JPH04102420A - Automatic cleaning device - Google Patents

Abstract

PURPOSE:To enable a traversing carriage to be securely returned to an elevating carriage, even when the traversing carriage transversely traveling along a surface to be cleaned has consumed a large quantity of electric power of a battery, by detecting and controlling the terminal voltage of the battery when it becomes less than a set value. CONSTITUTION:When the voltage of a battery 5 decreases less than a set value K, before all the automatic cleaning of cleaning stories capable of continuous cleaning has been completed, a contact 19a closes to form a circuit passing through a bus bar (+), a contact 19a, a return relay 20 and a bus bar (-), and the return relay 20 is excited. Then the automatic cleaning by means of a cleaning tool is interrupted, and further, a contact 20c is closed to excite a B-directional traversing relay 15, so that a traversing carriage 4 begins to transversely travel in the direction shown by the arrow B, or toward the direction of an elevating carriage 3. At that time, since the terminal voltage of the battery 5 is maintained as much as the set value K, the traversing carriage 4 can be securely returned from the surface 1b to be cleaned to the elevating carriage 3.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an automatic cleaning device for cleaning windows and walls of YIS objects.

[Conventional technology] In recent years, windows and walls of high-rise buildings have been repaired without the need for manual labor.

Automatic cleaning devices are used in various locations to clean safely and quickly.

FIGS. 2 and 3 show a conventional automatic cleaning device that horizontally cleans the windows of a building on each floor. In the figure, (
1) is a building such as a building, (lal is the roof of building (1),
(ib) is the surface to be cleaned consisting of windows installed on each floor of building (1), (lc) is a wall recess provided perpendicular to the wall of building (1), and (ld) is the surface of building (1). These are horizontal rails arranged above and below the cleaning surface (ib).

(2) is placed on the roof (la) of building (1) and is placed on the roof of building (1).
(3) is a roof car with a roof car (not shown);
2) is a lifting trolley that is suspended by a wire lobe (2a) fed out from the hoisting machine and moves up and down the wall surface (LC) of the building (1); (4) is a horizontal rail (ldl) with running wheels (not shown); This traversing cart (4) is equipped with running wheels, a running motor (not shown) for driving the running wheels, and a traversing cart (4) that traverses the surface to be cleaned (1b) by engaging the traversing cart (4). A cleaning tool such as a wiper (not shown) for automatically cleaning the
Storage battery (5) that supplies power to the travel motor and cleaning tools
This is the provision.

Further, the elevating cart (3) is provided with a pair of holding rails (3a) having the same cross-sectional shape as the horizontal rail (1d), and the traversing cart (4) is attached to the pair of holding rails (3a).
By engaging the running wheels of
3).

Furthermore, when the lifting trolley (3) descends the wall surface (lc) of the building (1) from the roof car (2) to the cleaning floor, the pair of holding rails (3a) are arranged above and below the surface to be cleaned (lb). The horizontal rails (ld) are arranged in a continuous straight line with each other.

Next, the operation of the conventional automatic cleaning device will be explained. First, the hoisting machine of the roof car (2) is operated.

The elevating trolley (3) equipped with the traversing trolley (4) is the building (1)
A wall recess (lc) provided perpendicularly to the wall is lowered to the cleaning floor and stopped. When the lifting cart (3) stops, a pair of holding rails (3a) provided on the lifting cart (3) and horizontal rails (1) arranged above and below the surface to be cleaned (1b)
Each of d) is a continuous linear state. Next, the traveling motor is driven by receiving electric power from the storage battery (5) loaded on the traversing truck (4).

When the running wheels roll.

The traversing cart (4) moves from the elevating cart (3) to the surface to be cleaned (lb) of the building (1). Then, continue with the storage battery (5
), the traveling motor is driven, and the traversing trolley (4) travels in the six directions of the arrows in Figure 2.Furthermore, the cleaning tool receives power from the storage battery (5) and operates to clean the target. The cleaning surface (lb) is automatically cleaned.

When the traversing truck (4) traverses to the running end C, the traveling motor of the traversing truck is activated in the opposite direction.

The traversing cart (4) traverses in the opposite direction to that during automatic cleaning, that is, in the direction of arrow B in FIG. 2, and is again attached to the elevating cart (3).

After this, the traversing trolley (4) charges the storage battery (5) - times to automatically clean the surface to be cleaned (lb) of the number of floors to be cleaned.
are automatically cleaned one after another by the same operation as described above. The number of floors to be cleaned that can be continuously cleaned is preset based on the charging capacity of the storage battery (5) loaded on the traversing trolley (4). When the automatic cleaning of all the cleaning floors that can be continuously cleaned is completed, the traversing cart (4) is attached to the elevating cart (3) and hoisted onto the roof car (2), and the storage battery (5
) is charged by receiving power from the roof car (2) side. When charging of the storage battery (5) is completed, the traversing trolley (4)
) is attached to the lifting trolley (3) and descends to the next cleaning floor,
Automatic cleaning will start again.

