JP4198262B2 - Position adjustment mechanism of dust absorber in floor cleaning robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a floor surface cleaning robot, and more particularly to a position adjustment mechanism of a dust suction device in a floor surface cleaning robot that can adjust a gap between a floor surface and a dust suction device.
[0002]
[Prior art]
In recent years, floor cleaning robots having an autonomous running function and an automatic cleaning function have been proposed.
[0003]
This type of floor cleaning robot automatically travels on the floor surface S by a pair of left and right drive wheels 101 and one driven wheel 102 as shown in a side view of the main part of the cleaning robot 100, for example, as shown in FIG. A substrate 109 for mounting and supporting a dust suction device 110 provided with a brush 111 and a suction nozzle 115 for sucking the dust swept by the rotating brush 111 is attached 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 apparatus 110 is lowered onto the floor surface S.
[0004]
As shown in the enlarged view of part A of FIG. 7, the rotating brush 111 has a brush 111 b implanted along the outer peripheral surface of the columnar main body 111 a along a spiral shape, and is detachable from the lower surface of the substrate 109. Is rotatably supported in a brush housing 113 having a substantially U-shaped cross section attached thereto, and is rotationally driven by a rotary brush drive motor (not shown) attached to the upper surface of the end of the brush housing 113.
[0005]
On the other hand, the suction nozzle 115 is disposed close to the rotating brush 111 and is disposed in the nozzle housing 117, and a nozzle housing 117 having a substantially U-shaped cross section that is detachably attached to the lower surface of the substrate 109. And a suction hose 119 connected to a suction fan (not shown) that is rotated by a dust suction motor at the center in the width direction of the nozzle 118. A blade 120 made of a rubber plate or the like is attached to narrow the gap between the lower end of the nozzle housing 117 and the floor surface S and efficiently suck dust on the floor surface S into the nozzle 118.
[0006]
When the cleaning robot 100 is moved without cleaning, the cleaning robot 100 is moved with the dust suction device 110 raised by the link mechanism 108, while the auxiliary wheel 107 is moved by the link mechanism 108 when the floor surface S is cleaned. The dust suction device 110 is lowered so as to roll on the floor surface S, and the gap between the nozzle 118 and the floor surface S is kept constant.
[0007]
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 excessive due to the difference in the length of the hairs of the carpet to be cleaned, or There is a concern that the gaps may be blocked, leading to a decrease in dust collection efficiency and failure of the dust suction motor.
[0008]
As a countermeasure, the auxiliary wheel 107 is mounted and supported on the base plate 109 by bolts and nuts 121 so as to be movable up and down, and the mounting position of the auxiliary wheel 107 is adjusted by the bolts and nuts 121 according to the length of the hair of the carpet. Thus, the gap between the carpet and the housing is adjusted.
[0009]
[Problems to be solved by the invention]
According to the floor surface cleaning robot 100, when cleaning the carpet or the like, the attachment position of the auxiliary wheel 107 by the bolt and nut 121 is adjusted according to the length of the hair of the carpet to be cleaned, and the carpet is cleaned. By adjusting the gap between the housing and the housing, it is possible to avoid a reduction in dust suction efficiency and a failure of the dust suction motor.
[0010]
However, the vertical movement adjustment operation of the auxiliary wheel 107 is performed by the operator loosening the screwing of the bolt and nut 121 in a low posture, finely adjusting the mounting position of the auxiliary wheel 107 while visually confirming, and again the bolt and nut 121. There is a concern that an excessive burden will be caused on the operator.
[0011]
Accordingly, an object of the present invention made in view of such a point is to provide a position adjustment mechanism of a dust suction device in a floor cleaning robot that can easily adjust the height of the dust suction device and greatly reduce the burden on the operator. It is in.
