JPH07308272A - Self-running vacuum cleaner - Google Patents

Abstract

PURPOSE:To enable smooth running during each operation by controlling the rotating speed of a self-running wheel corresponding to each operation of push and pull judged from the force applied to a handle part. CONSTITUTION:An actuator 42 is connected to a handle 51 through holders 49, 50. When the handle 51 is pushed in, the actuator 42 is pushed in from the neutral position, and a slide lever 48 of a slide volume control 47 is moved forward from the neutral position so that the resistance value of the slide volume control 47 is changed. On the other hand, when the handle 51 is pulled, the actuator 42 is drawn in from the neutral position so that the resistance value of the slide volume control, 47 is changed in the reverse direction. At the time of push operation or pull operation decided from the force applied to the handle part by the slide volume control 47, the rotating speed of a self- running wheel is controlled corresponding to each operation. Accordingly, even if the running load varies with the push operation and the pull operation, the optimum running speed control corresponding to each operation can be performed so as to smooth running.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner.

[0002]

2. Description of the Related Art Conventionally, as disclosed in, for example, Japanese Utility Model Publication No. 62-19319 (International Patent Classification A47L9 / 00), a cleaner main body having a handle portion is mounted on a self-propelled unit portion, The self-propelled unit can be moved in the front-back direction by pushing and pulling it to the front and rear, and the front wheel of the self-propelled unit is provided rotatably around the vertical axis, and the handle of the handle section is rotated around the axial center. The rotation direction of the grip should be electrically detected by interlocking with a variable resistor, for example, and the rotation amount of the left and right self-propelled wheels should be changed according to the rotation direction of the grip to proceed. It is known that the direction can be changed (or returned).

[0003]

However, in the above-mentioned conventional self-propelled cleaner, the optimum rotation speed control of the self-propelled wheels is performed both during the pushing operation and the pulling operation of the cleaner. There was no such thing as a smooth run.

In view of the above circumstances, it is an object of the present invention to provide a self-propelled cleaner that travels smoothly when the cleaner is pushed and when it is pulled.

[0005]

A self-propelled cleaner having a first structure comprises a drive means having self-propelled wheels and a detection means for detecting the direction of a force applied to a handle portion connected to a cleaner body. In the self-propelled cleaner including: and a traveling control unit that controls the drive unit by the output of the detection unit, the traveling control unit is configured to perform a pushing operation and a pulling operation that are determined by the force applied to the handle portion. It is characterized in that the rotational speed control of the self-propelled wheels is performed corresponding to each time.

The self-propelled vacuum cleaner of the second construction is provided with means for judging the type of floor surface on which the self-propelled wheel travels, and controls the rotational speed of the self-propelled wheel according to the type of floor surface. It may be configured.

The self-propelled vacuum cleaner of the third structure may be provided with means for detecting the suction force of the vacuum cleaner, and may be configured to control the rotation speed of the self-propelled wheels according to the suction force.

The self-propelled vacuum cleaner of the fourth structure is provided with a power brush, and is configured to control the rotational speed of the self-propelled wheel according to the driving state or non-driving state of the power brush. Good.

A fifth aspect of the self-propelled vacuum cleaner is provided with means for detecting an inclination angle of the handle portion with respect to an axial floor surface.
The rotation speed of the self-propelled wheels may be controlled according to the inclination angle.

In the self-propelled cleaner of the sixth construction, the target speeds of the self-propelled wheels during pushing operation and the revolution speed of the self-propelled wheel during pulling operation are substantially the same, and the soft speed is equal to the soft speed. Controls with different start speeds may be used.

[0011]

According to the first configuration, the rotation speed control of the self-propelled wheels corresponding to each of the pushing operation and the pulling operation is performed, and the vehicle travels during the pushing operation and the pulling operation. Even when the loads are different, the optimum traveling speed control corresponding to each of them is performed, and the traveling can be smoothed.

According to the second configuration, optimum control can be performed in response to the difference in running load and the like between the pushing operation and the pulling operation, which are caused by the difference in floor type.

According to the third structure, it is possible to perform optimum control corresponding to the difference in running load and the like between the pushing operation and the pulling operation, which are caused by the difference in suction force.

