JP2022105921A - Wiping device and robot system - Google Patents

Abstract

To provide a wiping device capable of performing a wiping work with a simple configuration.SOLUTION: A wiping device 1 comprises: a roll holding part 3 which feeds a sheet S: a sponge 8 which has a flat surface on which a portion of the sheet S fed out of the roll holding part 3, the portion being exposed outward, is installed; a roll driver 9 which recovers the portion of the sheet S installed on the flat surface of the sponge 8; and a motor 95 to automate the recovery.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to cleaning devices and robot systems.

Attempts have been made to have robots perform the wiping work (hereinafter referred to as "cleaning work") that was performed manually. Patent Document 1 discloses a robot that can travel autonomously and wipes the floor with a sheet pressed against the floor by the weight of the robot body.

Japanese Unexamined Patent Publication No. 2018-187368

By the way, considering the efficiency of the cleaning work, it is preferable to provide the end effector of the robot arm with a cleaning function. In order to apply this function to the robot end effector, it is desirable to have an improved structure in terms of simplification, weight reduction, and miniaturization.

It is an object of the present disclosure to provide a cleaning device and a robot system capable of cleaning work with a simple structure.

The cleaning device according to one aspect of the embodiment of the present invention includes a feeding section for feeding a sheet, and an installation section having a flat surface on which a portion of the sheet fed from the sending section exposed to the outside is installed. A collection unit for collecting a portion of the sheet installed on the flat surface of the installation unit and a drive unit for automatically performing the collection are provided.

According to the present disclosure, it is possible to provide a cleaning device and a robot system capable of cleaning work with a simple structure.

Perspective view of the cleaning device according to the embodiment as viewed from the z positive direction side. Perspective view seen from the z negative direction side of the cleaning device according to the embodiment. An example of a configuration in which the cleaning device according to the embodiment is applied as an end effector of a robot. Longitudinal sectional view of the cleaning device according to the first embodiment Cross-sectional view of the cleaning device according to the first embodiment Perspective view of roll holding part Perspective view of the stopper Nozzle perspective Perspective view of control roller Schematic diagram of a magnified view of the drug application part Schematic diagram showing the first modification of the chemical application portion Schematic diagram showing a second modification of the chemical application portion View of the roll driver Flow chart of the update operation of the cleaning surface of the sheet of the cleaning device of the embodiment Flowchart of the procedure for attaching the seat to the cleaning device Flowchart of sheet removal procedure from cleaning device Vertical sectional view of the cleaning device according to the second embodiment Cross-sectional view of the cleaning device according to the second embodiment Modification example of the internal structure of the housing Schematic diagram showing a modified example of a sponge as an installation part

Hereinafter, embodiments will be described with reference to the accompanying drawings. In order to facilitate understanding of the description, the same components are designated by the same reference numerals as possible in the drawings, and duplicate description is omitted.

In the following description, the x-direction, the y-direction, and the z-direction are perpendicular to each other. The x direction is the moving direction of the sheet S on the sponge 8. The y direction is the width direction of the sheet. Further, in the following, for convenience of explanation, the z positive direction side may be expressed as the upper side and the z negative direction side may be expressed as the lower side.

[First Embodiment]
The first embodiment will be described with reference to FIGS. 1 to 16.

FIG. 1 is a perspective view of the cleaning device 1 according to the embodiment as viewed from the z positive direction side. FIG. 2 is a perspective view of the cleaning device 1 according to the embodiment as viewed from the z-negative direction side. FIG. 3 is an example of a configuration in which the cleaning device 1 according to the embodiment is applied as an end effector of the manipulator robot 100 (hereinafter, also simply referred to as “robot 100”).

As shown in FIG. 2, in the cleaning device 1, a part of the elongated sheet S is exposed on the z-negative side surface of the housing 2. The exposed sheet portion is installed in a plane so as to cover the main surface on the front side of the sponge 8. The surface of the sponge 8 that comes into contact with the sheet portion is flat so that the sheet spreads in a plane, and functions as an installation portion in which the sheet is installed in a plane. That is, this surface is flat in a non-deformable state that is not subjected to contact force. In the cleaning device 1, the surface on the outside (z negative direction side) of the flat portion of the sheet S becomes the cleaning surface S1, and the target surface is cleaned by the cleaning surface S1. Further, as shown by an arrow in FIG. 2, the sheet S is configured to be movable on the sponge 8 in the x-positive direction, whereby the cleaning surface S1 is replaced with an unused portion at an arbitrary timing.

Further, the cleaning device 1 is provided with a robot interface 11 (connecting portion) that can be connected to the robot 100 on the surface of the housing 2 on the z-positive direction side opposite to the side where the sheet S is exposed. For example, as shown in FIG. 3, it can be connected to a robot 100 having a robot arm 101 with multiple degrees of freedom and a moving mechanism 102 via a robot interface 11 and used as an end effector of the robot arm 101.

The robot interface 11 mechanically and electrically connects the cleaning device 1 and the robot arm 101. The robot interface 11 can provide the cleaning device 1 with a stable and strong connection state for supporting power, USB connection, and cleaning force from the robot 100. The robot interface 11 has, for example, a substantially circular end face, a lock hole 111 is provided at the center position of the end face, two alignment holes 112 are provided on the diameter of the end face, and a plurality of pins 113 are further provided (FIG. FIG. 5). The lock hole 111 is a hole into which the locking rod member on the robot 100 side is aligned. The alignment hole 112 is a hole for aligning the alignment rods at the time of aligning the lock pins. The pin 113 is, for example, for power supply or for USB connection. The robot 100 supplies electric power to the cleaning device 1 via the robot interface 11 (pin 113), and communicates control information with the controller 10 with each other.

The robot interface 11 is an example of a connecting portion for connecting the cleaning device 1 to an external device, and an element different from that of the robot interface 11 can be applied as the connecting portion.

By using the cleaning device 1 as an end effector of the robot 100, it is possible to perform a wider range and finer cleaning work by using the visual function and the movement function of the robot 100. When the cleaning device 1 is used as an end effector of the robot 100, it can be expressed as "a robot system including the cleaning device 1 and the manipulator robot 100" as a general term for the entire system.

