JP2000279353A - Position adjusting mechanism of dust suction device in floor surface cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position adjusting mechanism of dust suction device in a floor surface cleaning robot that the height adjustment of dust suction device is easily done and that results in great reduction of burden on worker. SOLUTION: A supporting axis 44 supports a spare wheel 42 rotatably. A guide member 45 enables the supporting axis 44 to move freely up and down, and the supporting axis 44 is energized upward with a spring 47. On the other hand, an eccentric cam 54, which is placed on a rotatory axis 53. A retaining tool 58 capable of being connected to a hook hole, which is formed in a supporting member 51, is provided on the arm 57. An eccentric cam 42 placed on the rotatory axis 53 rotates with the rotation of the arm 57, and the spare wheel 42 moves, following the rotation of the eccentric cam 42. Thus, the height between the floor surface and a dust suction device 30 is adjusted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floor cleaning robot, and more particularly, to a position adjustment mechanism of a dust suction device in a floor cleaning robot which can adjust a gap between a floor surface and a dust suction device.

[0002]

2. Description of the Related Art In recent years, floor cleaning robots having an autonomous traveling function and an automatic cleaning function have been proposed.

A floor cleaning robot of this type is, for example, shown in FIG.
As shown in the side view of the main part of the cleaning robot 100, the pair of left and right driving wheels 101 and one driven wheel 102 automatically travel on the floor S, and are also swept out by the rotating brush 111 and the rotating brush 111. A substrate 109 for mounting and supporting a dust suction device 110 having a suction nozzle 115 for sucking dust is mounted by a link mechanism 108 so as to be movable up and down.
An auxiliary wheel 107 is provided for maintaining a constant gap between the substrate 109 and the floor surface S when the vehicle is lowered onto the floor surface S.

[0004] The rotating brush 111 is shown in FIG.
As shown in a partially enlarged view, a brush 111b is implanted along the spiral shape on the outer peripheral surface of a cylindrical main body 111a, and the substrate 1
09 is rotatably supported in a brush housing 113 having a substantially U-shaped cross section detachably attached to the lower surface of the brush housing 09, and is rotationally driven by a rotary brush driving motor (not shown) attached to the upper end of the brush housing 113. Is done.

On the other hand, the suction nozzle 115 is
11, a nozzle housing 117 having a substantially U-shaped cross section and removably attached to the lower surface of the substrate 109, and disposed in the nozzle housing 117 and opening toward the floor surface S. A suction hose 119 connected to a suction fan (not shown) rotatably driven by a dust suction motor at the center of the nozzle 118 in the width direction.
A blade 120 made of a rubber plate or the like is attached for narrowing a gap between the lower end of 7 and the floor surface S to efficiently suck dust on the floor surface S into the nozzle 118.

A cleaning robot 10 without cleaning is used.
0, the dust absorbing device 1 is moved by the link mechanism 108.
While the cleaning robot 100 is moved while the floor 10 is raised, when cleaning the floor S, the dust suction device 110 is lowered by the link mechanism 108 so that the auxiliary wheels 107 roll on the floor S, and the nozzle 118 is moved. It is configured such that the gap between the floor and the floor surface S is kept constant.

On the other hand, when cleaning a carpet or the like,
The gap between the lower end of the housing such as the brush housing 113 and the nozzle housing 117 and the floor surface S is excessively large due to the difference in the length of the bristle of the carpet to be cleaned, or the gap is closed to reduce the dust absorption efficiency. There is a concern that a failure of the dust suction motor may be caused.

As a countermeasure, the auxiliary wheel 107 is mounted and supported on the substrate 109 by bolts and nuts 121 so as to be vertically movable, and the mounting position of the auxiliary wheel 107 is determined by the bolts and nuts 121 according to the length of the bristle of the carpet. Is adjusted to adjust the gap between the carpet and the housing.

[0009]

According to the floor cleaning robot 100, when cleaning the carpet or the like, the auxiliary wheels 107 are provided by bolts and nuts 121 according to the length of the bristle feet of the carpet to be cleaned. By adjusting the mounting position and adjusting the gap between the carpet and the housing, it is possible to prevent a reduction in dust collection efficiency and a failure of the dust collection motor.

