JPH0225199Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a wiping device that is attached to a cart that travels over a floor surface to be worked on and wipes off dust on the floor surface to be worked on.

<Prior art> Robots suitable for various tasks that require remote control due to space constraints or the possibility of harm to the human body have been developed, such as cleaning robots, etc. is one of them. A conventional cleaning robot is equipped with a rotating brush and a vacuum suction device, and uses the brush to scrape up dirt on the floor surface to be worked on, and the vacuum suction device collects the dirt. For this reason, it is not possible to remove even minute dust adhering to the floor surface to be worked on, which is a problem that cannot be ignored in nuclear reactor equipment where radioactive dust is a problem.

<Problem that the invention aims to solve> A cleaning robot for such equipment needs to be equipped with a rag or the like to wipe the floor surface to be worked on, but currently known robots are equipped with a robot that can change the direction of the cart. If the trolley is moved forward or backward, there is a risk that the floor surface to be worked on will be recontaminated by dust adhering to the running wheels, crawlers, etc. of the trolley. In addition, if the rag or the like is fixed so that it is flush with the lower surface of the running wheels of the trolley or the crawler, etc., if the floor surface to be worked on is inclined from the middle, the floor surface to be worked on may be There was also a risk that it would be impossible to wipe off a portion of the area.

This invention eliminates the risk of rags, etc. floating up from the floor surface to be worked on even if the slope of the floor surface to be worked on changes midway through, and furthermore, even if the cart changes direction or moves backwards, the floor surface to be worked on remains stable. An object of the present invention is to provide a wiping robot that is free from the risk of being recontaminated by dust attached to running wheels, crawlers, etc.

<Means and effects for solving the problem> The present invention arranges waste holders with rags at the front and rear of the traveling direction of the cart, so that the rags on the rear side in the traveling direction are always kept in line with the running path of the running wheels and crawlers. I try to wipe the top. Further, the rag holder is connected to the cart so that it can move up and down, and the weight of the rag holder etc. keeps the rag in contact with the floor surface to be worked on.

<Example> As shown in FIG. 1 showing the fractured structure of an example of the wiping device according to the present invention and FIG.
1 includes a pair of front and rear wheels 1 whose rotation centers are parallel to each other.
In this embodiment, a total of four wheels 2 are rotatably mounted on the left and right sides of the main body 11, respectively, and an endless toothed belt 14 that comes into contact with the floor surface 13 to be worked is wound around the pair of front and rear wheels 12. ing. Traveling motors 15 are connected to either the front or rear of the left or right wheels 12, respectively, and drive the left and right wheels 12 independently.Therefore, the operation of these traveling motors 15 causes the wheels to move through the wheels 12. The toothed belt 14 rotates, and the main body 11 travels on the work surface 13 due to the frictional force between the toothed belt 14 and the work surface 13. When the direction of movement of the main body 11 is changed or reversed, control can be performed arbitrarily by changing or reversing the rotational speed of the left and right traveling motors 15. In this embodiment, the main body 11 is made to run on the work target floor 13 using a crawler-type traveling means, but the toothed belt 14 is not used and the wheels 1
Instead of 2, it is also possible to use other traveling means, such as bringing the tires into direct contact with the floor surface 13 to be worked on and driving the tires to cause the main body 11 to travel relative to the floor surface 13 to be worked on. be.

A pair of left and right guide rails 1 are provided on the top surface of the main body 11.
6 protrude from the front and back, and each of the pair of left and right guide rails 16 has a gate-shaped rocker that can slide along the guide rails 16 in parallel to the traveling direction of the main body 11 (the left-right direction in FIG. 1). Each of the movable sliders 17 is mounted, and as shown in FIG. A slider drive motor 18 is attached to the slider drive motor 18 . The drive gear 19 of this slider drive motor 18 has a main body 11 with the drive gear 19 in between.
A pair of front and rear transmission gears 20 which are rotatably supported at the front and rear of the transmission gears 20 are in mesh with each other, and one end of a crank 21 is pinned to the swing slider 17 on the end surface of these transmission gears 20. It is pivotally mounted eccentrically to the In this embodiment, the phases of these cranks 21 are set symmetrically with respect to the drive gear 19, so that by operating the slider drive motor 18, the swinging sliders 17 are moved along the guide rail 16 in opposite directions. Move back and forth. In this embodiment, the guide rail 16 is set parallel to the running direction of the main body 11, but since it is only necessary for the swing slider 17 to reciprocate parallel to the work target floor 13, for example, the guide rail 16 is set parallel to the running direction of the main body 11. The guide rail 16 may be laid perpendicular to the traveling direction. Further, the front and rear swing sliders 17 may be integrally molded, and in this case, one of the transmission gears 20, crank 21, etc. is unnecessary, and the crank 21 is directly connected to the drive gear 19.
It is also possible to pin in an eccentric state with respect to. Further, in this embodiment, the swinging slider 17 is caused to reciprocate by a crank mechanism, but the swinging slider 17 may be moved back and forth by other means such as a cam mechanism.

