Robotic dust collector and self-propelled device

Patent metadata

Field	Value
Publication number	US-11083356-B2
Application number	US-201816103208-A
Country	US
Kind code	B2
Filing date	Aug 14, 2018
Priority date	Aug 31, 2017
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

A robotic dust collector includes a body, a wheel, a wheel motor, and a suspension device. The body accommodates a storage unit to store therein dust and dirt sucked in from a suction inlet. The wheel supports the body. The wheel motor generates motive power to rotate the wheel. The suspension device includes a support member, a motive-force generating mechanism, and an adjustment mechanism. The wheel is supported rotatably about a center axis by the support member. The motive-force generating mechanism gives a motive force to the support member to generate a biasing force to cause the wheel to protrude from a bottom face of the body. The adjustment mechanism adjusts the biasing force based on a protrusion amount of the wheel from the bottom face. The suspension device gives the biasing force adjusted by the adjustment mechanism to the wheel.

First claim

What is claimed is:

1. A robotic dust collector comprising:
a body that accommodates a storage unit to store therein dust and dirt sucked in from a suction inlet;
a wheel that supports the body;
a wheel motor that generates motive power to rotate the wheel;
a suspension device including
a support member by which the wheel is supported rotatably about a center axis,
a motive-force generating mechanism that gives a motive force to the support member to generate a biasing force to cause the wheel to protrude from a bottom face of the body, and
an adjustment mechanism that adjusts the biasing force based on a protrusion amount of the wheel from the bottom face; and

a support unit by which the support member is supported pivotably about a pivot axis specified at a position different from a position of the center axis in a plane perpendicular to the center axis, wherein
the suspension device giving the biasing force adjusted by the adjustment mechanism to the wheel,
the suspension device supports the wheel such that the protrusion amount of the wheel may vary,
the adjustment mechanism is configured to automatically adjust the biasing force applied to the wheel based on changes in the protrusion amount such that an increase in the protrusion amount results in an increase in the biasing force and a decrease in the protrusion amount results in a decrease in the biasing force,
the motive-force generating mechanism includes a spring having one end portion coupled to the body,
the adjustment mechanism includes a guide provided in the support member and guiding a second end portion of the spring,
the protrusion amount varies with pivoting of the support member, and
the second end portion of the spring moves in the guide with pivoting of the support member.

2. The robotic dust collector according to claim 1 , wherein the movement of the second end portion of the spring causes a distance between the second end portion of the spring and the pivot axis to vary.

3. The robotic dust collector according to claim 1 , wherein the second end portion of the spring moves between a first guide position that is apart by a first distance from the pivot axis and a second guide position that is apart by a second distance longer than the first distance.

4. The robotic dust collector according to claim 1 , further comprising a battery mounting unit in which a battery for an electric power tool is mounted, wherein
the wheel motor operates with electric power supplied from the battery.

5. The robotic dust collector according to claim 1 , wherein an end of the motive-force generating mechanism is movably attached to the support member in a direction transverse to a pivot axis of the support member.

6. The robotic dust collector according to claim 1 , wherein:
an end of the motive-force generating mechanism is movably attached to the support member at a connection point; and
the distance between the connection point and a pivot axis of the support member varies as the protrusion amount varies.

7. A self-propelled device, comprising:
a body;
a wheel that supports the body;
a wheel motor that generates motive power to rotate the wheel;
a support member that supports the wheel and the wheel motor;
a spring having one end coupled to the body and a second end guided by a guide provided in the support member; and
a support unit by which the support member is supported pivotably about a pivot axis specified at a position different from a position of a center axis in a plane perpendicular to the center axis, wherein
the wheel is supported rotatably about the center axis by the support member,
the second end of the spring moves in the guide with pivoting of the support member, and
the second end of the spring moves between a first guide position that is apart by a first distance from the pivot axis and a second guide position that is apart by a second distance longer than the first distance.

8. The self-propelled device according to claim 7 , wherein the movement of the second end of the spring causes a distance between the second end of the spring and the pivot axis to vary.

9. A robotic dust collector comprising:
a body that accommodates a storage unit to store therein dust and dirt sucked in from a suction inlet;
a wheel that supports the body;
a wheel motor that generates motive power to rotate the wheel;
a suspension device including
a support member by which the wheel is supported rotatably about a center axis,
a motive-force generating mechanism that gives a motive force to the support member to generate a biasing force to cause the wheel to protrude from a bottom face of the body, and
an adjustment mechanism that adjusts the biasing force based on a protrusion amount of the wheel from the bottom face; and

a support unit by which the support member is supported pivotably about a pivot axis specified at a position different from a position of the center axis in a plane perpendicular to the center axis, wherein
the suspension device provides the biasing force adjusted by the adjustment mechanism to the wheel,
the motive-force generating mechanism includes a spring having one end portion coupled to the body,
the adjustment mechanism includes a guide provided in the support member and guiding a second end portion of the spring,
the protrusion amount varies with pivoting of the support member,
the second end portion of the spring moves in the guide with pivoting of the support member, and
the second end portion of the spring moves between a first guide position that is apart by a first distance from the pivot axis and a second guide position that is apart by a second distance longer than the first distance.

10. The robotic dust collector according to claim 9 , wherein
the suspension device supports the wheel such that the wheel moves between a first protrusion position at which the wheel protrudes in a first protrusion amount from the bottom face and a second protrusion position at which the wheel protrudes in a second protrusion amount larger than the first protrusion amount, and
the adjustment mechanism adjusts a biasing force given to the wheel protruding in the second protrusion amount to be larger than a biasing force given to the wheel protruding in the first protrusion amount.

11. The robotic dust collector according to claim 9 , wherein
the suspension device supports the wheel such that the wheel moves between a first protrusion position at which the wheel protrudes in a first protrusion amount from the bottom face and a second protrusion position at which the wheel protrudes in a second protrusion amount larger than the first protrusion amount, and
the adjustment mechanism adjusts a difference between a biasing force given to the wheel protruding in the first protrusion amount and a biasing force given to the wheel protruding in the second protrusion amount to be smaller.

12. The robotic dust collector according to claim 9 , wherein the movement of the second end portion of the spring causes a distance between the second end portion of the spring and the pivot axis to vary.

13. The robotic dust collector according to claim 9 , further comprising a battery mounting unit in which a battery for an electric power tool is mounted, wherein
the wheel motor operates with electric power supplied from the battery.

Assignees

• Makita Corp

Inventors

• Koura Kentaro

Classifications

• A47L9/009 Primary

  Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles · CPC title

• A47L2201/00

  Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation · CPC title

• A47L9/2831 Primary

  Motor parameters, e.g. motor load or speed · CPC title

• A47L9/2842

  Suction motors or blowers · CPC title

• B25J19/0091

  Shock absorbers (in general F16F) · CPC title