JPH05329069A - Controller for elevating device on wall surface - Google Patents

Abstract

PURPOSE:To stop a cage with high precision by detecting the winding-up/down quantity of a wire for suspending a cage which rises and lowers on a wall surface and detecting the position in the elevating direction of the cage by two detecting means and comparing the difference. CONSTITUTION:The winding-up/down quantity of a wire suspending a wall surface cleaning cage from a rooftop is obtained by an encoder 44, and counting is performed by a main counter 64 and a subcounter 62, and each value is inputted into a cage elevating circuit 60. The cage elevating circuit 60 judges the winding-up/down quantity of a prescribed wire from the count value of the subcounter 62 and changes the elevating speed from high speed to low speed. Further, the position separation separated from the wall surface is detected by the sensors 52A and 52B arranged in two elevating direction of a detection part 52, and amplified 56A and 56B, and the difference is calculated 66 and inputted into a comparator 72. When the difference is over a prescribed value Vth, the cage elevating circuit 60 stops the revolution of a motor 41. Accordingly, the projection part such as window frame is detected, and the cage is brought into stop with high precision, and the cleaning efficiency can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller for a wall elevating device, and more particularly to a controller for a wall elevating device which stops a cage of the wall elevating device at a predetermined position.

[0002]

2. Description of the Related Art Conventionally, work may be performed manually or automatically while moving a cage along a wall around a high-rise building such as a building. 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 on the wall, or by automatically wiping the dirt on the wall surface and the window glass by attaching a rotating brush or the like to the cage.

By the way, in order to safely and accurately carry out the wall cleaning work manually or automatically, it is necessary to raise and lower the cage along the wall surface and detect the position of the cage in the ascending and descending direction. is there.

For this reason, in high-rise buildings constructed in recent years,
As shown in FIG. 17, a guide rail 200 is provided in advance along the vertical direction of the wall surface W.
A guide roller 202 provided in the cage 10 equipped with a wall cleaning device is inserted. 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"). In such a mullion method, a detection unit, for example, a plurality of limit switches are arranged in the ascending / descending direction on this track to detect the position of the cage by determining whether the limit switch is turned on, or the cage has a limit switch. The position of the cage in the ascending / descending direction is detected by detecting a protrusion or the like provided at a predetermined position on the track.

[0006]

However, such guide rails and limit switches (or protrusions) are required.
It is unfavorable to provide the wall on the wall, and a design including a guide rail for cleaning is required from the beginning of the building construction. Further, the mullion method cannot be adopted in a building having a glass front surface, a building having an uneven wall surface, an existing building not provided with a guide rail, or the like.

Therefore, although the suspension system in which the cage is suspended by a wire is used without using a guide rail, it is necessary to detect the position of the cage also in this suspension system. In this suspension method, the wall surface and the cage are easily swayed in the direction in which the cage and the cage are separated from each other. Therefore, the method using the limit switch similar to the above-mentioned mullion method may not be able to detect the cage position when the cage is largely separated from the wall surface. ..

Therefore, the cage position is detected by detecting the winding amount or the winding amount of the wire. However, since the wire has elasticity, the error between the actual position of the cage and the position based on the measured value becomes large when the weight of the cage is different or when the amount of winding the wire is increased. Further, when a linear amount of winding or winding of the wire is converted into a rotation angle by a rotation measuring device such as a rotary encoder and detected, a measurement error occurs due to the wire slipping or the like at this conversion portion. Therefore, it is not possible to pinpoint the exact position of the cage,
There is a problem.

The present invention has been made to solve the above problems. When it is necessary to accurately stop the window frame or the like, the wire winding amount or the wire winding amount may be reduced as necessary. First, it is an object of the present invention to provide a controller for a wall elevating device that can accurately stop the cage at a predetermined position.

