EP0910981A1 - Bürstenkopfpositioniervorrichtung - Google Patents

Bürstenkopfpositioniervorrichtung Download PDF

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Publication number
EP0910981A1
EP0910981A1 EP98308714A EP98308714A EP0910981A1 EP 0910981 A1 EP0910981 A1 EP 0910981A1 EP 98308714 A EP98308714 A EP 98308714A EP 98308714 A EP98308714 A EP 98308714A EP 0910981 A1 EP0910981 A1 EP 0910981A1
Authority
EP
European Patent Office
Prior art keywords
head assembly
actuator
sensor
responsive
brush
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.)
Withdrawn
Application number
EP98308714A
Other languages
English (en)
French (fr)
Inventor
Marvin Curtis
Gerald Courtney
James Keazer
Lenard Deiterman
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.)
Alto US Inc
Original Assignee
Alto US Inc
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 Alto US Inc filed Critical Alto US Inc
Publication of EP0910981A1 publication Critical patent/EP0910981A1/de
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool

Definitions

  • the invention generally relates to an apparatus for treating a surface and responsive to an operator to position a head assembly relative to the surface.
  • the invention relates to a brush head positioning system for a floor scrubber in which the brush head carries rotating brushes for cleaning the floor.
  • the torque of drive motors for driving brushes or other floor maintenance tools may be controlled in order to provide some type of consistency in the application of force to the floor.
  • such systems tend to adjust the torque based on the type of surface of the floor or based on the condition of the floor. For example, such a system may over torque the application of a brush to a smooth floor and may under torque the application of a brush to a rough floor.
  • a floor which has a sticky coating on it may be under torqued whereas a floor with a shinny coating on it may be over torqued.
  • the invention comprises an apparatus for use on a surface and responsive to an operator.
  • a head assembly is adapted to carry a device for engaging and treating the surface.
  • a brush actuator raises and lowers the head assembly relative to the surface thereby controlling the relative engagement between the head assembly and the surface and thereby controlling the treatment of the surface by the head assembly.
  • a sensor detects a position of the head assembly.
  • a head position control is responsive to input from the operator and indicates a desired position of the head assembly.
  • a driving circuit energizes the actuator to raise or lower the head assembly. The driving circuit responds to the sensor and the head position control.
  • Figures 1A and 1B are block diagrams of preferred embodiments of a system according to the invention.
  • Figure 2 is a side plan view, partially in cross section, of one preferred embodiment of a brush head positioning system according to the invention shown in combination with a vehicle for supporting the system and shown with a brush attached to the brush head.
  • Figure 3 is a partial front cross sectional view taken along lines 3-3 of Figure 2 of the brush head positioning system of the invention.
  • Figure 4 is a graph illustrating the relationship between pressure applied to the brush head, current (torque) driving the brush motors and position (actuator stroke) of the brush head of one preferred embodiment of a brush head positioning system according to the invention.
  • Figure 5 is schematic block diagram of one preferred embodiment of a brush head positioning system in combination with a vehicle according to the invention having controls for brush pressure, brush torque and brush position.
  • Fig. 1A is a block diagram of one preferred embodiment of a system 1 according to the invention.
  • the system 1 includes a brush up/down switch 2 which is controlled by an operator to raise and lower a lower head assembly 4 relative to an upper head assembly 5.
  • the head assembly 4 includes a brush 6 for engaging and treating a floor surface 8.
  • a drive motor 12 When the operator actuates or closes switch 2, this indicates to the driving circuit 10 that a drive motor 12 may be energized to raise or lower the head assembly 4.
  • switch 2 would be close circuited to indicate that the head assembly 4 should be lowered and switch 2 would be open circuited to indicate that the head assembly 4 should be raised.
  • an operator would set a head position control 18 to indicate a desired position for the lower head assembly 4.
  • control 18 may be a potentiometer associated with a scale, display, index or other indicator indicating the desired position of the lower head assembly 4.
