JP2006325724A - Self-traveling cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling cleaner by which changing operation of a cleaning tool can be easily done and cleaning operation can be effectively done. <P>SOLUTION: In the self-traveling cleaner in which a suction port and a rotary cleaning tool are arranged in the lower face of a self-traveling vehicle body, the rotary cleaning tool is rotated to suck dust from the suction port, two kinds of cleaning tools 7A, 7B are provided. Each of cleaning tools 7A, 7B has an annular body 22 constituted by integrally connecting coaxial center and outer peripheral rings 22a, 22b by connecting rods 22c and a plurality of cleaning tool bodies 23 radially arranged from the central ring 22a to the outer peripheral ring 22b. Each of cleaning tool bodies 23 has brushes 23b or mops 23c. The center ring 22a of one of the cleaning tool 7A with the brushes and the cleaning tool 7B with the mops is detachably secured to the lower end portion of a rotary shaft 6 protruding downward from the center of the under face of the vehicle body 1 by a nut 26, the respective cleaning tools 7A, 7B are rotated via the rotary shaft 6, and the dust collected by its rotation is sucked from the suction port 2. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

The present invention relates to a self-propelled cleaner that self-propells and cleans a floor surface, and in particular, facilitates an efficient cleaning operation by replacing a cleaning tool.

Conventionally, there exists what was described in patent document 1 as a technique of a self-propelled cleaner. As shown in FIG. 11, a suction port 2 is formed on the lower surface of a self-propelled vehicle body 1 having a plurality of sensors S, and a rotating brush 3 is attached to the outer periphery of the suction port 2.

In the above configuration, the vehicle body 1 is allowed to self-run while detecting the distance to the obstacle by each sensor S, and the rotating brush 3 is rotated, and the dust on the floor surface 4 is sucked and cleaned by the suction port 2.
JP 2003-38402 A

In the above conventional configuration, the rotating brush 3 is rotated and the dust is sucked in by the suction port 2. The rotating brush 3 is mainly used for scraping dust that has entered the carpet. Rather than sending the dust to the suction port 2 side, the scraped dust is often scattered around the periphery. In addition, since the rotating brush 3 is slightly larger than the suction port 2 and the dust scraping range by the rotating brush 3 is small, the vehicle body 1 is repeatedly small in order to clean the entire floor surface 4 cleanly. It needs to be reciprocated frequently, and cleaning takes time.

In addition, it is not assumed that the rotating brush 3 that is a consumable item is replaced with a new one, or that the rotating brush is replaced with a mop and cleaned, and it takes time and effort to perform the replacement work. It is.

An object of the present invention is to provide a self-propelled cleaner that can be easily cleaned and replaced efficiently by taking the above disadvantages into account.

In order to achieve the above object, the invention according to claim 1 is characterized in that a suction port is formed on the lower surface of the self-propelled vehicle body, a rotating brush is attached to the outer periphery of the suction port, the rotating brush is rotated,
In the self-propelled cleaner that sucks dust from the suction port, instead of the rotating brush, two types of cleaning tools, a cleaning tool with a brush and a cleaning tool with a mop, are provided, and each of the cleaning tools is concentric. And a plurality of cleaning tool bodies arranged radially from the center ring to the outer ring, each cleaning tool body having a substantially U-shaped cross section. It has elastically displaceable horizontal bars, and the upper ends of the brushes or mops are fitted into the horizontal bars, and the lower ends of the brushes or mops are extended downward from the horizontal bars. Concave portions are formed on the lower surfaces of both end portions of the bar, and substantially L-shaped notch grooves are formed in the central ring and the outer peripheral ring so as to oppose both end portions of the horizontal bars. Fit both ends into the notch grooves in the center ring and outer ring. By releasing the elastic displacement of each horizontal bar, the concave portion of each horizontal bar is engaged with the convex step portion of each notch groove by elastic restoring force, and each cleaning tool body is cleaned when viewed from the plane. It is bent in an arc shape so as to protrude in the direction opposite to the rotation direction of the tool, and the center ring of the brushed cleaning tool or mop cleaning tool is stopped at the lower end of the rotating shaft protruding downward from the center of the underside of the vehicle body. It is characterized in that it is detachably fastened by a dressing tool, and dust that has been scraped is sucked from a suction port by rotating the cleaning tool with a brush or the cleaning tool with a mop.