[0010]

In order to achieve the above object, the invention according to claim 1 is a cage that is hung by a wire and can move up and down a wall surface, and a winding means that winds or winds the wire. Winding amount detection means for detecting a wire winding amount when the wire is wound up and a wire winding amount when the wire is wound down, a position detecting means for detecting a position of the cage in a vertical direction, and a position detecting means. Control means for controlling the winding means so as to stop the cage at a predetermined position on the wall surface based on the position of the cage and the wire winding amount and wire winding amount detected by the winding amount detecting means It is characterized by having and.

According to a second aspect of the present invention, in the control device for the wall raising / lowering device according to the first aspect, the position detecting means are arranged along the ascending / descending direction of the cage, and position information is recorded for each of them. It is characterized in that it has a plurality of position blocks, and a reading means which is arranged in the cage and reads the position information stored in the position blocks.

According to a third aspect of the present invention, in the controller for the wall elevating device according to the second aspect, the control means is
When the cage is stopped at a predetermined position determined based on the detected wire winding amount and wire winding amount and the position of the cage is detected by the position detecting means, the wire winding is performed. It is characterized in that the winding means is controlled so that the cage stops regardless of the position determined by the upper amount and the wire lowering amount.

[0013]

According to the first aspect of the present invention, there is provided a controller for a wall elevating / lowering device, which is provided with a cage that is suspended by a wire and is capable of elevating and lowering a wall. The wire is wound up or down by the winding means. The amount of wire winding when the wire is wound and the amount of wire winding when the wire is wound are detected by the winding amount detection means. The cage is provided with position detecting means, and the position detecting means detects the position of the cage in the vertical direction. According to the invention of claim 2, the position detecting means reads the position information stored in each of the plurality of position blocks arranged along the ascending / descending direction of the cage on the cage side. The position of the cage in the vertical direction can be detected by reading. This position information includes IDs such as the position of the cage and the number of floors.
There is information, and this position information can be recorded magnetically or optically in advance in the position block.

The control means stops the cage at a predetermined position on the wall surface based on the position of the cage detected by the position detecting means and the wire winding amount and wire winding amount detected by the winding amount detecting means. Control the winding means.
Therefore, the cage can be stopped at the predetermined stop position even when an error occurs in the wire winding amount, the wire winding amount, and the position of the cage on the wall surface. Further, as in the invention according to claim 3, the control means stops the cage at a predetermined position determined in advance based on the detected wire winding amount and wire winding amount, and the position detecting means When the position of the cage is detected, the winding means can be controlled so that the cage stops regardless of the position determined by the wire winding amount and the wire winding amount. Therefore, even when an error occurs in the wire winding amount and the wire winding amount and the stop position cannot be determined, the wire can be stopped at the detected cage position.

[0015]

Embodiments of the present invention will now be described in detail with reference to the drawings. The first embodiment is one in which the present invention is applied to a wall elevating device used for cleaning a wall surface or the like.

As shown in FIG. 2, the wall elevating device includes a cage 10 suspended from a wire 40. The cage 10 moves up and down by winding up or down the wire 40 by the rotation of a motor (not shown) in the crane section 38 installed on the roof of the building B. The crane unit 38 also includes an arm 39 for guiding the wire 40 to the outside of the building B and hanging it. The arm 39 is provided with an encoder 44 for measuring the winding amount or the winding amount of the wire 40. The encoder 44 outputs a pulse according to the rotation, that is, according to the winding amount or the winding amount of the wire 40. The encoder 44 outputs a pulse that can determine the moving direction of the wire 40. The encoder 44 is connected to the control device 42 (see FIG. 1). The encoder 44 may be attached to the rotating shaft of a motor (not shown) in the crane section 38.

In the 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. A window frame F projecting toward one side is provided. In addition, the above-mentioned 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 performing wall surface cleaning control, that is, raising / lowering control of the cage 10 described later.

As shown in FIG. 3, the cage 10 comprises a box-shaped frame 12 and a panel (not shown) covering the frame 12. Inside the cage 10, a guide rail 18 is disposed in the longitudinal direction of the cage 10 (horizontal direction in FIG. 3). This guide rail 18
A scraper portion 22 having a window-cleaning scraper 20 that is moved along the guide rails 18 (in the direction of arrow B in FIG. 3) 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), and the fixed suction cup 26 is adsorbed to the wall surface. ..