However, in the vertical movement adjustment work of the auxiliary wheel 107, the worker loosens the screwing of the bolt and the nut 121 in a low posture, finely adjusts the mounting position of the auxiliary wheel 107 while visually confirming, and again performs the bolt adjustment. In addition, since the nut 121 is tightened and fixed, there is a concern that an excessive load may be caused on an operator.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention, which has been made in view of the above points, is to provide a position adjustment mechanism of a dust suction device in a floor cleaning robot which can easily adjust the height of the dust suction device and greatly reduce the burden on an operator. To provide.

[0012]

According to a first aspect of the present invention, there is provided a floor cleaning robot having a position adjusting mechanism for a dust suction device in a floor cleaning robot. While being freely supported,
In the position adjustment mechanism of the dust suction device in the floor cleaning robot in which an auxiliary wheel holding the gap between the lowered dust suction device and the floor surface and supporting the floor surface on the floor surface is attached to the dust suction device, the dust suction position adjustment mechanism An auxiliary wheel supporting mechanism for projecting the auxiliary wheel downward from the lower surface of the dust suction device and supporting the auxiliary wheel movably up and down, and a rotation rotatably supported by a support member provided on the dust suction device. A shaft, an auxiliary wheel moving mechanism for moving a wheel position of the auxiliary wheel projecting downward from a lower surface of the dust suction device in accordance with a rotation angle of the rotation shaft, and a plurality of rotation angles for the rotation shaft. And a rotating shaft holding mechanism for selectively holding the rotating shaft.

According to the first aspect of the present invention, the rotation shaft holding mechanism selects and holds the rotation angle of the rotation shaft corresponding to the length of the hair floor of the hard floor or carpet to be cleaned. The wheels supported by the auxiliary wheel support mechanism are moved to the wheel position corresponding to the rotation angle of the rotation shaft via the auxiliary wheel moving mechanism and are held at that position. Therefore, the height of the floor surface and the dust suction device can be adjusted by a simple operation of operating the rotating shaft holding mechanism according to the floor surface to be cleaned, and the burden on the operator can be greatly reduced.

According to a second aspect of the present invention, in the position adjusting mechanism of the dust suction device in the floor cleaning robot according to the first aspect, the rotating shaft holding mechanism is configured such that the supporting member has a circular shape around the axis of the rotating shaft. A plurality of engaging portions arranged in an arc shape; an arm provided on the rotating shaft and extending along the support member; and an arm provided on the arm and selectively provided on the engaging portion. And a lock that can be engaged.

According to a second aspect of the present invention, there is provided a rotary shaft holding mechanism according to the first aspect. According to the second aspect of the present invention, the rotating shaft holding mechanism is formed on the support member. It has a simple configuration including a joint portion, an arm provided on the rotating shaft, and a locking tool engageable with an engaging portion provided on the arm, and furthermore, according to the floor surface to be cleaned. The rotation angle of the rotation shaft is set by a simple operation of engaging the locking member provided on the arm with the corresponding locking portion, and the height of the floor surface and the dust suction device can be adjusted, thereby greatly reducing the number of workers. The burden is reduced.

According to a third aspect of the present invention, in the position adjustment mechanism of the dust suction device in the floor cleaning robot according to the second aspect, the engaging portions are arranged in an arc shape around the axis of the rotation shaft. A plurality of locking holes formed in the locking tool, wherein the locking tool includes a pin urged in a direction to be inserted into each of the locking holes, and an operation unit for pulling out the pin from the locking hole. It is characterized by having.

According to the third aspect of the present invention, the engaging portion is easily formed by the locking hole formed in the support member, and the engagement between the locking hole and the locking tool can be easily performed by operating the operating portion. Done,
Further, the burden on the operator is greatly reduced.

