JP2594047B2 - Mobile work vehicle with code reel - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION a) Industrial application field The present invention is connected to a power supply unit (for example, an outlet) formed in a room wall or the like, so that operations such as cleaning and transporting parts for floor polishing can be performed with a cord reel. Related to mobile work vehicles.

B) Conventional technology Conventionally, various types of self-propelled mobile work vehicles that perform various operations have been invented and implemented as component carriers, golf carts, and self-propelled cleaners. In such a technical field, it can be roughly divided into four types of mobile work vehicles. First of all,
No. 61-9047, Japanese Utility Model Application Laid-Open No. Sho 55-146042,
There is a type in which all operations of traveling and work are driven by a mounted storage battery typified by Japanese Patent No. 149742. This type requires a large-capacity storage battery for a long time and work, and is bulky and heavy as a work vehicle, and is not suitable as a mobile work vehicle that is presumed to be compact and work for a long time. .

Next, there is a mobile work vehicle that performs all operations by power supply from a power supply unit such as an outlet. As the mobile work vehicle, the power cord is always dragged in the required movement range by the required length to be moved, so that it is suitable for work in a single narrow range, for example, transport in a certain range in a factory, but moves in a wide range. It is not suitable for work. As an improvement of this point, there is a mobile work vehicle in which a power supply line or the like is arranged in the work area and power is supplied from the power supply line by a sliding contact piece at any place in the movement work area, but the work area is determined. This is limited to the range along the route that has been routed, necessitating wiring of the power supply line, and is suitable only for limited situations, for example, limited use in a factory.

Japanese Unexamined Patent Publication Nos. Sho 60-106302 and 59-201115 disclose a combination mobile work vehicle of each type described above. The mobile work vehicle is driven by a mounted storage battery when moving from work place to work place, and in the work place,
It is connected to a power supply such as an outlet to perform work and charge. As a result, although the movement range can be expanded and the time lengthened, the work position is the same as the fixed position, and the work range is narrow.

C) Problems to be Solved by the Invention The present invention aims to increase the working range in the workplace, increase the working time and make it compact, and provide a mobile work vehicle that smoothly feeds and winds the power cord. To provide.

D) Means for Solving the Problems The present invention divides a mobile work vehicle into upper, middle, and lower layers, forms a self-propelled wheel and an electric motor for driving the wheels in the lower layer, and forms an upper layer in the upper layer. A rotating support member that forms a working part driven by power supply from a power cord, and that allows a lead-out part of the power cord formed with an external power supply connecting part at a tip in a middle layer part to be rotatable with respect to the main body; A cord reel for adjusting the length of the drawer according to the movement is formed, and furthermore, the power supply cord is formed by a roller having a drawn part standing upright.

(E) Function According to the present invention, the work can be performed with the power from the power supply unit formed on the chamber wall or the like, and the length of the power cord drawn out is adjusted by the cord reel at the time of the work. It is not stopped at.

In addition, the draw-out portion of the power cord formed with the external power supply connection portion at the tip by the rotation support member is rotatable with respect to the main body.

Further, when the work vehicle moves inside the room, the power cord is swung right and left at the outlet, but the side of the power cord is held by rollers, and feeding and winding of the cord is smooth without any resistance due to the rotation of the rollers. Done in

F) Example The present invention will be described using the illustrated mobile work vehicle 1 for cleaning as an example.

FIG. 1 is a longitudinal sectional view of a mobile work vehicle 1 according to the present invention.
And a middle layer 3 and a lower layer 4. FIGS. 4 and 5 of FIGS. 2 and 3 are II-II, III-III and IV in FIG.
It is the cross-sectional view cut | disconnected in -IV and VV part. 6 is a right side view of the mobile work vehicle 1, FIG. 7 is a plan view of the mobile work vehicle 1 in a state where the mobile work vehicle 1 is turned to the left, and FIG. 8 is an exploded vertical sectional view. Ninth
The figure is a block circuit diagram of the mobile work vehicle 1.