A pair of guide rails 28 are installed 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 adsorbed on the wall surface.

As shown in FIGS. 3 and 4, the cage 10
A detection unit 52 for detecting the window frame F is disposed in. The detection unit 52 has a sensor 52A on the upper side and a sensor 52B on the lower side, and is in the vertical direction (arrow A in FIG. 4).
Direction, the direction opposite to the arrow A, and the ascending / descending direction of the cage 10) at predetermined intervals H. An ultrasonic distance sensor is used for the sensors 52A and 52B. The sensors 52A and 52B output signals according to the distance between each sensor and the wall surface (including the window frame F) that is an object. In addition, the sensors 52A and 52B include amplifier circuits 56A and 56A.
It is connected to the control device 42 via B.

The sensors 52A and 52B are arranged at a predetermined interval L in the horizontal direction (the direction of arrow B and the direction of the opposite arrow B in FIG. 4), as shown in FIG. 4 (2). By arranging the sensors at the intervals L as described above, the interval H in the vertical direction can be made small even when the diameters of the sensors 52A and 52B are large.

As shown in FIG. 1, the control device 42 has an arithmetic circuit 66, and the arithmetic circuit 66 includes a sensor 5
The signals output from 2A and 52B are input. The arithmetic circuit 65 is composed of, for example, a subtraction circuit, and outputs a difference obtained by subtracting the signal of the sensor 52B from the input signal of the sensor 52A. The arithmetic circuit 66 is connected to one input side of the comparator 72 via the analog switch 68. The analog switch 68 includes a control terminal G, and when a high-level control signal is input to the control terminal G, the analog switch 68 is turned on to bring the terminals T1 and T2 into conduction. Therefore, the output of the arithmetic circuit 66 is input to the comparator 72 only when the control signal of the control terminal G becomes high level.

The comparator 72 is connected to the other input side so that the predetermined voltage Vth is inputted. The comparator 72 compares the signal S output from the arithmetic circuit 65 with a predetermined voltage Vth, outputs a high level signal when the signal S exceeds the predetermined voltage Vth, and outputs a low level signal otherwise. To do. The output of the comparator 72 is input to the OR circuit 74 and the cage elevating circuit 60.

The control unit 42 also includes an encoder 44.
The main counter 64 and the sub-counter 62 are connected in parallel so that the pulse signal output from the is input. The main counter 64 and the sub-counter 62 count the number of pulses of the encoder 44 to detect the cage lifting circuit 6
Output to 0. The count value is adjusted according to the ascending / descending direction of the cage 10.

Here, the sub-counter 62 has a reset terminal R, and the signal output from the comparator 72 and the signal output from the cage elevating circuit 60 are input to the reset terminal R via the OR circuit 74. And is reset when any signal is at high level. Furthermore,
The sub counter 62 is connected to the signal generation circuit 70. The signal generating circuit 70 is configured to include a shift register, a flip-flop circuit, and the like, and when the input count value Cs from the sub-counter 62 reaches a preset predetermined count value Csm, the control terminal G of the analog switch 68 is controlled. Output a high level signal to.

The cage lifting circuit 60 includes ROM, C
A control routine composed of a microcomputer having a PU and stored in a ROM as described later (see FIG. 9)
The rotation of the motor 41 for raising and lowering the cage 10 is controlled in accordance with. Further, a predetermined stop position Ci (i = 1, 2, ...) Of the cage 10 is converted into an integrated count value Cm of the main counter 64 and stored in advance in the cage lifting circuit 60.

