JPH05340084A - Method for detecting horizontal device of rising and lowering device for wall surface - Google Patents

Abstract

PURPOSE:To regularly detect the horizontal deviation of a cage regardless of the swing of the cage in a building, etc., which can not adopt a Marion system. CONSTITUTION:A cage 10 raised and lowered facing a wall surface has a light receiving sensor 148. On the top end of the arm 140 of a roof car C, a laser oscillator 144 for oscillating a laser beam R is mounted. The laser beam R oscillated from the laser oscillator 144 is refracted by a reflecting mirror mounted on a rotating body rotated with the oscillating direction of the laser beam R from the laser oscillator 144 as a rotating shaft, and the scanning orbit surface forms a vertical surface H to the wall surface. Thus, even if the cage 10 is separated from the wall surface by the effect of wind, the light receiving sensor 14 is situated on the scanning orbit surface drawn by the laser beam R, and can receive the laser beam R. Therefore, the horizontal deviation of the cage 10 can be regularly detected regardless of the swing of the cage 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lateral deviation detecting method for a wall elevating device for detecting lateral deviation of a cage vertically moving up and down along a wall surface of a building.

[0002]

2. Description of the Related Art In high-rise buildings in central Tokyo, wall surface cleaning (wall surface work) is regularly performed in order to maintain the beauty of the wall surface.

This wall surface cleaning is carried out on a cage that is suspended by a wire wound from a winding device of a roof car (carriage) installed on the roof of a building and is raised and lowered along the wall surface.
An operator manually wipes off stains on the wall surface and the window glass, or mechanically wipes stains on the window glass by attaching a rotating brush or the like to the cage.

By the way, even if the wall cleaning work is performed manually or mechanically, in order to carry out the work safely and accurately, the cage is accurately moved vertically without being laterally displaced (horizontal displacement). Need to let.

For this reason, in high-rise buildings constructed in recent years,
As shown in FIG. 10, a guide rail 200 is provided in advance along the vertical direction of the wall surface W.
Guide roller 2 provided in cage 10 of the wall cleaner
02 is inserted. As a result, the guide roller 202 is guided and held by the guide rail 200, so that the cage 10 can be accurately moved up and down in the vertical direction without being laterally displaced (generally referred to as a "mullion method").

However, such a guide rail 2
It is unfavorable to provide 00 on the wall surface W in terms of aesthetic appearance of the building, and in the building with all glass and the building with uneven wall surface, the existing building where the guide rail 200 for cleaning is not provided, etc. The method cannot be adopted.

Therefore, a general hanging type cage 10 is used.
11, a laser beam 206 is oscillated vertically downward from a laser oscillator 204 arranged on the roof of the building, and a photodetector 208 arranged in the cage 10 is arranged with the laser beam 206 as a base line. By detecting the above deviation, the lateral deviation of the cage 10 is detected, and the cage 10 is moved up and down while correcting the lateral deviation.

However, when the cage 10 is shaken due to the influence of the wind and the like and the cage 10 is separated from the wall surface W (indicated by a one-dot chain line), the laser beam 206 is satisfactorily emitted by the optical receiver 2.
It does not hit 08. Therefore, the lateral deviation of the cage 10 cannot always be detected.

[0009]

SUMMARY OF THE INVENTION In consideration of such facts, the present invention is applicable to a building or the like in which the Marion system cannot be adopted.
It is an object of the present invention to provide a lateral deviation detection method for a wall elevating device that can always detect lateral deviation of the cage regardless of the cage shake.

[0010]

A method of detecting lateral deviation of a wall surface lifting device according to the present invention is a cage suspended vertically so that it can be lifted up and down by a wire unwound from a winding device disposed at the top of a building. In the lateral deviation detecting method of the wall surface elevating device for detecting lateral deviation with respect to the ascending / descending direction, the light beam is scanned by an oscillator that oscillates the light beam so that the scanning locus surface of the light beam draws a vertical surface, and the cage is provided on the cage. The light beam is received by the light receiver.