According to the second aspect of the present invention, a suction port is formed on the lower surface of the self-propelled vehicle body, a rotating brush is attached to the outer periphery of the suction port, and the rotating brush is rotated so that dust is sucked from the suction port. In the self-propelled vacuum cleaner, instead of the rotating brush, two types of cleaning tools, a cleaning tool with a brush and a cleaning tool with a mop, are provided, and each of the cleaning tools has a concentric central ring and an outer peripheral ring. It has an annular body integrally connected by a connecting rod and a plurality of cleaning tool bodies radially arranged from the center ring to the outer ring of the annular body, and each of the cleaning tool bodies can be elastically displaced with a substantially U-shaped cross section. A horizontal bar, and an upper end portion of the brush or mop is fitted into each horizontal bar, and a lower end portion of the brush or mop is extended downward from each horizontal bar. Recesses are formed on the bottom surface of each part, and both ends of each horizontal bar Oppositely, a substantially L-shaped notch groove is formed in each of the center ring and the outer ring, and each lateral bar is elastically displaced so that both ends thereof are fitted into the notch grooves of the center ring and the outer ring. By releasing the elastic displacement of each horizontal bar, the recess of each horizontal bar is engaged with the convex step of each notch groove by an elastic restoring force, and each of the cleaning tool bodies is a cleaning tool as viewed from above. It is bent in a circular arc shape so as to protrude in the direction opposite to the rotation direction of the motor, and the central ring of the brushed cleaning tool and the mop cleaning tool is moved up and down within a certain range from the center of the lower surface of the vehicle body to the lower end of the rotating shaft. By being externally fitted to rotate integrally with the rotating shaft, the brushed cleaning tool and the mop cleaning tool are arranged so as to be movable up and down on the rotating shaft in a concentric overlapping state independently of each other,
A push-up spring for biasing each of the cleaning tools upward is provided, and a push-down operation means for alternately pushing down each of the cleaning tools against the push-up spring is provided on the vehicle body. The cleaning tool with a brush or the cleaning tool with a mop is pushed down, and the pushed-up cleaning tool with a brush or the cleaning tool with a mop is rotated to suck in the dust collected from the suction port.

According to a third aspect of the present invention, a suction port and a rotary cleaner are provided on the lower surface of the self-propelled vehicle body, and the cleaner is rotated so that dust is sucked from the suction port. In
There are two types of cleaning tools, a cleaning tool with a brush and a cleaning tool with a mop, and each cleaning tool has an annular body in which a concentric center ring and an outer ring are integrally connected with a connecting rod, and an outer periphery from the center ring. A plurality of cleaning tool bodies arranged radially over the ring, each of the cleaning tool bodies including a brush or a mop, and the central ring of the brushed cleaning tool or the moped cleaning tool is directed downward from the center of the lower surface of the vehicle body It is characterized in that it is detachably fastened to the lower end of the projecting rotating shaft by a fastening tool, and the brushed cleaning tool or mop cleaning tool is rotated to suck in the dust collected from the suction port. .

According to a fourth aspect of the present invention, a suction port and a rotary cleaner are provided on the lower surface of the self-propelled vehicle body, and the cleaner is rotated so that dust is sucked from the suction port. In
Two types of cleaning tools, a brushed cleaning tool and a mop cleaning tool, are provided as the cleaning tool, and each cleaning tool has an annular body in which a concentric center ring and an outer ring are integrally connected by a connecting rod, A plurality of cleaning tool bodies radially arranged from the center ring to the outer ring, each of the cleaning tool bodies is provided with a brush or a mop, and the central ring of the brushed cleaning tool and the mop cleaning tool from the center of the lower surface of the vehicle body The brush-type cleaning tool and the mop-type cleaning tool are concentrically independent from each other by being fitted to the lower end of the rotary shaft protruding downward so that it can be moved up and down within a certain range and rotate integrally with the rotary shaft. A push-up spring is provided that can be moved up and down on the rotary shaft in a superposed state, and biases each of the cleaning tools upward, and a push-down operating means that alternately pushes down the cleaning tools against the push-up spring is provided in the vehicle body. And its depression Is characterized in depressing the brush cleaning tool or mop with the cleaning tool, it has to suck the depressed was dust scraped up by rotating the brushed cleaning tool or mop with the cleaning tool from the suction port by work unit.