According to a fourth aspect of the present invention, in the position adjustment mechanism of the dust suction device in the floor cleaning robot according to any of the first to third aspects, the auxiliary wheel support mechanism extends in the vertical direction and has the lower end provided with the auxiliary wheel at the lower end. A supporting shaft for rotatably supporting the supporting shaft, a guide member for supporting the supporting shaft on the dust suction device so as to be vertically movable, and a biasing means for biasing the supporting shaft upward, and the auxiliary wheel moving mechanism. And an eccentric cam fixedly mounted on the rotation shaft and having a peripheral edge slidably contacting the top of the support shaft.

According to a fourth aspect of the present invention, an auxiliary wheel supporting mechanism and an auxiliary wheel moving mechanism are embodied, and a supporting shaft for rotatably supporting the auxiliary wheel is vertically movable by a guide member in a dust suction device. The supporting shaft is urged upward by the urging means, and the peripheral edge of the eccentric cam provided on the rotating shaft is slidably contacted with the top of the supporting shaft, thereby rotating the rotating shaft. The auxiliary wheel is moved by the peripheral edge of the eccentric cam according to the angle, and simplification of the auxiliary wheel supporting mechanism and the auxiliary wheel moving mechanism is obtained.

According to a fifth aspect of the present invention, in the position adjustment mechanism of the dust suction device in the floor cleaning robot according to the fourth aspect, the support shaft has the eccentric cam fitted to the top of the support shaft and the bottom of the support shaft. The eccentric cam is provided with a slit capable of slidingly contacting the periphery thereof.

According to the fifth aspect of the present invention, by forming a slit into which the eccentric cam is fitted at the top of the support shaft, relative positioning between the eccentric cam and the support shaft is achieved,
The operation of the auxiliary wheel moving mechanism is reliably achieved.

According to a sixth aspect of the present invention, in the floor cleaning robot according to any one of the first to fifth aspects, in the position adjusting mechanism of the dust suction device, the dust suction device includes the auxiliary wheel support mechanism, the rotating shaft, and the auxiliary wheel moving mechanism. And a support frame for supporting the rotating shaft holding mechanism.

According to the sixth aspect of the present invention, since the dust-absorbing device has the support frame that supports the auxiliary wheel support mechanism, the rotating shaft, the auxiliary wheel moving mechanism and the rotating shaft holding mechanism together, The auxiliary wheel support mechanism, the rotating shaft, the auxiliary wheel moving mechanism, and the rotating shaft holding mechanism can be mounted and mounted on the dust suction device, thereby increasing the efficiency of the assembling work and removing and attaching the position adjusting mechanism. Is easy and maintenance is excellent.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a position adjusting mechanism of a dust suction device in a floor cleaning robot according to the present invention will be described below with reference to the drawings.

FIG. 1 is a side view of a main part of the floor cleaning robot 1, FIG. 2 is a rear view, and an arrow F indicates a forward direction.

The floor cleaning robot 1 extends in the vertical direction with a pair of left and right driving wheels 5 and a pair of side frames 11 which are opposed to each other while supporting a traveling motor 6 for rotating the driving wheels 5. Rear frame 12 that supports driven wheel 7 formed at the lower end by a free caster or the like having a rotating shaft
And a traveling frame 10 having an upper frame 13 that connects upper ends of a side frame 11 and a rear frame 12.

A pair of guide rails 15 are provided so as to face down from the upper frame 13, and each guide rail 15
The slider 16 is supported so as to be able to move up and down along with.
Has been erected.

The dust suction device 30 is moved up and down by elevating means 20 supported by the traveling frame 10. The elevating means 20 has a cylinder 23a, a link mechanism 24 and a hanging bracket 25, and is expanded and contracted by the cylinders 23a and 23b. The lower end of a rod-shaped hanging bracket 25 that moves up and down via a link mechanism 24 is made to pass through a through hole of a locking bracket 32 provided at the center of the substrate 31, and a locking bracket is provided near the lower end of the hanging bracket 25. 32, an upper stopper 26a and a lower stopper 26b are provided, and the upper stopper 26a
It is formed by elastically mounting a spring 26c between the spring 26c and the lock fitting 32.