According to the fourth structure, optimum control is performed in response to the difference in running load and the like between the pushing operation and the pulling operation caused by the difference between the driving state and the non-driving state of the power brush or the driving state. be able to.

According to the fifth configuration, the optimum control is performed in response to the difference in running load between the pushing operation and the pulling operation caused by the difference in the inclination angle of the handle portion with respect to the floor surface in the axial direction. It can be carried out.

According to the sixth configuration, the target speeds of the self-propelled wheels during pushing operation and the self-propelled wheel speed during pulling operation are substantially the same, and the soft start speeds are the same. Since the speeds are made different, the target speeds during both movements should be the same (that is, while the forward and backward movement cycles of the user's arm should be constant), and each should be smooth in response to the difference in each running load. It is possible to start running without causing slips or the like.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings.

As shown in the side view of FIG. 1 and the plan view of FIG. 2, an upright type electric vacuum cleaner according to an embodiment of the present invention includes a self-propelled unit portion 1 and a vertical axis centered on it. It is equipped with a cleaner body 2, a suction port portion 3 and a handle portion 4 mounted so as to be rotatable around 90 degrees to the left and right, a power switch for turning the cleaner body 2 on and off to the handle portion 4, and a self-propelled unit portion 1. A handle input unit 5 for controlling the operation is provided.

As shown in the cross-sectional plan view of FIG. 3, the self-propelled unit portion 1 has a pair of motors 6 capable of rotating in a pair of forward and reverse directions.
And a pair of self-propelled wheels 8 driven by the respective motors 6 via the transmission device 7.

The motor 6, the transmission device 7, and the self-propelled wheels 8
Are arranged symmetrically with respect to the rotation axis of the self-propelled unit portion 1 with respect to the cleaner body 2 and the suction port portion 3, and in particular, both self-propelled wheels 8 are, as shown in FIG. 3 and FIG.
Also, they are arranged symmetrically and coaxially with respect to the rotation axis of the self-propelled unit 1 with respect to the suction port 3.

As shown in FIG. 5, each transmission device 7 has
A planetary gear 10 housed in a gear box 9 fixed to the motor 6, a small pulley 11 fitted to the planetary gear 10, and fixed to each self-propelled wheel 8 as shown in FIGS. 3 and 4. A large pulley 12 and a timing belt 13 wound around the corresponding large and small pulleys 11 and 12, the rotation of each motor 6 is decelerated by a planetary gear 10, and the small pulley 11 and the large pulley 12 further The speed is reduced and transmitted to each self-propelled wheel 8.

As shown in FIGS. 4 to 6, the motor 6 and the transmission device 7 are formed separately from each other in order to prevent dust and dirt from entering them, and are integrated by screwing. It is housed in a dustproof case 16 composed of a cylindrical upper case 14 and a bottomed cylindrical lower case 15.

That is, the motor 6 and the gear box 9 are connected to the upper and lower cases 14 through the rubber cushions 17 and 18.
The vibrations are sandwiched between the 15 and 15 to prevent these vibrations from being transmitted to the dustproof case 16.

The small pulley 11 is sandwiched between the upper and lower cases 14 and 15 via the bearing 19, and the large pulley 12 and the support shaft 20 of the self-propelled wheel 8 are screwed to the lower case 15.

The rotation speed of the motor 6 is a rotation speed detecting device 22 including a slit plate 21 fixed to the small pulley 11 and a photo sensor (photo interrupter) screwed to the upper case 14 as shown in FIG. Is measured at.
That is, the rotation speed of the motor 6 is measured by detecting the transmitted light of the slit plate 21 with a photosensor, and the setting is arbitrarily set according to the measured rotation speed and the push / pull operation amount of the handle input unit 5 as described later. It is controlled so that it matches the rotation speed.

Further, the self-propelled wheel 8 has its lower peripheral portion projected below the lower case 15 so as to be capable of rolling contact with the floor surface.

As shown in FIGS. 4 and 6, a cylindrical sleeve 23 is formed on the upper part of the dustproof case 16,
A main body case 24 of the suction port portion 3 formed in a cylindrical shape with a lid having a diameter larger than that of the dustproof case 16 is rotatably fitted on the sleeve 23.