Next, the operation of the first embodiment will be described with reference to the drawings as well as the raising and lowering of the cage 10. First, the raising and lowering of the cage 10 of the first embodiment will be briefly described. Cage 10
Is hung from the roof by a wire 40 and goes up and down facing the wall surface (see FIG. 2). In this cage 10, for example, the fixed suction cup 26 is first pressed against the outer wall material P at the upper edge portion of the window glass G on the uppermost floor, that is, the position of the outer wall material P, and the fixed suction cup 2
The cage 10 is fixed to the wall surface by the adsorption of the outer wall material P by the body 6 (see FIG. 5). 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 wound down, whereby the cage 10 is guided by the guide suction cup 32 via the guide rail 28 and vertically descends (see FIG. 6).
When the guide suction cup 32 is located near the upper limit of the cage 10, the fixed suction cup 26 adsorbs the outer wall material P at the upper and lower edges of the window glass G, and thereafter releases the adsorption of the guide suction cup 32 (see FIGS. 7 and 8). 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 horizontal direction (see FIG. 3) along the guide rail 18 to perform the window cleaning operation. When the window cleaning operation is completed, the guide suction cups 32 and the fixed suction cups 26 of the cage 10 are alternately sucked as described above to lower the cage 10 and the wall surface while keeping a constant distance. The cage 40 is raised by winding the wire 40 and guiding the suction cup 3
2 and the fixed suction cups 26 are alternately sucked.
In this way, the cage 10 moves up and down stepwise by winding (winding) the wire 40 and alternately attracting the guide suction cup 32 and the fixed suction cup 26, and operates as if going up and down step by step.

Next, the raising / lowering operation of the cage 10 will be further described with reference to the control routine for stopping the cage 10 at the window position shown in FIG. To simplify the description, the case where the cage 40 is lowered from the vicinity of the top of the building B will be described.

First, although not shown in the figure at the same time when this routine is executed, initialization is performed and the number of loops i is 1
Main counter 6 stored in advance and stored in advance.
The count value C1 of 4 is fetched and the process proceeds to step 102. The number of loops corresponds to the stepwise elevation of the cage 40, that is, the number of steps.

In step 102, the ascending / descending speed Y of the cage 10 is set to the high speed Y _H which is the initial moving speed. Thereby, the cage 10 can be moved quickly. Next, the cage 10 is lowered, and in the next step 104, the count value Cm of the main counter 64 is read, and the read count value Cm is a predetermined value Ci (i = 1, 2, ..., In this case, C1). Determine whether or not. In the case of negative determination, the cage 10 has not moved the predetermined distance yet, so the routine proceeds to step 106.

In the next step 106, the sub-counter 6
The count value Cs of 2 is read and it is determined whether the read count value Cs is a predetermined value Csm. In the case of affirmative determination in step 106, it is determined that the cage 10 has approached the vicinity of the stop position, the process proceeds to step 108, and the ascending / descending speed Y of the cage 10 is set to the low speed Y _L and step 11
Go to 0. On the other hand, in the case of a negative determination, the cage 10 has not yet approached the vicinity of the stop position, and therefore the process directly proceeds to step 110. Thus, by setting the ascending / descending speed Y of the cage 10 to the low speed Y _L near the stop position, the accuracy of the stop position of the cage 10 can be improved.

In the next step 110, which will be described in detail later, it is determined whether or not the cage 10 has passed the window frame F position by detecting the output signal of the detection section 52. If the determination in step 110 is affirmative, the cage 10 has reached the stop position, so the process proceeds to step 112 and the cage 10 is stopped. At this time, the sub-counter 62
To reset. By resetting the sub-counter 62, the wire 40 from the start of the next movement of the cage 10
It is possible to count the amount of winding or the amount of winding. On the other hand, in the case of a negative determination, the cage 10 is not yet at the stop position, and therefore the process returns to step 104.

On the other hand, if the affirmative determination is made in step 104, it is determined that the cage 10 has moved a predetermined distance, the process proceeds to step 112, and the cage 10 is stopped.

In this way, the above process is repeated until the main counter 64 reaches the predetermined count value or the sensor output is turned on.

When there is a sensor output when the cage 10 is stopped, since the window glass G is present at a predetermined position, the scraper 20 is extended and brought into contact with the window glass G, and along the guide rail 18. After the window wiping operation is performed by moving the scraper portion 22 in the horizontal direction (see FIG. 3), the process proceeds to step 114. On the other hand, when there is no sensor output, the window wiping work of the window glass G is unnecessary, so the routine proceeds to step 114.

