JPH05192283A - Washing robot for membrane roof - Google Patents

Abstract

PURPOSE:To realize automatization and labor saving for a washing work by moving a robot main body along a guide rope while being accompanied with rolling of wheels by a driving means, and washing a membrane roof by a washing device provided on the robot main body in connection with this movement. CONSTITUTION:When a switch of a washing robot 10 is turned on, a first and a second deceleration motors 24, 26, a very high pressure pump 38, a driving motor 40 and a torque motor 58 are operated. By an operation of the first and the second deceleration motors 24, 26, guide ropes 18a, 18b are coiled round drums 24a, 26a and the washing robot 10 moves. On the other hand, by an operation of the very high pressure pump 38, high pressure washing water is injected to a membrane roof 12 from an injection nozzle 32, and also, by an operation of the driving motor 40, a drum type brush 34 is rotated. Accordingly, the membrane roof 12 is washed by the washing water injected from the injection nozzle 32 in connection with a movement of the washing robot 10, and also, dirt which does not come off by the injection nozzle 32 is washed cleanly by the drum type brush 34 which is rotated in a tight contact state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning robot for automatically cleaning a membrane roof.

[0002]

2. Description of the Related Art In recent years, there has been a baseball field, a ski resort, etc., which is used as an indoor stadium by using a structure such as a large space facility having a pillar-less structure. By using it, a pillar-free structure can be easily obtained. For example, JP-A-60-217141 (B32)
As described in B 3/14), many structures with this membrane roof structure have been built.

[0003]

However, in such a conventional structure using a membrane roof, the outer surface of the membrane roof is always exposed to wind and rain, and therefore is easily contaminated by dust and soot in the air. This stain is conspicuous not only in the appearance of the membrane roof building but also from the inside of the building portion, and the aesthetic appearance of the membrane roof building is significantly impaired.

Therefore, it is necessary to wash the membrane roof at regular intervals. When cleaning the membrane roof, the membrane roof itself is soft and very slippery. It was done by hand with a lifeline attached. For this reason, there has been a problem that the cleaning work of the membrane roof becomes extremely difficult and dangerous, and the working period becomes extremely long.

In view of such conventional problems, the present invention makes it possible to save labor by automating the cleaning work of the membrane roof, remarkably improve the work safety, and shorten the work period. It is an object to provide a cleaning robot for a membrane roof.

[0006]

In order to achieve the above object, the first structure of the present invention is to provide a robot main body suspended on wheels rolling on the outer surface of the membrane roof and an outer surface of the membrane roof. A guide rope that is stretched along and guides the moving direction of the robot main body, a driving unit that moves the robot main body along the guide rope, and a membrane roof cleaning device provided on the robot main body.

Further, it is preferable that the cleaning device comprises a spray nozzle for spraying cleaning water onto the membrane roof at a high pressure, and a drum type brush which rotates in pressure contact with the membrane roof.

Further, in order to achieve such an object, in the third structure of the present invention, in addition to the first structure, the robot main body is provided at the terminal end portion of the guide rope so as not to have a membrane roof. A reshuffling means for transferring to the cleaning portion is provided.

Further, in order to achieve the above object, in the fourth structure of the present invention, in addition to the third structure, a new guide rope is provided in the rearrangement direction of the robot main body with the movement of the robot main body. Guide rope automatic routing means for routing

[0010]

In the membrane roof cleaning robot having the above-mentioned structure according to the first structure of the present invention, the robot main body moves along the guide rope with the rolling of the wheels by the driving means, Accordingly, the membrane roof can be automatically cleaned by the cleaning device provided in the robot body.

Further, the cleaning device is provided with an injection nozzle for ejecting cleaning water onto the membrane roof at a high pressure, and a drum type brush which rotates in pressure contact with the membrane roof. After the dirt is removed with the cleaning water, the rotation of the drum type brush can effectively remove the dirt that was not removed by the injection of the cleaning water.