[0012]
[Means for Solving the Problems]
The invention of a mechanism for adjusting a dust suction device in a floor cleaning robot according to claim 1 that achieves the above object is characterized in that the dust suction device is supported by the lifting and lowering means by the lifting and lowering means on the traveling frame provided with the drive wheels and is lowered. In the position adjustment mechanism of the dust suction device in the floor cleaning robot in which the auxiliary wheel that holds the gap between the dust suction device and the floor surface and supports the floor surface is attached to the dust suction device, the dust suction position adjustment mechanism includes: An auxiliary wheel support mechanism that protrudes downward from the lower surface of the dust suction device and is supported by the dust suction device so as to be movable up and down, and a pivot shaft that is pivotally supported by a support member provided in the dust suction device; An auxiliary wheel moving mechanism that moves the wheel position of the auxiliary wheel that protrudes downward from the lower surface of the dust suction device in accordance with the rotation angle of the rotation shaft, and the rotation shaft is selected as a plurality of rotation angles. In And a rotation shaft holding mechanism for lifting said auxiliary wheel support mechanism includes an eccentric cam which is fixed to the rotary shaft, the auxiliary wheel is rotatably supported at a lower end extending in the vertical direction A support shaft provided with a slit in which the eccentric cam is fitted at the top and the periphery of the eccentric cam can be slidably contacted at the bottom, a guide member for supporting the support shaft to the dust suction device in a vertically movable manner, and the support shaft And an urging means for urging the upper side upward .
[0013]
According to the invention of claim 1, the auxiliary wheel is selected and held by the rotation shaft holding mechanism by selecting and holding the rotation angle of the rotation shaft corresponding to the length of the hard floor to be cleaned or the hair of the carpet. Through the moving mechanism, the wheel supported by the auxiliary wheel support mechanism is moved to the wheel position corresponding to the rotation angle of the rotation shaft and held at the 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 in accordance with the floor surface to be cleaned, which greatly reduces the burden on the operator. Further, a support shaft that rotatably supports the auxiliary wheel is supported by the dust suction device so as to be movable up and down by the guide member, and the support shaft is urged upward by the urging means, and an eccentric cam provided on the rotation shaft By arranging the periphery of the support shaft slidably on the top of the support shaft, the auxiliary wheel is moved by the periphery of the eccentric cam according to the rotation angle of the rotation shaft, and the auxiliary wheel support mechanism and the auxiliary wheel movement mechanism Simplification is obtained. Furthermore, by forming a slit into which the eccentric cam is inserted at the top of the support shaft, the eccentric cam and the support shaft are relatively positioned, and the operation of the auxiliary wheel moving mechanism is reliably achieved.
[0014]
According to a second aspect of the present invention, in the position adjustment mechanism of the dust suction device in the floor cleaning robot according to the first aspect, the rotating shaft holding mechanism is arranged in an arc shape around the axis of the rotating shaft on the support member. And a plurality of engaging portions provided on the pivot shaft and extending along the support member, and the arms are selectively engageable with the engaging portions. And a locking device.
[0015]
According to a second aspect of the present invention, the rotary shaft holding mechanism according to the first aspect is embodied. According to the second aspect of the invention, the rotating shaft holding mechanism includes an engaging portion formed on the support member; The arm has a simple structure including an arm provided on the rotation shaft and a latch that can be engaged with an engaging portion provided on the arm, and is provided on the arm according to the floor surface to be cleaned. The rotation angle of the rotation shaft is set by a simple operation of engaging the corresponding locking part with the corresponding locking part, and the height of the floor surface and the dust suction device can be adjusted, greatly reducing the burden on the operator Brought about.
[0016]
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 and drilled in the support member. A plurality of locking holes, wherein the locking tool includes a pin urged in a direction to be inserted into each locking hole, and an operation unit that allows the pin to be extracted from the locking hole. Features.
[0017]
According to the invention of claim 3, 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 operation portion. Significantly reduce the burden on workers.
[0022]
The invention according to claim 4 is the position adjustment mechanism of the dust suction device in the floor cleaning robot according to any one of claims 1 to 3, wherein the dust suction device includes the auxiliary wheel support mechanism, the rotating shaft, A support frame that supports both the auxiliary wheel moving mechanism and the rotating shaft holding mechanism is provided.
[0023]
According to invention of Claim 4 , since the said dust suction apparatus has a support frame which supports both an auxiliary wheel support mechanism, a rotating shaft, an auxiliary wheel moving mechanism, and a rotating shaft holding mechanism, it is previously attached to the support frame. Auxiliary wheel moving mechanism, rotating shaft, auxiliary wheel moving mechanism and rotating shaft holding mechanism can be attached and attached to the dust suction device, so that the assembly work can be made more efficient and the position adjusting mechanism can be removed and attached. It becomes easy and excellent in maintainability.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments 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.