As shown in FIGS. 1 and 2, the lower part 4 of the mobile work vehicle 1 is formed between a chassis plate 5 and a lower substrate 7 supported by support columns 6 erected on the chassis plate 5. You. As shown in FIGS. 1, 3 and 4, the middle layer 3 is
The upper substrate 9 is connected to the upper end of a cylindrical column 8 erected at a substantially central opening of the upper substrate 9 and is formed between the upper and lower substrates 9,7. The chassis plate 5 and the upper and lower substrates 9, 7 are formed by sheet metal, the cylindrical column 8 is formed by a metal tube, and the support column 6 is formed by a metal bar. The upper layer portion 2 is formed on the upper surface side of the upper substrate 9 and is formed of a synthetic resin outer case 10 that covers the chassis plate 5 and the upper and lower substrates 9 and 7. As shown in FIG. 7, the movable work vehicle 1 has a square front half and a semicircular rear half, and the chassis plate 5 and the upper and lower substrates 9,
7 is similarly formed. The cylindrical support 8 is located at the center of the rear half semicircular portion of the upper and lower substrates 9,7.

On both sides of the chassis plate 5, a right wheel 11 and a left wheel 12
The right wheel motor 13 and the left wheel motor 14 for driving the motor are fixed. The right wheel motor 13 and the left wheel motor 14 are formed such that their rotation shafts 15 and 16 are located substantially in the radial direction passing through the center of the rear half semicircular portion of the chassis plate 5. A right wheel position detecting unit 17 and a left wheel position detecting unit 18 for detecting the rotational positions of the right wheel electric motor 13 and the left wheel electric motor 14, that is, the positions and the rotational speeds of the right wheel 11 and the left wheel 12, are formed.
A front free wheel 19 and a rear free wheel 20 are formed in the front-rear direction passing through the center of the rear half semicircular portion of the chassis plate 5. A bumper body 21 is formed at the front of the chassis plate 5 so as to wrap around the lower edge of the outer case 10 and on both sides. The bumper body 21 has a collision detection unit 22 formed therein.
The collision detection unit 22 is formed by being divided into front, left, and right, and its structure may be any of a pressure switch, a contact switch, a microswitch, and the like. When the bumper body 21 is deformed due to pressure, the two contact pieces come into contact with each other to detect when the bumper body 21 is deformed. The collision detection unit 22
Is formed, a wide range of collisions such as the front can be formed by a single switch, and by dividing the collision, the left and right portions can be made independent switches. In the present embodiment, the collision detecting portions 22 are formed only on both sides of the front portion. However, by forming the collision detecting portions 22 on the lower edge of the rear portion, it is possible to detect a collision at the time of retreat. Further, by forming the upper portion and the intermediate portion, it is possible to cope with a collision with the ceiling when passing through the tunnel-shaped portion. On the lower surface of the front part of the chassis plate 5, a suction tool 23 formed with a brush that slides on the floor F is formed. The tubular connecting portion 24 of the suction tool 23 projects into the chassis plate 5 and connects the pipe 25 to the tubular connecting portion 24. The pipe body 25 is connected to the lower end of a suction ventilation pipe body 26 inserted and fixed in the cylindrical column 8. The suction ventilation pipe 26 is piped to the rear of the cylindrical column 8 and is provided with the upper layer 2 and the lower layer 4 in the cylindrical column 8.
Is formed as a passage for a power cord or an electric wire 27 such as a control line or a signal line connecting an upper layer portion and a lower layer portion. The left and right wheel motors 13 and 14 are provided on the chassis plate 5.
Storage battery 28 that supplies power to the battery, and receives signals from various detection units such as the collision detection unit 22 and the left and right wheel position detection units 17 and 18,
A control circuit 29 for controlling the mobile work vehicle 1 is mounted. The storage battery 28 may be a lead storage battery or a nickel cadmium battery. Evenly distributed.

