JP6567155B1 - Wall traveling device - Google Patents

Abstract

An object of the present invention is to improve the stability of a wall cleaning device such as a wall washer. A wall surface traveling device 10 according to an embodiment of the present invention is configured to be able to travel on a wall surface by being pressed against the wall surface by a tension member 20 stretched on a wall surface 12W of a building. The device 10 is provided between a traveling unit 30 configured to travel on the wall surface, a contact unit 32 configured to contact the tension member, and the traveling unit and the contact unit. A telescopic device 34 configured to make the distance between the traveling unit and the contact unit variable; and a pressing force detecting device 61 configured to detect a pressing force from the tension member to the wall surface traveling device; And an expansion / contraction control unit 80 for controlling the operation of the expansion / contraction device so that the pressing force detected by the pressing force detection device becomes a predetermined pressing force. [Selection] Figure 2

Description

  The present invention relates to a wall surface traveling device configured to travel on a wall surface of a building such as a building.

  2. Description of the Related Art Conventionally, a wall surface cleaning device for cleaning a wall surface of a building or the like has been developed. For example, Patent Document 1 discloses an example of a wall surface cleaning apparatus. In this wall surface cleaning apparatus, a tension belt is attached to the rear wall of the casing in which the cleaning pipe is disposed. The tension belt is stretched with its tip end fixed to the roof and its base end fixed to the ground. According to the description in Patent Document 1, the casing is pressed against the wall surface by the tension of the tension belt, and the opening of the casing is brought into close contact with the wall surface as much as possible.

JP-A-10-33440

  By the way, when the wall washer of Patent Document 1 is near the roof of the wall surface of a building such as a building, near the ground, and in the middle thereof, there is generally a difference in the distance between the tension belt and the wall surface. The pressing force on the casing of the wall washer changes. Such a change in the pressing force causes a problem in terms of stability in running on the wall surface of the wall washer.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to improve the stability of the wall surface traveling device such as the wall surface cleaning device.

In order to achieve the above object, one embodiment of the present invention provides:
A wall surface traveling device configured to be able to travel on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of the building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member;
A telescopic device provided between the travel part and the contact part, and configured to vary the distance between the travel part and the contact part;
A pressing force detection device configured to detect a pressing force from the tension member to the wall surface traveling device;
There is provided a wall surface travel device comprising: an expansion / contraction control unit configured to control the operation of the expansion / contraction device so that the pressing force detected by the pressing force detection device becomes a predetermined pressing force.

  Preferably, the contact portion is provided between an inner member connected to the telescopic device, an outer member positioned outside the inner member and in contact with the tension member, and the inner member and the outer member. And an elastic member. In this case, the pressing force detection device may be provided between the inner member and the outer member.

  The expansion / contraction device may include an expansion / contraction member provided so as to change a distance between the traveling portion and the contact portion, and an expansion / contraction generation device for causing expansion / contraction of the expansion / contraction member. In this case, the expansion / contraction member of the expansion / contraction apparatus may be a jack portion, and the expansion / contraction generation apparatus of the expansion / contraction apparatus may be an electric cylinder.

  Preferably, a shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched, and a direction of a wheel of the traveling portion And a steering control unit configured to control the operation of the steering device so as to suppress the shake detected by the shake detection device.

  In addition, the shake detecting device configured to detect the shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched, and the state of the weight balance adjusting member are changed. A weight balance adjusting device configured as described above, and a weight balance control unit configured to control the operation of the weight balance adjusting device so as to suppress the shake detected by the shake detecting device. Good.

  According to the wall surface travel device according to the aspect of the present invention, since the above configuration is provided, the stability of the wall surface travel can be improved in the device.

It is a schematic block diagram which shows the use condition of the wall surface washing apparatus as a wall surface traveling apparatus which concerns on one Embodiment of this invention. It is an enlarged view in the use condition of the wall surface washing apparatus of FIG. It is explanatory drawing of the system of shake control of the wall surface washing apparatus of FIG. It is a flowchart of pressing force control of the wall surface washing apparatus of FIG. It is a flowchart of the shake suppression control of the wall surface washing apparatus of FIG. FIG. 6 is an explanatory view of the shake suppression control of FIG. 5, (a) is an explanatory view of changing the direction of the hose guide part, and (b) and (c) are explanatory views of changing the direction of the tire, respectively. .