On the other hand, as shown in FIG. 4, which shows a cross section taken along the - arrow in FIG. A groove 25 is formed in the vertical direction in the frame-shaped waste holder 24.
are in an engaged state with the fixed key 22, respectively. That is, the pair of front and rear rag holders 24 are connected to the swing slider 17 via the fixed key 22 so as to be able to slide up and down, and by turning the holder attachment/detachment screw 23 counterclockwise, the fixed key 2
2 is pulled into the swinging slider 17, the fixed key 22 is disengaged from the groove 25, and the rag holder 24 can be separated from the swinging slider 17.

A pair of rolls 27 for winding both ends of a strip-shaped rag 26 are rotatably attached to the rag holder 24, which is disposed at the front and rear of the main body 11 in the running direction. A winding drive motor 28 is connected to drive one of the rolls 27 to wind up the waste cloth 26. A plurality of direction changing rollers 29 rotatably supported by a rag holder 24 are wound around the rag 26, and the rag 26 is set to be parallel to the work target floor 13. In addition, cloth 2
6 needs to have a width that covers the running locus of the toothed belt 14, but in the case of a type in which the waste holder 24 is reciprocated in a direction perpendicular to the running direction of the main body 11, the width should be large enough to cover the travel locus of the toothed belt 14. This allows the width of the rag 26 to be narrowed. In this case, the roll 27 and the direction changing roller 29 are
It may also be set parallel to the traveling direction of.
In this embodiment, the rag 26 is brought into contact with the work target floor 13 by the weight of the rag holder 24, etc., but in order to further improve their adhesion,
A pressing roller 30 that presses the rag 26 downward with elastic force is attached to the lower end of the rag holder 24 so as to be movable up and down.

The operation of the traveling motor 15, slider drive motor 18, and take-up drive motor 28 is controlled by a control device 31 mounted above the main body 11 via a bracket (not shown). During the work, all the motors 15, 18, and 28 operate, and as the main body 11 moves, the rag 26 is rubbed against the work target floor 13 in the forward and backward directions of travel, and the rag 26 sticks to the work target floor 13. The dust is wiped off and gradually gets caught up in one of the rolls 27. In this embodiment, since the rag holder 24 can be replaced, it is also possible to install a garbage collection device equipped with a rotating brush and a vacuum suction device in place of the rag holder 24. Also, rag 2
Although the rag 6 is shaped like a belt and is driven, the rag may be fixed to the lower end of the rag holder 24 in a replaceable manner.

<Effects of the invention> According to the invention, rags are placed before and after the main body in the running direction so that the running trajectory of the running wheels and crawlers can always be covered, so even if the main body changes direction or moves in reverse. There is no risk that the floor surface to be worked on will be recontaminated by running wheels or crawlers. In addition, the rag holder that supports the rag can move up and down with respect to the main body, so even if the floor surface to be worked on is inclined from the middle, the rag will be pressed against the floor surface to be worked on by the weight of the rag holder, etc. There is no risk of it rising from the floor surface to be worked on and making wiping work impossible.

[Brief explanation of the drawing]

Fig. 1 is a cutaway view showing the schematic structure of the wiping device according to the present invention, Fig. 2 is a cross-sectional view taken in the direction of -
FIG. 3a is a conceptual diagram of the mechanism that extracts the slider driving device, FIG. 3b is a plan view thereof, and FIG. 4 is an enlarged cross-sectional view taken in the direction of the − arrow in FIG. , 11 is the main body, 12 is the wheel, 13 is the floor surface to be worked on, 14 is the toothed belt, 15 is the running motor,
17 is a swinging slider, 18 is a slider drive motor, 21 is a crank, 22 is a fixed key, 24 is a rag holder, 25 is a groove, and 26 is a rag.

Claims (1)

[Scope of utility model registration request] A main body having a traveling means for traveling on the work target floor surface, a swing slider attached to the main body so as to be able to reciprocate in a direction parallel to the work target floor surface, and a swing slider provided on the main body. a slider driving device that drives the swinging slider, and a slider drive device that is disposed at the front and rear of the main body in the traveling direction, engages with the swinging slider so as to be able to move up and down, and comes into contact with the floor surface to be worked on. A wiping device comprising a pair of rag holders each having a rag for wiping off dust on a floor surface to be worked on.