A constant load device 27 having a bearing 25 and a coil spring 26 is provided between the main body case 24 and the dustproof case 16, and the weight of the cleaner main body 2, the suction port portion 3 and the handle portion 4 is reduced. The self-propelled unit 1 is evenly distributed around the rotation axis, and is applied below a certain load set by the coil spring 26.

A rotary volume 29 is fixed to the center of the body case 24 via a case 28 screwed to the body case 24. The volume lever 30 of the rotary volume 29 has a non-circular cross section, such as a D-shape, and is inserted into the sleeve 23 in a non-rotating manner, whereby the dustproof case 16 rotates with respect to the main body case 24. The volume lever 30 of the rotary volume 29 is rotated to change the resistance value of the rotary volume 29.

In order to prevent the shaft centers of the dustproof case 16 and the other from tilting relative to each other when the dustproof case 16 is rotated with respect to the main body case 24, as shown in FIGS. Is formed with a plurality of convex portions 31 slidingly contacting the lower surface of the lid of the main body case 24 at appropriate intervals in the circumferential direction.

The number of the convex portions 31 may be plural, but
By providing a plurality of three or more, the main body case 24 can be stably supported by the dustproof case 16, and in this embodiment, the stability of the support of the main body case 24 by the dustproof case 16 is further increased and the protrusion 31 is formed. Body case 24
In order to reduce the contact pressure on the
The individual convex portions 31 are provided every 90 degrees in the circumferential direction.

Further, in order to prevent eccentricity of the dustproof case 16 with respect to the body case 24 and limit the rotation range of the self-propelled unit 1 with respect to the body case 24 to a certain range or less, as shown in FIGS. 3 and 7. , Dustproof case 16
A convex portion 32 which is slidably contacted with the inner surface of the peripheral wall of the main body case 24 is provided at one location on the outer peripheral surface of the main body case 24, and is slidably contacted with the outer peripheral surface of the dust-proof case 16 at an appropriate interval in the circumferential direction on the inner peripheral surface of the main body case 24. The individual convex portions 33 are formed.

The circumferential interval of the protrusions 33 on the main body case 24 side can be set freely, and in this embodiment, the rotation range of the self-propelled unit 1 with respect to the main body case 24 is set to 18.
In order to be able to change over 0 degree, there is a space of about 240 degrees larger than this 180 degree around the axis of rotation.

As shown in FIG. 6, a wire bundle 34 composed of a lead wire derived from the motor 6 and a lead wire derived from the rotation speed detecting device 22 passes through the sleeve 23, and further as shown in FIG. As shown, it is connected to the cleaner body 2 through the case 28 together with the lead wires of the rotary volume 29 so that the twist and stress applied to these lead wires are reduced.

As shown in FIG. 1 to FIG. 3, FIG. 7 and FIG. 8, the suction inlet portion 3 is formed in the front and rear of the main body case 24 in a horizontally long and narrow suction inlet 35 formed in series. 1 and 3, the left and right ends of the suction port 35 and the lower end of each tip of the left and right connecting parts 36 are connected to each other. It has a total of four adjustable wheels 37.

As shown in FIGS. 1 and 2, the cleaner body 2 is connected to the tip of each connecting portion 36 via an arm 38, and is formed on the lower surface of the suction port 35 as shown in FIG. The left and right horizontally long suction ports 39 communicate with the dust bag inside the cleaner body 2 through the internal space of the suction port 35 and the hose 40 shown in FIGS. 1 to 3.

The handle portion 4 is, as shown in FIG.
A stick 41 fixed to the rear part of the cleaner body 2 and a handle input section 5 provided on the upper part of the stick 41 are provided. The handle input section 5 is slidably attached to the stick 41 as shown in FIG. An inserted actuator 42 and a spring holder 43 that houses the actuator 42 are provided.

The spring holder 43 is fixed to the stick 41, and a pushing spring 44 for pushing the actuator 42 in the axial direction of the stick 41 and an actuator 42 in the pulling direction are provided inside the spring holder 43. Energizing pulling spring 4
5 is provided, and when no operating force is applied to the actuator 42, as shown in FIG.
Enables automatic return to the neutral position in the spring holder 43 in which both springs 44 and 45 are in balance.

