JPH08256953A - Outer wall cleaning robot - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide an outer wall cleaning robot that efficiently cleans a window glass that also serves as an outer wall while adsorbing to a lateral sash that supports the window glass that also serves as an outer wall. [Structure] Running rails 13 laid around the roof 12
The roof car 20 is self-propelled on the top, and the cleaning unit 30 is hung by the wire rope 21 of the roof car 20. The cleaning unit 30 is slidable in the vertical direction. The upper, middle, and lower three frames 31, 32, A main body 30 composed of 33, a plurality of vacuum pads 35 arranged on the upper and lower frames 31 and 33, and movable up and down, front and rear, and left and right arranged on the middle frame 32, and rotatable in a substantially vertical plane. And a cleaning polisher unit 80 for cleaning.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an outer wall cleaning robot, and more particularly to an outer wall cleaning robot for polishing an outer wall of a glass building.

[0002]

2. Description of the Related Art Conventionally, many proposals have been made for window cleaning robots for high-rise buildings, but most of them are designed to descend while engaging the lifting wheels with a guide rail laid on the outer wall of the building. It has become.

[0003]

However, if the guide rails for descending the cleaning robot are installed at regular intervals when the entire outer wall of the building is covered with glass, the appearance of the building is impaired due to the provision of a large number of guide rails. May be The present invention has been made in view of the above problems, and an object thereof is to provide a lateral sash for supporting a window glass that also serves as an outer wall of a building even in a building that does not have a guide rail for descending a cleaning robot. An object of the present invention is to provide an outer wall cleaning robot capable of efficiently and uniformly polishing the outer wall of a glass-clad building while adsorbing to the outer wall.

[0004]

That is, an outer wall cleaning robot according to the present invention comprises a roof car which is self-propelled on a traveling rail laid along a peripheral portion of a roof of a building, and a plurality of wire ropes of the roof car. A cleaning unit that is hung up and down so that the cleaning unit is slidable in the vertical direction. The main body is composed of three frames, an upper stage, a middle stage, and a lower stage, and a plurality of units disposed on the upper and lower frames. And a cleaning polisher unit disposed in the middle frame and movable in the front-rear, left-right and up-down directions and rotatable in a substantially vertical plane. is there.

[0005]

As described above, the roof car is constructed so as to be self-propelled on the traveling rails laid along the peripheral portion of the roof of the building, and the cleaning unit suspended vertically by a plurality of wire ropes of the roof car. The cleaning unit includes a main body composed of three frames, an upper stage, a middle stage, and a lower stage, which are vertically slidable with each other, a plurality of vacuum pads arranged in the upper and lower frames, and the middle frame. By including a cleaning polisher unit that can be moved in the front-rear, left-right, and up-down directions and can be rotated in a substantially vertical plane, even in a building that does not have a guide rail for descending the cleaning robot, While adsorbing on the horizontal sash that supports the window glass that also functions as the outer wall, the outer wall of the glass-covered building can be polished efficiently and evenly. That.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 10 denotes an outer wall cleaning robot. The outer wall cleaning robot 10 includes a roof car 20 that runs on a traveling rail 13 laid along a peripheral portion of a roof 12 of a building 11 and a roof car 20. The cleaning unit 30 is configured to be hung up and down by a plurality of wire ropes 21.

As shown in FIG. 2, the roof car 20 has three
A traveling rail 1 in the form of a pipe or a round bar by the traveling wheels 22.
The driven wheels 23 arranged to face the lateral sash (in the figure, the second lateral sash in the figure) 15 for supporting the window glass 14 that also serves as the outer wall of the building 11 while sandwiching 3 are provided. It is attached to an inverted L-shaped leg portion 24 arranged so as to project to the outside of the roof car to prevent the roof car itself from falling and falling.

The roof car 20 has the functions of raising and lowering the cleaning unit 30, running the roof car, and controlling the entire system. In addition, a spring-type auto reel (not shown) that winds a service cable for supplying electric power from the building 11 to the roof car 20, and a power cable that transmits electric power and control signals from the roof car 20 to the cleaning unit 30. An electric auto reel (not shown) is provided.

As shown in FIGS. 3 and 4, the cleaning unit 30 includes a main body 34 composed of three upper, middle, and lower frames 31, 32, 33 that are vertically slidable with each other, and an upper frame 31. The plurality of vacuum pads 35 attached to the left and right ends of the lower frame 33, and the front, rear, left and right and up and down directions arranged in the middle frame 32 are rotatable and rotatable about the polisher unit lateral movement motor 97. It comprises a cleaning polisher unit 80.

