JPH0666545U - Polishing equipment - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a polishing device which has a high working speed and which can easily remove even dirty dirt. A polishing head 30 is provided so as to be movable up and down with respect to a main body portion 12, and at least a polishing portion for polishing a surface to be polished is rotatable in a plane parallel to the surface to be polished. . The rotary drive mechanism rotates at least the polishing section of the polishing head 30. The vertical movement mechanism moves the polishing head 30 in the vertical direction with respect to the main body 12. Moving mechanism 24, 2
6 moves the main body 12 in the horizontal direction.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a polishing device. More specifically, the present invention relates to a polishing device for polishing a surface to be polished which lies in a substantially vertical plane.

[0002]

[Prior art]

 For example, a window wiping robot is known as an example of a polishing device for polishing a surface to be polished, such as a window glass, which is present in a substantially vertical plane. The window cleaning robot moves the moving shaft relative to the main body to move up and down and left and right on a vertical wall surface or glass surface, and wipes the glass surface during the movement (polishing). ) Is a device.

[0003]

[Problems to be solved by the device]

 However, the above conventional window cleaning robot has the following problems. Although the window cleaning robot is effective in terms of automation of polishing, it moves slowly on the wall or glass surface vertically and horizontally because the moving shaft is moved relative to the main body. However, there is a problem that work efficiency is poor. In particular, when windows are installed side by side over a long distance like a train, for example, when polishing windows continuously, it is very inefficient and cannot be adopted. In addition, the conventional window cleaning robot has a problem that it is difficult to remove the stuck dirt because the glass surface is polished when the main body is moved. SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a polishing device which has a high working speed and which can easily remove even sticky dirt.

[0004]

[Means for Solving the Problems]

 In order to solve the above problems, the present invention has the following configuration. That is, the main body portion and the polishing portion that is vertically movable relative to the main body portion, and at least the polishing portion for polishing the surface to be polished can rotate in a plane parallel to the surface to be polished. A polishing head, a rotary drive mechanism for rotating at least the polishing section of the polishing head, a vertical movement mechanism for vertically moving the polishing head with respect to the main body, and a horizontal body for the main body. And a moving mechanism for moving it in the direction. In particular, a pressing force adjusting mechanism for pressing the polishing portion of the polishing head against the surface to be polished with a predetermined pressure may be provided.

[0005]

[Action]

 The operation will be described. The polishing head moves up and down with respect to the main body by the vertical movement mechanism. Further, since the main body including the polishing head is moved in the horizontal direction by the moving mechanism, the vertical movement and the horizontal movement of the polishing head can be performed independently. Further, by the rotation driving mechanism, at least the polishing portion of the polishing head can be rotated and rotated in a plane parallel to the surface to be polished. Particularly, when the pressing force adjusting mechanism is provided, the polishing portion of the polishing head can be pressed against the surface to be polished with a predetermined pressure.

[0006]

【Example】

 Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. In this embodiment, a window cleaning robot for automatically cleaning (polishing) train windows will be described as an example of the polishing device. FIG. 1 shows a front view of the window cleaning robot 10 of this embodiment. In the figure, reference numeral 12 is a main body portion, and a slit 14 which is long in the vertical direction is opened on the front surface. A rotating lamp 16 is provided on the upper surface of the main body 12 and is turned on while the window cleaning robot 10 is in operation. Reference numeral 18 denotes a power cable, which supplies electric power to the rotating lamp 16 and each motor and the like (described later) arranged in the main body 12.

Reference numeral 20 denotes a water supply pipe, which supplies cleaning water to a polishing head (described later) via a pump 22 arranged in the main body 12. Reference numeral 24 is a roller that constitutes a moving mechanism, and is provided at the lower end of the main body 12. The roller 24 is arranged in the main body 12 and is rotated by a traveling motor 26 constituting a moving mechanism. As the traveling motor 26, for example, a stepping motor is used. The window cleaning robot 10 can be moved horizontally by the rotation of the roller 24. Further, by controlling the rotation direction of the traveling motor 26, the movement direction of the window cleaning robot 10 can be controlled.