The handle input section 5 is provided with a slide volume 47 fixedly supported in the stick 41 via a volume holder 46, and a slide lever 48 of the slide volume 47 is connected to the actuator 42.
Has been inserted into.

The actuator 42 has a holder 49.
11 is connected to the handle 51 via 50, and when the handle 51 is pushed in, the actuator 42 is pushed in from the neutral position and the slide lever 48 of the slide volume 47 is moved in the forward direction from the neutral position, as shown in FIG. The resistance value of the slide volume 47 changes. Also, FIG.
As shown in FIG. 4, when the handle 51 is pulled, the actuator 42 is pulled from the neutral position, and the slide volume 4
The slide lever 48 of 7 is moved in the backward direction from the neutral position, and the resistance value of the slide volume 47 changes in the reverse direction.

Further, the handle 51 is provided so as to be rotatable around its axis with respect to the stick 41, and the direction and angle of rotation of the handle 51 with respect to the stick 41 by the operation of the user are different from those of the handle 51. It is detected by the rotary volume 60 provided between the rotary volume control unit 41 and the control unit 41. That is, when the handle 51 is turned to the right, the rotary volume 60 turns to the right from the neutral position by the coil spring 61, and the resistance value of the rotary volume 60 changes. When the handle 51 is turned counterclockwise, the rotary volume 60 turns from the neutral position to the right, and the resistance value of the rotary volume 60 changes in the opposite direction.

Therefore, the change of the resistance value of the rotary volume 60 which changes corresponding to the change amount from the neutral position of the handle 51 and the slide volume which changes corresponding to the change amount from the neutral position of the handle 51. The intended operation direction is determined by the change in the resistance value of 47. Then, the direction of the self-propelled unit unit 1 is controlled by the control unit, which will be described later, based on this operation intention direction.

(Sensors for controlling rotation speed of self-propelled wheels)

As shown in FIG. 1, the cleaner main body 2 is rotatably connected to the tip of each connecting portion 36 via an arm 38, and this rotating portion is resisted by this rotation. A rotary volume 71 whose value is changed is provided. With the rotary volume 71, the handle portion 4
It is possible to detect the inclination angle of the
This detected value is input to the microcomputer 53 described later.

Further, as shown in FIGS. 1 and 3, a floor sensor 72 is provided inside the suction port 3. In the present embodiment, the floor surface sensor 72 has a double structure composed of a conductive rubber portion and a silicone rubber portion, the conductive rubber portion is brought into contact with the electrode plate, and the silicone rubber portion is a floor. A device that indirectly receives a pressing force from the surface is used (for example, Japanese Patent Laid-Open No. 3-24).
Although the floor surface detection device for an electric vacuum cleaner disclosed in Japanese Patent Publication No. 4943 or Japanese Patent Laid-Open No. 3-244944 can be used), a floor surface sensor having another structure or another mounting method may be adopted. Of course. The floor surface sensor 72 can detect the type and contact state of the floor surface, and the detected value is input to the microcomputer 53 described later.

As shown in FIG. 9, the handle 51 of the handle input section 5 is provided with a power brush switch 73 which is a push button switch and a suction force switch (for setting the suction force strength) 74 which is a slide switch. Has been done.
The outputs of these switches 73 and 74 are input to the microcomputer 53.

FIG. 13 is a block diagram of a control circuit using the microcomputer 53. The microcomputer 53 includes the sensors 47, 60, 71, 72 and the switch 7
The output of 3, 74 controls the traveling of the self-propelled wheels by driving the traveling motor.
Slide volume (front / rear sensor) by force applied to 4
The rotation speed control of the self-propelled wheels is performed corresponding to each of the pushing operation (forward movement) and the pulling operation (reverse movement) determined by 7. Further, in the present embodiment, further, according to the type of floor surface, suction force of the vacuum cleaner, driving / non-driving or driving state of the power brush, and the inclination angle of the handle portion with respect to the floor surface in the axial direction, the self-propelled wheels are driven. It is configured to perform rotation speed control.