At the front of the upper layer 2 of the upper substrate 9, an obstacle detection unit 30 for detecting an obstacle located in the front and left and right directions of the traveling mobile work vehicle 1 is formed. The obstacle detection unit
Numeral 30 denotes a distance to an obstacle (a wall, a desk, a chair, or the like). In this embodiment, an ultrasonic distance measuring device is used. Various devices can be used as a means for measuring the distance, but when considering use at night or in a room having a glass wall, it can be said that the use of ultrasonic waves is optimal. In addition, it recognizes an object located in front as a shape, and there is traveling suitable for it, for example, cleaning under a desk after recognizing a desk.In that case, by comparing with a model pattern stored in advance, Need to recognize obstacles. In this case, it is necessary to use a distance measuring device together. On the upper surface of the upper substrate 9, a reel motor 32 for driving a code reel 31, which will be described later, is formed. The outer case 10
A control plate part 34 having an opening / closing lid 33 is formed on the upper surface of the front part of the control panel. The switch formed on the control plate section 34 is a signal input section.
35, and the mobile work vehicle 1 is controlled and set. A working portion is formed at the rear of the outer case 10, and in this embodiment, a dust collecting portion 36 is formed.
And the electric blower unit 37. The dust collecting part 36 is stored in a storage part 38 formed at the rear of the outer case 10. The dust collecting section 36 includes a dust collecting case 39 and a filter body 40.
The upper end of the suction ventilation pipe 26 protrudes from the bottom of the storage section 38 and fits with the bottom suction port 41 of the dust collection case 39. A valve element 42 is attached to the suction port 41. The electric blower unit 37
Are pivotally supported by the outer case 10 so as to open and close the storage section 38, and are connected by a clamp body 43. The electric blower 37 includes an electric blower 44 therein. By driving the electric blower 44, the dust is sucked into the dust collecting part 36 from the suction tool 23 through the pipe body 25 and the suction ventilation pipe 26, and the dust is collected by the filter body 40. At 44, the air from which the rubber has been removed is exhausted from an exhaust port 45. Exhaust port 45
Also attached to the filter body 46. The center of gravity of the electric blower 44 is located rearward of the center of the left and right wheels 11 and 12 when the mobile work vehicle 1 is used, and the center of gravity is located forward when the electric blower unit 37 is opened.

At the rear part of the outer case 10 of the upper layer portion 2, a back wall is formed with a groove 47 extending in the left-right direction with a curved surface diameter larger than the curved surface diameter of the outer case 10. Although not shown, a coupling portion of an external power supply connection portion 48 is formed at a central portion of the groove portion 47, that is, a portion located at the rearmost portion. The connection part 48 is formed by a plug, and power is supplied by connecting the connection part 48 to a power supply part 49 formed on a chamber wall or the like. The connection of the connection portion 48 to the connection portion is freely performed with respect to the movement of the connection portion 48 in the direction along the groove portion 47, and the connection portion 48 is connected to the rear portion of the connection portion 48 in the groove portion 47. It is fixed for movement in the orthogonal direction. The connection of the connection section 48 to the power supply section 49 and the connection of the connection section 48 to the connection section are performed by an outlet / plug connection detection section 50. The power supply unit 49
The position of the connecting portion 48 with respect to the outlet is detected by the outlet position detecting portion 52 formed in the groove 47 or near the connecting portion 48, from the outlet position detecting portion 51 that informs the position of the power supply portion 49, This is performed by moving the mobile work vehicle 1.

A cylindrical intermediate rotation shaft 53 driven by the reel motor 32 is pivotally supported outside the cylindrical support 8, and a cord reel 31 is pivotally supported outside thereof. Between the upper surface of the lower substrate 7 and the code reel 31, there is disposed a rotation support member 56 having an outlet 55 for the power cord 54. The rotation support member 56 is pivotally supported by the cylindrical column 8. The cylindrical support 8 and the intermediate rotating shaft 53
The bearings 57, 58, 59, 60 are interposed between the cable reel 31, the rotation support member 56, and the lower substrate 7. The intermediate rotation shaft 5
A gear 62 meshing with a gear 61 of the reel motor 32 and a clutch claw body formed on the code reel 31
A clutch gear 64 that engages with the clutch gear 64 is formed. The clutch pawl body 63 is always biased in a direction in which it comes into contact with the clutch gear 64. In this embodiment, the reel motor 32
When the gear 61 is rotated clockwise, the intermediate rotation shaft 53 is driven counterclockwise, and the clutch gear 64 is rotated counterclockwise to engage with the clutch claw body 63 and the code reel 31 is driven counterclockwise. You. When the cord reel 31 is rotated counterclockwise, the power cord
54 is wound up. When the gear 61 is rotated to the left by the reel motor 32, the intermediate rotating shaft 53 is rotated to the right, and the clutch gear is rotated.
The clutch pawl 63 and the clutch pawl 63 are clutch gears.
The cord reel 31 is not engaged by being pushed outward at 64, and the code reel 31 does not rotate. While the reel motor 32 is stopped, when the power cord 54 is pulled by an external force, the code reel 31 tends to rotate clockwise. Cannot rotate.
When the power cord 54 is pulled out, the gear 61 is rotated leftward by the reel motor 32, the intermediate rotation shaft 53 is rotated rightward, and the engagement of the clutch claw body 63 with the clutch gear 64 by the left rotation of the code reel 31 is performed. In this case, the power cord 54 is pulled out by external force.