[0025]
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.
[0026]
The floor cleaning robot 1 includes a pair of left and right drive wheels 5 and a pair of side frames 11 that are opposed to each other while supporting a traveling motor 6 that rotationally drives the drive wheels 5, and a rotation shaft that extends in the vertical direction. A traveling frame 10 having a rear frame 12 for supporting a driven wheel 7 formed by a free caster or the like having a lower end, and an upper frame 13 for connecting the side frame 11 and the upper end of the rear frame 12. .
[0027]
A pair of guide rails 15 hang down from the upper frame 13, and the slider 16 is supported so as to be movable up and down along the guide rails 15, and the substrate 31 of the dust suction device 30 is disposed at the lower ends of both sliders 16. Is built.
[0028]
The dust suction device 30 is lifted / lowered by the lifting / lowering means 20 supported by the traveling frame 10. The lifting / lowering means 20 includes a cylinder 23 a, a link mechanism 24, and a hanging metal fitting 25, and the link mechanism 24 is expanded and contracted by the cylinders 23 a and 23 b. The lower end of the rod-like hanging metal fitting 25 that moves up and down through the through hole penetrates the through hole of the engaging metal fitting 32 provided in the central portion of the substrate 31, and the engaging metal fitting 32 is separated in the vicinity of the lower end of the hanging metal fitting 25. The upper stopper 26a and the lower stopper 26b are provided, and the spring 26c is elastically mounted between the upper stopper 26a and the locking fitting 32.
[0029]
The dust suction device 30 has a brush housing 33 having a substantially U-shaped cross-section extending in the width direction, which is detachably provided on the lower surface of the substrate 31, and is provided on the outer peripheral surface of the cylindrical main body 34 a in the brush housing 33. The rotating brush 34 in which the brush 34 b is implanted is rotatably supported, and the rotating brush 34 is rotationally driven via a belt or the like by a rotating brush drive motor 35 provided on the upper surface of the brush housing 33.
[0030]
Further, a nozzle housing 36 having a substantially U-shaped cross section extending in the width direction is detachably provided on the lower surface of the substrate 31 at the rear of the brush housing 33, and the nozzle that opens toward the floor surface S in the nozzle housing 36. 37, a suction hose 38 connected to a suction fan (not shown) is connected to the central portion of the nozzle 37 in the width direction, and the gap between the lower end of the nozzle housing 36 and the floor surface S is narrowed. A blade 39 made of a rubber plate or the like for efficiently sucking dust on the surface S into the nozzle 37 is attached.
[0031]
The substrate 31 is further provided with a position adjustment mechanism 40 that adjusts the height of the dust suction device 30 from the floor surface. As for the position adjusting mechanism 40, FIG. 3 showing a cross-sectional view of the main part of the position adjusting mechanism 40 and FIGS. 4, 5, and 6 showing a rear view, a plan view, and a side view of the position adjusting mechanism 40 removed from the substrate 31, respectively. explain.
[0032]
The position adjusting mechanism 40 includes a support frame 41 having a substantially L-shaped cross section that is coupled to the upper surface of the substrate 31 by bolts and nuts 41a and extending in the width direction, and a pair of auxiliary wheels 42 supported by the support frame 41. And a wheel position setting unit 50 for setting a wheel position that is a protruding amount of the auxiliary wheel 42 protruding further downward from the lower surface of the dust suction device 30.
[0033]
The auxiliary wheel 42 is formed by a so-called universal caster that is rotatably supported at the lower end of a columnar support shaft 44 that extends in the vertical direction, and is attached to the support frame 41 through the support frame 41. A support shaft 44 is supported by a cylindrical guide member 45 so as to be movable up and down, and a slit 46 is formed at the top of the support shaft 44 so that the top end is open and the bottom 46a is substantially horizontal and extends in the front-rear direction. ing.
[0034]
Furthermore, an urging means, for example, a spring 47 is elastically mounted between the locking portion 47a provided on the support shaft 44 and the upper surface of the support frame 41, so that the support shaft 44 and the auxiliary wheel 42 are always urged upward. These support shaft 44, guide member 45, spring 47, etc. form an auxiliary wheel support mechanism 43 that supports the auxiliary wheel 42 to the dust suction device 30 so as to be movable up and down.