[0011]

According to the present invention having the above-described structure, the cage for cleaning the wall, which is suspended by the wire wound from the winding device arranged on the roof of the building, moves up and down while facing the wall.

The cage is provided with a photodetector, which receives a light beam oscillated from an oscillator mounted on the winding device, and detects the lateral deviation of the cage with respect to the ascending / descending direction by the deviation of the light receiving position. .. The light beam oscillated from this oscillator is configured such that its scanning locus surface draws a plane perpendicular to the wall surface.

Therefore, even if the cage is separated from the wall surface or is pitched with respect to the wall surface due to the influence of the wind or the like, the light receiver can receive the light beam because it is on the scanning trajectory plane drawn by the light beam. Therefore, the lateral displacement of the cage with respect to the ascending / descending direction can always be detected regardless of the swing of the cage.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a cage 10 provided with a wall elevating device according to this embodiment.

The cage 10 is composed of a box-shaped frame 12 and a panel (not shown) that covers the frame 12. The support plate 1 reinforced with the reinforcing material 14 is provided at both ends in the longitudinal direction of the cage 10 configured as described above.
6 are erected. A guide rail 18 having a rectangular cross section is bridged over the support plate 16. A box-shaped moving body 20 is slidably inserted into the guide rail 18. A roller (not shown) is arranged inside the moving body 20 so as to sandwich the guide rail 18, and is driven by a motor 22. As a result, the moving body 20 moves along the guide rails 18 along with the cage 1
It is moved in the horizontal direction of 0 (direction of arrow B).

A mounting plate 24 is erected on the upper surface of the moving body 20. A pair of arms 26 are rotatably attached to the upper end of the attachment plate 24. The upper end of the arm 26 is rotatably attached to the fixed plate 30 via a bracket 32. A cylinder 28 is provided between the pair of arms 26 and is rotatably attached to the upper end of the attachment plate 24. On the other hand, the rod of the cylinder 28 is rotatably attached to the bracket 32. As a result, when the cylinder 28 is expanded and contracted, the mounting plate 24
With the fulcrum as a fulcrum, the fixing plate 30 comes into contact with and separates from the wall surface. A pair of scrapers 36 extending in the vertical direction of the cage 10 are rotatably attached to the wall-side end of the fixing plate 30 via a bracket 34. The window wiping scraper 36 is separated from each other in the axial direction (direction of arrow 1A) by a driving unit (not shown), and the window wiping area can be adjusted according to the size of the window glass.

As shown in FIG. 3, the cage 10 is hung up and down by a wire 40 wound around a roof car C installed on the roof. Arm 1 of this roof car C
40 has a cylindrical casing 14 shown in FIG.
2 is attached. In this casing 142,
A laser oscillator 144 is provided to continuously output a gas laser of He-Ne gas. The laser is not limited to the gas laser, and a solid laser may be used. A rotating body 146 is attached to the casing 142 so as to be rotatable in the oscillation direction of the laser beam R (direction of arrow A). This rotating body 146
Is rotated by an actuator (not shown) within 360 degrees or within a predetermined angle range.
A reflecting mirror or a prism (not shown) is attached inside the rotating body 146 to refract the laser beam R oscillated in the direction of arrow A. Since the reflecting mirror or prism is integrated with the rotating body 146 and rotates about the line of the arrow A direction as a rotation axis, the scanning locus surface of the laser beam R draws a vertical surface H.

Further, as shown in FIG. 1, a light receiving sensor 148 is arranged at the center of the frame 12 of the cage 10 so as to receive the laser beam R. As shown in FIG. 6, the light receiving sensor 148 includes six light receiving portions 15 arranged on the substrate 149 in the lateral direction of the cage 10.
0, 152, 154, 156, 158, 160 and connected to a sequencer 162 via an amplifier 161. In addition, as shown in FIG.
50, 152, 154, 156, 158 and 160 are protected by a glass epoxy 166 filled in the light receiving frame 164 so that obstacles do not come into direct contact therewith. The light receiving sections 150, 152, 154, 156, 158,
Since 160 is formed of a GaAsP photodiode and has good matching with a He-Ne gas laser, it has better frequency characteristics than conventional silicon photodiodes and stable output can be obtained.