A roller body 65 for smoothly drawing out is formed in the outlet 55, and a power cord slack detecting section 66 and a power cord length detecting section 67 (not shown) are formed. The rotation support member 56 is formed in a cylindrical shape with a bottom, and one half side wall portion in which the outlet 55 is formed is exposed so as to close a notch formed in the outer case 10. The rotation support member 56 is independent of the position of the code reel 31,
It can be rotated, and the position of the drawer 55 with respect to the outer case 10 can be set to an opening angle range of 180 degrees rearward or the entire circumference (360
The angle can be freely changed in the angle range of (degree), and the drawer 55 can be directed to the power supply unit 49 regardless of the direction of the mobile work vehicle 1. You can get it. In particular, when the angle of the drawer 55 can be freely changed over the entire circumference of the work vehicle, there are obstacles in the work area, and even if the movement of the work vehicle is complicated, the power cord is connected to the work vehicle. There is no fear that the operation of the work vehicle will be restricted by the winding. Power is supplied from the power cord 54 by bringing a contact piece 69 into contact with a sliding ring 68 formed on the upper surface of the cord reel 31. The power cord slack detection unit 66 is formed by a micro switch, the power cord length detection unit 67 is formed by a rotation speed detection device linked to a roller, and signals from the detection units 66 and 67 are transmitted to the rotation support member 56. And transmitted to the control unit 70 by the sliding ring formed on the lower substrate 7 and the contact piece 69 formed on the lower substrate 7.

Next, the operation of the mobile work vehicle 1 will be described based on the electric circuit shown in FIG.

The overall operation of the mobile work vehicle 1 is controlled by a vehicle drive control unit 70 for controlling movement and a cleaner control drive unit 71 for controlling work. In the present embodiment, the drive control unit 70 and the vacuum cleaner control / drive unit 71 are formed by a microcomputer, and compact high-performance can be easily obtained. The main input signal generation unit to the vehicle drive control unit 70 is a signal input unit 35 formed on the control plate unit 34, and a power cord length detection for detecting a state of pulling out the power cord 54 from the electric cord reel 31. Section 67 and power cord slack detection section 66
An obstacle detection unit 30 and a collision detection unit 22 that detect an obstacle in front of the vehicle when moving, and an outlet position detection unit that performs a search for connecting a power cord 54 to a power supply unit 49 to supply power in a workplace. 52 and outlet / plug connection detector
50, a right wheel position detecting unit 17 and a left wheel position detecting unit 18 for detecting the positions and running distances of the left and right wheels 11, 12 and the left and right wheels 1
There is a floor state detection unit 72 that detects the state of the floor F with which the suction tool 23 slides, and a cleaner control / drive unit 71.
The control signal from the vehicle drive control unit 70 is
A display unit 73 indicating the operating state and abnormality of the motor, a notification unit 74 indicating the abnormality by light or sound, a reel motor driving unit 75 for stopping the forward and reverse rotation of the electric cord reels 31 and 32, and a left and right wheel motor. A wheel motor drive unit 76 that performs 13,14 forward / reverse rotation stop,
A motor supply power supply switching unit 77 for switching power supply from the storage battery 28 or the power supply unit 49 to each of the motors 13, 14, 32, and 44 and switching power supply to the charging unit 78; and a vacuum cleaner control / drive unit.
It is output to 71.

When all functions of the mobile work vehicle 1 are performed fully automatically, the signal input unit 35 may have a simple stop switch and a manual operation switch for smooth movement between work sites or during transportation. However, in order to accommodate various workplaces, it is necessary to increase the degree of freedom of movement and work by enabling the program to be changed, and as a structure for this, a 10 key part, IC card input part, ROM cartridge connection Section, a floppy disk insertion and reading section, an external input / output terminal, and the like. By forming the program change unit, the movement route between the workplaces, the arrangement and the shape of the workplace,
The position of the power supply unit 49 can be stored as appropriate, and the movement and work of the mobile work vehicle 1 can be made smoother accordingly.