Reference numeral 28 denotes an input operation unit, and an operator inputs an operation control signal for the window cleaning robot 10. Reference numeral 30 denotes a polishing head, the polishing portion of which is a tip portion protrudes from the slit 14, although the detailed structure will be described later. The polishing head 30 is vertically movable with respect to the main body 12. Further, the polishing head 30 including the polishing portion for polishing the window glass (surface to be polished) of the train is entirely rotatable about the axis. The front end surface of the polishing head 30 can rotate in a plane with respect to the window glass of the train.

Next, the structure near the polishing head 30 will be described with reference to FIG. In FIG. 2, reference numeral 32 is a head block, which is arranged in the main body 12. The polishing head 30 is rotatable about an axis with respect to the head block 32. A through hole 34 is formed in the center of the polishing head 30 in the axial direction. Polishing paper 36 is attached to the front end surface of the polishing head 30, which is a polishing section. By sticking the polishing paper 36, it is possible to effectively remove stains on the window glass. Reference numeral 38 is a rotation motor that constitutes a rotation drive mechanism, and is fixed in the head block 32. A pulley 40a is fixed to the output shaft of the rotation motor 38. On the other hand, a pulley 40b is fixed to the outer periphery of the polishing head 30. A belt is stretched between the pulleys 40a and 40b, and the polishing head 30 is rotated by driving the rotation motor 38.

Reference numeral 42 denotes a pipe joint, which is fixed in the head block 32. The rear end of the polishing head 30 is watertightly and rotatably fitted in the right side portion of the pipe joint 42. A hose 46 communicating with the pump 22 is connected to the lower end of the pipe joint 42. When the pump 22 is driven, the cleaning water (for example, a mixed water of cleaning liquid and water) 44 in a tank (not shown) provided outside the main body 12 is supplied with a water supply pipe 20, a hose 46, a pipe joint 42, It is jetted from the opening of the front end surface of the polishing head 30 via the through hole 34. Reference numeral 48 is a window frame sensor, which comprises, for example, a proximity switch. The window frame sensors 48 are arranged at positions close to the outer periphery of the polishing head 30, and four window frame sensors 48 are arranged around the polishing head 30 at intervals of 90 degrees. When the window frame sensor 48 comes into contact with the window frame of the train, a predetermined signal is transmitted and the window frame can be detected. Reference numeral 50 denotes a projecting piece, which projects from the left end surface of the head block 32 to the left.

Next, a pressing force adjusting mechanism for constantly pressing the front end surface of the polishing head 30 against the window glass of the train with a predetermined pressure will be described with reference to FIG. Reference numeral 52 denotes an up-and-down moving block, which can be moved up and down in the main body 12 by an up-and-down moving mechanism described later. Reference numeral 54 denotes a pair of horizontal linear motion guides, which are fixed horizontally and parallel to the inner wall surface of the vertical movement block 52. A slide block 56 has horizontal fitting portions 58 extending from both upper and lower end surfaces. The tip ends of the horizontal fitting portions 58 are slidably fitted to the horizontal linear motion guides 54, respectively. Therefore, the slide block 56 can move in the horizontal direction along the horizontal translation guide 54. A horizontal spline hole 60 is formed through the slide block 56. A horizontal nut 62 is embedded in the slide block 56.

