JP4607030B2 - Self-propelled car wash machine - Google Patents

Description

  The present invention relates to a self-propelled car wash machine, and more particularly to an improved structure of a self-propelled car wash machine that cleans the outer peripheral surface of a vehicle body with a car wash brush while traveling along the outer peripheral surface of the vehicle body.

  2. Description of the Related Art Conventionally, as a type of automobile washing apparatus, there is a structure having a gate-type main body frame, and a structure in which a car wash brush is rotatably attached to each of a plurality of opposing support columns of the main body frame. is there. As is well known, this portal type washing apparatus is such that the main body frame is guided by two rails and runs in the front-rear direction of the automobile to be washed, or the automobile passes through the main body frame. By being allowed to run, the main body frame and the automobile can be moved relative to each other. At that time, the car wash brush that is rotated is pressed against the outer peripheral surface of the automobile, and the outer peripheral face of the automobile is washed. However, there are inherent problems such as a large structure and an expensive structure, and a large installation place.

  On the other hand, there is also known a washing apparatus in which a plurality of car wash brushes are supported on an L-shaped frame that runs on a single rail so as to be able to rotate and reciprocate in a direction perpendicular to the extending direction of the rail. (For example, see Patent Document 1 below). In such an L-type cleaning device, since the rail is one, advantages such as simplification of the rail laying work can be obtained as compared with a gate-type cleaning device that runs on two rails. However, the installation location is fixed and cannot be changed, and it is difficult to handle various vehicles such as large vehicles and small vehicles, and special vehicles and railway vehicles. The problem of being still existed.

  Under such circumstances, as a washing apparatus for solving the above-described problems, a wheel that allows the car wash brush to run rotatably is attached to a frame that is rotatably supported, and the wheel is driven. An independent self-propelled car wash machine provided with a drive source has also been proposed (see, for example, Patent Documents 2 and 3).

  However, all of these conventional self-propelled car wash machines have a structure in which wheels are steered by manual operation of an operator using a handle or a remote control. For this reason, it is not easy to control the traveling direction of the car wash machine along the outer peripheral surface of the vehicle body so that the rotating car wash brush reliably contacts the outer peripheral surface of the vehicle body to be cleaned. Therefore, it has been unavoidable that the finished state of the car wash varies due to the steering skill of the operator. In addition, since washing is normally performed while water is sprayed on the vehicle body, there is a problem that an operator who operates the handle or the remote control has to perform work in a poor environment where splashing is applied. .

  Therefore, the present inventors have intensively studied to solve those problems. First, a structure that enables automation of a steering operation of a car wash machine using a distance sensor was conceived. That is, a distance sensor that measures the distance between the car wash brush and the vehicle body, and along the outer peripheral surface of the vehicle body while maintaining a constant distance from the vehicle body to be cleaned based on the detection value of the distance sensor. They have come up with a self-propelled car wash machine that is equipped with a control device that controls the direction of travel of the car wash machine so that it can run.

  However, in such a structure, when an optical distance sensor or the like is used as the distance sensor, for example, water splash or mud adheres to or floats on the light emitting part or the light receiving part of the distance sensor or the optical path between them. Otherwise, there was a risk that accurate distance measurement could not be performed. Therefore, in a self-propelled car wash machine having a conventional structure using such a distance sensor, its running direction is stably and highly accurate so that it can be run along the outer peripheral surface of the vehicle body to be washed. It was difficult to control it.

Japanese Utility Model Publication No. 64-3725 JP-A-52-107172 Japanese Patent Laid-Open No. 2003-127843

  Here, the present invention has been made in the background as described above, and the problem to be solved is the traveling direction so that the vehicle can travel along the outer peripheral surface of the vehicle body to be washed. Therefore, it is an object of the present invention to provide an improved structure of a self-propelled car wash machine that can be controlled with high reliability and high accuracy and with sufficient reliability, so that automation of steering operation can be advantageously realized.

In order to solve this problem, the first aspect of the present invention includes a frame, a wheel attached to the frame and capable of running the frame without a rail, and at least one of the wheels. A car driving brush that is rotatably supported around a rotation axis extending in the vertical direction with respect to the frame, and while pressing the car washing brush against the outer peripheral surface of the vehicle body In the self-propelled car wash machine for washing the outer peripheral surface of the vehicle body by causing the frame to travel along the outer peripheral surface of the vehicle body, (a) the traveling direction of the frame is set to the approach direction and the separation direction with respect to the outer peripheral surface of the vehicle body Steering means for changing in at least two directions, and (b) resistance force detecting means for detecting a resistance force generated in the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body (C) When the steering means is controlled based on the detected value of the resistance force detected by the resistance force detection means, and the detected value becomes larger than a preset allowable range, the frame Is driven in the direction away from the outer peripheral surface of the vehicle body, and when the detected value is smaller than a preset allowable range, the self-running direction control is caused to drive the frame in the approaching direction to the outer peripheral surface of the vehicle body. is configured to include a means, and, among the wheels attached to the frame, the left wheel located on both sides of the right and left relative to the running direction of the frame, to be driven to by said drive source The wheel is a drive wheel and a right drive wheel, and caster-type wheels that can change direction are attached to the front and rear of the left and right drive wheels in the traveling direction of the frame. The steering means includes an adjustment mechanism for adjusting the rotation speed of the left drive wheel and the rotation speed of the right drive wheel to be different from each other, and the left drive wheel adjusted by the adjustment mechanism Based on the difference between the rotational speeds of the right drive wheel and the right drive wheel, the direction of travel of the frame is changed in the left-right direction, so that the car wash brush moves along the outer peripheral surface of the vehicle body. The traveling direction of the frame is changed in two directions, that is, the direction and the separation direction, and the driving wheels on the left and right driving wheels are on the extension line of the left and right driving wheels extending in the left-right direction of the frame. The self-propelled car wash machine is characterized in that the rotation axis of the car wash brush is arranged in a vertical direction at a position off the side of the frame .

  Moreover, the second aspect of the self-propelled car wash machine according to the present invention is the self-propelled car wash machine according to the first aspect, wherein (d) the frame travels at a high speed in the travel mode of the frame. (E) a travel mode switching means that selectively switches between a high-speed mode for driving at a low speed and a low-speed mode for traveling at a low speed; and (e) the travel speed of the frame is preset when the travel mode is switched to the high-speed mode by the travel mode switching means. Travel that raises the travel speed of the frame to a preset second speed that is lower than the first speed when the travel mode is switched to the low speed mode while the speed is increased to the set first speed Speed changing means is further provided and configured.

  Furthermore, in the third aspect of the self-propelled car wash machine according to the present invention, a rotation preventing mechanism for preventing rotation of the car wash brush based on switching of the travel mode by the travel mode switching means is further provided, When the travel mode is switched to the high speed mode by the mode switching means, the rotation prevention mechanism is activated to prevent the rotation of the car wash brush, while the rotation mode is switched to the low speed mode. The operation state of the blocking mechanism is released, and the car wash brush is allowed to rotate.

  Furthermore, a fourth aspect of such a self-propelled car wash machine according to the present invention is the self-propelled car wash machine according to any one of the first to third aspects, wherein the wheels attached to the frame are The wheels positioned on both the left and right sides with respect to the traveling direction of the frame are the left driving wheel and the right driving wheel that are driven by the traveling drive source, and the steering means includes the left driving wheel. An adjustment mechanism for adjusting the rotation speed and the rotation speed of the right drive wheel to be different from each other is configured, and based on a difference in rotation speed between the left drive wheel and the right drive wheel adjusted by the adjustment mechanism. Thus, by changing the traveling direction of the frame in the left-right direction, the traveling direction of the frame is changed in two directions, an approach direction and a separation direction with respect to the outer peripheral surface of the vehicle body.

  Further, in a fifth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the fourth aspect, the travel drive source drives the left drive wheel. A travel drive source and a second travel drive source that drives the right drive wheel and is separate from the first travel drive source, and the adjustment mechanism includes the first travel drive source. Rotational speed of each of the left driving wheel and the right driving wheel by relatively changing a driving force of the driving source with respect to the left driving wheel and a driving force of the second traveling drive source with respect to the right driving wheel. Are configured to be adjustable so as to be different from each other.

  Furthermore, in a sixth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the fifth aspect, when the detected value is larger than a preset allowable range, Of the left driving wheel and the right driving wheel, by stopping the driving of the first traveling driving source or the second traveling driving source with respect to the driving wheel distal from the outer peripheral surface of the vehicle body by the adjusting mechanism, While the frame is traveling in a direction away from the outer peripheral surface of the vehicle body, the outer peripheral surface of the vehicle body of the left driving wheel and the right driving wheel when the detected value becomes smaller than a preset allowable range. The drive of the first travel drive source or the second travel drive source to the drive wheel proximal to the drive wheel is stopped by the adjustment mechanism, so that the frame travels in the approaching direction to the outer peripheral surface of the vehicle body. The self-running direction control means Control configured to be able to section mechanism.

  Further, in a seventh aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to any one of the first to sixth aspects, a detection value by the resistance force detecting means is preset. The detected value is within a preset allowable range by causing the frame to travel in a direction away from the outer peripheral surface of the vehicle body by the self-running direction control means when the allowable value exceeds the allowable range. As described above, before the detected value becomes smaller than a preset allowable range, steering is performed in a direction parallel to the outer peripheral surface of the vehicle body and correction steering is performed so as not to be too far from the outer peripheral surface of the vehicle body, while the resistance force detection is performed. When the detected value by the means becomes smaller than the preset allowable range, the detected value is set in advance by causing the frame to travel in the approaching direction to the outer peripheral surface of the vehicle body by the self-running direction control means. Model As long as the detected value becomes larger than the preset allowable range, the vehicle is steered in a direction parallel to the outer peripheral surface of the vehicle body and corrected so as not to approach the outer peripheral surface of the vehicle body too much. Correction steering means for steering is provided.

  Furthermore, in a ninth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to any one of the first to eighth aspects, the travel drive source is configured by an electric motor. In addition, an internal combustion engine generator for supplying power to the electric motor is further provided.

  Furthermore, in a tenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the ninth aspect, a cover member that partially surrounds the entire circumference of the car wash brush includes: It is formed between the car wash brush and the generator.

  Moreover, in the eleventh aspect of the self-propelled car wash machine according to the present invention, the self-propelled car wash machine according to the ninth or tenth aspect comprises an electric motor that rotates the car wash brush. A brush drive motor is further provided, and the brush drive motor is configured to be powered by the generator that feeds a travel drive source configured by the electric motor.

  Furthermore, in a twelfth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the eleventh aspect, the rotational speed adjusting means for adjusting the rotational speed of the brush drive motor is further provided. Will be provided.

