JP2003010088A - Liquid applying traveling device and liquid applying method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve application quality by preventing the spread by splashing or flowing of liquid to the outer side of a work area decided by a cloth which is a liquid applying and spreading means at the time of applying the liquid to a floor surface and to safely perform work even under a desk or a bed or the like by lowering the height of a device. SOLUTION: A liquid applying traveling device is provided with a traveling means and a dripping nozzle scanning means and applies the liquid such as disinfection liquid or wax to the floor surface by traveling while scanning a dripping nozzle. The liquid applying traveling device is provided with a main body provided with the traveling means, a work unit connected to the rear part of the main body and supported movably in the width direction of the work area formed at the rear part, the liquid applying and spreading means provided on the end part of the work unit, and a liquid dripping nozzle supported by a movable means movably in the width direction in the range of not spreading the liquid by splashing and/or flowing exceeding the outermost side of the liquid applying and spreading means in a width shorter than the work area at the time of defining the length of the liquid applying and spreading means at least as the width of the work area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for uniformly and uniformly applying a liquid such as a disinfecting solution or wax to a floor and a method for applying the liquid. The present invention relates to a liquid application traveling device that travels while traveling and a liquid application method mainly in an initial operation when the liquid application traveling device is used.

[0002]

2. Description of the Related Art Conventionally, various traveling devices for applying a liquid such as wax to a floor surface have been known. Accordingly, it is desired that the work area be applied widely and uniformly. For example, in Japanese Patent Application Laid-Open No. 1997-299857 "Travel Wax Coating and Drying Device", a wax pouring pipe which is vertically installed on a rotary shaft and whose front end is swung left and right is provided, and the wax is attached as the carriage travels. There is disclosed a wax supply / application apparatus having a structure in which the tip of a spout pipe is swung left and right, and the wax is widely supplied in a zigzag shape to the floor surface from the tip thereof.

According to the apparatus described above, it is said that the wax liquid is easily and widely supplied to the floor surface in a zigzag manner by the wax pouring and supplying apparatus having the above structure.

[0004]

However, in the apparatus using the swinging means as described above, the entire apparatus becomes bulky and it is difficult to work in a narrow area where there is a restriction in the height direction. In addition, under the present circumstances, the application work of the application liquid for wax and disinfection is often done manually, but it is difficult to apply it uniformly, and the amount of the liquid used increases and the cleaning cost becomes high, so that it is more functional. A liquid application device having excellent properties is desired.

In view of the present situation and background, the present inventor first, as a liquid application device attached to a self-propelled moving carriage, continuously dripped on the floor from one nozzle that scans left and right. An apparatus has been disclosed which employs a method of spreading the liquid to be spread with one cloth. (Technical information magazine "HWT (Huma
n With Technology) ”1997 Sep.
As described in the monthly issue, "Portable Autonomous Mobile Robot Robosanitan"), this autonomous mobile robot is provided with a traveling means including wheels 101a and a scanning means for the dripping nozzle 103, as shown in FIGS. 31 and 32. Dripping nozzle 10
This is a liquid application traveling device for applying a liquid such as a disinfecting solution or wax to the floor surface by traveling while scanning 3. This device has a working unit 102 connected to the rear of a main body having a traveling means and supported so as to be movable in the width direction of the working area. The liquid spreading means provided at the end of the working unit 102 is provided with a coating cloth 104 that hangs down toward the floor surface.

However, in the method of spreading the liquid dropped on the floor with a cloth like this apparatus, in order to make the amount of the liquid applied to the floor (thickness of the coating film) uniform, It must be soaked in liquid. This is because if you start the work with the cloth dry, most of the liquid dropped on the floor will be absorbed by the cloth at the beginning, and the coating amount (coating film thickness) will decrease. Further, by soaking the liquid in the entire width of the cloth in advance, the liquid easily penetrates to the end of the cloth, and uniform application can be performed in the working width direction.