The invention according to claim 5 is the invention according to claim 3 or 4, wherein each of the cleaning tool bodies is bent in an arc shape so as to protrude in a direction opposite to the rotation direction of the cleaning tool when viewed from the plane. It is characterized by having.

A sixth aspect of the present invention is the invention according to any one of the third to fifth aspects, wherein each of the cleaning tool main bodies includes a horizontal bar that has a substantially U-shaped cross section and can be elastically displaced. The upper end of the brush or mop is fitted into the horizontal bar, the lower end of the brush or mop is extended downward from each horizontal bar, and a recess is formed on the lower surface of both ends of each horizontal bar. Opposite ends of the horizontal bar are formed with substantially L-shaped notches in the central ring and the outer ring, respectively, and each horizontal bar is elastically displaced so that both ends are cut into the central ring and the outer ring. The groove is inserted into the notch groove, and the elastic displacement of each horizontal bar is released, so that the recess of each horizontal bar is engaged with the convex step of each notch groove by elastic restoring force. .

The invention according to claim 1 corresponds to the first embodiment (see FIGS. 1 to 7), and
According to this, since the cleaning tool with a brush and the cleaning tool with a mop are fastened to the rotating shaft by the fastening tool, the desired cleaning tool ( The exchange work of the cleaning tool with a brush or the cleaning tool with a mop can be performed quickly and easily.

In addition, each cleaning tool is rotated via the rotating shaft, and dust on the floor surface is swept toward the suction port with a brush or mop, so the sweeping range of the cleaning tool is wide and efficient in a short time It can be cleaned well.

Furthermore, when the cleaning tool is rotated around the rotation axis, the dust on the floor is smoothly squeezed toward the suction port along the arc surface of each cleaning tool body, and the dust dust is efficiently passed through the suction port. Can suck up well.

In addition, each horizontal bar fitted with a brush or mop is elastically displaced, and both ends thereof are fitted into the cutout grooves of the central ring and the outer ring, and the elastic displacement of each horizontal bar is released by simply releasing it. The recesses formed on the lower surfaces of both ends of each horizontal bar can be engaged with the convex stepped portions of each notch groove by restoring force, and each horizontal bar can be easily attached between the center ring and the outer ring. By reverse operation, each horizontal bar can be easily removed from between the center ring and the outer ring.

Moreover, as a mounting structure of each horizontal bar, it is only necessary to form a recess at both ends of each horizontal bar and form a notch groove in the center ring and the outer ring, and a mounting tool such as a screw is not required for the mounting. Therefore, the number of parts does not increase and it is economical.

The invention described in claim 2 corresponds to the second embodiment (see FIGS. 8 to 10), and according to this, substantially the same effect as that of the invention described in claim 1 can be obtained. In particular, the floor surface can be cleaned as desired by the brush or mop only by depressing the cleaning tool with a brush or the cleaning tool with a mop against the push-up spring by the push-down operation means.

The invention according to claim 3 corresponds to the basic form, and according to this, the cleaning tool with the brush and the cleaning tool with the mop are fixed to the rotating shaft by the fixing tool. ,
The replacement work of a desired cleaning tool (a cleaning tool with a brush or a cleaning tool with a mop) can be quickly and easily performed simply by performing the attaching / detaching operation of the fastening tool.

In addition, each cleaning tool is rotated via the rotating shaft, and dust on the floor surface is swept toward the suction port with a brush or mop, so the sweeping range of the cleaning tool is wide and efficient in a short time It can be cleaned well.