In addition, in the membrane roof cleaning robot according to the third configuration of the present invention, in addition to the first configuration, the robot main body is provided with a membrane at the end of the guide rope. Since the refilling means for transferring to the unwashed portion of the roof is provided, the refilling work of the robot main body can be easily performed.

Further, in the membrane roof cleaning robot according to the fourth structure of the present invention, in addition to the third structure, the robot main body is newly moved in the rearrangement direction in accordance with the movement of the robot main body. Since the automatic guide rope arranging means for arranging various guide ropes is provided, the guide rope arranging work can be easily performed.

[0014]

Embodiments of the present invention will be described in detail below with reference to the drawings. 1 to 6 show an embodiment of the present invention.
1 is a plan view of the cleaning robot, FIG. 2 is a side view of the cleaning robot viewed from the X direction in FIG. 1, FIG. 3 is a side view of the cleaning robot viewed from the Y direction in FIG. 1, and FIG. Z line sectional view,
Fig. 5 is a front view of the cleaning robot, Figs. 6 (A), (B),
(C), (D) is a schematic explanatory drawing which shows operation | movement of a washing robot in order.

That is, the cleaning robot 10 of this embodiment is shown in FIG.
5, as shown in FIG. 5, a robot body 16 suspended on four wheels 14 rolling on the outer surface of the membrane roof 12,
The robot main body 1 is stretched along the outer surface of the membrane roof 12.
6, a guide rope 18 for guiding the moving direction of the robot 6, a driving means 20 for moving the robot body 16 along the guide rope 18, and a membrane roof 12 provided on the robot body 16.
The cleaning device 22 of FIG.

As shown in FIG. 6, the membrane roof 12 has an elliptical planar shape as a whole, and the guide ropes 18 are arranged so as to be parallel to the minor axis of the elliptical membrane roof 12. To be searched. Further, the guide rope 18 is provided with a pair (18a, 18b) on both sides which are perpendicular to the moving direction of the robot body 16. Since the guide ropes 18a and 18b are used after being refilled one after another, the length is set in advance to correspond to the maximum width portion of the membrane roof 12.

Four wheels 14 are provided on the front, rear, left and right with respect to the traveling direction of the robot body 16, and these wheels 14 are driven wheels to which tires are attached so as not to damage the membrane roof 12.

The driving means 20 is the robot body 1
6, a pair of first and second portions respectively provided at the central portions on both sides of
Reduction motors 24 and 26 and drums 24a and 2 attached to the first and second reduction motors 24 and 26, respectively.
6a, and the guide ropes 18a and 18b are wound around the drums 24a and 26a, respectively. Then, the guide ropes 18a, 1 are attached to the drums 24a, 26a.
8b is wound, the first and second reduction motor 2
As the drums 4, 26 are rotated, these drums 24
a and 26a move the robot body 16 while winding and unwinding the guide ropes 18a and 18b.

The first and second reduction motors 24, 26
Are independently controlled by the control panel 28. Further, the first and second deceleration motors 24, 26 can rotate in the normal and reverse directions, and the normal rotation causes the robot body 16 to move in one direction, and the reverse rotation causes the robot main body 16 to move in the opposite direction. ..

A pair of rope sensor arms 30a and 30b are provided at the front and rear ends of the robot body 16 so as to be rotatable in a tilted manner in the expanding direction, and the tip ends of the rope sensor arms 30a and 30b are rollers. The pair of guide ropes 18 are slidably contacted via 32. Then, the rope sensor arms 30a, 30
The tilt angle with respect to the guide rope 18 detected in b is output to the control panel 28, and the rotation speeds of the first and second deceleration motors 24 and 26 are finely adjusted based on this output signal.

As shown in FIGS. 2, 4 and 5, the cleaning device 22 has a pair of front and rear jet nozzles 32 for jetting wash water onto the membrane roof 12 at high pressure, and a pair of these jet nozzles 32.
And a drum-type brush 34 that is located between them and rotates in pressure contact with the membrane roof 12.