The dust suction device 30 has a brush housing 33 having a substantially U-shaped cross section and extending in the width direction, which is provided on the lower surface of the substrate 31 so as to be detachable. A rotary brush 34 having a brush 34b implanted on its outer peripheral surface is rotatably supported, and the rotary brush 34 is rotationally driven via a belt or the like by a rotary brush drive motor 35 provided on the upper surface of the brush housing 33.

Further, behind the brush housing 33, a nozzle housing 36 extending in the width direction and having a substantially U-shaped cross section is detachably provided on the lower surface of the substrate 31, and is disposed inside the nozzle housing 36 toward the floor surface S. An opening nozzle 37 is provided, a suction hose 38 connected to a suction fan (not shown) is connected to the center of the nozzle 37 in the width direction, and a gap between the lower end of the nozzle housing 36 and the floor surface S is narrowed. Further, a blade 39 made of a rubber plate or the like for efficiently sucking dust on the floor surface S into the nozzle 37 is attached.

The substrate 31 is further provided with a position adjusting mechanism 40 for adjusting the height of the dust suction device 30 from the floor. As for the position adjusting mechanism 40, FIG. 3 is a cross-sectional view of a main part of the position adjusting mechanism 40, and FIG. 4 is a rear view, a plan view, and a side view of the position adjusting mechanism 40 removed from the substrate 31,
This will be described with reference to FIGS.

The position adjusting mechanism 40 includes a support frame 41 having a substantially L-shaped cross section, both ends of which are connected to the upper surface of the substrate 31 by bolts and nuts 41a and extending in the width direction. It has an auxiliary wheel 42 and a wheel position setting unit 50 that sets a wheel position that is the amount of protrusion of the auxiliary wheel 42 that projects further below the lower surface of the dust suction device 30.

The auxiliary wheel 42 is formed by a so-called free caster rotatably supported at the lower end of a columnar support shaft 44 extending in the vertical direction. The support shaft 44 is vertically movably supported by the attached cylindrical guide member 45, and the top of the support shaft 44 has an opening at the top end and a bottom 46a which is substantially horizontal and extends in the front-rear direction.
6 are formed.

Further, a locking portion 47 provided on the support shaft 44
a and biasing means, for example, a spring 47 is elastically mounted between the support shaft 44 and the auxiliary wheel 4.
2 is constantly urged upward, and an auxiliary wheel supporting mechanism 43 for vertically supporting the auxiliary wheel 42 on the dust suction device 30 by the support shaft 44, the guide member 45, the spring 47 and the like.
Is formed.

The position setting section 50 includes a pair of support members 51 and 52 erected in the vicinity of both ends of the support frame 41.
And both support members 51 and 52 above the support shaft 44.
Each has a rotating shaft 53 which is rotatably supported and installed.

The rotating shaft 53 is provided with a disc-shaped eccentric cam 5.
4 are provided. The peripheral edge of the eccentric cam 54 is formed so as to be fitted from above into a slit 46 formed at the top of the support shaft 44 and slidably contact the bottom 46a.
An auxiliary wheel moving mechanism for moving the support shaft 44 along the guide member 45 in accordance with the rotation angle of.

A plurality of engaging portions,
In the present embodiment, six locking holes 56a, 5
56f are arranged in a circular arc around the axis 53a of the rotating shaft 53, and are provided with an end of the rotating shaft 53 protruding from the support member 51. The base end of an arm 57 extending orthogonally is connected, and the locking holes 56a, 56b,.
A locking tool 58 having a pin 58a into which the tip can be inserted is provided at 56f. The holding holes 56a, 56b... 56f formed in the support member 51, the arm 57, the holding tool 58 and the like selectively hold the turning shaft 53 at a plurality of turning angles. A mechanism 55 is formed.

The pin 58a of the locking member 58 is moved outward from the supporting member 51 by operating the operating portion 58b provided on the locking member 58, for example, by pulling the operating portion 58b in the direction of the arrow. The pin 58a is urged toward the support member 51 by urging means (not shown) such as a spring by releasing the pulling operation in the separating direction.

