JP7169041B2 - Grinding device and wall surface cleaning method using the cleaning device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device and, for example, to a cleaning device that is effective when applied to tunnel repair work.

Tunnels constructed on expressways and general roads include tunnels with rectangular cross sections using box culverts and tunnels with circular or horseshoe-shaped cross sections using curved segments. The former tunnel has flat ceilings and walls, while the latter tunnel has curved surfaces.

After a certain period of time has passed since the start of service, the tunnel undergoes surface treatment such as scraping off the deteriorated surface to roughen the surface and remove the paint film, and then to apply a concrete modifier to the surface for repair work. .

Here, the surface preparation work was performed manually by setting up a high work platform at the work location and having a worker sit on the work platform. However, the manual work requires a heavy tool and an upward posture, resulting in low work efficiency, time consuming, and high cost.

Therefore, as described in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2017-040103), for example, a tunnel ceiling surface cleaning apparatus has been proposed that automatically cleans the tunnel ceiling surface without relying on human power.

JP 2017-040103 A

By the way, in order to clean the inner wall surface of the tunnel, when the aerial work vehicle equipped with a cleaning device is placed next to the inner wall surface of the tunnel, the aerial work vehicle is arranged slightly obliquely to the inner wall surface of the tunnel. It may be done. In this case, when cleaning the inner wall surface of the tunnel, it becomes impossible to move the cleaning head of the cleaning device while pressing it appropriately against the inner wall surface, so that the inner wall surface of the tunnel can be cleaned well. It may become impossible to process.

The present invention has been made in view of the above-mentioned technical background. An object of the present invention is to provide a technique that can satisfactorily apply the

In order to solve the above-mentioned problems, the cleaning device of the present invention according to claim 1 comprises a cleaning device main body having a cleaning head for cleaning a wall surface, a base plate on which the cleaning device main body is mounted, and the base plate. and a moving means for moving the base plate along the mounting surface of the base plate mounting portion ; a turntable on which the main body of the cleaning/cleaning device is rotatably mounted along the mounting surface ; a first movement mechanism that reciprocates a base plate in a first direction; and a second movement mechanism that reciprocates the base plate in a second direction that intersects with the first direction; The first movement mechanism includes a first rail on which the base plate is mounted so as to be able to travel, and a first driving body that reciprocates the base plate on the first rail in the first direction. The second moving mechanism unit includes a second rail on which the first rail is mounted so as to be able to travel, and a reciprocating movement of the first rail on the second rail in the second direction. and a second driving body for moving the cleaning surface of the cleaning head so that when the cleaning device main body is obliquely arranged with respect to the wall surface when cleaning the wall surface, the cleaning surface of the cleaning cleaning head moves toward the wall surface . The turntable is rotated by the rotary motor so as to be parallel to the wall surface, and the first driving body and the second driving body are moved so that the cleaning head moves parallel to the wall surface. It is characterized by comprising control means for controlling the operation.

According to a second aspect of the present invention, there is provided a cleaning device according to the first aspect, wherein the cleaning device main body includes a plurality of detection means for detecting the distance from the cleaning device main body to the wall surface. The control means calculates an inclination angle between the main body of the cleaning apparatus and the wall surface in plan view from the detection information obtained by the detection means, and controls the first driving body and the second driving body. characterized by controlling the operation of

According to a third aspect of the present invention, there is provided a cleaning device according to the second aspect of the present invention, wherein the main body of the cleaning device includes a rod that supports the cleaning head in a swingable state, and a rod that moves the rod up and down. It is characterized by comprising drive means for moving and holding means for holding the rod.

In order to solve the above-mentioned problems, a wall surface cleaning method according to claim 4 of the present invention is a wall surface cleaning method using a cleaning device according to claim 3, wherein the detecting means to the wall surface to calculate the tilt angle in plan view between the main body of the cleaning device and the wall surface, and rotate the turntable with the rotary motor to move the cleaning surface of the cleaning head. Parallel to the wall surface in a plan view, the first rail is horizontally moved in a direction approaching the wall surface, the rod is driven by the driving means to press the cleaning head against the wall surface, and the The base plate on the first rail is moved by the first driving body to move the cleaning head in the cleaning direction, and at the same time, the first driving body on the second rail is moved by the second driving body. is moved horizontally in a direction approaching the wall surface, and the cleaning head is moved parallel along the wall surface in plan view to clean the wall surface .

According to the present invention, even if the cleaning device is arranged obliquely with respect to the wall surface to be cleaned in a plan view, it is possible to perform a cleaning process on the wall surface to be cleaned in a favorable manner.

(a) is a conceptual diagram showing a tunnel cleaning system to which a tunnel cleaning device according to an embodiment of the present invention is attached, and (b) is a work at height constituting the tunnel cleaning system of FIG. 1(a). It is a conceptual diagram at the time of the deck part rise of a vehicle. BRIEF DESCRIPTION OF THE DRAWINGS It is a front view which shows the tunnel cleaning apparatus which is one embodiment of this invention. 1 is a side view showing a tunnel cleaning device that is an embodiment of the present invention; FIG. FIG. 2 is an explanatory diagram of a moving means that constitutes the tunnel cleaning and cleaning apparatus according to one embodiment of the present invention; 1 is a plan view of the main surface of a cleaning head provided in a tunnel cleaning device that is an embodiment of the present invention; FIG. 1 is a main circuit block diagram of a control section of a tunnel cleaning apparatus according to an embodiment of the present invention; FIG. FIG. 2 is an explanatory diagram for explaining the cleaning operation of the inner wall surface of a tunnel using the tunnel cleaning device according to one embodiment of the present invention; FIG. 8 is an enlarged side view of a main part of the cleaning head of FIG. 7 during cleaning work; (a) and (b) are plan views of the moving means and the cleaning head in a pre-cleaning stage. (a) and (b) are plan views of the moving means and the cleaning head in a pre-cleaning stage. (a) and (b) are plan views of the moving means and the cleaning head during cleaning. (a) is a plan view of the moving means and the cleaning head during cleaning, and (b) is a plan view showing the trajectory of the cleaning head during cleaning. FIG. 4 is a conceptual diagram showing a tunnel cleaning system to which a tunnel cleaning device according to another embodiment of the present invention is attached;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment as an example of the present invention will be described in detail below with reference to the drawings. In the drawings for describing the embodiments, in principle, the same components are denoted by the same reference numerals, and repeated description thereof will be omitted.