In the present embodiment, the robot 100 to which the cleaning device 1 is attached as an end effector can specifically disinfect the object, and as an example thereof, a cloth or the like impregnated with a chemical or the like is used to disinfect the object. Clean and disinfect the surface. In order to prevent the spread of contact infections such as viruses and droplet infections, disinfection of the environmental surface (door handles, handrails, lighting switches, etc.) that infected people frequently come into contact with, and the environmental surface of examination rooms, etc. Is needed on a regular basis. For disinfection, cleaning, which also serves as physical removal of viruses and bacteria, is recommended as a standard preventive measure. If the robot can perform such disinfection work by cleaning, it can be expected to improve the safety of workers and reduce the load. In this case, as a necessary task, it is conceivable to generate a trajectory of the articulated arm (and, if necessary, a movement path of the robot body) so as to move the end effector along the target surface of the cleaning. Further, after the predetermined cleaning work is completed, a task of moving the sheet S of the cleaning device 1 from the sponge 8 to replace the cleaning surface S1 with the one before use can be considered.

As shown in FIGS. 1 and 2, the internal space of the housing 2 is divided into a first region 21 and a second region 22 along the y direction. The first region 21 contains elements such as a sheet S and a chemical application portion that may come into contact with the chemical D and the like during the cleaning operation and get wet. The second region 22 contains electrical components such as a motor 95 (driving unit) and an encoder 63 that need to be avoided from getting wet due to the chemical D (see FIG. 5).

FIG. 4 is a vertical sectional view of the cleaning device 1 according to the first embodiment. FIG. 5 is a cross-sectional view of the cleaning device 1 according to the first embodiment. The vertical end surface of FIG. 4 is a cross section orthogonal to the y direction. The cross section of FIG. 5 is a cross section orthogonal to the z direction. Note that FIGS. 4 and 5 do not show a complete cross-sectional shape, but schematically show the internal configuration of the cleaning device 1 such that the robot interface 11 is shown in a side view or a plan view. ..

The cleaning device 1 includes a roll holding portion 3 (feeding portion), a stopper 4, a nozzle 5 (drug coating portion), a control roller 6 (drug coating portion), a guide roller 7, a sponge 8, and a roll driver. A 9 (collection unit) and a controller 10 are provided.

The roll holding portion 3 pivotally supports a hollow roll R around which a long sheet S is wound. FIG. 6 is a perspective view of the roll holding portion 3. As shown in FIGS. 5 and 6, the roll holding portion 3 has a roll holder 31 and a spring holder 32. The roll R has a through hole H penetrating in the y direction along the axis. Both the roll holder 31 and the spring holder 32 are formed in a truncated cone shape, so that the conical surface of the through hole H abuts on the opening on the y-negative direction side and the opening on the y-positive direction side. It is fitted into the through hole H. As a result, the roll holder 31 and the spring holder 32 can be fitted into through holes H having various diameters, and can hold rolls R of various types, outer diameters, and hole diameters.

A matching hole 33 is provided on the end surface of the roll holder 31 on the negative direction side. The connecting shaft 41 of the stopper 4 is connected to the matching hole 33. The spring holder 32 has a built-in spring that can be expanded and contracted along the axial direction, and the expansion and contraction shaft 34 that is urged in the positive direction by this spring is provided. The telescopic shaft 34 is provided so as to project from the end surface on the y positive direction side of the spring holder 32, and contracts inside the spring holder 32 when the tip is pressed.

In the roll holding portion 3, the tip of the telescopic shaft 34 is fitted to the receiving portion 30A of the housing 2 in a state where the roll holder 31 and the spring holder 32 are fitted into the roll R. By pressing the roll R in the positive direction of y in this state, the expansion / contraction shaft 34 retracts inside the spring holder 32, whereby the alignment hole 33 is arranged at a position facing the connecting shaft 41 of the stopper 4. .. Then, when the pressing on the roll R is stopped, the expansion / contraction shaft 34 expands and the entire roll R moves toward the connecting shaft 41, and as a result, the connecting shaft 41 is aligned with the matching hole 33. In this way, the roll of the sheet S is installed in the housing 2 by the roll holding portion 3.

The structure for holding the roll R by the roll holding unit 3 is not limited to that exemplified in this embodiment. For example, the holding structure may be a springless structure. The roll holding portion 3 may be configured so that at least the roll R can be rotatably installed inside the housing 2 (pre-use area 23).

The stopper 4 stops the rotation of the roll holding portion 3 and the roll R. FIG. 7 is a perspective view of the stopper 4. The stopper 4 has a mating portion 42 for mating with the mating hole 33 of the roll holder 31 at the tip of the connecting shaft 41 described above. As shown in FIGS. 6 and 7, for example, the mating portion 42 and the mating hole 33 have a rectangular cross section in the axial direction, and are configured to be interlocked at the time of mating.

Further, a gear 43 is provided on the outer side of the connecting shaft 41 in the circumferential direction. The stopper 4 has a movable shaft 44 that can be moved by the drive unit 46 in a direction orthogonal to the connecting shaft 41 and in the radial direction of the gear 43, that is, in the x direction. The movable shaft 44 is arranged on the x-positive direction side of the gear 43. A locking portion 45 having a shape that can be inserted between the teeth of the gear 43 is provided at the tip of the movable shaft 44 on the x-negative direction side. By moving the movable shaft 44 to the x negative direction side, the locking portion 45 is inserted between the teeth of the gear 43, thereby restricting the rotation of the connecting shaft 41 interlocking with the gear 43. That is, by restricting the rotation of the gear 43 by the locking portion 45, the rotation of the roll holder 31 (that is, the roll holding portion 3 and the roll R) connected to the connecting shaft 41 is also regulated. On the other hand, when the movable shaft 44 moves in the x positive direction side, the locking portion 45 is disengaged from the gear 43, whereby the roll R can rotate. As the movable shaft 44 and the drive unit 46, for example, a solenoid actuator can be applied. The structure of the stopper 4 is not limited to this, and may be a structure that regulates the rotation of the roll holder 31 by, for example, a frictional force.