[0035]
The position setting section 50 is pivotally supported by a pair of support members 51 and 52 erected in the vicinity of both ends of the support frame 41 and the support members 51 and 52 above the support shaft 44, respectively. And has a rotating shaft 53 installed.
[0036]
The rotating shaft 53 is provided with a disc-shaped eccentric cam 54. The circumferential edge of the eccentric cam 54 is formed so as to be slidably contacted with the bottom 46 a by being inserted into a slit 46 formed at the top of the support shaft 44 from above, and the support is made in accordance with the rotation angle of the rotation shaft 53. An auxiliary wheel moving mechanism for moving the shaft 44 along the guide member 45 is formed.
[0037]
One support member 51 has a plurality of engaging portions, six locking holes 56 a, 56 b,... 56 f serving as engaging portions in the present embodiment, each having an arc shape around the axis 53 a of the rotation shaft 53. The base end of an arm 57 extending substantially orthogonal to the rotating shaft 53 is coupled to the end of the rotating shaft 53 protruding from the support member 51. The locking tool 58 provided with the pin 58a which can insert a front-end | tip into the said locking holes 56a, 56b ... 56f is provided in the front-end | tip part. Rotation shaft holding that selectively holds the rotation shaft 53 at a plurality of rotation angles by the locking holes 56a, 56b,... 56f, the arm 57, the locking tool 58, etc. formed in the support member 51. A mechanism 55 is formed.
[0038]
The pin 58a of the locking tool 58 is a direction in which the pin 58a is separated outward from the support member 51 by operating the operation portion 58b provided on the locking tool 58, for example, by pulling the operation portion 58b in the arrow direction. In addition, by releasing the pulling operation, the pin 58a is biased toward the support member 51 by biasing means (not shown) such as a spring.
[0039]
Therefore, by disengaging any one of the locking holes 56a, 56b,... 56f and the pin 58a and releasing the pulling operation of the operation portion 58b, the tip of the pin 58a is inserted into the opposing engagement hole, for example 56a. Thus, the rotation position of the rotation shaft 53, that is, the rotation position of the eccentric cam 54 is held through the arm 57, while the engagement hole, for example 56a, is engaged with the tip of the pin 58a by the pulling operation of the operation portion 58b. The rotation of the rotation shaft 53 by the arm 57, that is, the rotation of the eccentric cam 54 is allowed.
[0040]
When the pin 58a of the locking tool 58 is inserted into the locking hole 56a of the support member 51, the rotational position of the eccentric cam 54 is maintained at 54a shown in FIG. Similarly, by rotating the arm 57 and selectively inserting the pin 58a of the locking tool 58 into the locking holes 56b, 56c... 56f, the eccentric cams 54 correspond to the 54b, 54c,. ..Held at each of the 54f rotation positions.
[0041]
Following the rotational positions 54a, 54b,... 54f of the eccentric cam 54, the support shaft 44 is urged by the spring 47 so that the bottom 46a of the slit 46 abuts the peripheral edge of the eccentric cam 54, and the position is regulated. The position of the auxiliary wheel 42 supported by the support shaft 44 from the support frame 41, that is, the position of the wheel, is a lock for selectively inserting the pin 58 a of the lock tool 58 corresponding to the rotational position of the eccentric cam 54. It adjusts like 42a, 42b ... 42f by hole 56a, 56b ... 56f.
[0042]
The eccentric cam 54 is rotated by the eccentric cam 54 being guided by the slit 46 to be rotated, so that the support shaft 44 is prevented from rotating and the eccentric cam 54 and the support shaft 44 are relatively moved. Positioning is maintained and smooth.
[0043]
Next, the operation of the floor cleaning robot 1 provided with the position adjustment mechanism 40 configured as described above will be described.
[0044]
When cleaning a hard floor such as a linoleum tile surface by the floor surface cleaning robot 1, an upper stopper is provided in the vicinity of the lower end of a hanging metal fitting 25 that is first selectively expanded and contracted by the cylinders 23 a and 23 b and lifted via the link mechanism 24. 26a, the lower stopper 26b, and the board | substrate 31 suspended by the spring 26c are raised along the guide rail 15, and the auxiliary | assistant wheel 42 raises the dust suction apparatus 30 from a floor surface to the raising position above a predetermined amount, and stops.
