JPH07289488A - Floor surface cleaning robot - Google Patents

Floor surface cleaning robot

Info

Publication number
JPH07289488A
JPH07289488A JP8207794A JP8207794A JPH07289488A JP H07289488 A JPH07289488 A JP H07289488A JP 8207794 A JP8207794 A JP 8207794A JP 8207794 A JP8207794 A JP 8207794A JP H07289488 A JPH07289488 A JP H07289488A
Authority
JP
Japan
Prior art keywords
water tank
fresh water
cleaning robot
tank
tanks
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP8207794A
Other languages
Japanese (ja)
Inventor
Keisuke Adachi
圭助 足立
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu General Ltd
Original Assignee
Fujitsu General Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu General Ltd filed Critical Fujitsu General Ltd
Priority to JP8207794A priority Critical patent/JPH07289488A/en
Publication of JPH07289488A publication Critical patent/JPH07289488A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To provide the structure of a water tank capable of eliminating the unbalnce of load caused by a change in the amts. of water in the fresh water tank and sewage tank arranged on the left and right parts of a truck during the running of a floor surface cleaning robot and keeping straight advance properties. CONSTITUTION:The water tank placed on the truck 1 of a floor surface cleaning robot is partitioned by two partition plates 5a, 5b so that a sewage tank 7 is arranged to the central part of the water tank and two fresh water tanks 6a, 6b each having volume almost half that of the sewage tank 7 are arranged on both left and right sides of the sewage tank 7. A pipe is connected to the bottom surfaces of two fresh water tanks 6a, 6b to always keep the water levels of both fresh water tanks 6a, 6b equal.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は床面清掃ロボットに係
り、より詳しくは床面清掃ロボットの自走制御を容易に
するために、台車上の汚水槽と清水槽内の水量のアンバ
ランスを防止する機構に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floor cleaning robot, and more specifically, in order to facilitate self-propelled control of the floor cleaning robot, an unbalanced amount of water in a sewage tank on a trolley and a fresh water tank is set. It relates to a mechanism for preventing.

【0002】[0002]

【従来の技術】従来の床面清掃ロボットについて説明す
る。図2と図3に示すように、台車1の下面中央部に左
右一対の駆動輪2と前方従動輪3及び後方従動輪4を備
え、台車1上に載置した水槽内を左右に仕切板5によっ
て清水槽6と汚水槽7に区画し、清水槽6から台車1の
下面のブラシ8の近傍に図示していないが散水パイプを
導出し、床面の汚水を吸引する吸引装置9を汚水槽7に
連結している。清水槽6と汚水槽7の上方の汚水槽7の
みの開口部7aに密封用パッキン10を設けた蓋体11
を被せている。この構成による床面清掃ロボットを運転
すると、清水槽6から散水パイプで床面に散水し、ブラ
シ8を回転して床面を研磨し、床面に残った汚水を吸引
装置で汚水槽7に吸引して自走しながら清掃していく。
従って、当初は清水槽6が満水で汚水槽7が空の状態で
あり、最後は清水槽6が空で汚水槽7が汚水で満たされ
る状態となりる。これでは台車1の重心が時間とともに
左右に大きく変化し、左右の駆動輪2及び前方従動輪3
と後方従動輪4にかかる荷重が変化するので床面清掃ロ
ボットの直進性の維持が困難になる。また、清水槽6と
汚水槽7を前後に配置する方法もあるが、これでは重心
の前後移動が大きくなり、前後の従動輪3,4にかかる
荷重の変化に対応するサスペンション機構を複雑にする
ことになる。
2. Description of the Related Art A conventional floor cleaning robot will be described. As shown in FIG. 2 and FIG. 3, a pair of left and right drive wheels 2, a front driven wheel 3 and a rear driven wheel 4 are provided at the center of the lower surface of the trolley 1, and the inside of the water tank placed on the trolley 1 is divided into left and right partition plates. 5 is divided into a fresh water tank 6 and a dirty water tank 7, and a sprinkling pipe (not shown) is led out from the fresh water tank 6 to the vicinity of the brush 8 on the lower surface of the carriage 1, and a suction device 9 for sucking the dirty water on the floor is used as the dirty water. It is connected to the tank 7. A lid body 11 provided with a sealing packing 10 in the opening 7a of only the dirty water tank 7 above the fresh water tank 6 and the dirty water tank 7.
Is covered. When the floor cleaning robot with this configuration is operated, water is sprinkled from the fresh water tank 6 to the floor surface with a sprinkling pipe, the brush 8 is rotated to polish the floor surface, and the dirty water remaining on the floor surface is sucked into the dirty water tank 7 by the suction device. Suction and self-run while cleaning.
Therefore, the fresh water tank 6 is initially full and the dirty water tank 7 is empty, and finally the fresh water tank 6 is empty and the dirty water tank 7 is filled with dirty water. In this case, the center of gravity of the trolley 1 greatly changes with time, and the left and right drive wheels 2 and front driven wheels 3 are moved.
Since the load applied to the rear driven wheel 4 changes, it becomes difficult to maintain the straightness of the floor cleaning robot. There is also a method of arranging the fresh water tank 6 and the dirty water tank 7 in the front and rear, but this increases the front-back movement of the center of gravity and complicates the suspension mechanism corresponding to the change in the load applied to the front and rear driven wheels 3 and 4. It will be.

【0003】[0003]

【発明が解決しようとする課題】上記のような問題点を
解決するために、本発明は走行中に変化する清水槽と汚
水槽の水量の変化による荷重のアンバランスを無くし、
床面清掃ロボットの直進性を安定に維持する水槽の構造
を提供することを目的とする。
SUMMARY OF THE INVENTION In order to solve the above problems, the present invention eliminates the load imbalance due to the change in the amount of water in the fresh water tank and the dirty water tank that changes during traveling,
An object of the present invention is to provide a structure of a water tank that stably maintains straightness of a floor cleaning robot.

【0004】[0004]

【課題を解決するための手段】本発明は、台車の下面中
央部に左右一対の駆動輪を備え、台車上に清水槽と汚水
槽からなる水槽を搭載し、前記清水槽から散水パイプを
前記台車下面に設けた回転ブラシ近傍に導出し、床面の
汚水を吸引する吸引装置を汚水槽に連結してなる自走の
床面清掃ロボットにおいて、前記水槽内を三分割して中
央を汚水槽、左右を清水槽とし、同清水槽同志をパイプ
により連通したことを特徴とする。
According to the present invention, a pair of left and right drive wheels are provided at the center of the lower surface of a bogie, a water tank consisting of a fresh water tank and a dirty water tank is mounted on the bogie, and a sprinkling pipe is provided from the fresh water tank. In a self-propelled floor cleaning robot that is connected to a sewage tank with a suction device that draws out near the rotating brush provided on the lower surface of the trolley, and connects the sewage tank to the sewage tank, divide the inside of the water tank into three The right and left sides are the fresh water tanks, and the same fresh water tanks are connected by pipes.

【0005】[0005]

【作用】本発明によれば、床面清掃ロボットの台車上
に、清水槽を二つに分割して汚水槽を挟んで左右に配置
し、二つの清水槽の底面をパイプで連結することによっ
て、二つの清水槽のどちらの底面から散水パイプに給水
しても二つの清水槽の水位は同じとなり、台車にかかる
荷重のバランスの変化を無くすることができる。
According to the present invention, on the carriage of the floor cleaning robot, the fresh water tank is divided into two parts, which are arranged on the left and right sides with the dirty water tank interposed therebetween, and the bottom surfaces of the two fresh water tanks are connected by pipes. Even if water is supplied to the sprinkling pipe from either bottom of the two fresh water tanks, the water levels of the two fresh water tanks are the same, and it is possible to eliminate the change in the balance of the load applied to the carriage.

【0006】[0006]

【実施例】本発明の一実施例について説明する。図1に
示すように、床面清掃ロボットの台車1上に載置する水
槽の中央に汚水槽7を配置し、汚水槽7を挟んで左右両
側に汚水槽7の略半分の容積を有する二つの清水槽6
a,6bを配置するように二枚の仕切板5a,5bによ
って区画している。二つの清水槽6a,6bの底面にパ
イプを二つの清水槽6a,6bの水位を常に等しく保つ
ように連結している。水槽の中央に配置した汚水槽7の
開口部7aに対応した密封用パッキン10を設けた蓋体
11を被せ汚水槽7の吸引効果を維持している。
EXAMPLE An example of the present invention will be described. As shown in FIG. 1, a sewage tank 7 is arranged in the center of a water tank placed on a trolley 1 of a floor cleaning robot, and the sewage tank 7 is sandwiched between the sewage tank 7 and the left and right sides of the sewage tank 7. One fresh water tank 6
It is divided by two partition plates 5a and 5b so that a and 6b are arranged. Pipes are connected to the bottom surfaces of the two fresh water tanks 6a and 6b so that the water levels of the two fresh water tanks 6a and 6b are always kept equal. The lid 11 provided with the sealing packing 10 corresponding to the opening 7a of the waste water tank 7 arranged in the center of the water tank is covered to maintain the suction effect of the waste water tank 7.

【0007】[0007]

【発明の効果】上記のように本発明によれば、床面清掃
ロボットの台車上に、清水槽を二つに分割して汚水槽を
挟んで左右に配置し、二つの清水槽の底面をパイプで連
結することによって、二つの清水槽の水位は同じとな
り、台車にかかる荷重のバランスの変化を無くし、床面
清掃ロボットの直進性を保ち安定走行を維持することが
できる。
As described above, according to the present invention, on the carriage of the floor cleaning robot, the fresh water tank is divided into two, and the two tanks are arranged on the left and right with the dirty water tank interposed therebetween. By connecting with a pipe, the water levels of the two fresh water tanks become the same, the balance of the load applied to the dolly can be eliminated, and the floor cleaning robot can maintain straightness and maintain stable running.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の一実施例の床面清掃ロボットの水槽の
概要を示す斜視図である。
FIG. 1 is a perspective view showing an outline of a water tank of a floor cleaning robot according to an embodiment of the present invention.

【図2】従来例の床面清掃ロボットの水槽の概要を示す
斜視図である。
FIG. 2 is a perspective view showing an outline of a water tank of a conventional floor cleaning robot.

【図3】従来例の床面清掃ロボットの概要を示す側面図
である。
FIG. 3 is a side view showing an outline of a conventional floor cleaning robot.

【符号の説明】[Explanation of symbols]

1 台車 2 駆動輪 3 前方従動輪 4 後方従動輪 5 仕切板 6 清水槽 7 汚水槽 8 ブラシ 9 吸引装置 10 密封用パッキン 1 dolly 2 drive wheel 3 front driven wheel 4 rear driven wheel 5 partition plate 6 fresh water tank 7 dirty water tank 8 brush 9 suction device 10 sealing packing

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 台車の下面中央部に左右一対の駆動輪を
備え、台車上に清水槽と汚水槽からなる水槽を搭載し、
前記清水槽から散水パイプを前記台車下面に設けた回転
ブラシ近傍に導出し、床面の汚水を吸引する吸引装置を
汚水槽に連結してなる自走の床面清掃ロボットにおい
て、前記水槽内を三分割して中央を汚水槽、左右を清水
槽とし、同清水槽同志をパイプにより連通したことを特
徴とする床面清掃ロボット。
1. A pair of left and right drive wheels is provided at the center of the lower surface of the bogie, and a water tank comprising a fresh water tank and a waste water tank is mounted on the bogie.
In a self-propelled floor cleaning robot in which a sprinkling pipe is led out from the fresh water tank to the vicinity of a rotating brush provided on the lower surface of the carriage, and a suction device for sucking dirty water on the floor is connected to the dirty water tank, in the water tank. A floor cleaning robot that is divided into three parts, the center is a sewage tank, the left and right are fresh water tanks, and the same fresh water tanks are connected by pipes.
JP8207794A 1994-04-20 1994-04-20 Floor surface cleaning robot Pending JPH07289488A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8207794A JPH07289488A (en) 1994-04-20 1994-04-20 Floor surface cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8207794A JPH07289488A (en) 1994-04-20 1994-04-20 Floor surface cleaning robot

Publications (1)

Publication Number Publication Date
JPH07289488A true JPH07289488A (en) 1995-11-07

Family

ID=13764408

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8207794A Pending JPH07289488A (en) 1994-04-20 1994-04-20 Floor surface cleaning robot

Country Status (1)

Country Link
JP (1) JPH07289488A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5894621A (en) * 1996-03-27 1999-04-20 Minolta Co., Ltd. Unmanned working vehicle
CN104116465A (en) * 2014-08-04 2014-10-29 广州大学 Intelligent robot cleaner assembly line type floor mopping device and method
CN105686762A (en) * 2016-04-14 2016-06-22 天津商业大学 Automatic floor wiping device
CN106473668A (en) * 2015-08-27 2017-03-08 科沃斯机器人股份有限公司 Water tank and its clean robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5894621A (en) * 1996-03-27 1999-04-20 Minolta Co., Ltd. Unmanned working vehicle
CN104116465A (en) * 2014-08-04 2014-10-29 广州大学 Intelligent robot cleaner assembly line type floor mopping device and method
CN106473668A (en) * 2015-08-27 2017-03-08 科沃斯机器人股份有限公司 Water tank and its clean robot
CN105686762A (en) * 2016-04-14 2016-06-22 天津商业大学 Automatic floor wiping device

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