According to the fourth aspect of the present invention, it is possible to obtain substantially the same effect as that of the third aspect of the invention, and in particular, with a cleaning tool with a brush or a mop against the push-up spring by the push-down operation means. By simply depressing the cleaning tool, the floor can be cleaned as desired with a brush or mop.

According to the fifth aspect of the present invention, when the cleaning tool is rotated about the rotation axis, the dust on the floor surface is smoothly scraped toward the suction port along the arc surface of each cleaning tool body. Dust can be efficiently sucked up through the suction port.

According to the sixth aspect of the present invention, each horizontal bar fitted with a brush or mop is elastically displaced so that both ends thereof are fitted into the notch grooves of the central ring and the outer ring, By simply releasing the elastic displacement, the concave portions formed on the lower surfaces of both end portions of each horizontal bar are engaged with the convex steps of each notch groove by elastic restoring force, and each horizontal bar is connected to the center ring and the outer ring. The horizontal bars can be easily attached to each other, and by reversing the operation, each horizontal bar can be easily removed from between the center ring and the outer ring.

Moreover, as a mounting structure of each horizontal bar, it is only necessary to form a recess at both ends of each horizontal bar and form a notch groove in the center ring and the outer ring, and a mounting tool such as a screw is not required for the mounting. Therefore, the number of parts does not increase and it is economical.

1 to 3 show a self-propelled cleaner according to a first embodiment of the present invention, and a suction port 2 is opened at a rear position near the center of a bottom plate portion 1a of a self-propelled vehicle body 1. FIG. The rotary shaft 6 is rotatably supported by a bearing 5 fixed to the center on the bottom plate portion 1a, and two types of cleaning tools (brush cleaning tools 7A and 7A) are provided at the lower end portion of the rotary shaft 6 projecting downward from the vehicle body 1. A mop cleaning tool 7B) is attached as necessary, and a dust collector 8 connected to the suction port 2 is provided in the vehicle body 1. In FIG. 2, reference numeral 9 denotes a drive motor that rotates the rotary shaft 6 in the direction of arrow a via a power transmission mechanism 9a.

As shown in FIGS. 1 to 3, a pair of left and right front wheels 10 are disposed on both front sides of the vehicle body 1, and a drive motor 12 that rotates the front wheels 10 forward and backward via a power transmission mechanism 11 is provided. A spherical swivel wheel 13 is provided at the rear center. In addition, infrared distance detection sensors S1 are provided on the front surface and both side surfaces of the vehicle body 1, and a touch sensor S is provided between the distance detection sensors S1.
2 is provided, and by controlling each drive motor 12 from a control unit (not shown) based on input signals from the sensors S1 and S2, obstacles can be detected while measuring the position of the vehicle body 1. Avoid self-running. Reference numeral 14 denotes a rechargeable battery, which is charged by connecting a plug of a power cord 14b to a socket 14a of the battery 14.

As shown in FIGS. 2 and 3, the dust collecting device 8 includes a dust collecting fan 17 interposed in the middle of a dust collecting duct 16 extending from the inside of a dust collecting box 15 provided at the rear portion in the vehicle body 1 to the suction port 2. And a breathable dust collection bag 18 is detachably attached to the discharge port of the dust collection duct 16, and the drive motor 1.
9, the dust collection fan 17 is rotationally driven to collect the dust sucked from the suction port 2 through the dust collection duct 16 and collected in the dust collection bag 18. Reference numeral 20 denotes a lid detachably fitted to the opening of the dust collection box 15, and the lid 20 is formed with a vent hole 20 a.

As shown in FIGS. 4 to 7, the two types of cleaning tools 7 </ b> A and 7 </ b> B have concentric center rings 22 a.
And an annular ring 22 made by integrally connecting the outer peripheral ring 22b with a connecting rod 22c, and a plurality of cleaning tool main bodies 23 arranged radially from the central ring 22a to the outer peripheral ring 22b. A metal horizontal bar 23a having a substantially U-shaped cross section and elastically displaceable is provided, and an upper end portion of a brush 23b or a mop 23c is fitted into each horizontal bar 23a, and the brush 2
The lower end of 3b or mop 23c extends downward from each horizontal bar 23a.