(First embodiment)

FIG. 1(a) is a conceptual diagram showing a tunnel cleaning system to which a tunnel cleaning device according to an embodiment of the present invention is attached, and FIG. 1(b) constitutes the tunnel cleaning system of FIG. 1(a). FIG. 10 is a conceptual diagram when the deck portion of the aerial work platform is raised. In addition, in FIGS. 1A and 1B, the lower part of the tunnel cleaning device M is also shown through for easy understanding of the explanation.

The tunnel cleaning system S of the present embodiment is, for example, a system capable of cleaning the inner wall surface of a tunnel formed into a curved surface, and includes an aerial work vehicle V and a tunnel cleaning device M. .

The aerial work vehicle V is a special vehicle capable of moving the tunnel cleaning device M to a predetermined location and setting the height of the tunnel cleaning device M to a predetermined height. has a pantograph section Vp and a deck section Vb installed thereon. The pantograph part Vp is an elevating mechanism for elevating the deck part Vb, and by setting the tunnel cleaning device M mounted on the deck part Vb to a predetermined height, the tunnel cleaning device M It is now possible to perform tunnel cleaning operations.

In the aerial work vehicle V shown in FIG. 1, when the tunnel cleaning device M is mounted, there is no shaking at low frequencies, and the deflection can be suppressed to about 15 mm. Applicable. Further, in the case of the aerial work vehicle V of FIG. 1, the tunnel cleaning device M can be mounted in a stable state, and the deck portion Vb on which the tunnel cleaning device M is mounted can be moved while being raised. Therefore, the cleaning work can be efficiently performed.

The tunnel cleaning device M mounted on the deck portion Vb of the aerial work vehicle V, for example, polishes the inner wall surface of the tunnel formed in a curved shape by spraying an abrasive against the inner wall surface. It is an abrasive injection type cleaning device that cleans, and is provided with a moving means 11 and a cleaning device main body installed thereon. The main body of the cleaning cleaning apparatus includes, for example, a holding frame (holding means) 12, a rod 15 held by the holding frame 12, and a cleaning head 17 supported at the tip of the rod 15 in a swingable state. It has The tunnel cleaning device M will be described in detail below with reference to FIGS. 2 to 5. FIG.

FIG. 2 is a front view showing a tunnel cleaning apparatus according to an embodiment of the present invention, FIG. 3 is a side view showing a tunnel cleaning apparatus according to an embodiment of the present invention, and FIG. 4 is an embodiment of the present invention. 5 is a plan view of the main surface of a cleaning head provided in the tunnel cleaning apparatus according to one embodiment of the present invention. FIG. 2 and 3, illustration of part of the moving means constituting the tunnel cleaning apparatus is omitted. 2, 3 and 4 show a cross section of the inner wall surface WS of the tunnel to facilitate understanding of the orientation of the cleaning head 17 with respect to the inner wall surface WS of the tunnel during tunnel cleaning.

As shown in detail in FIGS. 2 and 3, the tunnel cleaning device M comprises a base plate 10 on which the main body of the cleaning device is mounted, and a moving means 11 for moving the base plate 10 in the horizontal direction. A holding frame 12 is installed on the base plate 10 to hold the rod 15 in a vertically extendable state. An air cylinder 13 is installed on the base plate 10 for vertically moving a rod 15 erected on the base plate 10 . The air cylinder 13 is arranged in the inner space of the hollow rod 15 and is held by the rod 15 in an upright state.

A cylinder rod 13a of the air cylinder 13 is attached to a mounting plate 15-1 provided in the rod 15 in the radial direction. As a result, the rod 15 is driven by the air cylinder 13 to move up and down to press the cleaning head 17 against the inner wall surface WS of the tunnel during cleaning. The holding frame 12 is provided with two upper and lower roller pairs 16a and 16b for supporting both sides of the rod 15. As shown in FIG. Therefore, the rod 15 can move up and down while being supported by the roller pairs 16a and 16b, and can move up and down stably.

As a driving means for moving the rod 15 up and down, for example, a lifting mechanism using a hydraulic cylinder or a chain may be used other than the air cylinder 13 shown in this embodiment. Also, a telescopic rod may be used and a part of the rod may be vertically moved instead of the entire rod as in the present embodiment.

A turntable 14 is interposed between the base plate 10 and the rod 15 (air cylinder 13). That is, the rod 15 and the air cylinder 13 are mounted on the turntable 14 mounted on the base plate 10 . The turntable 14 is rotatable in both forward and reverse directions within a horizontal plane (the main surface of the base plate 10 and the surface on which the turntable 14 is mounted) by rotating in both forward and reverse directions by the rotary motor 14m. That is, an endless chain belt (not shown) is mechanically connected to each of the rotary shaft of the rotary motor 14m and the rotary shaft of the turntable 14 via a gear or the like, and the rotary motion of the rotary motor 14m is controlled by the gear. The turntable 14 rotates in the horizontal plane by being transmitted to the rotating shaft of the turntable 14 through the etc. and the endless chain belt. By rotating the turntable 14, the cleaning head 17 can be rotated in the horizontal plane. The rotary motor 14m is, for example, an electric motor. As a result, the weight of the tunnel cleaning device M can be reduced as compared with the case where the rotary motor 14m is configured by a hydraulic motor.

Here, as shown in FIG. 4, the moving means 11 includes a first moving mechanism portion 11a that reciprocates the base plate 10 in the first direction D1, and a first moving mechanism portion 11a that reciprocates the base plate 10 in a first direction D1. and a second moving mechanism portion 11b for reciprocating in two directions D2.

As shown in FIGS. 2 and 3, wheels 10a are attached to the four corners of the back surface of the base plate 10, and the base plate 10 is mounted on the first moving mechanism 11a so as to be able to travel via the wheels 10a. Equipped with a first rail (base plate mounting portion) 11a-1 and a motor (first driver) 11a-2 for reciprocating the base plate 10 on the first rail 11a-1 in the first direction D1. there is The motor 11a-2 is, for example, an electric motor. As a result, the weight of the tunnel cleaning/cleaning device M can be reduced as compared with the case where the motor 11a-2 is configured by a hydraulic motor. Also, the motor 11a-2 is rotatable, for example, in both forward and reverse directions. This motor 11a-2 is installed at one end of the first rail 11a-1, and rotates at the other end of the first rail 11a-1 with a sprocket 11a-3a attached to the rotating shaft of the motor 11a-2. A chain 11a-4 is stretched between the freely installed sprockets 11a-3b. Furthermore, the tip of a transmission rod 10b extending from the lower surface of the base plate 10 is fixed to the chain 11a-4. Therefore, when the chain 11a-4 rotates in the circumferential direction due to the rotation of the motor 11a-2, the transmission rod 10b moves in the first direction D1, and accordingly the base plate 10 runs on the first rail 11a-1. to move in the first direction D1.