  • the indicator may indicate inches of downward movement, inches from the floor or a percentage of either, or some other indicator of position.
  • the motor 12 drives the head assembly up or down, such as by a screw, and includes a position sensor 13 which indicates the position of the head assembly 4.
  • the motor may be Warner Actuator E150 position system. It includes an actuator internal position potentiometer which indicates the position of a screw which it drives.
  • a comparator 24 or op-amp compares the signal provided by the position sensor 13 to a signal provided by the head position control 18. When these signals are nulled out or approximately equal, comparator 24 will provide a signal to the driving circuit 10 to discontinue energizing the motor 12.
  • the driving circuit 10 will drive the head assembly up or down depending on which signal has a greater value.
  • the comparator controls the driving circuit 10 to cause the motor 12 to rotate the screw driving the head assembly clockwise or counter clockwise to raise or lower the head assembly until its position matches the desired position as indicated by the control 18. If the operator sets control 18 to its maximum position, the driving circuit 10 will drive the head assembly to its fully extended position. If switch 2 is placed in the "up" position, the driving circuit 10 will drive the head assembly 4 to its fully retracted position. As shown in Fig. 1A, an optional input from the position sensor 13 to the driving circuit indicates the position of the head assembly to the driving circuit.
  • the system 1 of Fig. 1A is a position follower system.
  • An actuator (motor 12 plus driving screw) downwardly extends and upwardly retracts the head assembly 4 in response to an operator's command as indicated by head position control 18.
  • the reversible motor 12 turns the screw driving the head until the position sensor 13 matches the setting of control 18.
  • One way to accomplish this position follower system is to have identical potentiometers for position sensor 13 and control 18 feeding the inputs of an op-amp which functions as the comparator 24. If the inputs to the op-amp are the same, the driving circuit 10 does not energize the motor 12. If the inputs are different, the motor 12 will rotate in the appropriate direction until the inputs are equal. If full "up” is indicated, the motor is operated to raise the head assembly until the position sensor indicates a value corresponding to the fully retracted position.
  • Fig. 1B is a block diagram of another preferred embodiment of a system 100 according to the invention.
  • the system 100 includes a brush up/down switch 102 which is controlled by an operator to raise and lower a lower head assembly 104 relative to an upper head assembly 105.
  • the head assembly 104 includes a brush 106 for engaging and treating a floor surface 108.
  • switch 102 When the operator actuates or closes switch 102, this indicates to the driving circuit 110 that a drive motor 112 may be energized to raise or lower the head assembly 104.
  • switch 102 would be closed to indicate that the head assembly 104 should be lowered and switch 102 would be opened to indicate that the head assembly 104 should be raised.
  • driving circuit 110 continuously energizes motor 112 to lower the head assembly 104 until the head assembly trips a touchdown switch 114 indicating that the head assembly 104 and brush 106 have reached a repeatable position such as in contact with the floor 108.
  • Control 118 indicates to the system 100 the additional distance by which the head assembly 104 and brush 106 should be lowered after the brush 106 comes in contact with the floor 108 and the touchdown switch 114 is tripped.
  • Control 118 may optionally include a display indicating a percentage of the maximum additional distance by which the head 104 should be lowered or a display which indicates the actual distance selected by the operator.
  • a hall sensor 120 associated with the motor 112, monitors the rotations of the motor 112 thereby indicating the position of the head assembly 104 and the brush 106.
  • the hall sensor 120 provides a series of pulses to counter 116 which are converted to an analog position signal by a digital to analog (D/A) converter 122.
  • the analog signal is provided to a comparator 124 and indicates the distance which the head assembly 104 and brush 106 have been lowered past the repeatable preset position at which point the touchdown switch 114 was tripped.
  • the head position control 118 which may be a potentiometer, generates a desired position signal indicating the desired distance that the head assembly 104 and brush 106 should be lowered beyond the repeatable position.
  • comparator 124 signals driving circuit 110 to discontinue operation of motor 112 because the brush is now in the position relative to the floor 108 to begin treatment.