In this case, the number of loops i for performing the window cleaning operation is stored in advance, and the read loop number and the loop number at the current position are determined to determine whether or not the window cleaning operation is performed. You can judge. By determining the number of times of this loop, it is possible to specify only the window cleaning operation for the window glass G at the predetermined position.

In the next step 114, it is determined whether the cage 10 is to be continuously moved up and down by determining whether or not the loop number i has been performed a preset number of times.
In the case of a positive determination, in step 116, the loop number i is incremented by 1, and the process returns to step 102.
In the case of negative determination, this routine ends.

Due to the elasticity of the wire 40 and slippage of the wire 40 in the encoder 44, the distance between the count value Cm of the main counter 64 and the actual stop position of the cage 10 depends on the winding amount of the wire 40. It may fluctuate. This state is shown in FIG.
That is, when the cage 10 is stopped at the count values C1, C2, C3, ... Of the main counter 64 corresponding to the stop position of the cage 10, the wire 40 is stretched, and the actual stop position is changed from the desired stop position. It shifts. Therefore, in the first embodiment, the window frame F is detected by the sensor as described above and the cage 10 is stopped, so that the wire 40 is appropriately stopped without the displacement of the stop position due to expansion and contraction or slippage.

Further, the control device 42 of the first embodiment has a sub-counter 62, and when the sub-counter 62 reaches a predetermined count value Csm, the ascending / descending speed Y of the cage 10 is changed from the high speed Y _H to the low speed Y. Switched to _L. Further, the sub-counter 62 is reset at the stop position of the cage 10. Therefore, when the cage 10 is moved up and down by a predetermined distance, it can be moved up and down at a high speed Y _H in a short time, and the stopping position accuracy of the cage 10 can be improved by switching to a low speed Y _L. Since the sub-counter 62 is reset at this stop position, high speed and low speed can always be switched at the optimum cage 10 position without accumulating errors. Further, even when the window frame F does not exist when moving up and down, it is possible to stop at the value of the main counter 64 stored in advance, and it is possible to stop at a position in the vicinity. The relationship between the lifting speed of the cage 10 and time is shown in FIG.
2 (2).

Although the case of lowering the cage 40 has been described, the case of raising the cage 40 can be realized by decrementing the number of loops in step 116. Furthermore, when raising and lowering the cage,
The direction of raising and lowering the cage is determined by the encoder pulse,
This can be realized by incrementing or decrementing the number of loops based on this.

Next, the details of step 110 will be described.
First, as the cage 10 moves up and down, the sensor 5 of the detection unit 52
2A and 52B are signals according to the distance to the wall surface (see FIG. 10).
(1) and (2) are output. These signals are subtracted by the arithmetic circuit 66, and the output is output to the comparator 72 when the analog switch 68 is on.

This analog switch 68 is shown in FIG.
As shown in (3), when the count value Cs from the sub-counter 62 set in the signal generating circuit 70 reaches a predetermined count value Csm, it is turned on for a predetermined time. By turning on the analog switch 68 for this predetermined time, a signal only in the vicinity of the window frame F can be output to the comparator 72, and a signal in an unnecessary portion other than the window frame F can be removed (Fig. 10 (4)).

The comparator 72 outputs a high level signal when the difference between the predetermined voltage Vth and the sensors 52A and 52B exceeds the predetermined voltage Vth (see FIG. 10 (5)). Therefore, when the output signal of the comparator 72 is at high level, the sensor has passed through the window frame F.

Here, the cage 10 may move up and down while swinging against the wall surface. The characteristics of the output signals of the sensors 52A and 52B of the detection unit 52 at this time are shown in FIG.
It is shown in (2).