Wheels (not shown) are attached to four ends of the first rail 11a-1, the plane of rotation of which is perpendicular to the extending direction of the first rail 11a-1. As shown in FIG. 4, tie rods 11a-5 forming a rectangular frame together with the first rail 11a-1 are installed at both ends of the first rail 11a-1.

The second moving mechanism portion 11b includes a second rail 11b-1 on which the first rail 11a-1 is mounted so as to be able to travel via wheels, and a first rail 11b-1 on the second rail 11b-1. and a motor (second driver) 11b-2 for reciprocating the rail 11a-1 in the second direction D2. In addition, tie rods 11b-3 forming a rectangular frame together with the second rail 11b-1 are installed at both ends of the second rail 11b-1. The motor 11b-2 is, for example, an electric motor. As a result, the weight of the tunnel cleaning device M can be reduced. The motor 11b-2 is also rotatable, for example, in both forward and reverse directions. This motor 11b-2 is installed substantially in the central portion of one tie rod 11b-3, and a shaft 11b-4 is attached to its rotating shaft. A bearing 11b-5 for rotatably supporting the tip of the shaft 11b-4 is installed at a position facing the motor 11b-2 on the other tie rod 11b-3. Furthermore, at a position corresponding to the shaft 11b-4 in the first moving mechanism portion 11a, a projecting piece 11a-6a that connects the pair of first rails 11a-1 and penetrates the shaft 11b-4 is provided on the back surface. There is an attached connecting rod 11a-6. A male screw is formed on the shaft 11b-4 described above, and a female screw to be screwed with the male screw is formed on the projecting piece 11a-6a through which the shaft 11b-4 penetrates. Therefore, when the shaft 11b-4 is rotated by the motor 11b-2, the rotary motion is converted into linear motion by the connecting rod 11a-6, whereby the first rail 11a-1 runs on the second rail 11b-1. to move in the second direction D2.

In addition, the moving means 11 is not limited to the one shown in FIG. 4, and various structures can be adopted as long as the base plate 10 can be moved in the horizontal direction.

Here, as shown in FIG. 4, at the base portion (or tie rod 11b-3) of the second rail 11b-1 of the second moving mechanism portion 11b that constitutes the moving means 11, 2 For example, sensors (detection means) SL1 and SL2 (SL) are installed at the two corners.

The sensors SL1 and SL2 are detecting means for measuring the distance from the sensors SL1 and SL2 to the inner wall surface WS, and are composed of, for example, non-contact optical sensors having a light emitting portion and a light receiving portion (not shown). there is For example, laser light LL is emitted from the light emitting portions of the sensors SL1 and SL2.

In the tunnel cleaning apparatus M of the present embodiment, when the inner wall surface WS of the tunnel is irradiated with the laser light LL emitted from the light emitting portions of the sensors SL1 and SL2, reflected light is reflected from the inner wall surface WS. RL is received by the light receiving portions of the sensors SL1 and SL2, the distance from each of the sensors SL1 and SL2 to the inner wall surface WS is calculated based on the detection information obtained there, and the tunnel cleaning device M and the It is possible to calculate the parallelism in a plan view with the inner wall surface WS. The parallelism between the tunnel cleaning device M and the inner wall surface WS in plan view is the tunnel cleaning device M (specifically, for example, the first rail 11a- It is represented by the inclination angle of 1).

The number of sensors SL1 and SL2 is not limited to two, and may be three or more, for example. Moreover, the locations where the sensors SL1 and SL2 are installed are not limited to the locations described above, and can be changed in various ways. A configuration for calculating the parallelism between the tunnel cleaning device M and the inner wall surface WS will be described later.

In this embodiment, as shown in FIGS. 2 and 3, a cleaning head 17 for cleaning the inner wall surface WS of the tunnel is detachably attached to the tip of the rod 15 described above. ing. The cleaning head 17 includes a mounting base (mounting portion) 17a, an arm portion (swing portion) 17r, and an air cylinder 17p. The mounting base 17a, the arm portion 17r and the air cylinder 17p will be described in order below.

The mounting base 17a of the cleaning head 17 has a main surface facing the inner wall surface WS of the tunnel and a back surface on the back side thereof. As shown in FIGS. 2, 3 and 5, on the main surface of the mounting base 17a, there are provided a cleaner (abrading portion) 17b, a caster 17c, and a first ring brush (first shielding member) 17s. -1 and a second ring brush (second shielding member) 17s-2 are installed, and two rotating plates 17a- are provided at both ends of the mounting base 17a in the longitudinal direction on the back side of the mounting base 17a. 1 is erected integrally with the mounting base 17a.

The grinder 17b is an abrasive injection unit that sprays an abrasive onto the inner wall surface WS of the tunnel in order to grind the deteriorated portion of the inner wall surface WS of the tunnel. Here, as shown in FIGS. 3 and 5, for example, two cleaners 17b are installed. As shown in FIG. 5, in each cleaner 17b, an injection port 17b-1, a suction port 17b-2, and a first ring brush 17s-1 are concentrically arranged from the inside to the outside. It is

The injection port 17b-1 of the cleaner 17b is an opening for injecting the above-described abrasive, and as shown in FIG. The diameter of the injection port 17b-1 is, for example, about 80 mm. The planar shape of the injection port 17b-1 is not limited to a circular shape, and can be variously changed to, for example, an elliptical shape or an oval shape. As shown in FIG. 3, an abrasive supply pipe 17b-3 is mechanically connected behind the injection port 17b-1. The abrasive sent through the abrasive supply pipe 17b-3 is jetted from the injection port 17b-1 and sprayed onto the inner wall surface WS of the tunnel.

The suction port 17b-2 of the grinder 17b is an opening for sucking under negative pressure the peeled pieces separated from the inner wall surface WS of the tunnel by the cleaning process and the abrasive after spraying. , is formed in an annular shape in a plan view so as to surround the outer circumference of the injection port 17b-1. Behind the suction port 17b-2, a transfer pipe (not shown) is mechanically connected to transfer the peeled pieces and the abrasive sucked from the suction port 17b-2 to a storage device (not shown). there is

As shown in FIGS. 2 and 3, the two abrasive cleaners 17b are configured such that the injection port 17b-1 and the suction port 17b-2 of each abrasive cleaner 17b face the inner wall surface WS of the tunnel. It is installed on the mounting base 17a in a state in which it is possible to Also, as shown in FIG. 5, the two cleaners 17b are arranged side by side along the cleaning direction. When the side surface of the mount 17a is viewed from the left or right side of FIG. Although they are lapped, they are arranged in a state of being shifted from each other in a direction intersecting (perpendicular to) the direction in which the cleaners 17b, 17b are arranged side by side. The injection width of the abrasive is set by the displacement of the injection ports 17b-1, 17b-1. In this embodiment, the overlap dimension of the injection ports 17b-1, 17b-1 of the two grinders 17b, 17b is, for example, 40 mm. is jetted in a width of 120 mm (=80 mm×2-40 mm). However, these numerical values are merely examples, and the present invention is not restricted to these numerical values.