The display unit 73 and the notification unit 74 display and notify various operating states and abnormalities of the mobile work vehicle 1, and include, for example, a storage battery.
28 capacity and charging time, power supply 49 and external power connection
During the work with 48, slipping, falling off the wheel, preventing movement due to obstacles (doors, steps, etc.) that cannot be avoided, displaying the amount of dust collected and the disposal time of the dust collecting unit 36, displaying the work completed part, displaying the work completion and Performs information, etc. In addition, the mobile work vehicle 1 of the present invention operates by supplying power from a power supply unit (for example, a commercial power supply).
Sends various information to the central control unit using the power line carrier method,
It is possible to remotely manage and control several mobile work vehicles 1. In the case of controlling by the power line carrier method, the signal input unit 35 needs a control judging unit for it, and the electric power feeding unit 49 is connected to the external power supply connecting unit 48 even while each mobile work vehicle 1 is parked in the garage. Must be connected.

The mobile work vehicle 1 moves from the garage to the work place and from the work place to the work place, selects the storage battery 28 in the motor supply power switching unit 77, and is supplied with power from the storage battery 28 to the wheel motor drive unit 76,
Based on signals from the obstacle detection unit 30, the collision detection unit 22, and the floor state detection unit 72, the wheel motor drive unit 76 is controlled to travel.
When the left and right wheel motors 13 and 14 rotate in the same direction and at the same speed, they move forward and backward. When the speeds are different, they turn right and left, and when they rotate in the opposite direction, they turn at that location. The left and right wheels 1
Since the positions of the front free wheel 19 and the rear free wheel 20 with respect to the wheels 1 and 12 are the same, the forward and backward movements can be performed in the same manner, and the traveling locus can be the same.

When the mobile work vehicle 1 arrives at the work place, the mobile work vehicle 1 receives a signal (infrared signal) from the outlet position notifying unit 51 at the outlet position detecting unit 52 formed at the rear, and moves backward while determining the position of the power supply unit 49, and Connect the external power supply connection section 48 to the power supply section 49
Connect to When the external power connection section 48 comes into contact with the power supply section 49, the power is supplied to the outlet / plug connection detection section 50.
Detects that there is an initial contact, and moves the mobile work vehicle 70 straight back toward the power supply unit 49 by the signal of the vehicle drive control unit 70, thereby powering the external power supply connection unit 48. It is completely connected to the feeder 49. When the external power connection unit 48 and the power supply unit 49 are completely connected, the component of the outlet / plug connection detection unit 50 formed by the switch incorporated in the external power connection unit 48 detects the complete connection, Car drive control unit
The output signal from the vehicle drive control unit 70 is input to the motor power supply switching unit 77, and the power supply from the storage battery is switched to the power supply from the external power supply connection unit 48. When the power supply is switched, the same 12 V DC power supply as the storage battery 28 to the wheel motor drive unit 76 and an external power supply connection unit to the reel motor drive unit 75 and the cleaner control / drive unit 71
The input AC 100 V from the power supply 48 is supplied to the charging unit 78 for the storage battery 28. The storage battery is supplied by power supply to the charging unit 78.
Replenishment of the consumed electric power of 28 is performed, and when the replenishment is completed, the charging unit automatically stops.

When the mobile work vehicle 1 moves to the work start position and stops, a signal of the vehicle drive control unit 70 is input to the cleaner control / drive unit 71, and power is supplied to the electric blower 44 to start cleaning. The work start position in the present embodiment is a position facing the direction in which clockwise movement along the chamber wall where the power supply unit 49 is formed starts. Separation of the external power supply connection portion 48 from the connection portion of the groove portion 47 is performed by moving the connection portion 48 in a direction along the groove portion 47 by rotation of the mobile work vehicle 1. When the external power supply connection portion 48 is separated from the groove portion 47 and the mobile work vehicle 1 starts traveling, a power cord 54 corresponding to the traveling amount is pulled out from the cord reel 31. The traveling distance, traveling direction, the amount of pulling out of the power cord 54 and the slack are detected by the left and right wheel position detecting units 17 and 18, the power cord length detecting unit 67 and the power cord slack detecting unit 66, and the vehicle drive control unit 70
A signal is output from the vehicle drive control unit 70 to the reel motor drive unit 75 so as to determine that the power cord 54 is properly pulled out and slack as determined by the above.