Note that the method of automatically cleaning the surface to be cleaned (lb) using the cleaning tool provided on the traversing trolley (4) is already well known, so a description thereof will be omitted.

[Problems to be Solved by the Invention] In the conventional automatic cleaning device as described above, power is supplied to the traveling motor and the cleaning tool from the storage battery (5) loaded on the traversing truck (4), and the cleaning device cleans the building (1). The surface to be cleaned (lbl) is automatically cleaned.

By the way, when the traversing truck (4) is traveling in the six directions of arrows in FIG. 2, a strong wind blows from the direction opposite to the direction in which the traversing truck (4) is traveling, that is, from the direction of arrow B in FIG. The traversing truck (4) has to traverse against strong winds, which increases running resistance and causes the traversing motor to consume several times more power than when there is no wind. Therefore, in order to cope with this, it is possible to increase the charging capacity of the storage battery (5), but since the storage battery (5) is inherently heavy, increasing the charging capacity will reduce the weight of the traversing trolley (4). Therefore, the strength of the horizontal rail (ld) with which the traversing truck (4) engages must be increased.

There is a problem with costs. Another option is to reduce the number of floors to be cleaned automatically by charging - times for safety reasons, but this has the problem that the number of times the storage battery (5) needs to be charged increases and the cleaning efficiency decreases. .

Therefore, the storage battery (5) loaded on the traversing truck (4) is often used in a state where there is not enough margin in the amount of charged electric power.

Therefore, when the traversing trolley (4) is automatically cleaning the surface to be cleaned (ib) and is hit by a strong wind from the direction of arrow B, a large amount of the electric power charged in the storage battery (5) is consumed in a short period of time. There was a problem in that the voltage of the storage battery (5) decreased and the traveling motor stopped, making it impossible for the traversing truck (4) to return to the lifting truck (3) from the surface to be cleaned (Ib).

This invention was made in order to solve this problem, and even when the traversing cart traversing the surface to be cleaned consumes a large amount of power from the storage battery (5), it is possible to reliably return the power to the elevating cart. The purpose is to provide an automatic cleaning device that can.

[Means for Solving the Problems] An automatic cleaning device according to the present invention includes a traversing cart that has a cleaning tool for cleaning a surface to be cleaned and that traverses along the surface to be cleaned;
An elevating cart that vertically moves up and down a wall surface having a surface to be cleaned and transports the traversing cart to a position where the traversing cart is moved traversing the surface to be cleaned; a storage battery provided in the traversing cart for supplying power to the traversing cart; A voltage detector that detects the terminal voltage of a storage battery.

A traversing truck return control means is provided for returning the traversing truck from the surface to be cleaned to the elevating truck when the terminal voltage of the storage battery detected by a voltage detector provided on the traversing truck falls below a set value.

[Function] In the automatic cleaning device configured as described above, the voltage detector detects the terminal voltage of the storage battery, and when this terminal voltage falls below a set value, the traversing truck return control means lifts the traversing truck from the surface to be cleaned. to be returned to.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a control circuit for controlling the traversing and cleaning of the traversing truck (4), in which a voltage detector and traversing truck return control means are added to the conventional device. Others are
It has the same configuration as the conventional device shown in FIGS. 2 and 3.

In the diagram of FIG. 1, (+) indicates a bus line (+) and (-) indicates a bus line (=). (11) is a start switch that starts the traversing trolley (4) to traverse in the six directions of arrows (Fig. 2); (12) is an incoming traversing relay; this incoming traversing relay (12) is energized. Then, the transverse trolley (4) points to arrow A.
Traverse in the direction. (12a) is the input direction lateral relay (1
(131 is a normally closed contact of a running end limit switch (not shown) that detects the running end (C in Figure 3) when the traversing cart (4) travels in the six directions of arrows. be.

(14) is a start switch that starts the traverse cart (4) to traverse in the direction of arrow B (Fig. 2), (is) is a B direction traverse relay, and this B direction traverse relay (15) is energized. Then, the traversing truck (4) traverses in the direction of arrow B. (15a) is the normally open contact of the B direction traverse relay (Is), (16) is the travel end limit switch that detects the travel end (D in Figure 3) when the traverse truck (4) travels in the direction of arrow B. (not shown) is a normally closed contact. (17) is a cleaning start switch that starts to operate the cleaning tool installed on the traversing trolley (4), and (18) is a cleaning relay that detects the terminal voltage of the storage battery (5). (19a) is the normally open contact of the voltage relay (19). Voltage relay (1
9) is configured such that it operates when the terminal voltage of the storage battery (5) decreases to a set value, and the contact (19a) closes.