Therefore, one of the locking holes 56a, 56b
... the operation unit 58b with the 56f and the pin 58a facing each other
By releasing the above pulling operation, the tip of the pin 58a is inserted into an engaging hole,
7, while the rotating position of the rotating shaft 53, that is, the rotating position of the eccentric cam 54, is held, and the distal end of the pin 58a is engaged by the pulling operation of the operating portion 58b, for example, 56.
The arm 57 is allowed to rotate, and the rotation of the rotation shaft 53, that is, the rotation of the eccentric cam 54 is allowed.

When the pin 58a of the locking member 58 is inserted into the locking hole 56a of the support member 51, the eccentric cam 5
4 is maintained at 54a shown in FIG. Similarly, by pivoting the arm 57 and selectively inserting the pin 58a of the locking member 58 into each of the locking holes 56b, 56c.
4f... 54f are held at respective rotational positions.

Rotational positions 54a, 54 of the eccentric cam 54
b, the bottom 46a of the slit 46 following the 54f
The position of the support shaft 44 supported by the support shaft 44 from the support frame 41, i.e., the wheel position, is regulated by the support shaft 44 being urged by a spring 47 so that the support shaft 44 contacts the peripheral edge of the eccentric cam 54. 42a, 42 are formed by locking holes 56a, 56b,... 56f for selectively inserting pins 58a of locking members 58 corresponding to the rotational position of the eccentric cam 54.
b... 42f.

In this rotation operation of the eccentric cam 54, since the eccentric cam 54 is guided and rotated by the slit 46, the rotation of the support shaft 44 is prevented and the eccentric cam 5 is rotated.
The relative positioning between the support shaft 4 and the support shaft 44 is maintained, and smooth operation is performed.

Next, the operation of the floor cleaning robot 1 having the position adjusting mechanism 40 configured as described above will be described.

In cleaning a hard floor such as a linoleum tile surface by the floor cleaning robot 1, for example,
First, the cylinders 23a and 23b are selectively expanded and contracted, and the substrate 31 suspended by the upper stopper 26a, the lower stopper 26b, and the spring 26c near the lower end of the suspension fitting 25 that rises via the link mechanism 24 is mounted on the guide rail 15. The auxiliary wheels 42 are raised from the floor to a raised position above the floor by a predetermined amount, and then stopped.

With the dust suction device 30 stopped and maintained at the raised position, the operating portion 58b of the locking tool 58 attached to the arm 57 is pulled in the direction of the arrow shown in FIGS. For example, the pin 58a is extracted from 56c, the locking of the arm 57 is released, and the arm 57 is rotated by a predetermined amount so that the locking hole 56a for cleaning the hard floor and the pin 58a face each other.

The eccentric cam 54 provided on the rotation shaft 53 which rotates with the rotation of the arm 57 rotates from the rotation position 54c to 54a. With the rotation of the eccentric cam 54, the bottom 46a of the slit 46 abuts on the peripheral edge of the eccentric cam 54, and the upward movement of the support shaft 44 is restricted. , And rises along the guide member 45 so that the auxiliary wheel 42 is moved to the wheel position 4.
It moves from 2c to the wheel position 42a approaching the support frame 41.

In this state, the pulling operation of the operating portion 58b of the locking member 58 is released. With the release of the pulling operation of the operation portion 58b, the tip of the pin 58a of the locking member 58 is inserted into the locking hole 56.
a, the arm 57 is locked and fixed at this position, and the rotation of the rotation shaft 53 and the eccentric cam 54 provided on the rotation shaft 53 is prevented by the arm 57, and the eccentric cam 54 is moved to the rotation position 54a. And the auxiliary wheel 42 supported by the support shaft 44 is held at the wheel position 42a.

Next, the hanging bracket 25 is lowered via the link mechanism 24 by selectively expanding and contracting the cylinder 23a, and the dust suction device 30 suspended by the hanging bracket 25 is moved to the floor S by the auxiliary wheels 42. It is lowered to the lowering position where it is placed and stopped.

In the state where the auxiliary wheel 42 is held at the wheel position 42a relatively close to the substrate 18, the floor surface S
The clearance between the brush housing 33 and the lower end of the nozzle housing 35 is appropriately maintained, so that a reduction in dust collection efficiency is avoided, and good cleaning of the hard floor is achieved.

