering the inside is eliminated.

In the case of the first embodiment, the axis of the drive shaft m ₁ of the motor M and the axes of the

cylindrical portions

21a ₁ and 21b ₁ of the drive wheel holder 21 are arranged on the same second axis P _2. Therefore, the following effects can be obtained. That is, when the driving wheel 22L is rotated by the motor M and the housing 2 is traveling on the floor surface F, the posture of the housing 2 is changed to the steps of FIGS. ) From the state of FIG. 5B and FIG. 6B, or vice versa. Thus, even if the drive wheel unit 20 swings up and down and the position of the housing 2 fluctuates up and down, the position of the motor M is stable without fluctuating with respect to the housing 2. The variation of the center of gravity position of 2 is kept to a minimum. As a result, stable control and traveling of the housing 2 can be realized.

(Embodiment 2)
In the first embodiment, the case where the support member 31 is configured as a separate component from the housing 2 is illustrated, but a support portion may be integrally provided in the vicinity of the bottom plate 2 a of the housing 2. In this case, in order to facilitate the integral molding of a resin of the bottom plate 2a, the shape of the support portion may not be shaped to close the opening 2a ₂ of the bottom plate 2a.

(Embodiment 3)
In the first and second embodiments, the case where the second axis P _{2 that} is the center of oscillation of the drive wheel unit 20 is disposed forward of the first axis P ₁ that is the center of rotation of the drive wheel 22L is illustrated. but the may first axis P ₁ constitutes a drive wheel unit 20 and the support member 31 to be disposed forwardly of the second axis P _2.

(Embodiment 4)
In the first to third embodiments, the case where the support member 31 and the drive wheel holder 20 are directly connected by the biasing member 41 is illustrated, but the housing 2 and the drive wheel holder 20 are connected by the biasing member 41. You may connect directly. In this case, a protrusion for hooking the other end (rear end) of the urging member 41 on the bottom plate 2a of the housing 2 is provided.

(Embodiment 5)
Embodiments 1 to 4 exemplify the case where the self-propelled electronic device 1 is a self-propelled cleaner, but the self-propelled electronic device may be a self-propelled ion generator equipped with an ion generator. .

(Summary)
A self-propelled cleaner according to the present invention includes a casing that includes a bottom plate having a pair of left and right openings and that accommodates electronic device components, and is provided in the casing so as to be exposed from the openings. A pair of left and right drive wheel units to be driven, a drive source that is provided in the housing and drives the drive wheel unit, and a biasing member that elastically biases the drive wheel unit in a direction of projecting from the bottom plate to the outside. With
The driving wheel unit includes a driving wheel and a driving wheel that holds the driving wheel so as to be rotatable about a first axial center in the left-right direction and to be swingable about a second axial center parallel to the first axial center. A holder, a motor attached to the drive wheel holder, and a rotational force transmission mechanism that transmits the rotational force of the output shaft of the motor to the drive wheel,
The shaft center of the output shaft of the motor is arranged coaxially with the second shaft center.
The self-propelled cleaner of the present invention may be configured as follows.

(1) It further includes a pair of left and right support members provided on the bottom plate so as to support the pair of drive wheel units so as to be swingable about the second axis.
The drive wheel holder has a cylindrical portion into which the motor is fitted,
The support member may include a shaft support portion that rotatably supports the cylindrical portion about the second axis.
In this way, the cap-shaped support member that closes the opening of the bottom plate of the housing can be manufactured as a separate component from the housing. Since the support member has a cap shape, dust on the floor surface can be prevented from entering the inside of the housing from the opening.

(2) The biasing member may directly connect the support member and the drive wheel holder.
In this way, the support member incorporating the drive wheel unit and the biasing member can be unitized and quickly attached to the bottom plate of the housing, and the assembly operation of the self-propelled electronic device can be performed efficiently.

(3) The second axis may be arranged before the first axis.
In this way, the relatively heavy motor in the pair of drive wheel units is arranged in front of the drive wheels, which is advantageous for overcoming a step.

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

It should be understood that the disclosed embodiments are illustrative and non-restrictive in every respect. 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 opening 20 the driving wheel unit 21 drive wheel holder 21a _1, 21b ₁ cylinder 22L, 22R drive wheel 23 rotational force transmitting mechanism 31 supporting member 41 urging member M motor m ₁ drive shaft (output shaft)
m ₂ lead wire P ₁ first axis P ₂ second axis

Claims

A housing that includes a bottom plate having a pair of left and right openings and that 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; A drive source provided in a housing for driving the drive wheel unit; and a biasing member for elastically biasing the drive wheel unit in a direction of projecting the drive wheel unit outward from the bottom plate,
The driving wheel unit includes a driving wheel and a driving wheel that holds the driving wheel so as to be rotatable about a first axial center in the left-right direction and to be swingable about a second axial center parallel to the first axial center. A holder, a motor attached to the drive wheel holder, and a rotational force transmission mechanism that transmits the rotational force of the output shaft of the motor to the drive wheel,
A self-propelled electronic device, wherein an axis of an output shaft of the motor is arranged coaxially with the second axis.
A pair of left and right support members provided on the bottom plate so as to swingably support the pair of drive wheel units around the second axis;
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 shaft support portion that rotatably supports the cylindrical portion about the second axis.
The self-propelled electronic device according to claim 2, wherein the biasing member directly connects the support member and the drive wheel holder.
The self-propelled electronic device according to any one of claims 1 to 3, wherein the second axis is disposed before the first axis.
The self-propelled electronic device according to any one of claims 1 to 4, wherein the self-propelled electronic device is a self-propelled cleaner having a cleaning function or a self-propelled ion generating device having an ion generating function. machine.