JPH05317204A - Copying device for wall surface ascending/descending device - Google Patents

Abstract

PURPOSE:To optimumly follow a state of the wall surface even in the case of a state that a distance is varied in the direction in which the wall surface and a gage are separated and a state that the wall surface is rugged. CONSTITUTION:When a fluid is not supplied to an actuator 66, a moving body 58 and a holder 60 are energized in the clearance direction by only elasticity of a spring 64 and an expanding/contracting device 70 contracts, and a wall surface contact part 81 approaches a fitting metallic fixture 52 side and becomes a saving position. At the time of starting a work, the fluid is supplied to the actuator 66 and by a pantographic motion by which the actuator 66 contracts, the expanding/contracting device 70 expands, and the wall surface contact part 81 approaches the wall surface W side and reaches a copying position. In the copying position of the wall surface contact part 81, the wall surface contact part 81 moves until it comes into contact with the wall surface W due to dead weight of the wall surface contact part 81. Accordingly, when a gage moves, even if the wall surface W is rugged, the wall surface contact part 81 comes into contact with the wall surface, and can follow the wall surface W.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wall surface elevating device copying apparatus suitable for use in a wall surface elevating device for vertically elevating a wall surface of a high-rise object such as a building.

[0002]

2. Description of the Related Art Conventionally, a work may be performed manually or automatically while moving around a high-rise building such as a building along a wall surface. For example, the wall surface of a building or the like is regularly cleaned to remove dirt such as dust in order to maintain its aesthetic appearance.

Generally, the cleaning work of the wall surface is carried out manually by a worker who is suspended by a wire wound from a crane or the like installed on the roof of a building and raised and lowered along the wall surface. This is done by wiping off the dirt from the item or by attaching a rotating brush to the cage and letting it work automatically.

By the way, even if the wall cleaning work is carried out manually or automatically, in order to proceed the work safely and accurately, the cage is moved up and down while keeping the distance between the wall and the cage constant and the position of the cage is adjusted. Need to detect.

For this reason, in high-rise buildings constructed in recent years,
As shown in FIG. 9, a guide rail 200 is provided in advance along the vertical direction of the wall surface W, and the guide roller 202 provided in the cage 10 equipped with the wall surface cleaner is inserted into the guide rail 200. ing. As a result, the guide roller 202 is guided and held by the guide rail 200, so that the cage 10 can move up and down along the track of the guide rail 200, and the distance between the wall surface W and the cage 10 can be kept constant ( Generally called "Marion method"). If you use such a mullion method,
The position of the cage 10 with respect to the window glass can be detected by mounting a detection unit, for example, a limit switch on the track, or by detecting a protrusion at a predetermined position on the track having a limit switch in the cage.

However, such a guide rail 2
It is not desirable to provide 00 on the wall surface W, and the guide rails 20 for cleaning are provided from the beginning of the building construction.
A design including 0 is required. Furthermore, a building with a glass front, a building with uneven walls, and a guide rail 2
In existing buildings and the like where 00 is not provided, the above Marion method cannot be adopted.

Therefore, a hanging method is mainly used in which the cage is simply hung by a wire. However, in this hanging method, the wall surface W and the cage 10 are easily swayed in the direction of separating from each other, and a limit switch is attached to the cage. It may not be possible to detect just by attaching. Further, when the wall surface is uneven, it may not be possible to detect the optimum position by mistakenly detecting a site other than the predetermined position or by not being able to detect the predetermined position. In this case, a detection unit, such as a distance sensor, which can detect even when the distance changes in the direction in which the wall surface W and the cage 10 are separated, may be used. It is not preferable because a complicated structure and process must be performed in order to discriminate whether or not it has moved.

[0008]

SUMMARY OF THE INVENTION In consideration of the above facts, the present invention optimizes the wall surface even when the distance changes in the direction in which the wall surface and the cage are separated or the wall surface is uneven. It is an object of the present invention to provide a copying apparatus for a wall surface lifting device that can follow a state.