The nozzle 5 applies the drug D to the sheet S sent out from the roll holding portion 3. FIG. 8 is a perspective view of the nozzle 5. As shown in FIG. 8, the nozzle 5 is a hollow member whose longitudinal direction is the width direction (y direction) of the sheet S, and the drug D is inside at a position substantially center in the y direction of the surface on the x-negative direction side. The introduction hole 51 to be introduced into is provided. A discharge hole 52 extending along the y direction is provided on the x positive direction side of the nozzle 5. The discharge hole 52 is a substantially rectangular hole having the y direction as the longitudinal direction and the z direction as the lateral direction, and is an elongated hole extending along the width direction of the sheet S. The discharge holes 52 are installed so as to face each other over the entire area of the peripheral surface of the control roller 6 in the axial direction (y direction). The discharge hole 52 discharges the drug D introduced into the inside of the nozzle 5 from the introduction hole 51 to the control roller 6 side.

As shown in FIGS. 4 and 5, a pump 53 is connected to the introduction hole 51 of the nozzle 5 via a tube 54. The pump 53 is also connected to a medicine tank (not shown), and the medicine D sucked up from the medicine tank is supplied to the nozzle 5 through the tube 54. The drug tank for storing the drug D may be installed inside or outside the housing 2 of the cleaning device 1, or may be installed outside the robot 100 or the like to which the cleaning device 1 is connected via the robot interface 11. It may be configured to be installed in the device. The nozzle 5 can control the discharge amount of the drug D by adjusting the output of the pump 53.

The control roller 6 feeds the sheet S fed from the roll holding portion 3 to the guide roller 7 on the downstream side. FIG. 9 is a perspective view of the control roller 6. As described above, in the control roller 6, the agent D is applied to the peripheral surface 61 by the nozzle 5, and the agent D applied to the peripheral surface 61 is applied to the sheet S wound around the peripheral surface 61.

As described above, in the present embodiment, the nozzle 5 and the control roller 6 function as a drug application portion for applying the drug D to the sheet S. FIG. 10 is a schematic view of the drug-applied portion in an enlarged view. As shown in FIG. 10, a gap g is provided between the discharge hole 52 of the nozzle 5 and the control roller 6. Due to this gap g, the thickness of the medicine D discharged from the discharge hole 52 is substantially evenly distributed on the peripheral surface 61 along the width direction (y direction) of the control roller 6. The chemical D applied to the peripheral surface 61 comes into contact with the cleaning surface S1 of the sheet S as the control roller 6 rotates, and further rotates while maintaining the contact state, and eventually the sheet S becomes a guide roller on the downstream side. When the agent D moves away from the peripheral surface 61 toward the seat S, the agent D transitions to the sheet S side and separates from the peripheral surface 61 of the control roller 6 together with the sheet S.

As described above, in the present embodiment, the agent D is applied to the control roller 6 using the nozzle 5, and the agent D is applied (transferred) to the sheet S in contact with the control roller 6 via the control roller 6. With such a coating structure of the agent D, the agent D can be uniformly applied in the width direction of the sheet S.

Further, in the present embodiment, the agent D can be directly applied to the cleaning surface S1 of the sheet S. As a result, it is not always necessary to use a material having permeability to the sheet S, and it is possible to use a material having no permeability, so that a wider variety of sheets can be applied. On the other hand, unlike the present embodiment, in the case of the configuration in which the agent D is adhered from the surface of the sheet S opposite to the cleaning surface S1, the agent D is impregnated into the sheet S up to the cleaning surface S1 side. Since it is necessary to reach the sheet S, there is a restriction that a permeable material must be used for the sheet S. Since there is no such restriction in the present embodiment, a permeable material such as a fabric (fabric, woven) may be used as the material of the sheet S, or a non-permeable material such as a resin film may be used. Can also be used.

The structure of the chemical application portion is not limited to that shown in FIG. FIG. 11 is a schematic view showing a first modification of the drug application portion. For example, as shown in FIG. 11, the drug application unit may be configured to directly apply the drug D to the sheet S using the nozzle 5. In this case, the nozzle 5 is installed on the downstream side of the control roller 6 so as to face the cleaning surface S1 of the sheet S without applying the agent D to the control roller 6. The discharge hole 52 of the nozzle 5 is arranged so as to extend in the longitudinal direction along the width direction (y direction) of the sheet S.

FIG. 12 is a schematic view showing a second modification of the drug application portion. As shown in FIG. 12, the drug application portion supplies the drug D from the shaft support portion 64 of the control roller 6 in contact with the sheet S to the peripheral surface 61 of the control roller 6, and the drug D is supplied to the sheet S via the control roller 6. It may be configured to be applied to.

As shown in FIG. 12, for example, the shaft support portion 64 has a concave curved surface 66 facing the peripheral surface 61 of the control roller 6. The concave curved surface 66 is formed so as to extend in the y direction so as to cover almost the entire width direction of the peripheral surface 61, and has substantially the same curvature as the peripheral surface 61 so as to cover at least half of the peripheral surface 61 in the circumferential direction. The control rollers 6 are rotatably formed in a state where they are in contact with each other. The shaft support portion 64 can rotatably support the control roller 6 by engaging with the control roller 6 on such a concave curved surface 66.

Similar to the introduction hole 51 of the embodiment, the shaft support portion 64 is formed with an end portion connecting to the tube 54 for introducing the drug D into the drug introduction path 65, and like the discharge hole 52 of the embodiment, the sheet S has an end portion connected to the tube 54. A drug introduction path 65, which is an elongated hole extending along the width direction, is opened in the concave curved surface 66. The drug introduction path 65 is installed so as to face the entire peripheral surface 61 of the control roller 6 in the axial direction (y direction) so as to cover the entire width direction of the peripheral surface 61 like the discharge hole 52. Agent D can be applied evenly. In the case of the configuration in which the control roller 6 is pivotally supported by the shaft support portion 64 as described above, the shaft support portion 64 is configured to apply the chemical D from the shaft support portion 64 to the peripheral surface 61 of the control roller 6 so that the shaft support portion 64 has the nozzle 5. Since it can also serve as a role, the number of parts can be reduced.