Reference numeral 64 is a spline shaft, and a plurality of (only one is shown in the drawing) spline grooves 66 are formed in the outer peripheral surface in the lengthwise direction. The spline shaft 64 is inserted into the spline hole 60 of the slide block 56, and a ridge (not shown) protruding in the spline hole 60 engages with the spline groove 66. With this configuration, the spline shaft 64 can move in the length direction with respect to the slide block 56, but it cannot rotate about the axis. The right end portion of the spline shaft 64 is pivotally attached to the projecting piece 50 that projects leftward from the left end surface of the head block 32. Therefore, the head block 32 including the polishing head 30 is rotatable about the shaft 68 in the directions of arrows A and B. By making the head block 32 rotatable in the directions of arrows A and B, even if the window glass of the train is inclined with respect to the vertical surface, the front end surface of the polishing head 30 is brought into contact with the window glass in a state parallel to the window glass. Is possible.

A front position sensor 70 detects the position of the slide block 56 in the horizontal direction. As the front position sensor 70, for example, a proximity switch is used. 72 is a rear position sensor that detects the horizontal position of the slide block 56. The rear position sensor 72 is arranged rearward with respect to the front position sensor 70 by an appropriate distance. As the rear position sensor 72, for example, a proximity switch is used. 74 is an abutment body, which is fixed to the rear end of the slide block 56. The contact member 74 can contact the front position sensor 70 and the rear position sensor 72. When the contact member 74 contacts the front position sensor 70 or the rear position sensor 72, the front position sensor 70 or the rear position sensor 72 outputs a predetermined signal. Since the signal is transmitted, the horizontal position of the slide block 56 can be detected.

Reference numeral 76 is a horizontal ball screw, which is rotatable about an axis and is screwed to a horizontal nut 62 embedded in the slide block 56. A pressing motor 78 is fixed to the rear wall surface of the slide block 56. The pressing motor 78 rotationally drives the horizontal ball screw 76. When the pressing motor 78 rotationally drives the horizontal ball screw 76, the slide block 56 moves in the horizontal direction along the horizontal linear motion guide 54. Reference numeral 80 denotes a spring, which is fitted onto the spline shaft 64 and is elastically mounted between the slide block 56 and the head block 32. The spring 80 constantly urges the head block 32 including the polishing head 30 in the tip direction (to the right in FIG. 3) to press the tip surface of the polishing head 30 against the window glass of the train.

Next, a vertical movement mechanism for vertically moving the polishing head 30 with respect to the main body 12 will be described with reference to FIG. Reference numeral 82 denotes a vertical linear motion guide, which is provided vertically facing the inner wall surface of the main body 12 in a pair (only one is shown in FIG. 4). A vertical fitting portion 84 is fixed to the outer wall surface of the vertical movement block 52. A pair of vertical fitting portions 84 (only one of which is shown in FIG. 4) is arranged and slidably fitted to the respective vertical linear motion guides 82. Therefore, the vertical movement block 52 is vertically linearly moved. It is movable in the vertical direction along the guide 82. Reference numeral 86 is a vertical nut, which is fixed to the outer wall surface of the vertical movement block 52. Reference numeral 88 is a vertical ball screw, which is rotatable about an axis. At the same time, it is screwed into a vertical nut 86 fixed to the vertical movement block 52. 90 is a vertical movement motor, which is fixed to the inner bottom surface of the main body 12. The vertical movement motor 90 is vertical. Rotating and driving the ball screw 88. When the vertical movement motor 90 rotationally drives the vertical ball screw 88, the vertical movement block 52 moves up and down along the vertical linear movement guide 82.

When the window wiping robot 10 having the above configuration is automatically operated, for example, as shown in FIG. 5, the window glass 98 is polished from the polishing start point 94 to the polishing end point 96 in the polishing pattern of arrow C. A control system for automatically performing polishing will be described with reference to FIG. The control system of this embodiment is controlled by the CPU 100 including a storage means. First, the setting of the polishing pattern will be described. The basic operation of the polishing pattern is pre-programmed. First, the CPU 100 rotates the rotation motor 38 and drives the pump 22 to eject the cleaning water 44. Further, as will be described later in detail, the tip end surface of the polishing head 30 is pressed against the window glass 98.