According to the said structure, the cleaning tool 7A with a brush or the cleaning tool 7 with a mop via the rotating shaft 6
B is rotated in the direction of arrow a, and the dust on the floor surface 4 is scraped toward the suction port 2 by the brush 23b or mop 23c, so that the sweeping range of each of the cleaning tools 7A and 7B is wide and short. It can be cleaned efficiently in time.

As shown in FIGS. 4 to 6, the central ring 22 a is a cylindrical ring body 24 formed integrally with each other.
And a top plate portion 25, a lower end screw portion 6a of the rotary shaft 6 is inserted into a through hole 25a penetrating in the center of the top plate portion 25, and a nut (fastener) 26 is inserted into the screw portion 6a. By screwing, the center ring 22a is detachably secured to the lower end portion of the rotating shaft 6. Moreover, the outer periphery ring 22b has the inner cylinder part 29 and the outer cylinder part 30 which were integrally formed mutually concentrically.

According to the above configuration, the cleaning tool with brush 7A and the cleaning tool with mop 7B are fixed to the rotary shaft 6 by the nut 26, so that the desired cleaning can be performed only by performing the attaching / detaching operation of the nut 26. Replacement of the tool (cleaning tool with brush 7A or cleaning tool with mop 7B) can be performed quickly and easily.

Concave portions 31 are formed in the lower surfaces of both end portions of each horizontal bar 23a, and are substantially L-shaped on the ring body 24 of the center ring 22a and the inner cylinder portion 29 of the outer ring 22b so as to face both end portions of each horizontal bar 23a. A notch groove 32 is formed.

The procedure for attaching the cleaning tool main body 23 will be described. As shown in FIG.
By holding and pressing both ends of 3a, the horizontal bar 23a is elastically displaced and bent into an arc shape as shown in FIG. 7 (b), and the horizontal bar 23a is bent as shown in FIG. 7 (c). Both end portions are fitted into the cutout grooves 32 of the center ring 22a and the outer ring 22b, and the elastic displacement of the horizontal bar 23a is released to release the recesses 31 of the horizontal bar 23a by the cutout grooves 32. Is engaged with the convex step 32a (see FIG. 6).

According to the above configuration, each horizontal bar 23a is elastically displaced, and both end portions thereof are fitted into the cutout grooves 32 of the central ring 22a and the outer peripheral ring 22b, and the elastic displacement of each horizontal bar 23a is released. Each horizontal bar 23a can be easily attached between the central ring 22a and the outer peripheral ring 22b, and each horizontal bar 23a can be easily removed from between the central ring 22a and the outer peripheral ring 22b by the reverse operation. be able to.

Further, as the mounting structure of each horizontal bar 23a, it is only necessary to form the recess 31 at both ends of each horizontal bar 23a and form the notch groove 32 in the center ring 22a and the outer ring 22b. This is economical because the number of parts does not increase.

As shown in FIG. 5, since the cleaning tool main body 23 is bent in an arc shape so as to protrude in the direction opposite to the rotational direction a of each cleaning tool 7A, 7B when viewed from the plane, each cleaning tool 7A, 7B Rotating shaft 6
When rotating around, the dust on the floor surface 4 is smoothly scraped toward the suction port 2 along the arc surface 23A (see FIG. 5) of each cleaning tool body 23. Can be sucked up efficiently.