[0045]
With the dust suction device 30 stopped and maintained at the raised position, the operation portion 58b of the locking tool 58 attached to the arm 57 is pulled in the direction of the arrow shown in FIGS. The pin 58a is extracted to release the locking of the arm 57, 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.
[0046]
The eccentric cam 54 provided on the rotation shaft 53 that rotates as the arm 57 rotates rotates from the rotation position 54c to 54a. As the eccentric cam 54 rotates, the support shaft 44, whose bottom 46 a of the slit 46 abuts on the peripheral edge of the eccentric cam 54 and is restricted from moving upward, is rotated by the bias of the spring 47. The auxiliary wheel 42 moves from the wheel position 42 c to the wheel position 42 a that approaches the support frame 41.
[0047]
In this state, the pulling operation of the operation portion 58b of the locking tool 58 is released. As the pulling operation of the operation portion 58b is released, the tip of the pin 58a of the locking tool 58 is inserted into the locking hole 56a, and the arm 57 is locked and fixed at this position. The eccentric cam 54 provided on the shaft 53 is prevented from rotating, the eccentric cam 54 is held at the rotating position 54a, and the auxiliary wheel 42 supported by the support shaft 44 is held at the wheel position 42a.
[0048]
Next, the cylinder 23 a is selectively expanded and contracted to lower the suspension fitting 25 via the link mechanism 24, and the auxiliary wheel 42 is placed on the floor surface S with the dust suction device 30 suspended from the suspension fitting 25. Lower to the lowering position and stop.
[0049]
Thus, in a state where the auxiliary wheel 42 is held at the wheel position 42a that is relatively close to the substrate 18, the gap between the floor surface S and the lower ends of the brush housing 33 and the nozzle housing 35 is appropriately held, and the dust absorption efficiency is lowered. Is avoided and good hard floor cleaning is achieved.
[0050]
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 hairs of the carpet changes, the auxiliary wheels 42 as described above. If the mounting height is constant, the suction efficiency is reduced or the suction motor is broken. Therefore, the mounting height of the auxiliary wheel 42 is changed.
[0051]
The change is made as follows. That is, the robot 1 is stopped before and after the cleaning surface is changed, and the operating portion 58b of the locking fitting 58 attached to the arm 57 is pulled to pull out the pin 58a from the locking hole to lock the arm 57. The arm 57 is released and the pin 58a is inserted into the other locking hole.
[0052]
When the arm 57 is rotated, the support bar 44 in contact with the eccentric cam 54 fixed to the rotation shaft 53 to which the arm 57 is fixed is moved upward or downward, and in conjunction therewith, the dust suction device 30 is moved. Is lowered or raised, and the gap between the lower end of the dust suction device 30 and the floor surface S is adjusted.
[0053]
In this way, the distance of the auxiliary wheel 42 from the base plate 31 is adjusted according to the length of the hair of the carpet, and the gap between the floor surface and the lower ends of the brush housing 33 and the nozzle housing 35 is always properly maintained to absorb the dust. A reduction in efficiency is avoided and good carpet cleaning is achieved.
[0054]
Therefore, according to the present embodiment, it corresponds to the length of the hard floor or the length of the hair of the carpet, etc., which is intended to clean the arm 57 that is allowed to rotate by the pulling operation of the operation portion 58b provided in the locking tool 58. , Or 56f and the pin 58a are opposed to each other, whereby the auxiliary wheel 42 moves to the corresponding wheel position following the rotating eccentric cam 54, and the operation portion 58b. The auxiliary wheels 42 are held at the corresponding wheel positions 42a, 42b,... Or 42f by inserting the pins 58a into the corresponding locking holes 56a, 56b,. In other words, the floor surface S, the brush housing 33, and the nozzle housing 35 can be easily operated by simply inserting the pin 58a of the locking tool 58 into the locking holes 56a, 56b... 56f corresponding to the floor surface to be cleaned. Adjustment of the gap with the lower end, that is, adjustment of the height of the dust suction device can be performed, and the burden on the operator is greatly reduced.
[0055]
Further, since it has the support frame 41 that supports the auxiliary wheel support mechanism 43, the rotation shaft 53, the auxiliary wheel movement mechanism, the rotation shaft holding mechanism 55, etc., it is attached to the support frame 41 in advance and attached to the dust suction device 30. As a result, it is possible to improve the efficiency of the assembling work, and to facilitate the detaching work of the position adjusting mechanism 40, thereby improving the maintainability.