When the floor surface being cleaned changes,
For example, when a carpet is laid in the middle of a hard floor, or when the length of the bristle of the carpet changes, as described above, if the mounting height of the auxiliary wheels 42 is constant, the suction efficiency is reduced. Therefore, the height at which the auxiliary wheels 42 are mounted is changed.

The change is performed as follows. That is, the robot 1 is stopped before and after the cleaning surface is changed, and the operation portion 58b of the locking metal fitting 58 attached to the arm 57 is pulled to pull out the pin 58a from the locking hole to lock the arm 57. After releasing, the arm 57 is rotated and the pin 58a is inserted into another locking hole.

When the arm 57 rotates, the support rod 44, which is in contact with the eccentric cam 54 fixedly mounted on the rotation shaft 53 to which the arm 57 is fixed, is moved upward or downward. The dust suction device 30 is lowered or raised to adjust the gap between the lower end of the dust suction device 30 and the floor surface S.

As described above, the distance between the auxiliary wheel 42 and the substrate 31 is adjusted according to the length of the bristle feet of the carpet.
The gap between the floor surface and the lower ends of the brush housing 33 and the nozzle housing 35 is always appropriately maintained, so that a reduction in dust-absorbing efficiency is avoided, and satisfactory cleaning of the carpet is achieved.

Therefore, according to the present embodiment, the locking device 5
A lock floor 56a corresponding to the length of a hard floor or a carpet to clean the arm 57 that is allowed to rotate by the pulling operation of the operation unit 58b provided on the
By rotating until the pin 58a and the pin 58a face each other, the auxiliary wheel 42 moves to the corresponding wheel position following the rotating eccentric cam 54, and the operation unit 5
8b, the pin 58a is inserted into the corresponding locking hole 56a, 56b... Or 56f, so that the auxiliary wheel 42 corresponds to the corresponding wheel position 42a, 42b.
... or 42f. In other words, the locking holes 56a, 56b,... Corresponding to the floor surface to be cleaned.
Alternatively, the gap between the floor surface S and the lower ends of the brush housing 33 and the nozzle housing 35, that is, the height of the dust suction device can be adjusted by a simple operation of inserting and replacing the pin 58a of the locking member 58 with 56f. The burden on the person is reduced.

The auxiliary wheel support mechanism 43, the rotating shaft 5
3. Since the supporting frame 41 is provided to support the auxiliary wheel moving mechanism and the rotating shaft holding mechanism 55, etc., the supporting frame 41 can be attached to the supporting frame 41 in advance and attached to the dust suction device 30, thereby increasing the efficiency of the assembling work. Is obtained, and the work of attaching and detaching the position adjusting mechanism 40 is facilitated, thereby improving the maintainability.

In the above embodiment, the six locking holes 56 into which the pins 58a of the locking tools 58 are inserted and locked corresponding to the floor surface.
a, 56b... 56f are bored in the support member 51,
It is also possible to appropriately change the number of the locking holes to another plurality according to a request, to provide a recess in which the tip of the pin 58a can be provided instead of the locking hole, and to replace the eccentric cam 54. It is also possible to configure the auxiliary wheels 42 to be moved to the corresponding wheel positions by a link mechanism, a gear mechanism, or the like, and the present invention is not limited to the above-described embodiment and does not depart from the spirit of the invention. Various changes are possible.

[0057]

According to the position adjusting mechanism of the dust suction device in the floor cleaning robot according to the present invention described above, the rotating shaft holding mechanism is adapted to rotate the hard floor to be cleaned or the length corresponding to the length of the bristle of the carpet. By selecting and holding the rotation angle of the driving shaft, via the auxiliary wheel moving mechanism,
The wheel supported by the auxiliary wheel support mechanism is moved to a wheel position corresponding to the rotation angle of the rotation shaft and is held at that position.

Therefore, the height of the floor surface and the dust suction device can be adjusted by a simple operation of operating the rotating shaft holding mechanism according to the floor surface to be cleaned, and the troublesome height adjustment work is relieved. The burden on the workers is reduced.