  Furthermore, in a thirteenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the eleventh or twelfth aspect, the resistance detecting means includes the brush. A current detection device for detecting a supply current to the drive motor, and based on a detection value of the supply current detected by the current detection device, the resistance force is pushed against the outer peripheral surface of the vehicle body; It is comprised so that it may detect as rotation resistance force which arises in this car wash brush by applying.

  Further, in a fourteenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to any one of the first to twelfth aspects, the resistance detecting means is the car wash brush. A pressure reaction force detection device that detects a pressure reaction force generated in the car wash brush by pressing against the outer peripheral surface of the vehicle body, and based on a detected value of the pressure reaction force detected by the pressure reaction force detection device And configured to detect the resistance force.

  Furthermore, in a fifteenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to any one of the first to fourteenth aspects, a tank for storing washing liquid, and the tank And an injection device for injecting the cleaning liquid in the vehicle body outer peripheral surface.

  Furthermore, in a sixteenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the fifteenth aspect, the pipe in which the injection device is extended from the tank And an injection port provided in the pipe, and the cleaning liquid in the tank is pumped from the tank and sent out into the pipe, and the cleaning liquid is injected to the outer peripheral surface of the vehicle body through the injection port. And a pump.

  In the seventeenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to the fifteenth or sixteenth aspect, the frame is a base to which the wheels are attached. The car wash brush that is configured to include a base part and a support part that supports the rotating shaft of the car wash brush and that is supported by the support part protrudes to the side of the base part. On the other hand, the tank is installed at a position biased to the side opposite to the protruding side of the car wash brush from the central part on the base part.

  Furthermore, in an eighteenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to any one of the first to seventeenth aspects, the car wash brush is arranged around the rotation axis. In a rotatable state, the position is fixed with respect to the frame.

  In the nineteenth aspect of the self-propelled car wash machine according to the present invention, in the self-propelled car wash machine according to any one of the first to eighteenth aspects, the steering means by the self-propelled direction control means. Independently of the control, an operating means for arbitrarily operating the steering means is further provided.

  That is, in the first aspect of the self-propelled car wash machine according to the present invention, the resistance force generated in the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body is detected by the resistance force detecting means. Further, the traveling direction of the car wash machine is controlled based on the detected value so that the vehicle can travel while maintaining a constant distance from the vehicle body. Therefore, unlike the case of running control using an optical distance sensor or the like as described above, for example, the resistance force is accurately detected by the resistance force detection means without being affected by splashing or mud. Can be detected. And based on such a detected value, the controlled variable of a running direction can be obtained stably.

  Therefore, in such a self-propelled car wash machine according to the present invention, the travel direction is sufficiently reliable and highly accurate and stable so that the vehicle can travel along the outer peripheral surface of the vehicle body to be washed. It can be controlled and the automation of the steering operation can be advantageously realized. As a result, even those who are not familiar with the work can easily work, and the finished state of the car wash can be made as uniform as possible. Moreover, it is possible for the worker to perform the car washing work advantageously by remote control under a favorable work environment.

  Further, according to the second aspect of the self-propelled car washing machine according to the present invention, prior to the washing operation of the vehicle body to be washed, the car washing machine is washed, for example, near the vehicle body from the storage place, that is, the vehicle body is washed. When moving to a possible position, the vehicle washing machine can be quickly moved to a position where the body to be washed can be washed by setting the frame running mode to the high speed mode by the running mode switching means. I can do it. When the vehicle reaches such a position, the vehicle's vehicle mode is switched from the high speed mode to the low speed mode by the driving mode switching means by the driving mode switching means, so that the car body is carefully considered as much as possible while driving the car washer at low speed. It is possible to wash it. Therefore, the efficiency of the car wash operation can be effectively realized.

  Further, according to the third aspect of the self-propelled car wash machine according to the present invention, prior to the washing operation of the vehicle body to be washed, the running mode switching means sets the frame running mode to the high speed mode and For example, when the vehicle is moved from the storage location to the vicinity of the vehicle body at a high speed, the rotation of the car wash brush is prevented. Accordingly, unnecessary brush rotation during high-speed movement is avoided, energy loss is suppressed, and danger due to the rotating brush is prevented, so that safety in car washing operations can be advantageously ensured.

  Moreover, according to the 4th aspect of the self-propelled car wash machine according to this invention, the drive wheel which drives a flame | frame is made to function as a steering wheel which changes the driving | running | working direction. Therefore, the number of parts can be advantageously reduced as compared with the case where a steering wheel is provided separately from the drive wheel.

  Furthermore, according to the fifth and sixth aspects of the self-propelled car wash machine according to the present invention, the rotation speeds of the left drive wheel and the right drive wheel can be adjusted reliably. Thereby, the control of the traveling direction of the car wash machine can be performed more stably. For example, in the sixth aspect, a timer device for measuring the drive stop time of the first traveling drive source or the second traveling drive source by the drive control of the adjusting mechanism is further provided, and the measurement by the timer device is performed. When the time has reached a preset time, the adjustment mechanism is configured so that the first traveling drive source or the second traveling drive source that has been stopped is redriven. A mode that can be controlled by the control means is preferably employed. By adopting such a timer device, the steering amount is set in units, and the amount of change in the frame traveling direction in the approach direction and the separation direction with respect to the outer peripheral surface of the vehicle body is controlled by the self-running direction control means. It can be prevented in advance that the amount of water is excessive, and the control of the traveling direction of the car wash machine can be performed with higher accuracy.

  According to the seventh aspect of the present invention, when the car wash brush comes into contact with the outer peripheral surface of the vehicle body in an appropriate range, the self-propelled car wash machine automatically becomes substantially parallel to the outer peripheral surface of the vehicle body. It will be steered in the direction. Therefore, frequent steering is avoided, and the car wash in a proper contact state with the outer peripheral surface of the car wash brush by the self-propelled car wash machine will be expressed for a longer time, and the stability of the run Can be improved.

  Furthermore, according to the ninth aspect of the self-propelled car wash machine according to the present invention, it is possible to drive both the driving wheels and the rotating brush for traveling with the electric motor. As a result, the running wheel and the rotating brush can be easily and accurately controlled by the electric circuit. Further, as compared with the case where a battery is mounted as a drive source for the electric motor, time-consuming troublesome work such as charging is not required, and usability is improved.

  Furthermore, according to the tenth aspect of the present invention, the traveling drive source is protected from splashes, mud, and the like scattered by the rotation of the car wash brush. As a result, it may be desired to improve the durability of the travel drive source.

  Furthermore, according to the eleventh aspect of the present invention, the car wash brush can be rotated at an arbitrary place. Thereby, it is possible to perform a cleaning operation at an arbitrary place.

  Further, according to the twelfth aspect of the self-propelled car wash machine according to the present invention, the rotation speed of the car wash brush can be changed according to the dirt state or shape of the outer peripheral surface of the vehicle body. Thereby, the efficiency of the washing operation, the protection of the brush and the vehicle body, and the like can be advantageously achieved. Moreover, if the rotation speed at the time of starting of a brush drive motor is made slow, rotation of a car wash brush can be started at low speed. Thereby, it is possible to avoid the impact and danger that occur when the rotation of the car wash brush is started rapidly and at high speed. In addition, the rotation resistance force of the car wash brush is monitored by the current value of the brush drive motor, etc., and when it exceeds a predetermined permissible level, the car wash brush rotates and the car wash machine travels as necessary in an emergency stop. It is also possible to provide a safety mechanism.

  Furthermore, in the thirteenth aspect of the self-propelled car wash machine according to the present invention, the resistance force generated in the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body is electrically detected by the resistance force detecting means. I can do it. Therefore, for example, it can be expected that the resistance force detecting means is made compact as compared with a case where such resistance force is mechanically detected.

  Furthermore, in the fourteenth aspect of the present invention for detecting the reaction force applied to the outer peripheral surface of the car wash brush as the resistance force, for example, the resistance force generated in the car wash brush during the car wash is used as the rotation resistance force of the car wash brush. Unlike the case of detection, even if the car wash brush is hindered by, for example, the car wash brush being caught on any part provided on the outer peripheral surface of the vehicle body, the frame is immediately It is also possible to perform travel control so that the travel control of the frame that separates the vehicle from the outer peripheral surface of the vehicle body is not performed. The reaction force of the car wash brush against the outer peripheral surface of the car body is, for example, directly detected by using a piezoelectric element or a strain sensor, and the car wash brush is applied to the car body side by a coil spring or the like with respect to the car wash machine frame. It can be detected by detecting the amount that the car wash brush can be displaced relative to the car wash frame against the urging force using a distance sensor such as a magnescale, infrared, or encoder. is there.

  In addition, according to the fifteenth and sixteenth aspects of the present invention, it is possible to wash the car using the washing liquid at an arbitrary place.

  Furthermore, according to the seventeenth aspect of the self-propelled car wash machine according to the present invention, heavy objects are respectively installed on both side portions of the base portion of the frame. As a result, the weight balance of the frame and thus the car wash machine is improved. As a result, stable running performance can be advantageously ensured.

  Furthermore, according to the eighteenth aspect of the present invention, stability during rotation of the car wash brush can be effectively ensured.

  Furthermore, according to the nineteenth aspect of the self-propelled car wash machine according to the present invention, for example, it can be easily moved from the storage place of the car wash machine to the vicinity of the vehicle body to be washed.

  Hereinafter, in order to clarify the present invention more specifically, embodiments of the present invention will be described in detail with reference to the drawings.

  First, in FIG. 1 to FIG. 3, as an embodiment of a self-propelled car wash machine having a structure according to the present invention, a self-propelled car wash machine used for washing an automobile has a front form, a side form, and a top form. And are shown schematically. As is clear from these drawings, the self-propelled car wash machine 10 of this embodiment has a frame 11. The four casters 12 and the left and right traveling tires 14a and 14b, which are two types of wheels capable of traveling on the frame 11, are attached to the frame 11, respectively. Further, the car wash brush 16 is supported so as to be rotatable around the rotation shaft 17.

  More specifically, the frame 11 is configured to further include a base portion 18. And the base part 18 of this flame | frame 11 is exhibiting the substantially longitudinal rectangular flat plate form, as FIG. 4 thru | or FIG. 7 shows. In addition, one caster 12 having wheels that freely rotate is attached to each of the four corners of the lower surface. Further, the caster 12 is a conventionally known buffer caster having a pivot shaft (not shown) extending in the vertical direction and capable of pivoting around the pivot shaft. Thus, the four casters 12 provide a buffering action against the downward impact input to the base portion 18. At the same time, the frame 11 is allowed to travel in any direction on the road surface. 4 to 7, members and parts on the upper surface of the base portion 18 of the frame 11 are omitted, and members such as left and right traveling tires 14a and 14b are shown in FIG. 5 and FIG. 14 described later. And parts are omitted.