The mobile work vehicle 1 starts work, and its route has various patterns. The most orthodox route is to work in parallel with the room wall where the power supply unit 49 is formed, and repeatedly work in parallel with the room wall again by colliding with or adjacent to the adjacent room wall and changing the direction by 180 degrees. In this case, the work is sequentially performed while facing the facing room wall, and since the work cannot be turned back, the work is terminated. The route is used as one basic pattern, and if there is an obstacle on its movement, the obstacle detection unit 30 and the collision detection unit 22 detect the obstacle, change the direction as appropriate, and perform the work. Also, as another route, move clockwise while working along the room wall, change direction at the starting point, move counterclockwise, return to the starting point, RAM with the map of the workplace It is also conceivable to perform work based on the map. In this case, it is conceivable that there are many obstacles in the work place, and the power cord 54 may be immobilized by winding the power cord 54. Therefore, it is preferable that the power cord 54 is not connected to the power feeding part 49, Can also be used to detect For example, when arriving at the work place, the mobile work vehicle 1 moves rightward or leftward along the room wall of the work place while detecting a signal from the outlet position detection unit 51 of the power supply unit 49. Then, by always passing the vicinity of the moving outlet position notifying unit 51, the position where the signal reception output is strongest is stored in the map being created, and the work place 1 is circled once to create the map. Thereafter, the user moves to the position of the outlet position notifying section 51 stored on the map, detects the correct position from the close position by the outlet position detecting section 52, and connects the external power supply connecting section 48 to the power supply section 49.

During the operation of the mobile work vehicle 1, the floor F is detected by the floor condition detecting section 72.
, For example, a wooden board floor, a concrete floor, a tatami mat, a jutann, etc., and detects the traveling speed of the mobile work vehicle 1 and the suction power of the electric blower 44 by controlling the cleaner control / drive unit 71.
The suction tool 23 is switched to a suction tool suitable for the floor F. Switching the suction tool 23 by moving the sliding brush in and out, and stopping the turbine brush suitable for a jutan are orthodox switching.

When the work in the work place of the mobile work vehicle 1 is completed, the electric blower 44 stops, and moves toward the power supply unit 49 while winding the power cord 54 around the cord reel 31, and the external power connection unit 48 is connected to the joint of the groove 47. When the connection to the coupling portion is detected, the power is switched to the power supply from the storage battery 28 by inputting a signal to the electric motor power supply switching portion 77, and the mobile work vehicle 1 is moved forward to connect the external power supply connection portion.
Disconnect the connection between the power supply unit 48 and the power supply unit 49 and move to the next work place.

According to the present invention, the slack of the power cord 54 can be accurately detected by forming the cord reel 31 in the middle layer portion 3.
With this configuration, it is possible to reduce the possibility of catching on other objects placed on the floor due to the slack caused by the drawer, and to improve the stability of the mobile work vehicle 1. That is, when the code reel 31 is formed in the lower layer 4, the slack of the pulled out power cord 54 does not occur to the extent that it can be detected, and the slack detection cannot be accurately performed when the amount of the drawn out power cord 54 is large. When the code reel 31 is formed on the upper layer portion 2, the slack detection can be accurately performed, but the length of the hanging cord becomes long, and the movement of the power cord 54 due to the forward and backward movement of the mobile work vehicle 1 also occurs due to the weight of the power cord 54 itself. And it often gets caught on the floor mounted object. In addition, an accident may occur in which the power cord 54 is wired on a low mounted object, and a situation may occur in which no slack is detected.