As shown in FIG. 6, the lateral width of the cage 10 of each light receiving portion is set to L _2, and the arrangement interval of the light receiving portions is set to L ₁ . In addition, these light receiving units 15
Laser beam spot diameter D of laser beam R received by 0, 152, 154, 156, 158, 160
Is set so that the relationship of L ₁ ≦ D <2L ₁ −L ₂ is established. As a result, as shown in Table 1 below, 11 input patterns are configured, and the sequencer 16
2 sequentially advances each step of control according to a predetermined procedure.

[0020]

[Table 1]

As shown in FIG. 1, mounting brackets 44 extending to the center of the cage 10 are fixed to both ends of the upper and lower frames 18 in the longitudinal direction so as to face the wall surface. The mounting bracket 44 is reinforced with ribs 46. A vertical movement cylinder 48 is fixed to the tip of the mounting bracket 44. This vertical movement cylinder 48
A horizontal mounting plate 50 is fixed to the tip of the rod. An extrusion cylinder 52 is fixed to the horizontal mounting plate 50, and a dish-shaped fixed suction cup 54 is attached to the tip of the rod of the extrusion cylinder 52.

As a result, the fixed suction cup 54 is fixed to the cage 1
It is movable in the vertical direction of 0 and can be brought into and out of contact with the wall surface. The fixed suction cup 54 is connected to the suction device by a suction pipe (not shown). As a result, when the push-out cylinder 52 presses the fixed suction cup 54 against the wall surface, the suction device brings the space between the fixed suction cup 54 and the wall surface into a negative pressure state to adsorb the fixed suction cup 54 to the wall surface.

Rectangular mounting plates 56 are fixed near both ends in the longitudinal direction of the frame 12 on the side facing the wall surface. A pair of mounting members 58 having a rectangular cross section are fixed to both ends of the mounting plate 56 along the vertical direction of the cage 10. The side surface of the mounting member 58 has a cylindrical portion 62 at the tip.
A guide rail 60 in which is formed is attached.

The columnar portion 62 of the guide rail 60 penetrates the connecting block 64 in the vertical direction, and is inserted into a guide groove 63 having a slit formed in the axial direction of the hole. As a result, the connecting block 64 is guided by the guide rail 60 and is vertically movable. On the other hand, a rodless cylinder 66 is arranged between the pair of mounting members 58 along the up-down direction of the cage 10.

As shown in FIG. 2, a slit 67 formed in the axial direction of the rodless cylinder 66 is provided with a movable member 68 so as to be movable in the axial direction. A pin 70 is projectingly provided on the side surface of the movable member 68. A bracket 72 bent in a U shape is locked to the pin 70. The bracket 72 is fixed to the central portion of a movable plate 74 having connection blocks 64 fixed to the four corners. As a result, the movable plate 74 is guided by the guide rail 60 via the connecting block 64 and is driven by the rodless cylinder 66 in the vertical direction of the cage 10.

Further, U-shaped notches 76 are formed at the upper and lower ends of the movable plate 74, and an extrusion cylinder 78 is attached to the notches 76. A tip portion of a rod 80 of the push-out cylinder 78 is threaded and connected by a nut 82 to a bracket 86 projecting from a long side of a rectangular mounting plate 84. As a result, the mounting plate 84 is supported by the rod 80 of the extrusion cylinder 78 and can be brought into contact with and separated from the wall surface. A substantially trapezoidal side plate 86 is fixed to both ends of the mounting plate 84. Two shafts 90 are bridged between the opposite surfaces of the side plate 86, and an intermediate portion thereof is inserted into a bearing 91. As a result, the bearing 91 is slidably supported by the shaft 90.
A spring 92 is inserted between the bearing 91 and the side plate 88. As a result, the bearing 91 is constantly urged by the spring 92 so as to be positioned at the center of the shaft 92.

Both ends of a support plate 96 arranged so as to be orthogonal to the mounting plate 84 are fixed to the bearing 91, and the support plate 96 is supported by the shaft 92 via the bearing 91. A circular hole 98 is formed in the center of the support plate 96. The circular hole 98 is provided so as to project from the center of the rectangular fixing plate 102 and pivotally supports the shaft portion 104 having a constricted portion. As a result, the fixed plate 102 is rotatable with respect to the support plate 96.

The inner race of the bearing 106 is joined to the outer peripheral portion of the shaft portion 104. The outer race of the bearing 106 is joined to the ring 108. An axial end surface of the ring 108 is fixed to the support plate 96, and a support piece 110 extends radially from the outer peripheral surface of the ring 108. This support piece 11
At 0, a long hole 112 is formed. This long hole 112
The shaft 114 is inserted through the shaft 114.
Both ends of are fixed to brackets 118 provided at the upper and lower ends of the fixing plate 102. A spring 116 is inserted between the bracket 118 and the support piece 110, and the fixing plate 1 is urged by the urging force of the spring 116.
02 is held parallel to the support plate 96.

Further, at both ends of the fixed plate 102, a pipe connecting portion 12 of a suction pipe communicating with a suction device (not shown).
0 is provided. A dish-shaped guide suction cup 100 is attached to the wall surface side of the pipe connecting portion 120. When the guide suction cup 100 is pressed against the wall surface by the extrusion cylinder 78, a suction device (not shown) causes the space between the guide suction cup 100 and the wall surface to be in a negative pressure state to suck the guide suction cup 100 onto the wall surface. ..

On the other hand, a mounting bracket 122 having a T-shaped cross section is provided on the support plate 96 so as to cover the circular hole 98.
It is fixed at 4. A cylinder 130 is fixed to the edge of the support plate 96 in the longitudinal direction. A substantially rectangular auxiliary block 134 is fixed to the rod 132 of the cylinder 130. This auxiliary block 134 is driven by the cylinder 130,
It can be brought into and out of contact with the T-shaped leg portion 122A of the mounting bracket 122 (see FIG. 8). On the other hand, cylinders 126 are arranged on the opposite surfaces of the side plates 88. The rod 128 of the cylinder 126 presses the auxiliary block 134 in the extended state (see FIG. 8). In this way, by pressing the mounting bracket 122 via the auxiliary block 134, the moving stalk of the support body 96 can be earned.

Here, in order to move the support plate 96 laterally with respect to the cage 10, as shown in FIG. 8, the auxiliary block 134 is attached to the mounting bracket 122 by the cylinder 130.
Press against. Next, the auxiliary block 134 is pressed by the rod 128 of the cylinder 126 while resisting the biasing force of the spring 92. As a result, the support plate 96 is pressed by the mounting bracket 122 and is movable laterally with respect to the cage 10 while being guided by the shaft 90.

Next, the operation of the wall elevating device according to this embodiment will be described. As shown in FIG. 3, the guide suction cups 100 arranged in the cage 10 adsorb the wall surface, and the guide suction cups 1
The cage 10 is moved up and down while being guided to 00. Next, the fixed suction cup 54 and the guide suction cup 100 are changed over, and the guide suction cup 100 is moved along the guide rail 60 while the cage 10 is held on the wall surface by the fixed suction cup 54.
Next, the guide suction cup 100 sucks the wall surface again, the suction state of the fixed suction cup 54 is released, and the cage 10 is moved up and down while being guided by the guide suction cup 100. By repeating such a procedure, the cage 10 is moved up and down from the ground floor to the uppermost floor while keeping a constant distance from the wall surface.

Here, an explanation will be given of an adjusting method in the case where the cage 10 is laterally displaced during lifting and lowering, for example, the cage 10 is displaced to the right (direction of arrow A) from the center line in the descending direction as shown in FIG. ..