FIGS. 8-10 shows the principal part of the self-propelled cleaner which is the 2nd Embodiment of this invention, Comprising: It penetrated in the center ring 22a of the cleaning tool 7A with a brush, and the cleaning tool 7B with a mop. A polygonal (hexagonal in this embodiment) through-hole 25b can be moved up and down within a certain range b, c at the lower end 6b of the polygonal (hexagonal in this embodiment) of the rotating shaft 6 and the rotating shaft 6 By fitting externally so as to rotate integrally, the cleaning tool 7A with a small-diameter brush and the cleaning tool 7B with a large-diameter mop are moved up and down on the rotary shaft 6 in a concentric overlapping state independently of each other. c, push-up springs 36 and 37 that are arranged so as to urge the cleaning tools 7A and 7B upward are provided.
7, the vehicle body 1 is provided with a push-down operation means 38 that pushes down the cleaning tools 7A and 7B alternately. Since the configuration other than the above is substantially the same as that of the first embodiment (see FIGS. 1 to 7), the same parts are denoted by the same reference numerals and the description thereof is omitted.

As shown in FIG. 8, a plurality of substantially L-shaped projecting pieces 34 integrally formed at a predetermined interval in the circumferential direction on the outer cylinder portion 30 forming the outer peripheral ring 22b of the mop cleaning tool 7B include the brush-type cleaning tool 7A. The cleaning tool main body 23 is arranged between the notch groove 32 formed in each projection piece 34 and the notch groove 32 of the center ring 22a, which is arranged inside the outer ring 22b. In FIG. 9B,
Reference numeral 35 denotes a number of notch grooves extending upward from the lower edge of the ring main body 24 forming the central ring 22a of the moped cleaning tool 7B, and each connecting rod 22 of the brushed cleaning tool 7A is inserted into each notch groove 35.
c and each cleaning tool main body 23 are penetrated so that raising and lowering b and c are possible. In FIG. 9 (a), 39 is a retaining ring fitted to the rotary shaft 6, and 40 is a retaining nut.

The push-down operation means 38 includes a pair of upper and lower lift tables 43 and 44 that are integrally connected to the central ring 22a of each of the cleaning tools 7A and 7B via a connecting rod 42 and are externally fitted to the rotary shaft 6 so that it can be lifted and lowered. The vehicle body 1 is pivotally supported via a pivot shaft 45 so that the upper end protrudes outward from the operation port 1b of the vehicle body 1 and the lower end bifurcated portions 46a and 46b are brought into contact with the lift tables 43 and 44, respectively. When the ball 48 is elastically engaged with the switching lever 46 and each hole 47 of the branch plate 46c branched from the switching lever 46, the switching lever 46 is moved to the brush position G1, the neutral position G2, and the mop position G3. And an intermittent stop device 49 for intermittently stopping at three positions.

The cleaning procedure will be described. When the floor surface 4 is swept and cleaned with the brush 23b, the switching lever 46 is switched from the neutral position G2 to the brush position G1 as shown in FIG. As a result, as shown in phantom lines in FIG. 9, the brushed cleaning tool 7 </ b> A is lowered c against the push-up spring 37 via the upper lifting table 43 and the connecting rod 42, and the brush 23 b is placed on the floor surface 4. Make contact. Subsequently, both the cleaning tools 7A and 7B are rotated via the rotating shaft 6, the floor surface 4 is swept and cleaned by the pressed cleaning tool 7A with the brush pressed down, and the dust collected by the cleaning is sucked from the suction port 2.

When wiping and cleaning the floor surface 4 with the mop 23c, as shown in FIG.
Is switched from the neutral position G2 to the mop position G3. As a result, as shown in phantom lines in FIG. 10, the moped cleaning tool 7 </ b> B is lowered c against the push-up spring 36 via the lower lifting table 44 and the connecting rod 42, and the mop 23 c is placed on the floor surface 4. Make contact. Subsequently, both the cleaning tools 7A and 7B are rotated via the rotating shaft 6, the floor surface 4 is wiped and cleaned by the pressed cleaning tool 7B with a mop, and the dust gathered by the cleaning is sucked from the suction port 2.

According to the above configuration, the floor surface 4 can be moved as desired by the brush 23b or the mop 23c only by depressing the cleaning tool 7A with the brush or the cleaning tool 7B with the mop against the push-up springs 36, 37 by the push-down operating means 38. Can be cleaned.