  Embodiments according to the present invention will be described below with reference to the accompanying drawings. The same parts (or configurations) are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  FIG. 1 is a diagram illustrating an exemplary use state of a wall surface cleaning device 10 as a wall surface traveling device according to an embodiment of the present invention. In FIG. 1, the wall surface cleaning device 10 is set so as to travel on the outer wall of the building 12 that is a building, that is, the wall surface 12W. A winch 14, which is a suspension device, is disposed on the roof 12 </ b> R that is the top of the building 12. The winch 14 is attached to a first fixing portion 18 fixed to the rooftop 12R by a tank 16 having a weight, here water. A wire 19 extending from the winch 14 is connected to the wall surface cleaning device 10. The wall surface cleaning apparatus 10 is suspended by the winch 14 so as to be movable up and down, and moves up and down along the wall surface 12W of the building 12 to clean the wall surface 12W.

  On the other hand, a tension wire 20 as a tension member is stretched on the wall surface 12W of the building 12. One end 20a of the tension wire 20 is connected to the fixed portion 18 of the roof 12R of the building 12, and the other end 20b is connected to the second fixed portion 22 on the ground. In addition, the 2nd fixing | fixed part 22 is being fixed to the ground with the tank 24 with weight, here water. The wall cleaning device 10 suspended along the wall surface 12W is sandwiched between the wall surface 12W and the tension wire 20, and is pressed against the wall surface 12W by receiving a pressing force from the tension wire 20 due to the tension of the tension wire 20. ing. Thereby, the wall surface washing | cleaning apparatus 10 closely_contact | adheres to the wall surface 12W, and can drive | work along the wall surface 12W. The tension member is not limited to the tension wire 20, and may be a tension belt, for example.

  As described above, the wall surface cleaning device 10 is configured to be able to travel on the wall surface 12W by being pressed against the wall surface 12W by the pressing force of the tension wire 20 stretched on the wall surface 12W of the building 12 that is a building. The wall surface cleaning device 10 includes a traveling unit 30, a contact unit 32 configured to contact the tension wire 20, and an expansion / contraction device 34 provided between the traveling unit 30 and the contact unit 32. The wall surface cleaning device 10 is configured such that the tension wire 20 substantially contacts only the contact portion 32 and is maintained in a non-contact state with respect to the traveling portion 30. Below, about the structure of the wall surface cleaning apparatus 10, it is the same use condition as FIG. 1, but when the wall surface cleaning apparatus 10 exists in the position where FIG. This will be described with reference to FIG.

  The traveling unit 30 is configured to travel on the wall surface 12W. The traveling unit 30 includes a tire (wheel) 36 and a pedestal unit 38 to which the traveling unit 30 is attached. The pedestal portion 38 includes a pedestal base portion 38a that is substantially parallel to the wall surface 12W in the use state of FIGS. 1 and 2, and a pedestal tip portion 38b that extends perpendicularly therefrom. A wire 19 extending from the winch 14 is connected to the pedestal tip 38 b side of the pedestal 38 of the traveling unit 30. The traveling unit 30 includes four tires 36 on a pedestal base 38 a of the pedestal 38. However, the number of tires 36 may be less or more than four. In the vertical direction in which the tension wire 20 is stretched, that is, in the vertical direction D1 in FIGS. 1 and 2, two tires 36A located on the upper side (FIG. 1 and FIG. 2 show only one tire 36A). .) Is fixed to the pedestal 38 and its orientation is fixed. The two tires 36B (only one tire 36B is shown in FIGS. 1 and 2) positioned on the lower side in the vertical direction D1 in FIGS. 1 and 2 are also fixed to the pedestal portion 38. Is configured to be variable. In particular, the direction of the tire 36B is variable by the steering device 40, that is, by the steering mechanism. As shown in FIG. 3, the steering device 40 includes a link mechanism 42 that interlocks the two tires 36 </ b> B, and a motor 44 that operates the link mechanism 42. The up-down direction D1 corresponds to the first direction. However, the first direction is not limited to the vertical direction, that is, the vertical direction in FIGS. 1 and 2, and may be, for example, a direction inclined obliquely with respect to the vertical direction.