As shown in FIG. 4, the washing water is stored in a pair of water tanks 36 formed inside both ends of the robot body 16 in the moving direction, and the washing water in these water tanks 36 is sucked into the suction port 36a. Is pressure-fed to the injection nozzle 32 via an ultra-high pressure pump 38. The ultra high pressure pump 38
A switching valve (not shown) is provided between the pair of injection nozzles 32 and the injection nozzle 32, and only the front side of the pair of injection nozzles 32 with respect to the moving direction of the robot body 16 is opened. on the other hand,
The drum brush 34 is rotatably supported on the lower side of the robot body 16, and the drum brush 34 is rotated via a drive motor 40.

The bottoms of the pair of water tanks 36 are communicated with each other through a communication pipe 36b, and the wash water is transferred between the water tanks 36 through the communication pipe 36b. Then, the suction port 36a of each water tank 36
And a switching valve (not shown) between the ultra high pressure pump 38 and
When the robot body 16 is tilted, wash water is supplied to the ultra-high pressure pump 38 from the water tank 36 located below.

By the way, when the robot main body 16 is moved to the end portion of the guide rope arranged outside the membrane roof 12, the robot main body 16 is moved to the membrane roof 1 by moving the guide rope.
2, a relocation means 42 for transferring to a non-washed portion, and a guide rope automatic arranging means 44 for arranging a new guide rope 18c in the relocation direction of the robot body 16 as the robot body 16 moves. Is provided.

The rearrangement means 42 is the robot body 1
It is foldable at 4 locations on the front and back of the lower side of 6,
A lateral movement arm 48 to which a roller 46 is attached at each tip, a pair of guide ropes 18a and 18b for guiding the robot body 16, and a new guide rope 1
8c, a pair of rails 50 arranged in a right angle direction, and an attachment rope 52 for temporarily fixing the robot body 16 when the robot body 16 is refilled. It

The horizontal movement arm 48 is normally folded as shown in the actual battle in FIG.
When reassembling, extend downward as indicated by the chain double-dashed line in the figure. The lateral movement arm 48 is fixed in a stretched state via a pin 48a.

Further, the rails 50 are formed in a channel shape into which the rollers 46 of the lateral movement arms 48 are fitted, and these rails 50 are connected to the connecting fitting 5 as shown in FIG.
1 through each of the guide ropes 18a, 18b, 18c
It is detachably fixed to. Incidentally, the lateral movement arm 48
Is extended and the rollers 46 are fitted to the rails 50, the wheels 14 for suspending the robot body 16 are set to be floated from the membrane roof 12.

Further, the attachment rope 52 is used when the robot body 16 is refilled.
6 is temporarily fixed so as not to slide down, and is rotatably and detachably attached to a pair of brackets 56 fixed to both front and rear sides of the robot body 16. The attachment rope 52 is set to have a length required to move the robot body 16 laterally, that is, a length of several meters in this embodiment. The attachment rope 52 is attached to a pair of front and rear brackets 56 of the robot body 16, and its tip end is detachably fixed to the pair of guide ropes 18a and 18b via a metal fitting 57.

On the other hand, the guide rope automatic routing means 44
Is a guide rope 18c arranged on the opposite side of the robot main body 16 from the rearrangement direction, and is sequentially arranged in the rearrangement direction of the robot main body 16 as the robot main body 16 moves. Torque motor 58 and a pair of friction pulleys 60 and 62 rotatably driven by the torque motor 58, and tip ends of support rods 64 and 66 that project from the diagonal portions of the robot body 16 at right angles to the guide ropes 18. The guide sheaves 68, 68a and 70, 70a, which are pivotally attached to the section and sandwich the guide rope 18c, are configured. The guide rope 18c goes around the guide sheaves 68, 68a, passes between the friction pulleys 60, 62, and then goes around the other guide sheaves 70, 70a.