  • Figs. 2 and 3 illustrate one preferred embodiment of a brush head positioning system according to the invention shown in combination with a vehicle 126 for supporting the system 100.
  • Figs. 2 and 3 illustrate the system 100 with the brush 106 attached to the head assembly 104 although it is contemplated that the head assembly 104 may carry any device for engaging and/or treating the surface of the floor 108.
  • the upper head assembly 105 is pivotally supported by a bulkhead 128 carried on the vehicle 126 and is connected to the bulkhead 128 by a pivot pin 130.
  • a lower portion of the head assembly 104 is connected to the bulkhead 128 by parallel pivoting rods 132 which are connected by pivot pins 134 to the bulkhead 128 and which are also connected by pivot pins 136 to a support 138 which is part of the head assembly 104.
  • the upper portion of the head assembly 105 includes the motor 112 which drives a motor shaft 140 for rotating a plurality of gears 142 which mesh with each other to rotate a screw 144.
  • a traveling nut 146 threadably engaging the screw 144 is raised or lowered by rotation of the screw 144 as caused by the motor 112 rotating its motor shaft 140 to rotate the gears 142.
  • the nut 146 is covered by an inner tube 148 which is crimped to and moves with the nut 146.
  • the inner tube 148 has an upwardly extending portion 150 which extends above the top of the nut to partially cover the screw 144 and to act as a stop. When the nut 146 is in its highest position, portion 150 abuts against a housing 151 for gears 142 and prevents the nut 146 from moving upward.
  • the nut 146 supports the lower portion of the head assembly 104 by a traveling nut pin 152 which engages the nut 146 and also engages an outer slotted tube 154 coaxial with the inner tube 148 and coaxial with screw 144 and nut 146.
  • the outer slotted tube 154 slides along the inner tube 148 depending on the position of the lower portion of the head assembly 104.
  • Two slots 156 in opposing sides of the outer slotted tube 154 form a guide within which the bolt 152 is positioned and moves.
  • the head assembly 104 is in the down position so that the brush 106 is engaging the floor 108.
  • the pin 152 is located in the lower portion of the slot 156.
  • the screw 144 has been rotated to move the nut 150 downward thereby causing a downward force on the pin 152 which allows the outer slotted tube 154 and the lower portion of the head assembly 104 to drop downward to touch the floor.
  • the lower end of the outer tube engages a bolt 158 which engages two supports 160 on opposite sides of the outer slotted tube 154.
  • the supports 160 are connected to a platform 162 which supports a brush motor 164 which engages the brush 106 via an interlock 166 and causes the brush to rotate.
  • a compressible member such as a spring 168 is located between the lower end of the nut 146 and the bolt 158.
  • traveling nut pin 152 is held in place at the top of the slots 156 by the biasing action of the spring 168 between the nut 146 and the bolt 158.
  • the traveling nut bolt 152 continues to be held in place at the top of the slot 156 by the spring 168.
  • the brush 106 comes in contact with the surface of floor 108, further downward movement of the lower portion of the head assembly 104 is inhibited.
  • the continued movement of the nut 146 downward causes the traveling nut pin 152 to slide downward in the slots 156 thereby compressing the spring 168.
  • a bracket 170 is mounted to the motor 112 by a U-clamp 172 and is supported in a position parallel to the screw 144 and nut 146.
  • the lower portion of the bracket 170 includes a slot 174 which is engaged by two screws 176 which support a switch 178.
  • the switch may be positioned anywhere along the slot 174 so that it may be moved up or down relative to the lower portion of the head assembly 104.
  • the switch 178 has a trip bar 180 which extends toward the outer tube 154 and is positioned immediately above the traveling nut pin 152.
  • the pin 152 has a sleeve or extension 182 which engages the underside of the trip bar 180.
  • the position of switch 178 and trip bar 180 define a repeatable position to which the lower portion of the head assembly 104 may be moved.