In this state, the operator makes the polishing head 30 correspond to the polishing start point 94, and then starts polishing based on the basic operation. That is, the CPU 100 drives the vertical movement motor 90 to move the polishing head 30 downward. Then, first, the window frame sensor 48 detects the position P1 of the window frame 102. Then, the CPU 100 stops the vertical movement motor 90 and drives the traveling motor 26 to move the main body 12 including the polishing head 30 to the left. When the body portion 12 moves to the left, the window frame sensor 48 detects the position P2 of the window frame 102.

Next, the CPU 100 stops the traveling motor 26 and drives the vertical movement motor 90 to move the polishing head 30 upward. When the polishing head 30 moves upward, the window frame sensor 48 detects the position P3 of the window frame 102. From the distance between the positions P2 and P3, the CPU 100 recognizes the polishing distance V in the vertical direction. After that, the CPU 100 stops the vertical movement motor 90 and drives the traveling motor 26 to move the main body 12 including the polishing head 30 to the right. When the main body 12 moves to the right, the window frame sensor 48 detects the position P4 of the window frame 102. The CPU 100 recognizes the polishing distance H in the horizontal direction from the distance between the positions P3 to P4.

Next, the CPU 100 stops the traveling motor 26 and drives the vertical movement motor 90 to move the polishing head 30 downward. When the polishing head 30 moves downward, the window frame sensor 48 detects the position P5 of the window frame 102. The CPU 100 stops the vertical movement motor 90 and drives the traveling motor 26 from the position P5 to move the main body portion 12 including the polishing head 30 by the amount obtained by subtracting the polishing pitch D from the horizontal polishing distance H (that is, turning). Move to the left) (up to point 104). The CPU 100 polishes the window head 98 in a zigzag manner at a polishing distance V in the vertical direction and a polishing pitch D from the turning point 104. Even during polishing, the CPU 100 constantly monitors the position of the polishing head 30, and when the position becomes substantially the same as the position P5, it is determined that the polishing end point 96 has been reached and the polishing is ended.

Next, a pressing force adjusting method for constantly pressing the front end surface of the polishing head 30 against the window glass 98 of the train with a predetermined pressure will be described. Prior to the start of polishing, the CPU 100 drives the pressing motor 78 to move the slide block 56 to a position where the front position sensor 70 detects the contact body 74 fixed to the rear end of the spline shaft 64 (see FIG. 3). Move to the position shown). In this state, since the tip end surface of the polishing head 30 is already in contact with the window glass 98, the biasing force of the spring 80 acts on the polishing head 30 as a pressing force. The pressing force of the spring 80 is determined to be a suitable pressing force when the contact body 74 is present between the front position sensor 70 and the rear position sensor 72 in advance. Therefore, the CPU 100 drives the pressing motor 78 to move the slide block 56 toward the head block 32 immediately after the rear position sensor 72 detects the contact body 74 during polishing, and the front position sensor 70 detects the contact body 74. When 74 is detected, the pressing motor 78 is stopped.

During polishing, the polishing head 30 moves in the vertical direction with respect to the main body 12 by the vertical movement mechanism. Further, since the main body 12 including the polishing head 30 is moved in the horizontal direction by the moving mechanism, the polishing head 30 can be moved in the vertical direction and in the horizontal direction independently of each other. It is possible to speed up the movement. . Further, since the polishing head 30 can be rotated while rotating the window glass 98 of the train by the rotation drive mechanism, even if the dirt is stuck, it can be easily removed. Furthermore, since the polishing head 30 can be pressed against the window glass 98 with a substantially constant pressure by the pressing force adjusting mechanism, there is no unevenness in polishing.