Therefore, in the above apparatus, the width of the work area (width of the cloth) and the scanning range of the nozzles are set as close as possible to each other so that the cloth can be soaked with the liquid as evenly as possible. However, since the scanning range of the nozzle becomes a value extremely close to the width of the cloth, the liquid may be scattered over the width of the cloth, which causes a problem that the coating quality is deteriorated.

Further, in the above device, in order to make the tube for supplying the liquid to the nozzle correspond to the left and right movement of the nozzle, like a fishing rod and a fishing line, from the discharge port of the pump,
Since it was once hung up by a bar spring and then hung down to connect it to the nozzle, or because it adopted a configuration similar to that of pulling the yarn of an automatic knitting machine, only the tube placement became higher in the device. However, in areas where there is an upper limit, such as under the desk or under the bed, there is a concern that the device may get caught when working, and it does not look good. The same applies to the above-cited Japanese Patent Application Laid-Open No. 1997-299857.

[0009]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The liquid applying traveling device and the liquid applying method of the present invention are intended to solve these problems.
When applying the liquid to the floor surface, it is possible to prevent the liquid from splashing or spreading due to the flow to the outside of the work area determined by the cloth that is the liquid spreading means, and to improve the coating quality. The purpose is to lower the height so that you can work safely even under a desk or bed.

[0010]

In view of the above problems, the present invention is provided with a traveling means and a scanning means for a dropping nozzle, and by traveling while scanning the dropping nozzle, the disinfectant solution is applied to the floor surface. In a liquid application traveling device for applying a liquid such as wax or wax, the liquid application traveling device is moved in a width direction of a main body having traveling means and a working area connected to the rear of the main body and formed behind the main body. Between a work unit that is movably supported, a liquid spreading means provided at an end of the working unit, and the liquid spreading means and the main body,
When the length of the liquid spreading means is at least the width of the working area, the width is shorter than the working area and within a range in which the liquid does not diffuse by scattering and / or flowing beyond the outermost side of the liquid spreading means. A first feature is that the liquid dropping nozzle is supported by a movable means so as to be movable in the width direction.

According to this structure, the scanning range of the nozzle is
Since the width is set to be sufficiently narrower than the width of the cloth that is the liquid spreading means, it is possible to realize uniform coating over the entire work area and prevent the liquid from splashing to the outside.

The present invention further comprises a traveling means and a scanning means for the dropping nozzle, and by traveling while scanning the dropping nozzle, liquid application traveling for applying a liquid such as a disinfecting liquid or wax to the floor surface. In the apparatus, the liquid coating traveling device is supported by a main body having traveling means, a working unit connected to the rear of the main body, and movable means so as to be movable in the width direction of the working area of the working unit. And a tube for supplying a liquid to the liquid dropping nozzle is arranged on a horizontal plane at least in the working unit, and is displaced in the horizontal plane according to the movement of the dropping nozzle in the horizontal plane. It has a feature. Further, the tube has means for sliding at a contact portion between the tube and a member mounted in the working unit.

According to these structures, since the tubes for supplying the liquid to the liquid dropping nozzle are arranged in the height direction to the minimum, it is possible to reduce the height of the entire apparatus, As a result, it is possible to work in an area with an upper limit such as under a desk or bed, and the appearance of the device can be made excellent.

Further, the liquid applying method of the present invention comprises a main body having a traveling means, a working unit connected to the rear of the main body and movably supported in the width direction of the working area.
Liquid spreading means provided at the end of the working unit and movable up and down by an elevating mechanism, and a dropping nozzle supported by movable means so as to be movable in the width direction of the working area of the working unit. A liquid coating running device, comprising: a coating range formed by the dripping nozzle, formed in a width direction smaller than a coating range formed by the liquid coating means, preferably the liquid coating running according to claim 1. Realized in the device.

The liquid coating method of the present invention comprises a step of dropping a liquid in a predetermined width as a first coating range by a dropping nozzle,
The first coating range is passed through the liquid spreading means with one end in the width direction left to impregnate a part of the liquid spreading means with the liquid and to form a first residual portion. A step of dropping a liquid with a predetermined width as a second application range in the vicinity of the first residual portion by a dropping nozzle, and a state in which the other end in the width direction of the second application range remains. And a step of impregnating the entire liquid coating means with the liquid by passing through the liquid coating means over the remaining portion of the first coating range, and the liquid coating to the remaining portion of the second coating range. Wipe through the means.