Returning to FIG. 9, a rotating plate 62 projecting radially outward from the peripheral surface 61 is installed at the end of the control roller 6 on the y-negative direction side, and the rotation speed of the control roller 6 is measured via the rotating plate 62. An encoder 63 (measurement unit) for measuring is installed. The measurement method of the encoder 63 is well known, and the rotation amount of the rotary plate 62 is measured by, for example, an optical sensor or a hall sensor. The feeding amount of the sheet S can be calculated based on the rotation speed measured by the encoder 63 and geometric information such as the peripheral length of the peripheral surface 61 of the control roller 6 and the roller diameter. For example, the controller 10 calculates the delivery amount. The measuring unit may use, for example, a resolver or a rotary variable differential transformer (RVDT) instead of the encoder 63.

That is, the control roller 6 has a function of measuring the delivery amount of the sheet S and a function of applying the drug D to the sheet S. In order to realize these functions, the peripheral surface 61 of the control roller 6 is preferably formed of a non-slip material, and may be formed of a material resistant to chemicals for cleaning and disinfection. preferable. The peripheral surface 61 of the control roller 6 is made of, for example, urethane. Further, it is preferable to use a ball bearing for the rotating portion of the control roller 6 so that the resistance during rotation can be reduced. However, low friction plastic may be used instead of ball bearings to reduce costs.

The guide roller 7 changes the moving direction of the sheet S sent out from the control roller 6 and sends it out from the advance port 27 to the sponge 8. The guide roller 7 may be configured to send out the sheet S in contact with the peripheral surface to the downstream side, may be rotatable, or may be formed of a non-rotatable and slippery peripheral surface, and the sheet S may be formed. It may be configured to be movable by sliding on the peripheral surface.

The sponge 8 is a member having a flat surface on which a portion of the sheet S sent out from the roll holding portion 3 exposed to the outside is arranged. The sponge 8 is fixed to the outer surface side of the sponge base 26 of the housing 2 with an adhesive, a hook-and-loop fastener, or the like. The sheet S sent out from the entrance 27 of the housing 2 covers the flat surface of the sponge 8 and is installed in a flat shape in accordance with the surface of the sponge 8 by applying an appropriate tension. To. The sponge 8 presses the sheet S against the surface to be cleaned, and the cleaning surface S1 of the sheet S installed on the sponge 8 is used for cleaning the target surface. The cleaning surface S1 after the cleaning operation is sent further downstream and enters the entrance 28 of the housing 2 from the sponge 8.

Since the sponge 8 is an elastic member, the sheet S arranged on the sponge 8 can be deformed according to an external force received from the object surface to be wiped. As a result, when the cleaning device 1 is used as an end effector of the robot 100, the robot arm 101 can be controlled more flexibly without considering fine torque control, so that the control can be facilitated. Further, even when the cleaning surface is hard or non-flat, the sponge 8 and the cleaning surface S1 can be appropriately deformed according to the shape of the target surface by applying an appropriate pressing force from the cleaning surface S1 to the target surface. Therefore, the target surface can be easily and surely cleaned. Further, even if the robot 100 is moving or the cleaning device 1 is suddenly hit by a surrounding object or a person while the cleaning device 1 is being moved to the target surface, the sponge 8 can absorb the impact, so that safety can be ensured. The sponge 8 is exemplified as an example of an elastic member, and instead of the sponge 8, a set of a plate having a flat surface and an elastic body in contact with the plate may be used. According to this set, the plate surface functions as an installation part, and the elastic body can absorb the external force received by the plate. The material of the plate may be selected to have an appropriate coefficient of friction.

Further, the surface of the sponge 8 (the surface with which the sheet S comes into contact) is preferably formed of a non-slip material. When the frictional force on the surface is high, it is possible to prevent the sheet S from slipping against the sponge 8 during the cleaning operation, causing the cleaning surface S1 to be biased or wrinkling on the cleaning surface S1. Further, the thickness (dimension in the z direction) of the sponge 8 is preferably thick enough to be wiped by deformation of the sponge 8 in the thickness direction even on a non-planar target surface.

Since the surface of the sponge 8 has a substantially rectangular shape, the cleaning surface S1 of the sheet S installed on the sponge 8 also has a substantially rectangular shape. Therefore, since the cleaning surface S1 can cover a wider area, it is possible to complete the cleaning of the entire target surface faster with less movement.

In the roll R, the sheet S is wound so that the cleaning surface S1 is arranged on the outer peripheral side. The sheet S pulled out from the roll R is wound around the control roller 6 so that the peripheral surface 61 of the control roller 6 and the cleaning surface S1 come into contact with each other, and then the surface opposite to the cleaning surface S1 comes into contact with the sheet S. It is wound around the guide roller 7 so as to be wound.

The roll driver 9 winds up and collects the portion of the sheet S used for cleaning the target surface on the sponge 8. FIG. 13 is a perspective view of the roll driver 9. As shown in FIG. 13, the roll driver 9 is a columnar roller having a peripheral surface 91. In the roll driver 9, a seat stopper 92 for locking the end portion of the seat S is arranged on the outer peripheral side of the peripheral surface 91. The seat stopper 92 is, for example, a metallic rod material, and by being installed on the peripheral surface 91 along the axial direction of the roll driver 9, the seat S is pressed toward the peripheral surface 91 to press the sheet S toward the peripheral surface 91. The sheet S is sandwiched in the gap between the two. Further, a matching hole 93 is provided at the end of the roll driver 9 on the y-negative direction side. The drive shaft 96 of the motor 95 is connected to the matching hole 93.

Similar to the spring holder 32, a spring that can be expanded and contracted along the axial direction is built in the roll driver 9, and an expansion and contraction shaft 94 that is urged in the positive direction by this spring is provided. The telescopic shaft 94 is provided so as to project from the end surface on the y positive direction side of the roll driver 9, and contracts inside the roll driver 9 when the tip is pressed.