[0009]

In order to achieve the above object, the invention according to claim 1 is such that a cage capable of moving up and down a wall surface and a rotatable copying member attached to a tip end thereof are attached to the cage. A telescopic means attached and capable of telescoping,
It is characterized in that it has switching means for switching the expansion / contraction means between a retracted state in which the copying member is separated from the wall surface and a copying state in which the copying member is in contact with the wall surface.

According to a second aspect of the present invention, in the copying apparatus for the wall surface lifting device according to the first aspect, the expanding / contracting means is
It is characterized by having a force from the rear end to the front end due to its own weight.

According to a third aspect of the invention, in the copying apparatus for the wall surface lifting device according to the first aspect, the switching means is
It is characterized in that the retracted state and the copying state are switched by expanding and contracting an elastic body including a member that can expand and contract according to the amount of fluid to be supplied and discharged.

[0012]

The copying apparatus for a wall elevating device of the present invention is provided with a cage, and the cage is hung up and down by a wire wound on a crane or the like arranged on the roof of a building or the like. In addition, the cage can have a wall surface work space for manually or automatically performing window cleaning work or the like, for example.

A rear end of the expandable / contractible means is attached to the cage, and a rotatable copying member is attached to the tip of the expandable / contractible means. The expansion / contraction means is switched between a retracted state in which the copying member is separated from the wall surface and a copying state in which the copying member is in contact with the wall surface by the switching means.

The switching means may have an elastic body including a member capable of expanding and contracting according to the amount of fluid to be supplied and discharged, as in the third aspect of the invention. By expanding and contracting this elastic body to switch between the retracted state and the copying state,
It can have elastic force in each state.

Here, the cage suspended by the wire moves up and down in a substantially vertical direction, but when the wall surface has irregularities such as irregularities, the distance between the wall surface and the cage changes. When the cage is moved up and down, the copying member is brought into a copying state, the copying member is brought into contact with the wall surface, and the copying member follows the wall surface due to expansion and contraction of the expansion / contraction means. For example, when the expanding / contracting means has a force from the rear end to the front end due to its own weight as in the invention described in claim 2, when there is a convex portion in the ascending / descending direction, the copying member is formed by the step between the convex portion and the wall surface. The expanding and contracting means contracts while contacting, and when the convex part reaches the wall surface, the expanding and contracting means can expand while the copying member contacts due to the returning force of the contracted expanding and contracting means. This expansion / contraction means can be formed by a so-called pantograph mechanism. When the wall surface has a recess, the expansion / contraction means extends while the copying member contacts the wall surface by its own weight. Even when the cage and the wall surface are separated from each other in the direction in which the cage and the wall surface are separated from each other, the expanding / contracting means extends and follows the wall surface while the copying member is in contact, as in the case where the wall surface has a recess.

Therefore, when the copying member is in a copying state in which the copying member is in contact with the wall surface, the copying member is moved up and down to follow the contacting member while contacting the wall surface, regardless of the shape of the wall surface and the distance between the cage and the wall surface. You can

As described above, since the copying member can copy the wall surface, the copying member is provided with the detection means, for example, the switch, so that the projection on the wall surface, for example, the stepped portion such as the window frame can be detected without undetected or erroneous detection. Can be detected.

[0018]

Embodiments of the present invention will now be described in detail with reference to the drawings.

In this embodiment, the copying apparatus for the wall surface lifting device of the present invention is applied to the wall surface lifting device used for cleaning the wall surface.

The wall surface lifting device has a cage 10 having a space for wall surface work suspended by a wire 40 and having a copying device 50 (see FIG. 6).

As shown in FIG. 6, the wire 40 is connected to the building B.
The cage 10 is moved up and down by hoisting or lowering it by the crane section 38 installed on the rooftop of the car. In this building B, a window glass G is arranged on each floor, and an outer wall material P is provided between the window glasses G on the adjacent floors, and the outer periphery of the window glass G protrudes outward from the outer wall material P. A window frame F is provided. In addition, this crane part 38
Stops while the cage 10 is moving up and down, and moves along the wall surface of the building B only when the cage 10 is located at a predetermined position near the roof of the building B. Further, the crane unit 38 is provided with a control device 42 for controlling wall surface cleaning, raising and lowering the cage 10, detecting window position, and the like.