As shown in FIG. 3, each vacuum pad 35 is rotated about a support shaft 38 by a pad slide cylinder 37. A vacuum pump (not shown) for vacuum-sucking the vacuum pad 35 is arranged in the upper frame 31. In addition, as shown in FIG. 4, the wire rope 21 is provided on the upper surface of the upper frame 31.
A substantially L-shaped rotary arm 39 is pivotally supported to connect the two. Then, by rotating the rotating arm 39 about the support shaft 40, the cleaning unit main body 3
4 can be moved toward or away from the window glass 14, which is the object to be cleaned.

The upper, middle and lower three frames 31,
The first slide device 41 for sliding 32 and 33 on each other is as shown in FIG. That is, as shown in FIG. 5, among the first self-shaped rails 42 having a self-shaped cross section fixed to the left and right ends of the middle frame 32, the upper frame 31 is attached to the rear (upper in the figure) U-shaped rail 42a.
And the guide roller 44 attached to the lower frame 33 is interposed on the front (lower side in the figure) U-shaped rail 42b.

Further, as shown in FIG. 4, of the sprockets 45a and 45b arranged in two stages on the middle frame 32, a chain 46 is stretched in a U shape on the lower sprocket 45b.
One end of b (see FIG. 6) is fixed to the upper end of the upper frame 31, and the other end is fixed to the upper end of the lower frame 33. Further, one end of the chain 46a (see FIG. 6), which is wound around the upper sprocket 45a in an inverted U shape, is fixed to the lower end of the upper frame 31, and the other end is fixed to the lower end of the lower frame 33.

Further, the helical rack 47 attached to the back surface of the first self-rail 42 is engaged with the helical gear 48 provided on the upper frame 31. This helical gear 48, as shown in FIG.
It is adapted to be rotationally driven by a motor 49 for driving the main body provided in 1. Therefore, the upper frame 31 is attracted to a horizontal sash (not shown), the lower frame 33 is in a non-adsorbed state, and the helical gear 48 of the upper frame 31 is held.
When is rotated clockwise, the middle frame 32 moves in the direction of arrow A, and the lower frame 33 also moves in the same direction. Finally, as shown in FIG. 4, the lower frame 33 moves to the lowermost stage. It is extended in three steps so that

On the contrary, when the lower frame 33 is attracted to the lateral sash (not shown), the upper frame 31 is in the non-adsorbed state, and the helical gear 48 of the upper frame 31 is rotated counterclockwise, the upper frame 31 is rotated. It can be easily imagined that the stretches at the bottom.
In addition, the second slide device 5 for sliding the cleaning polisher unit 80 relative to the middle frame 32.
1 is as shown in FIG.

That is, as shown in FIG. 5, of the second self-shaped rail 53 having a self-shaped cross section fixed to the left and right ends of the cleaning unit guide frame 52, the rear (in the figure,
A guide roller 55 provided on the middle frame 32 is provided on the upper U-shaped rail 54a, and a guide roller 57 attached to the cleaning unit traveling body 56 is provided on the front (lower in the figure) U-shaped rail 54b.

Further, as shown in FIG. 7, sprockets 5 are provided at both upper and lower ends of the cleaning unit guide frame 52.
Of the 8a and 58b, one end of a chain 59, which is hung in a U-shape on a sprocket 58b provided at the lower end of the frame, is fixed to the central portion of the middle frame 32, and the other end is fixed to the central portion of the cleaning unit traveling body 56. Let Further, one end of the chain 59a, which is laid over the sprocket 58a at the upper end portion in an inverted U shape, is fixed to the central portion of the middle frame 32, and the other end is fixed to the central portion of the cleaning unit traveling body 56.

Further, the pinion 61 provided on the middle frame 32 is engaged with a rack 60 attached to the rear surface of the second self-rail 53. This pinion 6
1 is rotationally driven by a polisher unit traveling motor 50 attached to the middle stage frame 32 (see FIG. 3). Therefore, when the pinion 61 of the middle frame 32 is rotated clockwise, the cleaning unit guide frame 52 moves in the direction of arrow B, and
The cleaning unit traveling body 56 also moves in the same direction, and finally descends to the position indicated by the two-dot chain line.