  The contact portion 32 is configured to contact the tension wire 20. The contact portion 32 is attached to the pedestal portion 38 of the traveling unit 30 via the telescopic device 34, particularly to a pedestal base portion 38 a that is substantially parallel to the wall surface 12 W of the pedestal portion 38. The contact portion 32 includes an inner member 46 connected to the telescopic device 34, an outer member 48 that is located outside the inner member 46 and contacts the tension wire 20, and the inner member 46 and the outer member 48. And a spring 50 which is an elastic member provided. The outer member 48 includes an outer plate-like portion 48a and rollers 48b and 48c provided outside the outer plate-like portion 48a. The tension wire 20 is in sliding contact with the outer member 48 along the rollers 48 b and 48 c of the outer member 48. Each of the inner plate 46 and the outer plate-like portion 48a of the outer member 48 is a plate-like member, and the interval between them is variable. 1 and 2, the inner member 46 and the outer member 48 can be moved in a perpendicular direction D2 that is substantially perpendicular to the wall surface 12W by providing the telescopic device 34, respectively. Since the spring 50 is provided, the distance between them is also variable in the perpendicular direction D2.

  The contact portion 32 is provided with a pressing force detection device 51. The pressing force detection device 51 is configured to detect a pressing force from the tension wire 20 to the wall surface cleaning device 10. In this embodiment, the pressing force detection device 51 is provided between the inner member 46 and the outer member 48, and the pressure, that is, the pressing force, has a predetermined width around a reference pressure based on the spring force of the spring 50. It is possible to detect whether it is larger than the upper limit value of the predetermined pressure range or smaller than the lower limit value of the predetermined pressure range. That is, the pressing force detection device 51 can detect whether or not the pressing force between the inner member 46 and the outer member 48 is outside the predetermined pressure range. More specifically, the pressing force detection device 51 has two switches 51a and 51b, and when the pressing force is larger than the upper limit value of the predetermined pressure range, one of the switches is turned ON, When the pressing force is smaller than the lower limit value of the pressure range, the other switch is turned on. When the pressing force is within the predetermined pressure range, both the two switches 51a and 51b are in the OFF state. However, the pressing force detection device 51 is not limited to having such a configuration, and may have a configuration including various known pressure sensors.

  The telescopic device 34 is provided between the traveling unit 30 and the contact unit 32, and is provided so as to make the interval between the traveling unit 30 and the contact unit 32 variable. In particular, the telescopic device 34 is provided so that the distance between the traveling unit 30 and the contact unit 32 is variable in the perpendicular direction D2. As shown in FIG. 2, the expansion / contraction device 34 includes a jack portion 52 as an expansion / contraction member provided so as to vary the distance between the traveling portion 30 and the contact portion 32, and the expansion / contraction of the jack portion 52. And an electric cylinder 54 as an expansion / contraction generator. The electric cylinder 54 includes a ball screw, a linear guide, and a motor 55. An air cylinder, a hydraulic cylinder, or the like may be used as the expansion / contraction generator. One end of the jack portion 52 is connected to the pedestal base portion 38 a of the pedestal portion 38 of the traveling portion 30, and the other end of the jack portion 52 is connected to the inner member 46 of the contact portion 32. Since the length of the jack portion 52 is variable, the pedestal base portion 38a and the inner member 46 are provided with a slide portion 52a that enables sliding movement in the vertical direction in FIGS. 1 and 2 according to expansion and contraction of the jack portion 52. 52b is provided. One end of the electric cylinder 54 is fixed to the pedestal base 38a, and the electric cylinder 54 is rotatable about the pedestal side fulcrum 54a. The other end of the electric cylinder 54 is attached to one node portion 52c of the jack portion 52, and the electric cylinder 54 is rotatable about the jack side fulcrum portion 54b. When the electric cylinder 54 is extended, the length of the jack portion 52 in the perpendicular direction D2 is extended, and when the electric cylinder 54 is shortened, the length of the jack portion 52 in the perpendicular direction D2 is reduced.