As shown in FIG. 7, the cage 10 comprises a box-shaped frame 12 and a panel (not shown) that covers the frame 12. Inside the cage 10, a guide rail 18 is arranged in the longitudinal direction of the cage 10 (horizontal direction in FIG. 7). This guide rail 18
A scraper portion 22 having a scraper 20 for wiping a window, which is moved along the guide rail 18 (in the direction of arrow B in FIG. 7) by a driving means (not shown), is provided in the.

The upper and lower frames 12 of the cage 10
A dish-shaped fixed suction cup 26 is attached to the above so as to face the wall surface of the building B via a bracket 24 having the functions of vertical movement and push-back. When the fixed suction cup 26 is pushed out to the wall surface by the bracket 24, a negative pressure is generated in the space between the fixed suction cup 26 and the wall surface by the operation of the suction device (not shown) so that the fixed suction cup 26 is attracted to the wall surface. It has become.

A pair of guide rails 28 are provided on the ends of the upper and lower frames 12 of the cage 10. A block 30 is inserted through the guide rail 28. The block 30 has a function of pushing back, and a guide suction cup 32 is provided in the block 30 so as to face the wall surface of the building B. When the guide suction cup 32 is pushed to the wall surface by the block 30, a suction device (not shown) is actuated to generate a negative pressure in the space between the guide suction cup 32 and the wall surface.
2 is attached to the wall surface.

The lower frame 12 of the cage 10 is extended, and the copying apparatus 50 is attached to the extended portion via unillustrated bolts and nuts. The copying apparatus 50 may be provided inside the frame 12 without being provided at the extended portion.

Next, the copying apparatus 50 according to this embodiment of the present invention will be described with reference to FIGS.

The copying apparatus 50 includes a fixed portion 52A and a mounting portion 5
2B and the fixing metal fitting 52 formed in L shape. The fixing portion 52A of the fixing bracket 52 is the frame 12
By being horizontally fixed to the mounting bracket 52B, the mounting portion 52B of the fixing bracket 52 is arranged substantially parallel to the wall surface.

A guide rail 54 is arranged along the longitudinal direction of the fixed portion 52A at the end of the mounting portion 52B facing the fixed portion 52A. This guide rail 54 has a guide 5
6 is slidably mounted along the guide rail 54. Therefore, the guide rail 54 and the guide 56
And are configured to operate as a so-called stage. In order to detect the movement of the guide 56, the mounting portion 5
In 2B, sensors 92A and 92B are arranged in the direction along the longitudinal direction of the guide rail 54 (direction parallel to the direction of arrow A in FIG. 1) and near both ends of the guide rail 54. The sensors 92A and 92B are connected to the control device 42 (see FIG. 8).

A movable body 58 is attached to the side of the guide 56 opposite to the guide rail 54. Moving Pair 58
A through hole having a function as a fluid supply / discharge piping hole for an actuator 66, which will be described later, is formed in a direction parallel to the mounting portion 52B of the fixing member 52, and the closing member 114 (see FIG. 5) of the actuator 66 is fixed. To be done.

A U-shaped holder 60 is attached to the end of the attachment portion 52B on the fixed portion 52A side. The holder 60 is provided with a through hole parallel to the mounting portion 52B of the fixing bracket 52, and the U-shaped fixing portion 52A of the holder 60 is formed.
The closing member 115 of the actuator 66 on the side (see FIG. 5)
Is attached.

A stepped portion having a diameter larger than the outer diameter of the spring 64 is provided on the surface of the U-shaped mounting portion 52B of the holder 60 facing the fixed portion 52A, and one of the springs 64 (downward in FIG. 1) is provided at this stepped portion. Is fixed. The other side (upper side in FIG. 1) of the spring 64 is fixed to a cylindrical spring guide 62, and the spring guide 62 is in contact with the moving body 58. Therefore, the moving body 58 and the holder 60 are separated from each other by the spring force of the spring 64 (arrow A direction and counter arrow A direction in FIG. 3 (1)). The spring guide 62 and the moving body 58 may be fixed. An actuator 66 is inserted inside the spring 64, and one end (lower end in FIG. 1) is fixed to the holder 60 and the other end (upper end in FIG. 1) is fixed to the spring guide 62. Although the actuator 66 will be described in detail later, the elastic force changes as the gap between the closing members 114 and 115 changes due to the supply and discharge of the fluid. The elastic device 65 is formed by the spring 64 and the actuator 66.

At the tip portion 58A of the moving body 58, the fixing portion 52A is in a direction parallel to the mounting portion 52B of the fixing metal fitting 52.
One end of an elongated arm 68 that constitutes the expansion / contraction device 70 is attached so as to be rotatable about a direction intersecting with (direction of arrow C in FIG. 2). Similarly, near the tip 60 of the holder 60
One end of an elongated arm 68 is attached to A so as to be rotatable about the arrow C direction in FIG.

This telescopic device 70 includes an elongated arm 68.
A plurality of arms (six in this embodiment) are provided, and a pair of arms 68 are pivotally supported at positions where they intersect at the respective mid-bellys.
It is formed as a pantograph mechanism which is pivotally supported at the tip portion of 8. Therefore, by changing the distance (the direction of arrow A in FIG. 1) between the tips of the pair of arms 68 at the end of the telescopic device 70, the direction (direction of arrow B in FIG. 1) intersecting the direction in which this distance is changed is changed. The distance will change.

The direction in which the telescopic device 70 attached to the moving body 58 and the holder 60 separates from the fixing metal fitting 52 (see FIG. 1).
One end of the arm 68 (in the direction of arrow B) is moved by the moving holder 72 in the same direction as above (direction of arrow C in FIG. 2).
It is rotatably supported around.

The moving holder 72 is fixed to one end of the moving plate 74, and a guide rail 76 is arranged at the other end of the moving plate 74 in parallel with the sliding direction of the guide rail 54 (direction of arrow A in FIG. 1). It is set up. A guide 78 is attached to the guide rail 76 so as to be slidable along the guide rail 76. A moving body 80 is attached to the guide 78 on the opposite side of the guide rail 76. The front end portion of the moving pair 80 is the moving holder 72.
The arm 6 pivotally supported by the moving holder 72 in the same shape as
The tip portion of the other arm 68 of 8 is rotatably attached.

A wall surface contact portion 81 composed of a block 84 and a roller 86 is attached to the moving plate 74 via a U-shaped plate 82. This block 84
Rotatably supports the roller 86 about a shaft 85 in a direction parallel to the mounting portion 52B and intersecting with the fixed portion 52A (direction of arrow C in FIG. 2). An L-shaped sensor mounting plate 88A is provided above the side surface of the block 84 (direction of arrow A in FIG. 1), and an L-shaped sensor mounting plate 88A is provided below the side surface of the block 84 (direction of arrow A in FIG. 1). A sensor mounting plate 88B is provided.

Each of the sensor mounting plates 88A, 88B has a sensor 94A, 9A having a needle-shaped detection portion at its tip.
4B is attached, and the sensors 94A and 94B are composed of switches that are turned on and off when the detection section is tilted by a force acting in a direction intersecting the center of the needle. The sensors 94A and 94B are connected to the control device 42 (see FIG. 8).

Next, the actuator 66 will be described. As shown in FIG. 5, the actuator 66 includes a tubular body 110 having a hollow interior, a braided reinforcing structure 112 provided on the outer periphery of the tubular body 110, closing members 114 and 115 inserted into the inner cavity of the tubular body 110, and a tubular body. It comprises a cap 116 for sealingly fitting the body 110 to the closure member 114. The closing member 114 is tubular and has a hollow inside, and communicates with the inside of the tubular body 110. This closing member 11
A fitting 118 as an outlet for supplying / discharging fluid from the outside is attached to 4.

For the tubular body 110, rubber or a rubber-like elastic material is used in consideration of air impermeability. The braided reinforcing structure 112 has a braided structure in which the braided angle θ reaches a so-called static angle when the tubular body 110 is filled with the inner pressure at the maximum expanded diameter. Group polyamide fibers (Kevlar, trade name) and twisted or untwisted bundles of filaments such as ultrafine metal wires are suitable.

Such an actuator 66 is braided when a control pressure is supplied to the inside of the tubular body 110 through a fitting 118 attached to the closing member 114 by a positive pressure supply means 90 (shown only in FIG. 8) such as a compressor. The braiding angle of the structure body 112 is increased to expand the tubular body 110 and axially contract the resulting tubular body 110, so-called pantograph movement, thereby reducing the distance between the closing members 114 and 115.

Next, the operation of the copying apparatus according to this embodiment will be described with reference to FIG.

First, when starting the work, the cage 1
Move 0 to the start position. For safety at this time,
No fluid is supplied to the actuator 66. As a result, the elastic device 65 acts only by the elastic force of the spring 64. Therefore, the moving body 58 and the holder 60 are urged in a direction of separating from each other, and the distance between the distal ends of the pair of arms 68 of the expansion and contraction device 70 attached to the moving body 58 and the holder 60 becomes large. The expansion / contraction device 70 contracts so that the wall surface contact portion 81 has the mounting bracket 5 attached thereto.
It approaches the 2 side and reaches the retracted position (see FIG. 3 (1)).

At this retracted position, the guide 56 is located at the end portion in the direction along the guide rail 54 (direction of arrow A in FIG. 3), and this is detected by the sensor 92A. By reading the detection signal of the sensor 92A, the wall surface contact portion 8
It is possible to easily determine that 1 is the retracted position and the copying apparatus 50 is in the retracted state.

Next, when the work is started and the cage 10 is to be moved, the fluid is supplied to the actuator 66. This causes the actuator 66 to shorten the distance between each of the closure members 114, 115 due to pantograph movement. As a result, the wall surface contact portion 81 starts moving from the retracted position.

That is, since the moving body 58 and the spring guide 62 are separated by the contracting force of the actuator 66, the moving body 58 and the holder 60 are separated from each other by the contact between the moving body 58 and the spring guide 62. The spring force is released (see FIG. 4 (1)). Therefore,
The wall surface contact portion 81 can move from the retracted position (FIG. 3 (1)) in the wall surface W direction (arrow B direction in FIG. 3), and the expansion / contraction device 70 expands in the extension direction due to the action of the wall surface contact portion 81 due to its own weight. , Until it contacts the wall surface W. When the cage 10 is moved up and down after the wall surface contact portion 81 contacts the wall surface W, the wall surface contact portion 81 has a force in the wall surface direction (arrow B direction in FIG. 4) even if the wall surface W is uneven. , The wall surface W can be imitated. Therefore, by contracting the actuator 66, the wall surface contact portion 81 reaches the copying position,
The wall surface contact portion 81 can always contact the wall surface W by the action of its own weight.

Here, even when the wall surface contact portion 81 is largely separated from the wall surface W, the expansion / contraction device 70 continues to extend in the extension direction (direction of arrow B in FIG. 4) by the action of the weight of the wall surface contact portion 81. Therefore, the moving body 58 and the holder 60
The guide 56 moves downward (in the direction of arrow A in FIG. 4) as the distance between the two becomes narrower, and the guide 56 reaches the detection position of the sensor 92B. Therefore, by reading the detection signal of the sensor 92B, it is possible to easily determine that the distance between the wall surface contact portion 81 and the wall surface W is large and the wall surface W of the cage 10 is abnormally separated (FIG. 4 (2)).