  Further, left and right traveling tires 14a and right traveling tires 14b are respectively attached to the left and right side ends in the width direction at the longitudinal center portion of the lower surface of the base portion 18 with an axle 20 fixed thereto. The portions 18 are respectively arranged in a state of extending horizontally toward the inner side in the width direction. Further, the axles 20 are rotatably attached to the lower surface of the base portion 18 by a stay 24 having two bearings 22 and 22.

  Further, between the left traveling tire 14a and the right traveling tire 14b on the lower surface of the base portion 18, a left traveling motor 26a and a right traveling motor 26b are disposed as a traveling drive source for rotationally driving them. ing. That is, the left and right traveling motors 26a and 26b are provided in the state in which the respective drive shafts 28 are extended in the longitudinal direction of the base portion 18, that is, on the axles 20 of the left and right traveling tires 14a and 14b. It is arranged in a state extending perpendicularly. Note that the left and right traveling motors 26a and 26b are, for example, conventionally known dielectric motors that are driven to rotate in the same direction.

  Then, the drive shafts 28 of the left and right traveling motors 26a, 26b arranged in this manner are gears attached to the end portions of the respective axles 20 opposite to the traveling tire 14 side. It is connected via a gear (not shown) accommodated in the box 30 that changes the rotation direction. Thus, the left and right traveling tires 14a and 14b are rotated in the same direction as the left and right traveling motors 26a and 26b are driven to rotate in the same direction. And the whole frame 11 is made to run toward the one side of the longitudinal direction of the base part 18 shown by the arrow: (a) in FIG.

  As is clear from this, in the present embodiment, the left driving wheel is configured by the left traveling tire 14 a located on the left side with respect to the traveling direction of the frame 11. The first traveling drive source is configured by the left traveling motor 26a that drives the left traveling tire 14a. On the other hand, the right driving wheel is configured by the right traveling tire 14b positioned on the right side with respect to the traveling direction of the frame 11. Further, a second traveling drive source is configured by the right traveling motor 26b that drives the right traveling tire 14b. In the following, in the width direction of the frame 11, the side on which the left traveling tire 14a is located is referred to as the left side, and that portion is referred to as the left side portion. Further, the side on which the right traveling tire 14b is located is referred to as the right side, and that portion is referred to as the right side portion. In addition, in the length direction of the frame 11, the front side in the running direction (the side indicated by the arrow: A in FIG. 4) is the front part, and the rear side (the arrow: in FIG. 4, the opposite side to the arrow A) ) The part is called the rear part.

  As shown in FIGS. 1 to 9, a tank table 36 is supported above the left side of the base 18 by a plurality of columns 34 at a predetermined distance from the upper surface of the base 18. It is installed (see FIGS. 8 and 9). In addition, a protective cover 37 made of a plate material having a substantially U-shape is provided on the left and right front portions of the base portion 18 so as to cover the space between the base portion 18 and the tank table 36. It is installed. In FIG. 9, an extension pipe 58 (to be described later) is omitted.

  Further, on the left side of the base portion 18, an internal combustion engine type generator 38 such as a gasoline engine type or a diesel engine type and a control device 40 are sandwiched between two protective covers 37, 37, It is installed so as to be lined up below the tank table 36. Thereby, the generator 38 and the control device 40 are positioned in a state where the front and rear directions are protected by the two protective covers 37 and 37.

  Although not shown in each figure, the generator 38 is guided by a rail laid on the base portion 18 so as to extend in the left-right direction, moves on the base portion 18, and moves to the base portion. 18 can be taken from the top to the left. Further, the material and structure of the protective covers 37, 37 are not particularly limited. However, for example, a plate such as a mesh plate or a non-porous transparent plate that is visible from the one surface side through the other surface side is configured. Thereby, the states of the generator 38 and the control device 40 can be easily confirmed from the outside. Among these, in particular, if a breathable material such as a mesh plate is used, the internal combustion engine generator 38 can be effectively cooled. Moreover, if a non-porous plate is used, the advantage that water, mud, etc. adhere to the generator 38 and the control device 40 is advantageously prevented.

  As is well known, the internal combustion engine generator 38 used here generates an alternating voltage by driving an internal combustion engine (engine) that uses gasoline, kerosene, or the like as fuel. In the present embodiment, the generator 38 is configured to control the current flowing through the rotor coil and to keep the output voltage constant, for example, so as to attenuate the power fluctuation and stabilize it. It incorporates a known automatic voltage regulator (not shown).

  Such a generator 38 is electrically connected to the control device 40 arranged side by side and the left and right traveling motors 26a and 26b attached to the lower surface of the base portion 18 in the frame 11. Yes. Accordingly, a constant voltage is stably supplied to each traveling motor 26, and the power supply is controlled by the control device 40.

  In addition, a remote control device 41 as an operation means is further electrically connected to the control device 40. Then, based on pressing operations of various push buttons provided on the remote control device 41, power supply from the generator 38 to each traveling motor 26 is started and stopped. That is, the driving and stopping of each traveling motor 26 is controlled by the control device 40 so that the frame 11 is advanced and stopped. Here, the remote control device 41 has a structure in which, for example, an ON state and an OFF state are alternately obtained each time the push button is pressed once.

  More specifically, although not explicitly shown in the figure, the remote control device 41 has a push button for simultaneously driving and stopping the left and right traveling motors 26a and 26b and only one of them. And a push button for driving and stopping. The left and right traveling motors 26a and 26b are simultaneously driven and stopped by pressing the push button once to drive both the traveling motors 26 and the left and right traveling tires 14a and 14b. Are rotated at the same rotational speed in the same rotational direction. As a result, the frame 11 can be moved straight in one direction. Also, from this state, by pressing the push button once again, the driving of the left and right traveling motors 26a and 26b is stopped, and the left and right driving motors 26 are detent torqued by the detent torque. The rotation of the traveling tires 14a and 14b is stopped simultaneously. As a result, the traveling of the frame 11 is stopped.

  On the other hand, when both the left and right traveling motors 26a and 26b are driven, the left traveling motor is operated by pressing the push button for driving / stopping only the left traveling motor 26a once. The driving of the left traveling tire 14a is stopped by the detent torque of the left traveling motor 26a (the rotational speed of the left traveling tire 14a is set to zero). At this time, the rotation of the right traveling tire 14b is continued. As a result, the frame 11 is temporarily stopped and turned to the left side on the spot. In this state, the push button for driving / stopping only the left traveling motor 26a is pressed once again, so that the driving of the left traveling motor 26a is resumed, and the left traveling tire 14a is also reactivated. It can be rotated. As a result, the traveling of the frame 11 is resumed in a state where the direction of the frame 11 is changed to the left side before the frame 11 is temporarily stopped.

  Similarly, when the push button for driving / stopping only the right traveling motor 26b is pressed once while the frame 11 is traveling, only the rotation of the right traveling tire 14b is stopped ( Only the rotation speed of the right traveling tire 14b is set to zero), and the frame 11 is temporarily stopped and the direction is changed to the right side. When the push button is pressed once more, the frame 11 is configured to resume running in a state where the direction of the frame 11 is changed to the right with respect to that before the stop.

  Thus, in the self-propelled car wash machine of the present embodiment, the traveling direction of the frame 11 can be manually changed to the left and right directions based on the pressing operation of the push button of the remote control device 41. . As a result, the vehicle can easily run to the vicinity of the car to be washed. In addition, the left and right traveling tires 14a and 14b that enable the frame 11 to travel can be rotationally driven by the power supply of the left and right traveling motors 26a and 26b from the generator 38 installed in the frame 11. ing. Therefore, for example, unlike the case where each traveling tire 14a, 14b is rotationally driven by power supply from a power source provided at a fixed position, the frame 11 can be moved more freely and over a wide range. .

  On the other hand, on the tank table 36, a tank 42 in which washing water as a washing liquid is accommodated is installed. That is, the tank 42 is fixed above the generator 38 at a position that is biased to the left of the central portion in the width direction of the base portion 18. A submersible pump 44 is accommodated in the tank 42. The submersible pump 44 is connected to a water supply pipe 46 that extends to the outside of the tank 42. Thus, the washing water in the tank 42 is sent to the outside through the water supply pipe 46 by driving the submersible pump 44. Further, the submersible pump 44 is driven by being supplied with power from the generator 38 by a pressing operation of a push button provided in the remote control device 41. 1 and 2, reference numeral 48 denotes a water supply pipe for supplying water into the tank 42. Reference numeral 50 denotes a water level meter for confirming the amount of washing water contained in the tank 42.

  Further, as shown in FIGS. 3, 8, and 9, the right side portion of the base portion 18 of the frame 11 opposite to the installation side of the generator 38, the control device 40, and the tank 42 as a whole A brush cover 52 having a substantially half-divided cylindrical shape is erected so that the half surface side is on the right side. The brush cover 52 includes a cover plate 53 made of a substantially halved cylindrical resin plate or stainless steel plate, and a frame-like column portion 54 that is fixed to and supports the outer surface.

  In the brush cover 52, one guide roller 55 and one illumination device 56 are respectively attached at appropriate positions in the height direction of both side portions in the width direction (circumferential direction) of the frame-shaped column portion 54. ing. The guide roller 55 is installed in a state where the guide roller 55 protrudes to the right side of the base portion 18 and the tip roller surface thereof is positioned further to the right side than the arrangement position of the rotating shaft 17 of the car wash brush 16 installed as described later. Has been. Accordingly, even when the frame 11 is too close to the outer peripheral surface 57 (shown by a two-dot chain line in FIGS. 1 and 3) of the automobile to be washed during a car washing operation as described later, the guide roller 55 Is brought into contact with the outer peripheral surface 57 of the vehicle body to prevent contact between the frame 11 and the automobile. The lighting device 56 is installed at an appropriate position that can brighten the washing position of the outer peripheral surface 57 of the vehicle body during the car washing operation.

  Further, two extension pipes 58 branched from the water supply pipe 46 connected to the submersible pump 44 are provided on both sides of the frame-shaped support column 54 of the brush cover 52 along the height direction of the brush cover 52. It is arranged to extend. In each of the extension pipes 58, a plurality of injection ports 59 are provided at predetermined intervals. As a result, as the submersible pump 44 is driven, the washing water is jetted simultaneously from the plurality of jet ports 59 positioned on both sides of the brush cover 52. Further, as described above, the submersible pump 44 is driven by power supply from the generator 38 installed on the base portion 18 of the frame 11 capable of self-running. Therefore, the washing water can be jetted from any jet port 59 at any place. As is clear from this, here, the submersible pump 44, the water supply pipe 46, the extension pipe 58, and the injection port 59 constitute an injection device having a comparatively simple structure. In FIG. 8, reference numeral 60 denotes a lifting ladder.