The roll driver 9 fits the tip of the telescopic shaft 94 into the receiving portion 30B of the housing 2. By pressing the roll driver 9 in the positive direction y in this state, the telescopic shaft 94 retracts inside the roll driver 9, whereby the alignment hole 93 is arranged at a position facing the drive shaft 96 of the motor 95. do. Then, when the pressing on the roll driver 9 is stopped, the expansion / contraction shaft 94 expands and the entire roll driver 9 is moved to the drive shaft 96 side, and as a result, the drive shaft 96 is aligned with the alignment hole 93. In this way, the roll driver 9 is installed in the housing 2. The mechanism for installing the roll driver 9 in the housing 2 may be a mechanism other than the spring mechanism described above.

The roll driver 9 is rotated by driving the motor 95. By driving the motor 95 with the end of the seat S locked to the seat stopper 92, the roll driver 9 winds the seat S while rotating, whereby the seat S is pulled toward the roll driver 9 side. The sheet S is pulled out from the roll holding portion 3.

The roll driver 9 may be rotatably installed inside the housing 2 (post-use area 24) and may be configured to collect the used sheet S, and the installation structure inside the housing 2 is the present. It is not limited to those exemplified in the embodiment. Further, the structure for fixing the seat S to the roll driver 9 may be a method other than the configuration in which the seat stopper 92 of the present embodiment is pressed against the peripheral surface 91. For example, the sheet S may be fixed with a clip, a claw, a roller, or the like.

The controller 10 controls the operation of each part of the cleaning device 1. The controller 10 controls the movement of the seat S by controlling the operation of the motor 95. Further, the controller 10 can acquire information on the withdrawal amount of the sheet S based on the measurement signal of the encoder 63, and based on this information, controls the drive of the motor 95 to take up the roll driver 9, that is, the roll holding unit. The amount of withdrawal of the sheet S from the roll R held in 3 is controlled.

When the cleaning device 1 is used as an end effector of the robot 100, the controller 10 is connected to the robot 100 (for example, a control device (processor) that controls the operation of the robot) via the robot interface 11 as follows. Information on the state and operation of the cleaning device 1 can be transmitted and received.
-Start and stop of the delivery sequence of the sheet S-Request for updating the state of the component-Request for the test of a specific component-Individual operation request for each component (other than the delivery sequence, for example, forward or reverse rotation of the motor 95, Disabling the stopper 4, starting and stopping the pump 53, etc.)
-Resolve error status, reset-Reset encoder 63 count

For example, the controller 10 monitors the presence or absence of the following errors to confirm whether each element of the cleaning device 1 is operating properly, and also notifies the robot 100 of the state of the cleaning device 1. be able to.

-Power supply level: When the power supply from the robot interface 11 is not appropriate (too low or too high), an "error related to power supply" is detected.

-Internal connection: Periodically check the voltage, current, control signal, etc. of each component (encoder 63, motor 95, pump 53, stopper 4, etc.) to determine the state (usable or abnormal). At the time of abnormality determination, "errors related to components" are detected.

-Detects an "error related to cover opening" when a cover for preventing contamination of the roll R (for example, a lid provided in the housing 2 and opened when the roll R is housed) is open.

-Detects an "error related to the sending sequence" when the sending sequence is not completed within the specified time. For example, a more specific error may be detected as in the following two examples.
(Example 1) When the motor 95 rotates the roll driver 9, but the count value of the encoder 63 does not change, the controller 10 has an "error regarding the roller R" (the roller R is not installed in the roll holding unit 3). (Probably) is detected.
(Example 2) If the stopper 4 does not open even after a predetermined number of trials, the controller 10 detects an "error regarding the stopper 4" (the movable shaft 44 is likely to be stuck).

-If the test requested by the user via the robot interface 11 fails, an "error regarding each test" is transmitted to the robot 100 side.

-When a wrong command is received from the robot interface 11, a communication error is transmitted to the robot 100 side.

The controller 10 is physically configured as a computer system including a CPU (Central Processing Unit), a RAM (Random Access Memory) and a ROM (Read Only Memory) which are main storage devices, a communication module, an auxiliary storage device, and the like. be able to. Each function of the controller 10 operates a communication module or the like under the control of the CPU by loading predetermined computer software on hardware such as the CPU and RAM, and reads data in the RAM and the auxiliary storage device. And it is realized by writing.

Further, each function of the controller 10 may be a circuit composed of an analog circuit, a digital circuit, or an analog / digital mixed circuit. Further, a control circuit for controlling each function may be provided. The implementation of each circuit may be by ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array) or the like.

At least a part of each function of the controller 10 may be configured by hardware, or may be configured by software, and may be executed by a CPU or the like by information processing of the software. When it is composed of software, the controller 10 and a program that realizes at least a part of the functions may be stored in a storage medium such as a flexible disk or a CD-ROM, read by a computer, and executed. .. The storage medium is not limited to a removable one such as a magnetic disk or an optical disk, and may be a fixed storage medium such as a hard disk device or a memory. That is, information processing by software may be concretely implemented using hardware resources. Further, the processing by software may be implemented in a circuit such as FPGA and executed by hardware such as a processor. The job may be executed by using an accelerator such as a GPU (Graphics Processing Unit).

For example, the computer can be made into the device of the above-described embodiment by reading the dedicated software stored in the storage medium readable by the computer. The type of storage medium is not particularly limited. Further, by installing the dedicated software downloaded via the communication network on the computer, the computer can be used as the device of the above embodiment. In this way, information processing by software is concretely implemented using hardware resources. It should be noted that one or more hardware such as a memory, a processor, and a computer may be provided.

Although the configuration in which the controller 10 is mounted inside the cleaning device 1 is illustrated in FIGS. 4 and 5, it is merely an example, and the controller 10 is installed outside the cleaning device 1 and is wired or wired to the cleaning device 1. It may be configured so that it can be connected wirelessly. Further, when the cleaning device 1 is used as an end effector of the robot 100, the controller 10 may be mounted on another part of the robot 100, or a part of the control device for controlling the operation of the robot 100 may be used. It may be configured to function as the controller 10.