Since the arithmetic circuit 66 in this embodiment subtracts the outputs of these sensors 52A and 52B and outputs them to the comparator 72, the cage 10 sways and the detecting section 5 is shaken.
Fluctuations in the sensor output due to fluctuations in position 2 with respect to the wall surface are eliminated. Therefore, the comparator 72 can compare the predetermined voltage Vth with the window frame signal (see FIG. 11).
(See (4)), and outputs a high level signal when the voltage exceeds the predetermined voltage Vth (see FIG. 11 (5)). Therefore, when the output signal of the comparator 72 is at high level, it can be determined that the sensor has passed through the window frame F.

In this way, the sensor 52A of the detecting section 52,
By obtaining the difference of 52B, the detection failure due to the swing of the cage 40 can be prevented.

Next, a second embodiment will be described. In the second embodiment, the window frame F can be detected in the same manner as in the first embodiment even when the cage 10 rocks in any direction while the cage 10 is moving up and down.

Since the second embodiment has the same structure as the first embodiment, the same parts are designated by the same reference numerals and detailed description thereof will be omitted.

As shown in FIG. 13, in the second embodiment,
Horizontal direction of the cage 10 (arrow B direction in FIG. 13 and counter arrow B
The detectors 52 and 54 are arranged at predetermined intervals in the direction). The detection unit 52 has sensors 52A and 52B as in the first embodiment, and has a vertical direction (arrow A in FIG. 13).
Direction and the direction opposite to the arrow A), the sensor 52A is provided at the upper part and the sensor 52B is provided at the lower part at predetermined intervals. The detection unit 54 has 54A and 54B, and the sensor 54A is arranged on the upper part in the vertical direction and the sensor 54B is arranged on the lower part. This sensor 52
Each of A, 52B, 54A, and 54B outputs a signal corresponding to the distance between each sensor and the wall surface (including the window frame) that is the object.

The controller 42 of the second embodiment is similar to that of FIG.
As shown in FIG. 4, two arithmetic circuits 66 and 67 are provided,
The outputs of the sensors 52A and 52B are connected to the arithmetic circuit 66, and the outputs of the sensors 54A and 54B are connected to the arithmetic circuit 67. Similarly, two analog switches 68 and 69 and two comparators 72 and 73 are provided on the output side of the arithmetic circuits 66 and 67. And
The output of the signal generation circuit 70 has two analog switches 6
8 and 69 are connected in parallel so that the same signal is input. Further, the OR circuit 74 includes comparators 72, 7
3 and the reset signal from the cage elevating circuit 60 are input.

The operation of the second embodiment will be described below. Since the raising and lowering operation of the cage 10 is the same as that of the first embodiment,
Detailed description is omitted, and only the detection of the window frame F will be described.

As shown in FIG. 15, while the cage 10 is moving up and down, the distance between the upper and lower portions of the cage 10 with respect to the wall surface alternates (see FIG. 15 (1)).
The distance from the wall surface varies by the same amount in each place (Fig. 15).
(See (2)), the horizontal direction of the cage 10 fluctuates up and down (see FIG. 15C), and the distance of the horizontal portion of the cage 10 with respect to the wall surface fluctuates alternately (see FIG. 15D). There is.

The cage 10 shown in FIGS. 15 (1) and 15 (2).
The output of each of the detection units 52 and 54 due to the fluctuation of is the same as that described in the first embodiment (see FIG. 11), and thus detailed description thereof will be omitted.

Next, the outputs of the detectors 52 and 54 due to the change of the cage 10 shown in FIG. 15 (3) are shown in FIG. 16 (1),
As shown in (2), signals having the same amplitude have a phase difference, that is, a characteristic having a time interval. Therefore, the signals output from the comparators 72 and 73 also have the phase difference tm. Therefore, even if the cage 10 is tilted, the cage 10 is stopped when the cage 10 first passes through the window frame F, and the window glass G
It is possible to stop the cage 10 in the optimum position with respect to. In this case, for example, by changing the inclination of the cage 10 so as to correct when the phase difference tm exceeds a predetermined time, the same phase can be obtained. Therefore, by stopping the cage 10 when the window frame F is detected first and correcting the inclination of the cage 10 in the horizontal direction, the cage 10 can be stopped at the window frame F and the orientation of the cage 10 can be changed. Can be modified. This allows the cage 10 to face the window glass G in an optimal orientation.