  Further, a reinforcing body 62 is provided at the upper end portion of the frame-like column portion 54 of such a brush cover 52. The reinforcing body 62 includes a first narrow rib-shaped first rib 61a extending between both side portions of the upper end portion of the frame-shaped column portion 54, and a central portion in the length direction of the first rib 61a. The second and third ribs 61b and 61c have a narrow flat plate shape extending toward two places in the middle in the width direction at the upper end of the brush cover 52.

  Of the side surfaces of the first rib 61a in the reinforcing body 62 provided in the brush cover 52, the side opposite to the cover plate 53 side, that is, on the right side of the base portion 18 is the lengthwise central portion. On the other hand, the first bearing 64 is fixed in a state where the inner hole is opened in the vertical direction. Also, in the base portion 18, the second bearing 66 is open at the center in the front-rear direction on the right side surface of the base portion 18 with the inner hole opened in the vertical direction and positioned concentrically with the first bearing 64. It is fixed.

  And the rotating shaft 17 of the car wash brush 16 is inserted and fixed in each inner hole of the said 1st bearing 64 and the 2nd bearing 66 in the upper end part and lower end part. As a result, the car wash brush 16 is fixed in position with respect to the frame 11 with a part of the car brush 16 protruding to the right from the base portion 18, and thus can rotate stably around the rotation shaft 17. Is supported. Thus, here, in the state where the brush cover 52 is positioned so as to surround the entire left half of the periphery of the car wash brush 16 over the entire length, the car wash brush 16, the generator 38, and the control device 40 It is arranged in between.

  As is clear from this, in this embodiment, the brush cover 52, the reinforcing body 62, and the first and second bearings 64 and 66 constitute a support portion. A cover member is configured. Further, the left traveling tire 14a is more distal to the vehicle outer peripheral surface 57 than the right traveling tire 14b during a car wash operation of the outer peripheral surface 57 described later. The car wash brush 16 has an upper brush 19a with long bristles located on the upper side and a plurality of lower brushes 19b with shorter bristles than the upper brush 19a located on the lower side.

  Thus, in the present embodiment, the heavy generator 38 and the control device 40 and the car wash brush 16 are installed separately on the left side portion and the right side portion of the base portion 18 of the frame 11. Yes. As a result, a good weight balance of the entire car wash machine is ensured, and thus the running stability of the frame 11 is improved. Further, during the car washing operation as described later, the washing water spray or mud sprayed from each injection port 59 splashed by the rotation of the car wash brush 16 is applied to or attached to the generator 38 or the control device 40. Is effectively prevented by the brush cover 52. Thereby, the durability of the generator 38 and the control device 40 can be effectively enhanced.

  In addition, a brush drive motor 68 made of, for example, an induction motor is fixed to the upper surface of the reinforcing body 62 provided at the upper end portion of the rotating shaft 17 of the car wash brush 16 in a state where a drive shaft (not shown) extends in the horizontal direction. Has been. Further, a gear box 70 is interposed between the drive shaft of the brush drive motor 68 and the upper end edge of the rotary shaft 17 extending through the inner hole of the first bearing 64. The rotary shaft 17 and the drive shaft of the brush drive motor 68 are connected via a gear (not shown) that changes the rotational direction accommodated in the gear box 70. As a result, the car wash brush 16 is driven to rotate about the rotary shaft 17 as the brush drive motor 68 is driven.

  Further, such a brush drive motor 68 is driven and stopped under the control of the control device 40 by a pressing operation of a push button provided in the remote control device 41. That is, by pressing the push button once, the brush drive motor 68 is powered and driven from the generator 38 installed on the self-running frame 11. In such a state, when the push button is pressed once more, the driving of the brush drive motor 68 is stopped. As a result, in the present embodiment, the car wash brush 16 can be driven to rotate at an arbitrary place, so that the car can be washed at a desired place.

  Furthermore, the rotational speed of the brush drive motor 68 is arbitrarily adjusted by a rotational speed adjusting device built in the control device 40. As described above, the brush drive motor 68 is constituted by an induction motor. Therefore, the rotation speed control by the rotation speed adjusting device is easily realized by, for example, conventionally known duty ratio control, control using both converter control and inverter control, and cycle converter control.

  As described above, the brush drive motor 68 is configured such that the rotation speed is arbitrarily adjusted by the rotation speed adjustment device built in the control device 40. The rotational speed of the car wash brush 16 can be increased or decreased according to the dirt state of the outer peripheral surface 57 or the like. Further, it is possible to perform a so-called soft start in which the rotation of the car wash brush 16 is started at a moderate speed. As a result, the efficiency of the washing operation and the avoidance of danger due to the impact of the rapid start of the car wash brush 16 can be advantageously achieved.

  Thus, in the self-propelled car wash machine having such a structure, as shown in FIG. 1 and FIG. 3, first, the frame 11, the car wash brush 16, and the vehicle body of the automobile to be washed. It arrange | positions so that it may press on the outer peripheral surface 57. FIG. That is, the frame 11 is arranged so that the outer peripheral surface of the vehicle body is located on the right side in the traveling direction. In this state, the washing water in the tank 42 is sprayed from both sides of the brush cover 52 by the operation of the submersible pump 44. At the same time, the car wash brush 16 is rotated by the brush drive motor 68. And, by driving the left and right traveling tires 14a, 14b with the driving of the left and right traveling motors 26a, 26b, the car wash brush 16 is pressed against the outer peripheral surface 57 of the automobile to be washed. The vehicle travels along the outer peripheral surface 57 of the vehicle body. As a result, the outer peripheral surface 57 of the automobile can be cleaned.

  In addition, in the self-propelled car wash machine according to the present embodiment, the frame 11 that is caused to travel along the vehicle outer peripheral surface 57 of the automobile to be washed in the car wash operation as described above is the vehicle outer peripheral surface 57. The closer the vehicle is to the vehicle, that is, the closer the traveling direction is to the right, the greater the amount of pressing of the car wash brush 16 against the outer peripheral surface 57 of the vehicle body. Thereby, the resistance force generated in the car wash brush 16 pressed against the outer peripheral surface 57 of the vehicle body is increased. On the contrary, the more the frame 11 is separated from the outer peripheral surface 57 of the vehicle body, that is, the more the traveling direction is on the left side, the less the pressing amount of the car wash brush 16 against the outer peripheral surface 57 of the vehicle body. Will decrease. Therefore, here, in particular, the traveling direction of the frame 11 is set so that the distance between the frame 11 (car wash machine) and the outer peripheral surface 57 of the vehicle body is within a preset range based on such resistance. It is designed to be controlled.

  That is, as apparent from FIG. 10 showing the control system of the traveling direction of the frame 11 as described above, here, the power is supplied from the generator 38 to the brush drive motor 68 by the ON operation of the switch 74, and the brush drive motor 68. Is started (rotation drive of the car wash brush 16). This switch 74 is turned ON / OFF based on a pressing operation of a push button provided on the remote control device 41 as described above.

  In addition, between the generator 38 and the brush drive motor 68, the generator 38 to the brush drive motor 68 when the brush drive motor 68 is rotationally driven (when power is supplied from the generator 38 to the brush drive motor 68). An ammeter 76 for detecting the supply current value is provided.

  Here, as described above, the generator 38 has a built-in automatic voltage regulator, so that the output voltage is kept constant. Further, the brush drive motor 68 is constituted by an induction motor. In this brush drive motor 68, the amount of pressing of the car wash brush 16 against the outer peripheral surface 57 of the vehicle body increases due to the approach of the frame 11 to the outer peripheral surface 57 of the vehicle body, and the rotational resistance force of the car wash brush 16 is increased. As a result, the rotational speed is inevitably lowered. On the other hand, as is well known, when the applied voltage is constant, the current value of the induction motor increases as the rotational speed decreases.

  Therefore, here, when the brush drive motor 68 is driven to rotate, the resistance force generated by pressing the car wash brush 16 against the outer peripheral surface 57 of the car wash is based on the magnitude of the current value detected by the ammeter 76. It is detected as the rotational resistance force of the brush 16. As is clear from this, in the present embodiment, the resistance detection means is configured with a relatively simple and compact structure in the ammeter 76.

  The generator 38 is connected to the left and right traveling motors 26a and 26b via the control device 40. The control device 40 includes an adjustment unit 78, an operation unit 79, and a timer unit 80. Then, the detected value by the ammeter 76 is sequentially input to the adjusting unit 78 of the control device 40. Further, the upper limit reference value and the lower limit reference value of the current supplied from the generator 38 to the brush drive motor 68 when the brush drive motor 68 is rotationally driven are input in advance to the adjustment unit 78 of the control device 40. .

  In the present embodiment, the upper limit reference value and the lower limit reference value are determined as follows. That is, first, the brush drive motor 68 is set in a state where the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is within a permissible range determined to be suitable for cleaning the outer peripheral surface 57 of the vehicle body by the car wash brush 16. The upper limit value and the lower limit value of the supply current value from the generator 38 to the brush drive motor 68 when the motor is rotated are measured in advance. The range of the rotational resistance when the supply current value is between the lower limit value and the upper limit value was set as the allowable range. In addition, the upper limit value and the lower limit value of the current value are set as the upper limit reference value and the lower limit reference value input in advance to the control device 40.

  Note that the distance between the car wash brush 16 suitable for such washing and the outer peripheral surface 57 of the vehicle body is, for example, that an excessive load is applied to the brush drive motor 68 by pressing the rotated car wash brush 16 against the outer peripheral surface 57 of the vehicle body. The distance is such that the outer peripheral surface 57 of the vehicle body is not damaged and the outer peripheral surface 57 of the vehicle body can be reliably cleaned. Therefore, it should be understood that the upper and lower reference values set as described above are appropriately changed according to the shape of the outer peripheral surface 57 of the vehicle body, the state of dirt, and the like.

  And in the adjustment part 78 of the said control apparatus 40, the said detection value sequentially input from the ammeter 76 and the upper limit and lower limit reference value input previously are compared at any time. As a result, when the detected value is larger than the upper limit reference value, that is, when the rotational resistance force of the car wash brush 16 grasped based on the detected value exceeds the allowable range, the adjusting unit 78 applies to the operating unit 79. Thus, a drive stop signal for the left traveling motor 26a is output. As a result, power supply from the generator 38 to the left traveling motor 26a is stopped at the operation unit 79, and only the driving of the left traveling motor 26a is stopped. Thus, the rotation of the left traveling tire 14a is stopped (the rotation speed is set to zero).

  On the other hand, when the detected value is smaller than the lower limit reference value, that is, when the rotational resistance force of the car wash brush 16 that is grasped based on the detected value falls below the allowable range, the adjustment unit 78 controls the operation unit 79. A drive stop signal for the right traveling motor 26b is output. As a result, power supply from the generator 38 to the right traveling motor 26b is stopped at the operation unit 79, and only the driving of the right traveling motor 26b is stopped. Thus, the rotation of the right traveling tire 14b is stopped (the rotation speed is zero).

  Further, in the control device 40, the elapsed time from the start of the drive stop operation of the left traveling motor 26a or the right traveling motor 26b by the operation unit 79 based on the input signal from the adjusting unit 78 is a timer as a timer device. This is measured by the unit 80. When the measurement time by the timer unit 80 reaches a preset time, the operation unit 79 resumes power supply from the generator 38 to the left or right traveling motors 26a, 26b, and the left Alternatively, the driving of the right traveling motor 26b is resumed.

  That is, here, the driving force of the left traveling motor 26a and the right traveling motor 26b is relatively changed by the operation unit 79 of the control device 40 based on the detection value by the ammeter 76, and the left The rotational speeds of the traveling tire 14a and the right traveling tire 14b are adjusted to be different from each other. The adjustment unit 78 that compares the detected value with the upper limit and lower limit reference values uses, for example, two known meter relays, and detects one of them, whether the detected value exceeds the upper limit reference value. It can be easily realized by using a combination as a high level detector and another one as a low level detector for detecting whether or not the detected value falls below the lower limit reference value.

  Further, as described above, the upper limit and lower limit reference values input in advance to the adjustment unit 78 of the control device 40 can be changed as appropriate. Therefore, here, an input device 82 having a numeric keypad or the like is connected to the control device 40. The upper and lower reference values can be easily input and changed to the control device 40 by operating the numeric keypad of the input device 82 or the like.

  Thus, in the self-propelled car wash machine 10 of the present embodiment, the size of the distance between the frame 11 and the vehicle body outer peripheral surface 57 is within a preset range based on the detection value by the ammeter 76. Is determined, and when it is determined that the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is smaller than the set range, the adjustment unit 78, the operation unit 79, and the timer unit 80 of the control device 40. Thus, only the driving of the left traveling motor 26a is stopped for a predetermined time. As a result, as described in detail above, the traveling direction is changed to the left side so that the vehicle can travel in a direction gradually separating from the outer peripheral surface 57 of the vehicle body. On the other hand, when it is determined that the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is larger than the predetermined setting range, only the driving of the right traveling motor 26b is stopped for a predetermined time. As a result, as described in detail above, the traveling direction is changed to the right side, and the vehicle is allowed to travel in a direction gradually approaching the outer peripheral surface 57 of the vehicle body. As a result, the traveling direction of the frame 11 is controlled by a so-called control method that follows the outer peripheral surface 57 of the vehicle body. As is apparent from these, in this embodiment, the steering means is configured including the left and right traveling motors 26a and 26b and the operation unit 79 of the control device 40, and the operation of the control device 40 is also performed. In the part 79, an adjustment mechanism is configured. Further, the adjustment unit 78 of the control device 40 constitutes a self-running direction control means. The timer unit 80 of the control device 40 constitutes a timer device.

  Next, the traveling direction control of the frame 11 (self-propelled car wash machine 10) will be described based on the flowchart shown in FIG.

  That is, the control program for the traveling direction of the frame 11 is started when the switch 74 is turned on while the left traveling motor 26a and the right traveling motor 26b are rotationally driven. From this start, first, in step S1 (hereinafter, simply represented by S1, the same applies to other steps), the rotation of the brush drive motor 68 is started, and the rotation of the car wash brush 16 is started.

  Next, in S2, it is determined whether or not the detected value A by the ammeter 76 is larger than the upper reference value Kmax. When the determination result is NO, in S3, it is determined whether or not the detection value A by the ammeter 76 is smaller than the lower limit reference value Kmim. When the determination result is NO, S4 is executed.

  In S4, it is further determined whether or not the rotational drive of the brush drive motor 68 is stopped. When this determination result is NO, the process returns to S2, and S2 to S4 are repeatedly executed, and the car wash brush 16 is continuously rotated. On the other hand, when the determination result in S4 is YES, the control program for the running direction of the frame 11 is terminated.

  In the determination results in S2 and S3, if it is determined that the detection value A by the ammeter 76 is smaller than the upper reference value Kmax and larger than the lower reference value Kmim, the self-propelled car wash machine It is determined that the entire vehicle is driven at an appropriate distance from the outer peripheral surface 57 of the automobile. Both the left traveling motor 26a and the right traveling motor 26b are continuously driven to rotate. As a result, the frame 11 can travel straight without changing the traveling direction.

  On the other hand, when the determination result in S2 is YES, it is determined that the entire self-propelled car washer has excessively approached the outer peripheral surface 57 of the automobile body. In S5, only the driving of the left traveling motor 26a is stopped.

  Thereafter, in S6, the timer unit 80 of the control device 40 starts timing from the time point when the driving of the left traveling motor 26a is stopped in S5 to a preset time. In the subsequent S7, the timer unit 80 finishes timing and the timer unit 80 is reset. After that, in S8, the left traveling motor 26a is re-driven, and the rotation of the left traveling tire 14a is resumed.

  As a result, the traveling direction of the frame 11 is changed to the left side over time from the start to the end of the time measurement by the timer unit 80. Then, the frame 11 is caused to travel again in a state where the traveling direction is changed to the left side by re-driving the left traveling motor 26a. Accordingly, the self-propelled car wash machine 10 can be caused to travel in a direction away from the outer peripheral surface 57 of the vehicle body. Thereafter, the process returns to S2, and S2 and subsequent steps are executed.

  On the other hand, when the determination result in S3 is YES, it is determined that the self-propelled car wash machine 10 is excessively separated from the outer peripheral surface 57 of the vehicle body, and in S9, only the right traveling motor 26b is driven. Is stopped.

  After that, in S10, the timer unit 80 of the control device 40 starts timing from the time point when the driving of the right traveling motor 26b is stopped in S9 to a preset time. In subsequent S11, the timer unit 80 finishes timing and the timer unit 80 is reset. Thereafter, in S12, the right traveling motor 26b is re-driven, and the rotation of the right traveling tire 14b is resumed.

  As a result, the traveling direction of the frame 11 is changed to the right side over time from the start to the end of the time measurement by the timer unit 80. Then, the frame 11 is caused to travel again in a state where the traveling direction is changed to the right side by re-driving the right traveling motor 26b. Accordingly, the self-propelled car wash machine 10 can be caused to travel in a direction approaching the outer peripheral surface 57 of the vehicle body. Thereafter, the process returns to S2, and S2 and subsequent steps are executed.

  Next, a method for controlling the traveling direction of the frame 11 based on the program as described above will be described with reference to FIG.

  That is, first, as shown in process number 0, the self-propelled car wash machine 10 is moved to the vicinity of the vehicle body outer peripheral surface 57 of the automobile to be washed. This is because the brush drive motor 68 is not driven to rotate, and therefore, the adjustment value 78 of the control device 40 sets the detected value of the current supplied to the brush drive motor 68 by the ammeter 76 to zero (brush current value: H and L are both OFF), and the left driving motor G and the right driving motor N are both driven, for example, pressing the push button of the remote control device 41 This is easily done by carrying out in the manner described above.

  Next, when the self-propelled car wash machine 10 is moved to the vicinity of the outer peripheral surface 57 of the vehicle body, the switch 74 is turned on by the pressing operation of the push button of the remote control device 41, and the brush drive motor 68 is driven to rotate. As a result, the car wash brush 16 is rotated. At the same time, the running direction control of the frame 11 by the brush drive motor 68, the control device 40, and the ammeter 76 is started. Note that at the start of such control, the self-propelled car wash machine 10 may be held by manual operation up to a position where the car wash brush 16 is pressed against the outer peripheral surface 57 of the vehicle body with a certain degree of strength. The automatic traveling steering control can be started at a position where the car wash brush 16 is not pressed against the outer peripheral surface 57 of the vehicle body. In short, under the car wash start state, the value detected by the ammeter 76 is smaller than the lower limit reference value. Therefore, simultaneously with the start of the traveling direction control of the frame 11, the steering control device changes the traveling direction of the frame 11 to the right side so that the self-propelled car wash machine 10 approaches the vehicle body outer peripheral surface 57. And let it run.

  Thus, the car wash brush 16 is brought into contact with the outer peripheral surface 57 of the vehicle body as shown in the process number 1. At this time, the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is set to an appropriate size, and the value detected by the ammeter 76 is larger than the lower limit reference value and smaller than the upper limit reference value (brush current value: H = OFF, L = ON), the left traveling motor: G and the right traveling motor: N are both rotationally driven to bring the self-propelled car wash machine 10 closer to the outer peripheral surface 57 of the vehicle body. Drive further in the direction.

  Then, as shown in process number 2, the frame 11 approaches the vehicle body outer peripheral surface 57 excessively, and the value detected by the ammeter 76 exceeds the upper reference value (brush current value: H = ON, L = ON ), The driving of the left traveling motor: G is stopped only for a predetermined time. The stop time at this time is appropriately determined in advance according to the traveling speed of the self-propelled car wash machine 10 or the like.

  Thereby, as shown in process number 3, the traveling direction of the frame 11 is changed to the left side, and the self-propelled car wash machine 10 is caused to travel in a direction away from the outer peripheral surface 57 of the vehicle body. At this time, the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is set to an appropriate size, and the value detected by the ammeter 76 is larger than the lower limit reference value and smaller than the upper limit reference value (brush current value: H = L, ON), both the left traveling motor G and the right traveling motor N are driven to rotate, and the self-propelled car wash machine 10 is separated from the outer peripheral surface 57 of the vehicle body. Drive further in the direction.

  Next, as shown in process number 4, the frame 11 is excessively separated from the outer peripheral surface 57 of the vehicle body, and the value detected by the ammeter 76 is below the lower reference value (brush current value: H = OFF, L = OFF), the driving of the right traveling motor: N is stopped only for a predetermined time. The stop time at this time is also appropriately determined in advance according to the traveling speed of the self-propelled car wash machine 10 or the like.

  Thereby, as shown in process number 5, the traveling direction of the frame 11 is changed to the right side, and the self-propelled car wash machine 10 is caused to travel in a direction approaching the outer peripheral surface 57 of the vehicle body. At this time, the distance between the frame 11 and the outer peripheral surface 57 of the vehicle body is set to an appropriate size, and the value detected by the ammeter 76 is larger than the lower limit reference value and smaller than the upper limit reference value (brush current value: H = OFF, L = ON), both the left traveling motor G and the right traveling motor N are driven to rotate, and the self-propelled car wash machine 10 approaches from the outer peripheral surface 57 of the vehicle body. Drive further in the direction.

  And based on the change of the detected value by the ammeter 76 according to the distance between the flame | frame 11 and the vehicle body outer peripheral surface 57, the process number 2-5 is repeated, and the self-propelled car wash machine 10 is made into the vehicle outer peripheral surface. It will run along.

  When the process number 0 is changed to the process number 1 and H = OFF and L = ON, that is, when the rotation resistance of the car wash brush 16 is changed from an excessively small state to an appropriate state, the vehicle body is left as it is. If it continues to move in the direction of approach to the outer peripheral surface 57, the state from step number 1 to step number 2 is immediately reached. Further, when the process number 2 is changed to the process number 3 and H = OFF and L = ON, that is, when the rotational resistance force of the car wash brush 16 is changed from an excessively large state to an appropriate state, the vehicle body remains unchanged. If it continues to move in the direction of separation from the outer peripheral surface 57, the state of the process number 3 to the process number 4 will be immediately started.

  Therefore, on the condition that the rotational resistance force of the car wash brush 16 has changed from an inappropriate state to an appropriate state, the traveling direction of the self-propelled car wash machine 10 is adjusted so that the correct state can be maintained as much as possible. It is desirable to change. Specifically, it can be realized by steering the frame 11 so that the traveling direction of the frame 11 is as parallel as possible with respect to the outer peripheral surface 57 of the vehicle body on the condition that such an appropriate state is achieved. That is, when the process number 0 shifts to the process number 1, the left traveling motor G is stopped for a predetermined time period Ts, while when the process number 2 shifts to the process number 3, the predetermined time period Ts. Only the right running motor: N is stopped. This stop time: Ts is set to a time during which steering can be realized only to eliminate the moving direction angle of the frame 11 when approaching or moving away from the outer peripheral surface 57 of the vehicle body.

  By performing such auxiliary steering, traveling by frequent steering such as alternately approaching and separating from the outer peripheral surface 57 of the vehicle body is avoided, and the vehicle travels in parallel with the outer peripheral surface 57 of the vehicle body for as long as possible. Thus, it is possible to improve the running stability of the self-propelled car wash machine 10 and to improve the accuracy and reliability of the car wash associated therewith.

  Incidentally, a mechanism for performing such correction steering can be easily realized by adding a correction steering control program to the apparatus of the embodiment as described above. Specifically, as shown in FIG. 13, for example, a new process (step): S13, S14, S15, S16 is added to realize the above-described operation as compared with the above-described embodiment. Thus, the correction steering means can be realized.

  Note that the specific configuration and aspect of the correction steering are not limited to the above-described embodiments. For example, depending on the steering angle and travel speed from process number 0 to process number 1 or from process number 2 to process number 3, it may be difficult to respond only by stopping one wheel for a predetermined time as described above. In this case, not only the one wheel may be stopped but also reversed (rotated in the opposite direction) for a predetermined time. Further, when the relative position (bias amount) of the car wash brush 16 with respect to the midpoint of both the left and right wheels is large, if only one wheel is stopped and corrective steering is performed, the relative distance of the car wash brush 16 to the outer peripheral surface 57 of the car wash becomes such corrective steering. There is a risk of significant changes due to Even in such a case, the relative rotation amount and the relative rotation direction of the left wheel and the right wheel are appropriately adjusted, and the movement (running) direction is corrected while keeping the relative distance of the car wash brush 16 with respect to the outer peripheral surface 57 of the vehicle body as much as possible. It is desirable to steer. Thus, in particular, in the self-propelled car wash machine 10 of the above-described embodiment that is steered based on the relative rotation difference between the pair of left and right traveling tires 14a and 14b, for example, as shown in FIG. The moving (running) direction can be quickly changed in a narrow space as compared with the one provided with the direction change type steering wheel. Therefore, the relative distance of the car wash brush 16 to the outer peripheral surface 57 of the vehicle body can be quickly increased. In addition to being able to change and adjust with high accuracy, there is an advantage that the correction control as described above can be performed quickly.

  In the above-described embodiment, a distance sensor for detecting a relative separation distance between the car wash brush 16 and the outer peripheral surface 57 of the vehicle body, preferably a contactless optical distance sensor may be provided. Such a distance sensor is attached to, for example, the brush cover 52, the frame-like support column 54, the frame 11, and the like, and measures the distance from the outer peripheral surface of the vehicle body that is the surface to be cleaned. By using the detection value by the distance sensor, the above-described correction steering can be performed with higher accuracy. That is, when the rotational resistance force of the car wash brush 16 is out of the allowable range and becomes an appropriate state, the change with time of the detection value by the distance sensor becomes substantially constant, that is, the differential value of the detection value is 0. As described above, if the correction steering is executed by performing the steering control, the steering control based on the rotational resistance force of the car wash brush 16 is assisted, and more stable and highly accurate traveling control can be realized.

  Alternatively, the fail-safe mechanism for the steering control based on the detected value of the rotational resistance force of the car wash brush 16 is configured by such a distance sensor, and the steering control based on the detected value of the rotational resistance force of the car wash brush 16 is abnormal. When operated, the traveling value of the self-propelled car wash machine 10 and / or the rotation of the car wash brush 16 can be urgently stopped by the detection value by the distance sensor being out of the preset scheduled operation range. Furthermore, when the contact force of the car wash brush 16 is adjusted depending on the shape, structure, dirt, etc. of the car wash object, the threshold value of the current for steering control according to the value of the target distance detected by the distance sensor. : It is also possible to make correction settings so that the values of Kmax and Kmin are shifted to the larger side or the smaller side. Of course, it is desirable that the values of Kmax and Kmin can be manually changed and set as appropriate, so that even if there is no distance sensor, the car wash brush can be used in accordance with the shape, structure, dirt condition, etc. of the car wash target. Therefore, it is possible to easily cope with a change with time such as deterioration of the apparatus.

  As is apparent from the above description, in the self-propelled car wash machine 10 of the present embodiment, the vehicle body outer peripheral surface 57 and the vehicle body outer surface 57 are determined based on the supply current value to the brush drive motor 68 detected by the ammeter 76. The traveling direction of the frame 11 is controlled so that the vehicle body outer peripheral surface 57 is washed so that the vehicle can travel while maintaining a constant distance. Therefore, for example, the control amount in the traveling direction of the frame 11 can be obtained extremely stably without being affected by splashes, mud, etc. that are inevitably generated during car washing.

  Therefore, in the self-propelled car wash machine 10 of this embodiment as described above, the car wash brush 16 is pressed against the vehicle outer peripheral surface 57 while keeping the distance from the vehicle outer peripheral surface 57 constant, and the vehicle outer periphery The automation of the steering operation for traveling along the surface 57 can be realized very advantageously on the basis of reliable and stable travel control. As a result, it is possible to efficiently perform a car wash operation in which a beautiful finished state is stably obtained under a favorable work environment.

  In the self-propelled car wash machine 10, the running tires 14 a and 14 b as driving wheels driven by the running motors 26 a and 26 b for running the frame 11, the frame 11, and further the car wash machine. 10 traveling directions can be changed. Therefore, for example, there is an advantage that the number of parts can be advantageously reduced as compared with a case where dedicated steering wheels or the like for changing the traveling direction of the frame 11 are provided separately from the drive wheels.

Incidentally, FIG. 14 shows another embodiment as a comparative example with respect to the first embodiment showing the structure for changing the traveling direction of the frame 11 as a self-propelled car wash machine according to the present invention. It is shown. In addition, regarding the embodiment as a comparative example shown in FIG. 14 and another embodiment of the present invention shown in FIGS. 15 and 16 to be described later, a portion having the same structure as the first embodiment and About the member, the same code | symbol as FIG. 1 thru | or FIG. 10 was attached | subjected, and the detailed description was abbreviate | omitted.

  That is, as apparent from FIG. 14, in the self-propelled car wash machine of the present embodiment, the steering wheel 84 is around the rotation shaft 86 extending in the vertical direction at the center in the width direction at the front part of the lower surface of the frame 11. It is attached to be able to rotate. Further, a stepping motor 88 as a rotation mechanism for rotating the rotation shaft 86 is fixed to the upper surface of the frame 11. That is, the drive shaft 90 of the stepping motor 88 is coupled to the rotation shaft 86 of the steering wheel 84 so as to be integrally rotatable.

  Further, the stepping motor 88 is electrically connected to the control device 40. Then, when the value detected by the ammeter 76 becomes larger than the upper limit reference value, it is turned to the left by a preset angle. On the other hand, when the value detected by the ammeter 76 becomes smaller than the lower limit reference value, it is turned rightward by a preset angle.

  As a result, in this embodiment, as in the first embodiment, the distance from the outer peripheral surface 57 of the vehicle body is made constant based on the current value supplied to the brush drive motor 68 detected by the ammeter 76. The traveling direction of the frame 11 is controlled so that the vehicle body outer peripheral surface 57 is washed so that the vehicle can travel while being maintained.

  FIG. 15 is a block diagram corresponding to FIG. 10 and shows an example in which the resistance detection means has a structure different from that of the first embodiment. That is, here, in the car wash machine 10 shown in FIGS. 1 to 9 described above, the resistance force generated in the car wash brush 16 when the car wash brush 16 is pressed against the outer peripheral surface 57 of the vehicle body is applied to the rotating shaft 17. In order to measure the supply current value to the brush drive motor 68 in the first embodiment, the pressure reaction force detection device 92 that detects the pressure reaction force based on the applied pressure, the displacement amount of the rotary shaft 17 and the like. It is used in place of the ammeter 76 provided in FIG. Alternatively, in the present embodiment, the car wash brush 16 is mounted on the vehicle body in a state where the distance between the frame 11 and the vehicle outer peripheral surface 57 is within a range suitable for washing the vehicle outer peripheral surface 57 with the car wash brush 16. The upper limit reference value and the lower limit reference value are determined by the upper limit value and the lower limit value of the pressing reaction force generated in the car wash brush 16 when pressed against the outer peripheral surface 57.