By the way, the first and second deceleration motors 2
A harness 72 for introducing a power source for driving the motors 4, 26, the ultra-high pressure pump 38, the drive motor 40, and the torque motor 58 is wound around a reel 74 rotatably attached to the robot body 16. .. The harness 72 pulled out from the reel 74 is guided by a guide roller 76 provided in the center of the robot body 16 or a guide sheave 78 and a guide roller 80 provided on the support rod 64.

When cleaning the roof membrane 12 using the cleaning robot 10 of the present embodiment having the above-described structure, first, referring to FIG.
As shown in (A), at the end in the major axis direction of the elliptical membrane roof 12 (the end on the windward side is preferable because dirt is scattered during cleaning), two with an appropriate interval parallel to the minor axis. The guide ropes 18a and 18b are installed. In this case, the guide ropes 18a and 18b are set to the maximum width of the membrane roof 12 because they are used for reassembling.
At the end of the, the intermediate portion of each of the guide ropes 18a and 18b is fixed to the eaves portion of the membrane roof 12 via an anchor (not shown).

Next, as shown in FIG. 6B, the cleaning robot 10 is provided between one ends of the guide ropes 18a and 18b.
And the drums 24a, 26 of the reduction motors 24, 26
The guide ropes 18a and 18b are wound around a.
Further, the harness 72 pulled out from the reel 74 is connected to a plug (not shown) provided between the guide ropes 18a and 18b and provided on the eaves.

Further, a new guide rope 18c is charged in the automatic guide rope routing means 44. The new guide rope 18c is arranged with its one end slack to be substantially parallel to the guide rope 18a, and the other end is made equal to the space between the guide ropes 18a and 18b so that the cleaning robot 10 can be newly installed. Changeable direction (right side in Fig. 6)
It is fixed to the eaves part of. At this time, the other end of the new guide rope 18c leaves a surplus portion of several meters, and the middle portion is loosely attached. When an excessive load acts on the guide rope 18c, the guide rope 18c
c can be slid.

By the way, when a new guide rope 18c is charged in the automatic guide rope arranging means 44, as shown in FIG.
The guide rope 18c is sandwiched between the pair of friction pulleys 60 and 62, the guide rope 18c is inserted between the one guide sheep 68 and 68a, and the guide rope 18c is interposed between the other guide sheep 18c. It is done by inserting a rope.

After the cleaning robot 10 has been set in this way, when a remote switch (not shown) of the cleaning robot 10 is turned on, the first and second deceleration motors 2
4, 26, the super high pressure pump 38, the drive motor 40 and the torque motor 58 are operated. That is, by operating the first and second deceleration motors 24 and 26, the guide rope 18
The a and 18b are wound and unwound on the drums 24a and 24b, and the cleaning robot 10 moves in the winding direction. At this time, the guide ropes 18a, 18b
Is tensioned in the moving direction of the cleaning robot 10, and the first and second deceleration motors 24 are moved from the control panel 28 in response to changes in the angles of the rope sensor arms 30a and 30b contacting the tensioned guide ropes 18a and 18b. , 26, the cleaning robot 10 can move along the guide ropes 18a, 18b. In addition, this traveling control detects the positions of the guide ropes 18a and 18b using an electromagnetic or photoelectric sensor,
Therefore, the traveling control of the cleaning robot 10 can be performed. Further, it is desirable that the movement direction of the cleaning robot 10 can be remotely controlled manually when the trajectory is greatly deviated.

On the other hand, the washing water is jetted from the jet nozzle 32 at high pressure to the membrane roof 12 by the operation of the ultra-high pressure pump 38, and the drum brush 34 is rotated by the operation of the drive motor 40. Therefore, the membrane roof 12 can be washed with the washing water jetted from the jet nozzle 32 as the washing robot 10 moves, and the dirt that does not fall off by the jet nozzle 32 can be removed by the drum brush 34.
Can be cleaned cleanly by being rotated in pressure contact with the membrane roof 12. The spray nozzle 32 sprays the cleaning water only on the moving direction side of the cleaning robot 10 with respect to the drum type brush 34.

