JPH0318304Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Distribution> The present invention relates to a direction changing device for a self-propelled traveling device.

<Conventional technology> Dangerous places where people generally cannot enter,
Self-propelled mobile devices are used for cleaning in narrow spaces.

Figure 2 is a partially cutaway perspective view of the self-propelled floor cleaning device.
Figure 3 is a traveling drive unit of a self-propelled floor cleaning device,
FIG. 3a shows its front view, FIG. 3b shows its partially sectional side view, and FIG. 3c shows its plane view.

A traveling drive section 2 for running the cleaning device 01 is provided on the underside of the truck 1, and a rotating brush 3, a rotary brush drive motor 4, a suction blower drive motor 5, etc. are provided at the front of the truck 1. A suction device 6 is provided. A control device 7 is provided on the upper surface of the truck 1 to control the driving of the traveling drive device 2 and the suction device 6 with a rotary brush.

On the other hand, as shown in FIG. 3, the traveling drive unit 2 has four pairs of front and rear wheels 9 whose rotation centers are parallel to each other on a frame 8, which are rotatable left and right. Endless belt 1 that touches the surface
0 is wrapped around it. Traveling motors 11 that drive the left and right wheels 9 independently are connected to either the front or rear of the left or right wheels 9, and the endless belt 10 is rotated via the wheels 9 by driving these traveling motors 11. .

Cleaning by the cleaning device 01 having the above configuration is carried out by wiping and suctioning dirt from the floor surface using the suction device 6 with a rotary brush while the cleaning device 01 is self-propelled by remote control. by the way. This direction change of the cleaning device was performed by changing or reversing the rotational speed of the left and right travel motors 11.

<Problem to be solved by the invention> However, if the floor surface at the direction change position of the cleaning device 01 is parallel, there is no problem, but if it is sloped or uneven, the frictional force of the left and right caterpillars 10 against the floor surface will increase. Cleaning device 01
Lateral slip occurs, making it impossible to change direction in a fixed position. Therefore, reliable remote control of self-propelled traveling devices has become difficult.

The present invention has been developed to effectively solve the above problems, and includes a support plate for the center of rotation that is pressed to an extent that prevents the traveling device from skidding when changing direction of the self-propelled traveling device, thereby providing a special driving force. To reliably change direction of a self-propelled traveling device at a fixed position without providing a power source and to perform remote control reliably.

<Means for Solving the Problems> The configuration of the present invention for achieving the above object is a movable drive part of a self-propelled traveling device that travels on a running surface by an endless belt wound around a drive wheel. A pressing drive means is provided in which a part is reciprocated in a direction perpendicular to the running surface, a support plate is connected to the movable part, and the support plate exerts a pressing force by movement of the movable part by driving of the pressing drive means. furthermore, the supporting plate is rotatable with respect to the movable part, and a guide wheel is provided for pressing the endless belt against the running surface, so that the endless belt is always pressed against the running surface. The present invention is characterized in that a biasing means is provided for biasing the guide wheel to a state in which the guide wheel is in a state where the guide wheel is biased.

<Operation> When changing the direction, the movable part is moved toward the running surface by driving the pressing drive means, the support plate is brought into contact with the running surface, and the abutting part is set as the center of the direction change.
By energizing the guide wheels with the biasing means and driving the driving wheels with the endless belt pressed against the running surface, the endless belt is always in contact with the running surface regardless of the unevenness of the running surface, and the support plate The direction is changed at a fixed position centered on the contact position.

<Example> An example of the present invention will be described below in detail based on the drawings.

Fig. 1 shows a self-propelled floor cleaning device equipped with a direction changing device according to an embodiment of the present invention, Fig. 1a shows its front view, Fig. 1b shows its partially sectional side view, c is its plane.

A frame body 1 is located at the center of the frame 8 of the travel drive unit 2.
2, and a solenoid 13 as a pressing drive means is provided on the frame 12 with its support shaft, which is a movable part, facing in the vertical direction. A spring 15 is provided between the support shaft 14 and the solenoid 13, and the support shaft 14 can be moved in the vertical direction by energizing and demagnetizing the solenoid 13. The lower end of the support shaft 14 is spherical and a spherical bearing 16 is fitted therein, and the spherical bearing 16 is fixed by pressing force to the upper surface of the support plate 17 that contacts the running surface.

That is, when the support shaft 14 is lowered by the excitation of the solenoid 13, the support plate 17 is pressed against the floor surface. Further, when the support shaft 14 becomes free due to demagnetization of the solenoid 13, the support shaft 14 is pushed up by the spring force of the spring 15, and the support plate 17
leaves the floor.