Although the polishing head 30 as a whole rotates in this embodiment, it is sufficient that at least the polishing portion for polishing the surface to be polished can rotate within a plane parallel to the surface to be polished. The rotation drive mechanism is not limited to the rotation by the rotation motor 38, but may be configured to rotate at least the polishing portion of the polishing head 30 with compressed air, for example. In addition to the vertical movement motor 90 and the vertical ball screw 88, the vertical movement mechanism for moving the polishing head 30 in the vertical direction with respect to the main body 12 also employs, for example, a method of driving a chain or timing belt with the vertical movement motor. May be. As for the moving mechanism, the roller 24 may be rotated by the traveling motor 26 as in the embodiment, or a crawler type traveling means, a means for moving along a pre-laid rail, or the like may be adopted. it can.

Regarding the pressing force adjusting mechanism, the front position sensor 70 and the rear position sensor 72 may detect the range of the pressing force, or the pressure sensor may directly detect and control the pressing force of the polishing head 30 or the like. Various methods can be adopted. Although various preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and many modifications can be made without departing from the spirit of the invention. is there.

[0024]

[Effect of device]

 When the polishing apparatus according to the present invention is used, the polishing head moves up and down with respect to the main body by the vertical movement mechanism. Further, since the main body including the polishing head is moved in the horizontal direction by the moving mechanism, the vertical movement and the horizontal movement of the polishing head can be performed independently of each other. The movement speed can be increased, and the work efficiency of polishing work can be improved. Further, since at least the polishing portion of the polishing head can be rotated and polished in a plane parallel to the surface to be polished by the rotation drive mechanism, polishing can be performed while rotating the surface to be polished. Even stuck dirt can be easily removed. . In particular, when the construction of claim 2 is adopted, the polishing portion of the polishing head can be pressed against the surface to be polished with a predetermined pressure, so that polishing can be performed evenly, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is a front view of a window cleaning robot for a train, which is an embodiment of a polishing device according to the present invention.

FIG. 2 is a cross-sectional view showing the structures of a polishing head and a head block.

FIG. 3 is a cross-sectional view of a vertically moving block showing a structure of a pressing force adjusting mechanism.

FIG. 4 is a cross-sectional view of the main body showing the structure of a vertical movement mechanism.

FIG. 5 is an explanatory diagram showing an example of a polishing pattern.

FIG. 6 is a block diagram showing a control system for performing polishing control.

[Explanation of symbols]

 10 Window Cleaning Robot 12 Main Body 22 Pump 24 Roller 26 Traveling Motor 30 Polishing Head 38 Rotation Motor 70 Front Position Sensor 72 Rear Position Sensor 76 Horizontal Ball Screw 78 Pressing Motor 80 Spring 88 Vertical Ball Screw 90 Vertical Movement Motor 98 Window Glass

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Keiichi Kamata 1-6-5 Marunouchi, Chiyoda-ku, Tokyo Within East Japan Railway Company (72) Eiji Nakazawa 1-6-5 Marunouchi, Chiyoda-ku, Tokyo East Japan Railway Company (72) Inventor Yoshiki Yamagishi 1-6-5, Marunouchi, Chiyoda-ku, Tokyo East Japan Railway Company (72) Inventor Tetsuzo Ninnata 2210 Tsuruga Gondocho, Nagano City, Nagano Prefecture No. B Nichinanda Electric Co., Ltd. (72) Creator Masaaki Yanagisawa 2210 Tsuruga Gondo-cho, Nagano City, Nagano Prefecture

Claims (2)

[Scope of utility model registration request] 1. A main body part and a polishing part provided to be movable up and down relative to the main body part, and at least a polishing part for polishing a surface to be polished are rotatable in a plane parallel to the surface to be polished. A polishing head; a rotary drive mechanism for rotating at least the polishing portion of the polishing head; a vertical movement mechanism for vertically moving the polishing head with respect to the main body portion; and a horizontal movement of the main body portion. And a moving mechanism for moving the same to a polishing apparatus. 2. The polishing apparatus according to claim 1, further comprising a pressing force adjusting mechanism that presses the polishing portion of the polishing head against the surface to be polished with a predetermined pressure.