By the movement of the cleaning robot 10, new guide ropes 18c are sequentially arranged in the rearrangement direction of the cleaning robot 10 via the automatic guide rope arrangement means 44, and the cleaning robot 10 is moved. When the guide ropes 18a and 18b are moved to the end portions thereof, the guide rope 18c is removed from the cleaning robot 10, and the end portion of the removed guide rope 18c is fixed to the eaves portion. The guide rope automatic arranging means 44 is designed so that the guide ropes 18c are sequentially fed out by the rotation of the friction pulleys 60 and 62 by the operation of the torque motor 58. At this time, an excessive force is applied to the guide rope 18c. Is applied, the torque motor 58 slips and the rotation is temporarily interrupted. Therefore, an unreasonable load is not applied to the guide rope 18c and the cleaning robot 10, and the cleaning robot 10 can be smoothly operated. To do. Further, since the tip end portion of the guide rope 18c is loosely attached to the eaves portion, it is possible to prevent an unreasonable load from being applied to this loose attachment portion.

When the cleaning robot 10 is moved to complete the installation of the new guide rope 18c, the guide rope 18c is fixed to the eaves at both ends in a tensioned state, and the rearrangement means 42 is used. Then, the cleaning robot 10 is rearranged between the guide ropes 18a and 18b already installed and the new guide rope 18c.

That is, when the cleaning robot 10 is reassembled, first, the bracket 56 on the upper side of the robot body 16 and the guide ropes 18a and 18b are connected by the attachment rope 52 to support the robot body 16. To do. After the robot body 16 is thus supported by the attachment rope 52, the guide ropes 18a, 18b
Is removed from the portion wound around the drums 24a and 24b, and placed on the membrane roof 12. At this time, the harness 72 is replaced with a plug (not shown) provided between the adjacent lane, that is, between the guide rope 18b and the new guide rope 18c. At this time, the rope sensor arms 30a and 30b
Is removed if it disturbs the rearrangement of the cleaning robot 10.

Next, the rail 50 is fitted to the roller 46 of the lateral movement arm 48, the lateral movement arm 48 is rotated and extended, and the lateral movement arm 48 is fixed via the pin 48a. , The rail 50 is fixed to the guide ropes 18a, 18b, 18c via the connecting fitting 51.
Then, the rail 50 is stretched by the lateral movement arm 48 so that the membrane roof 12 and the guide ropes 18a, 18b, 1
Pressed on the upper side of 8c, the wheel 14 is levitated from the membrane roof 12.

In this state, the attachment rope 52
Is removed, and the cleaning robot 10 is laterally moved to the adjacent lane by human power. Then, the guide ropes 18b, 18 for guiding the cleaning robot 10 in this new lane
c is wound around the drums 24a and 26a, and the rope sensor arm 30a,
Install 30b. After that, the cleaning robot 10 is operated in the same manner as in the first lane, and a new lane is cleaned. Further, in the new lane, the guide rope 18a is charged in the automatic rope arranging means 44, and the cleaning robot 1
With the movement of 0, the guide rope 18a is routed further outside the guide rope 18c at an appropriate interval.

Thus, the cleaning robot 10 of this embodiment
Is a roof membrane 12 while moving along a pair of guide ropes.
Is washed, and the lane is relocated to the adjacent lane at the end of the line and moved again to wash a new lane. Then, by repeating these operations in sequence, the entire roof membrane 12 can be automatically washed. In addition, the cleaning robot 1
Only three guide ropes for guiding 0 are used, and the entire membrane roof 12 can be covered by sequentially reassembling these three guide ropes 18a, 18b, 18c.

Therefore, in this embodiment, the cleaning robot 1 is
Since the membrane roof 12 can be automatically cleaned by using 0, the cleaning work can be easily performed, and the manual cleaning work can be eliminated or significantly reduced, and the safety of the cleaning work can be significantly improved. it can.