The settings shown here are:

K = −E E: The minimum voltage of the storage battery (5) required when the traversing truck (4) starts traversing from the running end C and returns reliably to the elevating truck (3). Namely.

If the voltage of the storage battery (5) falls below this value E, the traveling motor will stop during the return trip, and the traversing truck (4) will no longer be able to traverse and return home.

k: Safety factor. Generally, it is set to about 1.2.

Hail to you.

(20) is a return relay, (20a) is a normally open contact of the return relay (20), and (20b) (2Qc) is a normally closed contact of the return relay (20). In addition, the return relay (20) and its contacts (20a) (20b) (20c
) is called the traversing bogie return control means.

In addition, the starting switch (11), contact (20b), contact (13), and A direction traverse relay (12) are connected to the bus bar (+)
and the bus bar (-). Further, the contact (12a) is connected in parallel to the starting switch (11). Furthermore, the starting switch (14), the contact (16) and the B direction traverse relay (15) are connected to the bus (+) and the bus (-).
) are connected in series. Also, contact (20c)
and the contact (15a) are each connected in parallel with the starting switch (14). Then, press the cleaning start switch (17
).

The contact (20a) and cleaning relay (18) are connected to the bus bar (+)
and the bus bar (-). Further, the contact (lllla) is connected in parallel with the cleaning start switch (17). Furthermore, a contact (19a) and a return relay (2
0) is connected in series between the bus bar (+) and the bus bar (-).

Next, the operation of this embodiment will be explained. First, the elevating cart (3) equipped with the traversing cart (4) is mounted on the roof car (2).
) and stops at the cleaning floor, and when the stop position is confirmed by a beam sensor (not shown), the start switch (11
) is turned on, bus bar (+) - starting switch (11) - contact (20b) - contact (13) - A direction traverse relay (1
2) The - busbar (-) path is formed and the incoming transverse relay (12) is energized. When the incoming direction traversing relay (12) is energized, its contact (12a) closes and the incoming direction traversing relay (12) is self-retained, and at the same time, the travel motor of the traversing truck (4) is driven to move the traversing truck (4). ) is in the six directions of arrows,
In other words, the surface to be cleaned of the building (1) (
lb) starts moving sideways in the direction.

When the beam sensor (not shown) detects that the traversing cart (4) faces the surface to be cleaned (lbl), the cleaning start switch (17) is turned on, and the bus bar (+) - cleaning start switch (17) - Contact (20a) - Cleaning relay (18)
- The busbar (-) path is formed and the cleaning relay (18) is energized. When the cleaning relay (I8) is energized, its contact (18a) closes to self-hold the cleaning relay (18), and at the same time, the cleaning tool operates to automatically clean the surface to be cleaned (lb).

The traversing cart (4) automatically cleans the surface to be cleaned (1b) and traverses in the six directions of the arrows, and when it reaches the end of cleaning on the surface to be cleaned (lb), the end of cleaning is detected by a beam sensor (not shown). Then, the cleaning start switch (17) opens.

The cleaning relay (18) is de-energized and the automatic cleaning ends. Immediately after this, the traversing truck (4) reaches the running end C, the contact point (13) of the running end limit switch opens, and the excitation of the incoming direction traversing relay (12) is released.

The traversing cart (4) that was traversing in the six directions of the arrow stops.

When a predetermined time has elapsed after the traversing truck (4) has stopped, the start switch (14) is turned on, and the bus bar (+) - start switch (14) - contact (16) - B direction traverse relay (is)
- A bus line (-) path is formed and the B-direction traverse relay (1
5) is excited. When the B-direction traverse relay 5) is excited, its contact (15a) closes and the B-direction traverse relay (5) is energized.
I5) is self-maintained.

At the same time, the traveling motor of the traversing truck (4) is driven, and the traversing truck (4) starts traversing in the direction of arrow B, that is, from the running end C toward the lifting truck (3). And the rampant trolley (
4) returns from the surface to be cleaned (tb) to the lifting trolley (3),
When the travel end is reached and the travel end is detected, the contact (16) of the travel end limit switch opens and the B direction traverse relay (I5) is deenergized.

The traversing truck (4) stops. Note that the state in which the traversing carriage (4) is stopped at the running end is a state in which the traversing carriage (4) is attached to the elevating carriage (3).

By the way, if a strong wind blows in the direction of arrow B while the traversing trolley (4) is automatically cleaning the surface to be cleaned (ib) and traveling in the direction of the six arrows, the traversing trolley (4) will travel sideways against the strong wind. The motor consumes more power than normal.Then, before the automatic cleaning of all floors that can be continuously cleaned is completed,
2 if the voltage of the storage battery (5) drops by the set value.
The following control is performed. That is, when the voltage of the storage battery (5) decreases to the set value, the contact (19a) closes and a path of bus bar (+) - contact (19a) - return relay (20) - bus bar (-) is formed, and the return relay (20) is excited. and.

