JP3237402B2 - Floor solution application device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a floor cleaning and wiping operation,
The present invention relates to a floor solution applying apparatus used for waxing work or a floor disinfecting liquid applying work in a hospital or the like, and particularly to a floor solution applying apparatus applied to a cleaning robot which performs the above operation while autonomously traveling.

[0002]

2. Description of the Related Art In a conventional floor solution applying apparatus, a rotating sponge, a brush, or the like is impregnated with a solution and brought into contact with the floor, whereby the solution is applied to the floor.
Alternatively, the solution has been applied by spraying the solution onto the floor and then brushing the solution.

A method of performing the above operation in a larger area is disclosed in, for example, Japanese Patent Application Laid-Open No. 5-20447. According to the gazette, a plurality of rotating bodies that are in contact with the floor surface are provided, and they are rotated in close contact with each other while deforming each other,
It is possible to prevent wiping between the rotating bodies.

[0004]

However, in the above-mentioned conventional floor surface solution applying apparatus, since the solution is once contained in a sponge or the like, the following problems occur. In other words, it is necessary to control the amount of solution impregnation in order to apply it evenly on the floor surface, but it is difficult to control the amount of solution impregnation at the start of work, or stop supply of solution to the sponge at the end of work. Even so, there is a problem that the sponge is impregnated with an unnecessarily large amount of solution, resulting in an excessive amount of coating. In addition, there is a problem that the amount of application varies depending on the moving speed.

[0005] Furthermore, in the solution application method by spraying, there is a problem that the micronized solution floats in the air and, depending on the solution, harms the human body.

Further, in order to perform a work in a larger area, when a plurality of rotating bodies are provided and the solution is applied by rotating in close contact with each other while deforming each other, the rotating body containing the solution is deformed at the contact portion. As a result, there is a problem that the rotating body is squeezed, the liquid is concentrated, and bubbles are generated, so that streaks of the solution remain on the floor surface after the operation.

The present invention has been made to solve the above problems, and has the following objects.

(1) To provide a floor solution applying apparatus capable of optimally controlling a discharge amount of a coating solution according to application conditions.

(2) To provide a floor solution applying apparatus which is not affected by the moving speed. (3) To provide a floor solution application apparatus in which the human body is not affected by the application solution.

(4) Provided is a floor solution applying apparatus in which the entire area of the application surface is finely cleaned even when a plurality of rotating bodies are provided.

[0011]

According to the present invention, there is provided a floor solution applying apparatus for applying a solution to a floor, the rotating body being in contact with the floor and rotating about a rotation axis extending in a direction intersecting with the floor. And means for dropping the solution, wherein the rotating body has a shape having a deficient portion with respect to the application area circle formed by the rotation, and the dripping means drops the solution onto the deficient portion.

[0012]

The desired amount of the coating liquid is supplied directly to the floor surface because the coating liquid is supplied through the defective portion of the rotating body. Since the coating liquid is not contained in the sponge or the like as in the conventional case, the conventional problems do not occur.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an external perspective view of a cleaning robot 1 equipped with a floor solution applying apparatus according to the present invention.

Referring to FIG. 1, a cleaning robot 1 includes a main body 20 and a cleaning robot 1 provided around the main body 20.
, A coating device supporting portion 21 provided at a front end of the main body 20, and a handle 17 serving as a holding portion for manually moving the cleaning robot 1 provided at an upper portion of the main body 20. including. The coating device support unit 21 includes four coating rotators 2 that rotate while contacting the floor surface and apply the cleaning solution to the floor surface, and a nonwoven fabric 3 attached to the lower portion of the coating rotator 2. A nozzle 4 for jetting a cleaning solution to the spin coating body 2 is provided.

The nonwoven fabric 3 contains an appropriate solution, and in this embodiment, a thin sheet nonwoven fabric is used in order to prevent uneven coating. The nonwoven fabric 3 has a function of adsorbing dirt on the floor surface, and has a structure that can be replaced at any time when dirt adheres. The nozzle 4 is located in the upper part of the coating area of the coating rotator 2 and sprays the cleaning solution toward the floor in synchronization with the rotation of the coating rotator 2.

In this case, the solution sprayed from the nozzle 4 is used as the cleaning solution. However, the coating device is also effective when using wax, paint, disinfectant, or the like.

FIG. 2 is a schematic diagram showing a driving mechanism of the coating rotator 2, and is a view of the coating device supporting portion 21 as viewed from above.

Referring to FIG. 2, the driving mechanism of the coating rotator 2 is a driving motor 6, a driving gear 7 directly connected to the driving motor 6, and is engaged with the driving gear 7 to be directly connected to the coating rotator 2b. Drive gear 8b. The coating rotating bodies 2a, 2c, 2d are rotated by driving the driving gears 8a, 8c, 8d which are directly connected to each other via the adjacent idle gear 9.

Referring to FIG. 2, when drive motor 6 rotates in the direction of the arrow, coating rotating bodies 2a to 2d rotate at the same speed in the direction of the arrow in FIG. In the above-described embodiment, the state in which the four application rotating bodies 2a to 2d are driven using the gear train is shown. However, the present invention is not limited to this, and the same driving can be obtained by using a belt or a pulley. Needless to say.

FIG. 3 is a view for explaining a mechanism for injecting the cleaning solution from the nozzle 4 in synchronization with the rotation of the coating rotator 2. Referring to FIG. 3, the cleaning solution is stored in a tank 14, and the cleaning solution is sent by a pump 13 to cleaning solution spray nozzles 4 provided in each of the four application rotating bodies. The control of the pump 13 is performed by the control unit 12. The control unit 12 detects the traveling speed of the cleaning robot 1 via a signal based on the rotation of the coating rotator 2 and the speed detecting unit 18, and controls the pump 13 and the coating rotator driving motor 6. The contents will be described later.

The rotation of the coating rotator 2a is detected by a light-shielding plate 10 directly connected to the coating rotator 2a and a photosensor 11 provided at a predetermined position with respect to the light-shielding plate 10. The detected signal is input to the control unit 12, and the control unit 12 controls the operation of the pump 13 in synchronization with the signal. Shield plate 1
2 is provided with two notches corresponding to the shape of the application rotating body 2a as shown in FIG. 3, and in the embodiment of the present invention, the pump Is programmed to stop the operation.

When the pump 13 operates, the cleaning solution stored in the tank 14 is supplied to the nozzle 4, and the cleaning solution is jetted from the tip of the nozzle 4. With such a mechanism,
The cleaning solution is sprayed from the nozzle 4 in synchronization with the rotation of the coating rotator 2.

Further, as described above, the wheel 5 is provided with the speed detecting unit 18 to detect the traveling speed of the cleaning robot 1. The detected traveling speed is input to the control unit 12, and the control unit 12 controls the application rotating body drive motor 6 and the pump 13 according to the signal. As a result, it is possible to always obtain the optimum rotation speed of the coating rotator 2 and the dropping amount of the cleaning solution with respect to the traveling speed. For example, if it is determined that the traveling speed is higher than the reference speed, the control unit 12 increases the duty value of the coating rotating body drive motor 6, increases the rotating speed of the coating rotating body 2, and reduces wiping unevenness.
In addition, the duty value of the pump 13 is also increased, and more cleaning solution is dropped to keep the application amount constant.

Conversely, if it is determined that the running speed is lower than the reference speed, the controller 12
6. By reducing the duty value of the pump 13, the same coating effect as at high speed can be obtained.

As described above, since the rotation speed of the coating rotator 2 can be controlled according to the traveling speed of the cleaning robot, it is possible to always apply a uniform and constant solution regardless of the traveling speed. Note that this mechanism is particularly effective in a manual pushing operation in which the traveling speed of the cleaning robot cannot be made constant.

FIG. 4 is a diagram showing an operation pattern due to the rotation of the coating rotator 2 and an operation pattern for injecting the cleaning solution from the nozzle 4 in synchronization with the rotation of the coating rotator 2.

Referring to FIG. 4, the coating rotators 2 have a diameter L, and the coating rotators 2 are arranged so that the distance between the rotation centers is d. The diameter L of the wiping area 15 by the coating rotator 2 is longer than the distance d between the centers of rotation, and there is a wiping overlap area 16 overlapping with the adjacent wiping area 15.

In the initial state (a), the four coating rotating bodies 2 are aligned with a phase difference of 90 degrees as shown in the figure, and from this state, each starts rotating in the direction of the arrow at the same speed. (B) shows a state rotated in a predetermined rotation direction by 30 degrees from the initial state of (a). Thereafter, similarly (c),
(D)..., And 180 ° from the state of (a) is (g). In this state, the alignment state of the coating rotator 2 is the same as that shown in (a), and by repeating this cycle, the rotating operation can be performed without interfering with each other.

As described above, since the adjacent rotating bodies rotate synchronously while maintaining a predetermined phase difference, the wiping area by the rotating bodies rotates while having an overlapping portion, and the rotating bodies do not interfere with each other. As a result, it is possible to apply a uniform solution over the entire width of the plurality of rotating bodies.

Next, with reference to FIG. 4, an operation pattern for spraying the cleaning solution from the nozzle 4 in synchronization with the rotation of the coating rotator 2 will be described.

As described above, when the photo sensor 11 detects the notch of the light shielding plate 10, the control is performed so that the injection from the nozzle 4 is interrupted. Therefore,
In the states (a) and (b), the cleaning solution is sprayed on the floor, but in the state (c), the photosensor 1
1 detects a notch in the light-shielding plate 10, stops the pump 13, and suspends the injection of the cleaning solution. further,
(D) and (e), the photo sensor 11 does not detect the cutout of the light shielding plate 10, so the pump 1
3 is operated to start spraying the cleaning solution. Further, the rotations (f) and (g) are performed, and the state returns to the initial state (a) again.

The notch of the light-shielding plate 10 is provided at a position corresponding to the shape of the coating rotating body 2 as shown in FIG.
The cleaning solution can always be directly sprayed only on the floor surface without spraying the cleaning solution on the upper surface of the coating rotator 2. The cleaning solution sprayed on the floor is spread on the floor by the non-woven fabric 3 attached to the portion of the coating rotator 2 that comes into contact with the floor. By rotating the drive wheel 5 and moving the cleaning robot 1 forward, it is possible to apply the cleaning solution uniformly over the entire width (L + 3d) of the wiping area 15.

Further, the control of the coating amount by the output of the speed detecting unit 18 and the like can be realized by changing the setting of the number of times of the pump operation in response to the signal from the photo sensor 11 in the control unit 12. That is, normally, the cleaning solution is sprayed twice per rotation of the coating rotator 2, which is freely controlled by controlling the coating amount, such as spraying once per rotation, spraying once per rotation, and so on. It becomes possible.

As described above, in this embodiment, since the amount of the solution dropped on the floor surface can be changed in accordance with the speed of the cleaning robot, the optimum amount of application is obtained according to the speed of the cleaning robot. Adjustment becomes possible.

FIG. 5 shows another embodiment of the present invention. In this embodiment, the length of one side of the floor contact portion of the coating rotator 2 is shortened so as to be closer to the rotation center than the injection nozzle 4 in the embodiment of FIG.
Notch is filled. As a result, the injection stop time during one rotation is only between (e) and (f), which is half of the case of the embodiment shown in FIG. As a result, more cleaning solution can be applied.

In this case, the shape of the coating rotator 2 becomes asymmetrical with respect to the center of rotation, and the rotation of the coating rotator 2 causes the shaft to be displaced by the reaction force from the floor, so that the entire floor surface solution coating apparatus vibrates. there is a possibility. Therefore, in order to apply this configuration to a lightweight cleaning robot, it is necessary to take the following measures. That is, in order to minimize the vibration, it is necessary to make the shape of the application rotating body 2 symmetrical with respect to the center of rotation, and to reverse the rotating direction of the adjacent rotating body. But,
In order to completely prevent vibration, it is desirable that the shape of the application rotating body is symmetric with respect to the center of rotation.

Next, still another embodiment of the present invention will be described. FIG. 6 is a diagram for explaining still another embodiment of the present invention. In this embodiment, the nozzles 4 for spraying the coating liquid are provided in the wiping overlapping areas 16 on both sides except for the central part. With this configuration, the number of nozzles can be reduced to two as compared with the previous embodiment, and the cost can be reduced. In this case, four notches are provided in the light-shielding plate 10 in order to avoid dripping of the solution onto the two application rotating bodies 2 sharing the wiping overlap area 16.

[0038]

As described above, according to the present invention, since the coating liquid is supplied through the notch of the coating rotating body, a desired amount of the coating liquid is directly supplied to the floor surface. As a result, it is possible to provide a floor solution applying apparatus capable of optimally controlling the amount of application solution discharged according to conditions.

[Brief description of the drawings]

FIG. 1 is an external perspective view of a cleaning robot equipped with a solution application device according to the present invention.

FIG. 2 is a diagram illustrating a driving mechanism of a coating rotating body.

FIG. 3 is a view showing a mechanism for ejecting a cleaning solution from a nozzle in synchronization with rotation of a coating rotating body.

FIG. 4 is a diagram showing an operation pattern by rotating a coating rotator and an operation pattern for spraying a cleaning solution.

FIG. 5 is a diagram showing another embodiment of the present invention.

FIG. 6 is a diagram showing still another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning robot 2 Coating rotating body 3 Nonwoven fabric 4 Nozzle 5 Drive wheel 6 Drive motor 10 Shield plate 11 Photosensor 12 Control part 18 Speed detecting means

Claims (2)

(57) [Claims] 1. A floor solution applying apparatus for applying a solution to a floor, comprising: a rotating body that abuts on the floor and rotates about a rotation axis extending in a direction intersecting with the floor; wherein and means for dropping on the floor, the rotating body is a shape having a cut portion with respect to the coating area circle formed by the rotation, the dropping means for dropping the solution into the defect, Floor solution application device. 2. A non-woven fabric is arranged at a floor contact portion of the rotating body.
The floor surface solution according to claim 1, wherein
Coating device.