When the position of the wall surface contact portion 81 is at the copying position, the guide 56 detects the sensor 92A and the sensor 92.
It is located in the middle part of B and neither sensor 92A, 92B detects the guide 56. As a result, the copying apparatus 5
When 0, it can be easily determined that the wall surface contact portion 81 is in a copying state in which the wall surface contact portion 81 follows the wall surface W and moves up and down.

It is also possible to fix the spring guide 62 to the moving body 58 and move the wall surface contact portion 81 (direction of arrow B and counter arrow B in FIG. 4). In this case, by contracting the actuator 66, the elastic force increases in the direction in which the moving body 58 and the holder 60 approach each other. Therefore, the expansion / contraction device 70 extends and the wall surface contact portion 81 approaches the wall surface W side to reach the copying position (see FIG. 3 (2)). In this case, the contracting force of the actuator 66 cancels out the spring force of the spring 64, so that even if the wall surface contact portion 81 is separated from the wall surface W at the copying position of the wall surface contact portion 81. The wall surface contact portion 81 moves until it comes into contact with the wall surface W by the force of its own weight. Therefore, even if the wall surface W is uneven, the wall surface contact portion 81 is biased in the wall surface direction (direction of arrow B in FIG. 3) and can follow the wall surface.

Next, the cage 10 is moved to a predetermined position of the building B, for example, lowered (direction of arrow D in FIG. 6). At this time, the roller 86 rotates following the wall surface W while the wall surface contact portion 81 contacts the wall surface W.

Here, when a protrusion, for example, the window frame F exists on the wall surface W in the traveling direction (direction of arrow D in FIG. 6), the sensor 88B comes into contact with the window frame F and the needle portion is tilted. In this way, since the wall surface contact portion 81 is constantly in contact with the wall surface,
The window frame F can be easily detected by the detection signal of the sensor 88B.

In this case, the present position of the cage 10, that is, the floor number can be determined by counting the detected window frame F with a counting circuit such as a counter. Therefore, the position of the cage 10 with respect to the window glass G can be easily specified without detecting the amount of extension of the wire 40.

When the cage 10 further descends and the roller 86 reaches the window frame F, the roller 86 rides on the window frame F. As a result, it is possible to protect the sensor from being damaged due to the continued contact of the sensor 88B with the window frame F.

When the window frame F is detected, the cage 10 detects the window glass G.
When it reaches, the scraper part 22 is activated to clean the window glass G. During this cleaning, the fixed suction cup 26
Due to this, the distance between the cage 10 and the wall surface is kept constant.

Here, the cage 10 of this embodiment is suspended from the roof by the wire 40 and descends toward the wall surface (see FIG. 6). This cage 10 is, for example,
The fixed suction cup 26 is first pressed against the outer wall material P at the upper edge portion of the mudglass G on the uppermost floor, that is, the position of the outer wall material P, and the fixed suction cup 26 adsorbs the outer wall material P, whereby the cage 10
Is fixed to the wall. Next, the guide suction cup 32 is pressed against the outer wall material P to adsorb the outer wall material P. After that, the suction of the fixed suction cup 26 is released and the wire 40 is unrolled so that the cage 10 guides the guide suction cup 32 through the guide rail 28.
It is guided by and descends vertically. When the guide sucker 32 is located near the upper limit of the cage 10, the fixed sucker 26 causes the window glass G to move.
The outer wall material P at the upper and lower edge portions of the
Release the adsorption of. At this time, the scraper 20 is extended, brought into contact with the window glass G, and the scraper portion 22 is moved in the left-right direction along the guide rail 18 to perform the window wiping operation (see FIG. 7). When the window cleaning operation is completed, the cage 10 alternately operates the guide suction cups 32 and the fixed suction cups 26, as described above, to cause the cage 1 to move.
It moves up and down while maintaining a constant gap between 0 and the wall surface.

As described above, when the cage 10 moves (elevates) while maintaining a constant distance from the wall surface, the copying apparatus of this embodiment is suitable. That is, even when the suction by the suction cup is performed and the distance between the cage 10 and the wall surface is kept constant, displacement in the approaching direction or the separating direction with respect to the wall surface, that is, swaying may not occur.
The copying apparatus according to the present embodiment can copy the wall surface regardless of the shaking. Therefore, the window frame F can be easily detected, and the scraper portion 22 of the cage 10 can be moved to an optimum position with respect to the window glass G.