[0056]
In the above embodiment, the support member 51 has six locking holes 56a, 56b,... 56f that are inserted and locked in accordance with the floor surface. It is possible to appropriately change the number of the locking holes to other plural numbers, to replace the locking holes with a recess that allows the tip of the pin 58a, and to replace the eccentric cam 54 with a link mechanism. It is also possible to configure the auxiliary wheels 42 to be moved to the corresponding wheel positions by a gear mechanism or the like, and the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention. Is possible.
[0057]
【The invention's effect】
According to the position adjustment mechanism of the dust suction device in the floor cleaning robot of the present invention described above, the rotation shaft can be rotated by the rotation shaft holding mechanism corresponding to the length of the hard floor to be cleaned or the length of the hair of the carpet. By selecting and holding the angle, the wheel supported by the auxiliary wheel support mechanism is moved to the wheel position corresponding to the rotation angle of the rotation shaft via the auxiliary wheel movement mechanism and held at the position. The
[0058]
Therefore, the height of the floor surface and the dust suction device can be adjusted by a simple operation that operates the rotating shaft holding mechanism according to the floor surface to be cleaned. This will reduce the burden.
[Brief description of the drawings]
FIG. 1 is a side view of an essential part of a floor cleaning robot for explaining 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 similarly a rear view of the main part of the floor cleaning robot.
FIG. 3 is a cross-sectional view of the main part of the position adjustment mechanism, similarly;
FIG. 4 is also a rear view of the position adjusting mechanism.
FIG. 5 is also 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 an essential part showing an outline of a conventional floor cleaning robot.
8 is an enlarged view of a part A in FIG. 7;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Floor surface cleaning robot 5 Driving wheel 10 Traveling frame 20 Lifting means 30 Dust absorption 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 (attached) Means)
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 Part

Claims (4)

The dust suction device is supported by a traveling frame having a drive wheel by an elevating means so that the dust suction device can be moved up and down, and auxiliary wheels that support the floor surface while holding a gap between the dust suction device lowered and the floor surface are supported by the dust suction device. In the position adjustment mechanism of the dust suction device in the floor cleaning robot attached to the
The dust absorption position adjustment mechanism is
An auxiliary wheel support mechanism that protrudes downward from the lower surface of the dust suction device and supports the dust suction device so that it can move up and down
A pivot shaft pivotally supported by a support member provided in the dust suction device;
An auxiliary wheel moving mechanism for moving the wheel position of the auxiliary wheel protruding downward from the lower surface of the dust suction device according to the rotation angle of the rotation shaft;
A rotation shaft holding mechanism that selectively holds the rotation shaft at a plurality of rotation angles ;
The auxiliary wheel support mechanism is
An eccentric cam fixed to the rotating shaft;
A support shaft having a slit extending in the vertical direction and having the eccentric cam inserted into a top portion rotatably supporting the auxiliary wheel at a lower end and capable of sliding the periphery of the eccentric cam on the bottom portion;
A guide member for supporting the support shaft on the dust suction device so as to be movable up and down;
And a biasing means for biasing the support shaft upward . A position adjustment mechanism for the dust suction device in the floor cleaning robot. The rotating shaft holding mechanism is
A plurality of engaging portions arranged in an arc shape around the axis of the rotation shaft on the support member;
An arm provided on the pivot shaft and extending along the support member;
The position adjustment mechanism of the dust suction device in the floor cleaning robot according to claim 1, further comprising a locking tool provided on the arm and selectively engageable with the engaging portion. The engaging portion is
A plurality of locking holes arranged in a circular arc around the axis of the pivot shaft and drilled in the support member;
The locking tool is
The dust-absorbing device for a floor cleaning robot according to claim 2, further comprising: a pin urged in a direction to be inserted into each of the locking holes; and an operation unit that causes the pin to be extracted from the locking holes. Position adjustment mechanism. The dust suction device is
The floor cleaning according to any one of claims 1 to 3, further comprising a support frame that supports the auxiliary wheel support mechanism, the rotation shaft, the auxiliary wheel movement mechanism, and the rotation shaft holding mechanism. Position adjustment mechanism of the dust suction device in the robot.

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