[Brief description of the drawings]

FIG. 1 is a side view of a main part of a floor cleaning robot illustrating an embodiment of a position adjusting mechanism of a dust suction device in the floor cleaning robot according to the present invention.

FIG. 2 is a rear view of a main part of the floor cleaning robot.

FIG. 3 is a sectional view of a main part of the position adjusting mechanism.

FIG. 4 is a rear view of the position adjustment mechanism.

FIG. 5 is a plan view of the position adjustment mechanism.

FIG. 6 is a side view of the position adjusting mechanism.

FIG. 7 is a side view of a main part showing an outline of a conventional floor cleaning robot.

FIG. 8 is an enlarged view of a portion A in FIG. 7;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Floor cleaning robot 5 Drive wheel 10 Running frame 20 Elevating means 30 Dust absorbing device 40 Position adjustment mechanism 41 Support frame 42 Auxiliary wheels 42a, 42b ... 42e Wheel position 44 Support shaft 45 Guide member 46 Slit 46a Bottom 47 Spring 50 position setting portion 51 support member 52 support member 53 rotating shaft 53a shaft center 54 eccentric cams 54a, 54b... 54e rotating positions 55a, 55b... 55e locking hole 57 arm 58 locking tool 57a Pin 57b Operation section

Claims (6)

[Claims] 1. A dust suction device is supported on a traveling frame provided with driving wheels by a lifting means so as to be able to move up and down, and a gap between the lowered dust suction device and the floor surface is supported on the floor surface. In the position adjustment mechanism of the dust suction device in the floor cleaning robot in which the auxiliary wheel is attached to the dust suction device, the dust suction position adjustment mechanism projects the auxiliary wheel downward from the lower surface of the dust suction device and supports the auxiliary wheel vertically so as to be freely movable. An auxiliary wheel supporting mechanism, a rotating shaft rotatably supported by a supporting member provided on the dust suction device, and a lower surface of the dust suction device corresponding to a rotation angle of the rotating shaft. A floor cleaning comprising: an auxiliary wheel moving mechanism for moving a wheel position of the protruding auxiliary wheel; and a rotating shaft holding mechanism for selectively holding the rotating shaft at a plurality of rotating angles. In the robot Position adjusting mechanism of the dust. 2. The rotating shaft holding mechanism, wherein: a plurality of engaging portions provided on the supporting member in an arc shape around an axis of the rotating shaft; and a plurality of engaging portions provided on the rotating shaft; The floor surface according to claim 1, further comprising: an arm extending along the support member; and a locking member provided on the arm and selectively engageable with the engaging portion. Position adjustment mechanism of the dust suction device in the cleaning robot. 3. The engaging portion is a plurality of locking holes arranged in an arc around the axis of the rotating shaft and formed in a supporting member. The position adjustment of the dust suction device in the floor cleaning robot according to claim 2, further comprising a pin urged in a direction to be inserted into the stop hole, and an operation unit for pulling out the pin from the locking hole. mechanism. 4. The auxiliary wheel support mechanism includes a support shaft extending in the vertical direction and rotatably supporting the auxiliary wheel at a lower end, and a guide for supporting the support shaft in the dust suction device so as to be vertically movable. A member, and an urging means for urging the support shaft upward, wherein the auxiliary wheel moving mechanism comprises an eccentric cam fixed to the rotation shaft and having a peripheral edge slidably in contact with the top of the support shaft. Claim 1 characterized by comprising:
4. The position adjusting mechanism of the dust suction device in the floor cleaning robot according to 3. 5. The support shaft according to claim 4, wherein the eccentric cam is fitted into a top portion of the support shaft and a slit is provided at a bottom portion of the support shaft so that a peripheral edge of the eccentric cam can slide. A mechanism for adjusting the position of the dust suction device in the floor cleaning robot. 6. The dust collecting apparatus according to claim 1, further comprising a support frame for supporting the auxiliary wheel supporting mechanism, the rotating shaft, the auxiliary wheel moving mechanism, and the rotating shaft holding mechanism together. A position adjustment mechanism of a dust suction device in the floor cleaning robot described in the above.