It is a perspective view of the self-propelled cleaner which is a 1st embodiment of the present invention. It is the longitudinal cross-sectional view. It is the horizontal sectional view. (A) is a longitudinal cross-sectional view of the cleaning tool with a brush, (b) is a longitudinal cross-sectional view of the cleaning tool with a mop. It is a top view of the cleaning tool. It is a disassembled perspective view of the same cleaning tool. (A)-(c) is the schematic which shows the attachment procedure of the cleaning tool main body. It is a top view of the principal part of the self-propelled cleaner which is the 2nd embodiment of the present invention. (A) is a CC arrow view of FIG. 8, (b) is an EE arrow view. (A) is a DD arrow view of FIG. 8, (b) is a FF arrow view. It is a side view which shows a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car body 2 Suction port 3 Rotating brush 6 Rotating shaft 7A Cleaning tool with brush 7B Cleaning tool with mop 8 Dust collector 22 Annular body 22a Center ring 22b Outer ring 22c Connection rod 23 Cleaning tool main body 23a Horizontal bar 23b Brush 23c Mop 23A Cleaning Arc surface of tool body 26 Nut (fastener)
31 Concave portion 32 Notch groove 32a Convex step portion of the notch groove 36, 37 Push-up spring 38 Push-down operation means

Claims (6)