On the other hand, a spring receiver 18 is attached between the left and right wheels 9 of the side plate to which the wheels 9 of the frame 8 are attached, and a cylindrical slide pin 18a is provided on the floor side of the spring receiver 18. . A support base 19 is attached to the slide pin 18a so as to be movable up and down via a slide boss 19a provided on the support base 19, and a center axis 20 is provided on the support base 19 in parallel to the rotation center axis of the wheel 9. There is. central axis 20
A guide wheel 22 is rotatably provided through a bearing 21, and a presser spring 23 is provided between the spring receiver 18 and the support base 19. The front and rear wheels 9 of the endless belt 10 are pressed against the floor surface.

That is, the endless belt 10 is wound around the wheels 9 and comes into contact with the floor surface, and the contact portion of the guide wheel 22 is pressed against the floor surface.

A guide ball 25 is provided at the front and rear of the travel drive unit 2 and is biased against the floor surface by a spring 24.

The direction change of the self-propelled floor cleaning device 01 equipped with the direction change device configured as described above is performed as follows.

First, the support plate 17 with the solenoid 13 not energized is pressed against the floor surface at the direction change position. The pressing force at this time is such that the wheels 9 are slightly lifted off the floor. Therefore, the cleaning device 01 includes the support plate 17 and the endless belt 1.
0 is in a state where it is supported by the part that is in contact with the pressing force of the guide wheel 22. Next, when the traveling motors 11 are rotated in opposite directions in this state,
The cleaning device 01 is activated by the frictional force between the endless belt 10 and the floor surface pressed by the guide wheels 22.
changes direction around the support plate 17. At this time, the traveling drive unit 2 is provided with guide balls 25 provided at the front and rear parts.
This allows for smooth direction changes.
Further, a pressing force is applied to the guide wheel 22 by the presser spring 23, and the endless belt 10 is pressed against the floor surface.
Since the support plate 17 is connected to the support shaft 14 via the spherical bearing 16, the endless belt 10 is always in contact with the floor even if the floor is sloped or uneven, and the running device 01 There is no problem with changing direction.

In the above embodiment, the support plate 17 and the support shaft 14 are connected via the spherical bearing 16, but the connection is not limited thereto. Furthermore, it is also possible to use a turning means between the frame body 12 and the traveling drive unit 2. Furthermore, the support plate 1
Although a combination of a solenoid 13 on one side and a spring 15 is used as a means for applying a pressing force to the pressing force on the device 7, a solenoid on both sides, a fluid pressure cylinder, etc. may be used, and the present invention is not limited to the above embodiment.

<Effects of the invention> As described above in detail based on one embodiment, according to the direction changing device for a self-propelled traveling device of the present invention,
The support plate, which is rotatably supported by the traveling drive unit, is pressed against the floor surface and is used as the center of direction change, and the endless belt is constantly pressed against the traveling surface by the guide wheels, so the traveling floor surface is tilted. It is possible to change the direction in a fixed position even if there is a rough surface or uneven surface, and remote control is possible. Further, since the direction change is performed by driving the travel motor, there is no need to provide a special drive source for direction change, and it can be easily installed in a conventional travel device.

[Brief explanation of the drawing]

Fig. 1 shows a self-propelled floor cleaning device equipped with the direction changing device of the present invention, Fig. 1a is its front view, Fig. 1b is its partially sectional side view, and Fig. 1c is its 2 is a partially cutaway perspective view of the self-propelled floor traveling device, FIG. 3 is a traveling drive section of the self-propelled floor traveling device, and FIG. 3a is a front view thereof, and FIG. FIG. 3b is a partially sectional side view thereof, and FIG. 3c is a plan view thereof. In the drawing, 1 is a truck, 2 is a traveling drive unit, 8 is a frame, 9 is a wheel, 10 is an endless belt, 13 is a solenoid, 14 is a support shaft, 15 is a spring, 16 is a spherical bearing, and 17 is a support plate. .

Claims (1)

[Scope of utility model registration request] A traveling drive unit of a self-propelled traveling device that travels on a running surface by an endless belt wound around a drive wheel is provided with a pressing drive means for reciprocating a movable part in a direction perpendicular to the running surface, and the movable A support plate is connected to the part so that the support plate can come into contact with the running surface with a pressing force when the movable part is moved by driving of the pressing drive means, and further the support plate is pivoted with respect to the movable part. The vehicle is characterized in that it is equipped with a guide wheel that presses the endless belt against the running surface, and a biasing means that biases the guide wheel so that the endless belt is always pressed against the running surface. Direction change device for traveling type traveling equipment.