The first area 21 of the internal space of the housing 2 is a pre-use area 23 for accommodating the pre-use sheet S and a clean area by a separation wall 25 extending in the y-direction and the z-direction at a position substantially central in the x-direction. It is divided into a post-use area 24 for accommodating the sheet S used for wiping. This makes it possible to prevent the sheet S before use from being soiled by the sheet S after use. As shown in FIG. 4, the roll holding portion 3, the nozzle 5, the control roller 6, and the guide roller 7 are housed in the pre-use area 23. The roll driver 9 is housed in the used area 24. Further, as shown in FIG. 5, the stopper 4, the encoder 63, the motor 95, and the controller 10 are housed in the second region 22.

Further, a wiper 29 is provided at the entrance 28 to the post-use area 24 of the housing 2. The wiper 29 seals the post-use area 24 and is used for cleaning and becomes dirty, and is provided to prevent the sheet S housed in the post-use area 24 from contaminating external elements.

FIG. 14 is a flowchart of the updating operation of the cleaning surface S1 of the sheet S of the cleaning device 1 of the embodiment. This operation is performed by the controller 10, for example, after the cleaning operation is performed for a predetermined time or a predetermined number of times using the same cleaning surface S1.

First, the stopper 4 is invalidated (step S101). The stopper 4 drives the drive unit 46 shown in FIGS. 5 and 7 to move the movable shaft 44 in the x-positive direction in response to a command from the controller 10, thereby disengaging the locking unit 45 from the gear 43. , The rotation stop state of the roll holding portion 3 to which the gear 43 and the connecting shaft 41 are connected is released. The fact that the locking portion 45 of the stopper 4 engages with the gear 43 and the roll holding portion 3 is in the rotation stop state can also be expressed as "activating the stopper 4" or "closing the stopper 4". On the other hand, the fact that the locking portion 45 of the stopper 4 is disengaged from the gear 43 and the roll holding portion 3 becomes rotatable can also be expressed as "invalidating the stopper 4" or "opening or releasing the stopper 4". .. The stopper 4 is normally enabled when the cleaning operation is performed, and is disabled only when the sheet S is sent out.

If the stopper 4 is released as a result of the process of step S101 (Yes in S102), the process proceeds to step S104. If the stopper 4 remains in the operating state (No in S102), the process proceeds to step S103, and it is determined whether or not the trial has been performed a predetermined number of times. If the trial has not been performed a predetermined number of times (No in S103), the process returns to step S101 and the invalidation process is repeated. For example, the stopper 4 is provided with a sensor for detecting whether the stopper 4 is in the open state or the closed state, and the controller 10 can determine the state of the stopper 4 based on the information from the sensor.

On the other hand, when the trial has been completed a predetermined number of times (Yes in S103), the process proceeds to step S112, and it is determined that some abnormality has occurred in the stopper 4 and the stopper 4 is not operating normally, and an error has occurred (for example, the above-mentioned "Yes". "Error related to stopper 4") is detected and this control flow is terminated.

When the release of the stopper 4 is confirmed in step S102 (Yes in S102), the pump 53 starts first (S104), and then the motor 95 starts (S105). As a result, the roll driver 9 is rotated by the motor 95 and starts to wind up the sheet S, so that the cleaning surface S1 on the sponge 8 starts to move. Further, the medicine D discharged from the pump 53 is applied from the nozzle 5 to the cleaning surface S1 of the sheet S passing through the control roller 6 via the peripheral surface 61 of the control roller 6 and is sent out.

Next, the count of the encoder 63 is reset (S106), and the measurement of the feed amount after the movement of the sheet S in step S105 is started is started. The controller 10 monitors the count number of the encoder 63 and continues the feeding operation of the seat S by the motor 95 or the like until the predetermined number of times is reached, that is, until the seat S is fed by a predetermined feeding amount. Here, the predetermined delivery amount is, for example, the dimension of the sponge 8 in the x direction. As a result, the entire cleaning surface S1 of the sheet S arranged on the sponge 8 can be replaced with an unused one.

The diameter of the control roller 6 to which the encoder 63 is attached is a known constant. Therefore, in the present embodiment, the feed amount of the sheet S can be calculated by using the information of the diameter and the rotation speed of the control roller 6 only by acquiring only one information of the rotation speed (or rotation angle) of the control roller 6.

By the way, it is considered that the roll R attached to the roll holding portion 3 has individual differences such as a different diameter in the initial state and a different thickness of the sheet S depending on the type of the material of the sheet S and the manufacturer of the roll R. Further, the diameter of the roll R also changes depending on how much the sheet S is pulled out from the initial state. Therefore, when trying to calculate the withdrawal amount of the sheet S based on the information of the roll R, it is considered that there are many factors to be considered and the calculation becomes complicated. On the other hand, in the present embodiment, since the information of the control roller 6 different from that of the roll holding portion 3 and the roll R is used, the information of the current diameter of the roll R attached to the roll holding portion 3 and the information of the current diameter of the roll R are used. The withdrawal amount of the sheet S can be easily calculated without knowing the information such as the type of the roll R.

Specifically, it is first determined whether or not the encoder 63 has reached the predetermined number of times and is in the count end state (S107), and if it has not reached the predetermined number of times (No in S107), the predetermined time. It is determined whether or not the time-out state has elapsed (S108), and if it is not in the time-out state (No in S108), the sheet S feeding operation is repeated until the process returns to step S107 and the count ends.

Here, the predetermined number of counts in the count end state can be calculated by, for example, the following formula.
Predetermined number of times =
(Amount of drawer of desired sheet S x number of counts per rotation of control roller 6)
/ (Π × diameter of control roller 6)

On the other hand, when the time-out state has occurred (Yes in S108), the process proceeds to step S112, and some abnormality has occurred in the encoder 63 or the control roller 6, or some abnormality has occurred in the feeding of the sheet S. It is determined that the situation is present, an error occurrence (for example, the above-mentioned "error related to the roller R") is detected, and the present control flow is terminated. Examples of the abnormal feeding of the sheet S include a situation in which the sheet S is not pulled out from the roll holding portion 3 or the roll R is not installed in the roll holding portion 3 in the first place.

When the end of counting is confirmed in step S107 (Yes in S107), the stopper 4 is switched to activation and the pump 53 is stopped (S109). In this state, the stopper 4 is activated, the roll holding portion 3 is stopped in rotation, the sheet S is not sent out, and the application of the drug D from the nozzle 5 to the sheet S is also stopped. On the other hand, the roll driver 9 is rotated by the motor 95 and continues to wind the seat S.

By continuing this state, the sheet S, which has been sent out and is in a loosened state as a whole, is pulled toward the roll driver 9 side with the base end side fixed. As a result, an appropriate tension is applied to the sheet S on the sponge 8 from both sides in the moving direction, and the patient waits until the cleaning surface S1 of the sheet S is placed in close contact with the surface of the sponge 8 (S110). The standby in step S110 can be specifically controlled by the elapsed time, such as until a predetermined time elapses after the execution of step S109. Alternatively, the motor torque is estimated from the current value of the motor 95 of the roll driver 9, and the motor 95 is operated until the estimated motor torque becomes a predetermined value or more (that is, until the tension of the seat S reaches the target value). It is also possible to control the standby state based on the motor torque.

Then, when the process of step S110 is completed and the new cleaning surface S1 is properly installed on the sponge 8, the motor 95 is stopped and the control flow is terminated.

The update operation of the cleaning surface S1 of the sheet S shown in the flowchart of FIG. 14 may be configured to control the execution timing by the control device of the robot 100. For example, in a state where the sheet S installed on the flat surface of the sponge 8 is not in contact with the target surface, the motor 95 may drive the roll driver 9 to automatically collect the sheet S. Whether or not the installed sheet S is in non-contact with the target can be determined based on, for example, whether or not the control device of the robot 100 is in the cleaning operation. In this case, the control device of the robot 100 determines that the sheet S is in contact with the target if it is in the cleaning operation, and determines that the sheet S is not in contact with the target if it is not in the cleaning operation. When the control device of the robot 100 determines that the sheet S is in a non-contact state with the target and the sheet S needs to be automatically fed, the control device for the sheet feed is cleared via the robot interface 11. Instruct the controller 10 of the wiping device 1.

FIG. 15 is a flowchart of the procedure for attaching the sheet S to the cleaning device 1.

First, the stopper 4 is invalidated (S201), and the fabric roll R to which the roll holding portion 3 is attached is inserted between the receiving portion 30A of the housing 2 and the mating portion 42 of the stopper 4 (S202).

Next, the tip end portion of the sheet S is pulled out, the sheet S is wound around the control roller 6 and the guide roller 7, and is pulled out to the position of the sponge 8 (S203). Further, the tip end portion of the seat S is inserted into the used region 24 of the housing 2 from the entrance 28 and wound around the seat stopper 92 (S204). At this time, the seat stopper 92 is removed from the roll driver 9.

The seat stopper 92 around which the seat S is wound is installed on the peripheral surface 91 of the roll driver 9 (S205), and the seat S is sandwiched between the peripheral surface 91 and the seat stopper 92 to be fixed to the roll driver 9. Then, the roll driver 9 is inserted between the receiving portion 30B of the housing 2 and the drive shaft 96 of the motor 95 (S206). As a result, the sheet S is in a state of being accurately attached to the cleaning device 1, and the present control flow is terminated.

FIG. 16 is a flowchart of the procedure for removing the sheet S from the cleaning device 1.

First, the motor 95 is rotated in the reverse direction (S301) until the seat S loses tension, and the seat S is loosened as a whole.

Next, the fabric roll R to which the roll holding portion 3 is mounted is removed from between the receiving portion 30A of the housing 2 and the mating portion 42 of the stopper 4 (S302).

Next, the roll driver 9 is removed from between the receiving portion 30B of the housing 2 and the drive shaft 96 of the motor 95 (S303). As a result, the sheet S is in a state of being removed from the cleaning device 1, and this control flow is terminated.

The cleaning device 1 according to the embodiment includes a roll holding portion 3 for feeding out the sheet S, a sponge 8 having a flat surface on which a portion of the sheet S sent out from the roll holding portion 3 exposed to the outside is installed. A roll driver 9 for collecting a portion of the sheet S installed on the flat surface of the sponge 8 and a motor 95 for automatically collecting the sponge 8 are provided. More specifically, the surface of the sponge 8 is flat in the non-deformed state under no contact force. More specifically, the cleaning device 1 includes a housing 2 that houses a roll holding portion 3 and a roll driver 9, a sponge 8 is fixed to a sponge base 26 on the surface of the housing 2, and a motor 95 is used. The roll driver 9 is driven, and the roll driver 9 is driven by the motor 95 to wind up and collect the portion S1 of the sheet S used for cleaning the target surface on the flat surface of the sponge 8. The roll holding unit 3 pivotally supports the roll R around which the sheet S is wound, and sends out a new sheet S from the pivotally supported roll R as the sheet S is wound by the roll driver 9 driven by the motor 95. ..

The cleaning device 1 can perform cleaning work with such a simple structure. Further, since the flat sponge 8 on which the sheet S used for cleaning is arranged is fixed to the sponge base 26 of the housing 2, the cleaning surface S1 can be stably installed in a wide range.

[Second Embodiment]
The second embodiment will be described with reference to FIGS. 17 and 18.

FIG. 17 is a vertical sectional view of the cleaning device 1A according to the second embodiment. FIG. 18 is a cross-sectional view of the cleaning device 1A according to the second embodiment. The outline of FIGS. 17 and 18 is the same as that of FIGS. 4 and 5 of the first embodiment.

The cleaning device 1A according to the second embodiment is different from the cleaning device 1 of the first embodiment in that it does not include a chemical injection unit. Specifically, the configuration does not include the nozzle 5 and the guide roller 7.

In the second embodiment, in the roll R, the sheet S is wound so that the cleaning surface S1 is arranged on the inner peripheral side. The sheet S drawn out from the roll R is wound around the control roller 6 so that the peripheral surface 61 of the control roller 6 and the surface opposite to the cleaning surface S1 come into contact with each other. The sheet S sent out from the control roller 6 is sent out from the entrance 27 of the housing 2 and is installed on the surface of the sponge 8 so that the cleaning surface S1 faces the front side.