On the contrary, when the pinion 61 of the middle frame 32 is rotated in the counterclockwise direction, it is easily imagined that the cleaning unit guide frame 52 and the cleaning unit traveling body 56 are elevated to positions symmetrical with the above positions. You can do it. As shown in FIG. 8, a plurality of polisher units 80 are attached to the cylinder attachment plate 81 attached to the polisher unit running body 56 (two in the case shown).
Cleaning pad loading / unloading cylinders 82, a base 84 attached to the tips of rods 83 of these cylinders 82, and a rotary plate 87 rotatably disposed in a hole 85 of the base 84 via a bearing 86. It is composed of a slide base 88 and a polisher portion 89 attached to the slide base 88 so as to be horizontally movable.

Further, as shown in FIG. 9, the polisher portion 89 has a large number of polyurethane-made cleaning pads 91 arranged in a horizontal line in a box-shaped polisher cover 90 which is elongated to the left and right and upper and lower edges of the polisher cover 90. A squeegee 92 made of neoprene rubber sponge (Fig. 8,
See)). Also, as shown in FIG.
A water leakage wiping pad 93 is attached to the base 84 so as to be movable back and forth. The back and forth movement of this pad 93 is
It is designed to be carried out by a wiping cylinder 94.

As shown in FIG. 8, a rack 95 is fixed to the back surface of the polisher portion 89 in the longitudinal direction thereof, and the pinion 96 meshing with the rack 95 is a polisher attached to a rotating plate 87. It is adapted to be rotated by a unit lateral movement motor 97. In the figure,
Reference numeral 98 denotes a lateral movement guide provided inside the slide base 88.

As shown in FIG. 10, a rotation stopping cylinder 100 is attached to an L-shaped frame 99 fixed to the side surface of the base 84, and a wedge-shaped stopper attached to the tip of the cylinder rod 101. 1
02 (see FIG. 11) is a pair of anti-rotation rubber pieces 10 provided on the back surface of the slide base 88 as indicated by a chain double-dashed line.
When pushed between 3, 103, slide base 8
8. Forcibly, the rotation of the polisher portion 89 is prevented, and the rotation of the polisher portion 89 is allowed when it is separated from between the rotation preventing rubber pieces 103, 103 as shown by the solid line.

Next, the operation of lowering the cleaning unit and cleaning the window glass that also serves as the outer wall will be described. The lowering of the cleaning unit 30 is performed as follows. 12
In (a), the cleaning unit 30 is located between the two horizontal sashes A and B, the vacuum pads 35a and 35b of the upper frame 31 are adsorbed to the horizontal sash A, and the lower sash B is connected to the lower frame 3.
The vacuum pads 35c and 35d of No. 3 are attracted.

Next, as shown in FIG. 12B, the upper and middle frames 31 and 32 are lowered, and the vacuum pads 35a and 35b of the upper frame 31 are attracted to the lateral sash B. Then, as shown in FIG. 12C, the lower frame 33 is lowered, and the vacuum pad 35d of the lower frame 33 is moved to the horizontal sash C.
Adsorb to. Next, as shown in FIG. 13A, the upper and middle frames 31 and 32 are lowered, and the vacuum pad 35b of the upper frame 31 is adsorbed to the lateral sash C.

Next, as shown in FIG. 13B, the middle and lower frames 32 and 33 are lowered, and the vacuum pad 35c of the lower frame 33 is adsorbed to the lateral sash D. Next, FIG.
As shown in (c), the upper and middle frames 31 and 32 are lowered, and the vacuum pad 35a of the upper frame 31 is moved to the lateral sash D.
Adsorb to. Next, as shown in FIG. 14A, the lower frame 33 is lowered, and the vacuum pad 35 of the lower frame 33 is removed.
c and 35d adsorb to the lateral sash E.

Next, as shown in FIG. 14B, the upper and middle frames 31 and 32 are lowered, and the vacuum pads 35a and 35b of the upper frame 31 are adsorbed to the lateral sash E. Next, as shown in FIG. 14C, the middle and lower frames 32,
33 is lowered, the vacuum pad 35c of the lower frame 33,
35d adsorbs to the lateral sash F. On the other hand, the cleaning of the window glass that also serves as the outer wall is performed as follows.

That is, as shown in FIG. 15A, the polisher unit 80 is pressed against the central portion of the window glass 14. Next, as shown in FIG. 15A, after cleaning water (tap water) W is poured into the polisher portion 89, the cleaning pad (cleaning brush) 91 is rotated. Next, as shown by the arrow, the polisher unit 80 is moved from the center of the window glass 14 to a position above the lower left corner a by a predetermined distance.