According to the present invention, according to the above method, before the coating work is started, the nozzle is once scanned to drop the liquid, the working unit is moved in the width direction, and further the forward and backward movements of the main body are combined. Thus, it is possible to uniformly impregnate the cloth, which is the liquid spreading means, with the liquid before the application work.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION A liquid application traveling apparatus of the present invention will be described below with reference to the drawings of an embodiment.

FIG. 1 is a schematic side view of the liquid coating traveling device of the present invention, and FIG. 2 is a plan schematic diagram of the liquid coating traveling device of the present invention. As shown in FIG. 1, a plurality of wheels 1a including a free caster 1b, which is a traveling means, are provided at the bottom of the main body 1. For this traveling means, specifically, for example, a self-propelling means for controlling the rotation direction and the rotation speed based on the output of a traveling encoder (not shown) to perform forward or backward movement, curve traveling, and turning operation is adopted. You can In this case, the traveling distance is further calculated, the direction of the robot is calculated based on the output of the gyro sensor,
Calculate the position of the robot, stop position, and
Control the direction. Further, these are set by a known controller and are remotely controlled.

As shown in FIGS. 1 and 2, a working unit 2 is provided behind a main body 1 of the liquid coating traveling device by a slide rail 5 and a supporting member 5a movably mounted on the slide rail 5. The work unit 2 is supported so as to be movable in the width direction, and a cloth 4 serving as a liquid spreading unit is vertically provided at the end of the work unit 2 toward the floor surface. The working unit 2 is detachably connected to the traveling main body 1 by wheels 1a.

A tank 7 for storing a coating liquid such as wax is mounted above the main body 1.
A tube 9 is led out from the inside, and in this embodiment, a drip movably supported by means described later on the working unit 2 via a pump 8 fixed to the rear side of the main body 1. It is connected to the nozzle 3.

The working unit 2 includes two pulleys 10
b. Timing belt 10c hung between 10b
The side of the support member 5a, which is fixed on the slide rail 5 and is movably supported on the slide rail 5, is fixed at its side, and one pulley 10b is provided with the shaft of the working unit moving motor 10a. The main body 1 can be moved to the left and right by controlling the motor 10a by a control unit (not shown). The moving motor 10a of the working unit has a built-in encoder and outputs a pulse signal proportional to the rotation speed to the control unit.

Proximity sensors 13 are arranged near both ends of the slide rail 5 for moving the working unit 2. The proximity sensor 13 detects the approach of metal, detects that the support member 5a moving on the slide rail 5 has reached near both ends of the slide rail 5, and outputs it to the control unit. As a result, the control unit uses the encoder output of the moving motor 10a of the work unit and the output of the proximity sensor 13 to operate the work unit 2
Is controlled to move to an arbitrary position within the movement range.

As the slide rails 5 for sliding movement of the working unit 2, it is preferable to use rails having high rigidity and the like, and to use two vertical and horizontal rails to prevent the working unit 2 from hanging down.

On the other hand, as shown in FIGS. 2 and 3 to 5, the dripping nozzle 3 is inserted into a supporting hole formed in the vertical direction of the nozzle holder 14a and horizontally supported by the nozzle holder 14a. It is slidably supported on the scanning pipe 14. Further, the nozzle holder 14a to which the dropping nozzle 3 is attached has a front portion of 2
Timing belt 12 hung on two pulleys 12b
It is attached to c and is driven by a nozzle scanning motor 12a. The structure in which the nozzle holder 14a slides and moves on the scanning pipe 14 can reduce friction as compared with using a slide rail, can reduce the output of the motor, and can reduce the noise generated during the movement. This is because it can be made smaller.

In the vicinity of both ends of the scanning pipe 14,
The proximity sensor 13 is arranged. This proximity sensor 13
Is a nozzle holder 14 that moves on a scanning pipe 14.
It detects that a has reached near both ends of the scanning range and outputs it to the control unit (not shown). The control unit controls the horizontal scanning of the nozzle 3 based on the output of the proximity sensor 13.

A tube 9 is led out in the horizontal direction from the dropping nozzle 3 inserted in a support hole formed in the vertical direction of the nozzle holder 14a. The extra length of the tube 9 is accommodated in a space formed between a base plate 16b that constitutes a top plate of a casing that houses a timing belt and the like, and a base plate 16a provided above the base plate 16b. This structure allows
The movement of the tube 9 is stabilized by sliding it on the base plate 16b during operation.

Further, as shown in FIG. 5, the base plate 16b is
The end portion of the drip nozzle 3 side is provided with an inclination or R in the contact direction of the tube 9, and when the nozzle 3 moves to the left in the figure, the tube 9 becomes the end portion of the base plate 16b. Care is taken not to get scratched by friction.

Furthermore, the tube holder 15a and the tube 9
A scanning assist spring 17 is provided between the and. The scanning assisting spring 17 is composed of a rod spring portion 17b and a coil spring portion 17c at the base portion, and the tube 9 is hooked by bending the tip of the rod spring 17b into a hook shape. It works to push it back to the left. The scanning assisting spring 17 allows the tube 9 to smoothly return to the top of the base plate 16b when the nozzle 3 moves leftward in the drawing.

As the tube 9 used in the embodiment of the present invention, a flexible tubular body is suitable. For example, a flexible silicone rubber tube has a large friction coefficient and slides on the base plate 16b. Hateful. Therefore, in the present embodiment, the surface of the tube 9 is coated with floor wax or the like to reduce the coefficient of friction and make it easy to slide on the base plate 16b.

Further, the coating cloth 4 according to the embodiment of the present invention
An elevating mechanism is provided on the supporting means. As shown in FIG. 7, the base portion of the coating cloth 4 is attached to a plate-shaped cloth holder 18b and hangs down toward the floor surface. Further, both ends of the cloth holder 18b are projected horizontally. Support arm 18a. It is supported by 18a. The pair of support arms 18a. The base ends of 18a are connected by a rotary shaft 18c and are rotatable.

The support arms 18a. The lifting motor 1 is provided on the upper surface of the extension of the base end portion 18a beyond the rotary shaft 18c.
The rotating cam 19b is brought into contact with the support arm 18a.9a by driving the elevating motor 19a as shown in FIGS. 18a and the cloth holder 18b can be swung in the vertical direction.

Another embodiment is shown in FIG.
Also, as shown in FIG. 11, there is an example in which the pump 8 is arranged on the working unit side. In this case, the working unit becomes slightly larger, but the tube 9 can be easily routed, which is advantageous for maintenance.

According to the present invention having the above-mentioned configuration, the working unit 2 drives the moving motor 10a of the working unit provided in the main body 1 to move the working unit 2 in the left-right direction as shown in FIGS. In addition to being able to perform scanning, in the working unit 2, as shown in FIGS. 15 and 16, the dropping nozzle 3 can be scanned in the left-right direction.

The scanning range of the dropping nozzle 3 and the width of the cloth 4 serving as the liquid spreading means are such that when the dropping nozzle 3 is located at the outermost side, the liquid is scattered or flows over the outermost side of the cloth 4. It is set not to spread. Specifically, the distance between the outermost side of the cloth 4 which is the liquid spreading means and the outermost side of the drip nozzle 3 is such that the moving speed of the nozzle 3 is increased and the output of the pump 8 at the left and right ends is increased. Since it needs to be large, it varies depending on the moving speed of the nozzle 3 and the output (dropping amount) of the pump 8 at the left and right ends. On the other hand, even if the pump 8 is stopped at the left and right ends and the speed is slowed down, the liquid dropped on the floor diffuses due to the flow, so in consideration of both factors, 25 mm or more, preferably Set to 30 mm or more. In addition, if the interval is too large, uneven coating will occur on the left and right sides, and
It is set to 100 mm or less, preferably 50 mm or less.

17 to 28 are explanatory views of the initial operation of the apparatus according to the present invention. Here, the operation of sufficiently impregnating the application cloth 4 with the liquid is performed. In the figure, ▼ indicates a start position mark.

First, as shown in FIG. 17, the aforementioned elevating mechanism is operated to lower the coating cloth 4 which is the liquid coating means, and the liquid is dripped in the first coating range x in the shaded area. 1
As indicated by 8, the coating cloth 4 is once raised, the working unit 2 is slid in the direction of the arrow, and then the coating cloth 4 is lowered. Next, as shown in FIG. 19, the main body is advanced a predetermined distance, and when the coating cloth 4 comes to the first coating range x, while the liquid is appropriately impregnated into the coating cloth 4, in the embodiment, Stop for a second and allow the application cloth to soak.

Next, as shown in FIG. 20, the coating cloth 4 is raised and retracted to the starting position. At this point, the application cloth 4 has an impregnated region y which is a part impregnated with the liquid and a non-impregnated area, and the floor is covered with the first area within a range where the application cloth 4 does not pass. One residual portion xa is formed. Then, as shown in FIG. 21, the application cloth 4 is lowered again, the liquid is dropped on the second application area x in the shaded area, and then, as shown in FIG.
2, the application cloth 4 is raised, the working unit 2 is slid in the direction of the arrow and returned to the center, and then the application cloth 4
Down.

Then, as shown in FIG. 23, the vehicle advances by a predetermined distance,
When the coating cloth 4 comes to the position below the droplet, it is stopped for about 1 second in the same manner as described above to allow the liquid to soak into the coating cloth 4,
As shown in FIG. 24, the application cloth 4 is raised and retracted to the start position. In this state, the impregnated region y becomes the entire coating cloth 4, the second residual portion xa in FIGS. 20 to 22 disappears, and xa in FIG. 24 newly becomes the second residual portion on the floor.

Therefore, as shown in FIG. 25, the coating cloth 4 is raised, the working unit 2 is slid in the direction of the arrow, and then the coating cloth 4 is lowered, and as shown in FIG. After wiping the liquid, returning the working part to the center,
Then, the vehicle further advances by a predetermined distance. In this state, the second residual portion xa is eliminated, and as shown in FIG. 27, the application cloth 4 is raised and retracted to the start position, and then the application cloth 4 is removed as shown in FIG.
Down, start advancing and dropping droplets, and start the coating operation.

In FIG. 26, the reason why the working part is moved forward while returning the working part to the center after wiping off the liquid residue is that the liquid is applied to the floor even during the operation for soaking the liquid in the cloth. This is because the coating trace in FIG. 26 can be continuously and smoothly connected to the actual coating trace started in FIG.

Further, since the working unit 2 is moved and soaked so that the liquid at the end of the liquid dropped on the floor remains, the liquid permeates to the end of the coating cloth 4. And finally, as shown in the figure, no liquid remains on the floor.

FIG. 29 and FIG. 30 are diagrams showing the steps of work by the robot. The liquid is applied to the floor in the work area by zigzag running, but for zigzag running, as shown in FIG. 29, from right to left. In some cases, there is a case of going to, and in other cases, as shown in FIG. In the present embodiment, when performing the operation of soaking the liquid into the cloth before the start of the work, the movement of the working portion is shifted to the left side or the right side with respect to the center position (in the previous figure, in the traveling direction). Since it is performed on the left side, that is, on the upper side of the paper surface, the working unit is displaced to the left when moving from right to left as shown in FIG. 29, and when moving from left to right as shown in FIG. Controls the work unit so that it shifts to the right. By doing so, it is possible to prevent the liquid from being applied outside the work area.

In this embodiment, the work is carried out while performing zigzag running. However, when the swiveling operation is performed, the dropping of the liquid is stopped and the application cloth is lifted and released from the floor to prevent unnecessary application. In addition, the friction with the floor during the turning operation is reduced to prevent slip. Even when retreating, the dropping of the liquid is stopped, and the coating cloth is lifted off the floor to improve the coating quality.

