WO2016111168A1 - Appareil électronique autotracté - Google Patents

Appareil électronique autotracté Download PDF

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Publication number
WO2016111168A1
WO2016111168A1 PCT/JP2015/085841 JP2015085841W WO2016111168A1 WO 2016111168 A1 WO2016111168 A1 WO 2016111168A1 JP 2015085841 W JP2015085841 W JP 2015085841W WO 2016111168 A1 WO2016111168 A1 WO 2016111168A1
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WO
WIPO (PCT)
Prior art keywords
drive wheel
self
housing
electronic device
axis
Prior art date
Application number
PCT/JP2015/085841
Other languages
English (en)
Japanese (ja)
Inventor
隼人 佐藤
康弘 岡
Original Assignee
シャープ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by シャープ株式会社 filed Critical シャープ株式会社
Priority to CN201580046328.XA priority Critical patent/CN106604670B/zh
Publication of WO2016111168A1 publication Critical patent/WO2016111168A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • 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.
  • 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.
  • the self-propelled cleaner may avoid the stepped portion, and the indoor area over the stepped portion may not be cleaned.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 in which an axis of an output shaft of the motor is arranged coaxially with the second axis.
  • 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.
  • 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.
  • 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
  • FIG. 3 is an exploded view of a support member in Embodiment 1.
  • FIG. 3 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.
  • 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
  • FIG. 4 is a bottom view of the self-propelled electronic device shown
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • FIG. 9 is a view of the drive wheel holder of the drive wheel unit according to the first embodiment as viewed from above
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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
  • the sixth gear 23d 2 is the second gear 23d 2 . It is larger than 5 gears 23c 3 .
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • the protrusion 21a 12 of the cylindrical portion 21a 1 is moved in a direction to pull the biasing member 41 forward.
  • 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.
  • 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.
  • 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. .
  • a self-propelled cleaner 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.
  • 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.
  • the self-propelled cleaner of the present invention may be configured as follows.
  • 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.
  • the biasing member may directly connect the support member and the drive wheel holder.
  • 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.
  • the second axis may be arranged before the first axis.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Suction Cleaners (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)

Abstract

L'invention fournit un appareil électronique autotracté permettant de commander un boîtier et de stabiliser la progression. Cet appareil électronique autotracté est caractéristique en ce qu'il est équipé : du boîtier qui est muni d'une plaque de fond (2a) possédant une paire de parties ouverture gauche/droite (２ａ２), et qui admet un composant d'appareil électronique ; d'une paire d'unités roue d'entraînement gauche/droite qui est agencée à l'intérieur du boîtier de manière à être exposée depuis lesdites parties ouverture (２ａ２), et qui autorise la progression dudit boîtier ; d'une source d'entraînement qui est agencée à l'intérieur dudit boîtier, et qui entraîne lesdites unités roue d'entraînement ; et d'un élément de sollicitation (41) qui sollicite de manière élastique lesdites unités roue d'entraînement dans une direction la mettant en saillie de ladite plaque de fond (2a) vers une partie externe. En outre, lesdites unités roue d'entraînement sont équipées : d'une roue d'entraînement (22L) ; d'un support de roue d'entraînement qui maintient cette roue d'entraînement (22L) de manière à permettre sa rotation avec pour centre un premier centre axial de direction gauche/droite, et de manière à permettre son oscillation avec pour centre un second centre axial (Ｐ２) parallèle au premier centre axial ; d'un moteur (M) installé sur ledit support de roue d'entraînement ; et d'un mécanisme de transmission de force de rotation qui transmet à ladite roue d'entraînement une force de rotation d'un axe de sortie dudit moteur (M). Enfin, le centre axial de l'axe de sortie dudit moteur (M) est disposé coaxialement par rapport audit second centre axial (Ｐ２).
PCT/JP2015/085841 2015-01-08 2015-12-22 Appareil électronique autotracté WO2016111168A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201580046328.XA CN106604670B (zh) 2015-01-08 2015-12-22 自走式电子设备

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015002467A JP6609410B2 (ja) 2015-01-08 2015-01-08 自走式電子機器
JP2015-002467 2015-01-08

Publications (1)

Publication Number Publication Date
WO2016111168A1 true WO2016111168A1 (fr) 2016-07-14

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Publication number Priority date Publication date Assignee Title
JP6928514B2 (ja) 2017-08-31 2021-09-01 株式会社マキタ ロボット集塵機及び自走式機器
CN111315586A (zh) * 2017-11-16 2020-06-19 夏普株式会社 自走式电子设备的车轮支承结构

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Publication number Priority date Publication date Assignee Title
WO2013009060A2 (fr) * 2011-07-13 2013-01-17 주식회사 유진로봇 Ensemble roue de robot mobile
JP2013052239A (ja) * 2011-09-01 2013-03-21 Samsung Electronics Co Ltd 駆動輪組立体及びこれを備えるロボット掃除機
JP2014230714A (ja) * 2013-05-30 2014-12-11 シャープ株式会社 自走式電子機器

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Publication number Priority date Publication date Assignee Title
JP2003033310A (ja) * 2001-07-19 2003-02-04 Toshiba Tec Corp 走行車
KR101523980B1 (ko) * 2011-01-18 2015-06-01 삼성전자 주식회사 로봇 청소기
GB2494447B (en) * 2011-09-09 2014-02-26 Dyson Technology Ltd Autonomous surface treating appliance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013009060A2 (fr) * 2011-07-13 2013-01-17 주식회사 유진로봇 Ensemble roue de robot mobile
JP2013052239A (ja) * 2011-09-01 2013-03-21 Samsung Electronics Co Ltd 駆動輪組立体及びこれを備えるロボット掃除機
JP2014230714A (ja) * 2013-05-30 2014-12-11 シャープ株式会社 自走式電子機器

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CN106604670A (zh) 2017-04-26
JP2016123819A (ja) 2016-07-11
CN106604670B (zh) 2019-07-23
JP6609410B2 (ja) 2019-11-20

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