When the return relay (20) is energized, 1, for example, the traversing truck (
4) is moving across the surface to be cleaned (1b) in the six directions of arrows, the contact (20a) opens and the cleaning relay (18) is de-energized and the automatic cleaning by the cleaning tool is interrupted.

At the same time, the contact (20b) opens and enters the transverse relay (
I2) is de-energized, and the traversing truck (4) that was traversing in the six directions of the arrow stops. Furthermore, the contact (20c) closes and the B direction traversing relay (15) is energized, and the traversing trolley (
4) starts moving in the direction of arrow B, that is, in the direction of the lifting truck (3). After this, the traversing cart (4) traverses to the elevating cart (3), and when it is attached to the elevating cart (3),
The contact (16) opens and the traversing truck (4) stops. At this time, since the terminal voltage of the storage battery (5) is maintained only at the set value, the traversing truck (4) can reliably return from the surface to be cleaned (lb) to the lifting truck (3).

Next, while the traversing cart (4) is traversing in the direction of arrow B, the contact point (1
When 9a) is closed, the return relay (20) is energized and the contact (20c) is closed. However, already the bus line (+) −
Since the path of starting switch (14) - contact (16) - B direction traversing relay (15) - bus bar (-) is formed, the traversing truck (4) continues to traverse in the direction of arrow B and lifts the elevator truck (3). Returns to. Of course, in this case the traversing trolley (4)
can be reliably returned to the elevating cart (3).

Therefore, according to this embodiment, when the voltage of the storage battery (5) loaded on the traversing truck (4) decreases by the set value,
Lifting/lowering the traversing cart (4) from the surface to be cleaned (1b) (3)
Therefore, even if the power consumption of the storage battery (5) increases more than usual, the traversing truck (4) will not be unable to return to the elevating truck (3).

Further, according to this embodiment, after the storage battery (5) is charged, it is not necessary to set the cleaning floors on which the traversing trolley (4) continuously performs automatic cleaning with sufficient margin as in the conventional device.

Therefore, during automatic cleaning, the roof car (2)
) The number of times the wind-up storage battery (5) is charged is reduced, so cleaning efficiency can be improved.

Although the configuration of the control circuit is shown as a relay circuit in this embodiment, the present invention is not limited to this.
The functions of the control circuit may be configured by program control using a microcomputer.

[Effects of the Invention] As explained above, the automatic cleaning device according to the present invention has the following effects:
A traversing cart, an elevating cart, a storage battery that supplies traversing power to the traversing cart, a voltage detector that detects the terminal voltage of the storage battery, and a voltage detector that raises and lowers the traversing cart from the surface to be cleaned when the terminal voltage of the storage battery falls below a set value. Since the traversing truck returns to the cart, if the terminal voltage of the storage battery detected by the voltage detector falls below a set value while the traversing cart is traversing the surface to be cleaned, the traversing cart returns to the cleaning surface. No matter which direction the traversing cart is traversing on a surface, the traversing cart can be reliably returned to the elevating cart, which has the effect of improving the reliability of the automatic cleaning device and the safety of cleaning work.

[Brief explanation of the drawing]

Fig. 1 is a control circuit diagram for explaining the traversing and cleaning operations of a traversing cart showing one embodiment of an automatic cleaning device according to the present invention, Fig. 2 is an overall perspective view showing a conventional automatic cleaning device, and Fig. 3 is a similar diagram. FIG. 3 is a front view showing the overall configuration. In the figure, (1)...Building, (ib)...Surface to be cleaned. (3) --- Lifting trolley, (4) --- Traversing trolley, (
5)...Storage battery, (11) (14)--Start switch, (12)...Transverse direction relay, (15)
)...B-direction traverse relay, (19)--voltage detector, (20)...return relay. Note that the same reference numerals in each figure indicate the same or corresponding parts.

Claims (1)

[Scope of Claims] A traversing cart that has a cleaning tool for cleaning the surface to be cleaned and traverses along the surface to be cleaned, and a traversing cart that moves vertically up and down a wall surface having the surface to be cleaned, and moves the traversing cart to the surface to be cleaned. an elevating cart for transporting the traversing cart to a position where the traversing cart is moved; a storage battery provided on the traversing cart and supplying power for traversing to the traversing cart; a voltage detector provided on the traversing cart for detecting a terminal voltage of the storage battery; Traversing truck return control means for returning the traveling truck from the surface to be cleaned to the lifting truck when the terminal voltage of the storage battery detected by the voltage detector provided on the traveling truck falls below a set value. An automatic cleaning device featuring: