JPH0523263A - Automatic transfer device of traverse motion type automatic outer surface cleaning unit - Google Patents

Abstract

PURPOSE:To provide an automatic transfer device of a traverse motion type automatic outer surface cleaning unit capable of omitting workers for dangerous work at high places and of shortening the time required for the work. CONSTITUTION:A position sensor 14 for detecting the position of a lift 8 in the vertical direction from information about the markers 15 of a building 1 is mounted on the lift 8 which is guided along the transverse rail 3 of the building 1 and in which a cleaning unit 9 for automatically cleaning a surface 2 to be cleaned is stored. A hoist controller 16 which makes the position of a rail 13 coincide with that of the transverse rail 3 by means of sensor feedback of a hoisting device 5 according to information from the position sensor 14 is disposed within a lift storage unit 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traverse type automatic outer surface cleaning device for automatically cleaning an outer surface such as a window or a wall surface of a building while traversing the outer surface. The present invention relates to an automatic transfer device for transferring.

[0002]

2. Description of the Related Art FIGS. 7 and 8 show a conventional traverse type automatic outer surface cleaning device disclosed in Japanese Patent Publication No. 1-34611. In FIG. 7, reference numeral 1 denotes a building which is a building. 1
On the outer surface of the building 1, a plurality of horizontally long cleaning surfaces 2 are arranged in the up-down direction, and a plurality of groove-shaped horizontal rails 3 that sandwich the cleaning surface 2 from above and below are embedded, and on the roof of the building 1. Is
An elevating / lowering body storage unit 4 capable of traveling is arranged. This lifting / lowering body storage unit 4 has a hoisting device 5 which is rotatable inside.
A pair of wire ropes 6 are wound around the hoisting device 5, and an elevating body 8 on which an operator 7 rides is suspended from the ends of the pair of wire ropes 6. .

The lifting body 8 is traversed while the surface 2 to be cleaned is moved.
And a mounting device 10 for mounting the cleaning unit 9 on the pair of horizontal rails 3. The mounting device 10 has a mounting unit 10 as shown in FIG.
An angle adjusting mechanism 11 and an up-down adjusting mechanism 12 are provided to facilitate mounting of the cleaning unit 9 on the pair of horizontal rails 3.

Therefore, in order to clean the surface 2 to be cleaned of the building 1, first, after confirming that the worker 7 has boarded the lifting body 8,
The hoisting device 5 of the lifting body storage unit 4 is rotated to lower the lifting body 8 near the pair of horizontal rails 3. Next, the worker 7 operates the angle adjusting mechanism 11 and the vertical adjusting mechanism 12.
The surface to be cleaned 2 is adjusted to the front opening of the pair of horizontal rails 3.
The upper and lower wheels (not shown) on the facing surface of the cleaning unit 9 facing each other are fitted, and the worker 7 moves the mounting device 10 in the front-rear direction to transfer the cleaning unit 9 to the pair of horizontal rails 3. After this, the worker 7 removes the mounting device 10 from the cleaning unit 9. Then, the cleaning unit 9 transferred to the pair of horizontal rails 3 is self-propelled while being guided by the horizontal rails 3, spraying a spray-like cleaning liquid from the nozzle onto the surface to be cleaned 2 and adhering to the surface to be cleaned 2. Moisten dirt and impurities,
Cleans automatically with a brush and squeegee to remove dirt and impurities. When the cleaning of the surface to be cleaned 2 on one floor is completed in this way, the worker 7 moves the cleaning unit 9 to the mounting device 10 in the reverse procedure of the transfer, and then stores the cleaning unit 9 in the lifting body 8. However, the hoisting device 5 is rotated to move the elevating body 8 up and down to another floor, and the cleaning unit 9 is transferred to the horizontal rail 3 and automatically cleaned by the same procedure as the above procedure.
Then, the cleaning unit 9 is stored in the elevating body 8, and then the above-mentioned work is repeated until the cleaning of the entire building 1 is completed.

[0005]

The conventional traversing type automatic external surface cleaning device is constructed as described above, and the worker 7 who is on the lifting body 8 must manually transfer the cleaning unit 9 to the horizontal rail 3. Therefore, there is a problem that a human must perform dangerous work at a high place, and the work takes a long time.

The present invention has been made in view of the above, and an object thereof is to provide an automatic transfer device for a traversing type automatic external surface cleaning device which can automatically transfer a cleaning unit to a horizontal rail and can reduce transfer time. There is.

[0007]

In the present invention, in order to achieve the above-mentioned object, an elevator body storage unit arranged on the roof of a building and a wire rope of a hoisting device for the elevator body storage unit are hung. And a cleaning unit that is stored in the lifting body and that moves to a pair of horizontal rails that sandwich the surface to be cleaned of the building and cleans the surface to be cleaned, and is mounted on the lifting body A position sensor that detects the vertical position of the lifting body and a hoisting control device that performs sensor feedback control of the hoisting device based on the information detected by the position sensor are provided.

Further, the present invention is characterized in that an elevating / lowering body fine positioning device including a driving device for finely positioning the elevating / lowering body and a controller thereof is interposed between the hoisting device and the elevating / lowering body.

The lifting body is divided into two parts, one of which is used as a counter weight, or a counter weight is added to the lifting body.

Further, a cleaning unit fine positioning device comprising a drive device for finely positioning the cleaning unit and a control device for the cleaning unit is disposed inside the elevating body.

Further, a target tracking compensator for matching the position of the lifting body with a target lateral rail, and a disturbance suppression compensator for holding the lifting body at a constant position against a disturbance are provided. I am trying.

[0012]

According to the present invention, since the cleaning unit can be automatically transferred from the rail of the lifting body to the pair of lateral rails, it is possible to save the operator and shorten the transfer time of the cleaning unit. it can.

Further, by the fine positioning device for the lifting body, it is possible to eliminate the difficulty of the vertical position control of the lifting body due to the extension of the wire rope and the time delay.

Further, since the lifting body is divided into two and one of them is used as the counter weight, or the counter weight is added to the lifting body, the load capacity of the driving device can be minimized.

Further, since the cleaning unit fine positioning device including the drive device and the control device for finely positioning the cleaning unit is disposed inside the lifting body, the cleaning unit can be positioned with high accuracy. it can.

Further, since the target tracking compensator for matching the position of the lifting body with the target lateral rail and the disturbance suppression compensator for holding the lifting body at a constant position against disturbance, are provided. It is possible to eliminate the difficulty in positioning the cleaning unit due to disturbance factors such as strong winds and fluctuations in rope length.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to an embodiment shown in FIG. 1. In the drawing, reference numeral 1 is a building, and a horizontally long cleaning surface 2 is vertically arranged on the outer surface of the building 1. A plurality of horizontal rails 3 each having a groove shape, which are arranged in the direction, sandwich the surface to be cleaned 2 from above and below, are buried. On the roof of the building 1, a movable elevator storage unit 4 is arranged. ing. The lifting / lowering body storage unit 4 includes a rotatable hoisting device 5, and a pair of wire ropes 6 are wound on the hoisting device 5, and the pair of wire ropes 6 are attached to the ends thereof. The lifting body 8 having a pair of rails 13 is suspended inside. Then, the pair of rails 1 of the lifting body 8
A cleaning unit 9 for automatically cleaning the surface to be cleaned 2 is supported and stored in the unit 3.

Reference numeral 14 denotes a position sensor mounted on the lifting body 8. The position sensor 14 detects the position of the lifting body 8 in the vertical direction from the information of the marker 15 mounted near the horizontal rail 3 of the building 1. The detected information is output to the hoisting control device 16 of the lifting body storage unit 4. The hoisting control device 16 has a function of performing sensor feedback control of the hoisting device 5 based on the input information.

Therefore, in order to clean the surface 2 to be cleaned of the building 1, the hoisting device 5 of the lifting body storage unit 4 is rotated and the lifting body 8 is lowered along the outer wall of the building 1. At the time of this descent, the position sensor 14 detects the vertical position of the lifting body 4 from the information of the marker 15 and outputs the detected information to the hoisting control device 16, and the hoisting control device 16 outputs the hoisting device 5.
By feedback control to rotate the horizontal rail 3 of the building 1.
The rail 13 of the lifting / lowering body 8 is matched with the height of the. When the height of the horizontal rails 3 and the height of the rails 13 match, the cleaning unit 9 automatically transfers from the rails 13 of the elevating body 8 to the pair of horizontal rails 3 and self-propels, while traversing the surface of the building 1 to be cleaned. Clean 2 automatically. When the cleaning of the surface to be cleaned 2 on one floor is completed in this way, the cleaning unit 9 automatically returns to the position of the lifting body 8, and the cleaning unit 9 automatically transfers from the horizontal rail 3 to the rail 13 of the lifting body 8. Is stored.
However, the hoisting device 5 is rotated to move the elevating / lowering body 8 up and down to another floor, and the cleaning unit 9 is automatically transferred to the horizontal rail 3, automatically cleaned, and the cleaning unit 9 is moved up and down by the same procedure as described above. After the automatic storage in the body 8, the above work is repeated until the entire cleaning of the building 1 is completed.

According to the above construction, the hoisting control device 16 feedback-controls the hoisting device 5 based on the information from the position sensor 14 so that the rail 13 is aligned with the height of the lateral rail 3, and the cleaning unit 9 operates. Since the rails 13 of the lifting body 8 are automatically transferred to the horizontal rails 3, it is not necessary for the worker 7 to perform dangerous work in high places, and the working time can be greatly shortened.

Next, a second embodiment of the present invention will be described with reference to FIG. In the above-described embodiment, the hoisting control device 16 is the lifting body 8.
However, even in the building 1 on the lower floor, it is necessary to control the position of the lifting body 8 via the long wire rope 6 in this way. Control may not be performed smoothly due to delay. In view of this, in this embodiment, an elevator fine positioning device 17 is disposed between the wire rope 6 and the elevator 8. This lifting body fine positioning device 17 is used for lifting body 8
And a control device 171 for controlling the drive device 170. Other parts are the same as those in the above embodiment.

Next, the operation different from that of the first embodiment will be described. In this embodiment, the hoisting control device 16 is not used for precise positioning of the lifting body 8 on the horizontal rail 3, but
It is used only for performing a rough movement to each floor in a sequence, and a fine positioning device 17 for a lifting body is used for precise positioning of the lifting body 8 on the horizontal rail 3. When the lifting body 8 moves up and down near the target floor under the control of the hoisting control device 16, the position sensor 14 outputs a relative position error with respect to the horizontal rail 3 to the lifting body minute positioning device 17, and this information. Based on the controller 1 of the fine positioning device 17
71 drives the driving device 170 to perform feedback control of the position of the lifting body 8, and the lateral rail 3 is connected to the rail 13 of the lifting body 8.
Match the positions of. The subsequent operation is the same as in the first embodiment.

In this embodiment, it is possible to expect the same effects as in the above embodiment, and it is obvious that the elevator 8 in the building 1 on the lower floor can be smoothly controlled.

Next, a third embodiment of the present invention will be described with reference to FIG. Since the lifting body 8 is a heavy object,
In the first and second embodiments, the hoisting device 5 has to have a large capacity. Particularly, in the second embodiment, the cleaning unit 9 itself is also a heavy object, so that the drive unit 170 is used.
Inevitably, the load capacity of No. 2 has to be made considerably large. Therefore, the lifting body minute positioning device 17 itself becomes considerably large and heavy, and the hoisting device 5 has to be further increased in capacity. Therefore, in this embodiment, the lifting body 8 is divided into two, and one lifting body on which the cleaning unit 9 is not mounted is used as the counter weight 18.
The position sensor 1 is attached to the lifting body 8 equipped with the cleaning unit 9.
4 is installed. The counterweight 18 is located on the opposite side of the lifting body 8 and is hung by a rope or a pulley. Other parts are the same as those in the above-mentioned embodiments.

In this embodiment as well, the same effects as those of the above-mentioned embodiments can be expected, and it is obvious that the load capacity of the drive unit 170 can be reduced. In addition, in view of getting on and off the cleaning unit 9, the counterweight 1
When the weight of the cleaning unit 9 is halved, the load on the drive unit 170 can be minimized.

Although the lifting / lowering body 8 in the second embodiment is divided into two parts in this embodiment, the lifting / lowering device 5 in the first embodiment is divided into two parts. Even if the capacity is reduced, the same operational effect can be obtained. Further, it goes without saying that a separate counterweight 18 may be added to the lifting body 8 instead of dividing the lifting body 8.

Next, a fourth embodiment of the present invention will be described with reference to FIG. In the first to third embodiments described above, although the cleaning unit 9 is finally positioned, the lifting body 8 and a part thereof are moved, so that accurate positioning is difficult. Therefore, in this embodiment, in the lower portion inside the lifting body 8,
A cleaning unit minute positioning device 19 is provided. The cleaning unit micro-positioning device 19 is composed of a hydraulic cylinder, and includes a drive device 190 for moving the cleaning unit 9 up and down, and a control device 191 for controlling the drive device 190. Other parts are the same as those in the above-mentioned embodiments.

Next, the operation will be described. The basic operation is the same as that of the second embodiment. The difference from the second embodiment resides in that, regarding the precise positioning of the cleaning unit 9 on the horizontal rail 3, the cleaning unit micropositioning device 19 is used instead of the lifting body micropositioning device 17. That is, when the lifting / lowering body 8 moves up and down near the target floor under the control of the hoisting control device 16, the position sensor 14
Outputs a relative position error with respect to the horizontal rail 3 to the cleaning unit fine positioning device 19, and based on this information, the control device 191 of the cleaning unit fine positioning device 19 drives the drive device 19.
The position of the cleaning unit 9 is feedback-controlled by driving 0 to match the position of the cleaning unit 9 with the horizontal rail 3. The subsequent operation is similar to that of the second embodiment.

In this embodiment, the same effects as those of the above-described embodiments can be expected, and since the cleaning unit micropositioning device 19 directly controls the cleaning unit 9 without a rope or the like, highly accurate positioning can be achieved. Obviously it will be possible.

In this embodiment, the drive device 190 is composed of a hydraulic cylinder, but it goes without saying that any structure may be used as long as it can control the cleaning unit 9.

Next, a fifth embodiment of the present invention will be described with reference to FIG. In the above-mentioned embodiments, the control devices 16, 171, and 191 perform simple sensor feedback control based on the information from the position sensor 14. However, in the automatic transfer device of the traversing type automatic external surface cleaning device, there are large disturbance factors such as swaying of the wire rope 6 due to wind, fluctuations in the wire rope length depending on the floor, and shocks at the time of stopping and transferring, so that it is simple. In the feedback control, if there is the disturbance, it is difficult to accurately hold the lifting body 8 and the cleaning unit 9 at the target height of the horizontal rail 3. The present embodiment is made to solve this problem. In the figure, 20 is the transfer function of the controlled object, 21 is the position 22 of the horizontal rail 3 which is the target value, and the position of the lifting body 8 or the cleaning unit 9 is. A target tracking compensator for causing 23 to follow, and a reference numeral 24 is a disturbance suppression compensator for holding the lifting body 8 or the cleaning unit 9 at a fixed position with respect to the disturbance 25.
Other parts are the same as those in the above-mentioned embodiments.

Next, the operation will be described. The basic operation is the same as in the first to fourth embodiments. First to fourth
6, the relative position 26 of the horizontal rail position 22 and the position 23 of the lifting body 8 or the cleaning unit 9 is detected by the position sensor 14, and each control device 16, 171.1.
It is output to 91. In each of the control devices 16, 171, and 191 a command value that eliminates this error is calculated, and feedback control is performed so that the control target 20 matches the target value 22. Since one control compensator 16, 171, and 191 is used in the above-described embodiments, the two requirements of target tracking and disturbance suppression cannot be satisfied. In this embodiment, a target tracking compensator 21 that achieves target tracking and a disturbance compensator 24 that suppresses a disturbance 25 are provided.
Since these two compensators are provided, it is possible to control these two requirements independently.

In the first to fourth embodiments, the lifting body 8 is used.
Alternatively, although the control of the cleaning unit 9 in the vertical direction has been described, it goes without saying that the same control may be added not only in the vertical direction but also in other translational directions or rotational directions in the left / right / front / rear directions.

[0034]

As described above, according to the present invention, a lifting body storage unit disposed on the roof of a building, and a lifting / lowering lift unit suspended from a wire rope of a hoisting device for the lifting body storage unit. A body, a cleaning unit that is housed in the lifting body and moves from the lifting body to a pair of horizontal rails that sandwich the surface to be cleaned of the building to clean the surface to be cleaned; Since a position sensor that detects the position in the direction and a hoisting control device that performs sensor feedback control of the hoisting device based on the information detected by this position sensor are provided, the cleaning unit is automatically moved from the lifting body to the horizontal rail. Therefore, there is an effect that the manual work of the worker in the dangerous work at a high place can be omitted and the working time can be shortened.

Further, since a lifting / lowering body fine positioning device including a driving device for finely positioning the lifting / lowering body and a control device therefor is interposed between the hoisting device and the lifting / lowering body, the length of the wire rope or the like is reduced. There is an effect that accurate minute positioning can be performed without regard.

Further, since the lifting / lowering body is divided into two and one of them is used as a counter weight, or the counter weight is added to the lifting / lowering body, there is an effect that the load on the driving device can be reduced.

Further, since the cleaning unit fine positioning device including the driving device and the control device for finely positioning the cleaning unit is provided inside the lifting body, the cleaning unit can be directly controlled and accurate fineness can be obtained. This has the effect of enabling positioning.

Further, since the target tracking compensator for matching the position of the lifting body with the target lateral rail and the disturbance suppression compensator for holding the lifting body at a constant position with respect to disturbance, are provided. Even if there is a sway of the rope due to the wind, a change in the length of the rope depending on the floor, or a disturbance such as an impact at the time of stopping or transferring, the lifting unit or the cleaning unit can be accurately held at the target horizontal rail height. There is an effect.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an embodiment of an automatic transfer device of a traversing type automatic outer surface cleaning device according to the present invention.

FIG. 2 is a conceptual diagram showing a second embodiment of the automatic transfer device of the transverse automatic surface cleaning device according to the present invention.

FIG. 3 is a conceptual diagram showing a third embodiment of the automatic transfer device of the transverse automatic outer surface cleaning device according to the present invention.

FIG. 4 is a conceptual diagram showing a fourth embodiment of the automatic transfer device of the transverse automatic external surface cleaning device according to the present invention.

FIG. 5 is a block diagram showing a fifth embodiment of the automatic transfer device of the transverse automatic surface cleaning device according to the present invention.

FIG. 6 is a block diagram showing an automatic transfer device of the transverse automatic surface cleaning device according to the present invention.

FIG. 7 is a bird's-eye view showing a conventional automatic transverse surface cleaning device.

FIG. 8 is a right side view showing a conventional traverse type automatic outer surface cleaning device.

[Explanation of symbols]

1 building 2 Cleaning surface 3 horizontal rails 4 Lifting body storage unit 5 hoisting device 6 wire rope 8 Lifting body 9 Cleaning unit 13 rails 14 Position sensor 15 markers 16 Hoisting control device 17 Lifting body minute positioning device 18 counter weights 19 Cleaning unit Micro positioning device 21 Target tracking compensator 24 Disturbance suppression compensator 25 disturbance

Claims (5)

[Claims] 1. An elevating body storage unit arranged on the roof of a building, an elevating body which can be raised and lowered suspended on a wire rope of a hoisting device for the elevating body storage unit, and which is stored in the elevating body. A cleaning unit that moves from the elevating body to a pair of horizontal rails that sandwich the surface to be cleaned of the building to clean the surface to be cleaned, and a position sensor that is attached to the elevating body and detects the vertical position of the elevating body, An automatic transfer device for a traversing type automatic external surface cleaning device, comprising: a hoisting control device that performs sensor feedback control of the hoisting device based on information detected by the position sensor. 2. A lifting / lowering body fine positioning device comprising a driving device for finely positioning the lifting / lowering body and a control device therefor is interposed between the hoisting device and the lifting / lowering body. Automatic transfer device for traversing type automatic exterior cleaning device. 3. The traverse type according to claim 1 or 2, wherein the elevating body is divided into two and one of them is used as a counter weight, or a counter weight is added to the elevating body. Automatic transfer device for automatic external cleaning device. 4. The traversing type automatic apparatus according to claim 1, further comprising a cleaning unit fine positioning device including a driving device for finely positioning the cleaning unit and a control device for the cleaning unit, disposed inside the elevating body. Automatic transfer device for external cleaning device. 5. A target tracking compensator for matching the position of the lifting body with a target lateral rail, and a disturbance suppression compensator for holding the lifting body at a fixed position against disturbance. The automatic transfer device for the transverse automatic surface cleaning device according to any one of claims 1 to 4.