[0044]

As described above, the present invention is provided with the traveling means and the scanning means of the dropping nozzle, and by traveling while scanning the dropping nozzle, the floor surface is coated with a liquid such as a disinfecting liquid or wax. In the liquid application traveling device to
When the length of the liquid spreading means is at least the width of the working area, the movable means is movable in the width direction so that the width is shorter than the working area and the liquid does not scatter beyond the outermost side of the liquid spreading means. By including the supported liquid dropping nozzle, the scanning range of the nozzle is set sufficiently narrower than the width of the cloth that is the liquid spreading means, and there is no scattering of the liquid to the outside,
A uniform coating was achieved over the entire work area. Further, since the tube for supplying the liquid to the liquid dropping nozzle is arranged on the horizontal plane at least in the working unit and is displaced in the horizontal plane according to the movement of the dropping nozzle in the horizontal plane, the liquid is supplied to the dropping nozzle of the liquid. The tube to be installed is arranged in the minimum in the height direction, which makes it possible to reduce the height of the entire device and to improve the appearance of the device. Furthermore, since a means for sliding on this tube at the contact area between the tube and the member mounted in the working unit is provided, there is no risk of the tube being caught by the member due to friction, and stable operation of the device is ensured. it can.

[Brief description of drawings]

FIG. 1 is a schematic side view of a liquid application traveling device of the present invention.

FIG. 2 is a schematic plan view of a liquid coating traveling device of the present invention.

FIG. 3 is an explanatory diagram of a working unit of the liquid application traveling device of the present invention.

FIG. 4 is an explanatory diagram of a working unit of the liquid application traveling device of the present invention.

FIG. 5 is an explanatory view showing a supporting state of nozzles in the working unit according to the present invention.

FIG. 6 is an explanatory view of an auxiliary spring used for supporting the nozzle in the working unit according to the present invention.

FIG. 7 is a schematic view showing an elevating mechanism for the coating cloth of the working unit according to the present invention.

FIG. 8 is an explanatory view showing a lifting mechanism for a coating cloth of the working unit according to the present invention.

FIG. 9 is an explanatory view showing a lifting mechanism for a coating cloth of the working unit according to the present invention.

FIG. 10 is a schematic plan view showing another embodiment of the liquid coating traveling device of the present invention.

FIG. 11 is an explanatory diagram showing a supporting state of a pump in another embodiment of the liquid coating traveling device of the present invention.

FIG. 12 is an explanatory view showing a moving state of the work unit according to the present invention.

FIG. 13 is an explanatory view showing a moving state of the work unit according to the present invention.

FIG. 14 is an explanatory diagram showing a moving state of the work unit according to the present invention.

FIG. 15 is an explanatory diagram showing a scanning state of nozzles in the working unit according to the present invention.

FIG. 16 is an explanatory diagram showing a scanning state of nozzles in the working unit according to the present invention.

FIG. 17 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 18 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 19 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 20 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 21 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 22 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 23 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 24 is an explanatory view showing the operation of the liquid coating traveling device of the present invention.

FIG. 25 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 26 is an explanatory diagram showing the operation of the liquid application traveling device of the present invention.

FIG. 27 is an explanatory view showing the operation of the liquid application traveling device of the present invention.

FIG. 28 is an explanatory diagram showing the operation of the liquid application traveling device of the present invention.

FIG. 29 is an explanatory diagram showing an example of a travel route of the liquid coating travel device of the present invention.

FIG. 30 is an explanatory diagram showing an example of a travel route of the liquid coating travel device of the present invention.

FIG. 31 is a schematic side view of a conventional liquid coating traveling device.

FIG. 32 is a schematic plan view of a conventional liquid coating traveling device.