  Furthermore, the wall surface cleaning device 10 is able to run on the wall surface 12W by being pressed against the wall surface 12W by the pressing force of the tension wire 20, but in the direction perpendicular to the vertical direction D1 and the perpendicular direction D2, that is, in FIG. 1 and FIG. The structure which makes it possible to suppress the fluctuation | variation of the left-right direction D3 (refer FIG. 3) which is a direction orthogonal to is provided. First, in order to detect such shake, the wall cleaning device 10 detects shake of the contact portion 32 with respect to the tension wire 20 in the left-right direction D3 perpendicular to the up-down direction D1 on which the tension wire 20 is stretched. A device 56 is provided. Note that the left-right direction D3 corresponds to the second direction. The second direction is a direction orthogonal to the first direction, and may be a direction along the wall surface 12W.

  The shake detection device 56 includes a detection unit main body 58 and an extension detection unit 60 extending from the detection unit main body 58. The detection portion main body 58 is fixed to the outer member 48 of the contact portion 32. The free end of the extension detection unit 60 is in sliding contact with the tension wire 20. In the present embodiment, the free end of the extension detection unit 60 is formed in a ring shape so as not to be detached from the tension wire 20. The free end of the extension detection unit 60 may have other configurations and shapes, for example, a hook shape. Therefore, the shake detection device 56 can detect the shake or deviation of the contact portion 32 of the wall surface cleaning device 10 with respect to the tension wire 20 according to the relative relationship between the wall surface cleaning device 10 and the tension wire 20. The detection unit main body 58 includes two switches 58a and 58b, and either of the switches 58a and 58b is selected according to the movement or position of the free end of the extension detection unit 60 due to the inclination of the contact unit 32, that is, the shake. Can be turned on. When the wall surface cleaning device 10 is running on the wall surface 12W straight with respect to the tension wire 20, that is, along the vertical direction D1, both of the two switches 58a and 58b of the detection unit main body 58 are in the OFF state.

  And the wall surface washing | cleaning apparatus 10 has the function etc. which wash | clean a wall surface as the name. The hose direction adjusting device 62 of the wall surface cleaning device 10 is connected to a hose member 66 through which, for example, high-pressure cleaning liquid having a pressure equal to or higher than a predetermined pressure fed from the pump 64 flows. The hose direction adjusting device 62 is provided on the pedestal portion 38 of the traveling unit 30. The hose direction adjusting device 62 includes a drive main body 68 provided on the pedestal base 38 a and a hose guide 70 extending from the drive main body 68. The hose member 66 corresponds to a weight balance adjustment member that functions to adjust the weight balance of the wall surface cleaning device 10, and the hose direction adjustment device 62 is configured to change the state of the weight balance adjustment member. Corresponds to the adjustment device.

  In FIG. 1 and FIG. 2, the hose guide portion 70 extends from the drive main body 68 downward in the vertical direction. A part of the hose member 66 through which the cleaning liquid flows passes through the inside of the hose guide part 70, and a part of the hose member 66 is disposed along the traveling part 30, and is provided near the base end part 30 b of the traveling part 30. It is connected to the cleaning nozzle 72. Therefore, in the use state shown in FIGS. 1 and 2, the wall surface cleaning device 10 can supply the cleaning liquid pumped from the pump 64 by spraying it from the cleaning nozzle 72 to the wall surface 12W. The wall surface cleaning device 10 can be provided with various cleaning nozzles at various locations. Further, as shown in FIG. 1, the wall surface cleaning device 10 includes a recovery device or a drainage processing device 73 (not shown in FIG. 2) that recovers the sprayed cleaning liquid.

  The drive body main body 68 of the hose direction adjusting device 62 includes a motor 74 for adjusting the direction of the hose guide 70. When the motor 74 is driven, the hose guide part 70 can be rotated within a predetermined range around the drive main body part 68.