  • the trip bar 180 is a flexible member which has a fully extended, unflexed position and a flexed position. As shown in phantom in Fig. 2 and referred to by reference character 184, when the lower portion of the head assembly 104 and traveling nut pin 152 are in the raised position, trip bar 182 is in the flexed position. As the screw 144 rotates to move the nut 146 downward, nut pin 152 moves downward until it eventually reaches a point at which the trip bar 180 is in an unflexed, fully extended position. This point trips switch 178 and defines the repeatable position of the head assembly.
  • switch 178 When switch 178 is positioned within slot 174 so that it is tripped when the brush 106 touches the surface of floor 108, it functions as touchdown switch as illustrated in Fig. 1B. As a touchdown switch, it defines the repeatable position as the position at which the brush touches the floor.
  • the system 100 would operate as follows. Initially, an operator would set the head position control 118 to define a preset distance by which the head assembly 104 should be lowered once it reaches the repeatable position in contact with floor 108. Next, the operator would position the brush up/down switch 102 in the down position indicating to the driving circuit 110 that motor 112 should be operated to rotate screw 144. This causes the traveling nut 146 to move downward relative to the screw 144 and the upper portion 105 of the head assembly 104. As the nut moves downward, traveling nut pin 152 also moves downward.
  • the number of pulses or counts generated each time the magnet 186 passes the hall sensor 120 corresponds to the number of rotations of the screw 144 which in turn corresponds to the position of the nut 146. Additional magnets may be added to the gear to increase the resolution of the system.
  • the counter 116 includes a count of pulses which corresponds to a rotation of the screw 144 which corresponds to the position of traveling nut 146 which corresponds to the setting of the head position control 118
  • the comparator 124 shuts down the driving circuit 110.
  • the additional preset amount that the nut 146 is moved after the repeatable position is approximately equal to the distance or amount by which the spring 168 is compressed. Therefore, this amount is directly proportional to the amount of pressure that is being applied by the brush 106 to the surface of floor 108.
  • the motor 112, gears 142, screw 144, and nut 146 constitute an actuator raising and lowering the head assembly 104 relative to the surface of the floor 108 thereby controlling the relative engagement between the head assembly and the surface and in particular, controlling the relative engagement between the brush 106 and the surface. This controls the treatment of the surface by the brush.
  • Switch 178 constitutes a sensor for detecting the repeatable position of the head assembly.
  • the driving circuit 110 is responsive to the switch to lower the head assembly an additional preset amount as defined by the head position control 118 after the switch 178 detects that the head assembly has reached the repeatable position. As a result, the additional preset amount has been defined by input from the operator.
  • the nut 146 constitutes a support which is connected to the actuator and is raised and lowered by the actuator.
  • the spring becomes a compressible member between the nut 146 or support and the lower portion of the head assembly 104.
  • the switch 178 By positioning the switch 178 as shown in Figs. 2 and 3 and noted above, it becomes a compression sensor detecting compression of the spring 168 when the support is lowered by the actuator. It is also contemplated that other types of compression sensors (or pressure sensors) may be used to detect compression of the spring 168. It is also contemplated that the switch 178 may be mounted directly on outer tube 154 to detect when the nut pin 152 leaves the up most position within slots 156.
  • the touchdown switch 114 which is implemented in Figs. 2 and 3 as switch 178 is an optional aspect of the invention to determine the repeatable position.
  • the hall sensor 120 and magnet 186 function as an encoder (detector) to provide a continuous count indicating the position of the travelling nut 146. Therefore, a particular count corresponds to the repeatable position and could be determined by continuously monitoring the count in counter 116.
  • the driving circuit were a microprocessor based circuit it would be possible to continuously monitor the count of counter 116 knowing that one setting of the count would correspond to a repeatable preset position and another setting for the count would correspond to the additional preset amount defined by the head position control 118.
  • the touchdown switch 114 of Fig. 1B may be used in combination with the embodiment illustrated in Fig. 1A.
  • the driving circuit would energize the motor 12 until the head assembly 4 engages floor 8 and trips the touchdown switch. Thereafter, the driving circuit 10 would drive the head assembly upward or downward an amount corresponding to the setting of the head position control 18.
  • the control 18 would control the distance of the head above or below the point at which the brush 6 engages the floor 8.
  • the touchdown switch may be a pressure or position sensor which would sense when the brush contacts the floor.
  • the touchdown switch may be an optical sensor sensing that the brush is in contact with the floor, or it may be a proximity sensor, a current (torque) sensor or a pressure sensor on the head assembly and/or motor which would indicate that the head is in contact with the floor.
  • a pressure sensor on the head assembly or motor.
  • Fig. 4 is a graph illustrating the relationship between the pressure applied by the brush 106 to the surface of the floor 108, the current or torque driving the brush motor 166 and the position or actuator stroke of the brush 106 relative to the surface of floor 108.
  • the z axis represents the amount of pressure being applied by the brush 106 to the surface floor 108.
  • the stroke or distance by which the brush is moved is graphed along the y axis.
  • This maximum stroke L MAX defines a plane which constrains the operation of the system 100.
  • Fig. 5 is a schematic block diagram of one preferred embodiment of a brush head positioning system in combination with a vehicle according to the invention having controls for brush pressure, brush torque and brush position.
  • Fig. 5 illustrates a system which operates within the constraints of the rectanguloid R of Fig. 4.
  • the system 200 includes a vehicle 202 for supporting a head assembly 204.
  • the head assembly includes a pressure sensor 206 for measuring the pressure which a brush 208 applies to a surface of a floor 210.
  • the head assembly 204 also includes an actuator 212 for moving the brush 208 toward or away from the floor 210.
  • the head assembly 204 includes a brush motor 214 for rotating the brush 208.
  • the pressure sensor 206 provides a signal to a controller 216 which controls the actuator 212 via a driving circuit 218 and which also controls the current of the brush motor 214 via a current control 220. By controlling the current, the torque of the brush 208 applied to the floor 210 is also controlled. Hence, the controller provides a torque control signal to the current control 220.
  • the system 200 also includes a memory 222 which is programmed with the maximum information illustrated in Fig. 4.
  • the memory is programmed with the maximum current, maximum pressure, and maximum stroke.
  • the system 200 also includes operator controls 224 including a torque control 226, a head position control 228 and a pressure control 230.
  • the operator is permitted to set these controls anywhere within the acceptable operating region as defined by the rectanguloid R.
  • the torque control 226 can be set between zero torque and the maximum torque (I MAX ).
  • the head position control 228 can be set by the operator anywhere between the zero stroke point and the maximum stroke point (L MAX ).
  • the pressure control 230 may be set anywhere between zero pressure and maximum pressure (P MAX ). By setting these three controls, the operator defines a point within the rectanguloid R for operation of the system 200.
  • the controller 216 responds to the torque control 226 to provide a torque control signal to the current control 220 thereby controlling the torque and current of the brush motor 214.
  • the controller 216 is responsive to the head position control 228 for selectively energizing the driving circuit 218 to drive the actuator 212 to maintain a certain position for the brush 208 relative to the floor 210.
  • the controller 216 is responsive to the pressure control 230 for selectively energizing the driving circuit 218 so that the actuator 212 positions the brush 208 on the floor 210 to maintain constant pressure.
  • the actuator 212 may provide feedback information, such as encoder or position sensor information as noted above with regard to Figs. 1A, 2 and 3, to the controller 216 to indicate the position of the brush 208.
  • the current control 220 may provide feedback information to the controller 216 to indicate the actual current of the brush motor 214.
  • any one of the three controls may be designated as a dominant control and that the other two controls may be designated as limit controls. For example, if torque control is of primary interest, the torque control 226 would be set by the operator to indicate the desired torque.
  • the head position control 228 would be set by the operator to indicate the maximum stroke and the pressure control 230 would be set by the operator to indicate the maximum pressure.
  • the torque control 226 would indicate the desired torque to the controller 216 which would control the current control 220 to maintain the desired torque of brush motor 214 as long as the stroke limit as indicated by head position control 228 and the pressure limit as indicated by pressure control 230 are not exceeded.
  • all three controls may specify maximums or limits and that the system 200 would be permitted to operate according to some algorithm or other procedure within the limits set by the operator controls 224.
  • the controller 216 may be programmed with a cleaning algorithm which would optimize the torque, stroke, and pressure controls in order to accomplish the maximum cleaning capability of the brush 208 on floor 210.
  • the controller 26 may also be programmed with a polishing algorithm which would optimize polishing.
  • the torque control 226 would specify the maximum torque
  • the head position control would specify the maximum stroke
  • the pressure control 230 would specify the maximum pressure by which the algorithms would be permitted to operate.
  • the pressure control could be a separate control from the actuator.
  • a hydraulic system may be used to determine and monitor the pressure of the brush 208 on the floor 210 independent of the position of the actuator 212.
  • any of the above described embodiments may include displays indicating actual pressure, torque (or current) and/or position to assist the operator in setting or adjusting the controls.
  • a 10 segment bar graph may be positioned adjacent the head position control to indicate motor current. This would also permit the operator to repeat the same cleaning parameters.
  • the systems of the invention may include a memory for storing various operator settings so that the operator could program the memory and recall the parameter settings as needed.

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EP98308714A 1997-10-22 1998-10-22 Bürstenkopfpositioniervorrichtung Withdrawn EP0910981A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US6271097P 1997-10-22 1997-10-22
US62710P 1997-10-22

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EP0910981A1 true EP0910981A1 (de) 1999-04-28

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1174074A2 (de) * 2000-07-21 2002-01-23 Alto U.S. Inc. Bürstenkopfpositioniervorrichtung
WO2002094075A2 (en) * 2001-05-21 2002-11-28 Tennant Company Suspension device for floor maintenance appliance
WO2002094078A1 (en) * 2001-05-21 2002-11-28 Tennant Compagny Suspension for a surface maintenance appliance
WO2002094077A1 (en) * 2001-05-21 2002-11-28 Tennant Company Control system for a floor maintenance appliance
EP1262138A1 (de) * 2001-05-31 2002-12-04 JohnsonDiversey, Inc. Maschine zur Flächenbehandlung
EP1262137A1 (de) * 2001-05-31 2002-12-04 JohnsonDiversey, Inc. Maschine zur Flächenbehandlung
WO2003003898A1 (en) * 2001-07-02 2003-01-16 Tennant Company Dual downforce mechanism for a cleaning head of a surface conditioning vehicle
USRE39581E1 (en) 1997-10-22 2007-04-24 Alto U.S., Inc. Brush head positioning system
WO2012065623A1 (de) 2010-11-15 2012-05-24 Alfred Kärcher Gmbh & Co. Kg Fahrbare bodenreinigungsmaschine
WO2015010723A1 (de) * 2013-07-23 2015-01-29 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungsmaschine und verfahren zur einstellung der position einer kehrwalze an einer bodenreinigungsmaschine
IT201800010261A1 (it) * 2018-11-12 2020-05-12 Sir Soc It Riduttori S R L Componente per il controllo di un utilizzatore
CN112089369A (zh) * 2020-08-09 2020-12-18 天台远铭智能装备有限公司 一种家用电动拖把
US20220248928A1 (en) * 2021-02-05 2022-08-11 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Roller brush assembly and cleaning robot
US20220304536A1 (en) * 2021-03-25 2022-09-29 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Cleaning assembly and cleaning robot

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Publication number Priority date Publication date Assignee Title
EP0301437A2 (de) * 1987-07-27 1989-02-01 Tennant Company Drehmomentsteuerung mittels Motorlast in Bodenwischgeräten
US4910824A (en) * 1987-11-17 1990-03-27 Amano Corporation Floor polisher
US5673450A (en) * 1993-11-17 1997-10-07 Briscoe William A Brush pressure system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0301437A2 (de) * 1987-07-27 1989-02-01 Tennant Company Drehmomentsteuerung mittels Motorlast in Bodenwischgeräten
US4910824A (en) * 1987-11-17 1990-03-27 Amano Corporation Floor polisher
US5673450A (en) * 1993-11-17 1997-10-07 Briscoe William A Brush pressure system

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE39581E1 (en) 1997-10-22 2007-04-24 Alto U.S., Inc. Brush head positioning system
EP1174074A2 (de) * 2000-07-21 2002-01-23 Alto U.S. Inc. Bürstenkopfpositioniervorrichtung
EP1174074A3 (de) * 2000-07-21 2004-04-07 Alto U.S. Inc. Bürstenkopfpositioniervorrichtung
US7038416B2 (en) 2001-05-21 2006-05-02 Tennant Company Control system for a floor maintenance appliance
WO2002094075A2 (en) * 2001-05-21 2002-11-28 Tennant Company Suspension device for floor maintenance appliance
WO2002094078A1 (en) * 2001-05-21 2002-11-28 Tennant Compagny Suspension for a surface maintenance appliance
WO2002094077A1 (en) * 2001-05-21 2002-11-28 Tennant Company Control system for a floor maintenance appliance
WO2002094075A3 (en) * 2001-05-21 2003-04-17 Tennant Co Suspension device for floor maintenance appliance
US6836919B2 (en) 2001-05-21 2005-01-04 Tennant Company Suspension device for floor maintenance appliance
EP1262138A1 (de) * 2001-05-31 2002-12-04 JohnsonDiversey, Inc. Maschine zur Flächenbehandlung
EP1262137A1 (de) * 2001-05-31 2002-12-04 JohnsonDiversey, Inc. Maschine zur Flächenbehandlung
US7003841B2 (en) 2001-05-31 2006-02-28 Johnsondiversey, Inc. Surface treating machine
WO2003003898A1 (en) * 2001-07-02 2003-01-16 Tennant Company Dual downforce mechanism for a cleaning head of a surface conditioning vehicle
US6618888B2 (en) 2001-07-02 2003-09-16 Tennant Company Dual downforce mechanism for a cleaning head of a surface conditioning vehicle
WO2012065623A1 (de) 2010-11-15 2012-05-24 Alfred Kärcher Gmbh & Co. Kg Fahrbare bodenreinigungsmaschine
US8856998B2 (en) 2010-11-15 2014-10-14 Alfred Kärcher Gmbh & Co. Kg Mobile floor cleaning machine
WO2015010723A1 (de) * 2013-07-23 2015-01-29 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungsmaschine und verfahren zur einstellung der position einer kehrwalze an einer bodenreinigungsmaschine
CN105407776A (zh) * 2013-07-23 2016-03-16 阿尔弗雷德·凯驰两合公司 地面清洁机和用于调整清扫辊在地面清洁机上的定位的方法
CN105407776B (zh) * 2013-07-23 2019-01-01 阿尔弗雷德·卡赫欧洲两合公司 地面清洁机和用于调整清扫辊在地面清洁机上的定位的方法
IT201800010261A1 (it) * 2018-11-12 2020-05-12 Sir Soc It Riduttori S R L Componente per il controllo di un utilizzatore
WO2020100029A3 (en) * 2018-11-12 2020-06-25 Sir Società Italiana Riduttori S.R.L. Mechanical linear actuator
CN112089369A (zh) * 2020-08-09 2020-12-18 天台远铭智能装备有限公司 一种家用电动拖把
CN112089369B (zh) * 2020-08-09 2021-12-03 温岭市智营电子科技有限公司 一种家用电动拖把
US20220248928A1 (en) * 2021-02-05 2022-08-11 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Roller brush assembly and cleaning robot
US20220304536A1 (en) * 2021-03-25 2022-09-29 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Cleaning assembly and cleaning robot

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