The number of installed cleaners 17b can be freely set, and may be one or three or more. Further, when three or more abrasive cleaners 17b are provided, the abrasive cleaners 17b may be arranged in a zigzag pattern along the direction in which the abrasive cleaners 17b are arranged side by side, or may not be arranged so as to be mutually shifted. Further, the cleaner 17b may be of a water jet type that cleans and cleans the inner wall surface WS of the tunnel with a pressurized stream of water instead of the abrasive injection type as in the present embodiment.

Further, as shown in FIGS. 2, 3 and 5, the caster 17c secures a constant space between the main surface of the mounting base 17a and the inner wall surface WS of the tunnel during the cleaning operation. They are members for moving the head 17 along the inner wall surface WS, and as shown in FIG. During cleaning, the caster 17c is in contact with the inner wall surface WS of the tunnel, so that the mount 17a and the inner wall surface WS of the tunnel are kept at a constant distance, and the caster 17c moves along with the movement of the cleaning head 17. It rotates along the inner wall surface WS of the. The wheel portion of the caster 17c is made of, for example, rubber or plastic such as urethane or nylon. As a result, the inner wall surface WS is not scratched or damaged when the caster 17c comes into contact with the inner wall surface WS, and the weight of the caster 17c can be reduced. Further, the caster 17c is configured to be rotatable by 360° within the main surface of the mount 17a (that is, within the polishing surface of the inner wall surface WS). As a result, the degree of freedom in the moving direction of the cleaning head 17 can be improved during cleaning. The number of casters 17c, mounting positions, materials, etc. are not limited to those described above, and can be changed in various ways.

In addition, as shown in FIGS. 2, 3 and 5, the first ring brush 17s-1 allows scattered matter such as flakes and abrasives to leak outward from the main surface of the mount 17a. As shown in FIG. 5, it is formed in an annular shape in plan view so as to surround the outer periphery of each cleaner 17b.

As shown in FIGS. 2, 3 and 5, the second ring brush 17s-2 is a shielding member for shielding the scattered matter from leaking outward from the main surface of the mount 17a. As shown in FIG. 5, it is formed in, for example, a rectangular frame shape in a plan view so as to surround a group of two cleaners 17b, 17b. By providing the second ring brush 17s-2 in this way, it is possible to further suppress or prevent the scattered matter from leaking to the outside.

The first ring brush 17s-1 and the second ring brush 17s-2 are detachably attached to the mount 17a. Therefore, if the first ring brush 17s-1 or the second ring brush 17s-2 deteriorates, they can be replaced, so the cleaning can be performed depending on the service life of the first ring brush 17s-1 or the second ring brush 17s-2. The life of the head 17 is also not determined. In FIGS. 2 and 3, the first ring brush 17s-1 and the second ring brush 17s-2 are shown in cross-section for easy viewing of the cleaner 17b.

Next, as shown in FIGS. 2 and 3, the arm portion 17r is a swinging portion that supports the mount 17a in a swingable state, and includes a base plate 17r-1. The base plate 17r-1 has a main surface facing the rear surface of the mount 17a and a rear surface facing the tip surface of the rod 15 on the rear side. Two first support plates 17r-2 extending in a direction perpendicular to the main surface of the base plate 17r-1 are provided at both longitudinal ends of the base plate 17r-1 on the main surface of the base plate 17r-1. Two second support plates 17r-3 are provided on the rear surface of the base plate 17r-1 and extend in the direction orthogonal to the rear surface of the base plate 17r-1 at the center in the longitudinal direction of the base plate 17r-1. is provided.

The two first support plates 17r-2 of the arm portion 17r extend obliquely with respect to the rod 15 and overlap the two rotating plates 17a-1 of the mounting base 17a in plan view. ing. A first support plate (first swinging portion) 17r-2 of the arm portion 17r and a rotating plate (first swinging portion) 17a-1 of the mount 17a are arranged so as to pass through them. They are rotatably connected to each other by a provided fastening member (first swing portion) 17x-1. Thus, the mount 17a is attached to the arm portion 17r so as to be swingable in the first swing direction RR1 (see FIG. 2). Further, the first support plate 17r-2 of the arm portion 17r extends obliquely with respect to the extending direction of the rod 15, so that the mount 17a is attached obliquely upward to the rod 15. As shown in FIG. As a result, the main surface side of the cleaner 17b can be pressed with a large pressing force against the inner wall surface WS of the tunnel formed into a curved surface shape during the cleaning process.

On the other hand, the tip surfaces of the two second support plates 17r-3 of the arm portion 17r are arcuate. Between the two second support plates 17r-3, one protrusion 15-2 formed on the tip surface of the rod 15 is interposed. The tip end face of this projection 15-2 is also formed in an arc shape. The two second support plates (second swinging portion) 17r-3 and the convex portion (second swinging portion) 15-2 are fastening members provided so as to pass through them. (Second rocking portion) 17x-2 are connected to each other in a rotatable state. As a result, the cleaning head 17 (mounting base 17a and arm portion 17r) can swing in a second swinging direction RR2 (see FIG. 3) intersecting (perpendicular to) the first swinging direction. 15 is attached. The fastening member 17x-2 is removable, and the cleaning head 17 can be removed by removing the fastening member 17x-2.

Therefore, according to the present embodiment, the cleaning head 17 can be swung in the first swinging direction and the second swinging direction following the curved inner wall surface WS of the tunnel. Therefore, the inner wall surface WS can be satisfactorily cleaned.

Next, as shown in FIGS. 2 and 3, the air cylinder 17p is a member that supports the cleaner 17b in a vertically movable state. The air cylinder 17p is attached to the support frame 17e and reversed while the tip of the cylinder rod 17p-1 is fixed to the back side of the back plate 17h installed on the back side of the two cleaners 17b. It is set up to take power.

For example, two extensible rods 17d, 17d are interposed between the longitudinal ends of the support frame 17e and the rear surface of the back plate 17h. These two extensible rods 17d, 17d adjust the pressure applied from the air cylinder 17p to the two cleaners 17b to an appropriate pressure, and the pressure applied to the two cleaners 17b from the air cylinder 17p is adjusted to an appropriate pressure. The applied pressure is adjusted to be uniform.

Also, as shown in FIG. 5, the two telescopic rods 17d, 17d are arranged in an oblique positional relationship with the air cylinder 17p at the center in the rear surface of the mount 17a. With such arrangement, the pressure applied to the two cleaners 17b can be sufficiently adjusted even by the two telescopic rods 17d, 17d. That is, since only two extensible rods 17d, 17d are required, the weight of the cleaning head 17 can be reduced. During cleaning, when the cylinder rod 17p-1 of the air cylinder 17p is extended, the caster 17c on the main surface of the mount 17a is pressed against the inner wall surface WS of the tunnel, and the first ring brush on the main surface of the mount 17a is pushed. 17s-1 and the second ring brush 17s-2 are in contact with the inner wall surface WS.

The casters 17c can also be pressed against the inner wall surface WS of the tunnel by adjusting the vertical position of the rod 15 with the air cylinder 13 in the rod 15 described above. In this way, when pressing only with the rod 15, the air cylinder 17p can be omitted. However, by roughly adjusting the height of the cleaning head 17 with the rod 15 and pressing the caster 17c against the inner wall surface WS of the tunnel with the air cylinder 17p, the cleaning head 17 can be easily moved to the inner wall surface with an appropriate pressure. WS can be pushed.

The operations of the moving means 11, the air cylinder 13, the turntable 14, etc. described above can be remotely controlled by an operator using a controller (not shown).

Next, a configuration example of a control section that controls the operation of the tunnel cleaning device M will be described with reference to FIG. FIG. 6 is a main circuit block diagram of the controller of the tunnel cleaning apparatus of this embodiment.

The control unit MC is control means for controlling the operation of the tunnel cleaning apparatus M, and includes a CPU (Central Processing Unit) 20a, a ROM (Read Only Memory) 20b, a RAM (Random Access Memory) 20c, and a movement control circuit. 20d-1, 20d-2, rotation control circuit 20e, detection circuits 20f-1, 20f-2, display control circuit 20g, interface 20h, communication interface 20i, EEPROM (Electrically Erasable Programmable ROM) 20j and Each of these units is electrically connected to the CPU 20a through a bus line 20k, and under the control of the CPU 20a, the operation of each unit is executed according to operation data and the like sent from the interface 20h and the communication interface 20i. It's becoming

The CPU 20a is electrically connected to the display unit DP and the input unit IP through the display control circuit 20g and the interface 20h, and can wirelessly communicate with the external wireless communication unit CC through the communication interface 20i.

The ROM 20b stores software (control program) for controlling the operation of the tunnel cleaning device M. FIG. The RAM 20c stores various data necessary for the operation of the CPU 20a, and temporarily stores data received from the input unit IP or the external wireless communication unit CC. The CPU 20a controls the movement control circuits 20d-1 and 20d-2, the rotation control circuit 20e, the detection circuits 20f-1 and 20f-2, the display control circuit 20g, the interface 20h and the communication interface 20i according to the control program in the ROM 20b. controls the operation of each part of the

The movement control circuits 20d-1 and 20d-2 transmit control signals to the motors 11a-2 and 11b-2 based on commands from the CPU 20a, and the base plate 10 (that is, the above-described cleaning device including the cleaning head 17). main body) movement. In addition, the rotation control circuit 20e transmits a control signal to the rotation motor 14m based on a command from the CPU 20a to rotate the turntable 14 (that is, the main body of the cleaning cleaning apparatus including the cleaning cleaning head 17). Control.

Under the control of the CPU 20a, the detection circuits 20f-1 and 20f-2 irradiate laser light LL (see FIG. 4, etc.) from the light emitting portions of the sensors SL1 and SL2 toward the inner wall surface WS. An analog signal received by the light receiving unit and converted from an optical signal to an electric signal is converted to a digital signal and transmitted to the CPU 20a. In this embodiment, the CPU 20a calculates the distance from each sensor SL1, SL2 to the inner wall surface WS based on the digital signals sent from the detection circuits 20f-1, 20f-2, and based on the calculation result, , the parallelism (the above-described inclination angle) between the tunnel cleaning device M and the inner wall surface WS in a plan view is calculated. Further, the CPU 20a determines whether or not the calculation result of the parallelism exceeds the allowable value, and if the parallelism is within the allowable range from the determination result, the movement control circuits 20d-1 and 20d-2 And the rotation control circuit 20e is controlled in the normal mode. On the other hand, when the parallelism exceeds the allowable value, the movement control circuits 20d-1 and 20d-2 and the rotation control circuit 20e are controlled in a special mode. Examples of control in the normal mode and special mode will be described later.

The EEPROM 20j records various setting data of the tunnel cleaning device M and detection data from the sensors SL1 and SL2. This setting data includes threshold data for determining whether or not the parallelism (the inclination angle) in a plan view between the tunnel cleaning device M and the inner wall surface WS is within the allowable range. The threshold data is stored as a reference tilt angle value for determining that if the value is less than the threshold, the value is within the allowable value, and if the value is equal to or greater than the threshold value, the value exceeds the allowable value. This threshold data can be changed through the input unit IP and the wireless communication unit CC according to the cleaning environment, the cleaning situation, and the like.

Next, an example of cleaning the inner wall surface WS of the tunnel by the tunnel cleaning apparatus M of the present embodiment will be described with reference to FIGS. 1 to 9. FIG. FIG. 7 is an explanatory diagram for explaining the cleaning operation of the inner wall surface of the tunnel using the tunnel cleaning apparatus of the present embodiment, and FIG. 8 is an enlarged side view of the main part of the cleaning head of FIG. 7 during the cleaning operation. FIGS. 9(a) and 9(b) are plan views of the moving means and the cleaning head in the pre-cleaning stage. Here, the case of polishing the inner wall surface WS of a tunnel formed in a curved shape will be described. Also, here, as shown in FIG. 9, the case where the tunnel cleaning/cleaning device M is substantially parallel to the inner wall surface WS (that is, normal mode) will be described. In FIGS. 9(a) and 9(b), the cleaning head 17 is simplified and the illustration of the rod 15 and the like is omitted in order to make the drawings easier to see.

First, the aerial work vehicle V shown in FIG. 1(a) is moved to the cleaning area, and laid alongside the inner wall surface WS of the tunnel. At this time, the deck portion Vb on which the tunnel cleaning device M is mounted is in a lowered state. As shown in FIG. 2, the tunnel cleaning apparatus M includes a cleaning surface of the cleaning head 17 (a surface facing the inner wall surface WS of the tunnel, which includes a cleaning device 17b, a caster 17c, and a first ring). The main surface of the mount 17a on which the brush 17s-1 and the second ring brush 17s-2 are installed faces the inner wall surface WS of the tunnel. Further, as shown in FIG. 4, the sensors SL1 and SL2 are arranged so as to face the inner wall surface WS of the tunnel, and the first direction D1 of the moving means 11 (the cleaning head 17 is moved by the first moving mechanism 11a). direction of movement) is along the extension direction of the tunnel.

Subsequently, as shown in FIG. 1(b), the deck portion Vb is raised to set the tunnel cleaning/cleaning device M at a predetermined height position. Thereafter, as shown in FIG. 9A, laser light LL is emitted from the sensors SL1 and SL2 toward the inner wall surface WS, and the reflected light RL is received from the sensors SL1 and SL2 to the inner wall surface WS. From the calculation result, the parallelism between the tunnel cleaning device M and the inner wall surface WS in plan view is calculated, and it is determined whether or not the calculated value is within the allowable range. Further, control in the normal mode or the special mode is performed based on the determination result. Here, as described above, since the tunnel cleaning device M and the inner wall surface WS are substantially parallel in plan view, control is performed in the normal mode. In the normal mode, as shown in FIG. 9B, the second moving mechanism 11b horizontally moves the cleaning head 17 along the second rail 11b-1 in a direction approaching the inner wall surface WS, A cleaning head 17 is arranged near the inner wall surface WS. Note that the turntable 14 (rotating motor 14m) is not rotated.

Then, as shown in FIGS. 7 and 8, the rod 15 of the tunnel cleaning device M raises the cleaning head 17, and the two cleaners 17b are pressed by the air cylinder 17p. is pressed against the inner wall surface WS of the tunnel. At this time, the casters 17c of the cleaning surface of the cleaning head 17 are pressed against the inner wall surface WS of the tunnel. Since the cleaning head 17 is installed in the RR 2 (see FIGS. 2 and 3) in a swingable state, the cleaning head 17 swings following the curved shape of the inner wall surface WS of the tunnel. , the ground surface faces the inner wall surface WS of the tunnel in an optimal state. Reference symbol R1 in FIG. 7 indicates the cleaning height position of the cleaning head 17 in this cleaning stage.

Subsequently, after pressing the cleaning head 17 against the inner wall surface WS of the tunnel, while spraying the abrasive material jetted from the injection port 17b-1 of the cleaner 17b against the inner wall surface WS of the tunnel, the first moving means 11 The moving mechanism 11a moves the base plate 10 along the first rail 11a-1 to move the cleaning head 17 in the extending direction of the tunnel. As a result, the inner wall surface WS is cleaned by grinding the deteriorated portion of the tunnel.

At the same time, the suction port 17b-2 of the cleaning head 17 sucks the peeled pieces and the abrasive material so that the peeled pieces and the abrasive material do not leak to the outside. In the present embodiment, as described above, the first ring brush 17s-1 of the cleaning head 17 serves as a wall to prevent exfoliated pieces and abrasives from leaking to the outside. By providing the ring brush 17s-2, it is possible to further suppress or prevent the peeled pieces and the abrasive from leaking to the outside. In this manner, the inner wall surface WS portion at the cleaning height position R1 in FIG. 7 is cleaned along the extending direction of the tunnel.

Next, after the cleaning process at the cleaning height position R1, the base plate 10 is moved by the second moving mechanism 11b of the moving means 11 in the tunnel cleaning device M, thereby moving the cleaning head 17 from the inner wall surface WS of the tunnel. The cleaning head 17 is moved by a predetermined amount in the second direction D2 in which the cleaning head 17 moves away from the cleaning head 17, and the cleaning cleaning head 17 is lifted by the rod 15 to the cleaning height position (that is, the cleaning height) indicated by the symbol R2 in FIG. position R1). At this time, the swing angle of the cleaning head 17 slightly changes in the horizontal direction following the curved surface at the cleaning height position R2 different from the cleaning height position R1 of the tunnel.

Here, when the cleaning head 17 is to be moved downward, the cleaning head 17 is lowered by the rod 15 and the air cylinder 17p to temporarily separate the cleaning head 17 from the inner wall surface WS of the tunnel, and then the cleaning head 17 is moved. The second moving mechanism 11b of the means 11 moves the cleaning head 17 in the second direction D2 to approach the inner wall surface WS of the tunnel. Then, the cleaning head 17 must be raised again and pressed against the inner wall surface WS of the tunnel.

In contrast, when the cleaning head 17 is moved upward as in the present embodiment, the cleaning head 17 is moved in the second direction without separating the cleaning head 17 from the inner wall surface WS of the tunnel. It can be moved to D2 and lifted by the rod 15 . Therefore, the change of the height position of the cleaning head 17 can be completed in a short time compared to the case where the cleaning head 17 is moved downward. However, the inner wall surface WS of the tunnel may be cleaned while moving the cleaning head 17 downward.

Subsequently, the cleaning head 17 is set at the cleaning height position R2, and after the cleaning head 17 is pressed against the inner wall surface WS of the tunnel, the abrasive ejected from the ejection port 17b-1 of the cleaner 17b is injected into the tunnel. While spraying against the inner wall surface WS of the tunnel, the base plate 10 is moved by the first moving mechanism 11a of the moving means 11 to move the cleaning head 17 in the extension direction of the tunnel (opposite to the cleaning direction at the cleaning height position R1). direction). As a result, the inner wall surface WS portion at the cleaning height position R2 in FIG. 6 is cleaned along the extending direction of the tunnel.

After the cleaning process at the cleaning height position R2, the inner wall surface WS of the tunnel is cleaned by sequentially performing the cleaning process at the cleaning height positions R3 and R4 in the same procedure as described above. . As shown in FIG. 5, the width of the abrasive spray from the injection port 17b-1 of the cleaner 17b (that is, the cleaning width) is narrower than the width of the cleaning head 17. The amount of movement when the position is moved from bottom to top is the ejection width of the abrasive (120 mm in this embodiment). However, in FIG. 7, in order to avoid complication of the drawing, it is shown on the premise that the cleaning width and the width of the cleaning head 17 are the same.

As described above, according to this embodiment, at the tip of the rod 15 of the tunnel cleaning device M, there is provided a swingable state in the first swinging direction and in the second swinging direction crossing (perpendicular to) the first swinging direction. By providing the cleaning head 17, when cleaning the inner wall surface WS of the tunnel formed in a curved shape, the cleaning head 17 is swung to follow the curved state of the inner wall surface WS at the cleaning position. Therefore, the inner wall surface WS of the curved tunnel can be satisfactorily cleaned.

Further, since the inner wall surface WS of the tunnel, which is formed in a curved shape, can be cleaned by the tunnel cleaning device M, the cleaning time and cost can be greatly reduced compared to the manual cleaning of the inner wall surface WS of the tunnel. can be reduced to

By the way, when the aerial work vehicle V is placed alongside the inner wall surface WS of the tunnel in order to clean the inner wall surface WS of the tunnel, the aerial work vehicle V is slightly oblique to the inner wall surface WS of the tunnel in plan view. It may be placed. In this case, the cleaning surface of the cleaning head 17 cannot face the inner wall surface WS of the tunnel in parallel. Since the first rail 11a-1 of the tunnel cleaning device M and the inner wall surface WS of the tunnel are not parallel in plan view, the cleaning head 17 is moved along the first rail 11a-1. As a result, the cleaning head 17 does not move parallel to the inner wall surface WS, and moves away from the inner wall surface WS as the cleaning head 17 moves. end up Therefore, it becomes impossible to move the cleaning head 17 in a state of being appropriately pressed against the inner wall surface WS of the tunnel. may be lost.

Therefore, in this case, in the present embodiment, control is performed in the special mode described above. An operation example in the special mode of the tunnel cleaning apparatus M of the present embodiment will be described below with reference to FIGS. 10 to 12. FIG. FIGS. 10(a) and 10(b) are plan views of the moving means and the cleaning head in the pre-cleaning stage, FIGS. 11(a) and 11(b) are plan views of the moving means and the cleaning head during cleaning; FIG. 12(a) is a plan view of the moving means and the cleaning head during cleaning, and FIG. 12(b) is a plan view showing the trajectory of the cleaning head during cleaning.

In FIGS. 10 to 12, as an example of the case where the tunnel cleaning device M and the inner wall surface WS are not substantially parallel, the first rail 11a-1 and the inner wall surface WS are not polished when viewed from above. The case of gradual spacing along the sweeping direction (from top to bottom in FIGS. 10-12) is shown. 10 to 12, the cleaning head 17 is simplified and the illustration of the rod 15 and the like is omitted in order to make the drawings easier to see. Also, in FIG. 12(b), the illustration of the second moving mechanism portion 11b is omitted in order to make the drawing easier to see. Also, in FIGS. 11 and 12, coordinates X0 and X1 are shown to facilitate understanding of changes in the position of the first rail 11a-1.

First, after the aerial work vehicle V is arranged in the cleaning area as described above, as shown in FIG. By receiving the reflected light RL, the distance from each sensor SL1, SL2 to the inner wall surface WS is calculated, and from the calculation result, the parallelism between the tunnel cleaning device M and the inner wall surface WS in a plan view is calculated, It is determined whether or not the calculated value is within the allowable range. Here, it is determined that the parallelism exceeds the allowable range.

Subsequently, as shown in FIG. 10(b), by rotating the rotary motor 14m of the turntable 14 based on the calculation result of the parallelism between the tunnel cleaning device M and the inner wall surface WS, the tunnel The orientation (sweeping angle) of the cleaning surface of the cleaning head 17 of the cleaning device M is finely adjusted so that the cleaning surface of the cleaning head 17 of the cleaning device M is substantially parallel to the inner wall surface WS of the tunnel. .

Subsequently, as shown in FIG. 11(a), by driving the motor 11b-2 of the second moving mechanism portion 11b, the base plate 10 (that is, the base plate 10) along with the first rail 11a-1 (tie rod 11a-5) is moved. The cleaning head 17) is horizontally moved along the second rail 11b-1 in a direction approaching the inner wall surface WS, and the cleaning head 17 is arranged in the vicinity of the inner wall surface WS. Note that the first moving mechanism 11a is not operated at this stage.

Next, the cleaning head 17 is pressed against the inner wall surface WS of the tunnel in the same manner as in the normal mode. Subsequently, while spraying the abrasive against the inner wall surface WS of the tunnel from the injection port 17b-1 of the cleaner 17b, the base plate 10 is moved as shown in FIGS. By moving the cleaning head 17 in the extending direction of the tunnel, the deteriorated portion of the tunnel is ground and the inner wall surface WS is cleaned.

Here, in this example, as described above, the first rail 11a-1 of the tunnel cleaning device M is inclined with respect to the inner wall surface WS of the tunnel. Therefore, during the cleaning process, only the motor 11a-2 of the first moving mechanism 11a is driven to move the cleaning head 17 along the first rail 11a-1 in the cleaning direction (Fig. 10 to 12), the cleaning head 17 gradually separates from the inner wall surface WS. If the inclination of the first rail 11a-1 with respect to the inner wall surface WS of the tunnel is reversed, the cleaning head 17 gradually approaches the inner wall surface WS as the cleaning head 17 moves, and cannot move.

Therefore, in the present embodiment, the motor 11a-2 of the first moving mechanism portion 11a and the motor 11b-2 of the second moving mechanism portion 11b are simultaneously driven during the cleaning process. That is, the base plate 10 (that is, the cleaning head 17) along the second rail 11b-1 along the first rail 11a-1 (tie rod 11a-5) approaches the inner wall surface WS (arrows Ax1 and Ax2). direction), and the base plate 10 (that is, the cleaning head 17) is moved horizontally along the first rail 11a-1 in the cleaning direction (directions of arrows Ay1 and Ay2). As a result, as shown in FIG. 12(b), the cleaning head 17 is obliquely moved in plan view. Therefore, the cleaning head 17 can be moved substantially parallel along the inner wall surface WS in plan view.

As described above, in the present embodiment, even if the first rail 11a-1 of the tunnel cleaning apparatus M is arranged obliquely with respect to the inner wall surface WS of the tunnel in plan view, the cleaning process is performed. The head 17 can be opposed substantially parallel to the inner wall surface WS, and the cleaning head 17 can be moved while being pressed against the inner wall surface WS appropriately. can be ground to

(Second embodiment)

FIG. 13 is a conceptual diagram showing a tunnel cleaning system to which the tunnel cleaning device of this embodiment is attached.

In this embodiment, the aerial work vehicle V is different from that in the above embodiment. Other configurations are the same as those of the above embodiment. The aerial work vehicle V of the present embodiment includes a boom Va provided on the loading platform side, and a deck portion Vb provided at the tip of the boom Va in a state capable of undulating, turning, and linearly expanding and contracting. I have it. The tunnel cleaning device M is mounted on the deck portion Vb. When cleaning the inner wall surface of the tunnel, the boom Va is operated to set the tunnel cleaning device M to a predetermined height (the cleaning height positions R1 to R4 (see FIG. 6)).

In the aerial work vehicle V of the present embodiment, the cleaning angle of the cleaning head 17 (the angle for setting the parallelism between the cleaning surface of the cleaning cleaning head 17 and the inner wall surface of the tunnel) is set to Can be adjusted by movement.

Further, when the structure of the moving means 11 (see FIG. 4) of the tunnel cleaning device M is such that the base plate 10 can be moved in the first direction D1 but cannot be moved in the second direction D2. However, the boom Va can move the cleaning head 17 in the second direction D2. Other effects are the same as those of the above embodiment.

The aerial work vehicle V may not be of such a telescopic boom type, but may be of a bending boom type in which the boom bends in the middle, or may be of a lifter type (mast boom type or scissors type) in which the deck portion Vb is vertically raised and lowered. .

Although the invention made by the present inventor has been specifically described based on the embodiments, the embodiments disclosed in this specification are illustrative in all respects and are limited to the disclosed technology. is not. That is, the technical scope of the present invention should not be construed in a restrictive manner based on the description of the above embodiments, but should be construed according to the description of the scope of claims. All modifications are included as long as they do not deviate from the description technology and equivalent technology and the gist of the claims.

In the above embodiment, the case where the sensors SL1 and SL2 are installed in the tunnel cleaning apparatus M has been described, but the installation positions of the sensors SL1 and SL2 are not limited to this and can be variously changed. The sensors SL1 and SL2 may be installed on a part of the aerial work vehicle V or the like. In addition, the operator measures the parallelism (inclination angle) between the tunnel cleaning device M and the inner wall surface WS of the tunnel by using a measuring device equipped with the sensors SL1 and SL2, and the measurement results are shown in FIG. It may be transmitted (recorded) to the EEPROM 20j of the control unit MC through the wireless communication unit CC and the input unit IP shown.

In the above description, the case where the cleaning apparatus of the present invention and the method for cleaning a wall surface using the cleaning apparatus are applied to cleaning a tunnel having a curved inner wall surface is shown. It can also be applied to the cleaning of tunnels with planar inner wall surfaces and the cleaning of bridge walls of bridge piers.

10 Base plate 10a Wheel 10b Transmission rod 11 Moving means 11a First moving mechanism 11a-1 First rail 11a-2 Motors 11a-3a, 11a-3b Sprocket 11a-4 Chain 11a-5 Tie rod 11a-6 Connecting rod 11a -6a projecting piece 11b second moving mechanism portion 11b-1 second rail 11b-2 motor 11b-3 tie rod 11b-4 shaft 11b-5 bearing 12 holding frame 13 air cylinder 13a cylinder rod 14 turntable 14m rotary motor 15 Rod 15-1 Mounting plate 15-2 Protrusions 16a, 16b Roller pair 17 Grinding head 17a Mounting base 17a-1 Rotary plate 17b Grinding machine 17b-1 Injection port 17b-2 Suction port 17b-3 Abrasive supply pipe 17c caster 17s-1 first ring brush 17s-2 second ring brush 17r arm portion 17r-1 base plate 17r-2 first support plate 17r-3 second support plate 17x-1 fastening member 17x-2 Fastening member 17p Air cylinder 17p-1 Cylinder rod 17d Telescopic rod 17e Support frame 17h Rear plate 20a CPU
20b ROM
20c RAM
20d-1, 20d-2 movement control circuit 20e rotation control circuit 20f-1, 20f-2 detection circuit 20g display control circuit 20h interface 20i communication interface 20j EEPROM
20k Bus line S Cleaning system WS Inner wall surface M Tunnel cleaning device MC Control unit V Aerial work vehicle Vp Pantograph unit Vb Deck unit Va Boom D1 First direction D2 Second direction RR1 First rocking direction RR2 Second 2 swing directions SL1, SL2 sensor DP display unit IP input unit CC wireless communication unit

Claims (4)

a cleaning device main body including a cleaning head for cleaning a wall surface;
a base plate on which the main body of the cleaning device is mounted;
a moving means comprising a base plate mounting portion for mounting the base plate, and for moving the base plate along a mounting surface of the base plate mounting portion ;
a turntable provided between the cleaning device main body and the base plate, on which the cleaning device main body is rotatably mounted along a mounting surface on which the cleaning device main body is mounted;
a rotary motor that rotates the turntable in both forward and reverse directions in a horizontal plane ;
The moving means
a first movement mechanism that reciprocates the base plate in a first direction;
a second movement mechanism that reciprocates the base plate in a second direction that intersects with the first direction;
The first movement mechanism section includes:
a first rail on which the base plate is drivably mounted;
a first driver for reciprocating the base plate on the first rail in the first direction;
The second moving mechanism unit is
a second rail on which the first rail is movably mounted;
a second driving body that reciprocates the first rail on the second rail in the second direction;
When the main body of the cleaning device is obliquely arranged with respect to the wall surface when the wall surface is cleaned, the rotary motor is arranged so that the cleaning surface of the cleaning head is parallel to the wall surface. and a control means for controlling the operation of the first driving body and the second driving body so that the cleaning head moves parallel to the wall surface while rotating the turntable. and cleaning device. The cleaning device main body includes a plurality of detection means for detecting the distance from the cleaning device main body to the wall surface,
The control means calculates an inclination angle between the main body of the cleaning device and the wall surface in plan view from the detection information obtained by the detection means, and operates the first driving body and the second driving body. 2. The cleaning and cleaning apparatus according to claim 1, wherein is controlled. The main body of the cleaning device is
a rod that supports the cleaning head in a swingable state;
a driving means for moving the rod up and down;
3. A cleaning and cleaning apparatus according to claim 2 , further comprising holding means for holding said rod . A method for cleaning a wall surface using the cleaning device according to claim 3,
measuring a distance from the detection means to the wall surface by the detection means to calculate an inclination angle in plan view between the main body of the cleaning device and the wall surface;
rotating the turntable with the rotary motor to make the cleaning surface of the cleaning head parallel to the wall surface in plan view;
moving the first rail horizontally in a direction approaching the wall surface, and driving the rod by the driving means to press the cleaning head against the wall surface;
The base plate on the first rail is moved by the first driving body to move the cleaning head in the cleaning direction, and at the same time, the second driving body on the second rail is moved by the second driving body. 1 rail is horizontally moved in a direction approaching the wall surface, and the cleaning head is moved in parallel along the wall surface in plan view to clean the wall surface;
A method for cleaning a wall surface, characterized by:

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