  The pressure reaction force detection device 92 is a device that directly measures the pressure generated in the car wash brush 16 using a piezoelectric element such as a piezo element, or mechanically using a spring member or the like. You may measure. In addition, an apparatus that electrically or mechanically measures the amount of displacement of the car wash brush 16 that is supported so as to be displaceable, and indirectly detects the pressure reaction force based on the measured value. The pressing reaction force detection device 92 can also be configured. Moreover, such a pressing reaction force detection device 92 is installed, for example, between the rotating shaft 17 of the car wash brush 16 and the frame 11 that supports it. More specifically, for example, the first and second bearings 64 and 66 that rotatably support the rotating shaft 17 of the car wash brush 16 at both upper and lower ends are perpendicular to the reinforcing body 62 and the base portion 18. The first and second bearings 64 and 66, that is, the rotary shaft 17, are supported by the reinforcing body 62 and the base portion 18 in a direction (horizontal direction) so as to be displaceable in the approach / separation direction toward the outer peripheral surface 57 of the vehicle body. A biasing means such as a compression coil spring that always biases in a direction protruding from the vehicle body to the outer peripheral surface 57 of the vehicle body is assembled. According to such an elastic support structure of the car wash brush 16, when the pressing reaction force of the outer peripheral surface 57 of the vehicle body acts on the car wash brush 16, the car wash brush 16 approaches the frame 11 side by a distance corresponding to the press reaction force. Therefore, the displacement amount of the car wash brush 16, that is, the relative displacement amount of the first and second bearings 64 and 66 with respect to the reinforcing body 62 and the base portion 18, the deformation amount of the urging means, etc. By detecting this with an appropriate detection means, a resistance force detection means for detecting a rotational resistance force or a pressing resistance force exerted on the car wash brush 16 in contact with (pressing) the outer peripheral surface 57 of the vehicle body can be configured. It is. Alternatively, as another specific example, the rotation resistance force and the pressing resistance force of the car wash brush generated by the car wash brush 16 being pressed against the outer peripheral surface 57 of the car wash brush are brush blades of the car wash brush spread by the centrifugal force accompanying the rotation. It can also be detected by utilizing the fact that it is compressed by contact with the outer peripheral surface 57 of the vehicle body (for example, it is a well-known one formed of a large number of synthetic fibers or natural fibers). That is, if the frame 11 gets too close to the outer peripheral surface 57 of the vehicle body and the brush blades spread by centrifugal force are compressed too much by the contact of the outer peripheral surface 57 of the vehicle body, the rotational resistance force becomes too large. On the other hand, if the frame 11 is too far from the outer peripheral surface 57 of the vehicle body, the rotational resistance is too small for the same reason. As a result, the rotational resistance force and the pressing resistance force of the car wash brush are determined by the relative distance between the car wash brush 16 and the vehicle body outer peripheral surface 57, and the distance at which the relative distance between the frame 11 that fixedly supports the car wash brush 16 and the vehicle outer peripheral surface 57 is detected. It can also be detected by a sensor or the like, and therefore, a pressing reaction force detection device 92 as a resistance force detection means can be configured.

  Then, by pressing the car wash brush 16 against the outer peripheral surface 57 of the vehicle body, when the detection value of the press reaction force generated in the car wash brush 16 by the press reaction force detecting device 92 becomes larger than the upper limit reference value, the adjusting unit 78. A drive stop signal for the left traveling motor 26 a is output to the operation unit 79. As a result, the traveling direction of the frame 11 can be changed to the left. On the other hand, when the detection value by the pressing reaction force detection device 92 becomes smaller than the lower limit reference value, a drive stop signal for the right traveling motor 26a is output from the adjustment unit 78 to the operation unit 79. Thereby, the traveling direction of the frame 11 can be changed to the right direction.

  Thus, also in the present embodiment, based on the pressing reaction force generated by the brush drive motor 68 detected by the pressing reaction force detection device 92, the distance from the outer peripheral surface 57 of the vehicle body can be kept constant while traveling. The traveling direction of the frame 11 is controlled, and the vehicle outer peripheral surface 57 is washed.

  Therefore, even in such a self-propelled car wash machine 10 of this embodiment, the operations and effects exhibited in the first and second embodiments can be enjoyed advantageously.

  In addition, FIG. 16 shows an embodiment different from the above-described several embodiments having a structure in which the traveling speed of the frame 11 can be changed.

  That is, in the self-propelled car wash machine 10 of the present embodiment, the high-speed mode in which the frame 11 travels at a high speed on the outer surface of the protective cover 37 that protects the control device 40 installed on the base portion 18 of the frame 11; A mode change switch 94 is provided as a running mode switching means for selectively switching the running mode of the frame 11 to the low speed mode for running at a low speed while being electrically connected to the control device 40. . As the mode changeover switch 94, various known changeover switches, such as a toggle type, a lever type, and a push button type, which are used for switching a use mode, an operation mode, and the like are appropriately employed. Further, the position of the mode changeover switch 94 is not particularly limited, and can be provided in the remote control device 41 instead of the protective cover 37.

  Further, on the base unit 18, the rotational driving speed of the left traveling motor 26 a is controlled in two steps, high speed and low speed, based on a signal output from the control device 40 based on the switching operation of the mode switch 94. The second inverter with a known structure that controls the rotational drive speed of the right traveling motor 26b in two stages, high speed and low speed, by the output signal from the first inverter 96 having a known structure and the control device 40. An inverter 98 is installed.

  That is, here, when the mode switch 94 is switched to the high speed mode, the left traveling motor 26a and the right traveling motor 26b are rotated at the same high speed set in advance, while the mode switching is performed. When the switch 94 is switched to the low speed mode, the left traveling motor 26a and the right traveling motor 26b are rotated at the same low speed and the same speed as the left traveling motor 26a. , 26b are controlled by the first inverter 96 and the second inverter 98, respectively.

  Further, the control device 40 has a relay element 100 (shown by a two-dot chain line in FIG. 16) having a known structure that is opened / closed so as to cut off / connect a power supply circuit from the generator 38 to the brush drive motor 68. ) Is built-in. Further, the relay element 100 has an ON / OFF operation of the switch 74 (see FIG. 10) for starting and stopping power supply from the generator 38 to the brush drive motor 68 (brush drive motor 68 provided in the remote control device 41). The operation is performed based on the switching operation of the mode switch 94 in preference to the pressing operation of the drive / stop button.

  That is, here, when the mode changeover switch 94 is switched to the high speed mode, the relay element 100 is opened, and the power supply circuit from the generator 38 to the brush drive motor 68 is cut off. The power is not supplied from the generator 38 to the brush drive motor 68 even if the power is turned on. Further, when the mode changeover switch 94 is switched to the low speed mode, the relay element 100 is closed, in other words, the open operation state of the relay element 100 is released, and the generator 38 to the brush drive motor 68. Thus, the brush drive motor 68 can be driven / stopped based on the ON / OFF operation of the switch 74.

  Thus, in the self-propelled car wash machine 10 of the present embodiment, the left and right traveling motors 26a and 26 provided in the remote control device 41 are simultaneously driven and switched while the mode changeover switch 94 is switched to the high speed mode. By pressing the stop button once, the frame 11 is advanced at a preset high speed (first speed). Further, during this forward movement, the drive of the frame 11 can be performed by appropriately pressing the drive / stop button for the left travel motor 26a or the drive / stop button for the right travel motor 26a provided on the remote control device 41. The direction can be changed manually. Further, during such high-speed movement, the car wash brush 16 does not rotate even if the drive / stop button of the brush drive motor provided in the remote control device 41 is pressed.

  And when moving to a desired place, the simultaneous drive / stop button of the left and right traveling motors 26a, 26 provided on the remote control device 41 is pressed once more, and the frame 11 is temporarily moved. After stopping, the mode changeover switch 94 is switched from the high speed mode to the low speed mode, and then the simultaneous drive / stop button of the left and right traveling motors 26a, 26 is further pressed once, this time, the frame 11 However, it is made to advance at a preset low speed (second speed). During the low-speed running, the rotation of the car wash brush 16 can be freely started / stopped based on the pressing operation of the drive / stop button of the brush drive motor provided in the remote control device 41.

  Therefore, in such a self-propelled car wash machine 10, the car body outer peripheral surface 57 to be washed from the storage location, for example, even when stored in a predetermined location before performing the car wash operation. Can be moved very quickly to a position close to. And if it moves to the vicinity of the vehicle body outer peripheral surface 57 and reaches a position where it can be washed, the car washing operation can be performed carefully at a slow speed.

  Therefore, if the self-propelled car wash machine 10 of this embodiment is used as described above, preparation work for moving the car from the predetermined storage location to the car wash position, and after the car wash is completed, the vehicle is moved again from the car wash position to the predetermined storage location. A series of car washing operations including post-operations can be performed very efficiently.

  Moreover, in such a self-propelled car wash machine 10, since the rotation of the car wash brush is prevented while running at high speed without performing the car wash operation, for example, the car wash position and the storage location It is possible to effectively ensure the safety of the movement of the car wash, and thus the entire car wash, and the car wash brush may be damaged or damaged due to unnecessary contact with obstacles in the rotating state of the car wash brush. Can be advantageously prevented.

  As is clear from the above description, in the present embodiment, the first inverter 96 and the second inverter 98 constitute a traveling speed changing means, and the relay element 100 constitutes a rotation prevention mechanism. However, the structures of the traveling speed changing means and the rotating element mechanism are not limited to this.

  As the traveling speed changing means, the left and right of each motor 26 is changed by changing the rotational drive speed of the left and right traveling motors 26a and 26b based on the switching of the traveling mode by the traveling mode switching means such as the mode switch 94. The driving force for the right traveling tires 14a, 14b is increased or decreased to change the traveling speed of the frame 11, or the rotation of each motor 26 without changing the rotational driving speed of each motor 26. The structure of the transmission mechanism that transmits the driving force to each traveling tire 14 is devised, and the driving force of each motor 26 transmitted to each traveling tire 14 is increased or decreased in the transmission mechanism based on the switching of the traveling mode. Therefore, any of those having a structure in which the traveling speed of the frame 11 is changed can be adopted.

  As the traveling speed changing means having the former structure, for example, the number of magnetic poles of the left and right traveling motors 26a and 26b is changed by selectively turning on / off a plurality of input terminals or the like. The right driving motors 26a and 26b can be applied with different voltages, and the rotational driving speed of each motor can be changed. Accordingly, it can be appropriately adopted. Further, as the traveling speed changing means having the latter structure, for example, the drive gears attached to the respective rotation shafts of the left and right traveling motors 26a and 26b are used for two types of passive gears having different gear ratios. Thus, it is possible to adopt a structure in which the driving force of each motor 26 transmitted to each traveling tire 14 is changed by selectively engaging with a lever operation or the like. When the traveling speed changing means having the latter structure is adopted, the traveling mode switching means is constituted by a lever or the like that changes gears. Moreover, what has the latter structure can be advantageously employ | adopted also when comprising the drive source of each tire 14 for driving | running | working with an internal combustion engine etc. other than an electric motor, for example.

  On the other hand, as the rotation prevention mechanism, any known control mechanism other than the relay element that can cut off the power supply to the brush drive motor 68 based on an input signal from the outside can be adopted. Further, based on the switching of the travel mode of the frame 11 by the travel mode switching means, the rotation of the rotation shaft of the brush drive motor 68 and the rotation shaft of the car wash brush 16 is mechanically disturbed and stopped in a releasable state. A transmission mechanism configured to be able to release the transmission of the rotational driving force of the brush drive motor 68 to the car wash brush 16 based on the switching of the running mode may be used. In addition, when employ | adopting what obstructs rotation of the rotating shaft of the brush drive motor 68 or the car wash brush 16, a well-known clutch mechanism is needed.

  As mentioned above, although the structure of this invention was explained in full detail, this invention does not receive any restrictions by description of said specific structure.