It should be noted that the present invention is not limited to the above-described embodiment, but includes the configuration of the present invention and can be implemented in various structures without departing from the operational effects. For example,
Although the working unit is formed by the dust collecting unit 36 and the electric blower unit 37, when working as a floor polisher, a rotating brush is arranged on the lower surface of the chassis plate 5 and the rotating brush is driven. May be provided in the upper layer. When the electric motor is disposed in the lower part, the upper part is a storage part for cleaning wax or brush for floor polishing. Therefore, the work unit may be a storage unit for various parts required for performing the work, or a luggage platform as a mobile work vehicle for transporting the assembled parts. Further, the code reel 31 is a reel motor.
Although it is driven by 32, a spring cord cord reel having a spring for rewinding has the same function and effect. In this case, a stopper for preventing rewinding by the spring is an electromagnetic type. It is formed by a one-way clutch body by a lock, the drawer is freely drawn by a one-way clutch, and the rewinding is performed by the spring with the clutch body removed.

FIG. 10 is a schematic diagram for explaining the feeding state of the cord 54 in FIG. 3, and the same parts as those in FIG. 3 are denoted by the same reference numerals. In the figure, a power cord slack detecting unit 66 is provided near the outlet 55 in which the feed rollers 65 and 65 are provided, and the power cord 54 from the code reel 31 is controlled by a guide roller 80 to be slack. Detector 66
Through to the outside.

By the way, in the structure of FIG. 10, the delivery rollers 65, 65 and the guide roller 80 are attached to the rotation supporting member 56 as described above, and the rotation supporting member 56
Is rotatable around the entire circumference. Therefore, for example, when the work vehicle moves in the outlet direction (direction of arrow A) and the slack detecting section 66 detects the slack of the cord 54, the cord reel 31 rotates in the (CCW) direction to wind up the cord 54. I do. However, when the cord 54 is wound, a force in the direction of arrow B is applied to the guide roller 80, and the rotation support member 56 also rotates in the (CCW) direction, so that the winding operation of the code reel 31 cannot keep up and the power cord further sags. A condition arises. In this state, there is a risk that the work vehicle itself steps on the power cord 55 and the power cord 55 is entangled in the work vehicle.

FIG. 11 is a schematic view of a cord feeding mechanism for solving such a problem, and the same parts as those in FIG. 10 are denoted by the same reference numerals. In the same drawing, a slack detecting section 66 is provided on a connection that comes into contact with the outer periphery of the code reel 31 from the drawer section 55 composed of the feeding rollers 65, 65, and is provided to prevent the cord from bulging slightly outside the tangent line. A guide roller 80 is provided. In this embodiment, a fixed base 81 is provided, on which delivery rollers 65, 65 and a slack detecting section 66 are provided.

In the code supply mechanism shown in FIG. 11, the outer peripheral portion of the code reel 31, the slack detecting portion 66, the sending rollers 65, 65 are provided.
Are aligned on a straight line, and the power cord 54 is located on this straight line.

Accordingly, even if the work vehicle moves in the outlet direction (the direction of arrow C) and the slack detecting section 66 detects the slack of the power cord and the cord reel 31 starts winding the cord 54, the cord 54 continues to be fed. , 65 to the code reel 31 while being kept in a straight line. For this reason, guide rollers
There is no sudden slack in the power cord 54 due to the rotation of the support member 56 due to the force applied to 80.

FIG. 12 is a perspective view of a main part of the delivery portion 55 of the power cord 54, and the delivery rollers 65, 65 are erected on the fixing plate 81 attached to the cutout portion of the support member 56 as described above, A slack detecting section 66 is provided between the sending rollers 65, 65 and the code reel 31. A U-shaped photo-interrupter is used as such a slack detector, and when the code sags, the power cord 54 enters the area surrounded by the U-shape of the detector 66 and the light is cut off to detect this slack. I do. To accurately detect this slack, the feed roller 6
The fixing plate 81 to which the fixing members 5 and 65 are attached is located at a position lower than the support member 56 to which the slack detecting section 66 is attached. The roller portions of the delivery rollers 65 and 65 and the guide roller 80 are made of polyacetal resin, and are rotatable and movable up and down so that the feeding and winding of the power cord 54 can be further smoothed. Has been.

In the embodiment of the present invention, the power is collected from the cord reel 31 to the main body of the power cord by providing a sliding ring 68 on the upper plate surface of the cord reel 31 as shown in FIGS. This is performed by disposing a contact piece 69 on the upper substrate 9 of the work vehicle so as to always contact the moving ring 68.
For this reason, there has been a problem that the sliding ring 68 and the contact piece 69 are worn due to aging. In addition, when the number of the sliding pieces 68 is increased, the upper plate surface of the code reel 31 needs to be enlarged, and there is a disadvantage that this type of work vehicle is increased in size.

FIG. 13 shows a current collecting mechanism for solving such a problem. In the figure, a plurality of electrodes 82, 82, 82,... Which go around the outer circumference of the side surface of the cylindrical support 8 are provided, and the electrode 8 is provided on the inner circumferential side of the side wall 83 of the code reel 31 fitted into the outer circumference of the cylindrical support 8.
, 82, 82,... Are provided with electrodes 84, 84, 84,. The two electrodes 82, 82 ... and 84, 84 ... are provided with recesses 85, 85 ... and 86, 86 ... over the entire circumference, and the opposed recesses 85, 85 ... and 86, 86 ... Bearings 87, 87, such as conductive ball bearings and roller bearings, are interposed therebetween. Are insulating spacers that insulate the electrodes 82 from each other.

In such a current collecting mechanism, the electrodes 82, 82 are connected to the internal power supply terminals 89, 89, and the electrodes 84, 84 are connected to the connection terminals 9 to the power cord 31 for receiving power from the outside.
Tied to 0,90. Therefore, the electric power transmitted through the power cord 54 is operated through the connection terminals 90, 90, the electrodes 84, 84, the bearings 87, 87, the electrodes 82, 82, and the power supply terminals 89, 89. It is transmitted to the internal circuit of the car. The cylindrical pillar 8 and the side wall 83 of the cord reel 31 are formed by the bearings 87, 87,.
The cord reel 31 rotates smoothly with respect to the cylindrical support 8 because of the mechanical connection with the cylindrical support 8.

Further, with such a configuration, the electrodes 82, 82,.
4, 84... And bearings 87, 87... Can be added to supply not only a power source but also a control signal from the outside, and the work vehicle can be controlled to operate based on such a control signal.

G) Effects of the Invention As described above, according to the present invention, the cord reel for adjusting the length of the power cord drawn out is formed in the middle layer of the mobile work vehicle, so that long-time work can be performed smoothly.
The mobile work vehicle can be made lightweight and compact.

In addition, since the draw-out portion of the power cord formed with the external power supply connection portion at the tip by the rotation supporting member is rotatable with respect to the main body, the draw-out portion of the power cord can always be directed to the power supply portion. Therefore, it is possible to cope with a complicated work area without the power cord getting entangled in the mobile work vehicle during the work.

Further, when the work vehicle moves inside the room, the power cord is swung right and left at the outlet, but the side of the power cord is held by rollers, and feeding and winding of the cord is smooth without any resistance due to the rotation of the rollers. Done in

[Brief description of the drawings]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of the present invention.
FIG. 2 is a sectional view taken along the line II-II of FIG. 1, and FIG.
FIG. 4 is a sectional view taken along line IV-IV of FIG. 1, FIG. 5 is a sectional view taken along line VV of FIG. 1, FIG. 6 is a right side view, FIG. 8 is an exploded longitudinal sectional view, FIG. 9 is a block diagram, FIG. 10, FIG. 11 is a schematic diagram showing a relationship between a cord reel and a rotation support member, and FIG. 12 is a cutaway perspective view of a main part of a cord outlet. FIG. 13 is a schematic sectional view showing a connection state between the cylindrical support and the cord reel side wall. 1 ... mobile work vehicle, 2 ... upper section, 3 ... middle section, 4 ...
... lower layer part, 5 ... chassis plate, 7 ... lower board, 8 ... cylindrical support, 9 ... upper board, 11, 12 ... wheels, 13, 14 ... wheel electric motor, 23 ... suction tool, 31 …… Code reel, 32 …… Reel motor, 54 …… Power cord, 36 …… Dust collecting part, 37 ……
Electric blower section.

Claims (1)

(57) [Claims] 1. A rotation support member for rotatably with respect to a main body, a lower layer portion formed with a self-propelled wheel, a motor for driving the wheel, etc., and a power cord lead-out portion formed with an external power supply connection portion at a tip. And a middle layer formed with a code reel that adjusts the draw-out length of the power cord in accordance with movement, and an upper layer formed with a working unit driven by power supply from the power cord. A mobile work vehicle with a code reel, wherein the drawer is formed by a roller having an upright portion.