[Explanation of symbols]

x Application range y Impregnation area xa residual part 1 body 1b Flexible caster 1a wheel 2 work units 3 dripping nozzle 4 Application cloth 5 slide rails 5a support member 7 tanks 8 pumps 9 tubes 10a Motor for moving work unit 10b pulley 10c timing belt 12a Nozzle scanning motor 12b pulley 12c timing belt 13 Proximity sensor 14 Scanning pipe 14a nozzle holder 15a tube holder 16a base plate 16b base plate 17 Scanning auxiliary spring 17a Hook 17b Rod spring part 17c Coil spring part 18b cloth holder 18a support arm 18c rotating shaft 19a Lifting motor 19b cam 101 main body 101b Flexible caster 101a wheels 102 work unit 103 dripping nozzle 104 Application cloth 105 slide rail 107 tank 108 pumps 109 tubes 110a Motor for moving working unit 110b pulley 110c timing belt 112a Nozzle scanning motor 112b pulley 112c timing belt 114 Slide rail for moving nozzle 114a nozzle holder 115 stick spring

Continuation of front page (51) Int.Cl. ⁷ identification code FI theme code (reference) B05D 1/26 B05D 1/26 3/00 3/00 G 7/00 7/00 L 7/24 301 7/24 301Q 301Z // A47L 13/56 A47L 13/56 A61L 2/18 A61L 2/18 F term (reference) 4C058 AA23 BB07 EE26 JJ06 4D075 AC11 AC51 AC52 AC84 AC86 AC88 CA09 CA45 CA47 DC02 EA05 EA37 EA60 4F040 AC01 BA01 BA11 AB11 AB11 AB11 AB11 AB11 AB11 AB11 CA05 CA15 DA02 DA14 4F042 AA16 AB00 BA08 CA01 CB02 DD02 DD06 DD16 DD17 DD19 DD44 ED05 ED08

Claims (4)

[Claims] 1. A liquid application traveling apparatus, comprising: a traveling means and a scanning means for the dropping nozzle, wherein the traveling is performed while scanning the dropping nozzle to apply a liquid such as a disinfecting liquid or wax to the floor surface. The liquid application traveling device includes a main body having traveling means, a working unit connected to the rear of the main body and movably supported in the width direction of a working region formed at the rear, and an end portion of the working unit. Between the liquid spreading means and the main body, the width is shorter than the working area, at least when the length of the liquid spreading means is the width of the working area. A liquid application traveling device comprising: a liquid dropping nozzle supported by a movable means so as to be movable in the width direction within a range in which the liquid does not diffuse by scattering and / or flowing beyond the outermost side of the liquid applying means. 2. A liquid application traveling apparatus comprising a traveling means and a drip nozzle scanning means, and traveling while scanning the drip nozzle to apply a liquid such as a disinfecting liquid or wax to a floor surface, The liquid application traveling device is
The liquid dripping is provided with a main body having a traveling means, a working unit connected to the rear of the main body, and a dripping nozzle supported by movable means so as to be movable in the width direction of the working area of the working unit. A liquid application traveling device characterized in that a tube for supplying a liquid to a nozzle is arranged on a horizontal plane at least in a working unit and is displaced in the horizontal plane according to the movement of the dropping nozzle in the horizontal plane. 3. The liquid application traveling device according to claim 2, wherein the tube has means for sliding at a contact portion between the tube and a member mounted in the working unit. 4. A main body having a traveling means, a working unit connected to the rear of the main body and supported so as to be movable in the width direction of the working area, and a lifting mechanism provided at an end of the working unit. A liquid spreading means capable of moving up and down, and a dropping nozzle supported by a movable means so as to be movable in the width direction of the working area of the working unit, and a coating range formed by the dropping nozzle is In a liquid coating running device formed in a width direction smaller than a coating range formed by a liquid coating means, a step of dropping a liquid in a predetermined width as the first coating range by the dropping nozzle; A step of forming a first residual portion while passing a part of the liquid coating means by impregnating the liquid while passing one end of the coating range in the width direction to leave the liquid coating means; With the dropping nozzle A step of dropping a liquid in a predetermined width as a second coating range in the vicinity of the one remaining portion, and the first coating with the other end portion of the second coating range in the width direction remaining. Impregnating the entire liquid coating means with the liquid by passing through the liquid coating means over the remaining portion of the range; and passing the liquid coating means through the remaining portion of the second coating range. A liquid application method comprising a wiping step.