FIG. 19 is a modification of the internal structure of the housing 2 described in the first embodiment and the second embodiment. In the cleaning device 1B shown in FIG. 19, the separation walls 25A and 25B that divide the first region of the housing 2 are doubly arranged. The separation walls 25A and 25B are arranged substantially in parallel along the z direction. As a result, a new internal space 22A is formed between the two facing separation walls 25A and 25B. Electrical components can be placed in this internal space 22A. As a result, it is not necessary to provide the second region 22 on the y-negative direction side with respect to the configuration of the above embodiment, so that the dimension of the housing 2 in the y-direction can be reduced and the cleaning device 1B can be miniaturized.

FIG. 20 is a schematic view showing a modified example of the sponge as an installation portion. In the above embodiment, the shape of the main surface of the front side of the sponge 8 is integrally molded so that the sheet S installed covering the outside thereof becomes a flat surface as shown in FIG. 2 and the like. The shape of the sponge 8 is expressed as a "flat surface" by exemplifying the structure formed in a shape. Here, the "flat surface" of the sponge 8 also includes those that are not perfectly flat, that is, a substantially flat surface.

For example, as in the sponge 8A shown in FIG. 20 (A), even if the surface has some irregularities such as waviness along a predetermined direction, the sheet S is stretched on the surface in a substantially flat shape. A surface of the sheet S that can be installed and has a shape that does not apply a load to the sheet S that hinders the movement of the sheet S on the surface (that is, a substantially flat surface). It can be applied as an installation part.

Further, as in the sponge 8B shown in FIG. 20B, instead of the integrated sponge 8, a plurality of members having a flat surface may be arranged in a plane to form an installation portion having a flat surface. Further, as in the sponge 8C shown in FIG. 20C, a plurality of small-diameter cylindrical members may be arranged in a plane to form an installation portion having a flat surface. The surfaces of these sponges 8B and 8C can also be said to be "substantially flat surfaces" similar to the sponges 8A. It should be noted that these plurality of members may be in contact with each other or may have a gap between the members as long as they form a substantially flat surface.

The materials of the sponges 8A, 8B, and 8C shown in FIG. 20 may be any material as long as they can feed the sheet and have a friction coefficient such that the sheet S does not twist at the time of cleaning. Further, in particular, the small-diameter cylindrical member forming the sponge 8C shown in FIG. 20C may be pivotally supported so as to be rotatable.

Similar to the sponge 8 of the above embodiment, the surfaces of the sponges 8A to 8C of each of the modified examples shown in FIGS. 20 (A) to 20 (C) are maintained substantially flat in a non-deformed state without receiving a contact force. ing.

The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. These specific examples with appropriate design changes by those skilled in the art are also included in the scope of the present disclosure as long as they have the features of the present disclosure. Each element included in each of the above-mentioned specific examples, its arrangement, conditions, a shape, and the like are not limited to those exemplified, and can be appropriately changed. The combinations of the elements included in each of the above-mentioned specific examples can be appropriately changed as long as there is no technical contradiction.

Claims (12)

The sending part that sends out the sheet and
An installation portion having a flat surface on which a portion of the sheet sent out from the delivery portion that is exposed to the outside is installed, and an installation portion.
A collection unit that collects a portion of the sheet installed on the flat surface of the installation unit, and a collection unit.
A drive unit that automatically performs the collection,
To prepare
Cleaning device. The surface is flat in the non-deformed state under no contact force.
The cleaning device according to claim 1. The cleaning device includes a housing for accommodating the sending unit and the collecting unit inside.
The installation portion is fixed to the surface of the housing and is fixed.
The drive unit drives the recovery unit and
By being driven by the drive unit, the collection unit winds up and collects the portion of the sheet used for cleaning the target surface on the flat surface of the installation unit.
The delivery unit pivotally supports a roll around which the sheet is wound, and delivers a new sheet from the axially supported roll as the sheet is wound by the collection unit driven by the drive unit.
The cleaning device according to claim 1 or 2. The installation portion is formed of an elastic member, and the sheet arranged on the installation portion can be deformed according to an external force received from the target surface.
The cleaning device according to any one of claims 1 to 3. A measuring unit for measuring the feed amount of the sheet is provided.
The cleaning device according to any one of claims 1 to 4. A chemical coating unit for applying a chemical to the sheet delivered from the delivery unit is provided.
The cleaning device according to any one of claims 1 to 5. The drug application portion applies the drug to the cleaning surface of the sheet.
The cleaning device according to claim 6. The drug application section applies the drug directly to the sheet using a nozzle having elongated holes extending along the width direction of the sheet.
The cleaning device according to claim 6 or 7. The drug application portion applies the drug to a roller in contact with the sheet using a nozzle having elongated holes extending along the width direction of the sheet, and applies the drug to the sheet via the roller. do,
The cleaning device according to claim 6 or 7. The drug application portion supplies the drug to the peripheral surface of the roller from the shaft support portion of the roller in contact with the sheet, and applies the drug to the sheet via the roller.
The cleaning device according to claim 6 or 7. Equipped with a connecting part that can be connected to the robot arm
It is used as an end effector of the robot arm by connecting it to the robot arm by the connecting portion.
The cleaning device according to any one of claims 1 to 10. A robot system equipped with a cleaning device and a manipulator robot.
The cleaning device is
The sending part that sends out the sheet and
An installation portion having a flat surface on which a portion of the sheet sent out from the delivery portion that is exposed to the outside is installed, and an installation portion.
A collection unit that collects a portion of the sheet installed on the flat surface of the installation unit, and a collection unit.
A drive unit that automatically performs the collection,
A connecting part that can be connected to the robot arm,
Equipped with
The manipulator robot is
The robot arm that can be connected to the cleaning device,
A control device that outputs a control signal of the drive unit via the connection unit and controls the operation of the robot arm.
A robot system equipped with.

Images