Next, the outputs of the detectors 52 and 54 due to the fluctuation of the cage 10 shown in FIG. 15 (4) are signals in phase with the window frame F as a reference, and the minimum value of the signal changes according to the fluctuation. It becomes the characteristic to do. That is, only the output fluctuations of the detection units 52 and 54 do not match. However, since each of the arithmetic circuits 66 and 67 obtains the difference between the detection units 52 and 54, like the first embodiment in which this characteristic is removed,
The window frame can be detected. In the case of such a variation, if the phase of the peak value of the output of the detection units 52 and 54 is detected, the direction of the shaking can also be detected.

Therefore, in the second embodiment, the window frame F can be reliably detected regardless of the direction of the shaking, and the window glass G can be faced in the optimum direction.

In the above embodiment, the optimum position of the window glass G is detected by detecting the window frame using a sensor such as an ultrasonic distance sensor.
The present invention is not limited to such an ultrasonic distance sensor, and a magnetic sensor may be used to detect the distance, or an optical distance sensor may be used.

In the above embodiment, the encoder determines the approximate position of the cage and the window frame to detect the optimum position of the window glass G, and the work is performed. However, the present invention is not limited to this, and ID information or the like may be formed in advance on the wall surface, and the window frame position, that is, the window glass position or the work position may be detected by reading this with a sensor. .. This ID information includes information on the cage position, floor number, etc., and in the case of magnetic recording, it can be formed by magnetically recording on a tile or sticker coated with a magnetic material or by directly disposing the magnetic material. In the case of optical recording, it can be formed by optically recording as a mark or a code on a tile or a seal coated with a medium that reflects a predetermined wavelength such as infrared rays. By disposing the member on which the ID information is recorded on the wall surface and magnetically or optically detecting the ID information, it is possible to detect the position of the cage and the window frame and the window glass.

[0060]

As described above, according to the invention described in claim 1, the stop position based on the detected cage position and the wire winding amount and the wire winding amount detected by the winding amount detecting means. Since the cage stops at, even with a hanging type wall lifting device that does not use a guide rail,
The effect is that it can be stopped accurately.

According to the invention described in claim 2, since the position information can be recorded in advance, the position of the cage can be accurately detected and the cage position can be accurately detected without storing much information in advance in the controller for the wall elevating device. There is an effect that can be stopped.

According to the third aspect of the present invention, the cage is stopped at the position of the cage detected by the position detecting means. Therefore, even if an error occurs due to the winding and lowering of the wire, the cage can be accurately measured. The effect is that it can be stopped.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a control device in a first embodiment of the present invention.

FIG. 2 is a side view showing a moving state of a cage of a wall elevating device to which a control device for a wall elevating device according to the present invention can be applied.

FIG. 3 is a front view of the cage of the wall elevating device to which the control device for the wall elevating device according to the present invention is applicable, as viewed from the outside.

FIG. 4A is a side view and a front view showing the arrangement of the detection unit and the positional relationship with the wall surface in the first embodiment of the present invention. (2) is a front view showing the arrangement of the detection unit in (1).

FIG. 5 is a front view showing an operating state of a fixed suction cup and a guide suction cup when the cage of the first embodiment is raised and lowered.

FIG. 6 is a front view showing an operating state of a fixed suction cup and a guide suction cup when the cage of the first embodiment is raised and lowered.

FIG. 7 is a front view showing an operating state of a fixed suction cup and a guide suction cup when the cage of the first embodiment is raised and lowered.

FIG. 8 is a front view showing an operating state of a fixed suction cup and a guide suction cup when the cage of the first embodiment is raised and lowered.

FIG. 9 is a flowchart showing a control main routine for controlling the raising and lowering of the cage in the first embodiment.

FIG. 10 is a characteristic diagram showing signal waveforms at various points in the control device of the first embodiment, (1) is a characteristic diagram showing an output waveform of one sensor of the detection unit, and (2) is an output waveform of the other sensor of the detection unit. , (3) is a characteristic diagram showing the output waveform of the signal generating circuit, (4) is a characteristic diagram showing the signal waveform from the detector input to the comparator, and (5) is the output waveform of the comparator. FIG.

FIG. 11 is a characteristic diagram showing signal waveforms at various points in the control device when the cage is shaken in the first embodiment, (1) is a characteristic diagram showing an output waveform of one sensor of the detection unit, and (2) is a detection unit. Characteristic diagram showing the output waveform of the other sensor,
(3) is a characteristic diagram showing an output waveform of the signal generating circuit, (4)
Is a characteristic diagram showing a signal waveform from the detector input to the comparator, and (5) is a characteristic diagram showing an output waveform of the comparator.

FIG. 12 (1) is a conceptual diagram showing the relationship between the raising and lowering of the cage and the count values of the main counter and the sub counter in the first embodiment. (2) is a conceptual diagram showing the relationship between the cage ascending / descending speed Y and time t in the first embodiment.

FIG. 13 is an arrangement of a detection unit in the second embodiment of the present invention,
3A and 3B are a side view and a front view showing the positional relationship with the wall surface.

FIG. 14 is a block diagram showing a schematic configuration of a control device according to a second embodiment of the present invention.

FIG. 15 is a diagram showing a state where the cage is rocked in the second embodiment, (1) is an image diagram showing a state in which the distances of the upper and lower portions of the cage with respect to the wall surface alternate, and (2) is a distance between the cage and the wall surface Is an image diagram showing a state in which the cage fluctuates by the same amount, (3) is an image diagram showing a state in which the horizontal direction of the cage fluctuates up and down, and (4) is an image diagram showing a state in which the distance to the wall surface of the horizontal portion of the cage fluctuates alternately. is there.

FIG. 16 is a characteristic diagram showing a signal waveform at various places in the control device of the second embodiment, (1) is a characteristic diagram showing a signal waveform detected by one detection unit and input to a comparator, and (2) is a characteristic diagram of (1). A characteristic diagram showing an output waveform of a signal output from a comparator according to a signal, (3) a characteristic diagram showing a signal waveform detected by the other detection unit and input to the comparator,
(4) is a characteristic diagram showing an output waveform of a signal output from the comparator according to the signal of (3).

FIG. 17 is a plan view showing a cage in a conventional wall surface lifting device.

[Explanation of symbols]

 10 Cage (Cage) 41 Motor (Winding Means) 44 Encoder (Winding Amount Detecting Means) 52 Detecting Unit (Position Detecting Means) 54 Detecting Unit (Position Detecting Means) 60 Cage Elevating Circuit (Control Means) 62 Sub Counter 64 Main Counter 66 arithmetic circuit

Claims (3)

[Claims] 1. A cage hung by a wire and capable of moving up and down on a wall surface, a winding means for winding or winding the wire, and a wire winding amount when the wire is wound and a wire winding amount when the wire is wound. Winding amount detecting means for detecting, position detecting means for detecting the position of the cage in the vertical direction, position of the cage detected by the position detecting means, and wire winding detected by the winding amount detecting means A controller for controlling the winding means so as to stop the cage at a predetermined position on the wall surface based on the amount of winding and the amount of wire winding; 2. The position detecting means is arranged along the ascending / descending direction of the cage and has a plurality of position blocks in which position information is recorded respectively, and the position detecting means is arranged in the cage and stored in the position block. The controller for a wall elevating device according to claim 1, further comprising: a reading unit that reads position information. 3. The control means stops the cage at a predetermined position determined on the basis of the detected wire winding amount and wire winding amount, and the position detecting means detects the position of the cage. 3. The wall elevating / lowering device according to claim 2, wherein the winding means is controlled so that the cage stops regardless of the position determined by the wire winding amount and the wire winding amount when the position is detected. Equipment control device.