FIG. 14 shows the floor type, the suction force of the vacuum cleaner,
A vacuum cleaner for driving and non-driving the power brush, and an inclination angle of the handle portion with respect to the floor surface in the axial direction (in the figure, an angle with respect to a normal line to the floor surface. It is explanatory drawing which showed the relationship of the traveling load at the time of operating. In this figure, for example, when the floor surface is a flooring and there is no power brush, when the suction force is weak and the degree of inclination of the vacuum cleaner is small, the running load during the pushing operation is 1.50 kg · f, and the running load during the pulling operation is Running load is 1.80k
g · f, and the traveling load during the pulling operation is larger than the traveling load during the pushing operation. This tendency is also observed when the floor surface is a tatami mat and there is no power brush, or when the floor surface is a carpet and there is a power brush. Furthermore, this tendency changes depending on the strength of the suction force.

On the other hand, when the floor surface is a carpet and there is no power brush, the inclination of the vacuum cleaner is small and the suction force is strong and weak, and the running load during the pushing operation is larger than the running load during the pulling operation. . It is considered that this is because the suction force is sucked by the suction port portion 3 to the carpet and the pushing operation causes the traveling load to increase.

From the above consideration, in the former case, in the rotational speed control of the self-propelled wheel, since a force is required for starting the pulling operation more than for the pushing operation, the rotation speed of the self-propelling wheel should be lowered during the pulling operation. Control to obtain the required torque. On the other hand, in the latter case, in the rotation speed control of the self-propelled wheels,
Since the starting force is required during the pushing operation more than during the pulling operation, the rotation speed of the self-propelled wheel is reduced during the pushing operation so as to obtain the required torque.

FIG. 15 shows the number of revolutions during pulling operation and pushing operation under the rotational speed control of the self-propelled wheel in the former case,
6 is a graph showing an example of control in the case where the target speeds (revolutions) are the same and the soft start speeds (revolutions) are different from each other. In the latter case, the rotational speeds during the pulling operation and the pushing operation in the rotation speed control of the self-propelled wheels may be set in the opposite relationship to the above. Further, the control is not limited to the control in which the rotation speed of the motor is detected to match the target rotation speed, and the energization rate to the motor may be simply controlled.

For such control, for example, the data required for this control is held in the form of a table in memory, and the sensors 47, 60, 71,
Depending on the type of floor surface, the suction force of the vacuum cleaner, the drive / non-drive or drive state of the power brush, and the inclination of the vacuum cleaner, the necessary data is determined from the output of 72 or the switches 73 and 74. Get it.

As described above, since the rotation speed control of the self-propelled wheel corresponding to each of the pushing operation and the pulling operation, which is determined by the force applied to the handle portion, is performed, the pushing operation and the pulling operation are performed. Even when the traveling loads differ from time to time, the optimal traveling speed control corresponding to each of them is performed, and the traveling can be smoothed.

Furthermore, in the present embodiment, the type of floor surface, the suction force of the vacuum cleaner, the driving / non-driving or driving state of the power brush, and the degree of inclination of the vacuum cleaner are taken into consideration. It is possible to control according to.

Further, regarding the rotational speed of the self-propelled wheel during the pushing operation and the rotational speed of the self-propelled wheel during the pulling operation, both target speeds are substantially the same, and the soft start speeds are made different from each other. Therefore, while matching the target speed during both movements (that is, while keeping the cycle of the forward and backward movements of the user's arm constant), smooth and slip etc. according to the difference in each running load etc. It is possible to start the running without causing the. However, not limited to this,
The target speed itself may be different. Further, not only the soft start speed, but also the duration of the soft start state may be changed. Further, the control may be performed in multiple stages of three or more stages instead of the two stages as in the present embodiment. Furthermore, as a special case, control may be performed such that the target speed is lower than the soft start speed.

Further, in this embodiment, the shaft fulcrum of the cleaner body 2 with respect to the self-propelled unit 1 is provided on the rear side of the self-propelled unit 1, but it may be provided on the side of the central portion. In this case, the lower surface of the cleaner main body 2 and the self-propelled unit 1
A space for allowing rotation is provided between the upper surface and the upper surface.