In the copying apparatus of this embodiment, since the copying member follows the wall surface, it is possible to promptly deal with the swaying of the cage due to abnormally approaching or abnormally separating the cage. For example, when the cage is moved up and down to a predetermined position early or when the wall work is finished and the cage 10 is returned to the start position early, the abnormal state due to the approach and separation of the cage to the wall surface is detected, Avoidance control can be performed so that the dangerous state does not continue. In this case, the raising and lowering of the cage may be stopped, and the cage may be stabilized by temporarily fixing the cage to the wall surface with a guide suction cup or a fixed suction cup.

In this embodiment, the case where the window frame protruding from the wall surface is detected by the contact type sensor has been described. However, the present invention is not limited to this, and a non-contact type sensor for measuring a distance. For example, an ultrasonic sensor or an infrared sensor may be used. As for the detection state, not only the on / off state but also the state, for example, the size or the gradient of the convex / concave portion may be detected.

Further, in this embodiment, the scraper portion 22
Although the window cleaning work is performed mechanically in the above, an operator may board the inside of the cage to wipe off the dirt on the window glass. Further, the wall elevating device is not limited to the elevating device for cleaning the wall surface, and can be easily applied to a device for painting a wall surface or performing other wall surface activities.

[0059]

As described above, according to the present invention described above, even if it sways so as to be separated from the wall surface like a hanging type wall surface lifting device, the copying member is always in contact with the wall surface. Since it follows, there is an effect that it is possible to reliably copy.

Therefore, regardless of the cage swing, the boundary portion, for example, the window frame, can be detected near the tip of the copying apparatus, and accurate position detection can be performed without causing undetected or erroneous detection. A detection device that can be installed can be attached.

Further, since the extension force for following the wall surface is a minute force only for bringing the copying member into contact with the wall surface, it is possible to make contact with the wall surface with a simple mechanism without any unevenness. Even if there is, there is an effect that it can follow the wall surface in a state where there is little risk of wall surface destruction.

[Brief description of drawings]

FIG. 1 is a side view showing a configuration of a copying apparatus according to an embodiment of the present invention.

FIG. 2 is a top view of FIG.

FIG. 3A is a side view showing a state in which the copying apparatus is in a retracted position. (2) is a side view showing another state in which the copying apparatus is in contact with the wall surface.

FIG. 4A is a side view showing a state in which the copying apparatus is in contact with the wall surface. (2) is a side view showing a state in which the wall surface and the copying apparatus are largely separated from each other.

FIG. 5 is a partial cross-sectional view showing a schematic structure of an actuator.

FIG. 6 is a side view showing a moving state of the cage of the wall elevating device.

FIG. 7 is a plan view showing a schematic structure of a cage of the wall elevating device.

FIG. 8 is a block diagram showing a connection relationship of control devices of the wall elevating device.

FIG. 9 is a plan view showing a relationship between a cage and a wall surface in a conventional wall surface lifting device.

[Explanation of symbols]

 10 Cage 64 Spring 65 Elastic Device 66 Actuator 70 Stretching Device 81 Wall Surface Contact Portion 86 Roller

Claims (3)

[Claims] 1. A cage capable of moving up and down on a wall surface, a rotatable copying member attached to a front end of the cage, a rear end thereof attached to the cage, and a retractable means capable of expanding and contracting; A wall surface elevating device copying apparatus comprising: a switching unit that switches between a retracted state at a position separated from the wall surface and a copying state at a position in contact with the wall surface. 2. The copying apparatus for a wall elevating device according to claim 1, wherein the expansion / contraction means has a force from its rear end toward its front end due to its own weight. 3. The switching unit switches between the retracted state and the copying state by expanding and contracting an elastic body including a member that can expand and contract according to the amount of fluid to be supplied and discharged. Copying device for wall elevating device.