  For example, the steering means may be configured to change the traveling direction of the frame in a direction parallel to the outer peripheral surface of the vehicle body in addition to the approaching direction and the separation direction with respect to the outer peripheral surface of the vehicle body.

  Further, a known braking mechanism for the left traveling tire 14a and the right traveling tire 14b is provided as a steering means, and either one of the left and right traveling tires 14a, 14b is selected by the braking mechanism. Therefore, the traveling direction of the frame 11 can be changed by adjusting the rotational speeds of the traveling tires 14a and 14b to be different from each other.

  Furthermore, as a steering means, a known clutch mechanism is provided for each of the left traveling tire 14a and the right traveling tire 14b, and the clutch mechanism provides a driving force for the left and right traveling tires 14a, 14b. By selectively interrupting the transmission, the driving force for each traveling tire 14a, 14b is relatively changed, and the rotational speeds of each traveling tire 14a, 14b are adjusted to be different from each other. Thus, the traveling direction of the frame 11 may be changed.

Furthermore, the brake mechanism and a clutch mechanism, and further the current control or the like for two traveling drive source for each individually driving the right and left drive wheels illustrated in the embodiment, a combination of two kinds or more, the steering means Of course, it is also possible to constitute.

  In addition, the traveling drive source may be configured by an internal combustion engine such as a gasoline engine or a diesel engine, and even when it is configured by an electric motor, an AC motor or DC motor other than the illustrated induction motor. But it ’s okay.

  Furthermore, as a brush drive motor, an AC motor or a DC motor other than the illustrated induction motor can be used.

  Furthermore, a known power supply device such as a rechargeable battery can be appropriately used as a device for supplying power to the travel drive source including the electric motor and the brush drive motor.

  Furthermore, the car wash brush is not necessarily provided in a fixed position.

  Furthermore, even if the car wash brush is provided on the right side in the traveling direction with respect to the frame, there is no problem. However, in that case, the car wash machine is caused to travel along the outer peripheral surface of the vehicle body in an arrangement form in which the right drive wheel is distal to the outer peripheral surface of the vehicle body.

  Further, the structure and shape of the frame are not limited to those shown in the examples.

  In addition, it goes without saying that the present invention can be advantageously used when washing special vehicles other than automobiles and railway vehicles.

  In addition, the present invention can be carried out in a mode to which various changes, modifications, improvements, etc. are added based on the knowledge of those skilled in the art, and such a mode does not depart from the spirit of the present invention. Needless to say, both are included in the scope of the present invention.

Front explanatory drawing which shows one Embodiment of the self-propelled car wash machine according to this invention. The right view in FIG. The top view in FIG. The bottom view in FIG. The arrow A figure in FIG. BB sectional drawing in FIG. CC sectional drawing in FIG. Explanatory drawing which shows the assembly structure with respect to the flame | frame of the brush cover which the self-propelled car wash machine shown in FIG. 1 has, and the rotating shaft of a car wash brush. The left view in FIG. The block diagram which shows an example of the control system of the running direction of the flame | frame which the self-propelled car wash machine according to this invention has. The flowchart which shows an example of the control program of the running direction of the flame | frame which the self-propelled car wash machine according to this invention has. Explanatory drawing which shows the process example at the time of performing a car wash operation | work using the self-propelled car wash machine according to this invention. The figure corresponding to FIG. 11 which shows another embodiment of the self-propelled car wash machine according to this invention. The figure corresponding to FIG. 5 which shows embodiment of the self-propelled car wash machine as a comparative example of this invention. The figure corresponding to FIG. 10 which shows another embodiment of the self-propelled car wash machine according to this invention. The figure corresponding to FIG. 1 which shows other embodiment of the self-propelled car wash machine according to this invention.

Explanation of symbols

10: Self-propelled car wash machine, 11: Frame, 14: Tire for running, 16: Car wash brush, 17: Rotating shaft, 18: Base part, 26: Motor for running, 38: Generator, 40: Control device, 52: Brush cover, 57: Car body outer peripheral surface, 68: Brush drive motor, 76: Ammeter, 78: Adjustment unit, 79: Operation unit, 80: Timer unit, 84: Steering wheel, 92: Pressing reaction force detection device, 94: mode change switch, 96: first inverter, 98: second inverter, 100: relay element

Claims (9)

A frame, a wheel attached to the frame so that the frame can run without a rail, a driving source that drives at least one of the wheels, and a rotation axis extending in the vertical direction with respect to the frame A vehicle-washing brush rotatably supported on the vehicle body, and rotating the car-washing brush against the outer circumferential surface of the vehicle body while rotating the frame along the outer circumferential surface of the vehicle body, thereby washing the outer circumferential surface of the vehicle body. In the self-propelled car wash machine that
Steering means for changing the traveling direction of the frame to at least two directions of an approach direction and a separation direction with respect to the outer peripheral surface of the vehicle body;
Resistance force detecting means for detecting resistance force generated in the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body;
The steering means is controlled based on the detection value of the resistance force detected by the resistance force detection means, and when the detection value exceeds a preset allowable range, the frame is Self-running direction control means for running the frame in the approaching direction to the outer peripheral surface of the vehicle body when running in a direction away from the surface while the detected value is smaller than a preset allowable range,
Comprising , and
Among the wheels attached to the frame, the wheels located on the left and right sides with respect to the traveling direction of the frame are the left driving wheel and the right driving wheel that are driven by the traveling drive source, The left and right drive wheels are provided with caster-type wheels that can change direction forward and backward in the running direction of the frame, respectively, and the steering means controls the rotational speed of the left drive wheel and the right drive. An adjustment mechanism that adjusts the rotational speed of the wheel to be different from each other is configured, and based on the difference in rotational speed between the left drive wheel and the right drive wheel that is adjusted by the adjustment mechanism, the frame travels. When the direction is changed in the left-right direction, the flare in the two directions of the approach direction and the separation direction with respect to the outer peripheral surface of the vehicle body is moved so that the car wash brush moves along the outer peripheral surface of the vehicle body. Along with the running direction of the change of the arm is adapted to be carried out,
The rotating shaft of the car wash brush extends in the vertical direction on the extension line of the axles of the left and right drive wheels extending in the left and right direction of the frame and at the position where the left and right drive wheels are off the side of the frame. Self-propelled car wash machine characterized by being . Traveling mode switching means for selectively switching the traveling mode of the frame between a high speed mode for traveling the frame at a high speed and a low speed mode for traveling at a low speed;
While it increased to a first rate that the traveling mode by the running mode change-over means is preset traveling speed of the frame when it is switched to the high-speed mode, when the running mode is switched to the low speed mode A traveling speed changing means for reducing the traveling speed of the frame to a preset second speed smaller than the first speed ;
A rotation blocking mechanism for blocking rotation of the car wash brush based on switching of the driving mode by the driving mode switching means is further provided, and when the driving mode is switched to the high speed mode by the driving mode switching means. The rotation prevention mechanism is actuated to prevent rotation of the car wash brush. On the other hand, when the traveling mode is switched to the low speed mode, the operation state of the rotation prevention mechanism is released and rotation of the car wash brush is stopped. The self-propelled car wash machine according to claim 1 , which is allowed . The travel drive source includes a first travel drive source that drives the left drive wheel and a second travel drive source that drives the right drive wheel and is separate from the first travel drive source. And the adjusting mechanism relatively changes a driving force of the first traveling drive source with respect to the left driving wheel and a driving force of the second traveling drive source with respect to the right drive wheel. Is configured so that the rotational speeds of the left driving wheel and the right driving wheel can be adjusted to be different from each other ,
When the detected value is larger than a preset allowable range, of the left driving wheel and the right driving wheel, the first traveling driving source or the first driving wheel for the driving wheel distal from the outer peripheral surface of the vehicle body. By stopping the driving of the second traveling drive source by the adjusting mechanism, the frame is caused to travel in a direction away from the outer peripheral surface of the vehicle body, while the detected value becomes smaller than a preset allowable range. Sometimes, the adjustment mechanism is used to drive the first traveling drive source or the second traveling drive source with respect to the drive wheel proximal to the outer peripheral surface of the vehicle body among the left drive wheel and the right drive wheel. The self-running direction control means is configured to be able to control the adjusting mechanism so that the frame can run in the approaching direction to the outer peripheral surface of the vehicle body by being stopped. Traveling car wash machine. When the detected value by the resistance force detecting means becomes larger than a preset allowable range, the detected value is obtained in advance by causing the frame to travel away from the outer peripheral surface of the vehicle body by the self-running direction control means. Steering in a direction parallel to the outer peripheral surface of the vehicle body and moving too far from the outer peripheral surface of the vehicle body before the detected value becomes smaller than the predetermined allowable range, provided that the value is within the set allowable range. On the other hand, corrective steering
When the detected value by the resistance detecting means becomes smaller than a preset allowable range, the detected value is obtained in advance by running the frame in the approaching direction to the outer peripheral surface of the vehicle body by the self-running direction control means. On the condition that the detected value is within the set allowable range, the detected value is steered in a direction parallel to the outer peripheral surface of the vehicle body and approaches the outer peripheral surface of the vehicle body before becoming larger than the predetermined allowable range. The self-propelled car wash machine according to any one of claims 1 to 3 , further comprising correction steering means for performing correction steering so as not to pass. A brush drive motor consisting of an electric motor for rotating the car wash brush is further provided,
The resistance detection means includes a current detection device that detects a supply current to the brush drive motor, and the resistance force is calculated based on a detection value of the supply current detected by the current detection device. The self-propelled car wash machine according to any one of claims 1 to 4, wherein the self-propelled car wash machine is configured to detect a rotational resistance force generated in the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body. The resistance force detecting means includes a pressing reaction force detection device that detects a pressing reaction force generated on the car wash brush by pressing the car wash brush against the outer peripheral surface of the vehicle body, and is detected by the pressing reaction force detection device. The self-propelled car wash machine according to any one of claims 1 to 4 , wherein the resistance force is detected based on a detected value of the pressing reaction force. The frame has a base part to which the wheel is attached and a support part on which the rotating shaft of the car wash brush is supported, and the car wash brush supported by the support part includes: while Ru Tei is allowed position projecting laterally of the base portion,
A tank for storing the cleaning liquid and an injection device for injecting the cleaning liquid in the tank onto the outer peripheral surface of the vehicle body are further provided, and the tank is more than the central part on the base part. The self-propelled car wash machine according to any one of claims 1 to 6, wherein the self-propelled car wash machine is installed at a position biased to a side opposite to a protruding side of the car wash brush. The self-propelled car wash machine according to any one of claims 1 to 7 , wherein the car wash brush is provided in a fixed position with respect to the frame in a state in which the car wash brush is rotatable about the rotation axis. The free-running direction control means and said independently of the control of the steering means by the own according to any one of claims 1 to 8 operating means for operating any of the steering means is further provided Traveling car wash machine.

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