Further, the moving direction of the vacuum cleaner is controlled by operating the handle (grip) in the axial direction and around the axis. However, the user directs the handle portion toward the moving direction of the self-propelled cleaner. The displacement between the front direction of the cleaner body 2 and the direction of the self-propelled wheels 8 due to the rotation of the cleaner body 2 with respect to the self-propelled unit 1 is determined by a rotary volume (steering angle sensor) 29. It may be configured to control the rotation of the self-propelled unit 2 so that the self-propelled wheels face the front direction (or the lateral direction) of the cleaner main body based on the detected value.

[0058]

As described above, according to the self-propelled cleaner of the present invention, the rotation speed control of the self-propelled wheel is performed corresponding to each of the pushing operation and the pulling operation. Therefore, it is possible to smoothly travel both during the pushing operation and the pulling operation of the vacuum cleaner, and it is possible to reduce the slip of the wheel and the impact applied to the hand of the user.

[Brief description of drawings]

FIG. 1 is a side view of a self-propelled vacuum cleaner according to the present invention.

FIG. 2 is a plan view of the self-propelled vacuum cleaner of the present invention.

FIG. 3 is a cross-sectional plan view of a self-propelled unit section and a suction port section of the present invention.

4 is a vertical cross-sectional rear view taken along the line AA of FIG.

5 is a vertical cross-sectional rear view taken along the line BB of FIG.

FIG. 6 is a vertical cross-sectional side view taken along the line CC of FIG.

FIG. 7 is a plan view of a self-propelled unit portion and a suction port portion of the present invention when moving back and forth.

FIG. 8 is a plan view of the suction port portion of the present invention.

FIG. 9 is a sectional view of a handle input unit of the present invention.

FIG. 10 is an explanatory diagram of a handle input unit of the present invention when stopped.

FIG. 11 is an explanatory diagram of a handle input unit of the present invention when moving forward.

FIG. 12 is an explanatory diagram of a handle input unit of the present invention when moving backward.

FIG. 13 is a block circuit diagram of the present invention.

FIG. 14 is an explanatory diagram showing a relationship of traveling loads when operating the vacuum cleaner regarding types of floor surfaces and the like according to the present invention.

FIG. 15 is a graph showing an example of the number of rotations during pulling operation and pushing operation in the rotation speed control of the self-propelled wheel according to the present invention.

[Explanation of symbols]

 1 Self-propelled unit part 2 Vacuum cleaner body part 3 Suction port part 4 Handle part 5 Handle operation part 6 Motor 29 Rotary volume 47 Slide volume 53 Microcomputer 60 Rotary volume 71 Rotary volume 72 Floor sensor 73 Power brush switch 74 Suction force switch

Claims (6)

[Claims] 1. A drive means having self-propelled wheels, a detection means for detecting the direction of a force applied to a handle portion connected to a cleaner body, and a traveling control for controlling the drive means based on the output of the detection means. In the self-propelled cleaner including means, the traveling control means controls the rotation speed of the self-propelled wheel corresponding to each of the pushing operation and the pulling operation, which are determined by the force applied to the handle portion. A self-propelled vacuum cleaner characterized in that it is configured to perform. 2. A means for determining the type of floor surface on which the self-propelled wheel travels, the rotation speed of the self-propelled wheel being controlled according to the type of floor surface. Item 1. The self-propelled vacuum cleaner described in item 1. 3. A means for detecting the suction force of the vacuum cleaner is provided,
The self-propelled vacuum cleaner according to claim 1, wherein the self-propelled cleaner is configured to control the rotation speed of the self-propelled wheels in accordance with the suction force. 4. The power brush according to claim 1, wherein the power brush is configured to control the rotation speed of the self-propelled wheel according to whether the power brush is driven or not driven. Self-propelled vacuum cleaner. 5. A means for detecting an inclination angle of the handle portion with respect to the floor surface in the axial direction, wherein the rotation speed of the self-propelled wheel is controlled according to the inclination angle. Item 1. The self-propelled vacuum cleaner described in item 1. 6. Regarding the rotational speed of the self-propelled wheel during the pushing operation and the rotational speed of the self-propelled wheel during the pulling operation, both target speeds are substantially the same, and the soft start speeds are controlled so as to be different from each other. The self-propelled cleaner according to any one of claims 1 to 5, wherein