As shown in FIG. 6, when the cage 10 is laterally displaced to the right, the laser beam R is emitted by the light receiving sensor 1
It hits the light receiving portion 152 arranged on the left side of 48. Here, a signal is input from the light receiving unit 152 to the sequencer 162, and it is determined that the cage 10 is laterally displaced to the right (1.5 L ₁ ). At this time, even if the cage 10 is separated from the wall surface, the scanning locus surface of the laser beam R forms a vertical surface H (see FIG. 3) with respect to the wall surface. Beam R hits.

Next, the sequencer 162 drives the cylinder 130 fixed to the support plate 96 shown in FIG. 8 according to the output contents (see Table 1) to arrange them in the transverse direction (shown at the upper side in the figure). Auxiliary block 134
Is pressed against the mounting bracket 122 (direction of arrow C).
Next, the rod 128 of the cylinder 126 resists the urging force of the spring 92, presses the side surface of the auxiliary block 134 in the direction of arrow D, and slides the auxiliary block 134 by 1.5 L ₁ . At this time, the guide suction cup 100 is adsorbed to the wall surface, and the side plate 88 to which the cylinder 126 is attached is fixed to the cage 10 side. That is, from a different point of view, the cage 10 is relatively moved in the lateral direction (direction of arrow E) by the cylinder 126 using the guide suction cup 100 as a reaction force point. As a result, the cage 10 traverses to the left and the lateral displacement is corrected (see FIG. 9).

In this embodiment, the cage provided with the guide suction cup has been described, but the present invention can be applied to a normal hanging type cage. Further, in the present embodiment, six light receiving portions are provided, but by increasing the number of light receiving portions, more accurate lateral shift detection can be performed. Further, although the laser oscillator 144 is attached to the arm 140 in the present embodiment, it may be arranged on the parapet on the roof.

[0037]

According to the lateral deviation detecting method for a wall elevating device of the present invention, lateral deviation of a cage can be constantly detected and corrected regardless of the cage vibration in a building or the like where the mullion method cannot be adopted. ..

[Brief description of drawings]

FIG. 1 is an overall perspective view of a cage to which a wall surface lifting device according to the present invention is applied.

FIG. 2 is an exploded perspective view showing a mounting structure of a guide suction cup of the wall surface lifting device according to the present invention.

FIG. 3 is a side view showing a lifted state of a cage to which the wall surface lifting device according to the present invention is applied.

FIG. 4 is a perspective view showing a scanning locus of a laser beam oscillated from an oscillator of the wall surface lifting device according to the present invention.

FIG. 5 is a front view showing a state in which lateral displacement of a cage to which the wall surface lifting device according to the present invention is applied is detected.

FIG. 6 is a block diagram showing a method of controlling the wall surface lifting device according to the present invention.

FIG. 7 is a cross-sectional view of a light receiving sensor of the lateral deviation detection method for the wall surface lifting device according to the present invention.

FIG. 8 is a plan view showing a guide suction cup that adjusts a lateral displacement state of a cage to which the wall surface lifting device according to the present invention is applied.

FIG. 9 is a plan view showing a state in which the lateral displacement of the cage to which the wall surface lifting device according to the present invention is applied is adjusted.

FIG. 10 is a plan view showing a wall elevating device to which a conventional mullion system is applied.

FIG. 11 is a side view showing a state in which the conventional hanging type wall elevating device is shaken.

[Explanation of symbols]

 10 cage 144 laser oscillator 146 rotating body 148 light receiving sensor

Claims (1)

[Claims] 1. A lateral deviation detection method for a wall elevating device for detecting lateral deviation of a cage that is hung vertically so that it can be vertically moved by a wire unwound from a winding device disposed at the top of a building. An oscillator for oscillating the light beam scans the light beam so that the scanning locus surface of the light beam draws a vertical surface, and the light receiver provided in the cage receives the light beam. Method for detecting lateral deviation of equipment.