  The wall surface cleaning device 10 has a control device 80. The control device 80 includes, for example, a calculation unit that is a CPU, a storage device such as a ROM or a RAM, and an input / output device, and is configured as a so-called computer. The control device 80 is connected to the pressing force detection device 51 and the shake detection device 56. The control device 80 is connected to the motor 44, the motor 55, and the motor 74. The control device 80 stores predetermined programs and data corresponding to the pressing force control, that is, the expansion / contraction control and the shake suppression control, which will be described later. That is, the control device 80 includes a functional unit that functions as an expansion / contraction control unit configured to control the operation of the expansion / contraction device 34 so that the pressing force detected by the pressing force detection device 51 becomes a predetermined pressing force. Have. In addition, the control device 80 includes a functional unit that functions as a shake suppression control unit. The shake suppression control includes steering control and hose direction control. That is, the control device 80 includes a functional unit that functions as a steering control unit configured to control the operation of the steering device 40 so as to suppress the shake detected by the shake detection device 56 to a predetermined value or less. . Further, the control device 80 functions as a hose direction control unit configured to control the operation of the hose direction adjusting device 62 so as to suppress the shake detected by the shake detection device 56 below a predetermined value. Have However, the hose direction control unit is an example of a weight balance control unit configured to control the operation of the weight balance adjustment device so as to suppress the shake detected by the shake detection device 56. The control device 80 is not limited to such a configuration, and a part or all of the control device 80 may be replaced by a relay circuit that operates in response to signals from the pressing force detection device 51 and the shake detection device 56. Good.

  Based on the pressing force detected by the pressing force detection device 51, the operation of the expansion / contraction device 34, more specifically, the control of the operation of the electric cylinder 54, that is, the pressing force control (extension / contraction control) will be described with reference to FIG. . When the pressing force detected by the pressing force detection device 51 is larger than the upper limit value of the predetermined pressure range (Yes in step S401), the pressing force is adjusted to a pressure within the predetermined pressure range, that is, to a predetermined pressing force. Thus, in order to shorten the length of the jack part 52 in the perpendicular direction D2, the control device 80 controls the operation of the electric cylinder 54, that is, the operation of the motor 55 (step S403). When the pressing force detected by the pressing force detection device 51 is smaller than the lower limit value of the predetermined pressure range (negative determination in step S401 and positive determination in step S405), the pressing force is set to a pressure within the predetermined pressure range, that is, predetermined The control device 80 controls the operation of the electric cylinder 54, that is, the operation of the motor 55 in order to extend the length of the jack portion 52 in the right-angle direction D2 so as to adjust to the pressing force of (step S407). When the pressing force detected by the pressing force detection device 51 is within the predetermined pressure range, that is, in the present embodiment, when no detection signal is generated by the pressing force detection device 51 (No in step S401 and step). The control device 80 does not particularly control the operation of the electric cylinder 54, that is, the operation of the motor 55.

  Next, the control of the steering device 40 in the shake suppression control based on the shake detected by the shake detection device 56 will be described with reference to FIGS. 3, 5, and 6. First, based on FIG. 3, a description will be given of a case in which a certain amount of shake in the left-right direction D3 does not occur in the wall surface cleaning device 10. When the wall surface cleaning device 10 does not have a certain degree of lateral deflection D3 in FIG. 3, the extension detection unit 60 of the wall surface cleaning device 10 is substantially straight along the tension wire 20 in FIG. Since the contact portion 32 of the wall surface cleaning device 10 is also substantially straight along the tension wire 20, both the switches 58a and 58b of the detection portion main body 58 are OFF. At this time, the motor 44 of the steering device 40 is controlled so that the tire 36B is straight as shown in FIG. However, when the contact portion 32 of the wall surface cleaning device 10 swings with respect to the tension wire 20 as indicated by an arrow A1 in FIG. 3, the extension detection unit 60 engaged with the tension wire 20 contacts the wall surface cleaning device 10. Since the switch is inclined with respect to the portion 32, one of the switches 58a and 58b is turned ON. At this time, the control device 80 controls the motor 44 of the steering device 40 so as to suppress the shake.