[0044]

As described above, in the robot for cleaning a membrane roof according to the first aspect of the present invention, the robot main body automatically cleans the membrane roof along the guide rope, so that the robot is manually operated. The cleaning work can be eliminated or significantly reduced. Therefore, the safety of the cleaning work on the membrane roof can be significantly improved, and the work period can be significantly shortened.

According to a second aspect of the present invention, the cleaning device is provided with a spray nozzle for spraying cleaning water onto the membrane roof at a high pressure, and a drum type brush which rotates in pressure contact with the membrane roof. Since it is configured, after the dirt is removed by the high-pressure cleaning water sprayed from the spray nozzle, it is possible to remove the dirt that was not removed by the cleaning water spray by rotating the drum brush, so the cleaning effect can be significantly improved. it can.

Further, in the membrane roof cleaning robot according to claim 3 of the present invention, the robot body is transferred to the robot body at the end portion of the guide rope to an unwashed portion of the membrane roof. Since the means is provided, the robot main body can be easily refilled, and the entire membrane roof can be washed with one robot main body. Further, in the membrane roof cleaning robot according to claim 4 of the present invention, a guide rope automatic arranging means for arranging a new guide rope in a reshuffling direction of the robot main body as the robot main body moves. Since the guide rope is provided, the guide rope can be easily installed and the safety of the installation work can be ensured.

[Brief description of drawings]

FIG. 1 is a plan view of a cleaning robot showing an embodiment of the present invention.

FIG. 2 is a side view of the cleaning robot seen from the X direction in FIG. 1 showing an embodiment of the present invention.

FIG. 3 is a side view of the cleaning robot seen from the Y direction in FIG. 1 showing an embodiment of the present invention.

FIG. 4 is a sectional view taken along line ZZ in FIG. 1 showing an embodiment of the present invention.

FIG. 5 is a front view of a cleaning robot showing an embodiment of the present invention.

FIG. 6 is a schematic explanatory view showing the operation of the cleaning robot showing the embodiment of the present invention step by step.

[Explanation of symbols]

10 Cleaning Robot 12 Membrane Roof 14 Wheel 16 Robot Main Body 18 Guide Rope 20 Drive Means 22 Cleaning Device 32 Injection Nozzle 34 Drum Brush 42 Refilling Means 44 Rope Automatic Routing Means

Claims (4)

[Claims] 1. A robot body suspended from wheels rolling on the outer surface of the membrane roof, a guide rope stretched along the outer surface of the membrane roof, and guiding a moving direction of the robot body, A membrane roof cleaning robot comprising: a drive unit for moving the robot main body along a guide rope; and a membrane roof cleaning device provided on the robot main body. 2. The cleaning device comprises a spray nozzle for spraying cleaning water onto the membrane roof at high pressure, and a drum type brush which rotates in pressure contact with the membrane roof. A membrane roof cleaning robot as described. 3. A robot main body suspended by wheels rolling on the outer side surface of the membrane roof, a guide rope stretched along the outer side surface of the membrane roof and guiding the moving direction of the robot main body, Driving means for moving the robot main body along the guide rope, a membrane roof cleaning device provided on the robot main body, and a robot roof provided on the robot main body, and the robot main body is not washed on the membrane roof at the end portion of the guide rope. A membrane roof cleaning robot, comprising: a rearrangement means for transferring the membrane roof to a portion. 4. A robot main body suspended by wheels rolling on the outer side surface of the membrane roof, a guide rope stretched along the outer side surface of the membrane roof and guiding the moving direction of the robot main body, Driving means for moving the robot main body along the guide rope, a membrane roof cleaning device provided on the robot main body, and a robot roof provided on the robot main body, and the robot main body is not washed on the membrane roof at the end portion of the guide rope. Membrane provided with relocation means for transferring to a portion, and automatic guide rope routing means for routing a new guide rope in the relocation direction of the robot body with the movement of the robot body. Roof cleaning robot.