Next, as shown by the arrow, the polisher unit 80 is moved upward while being pressed against the vertical frame 16a. Next, as shown by the arrow, the polisher unit 80 is moved to the right while being pressed against the sash horizontal frame 15a.
Next, as shown in FIG. 15B, the polisher unit 80 is pressed against the vertical frame 16b of the sash, as shown by the arrow,
Move it down.

Next, as shown by the arrow, the sash horizontal frame 15b.
The polisher unit 80 is moved to the left while being pressed against. Next, as shown by the arrow, the polisher unit 80 is moved upward by a predetermined distance while being pressed against the sash vertical frame 16a, and then the polisher unit 80 is rotated (tilted).

Next, as shown in FIG. 16B, the water leak wiping pad 93 is pressed against the window glass 14 and the cleaning water W in the polisher portion 89 is collected. Then, in FIG.
As shown in (a), after retracting the polisher portion 89, the polisher unit 80 is horizontally moved, and the water leakage wiping pad 93 wipes off water droplets at the final portion of the polisher unit 80. Then, as shown in FIG.
The water leak wiping pad 93 is retracted.

[0030]

As described above, according to the present invention, a roof car which is self-propelled on a traveling rail laid along a peripheral portion of a roof of a building and a plurality of wire ropes of the roof car hang it up and down freely. And a cleaning unit, and a main body composed of three frames, an upper stage, a middle stage, and a lower stage, which are slidable in the vertical direction.
Consists of a plurality of vacuum pads arranged on the upper and lower frames, and a cleaning polisher unit arranged on the middle frame, which is movable in the front-rear, left-right and up-down directions and is rotatable in a substantially vertical plane. Therefore, even in a building that does not have a guide rail for descending the cleaning robot, while efficiently adhering to the outer wall of the building covered with glass while adsorbing to the side sash that supports the window glass that also functions as the outer wall of the building,
Can be evenly polished evenly.

[Brief description of drawings]

FIG. 1 is a perspective view of an outer wall cleaning robot according to the present invention.

FIG. 2 is a side view of an outer wall cleaning robot according to the present invention.

FIG. 3 is a front view including a partial cross section of the cleaning unit.

FIG. 4 is a side view including a partial cross section of the cleaning unit.

FIG. 5 is a bottom view including a partial cross section of the cleaning unit.

FIG. 6 is an explanatory diagram showing a mutual relationship between upper, middle, and lower frames.

FIG. 7 is a movement explanatory diagram of a cleaning unit traveling body.

FIG. 8 is a vertical cross-sectional view of a polisher unit.

FIG. 9 is a rear view of the polisher unit.

FIG. 10 is a bottom view of the polisher unit.

FIG. 11 is a front view of the rotation prevention mechanism.

FIG. 12 (a) to FIG. 12 (c) are views for explaining the lowering of the cleaning robot.

13 (a) to 13 (c) are diagrams for explaining the descent of the cleaning robot.

14 (a) to 14 (c) are diagrams for explaining the descending movement of the cleaning robot.

15 (a) and 15 (b) are views for explaining the cleaning operation of the polisher unit.

16 (a) and 16 (b) are views for explaining the cleaning work of the polisher unit.

17 (a) and 17 (b) are views for explaining the cleaning work of the polisher unit.

[Explanation of symbols]

11 Building 12 Rooftop 13 Traveling Rail 20 Roof Car 21 Wire Rope 30 Cleaning Unit 31 Upper Frame 32 Middle Frame 33 Lower Frame 34 Main Body 35 Vacuum Pad 80 Cleaning Polisher Unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tawara 2-3 Kandajimachi, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo headquarters (72) Inventor Yasuo Inoue 4-640 Shimoseito, Kiyose-shi, Tokyo Stock company Obayashi Technical Research Institute (72) Inventor Kenji Oguro 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Ships Co., Ltd. (72) Tadashi Matsuo 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Ships Co., Ltd. In-house (72) Inventor Fuaki Ota 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd.

Claims (1)

[Claims] 1. A roof car self-propelled on a traveling rail laid along a peripheral portion of a roof of a building, and a cleaning unit hung up and down by a plurality of wire ropes of the roof car. The cleaning unit includes a main body composed of three frames, an upper stage, a middle stage, and a lower stage, which are vertically slidable with each other, a plurality of vacuum pads arranged on the upper and lower frames, and front, rear, left, and right arranged on the middle frame. An outer wall cleaning robot comprising a cleaning polisher unit that is vertically movable and rotatable in a substantially vertical plane.