  By the shake detection device 56, for example, a downward deflection of the contact portion 32 of the wall surface cleaning device 10 to the left side, that is, a contact portion where the extension detection unit 60 is inclined toward the S1 side with respect to the contact portion 32 of the wall surface cleaning device 10 is. When 32 shakes are detected (Yes in step S501), the motor 44 of the steering device 40 is controlled so as to suppress the left shake (step S503). For example, the motor 44 is controlled so as to change the direction of the tire 36B as shown in FIG. 6C in order to correct the track of the wall surface cleaning device 10 in the opposite direction. For example, during the descent, the shake detection device 56 shakes the contact portion 32 of the wall surface cleaning device 10 to the right side, that is, the contact portion where the extension detection unit 60 is inclined toward the S2 side with respect to the contact portion 32 of the wall surface cleaning device 10. When 32 shakes are detected (negative determination in step S501 and positive determination in step S505), the motor 44 of the steering device 40 is controlled so as to suppress the shake on the right side (step S507). For example, the motor 44 is controlled so as to change the direction of the tire 36B as shown in FIG. 6B in order to correct the trajectory of the wall surface cleaning device 10 in the opposite direction. Note that when the wall surface cleaning device 10 is moving up the wall surface 12 </ b> W, the tire 36 </ b> B is controlled in the opposite direction in steps S <b> 503 and S <b> 507. When the shake detected by the shake detection device 56 is within a predetermined range, that is, when no detection signal is generated by the touch detection device 56 in this embodiment (negative determination in step S501 and negative determination in step S505). The control device 80 controls the motor 44 of the steering device 40 so that the tire 36 is in a neutral state where the direction of the tire 36 is straight as shown in FIG. Here, the program is constructed so that the control of the motor 44 to be in the neutral state is automatically performed when a negative determination is made in steps S501 and S505. For example, when a negative determination is made in step S505, a “neutral state control” step before proceeding to the next routine may be provided in the flowchart of FIG. In this case, by reaching the “neutral state control” step, the motor 44 of the steering device 40 is controlled so that the tire 36 is in a straight neutral state as shown in FIG.

  Further, the control of the hose direction adjusting device 62 in the shake suppression control based on the shake detected by the shake detection device 56 will be described with reference to FIGS. 3, 5, and 6. First, based on FIG. 3, a description will be given of a case in which no more than a certain amount of lateral vibration occurs in the wall surface cleaning apparatus 10 in the initial state. In the initial state such as the cleaning start stage, when the wall surface cleaning device 10 does not have a certain amount of lateral vibration, the extension detection unit 60 of the wall surface cleaning device 10 moves along the tension wire 20 as shown in FIG. Since the contact portion 32 of the wall surface cleaning device 10 is also substantially straight along the tension wire 20 in the vertical direction, that is, in a state of being substantially straight in the up-down direction D1, whichever of the switches 58a and 58b of the detection portion main body 58 is selected. Is also OFF. At this time, the motor 74 of the hose direction adjusting device 62 is controlled so that the hose guide portion 70 of the hose direction adjusting device 62 is substantially straight in the vertical direction, that is, the vertical direction D1, as shown in FIG. However, when the wall surface cleaning device 10 swings as indicated by an arrow A1 in FIG. 3, the extension detection unit 60 engaged with the tension wire 20 is inclined with respect to the contact portion 32 of the wall surface cleaning device 10, and therefore the switch 58a. , 58b are turned ON. At this time, the control device 80 controls the motor 74 of the hose direction adjusting device 62 so as to suppress the shake.

  For example, during the descent, the shake detection device 56 shakes the left side of the contact portion 32 of the wall surface cleaning device 10, that is, the contact portion in which the extension detection unit 60 is inclined toward the S1 side with respect to the contact portion 32 of the wall surface cleaning device 10. When 32 shakes are detected (Yes in step S501), the motor 74 of the hose direction adjusting device 62 is controlled so as to suppress the shake on the left side (step S503). In the present embodiment, the motor 74 is arranged so that the hose guide portion 70 is directed to the left side S4 as shown in FIG. 6A in order to suppress the fluctuation by appropriately maintaining the weight balance of the wall surface cleaning device 10. Be controlled. For example, during the descent, the shake detection device 56 shakes the contact portion 32 of the wall surface cleaning device 10 to the right side, that is, the contact portion where the extension detection unit 60 is inclined toward the S2 side with respect to the contact portion 32 of the wall surface cleaning device 10. When 32 shakes are detected (negative determination in step S501 and positive determination in step S505), the motor 74 of the hose direction adjusting device 62 is controlled so as to suppress the shake on the right side (step S507). In the present embodiment, as shown in FIG. 6A, the motor 74 is controlled so that the direction of the hose guide portion 70 is the right side S3. When the shake detected by the shake detection device 56 is within a predetermined range, that is, when no detection signal is generated by the touch detection device 56 in this embodiment (negative determination in step S501 and negative determination in step S505). The control device 80 controls the motor 74 of the hose direction adjusting device 62 so as to keep the direction of the hose guide portion 70 as it is. The control of the motor 74 at this time includes non-control.

  The relationship between the control of the motor 44 of the steering device 40 and the control of the motor 74 of the hose direction adjusting device 62 will be further described here. These motors 44 and 74 are controlled as described above from the relationship between the responsiveness in the steering device 40 and the responsiveness in the hose direction adjusting device 62, for example. When the shake is detected by the shake detection device 56, the motor 44 of the steering device 40 is controlled so as to suppress the shake, and when the shake is suppressed, that is, when the shake is not detected, as shown in FIG. The direction of 36 is controlled to be in a straight neutral state. On the other hand, the motor 74 of the hose direction adjusting device 62 is controlled so as to change the direction of the hose guide portion 70 so as to suppress the shake by adjusting the weight balance when the shake detection device 56 detects the shake. When the vibration is suppressed, that is, when the vibration is not detected, the hose guide portion 70 is controlled to maintain the orientation as it is. In this embodiment, the shake control by the steering device is related to the shake control by the hose direction adjusting device 62, and is executed to assist the shake control by the hose direction adjusting device 62. However, these controls may have an inverse relationship or may be performed independently of each other.

  The effect in the wall surface washing apparatus 10 provided with the said structure is demonstrated below.

  In the wall cleaning apparatus 10, as shown in FIGS. 1 and 2, when the wall cleaning apparatus 10 is in use, that is, when it is in operation, the upper fixing position and the lower fixing position of the tension wire 20 are constant. Therefore, the force, that is, the pressing force applied from the tension wire 20 to the wall surface cleaning device 10 changes, for example, in the process of the wall surface cleaning device 10 descending from near the roof to near the ground. In the wall surface cleaning device 10 of the present embodiment, as already described, the operation of the expansion device 34 is controlled so that the pressing force from the tension wire 20 is within a predetermined range, that is, a predetermined pressing force. Therefore, it becomes possible to improve the stability of the wall surface cleaning device 10 for traveling on the wall surface.

  Further, in the wall surface cleaning measure 10, the contact portion is provided between the inner member connected to the telescopic device, the outer member positioned outside the inner member and contacting the tension wire, and the inner member and the outer member. The pressing force detection device is provided between the inner member and the outer member. Therefore, it is possible to more suitably detect the pressing force while flexibly corresponding to the pressing force by the tension wire 20. Therefore, the above-described expansion / contraction control can be performed more suitably.

  Moreover, in the said embodiment, the expansion-contraction apparatus 34 had the jack part 52 as an expansion-contraction member, and the electric cylinder 54 as an expansion-contraction generation apparatus for producing the expansion-contraction of this jack part 52. As shown in FIG. Accordingly, the length of the wall surface cleaning device 10 in the perpendicular direction D2 can be variously changed by the expansion / contraction device 34, and the expansion / contraction device 34 can firmly withstand the pressing force of the tension wire 20.

  Further, in the wall surface cleaning device 10, when the vibration detection device 56 detects a vibration in the left-right direction D3 of the wall surface cleaning device 10, the motor 44 of the steering device 40 is controlled so as to suppress the vibration as described above. The Therefore, it is possible to suppress the shake of the wall surface cleaning apparatus 10. Therefore, the wall surface running stability of the wall surface cleaning apparatus 10 can be further improved.

  Further, in the wall surface cleaning device 10, when the vibration detection device 56 detects a vibration in the left-right direction D3 of the wall surface cleaning device 10, the motor 74 of the hose direction adjusting device 62 is controlled so as to suppress the vibration as described above. Be controlled. Thereby, the direction of the hose guide part 70 is changed. By changing the direction of the hose guide part 70, the direction of the hose member 66 through which the cleaning liquid of a predetermined pressure or higher flows changes, and the weight balance of the wall surface cleaning device 10 changes. Therefore, it is possible to suppress the shake of the wall surface cleaning apparatus 10. Therefore, the wall surface running stability of the wall surface cleaning apparatus 10 can be further improved.

  Furthermore, in the wall surface traveling device 10 according to the above-described embodiment, as described above, when the vibration is detected, the motor 44 of the steering device 40 and the motor 74 of the hose direction suppressing device 62 are controlled so as to suppress the vibration. Are controlled together. When the vibration is suppressed, that is, when the vibration is not detected, the motor 44 of the steering device 40 is controlled so that the direction of the tire 36 is straight as shown in FIG. 3, but the motor of the hose direction suppression device 62 is controlled. 74 is controlled so as to maintain the orientation of the hose guide 70 while maintaining the state at that time. Therefore, the detected shake is quickly suppressed by the control of the motor 44 of the steering device 40, and is stably suppressed by the control of the motor 74 of the hose direction adjusting device 62.

  As mentioned above, although typical embodiment and the modification of this invention were demonstrated, this invention can be variously changed. Various substitutions and modifications may be made without departing from the spirit and scope of the present invention as defined by the claims of this application.

  For example, although the wall surface traveling apparatus according to the above embodiment is a wall surface cleaning apparatus, the present invention may be applied to apparatuses having other uses or functions. For example, the present invention may be applied to an apparatus for wall painting.

  For example, although the expansion / contraction device 34 includes the jack portion 52 and the electric cylinder 54, the expansion / contraction device 34 may include only the electric cylinder 54, that is, only the expansion / contraction generation device. Further, the number of electric cylinders 54 is not limited to one and may be plural.

  In the above embodiment, the hose member 66 corresponds to the weight balance adjusting member, and the hose direction adjusting device 62 corresponds to the weight balance adjusting device. However, the weight balance adjusting member is not limited to the hose member 66 through which the cleaning liquid flows. For example, the weight balance adjusting member may be a hose member through which a coating material, that is, a fluid to be applied or supplied toward the wall surface flows when the wall surface traveling device 10 is a coating material application device. The weight balance adjusting member may be a simple weight such as one or a plurality of sand bags or a metal lump. The weight balance adjusting device may have various configurations so as to change the weight balance of the wall surface traveling device by changing the state of the weight balance adjusting member, for example, the direction and position of the wall surface traveling device. And the weight balance control part of the control apparatus 80 is good to be comprised so that the weight balance adjustment apparatus may be controlled.

  Further, only one of the steering device 40 and the weight balance adjustment device may be controlled so as to suppress the shake detected by the shake detection device 56. The operations of the steering device 40 and the weight balance adjusting device may be variously combined so as to suppress the shake. In addition, only one of the steering device 40 and the weight balance adjusting device can be provided in the wall surface traveling device in order to suppress the shake.

DESCRIPTION OF SYMBOLS 10 Wall surface washing apparatus 12W Wall surface 20 Tension wire 30 Traveling part 32 Contact part 34 Telescopic device 51 Pressing force detection apparatus 52 Jack part 54 Electric cylinder 56 Vibration detection apparatus 72

Claims (5)

A wall surface traveling device configured to be able to travel on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of the building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member;
A telescopic device provided between the travel part and the contact part, and configured to vary the distance between the travel part and the contact part;
A pressing force detection device configured to detect a pressing force from the tension member to the wall surface traveling device;
An expansion / contraction control unit configured to control the operation of the expansion / contraction device so that the pressing force detected by the pressing force detection device becomes a predetermined pressing force ;
The contact portion includes an inner member connected to the telescopic device, an outer member positioned outside the inner member and in contact with the tension member, and an elastic member provided between the inner member and the outer member. And
The pressing force detection device is provided between the inner member and the outer member.
Wall traveling device. The expansion / contraction device has an expansion / contraction member provided so as to make the interval between the traveling portion and the contact portion variable, and an expansion / contraction generation device for causing expansion / contraction of the expansion / contraction member,
The wall traveling apparatus according to claim 1 . The elastic member of the expansion device is a jack part,
The expansion / contraction generating device of the expansion / contraction device is an electric cylinder,
The wall surface traveling apparatus according to claim 2 . A shake detection device configured to detect shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched;
A steering device configured to change the direction of the wheels of the traveling unit;
The wall travel device according to claim 3 , further comprising a steering control unit configured to control the operation of the steering device so as to suppress the shake detected by the shake detection device. A shake detection device configured to detect shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched;
A weight balance adjusting device configured to change the state of the weight balance adjusting member;
The wall surface travel device according to claim 3 , further comprising: a weight balance control unit configured to control an operation of the weight balance adjustment device so as to suppress the shake detected by the shake detection device. .

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