In the self-propelled cleaner in which a suction port is formed on the lower surface of the self-propelled vehicle body, a rotating brush is attached to the outer periphery of the suction port, the rotating brush is rotated, and dust is sucked from the suction port. In place of the rotating brush, two types of cleaning tools, a cleaning tool with a brush and a cleaning tool with a mop, are provided, and each cleaning tool has an annular body in which a concentric central ring and an outer peripheral ring are integrally connected by a connecting rod. A plurality of cleaning tool bodies arranged radially from the center ring to the outer ring, each of the cleaning tool bodies having a transverse bar having a substantially U-shaped cross section and being elastically displaceable, The upper end of the brush or mop is fitted on the lower end of the brush or mop, and the lower end of the brush or mop extends downward from each horizontal bar. Recesses are formed on the lower surfaces of both ends of each horizontal bar. Opposite both ends, the center ring and outer ring A substantially L-shaped notch groove is formed, and each horizontal bar is elastically displaced so that both ends thereof are fitted in the notch grooves of the central ring and the outer ring, and the elastic displacement of each horizontal bar is reduced. By releasing, the concave part of each horizontal bar is engaged with the convex step part of each notch groove by elastic restoring force, and each of the cleaning tool bodies protrudes in the direction opposite to the rotation direction of the cleaning tool as seen from the plane. The center ring of the brushed cleaning tool or mop cleaning tool is detachably fastened to the lower end of the rotating shaft protruding downward from the center of the lower surface of the vehicle body by a fastening tool. A self-propelled cleaner characterized by sucking in dust from the suction port by rotating the cleaning tool with a brush or the cleaning tool with a mop. In the self-propelled cleaner in which a suction port is formed on the lower surface of the self-propelled vehicle body, a rotating brush is attached to the outer periphery of the suction port, the rotating brush is rotated, and dust is sucked from the suction port. In place of the rotating brush, two types of cleaning tools, a cleaning tool with a brush and a cleaning tool with a mop, are provided, and each cleaning tool has an annular body in which a concentric central ring and an outer peripheral ring are integrally connected by a connecting rod. A plurality of cleaning tool bodies arranged radially from the center ring to the outer ring of the annular body,
Each of the cleaning tool main bodies has a horizontal bar that has a substantially U-shaped cross section and is elastically displaceable, and an upper end of a brush or mop is fitted into each horizontal bar, and a lower end of the brush or mop Is extended downward from each horizontal bar, and recesses are formed on the lower surfaces of both end portions of each horizontal bar, and substantially L-shaped notches are respectively formed in the central ring and the outer peripheral ring so as to face both end portions of each horizontal bar. A groove is formed,
Each horizontal bar is elastically displaced, and both end portions thereof are fitted into the notch grooves of the central ring and the outer ring, and the elastic displacement of each horizontal bar is released to release the concave portion of each horizontal bar by the elastic restoring force. Engage with the protruding step of the notch groove, each cleaning tool body is bent in an arc shape so as to protrude in the direction opposite to the rotation direction of the cleaning tool when seen from the plane, with a cleaning tool with a brush and a mop The cleaning tool with a brush and the mop are fitted by fitting the central ring of the cleaning tool to the lower end of the rotating shaft protruding downward from the center of the lower surface of the vehicle body so that it can be raised and lowered within a certain range so as to rotate integrally with the rotating shaft. The attached cleaning tool is arranged so as to be movable up and down on the rotating shaft in a concentric overlapping state independently of each other, and is provided with a push-up spring for biasing each of the cleaning tools upward, The vehicle body is provided with push-down operation means that push down the cleaning tool alternately. The push-down operation means pushes down the brushed cleaning tool or mop cleaning tool and rotates the pressed brush cleaning tool or mop cleaning tool to suck in the dust collected from the suction port. A self-propelled vacuum cleaner. In the self-propelled cleaner in which a suction port and a rotary cleaning tool are provided on the lower surface of the self-propelled vehicle body, and the cleaning tool is rotated so that dust is sucked from the suction port, cleaning with a brush is used as the cleaning tool. There are two types of tools and a mop-equipped cleaning tool, each of which is a plurality of concentric central rings and outer peripheral rings integrally connected with a connecting rod, and a plurality of radially arranged radial rings from the central ring to the outer peripheral ring. A lower end portion of a rotating shaft that protrudes downward from the center of the lower surface of the vehicle body, with each of the cleaning device bodies including a brush or a mop, A self-propelled cleaner characterized in that it is detachably fastened by a fastening tool and sucked dust is sucked in from a suction port by rotating the cleaning tool with a brush or the cleaning tool with a mop. In the self-propelled cleaner in which a suction port and a rotary cleaning tool are provided on the lower surface of the self-propelled vehicle body, and the cleaning tool is rotated so that dust is sucked from the suction port, cleaning with a brush is used as the cleaning tool. There are two types of tools: a tool and a moped cleaning tool, and each cleaning tool is formed by connecting a concentric center ring and an outer ring integrally with a connecting rod, and a radial shape from the center ring to the outer ring of the ring body. A plurality of cleaning tool main bodies disposed on the main body, each of the cleaning tool main bodies including a brush or a mop, and a rotary shaft that protrudes downward from the center of the lower surface of the vehicle body through the central ring of the brushed cleaning tool and the mop cleaning tool. By fitting the lower end up and down within a certain range so that it rotates integrally with the rotating shaft,
A cleaning tool with a brush and a cleaning tool with a mop are arranged so as to be movable up and down on a rotating shaft in a concentric superposition state independently of each other, and a push-up spring for biasing each of the cleaning tools upward is provided. The vehicle body is provided with push-down operation means for pushing down the cleaning tools alternately against the spring, and the push-down operation means pushes down the brushed cleaning tool or the mop-type cleaning tool. A self-propelled cleaner characterized by sucking in dust from a suction port by rotating a cleaning tool with a mop. 5. The self-propelled cleaner according to claim 3, wherein each of the cleaning tool main bodies is curved in an arc shape so as to protrude in a direction opposite to a rotation direction of the cleaning tool when viewed from a plane. Each of the cleaning tool main bodies includes a horizontal bar having a substantially U-shaped cross section and elastically displaceable, and an upper end portion of the brush or mop is fitted into each horizontal bar, and a lower end of the brush or mop A portion is extended downward from each horizontal bar, a recess is formed on the lower surface of each side bar, and a substantially L-shaped cut is formed in each of the central ring and the outer ring so as to face both ends of each horizontal bar. Notch grooves are formed.Each horizontal bar is elastically displaced, and both end portions thereof are fitted into the notch grooves of the central ring and the outer ring, and the elastic displacement of each horizontal bar is released by elastic restoring force. The self-propelled cleaner according to any one of claims 3 to 5, wherein the concave portion of each horizontal bar is engaged with the protruding step portion of each notched groove.

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