JPH07241533A - Cleaning apparatus - Google Patents

Abstract

PURPOSE:To clean a wall surface surely by improving a working function and to shorten the time of cleaning work by installing a controller which arranges a cleaning tool to move along the wall surface based on signals from sensors which detect the wall surface set in a cleaning base frame. CONSTITUTION:The first sensors 7A, 7B, 7C comprising a distance measuring sensor which emit ultraviolet rays and receive the reflected rays from a wall surface to measure the distance from the surface are installed as sensors for detecting the wall surface to be cleaned in the housing 40 of a cleaning base frame 5. The second sensors 44A, 44B are installed on the upper and lower surfaces of the housing 40 respectively to detect the parts of the wall surface positioned above and below the first sensors 7A-7C, respectively. A controller controls the cleaning base frame 5 based on the detection signals from these sensors 7A-7B, 44A, 44B to move the cleaning tool 6 of the cleaning frame 5 along the surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device capable of improving workability.

[0002]

2. Description of the Related Art Conventionally, when cleaning an exterior surface of a large ship or the like, or a wall surface such as an inner surface of a tunnel, an operator uses a high-pressure jet nozzle or a rotating brush to remove barnacles, glues, soot, etc. attached to the wall surface. It is common to remove deposits.

[0003]

However, in the above-mentioned cleaning method, when the wall surface reaches a high place, the work posture of the worker becomes unstable, the workability is significantly deteriorated, and reliable cleaning is expected. There is a problem in that it requires a lot of labor and working time in addition to not being able to obtain it.

The present invention has been devised in view of the above problems, and the workability in cleaning the wall surface can be improved and reliable cleaning can be performed, and the cleaning work time can be shortened. It is an object of the present invention to provide a cleaning device which can be solved.

[0005]

DISCLOSURE OF THE INVENTION The present invention is directed to a freely movable body part that is movable with respect to a horizontal plane, an elevating device that is provided on the car body part and that can be moved up and down, and an elevating device that is to be washed. The cleaning base frame includes a cleaning base frame having a cleaning tool capable of cleaning the wall surface by sliding contact with the wall surface, and a sensor for detecting the wall surface is provided on the cleaning base frame to clean the cleaning base frame based on a detection signal from the sensor. It is based on a cleaning device characterized in that a control device for arranging the tools along the wall surface is provided.

[0006]

According to the present invention, a freely movable body part that can move on a horizontal plane, an elevator provided on the body part and capable of moving up and down, and a wall surface of the elevator that is to be cleaned are slidably contacted. As a result, the cleaning base frame having the cleaning tool capable of cleaning the wall surface is provided, and as a result, the workability can be improved by stably positioning the cleaning tool with respect to the wall surface to be cleaned reaching a high place.

A sensor for detecting the wall surface is provided on the cleaning base frame, and a control device for arranging the cleaning tool of the cleaning base frame along the wall surface based on a detection signal from the sensor is provided. The difficult positioning work of the cleaning tool can be automated, and the cleaning work time can be shortened.

Further, it is preferable to adopt the one capable of linearly moving the vehicle body parts in the directions orthogonal to each other in that the workability of cleaning the continuous exterior surface and the tunnel inner surface can be improved.

Further, by disposing the cleaning base frame on the elevating tool via the swing frame which can be tilted about the horizontal axis,
It is preferable in that the inclined surface and the arc surface can be surely cleaned.

Further, by adopting the lifting tool that can be moved back and forth with respect to the vehicle body and the cleaning base frame that can be attached to and detached from the fork of the forklift, the versatility of the device can be improved and the forklift can be used. It is preferable in that the cargo handling performance can be secured.

The cleaning base frame is preferable in that it can be made compact and lightweight by being supplied with electric power from the vehicle body side.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. The cleaning device 1 of the present invention includes a vehicle body portion 2 and the vehicle body portion 2
A cleaning base frame 5 provided with a lifting base 3 which can be lifted up and down and a swinging frame 4 which is arranged on the lifting base 3 and can tilt around a horizontal axis; And a cleaning tool 6 which is arranged at 4.

In this embodiment, the vehicle body portion 2 includes a base portion 2A,
A head guard 16 is provided as well as a pair of straddle legs 11 projecting forward from the base 2A.

The wheel 1 is attached to one end of the straddle leg 11.
2 and a wheel 13 equipped with a travel distance sensor 15 are provided respectively. In the present embodiment, the wheels 12 and 13 are the base 2A.
It is possible to selectively switch between two modes, that is, a transverse traveling mode in which the wheel equator is arranged along the longitudinal direction of the vehicle and a normal mode in which the wheel equator is orthogonal to the longitudinal direction of the base portion 2A. Therefore, in the normal mode, the steering wheel 14 is steered by the steering wheel (not shown) to change the direction of the vehicle body so that the vehicle can move back and forth. In the transverse traveling mode, the vehicle can move linearly in a direction orthogonal to the front-rear direction. .

Further, a traveling motor (not shown) provided inside the base portion 2A acts as a drive wheel connected to the steered wheels 14, and the vehicle body portion 2 can travel movably in a horizontal plane. it can.

Further, the straddle leg 11 is provided with a pair of rail portions 17 on inner surfaces facing each other, and in this embodiment, a carriage 19 which can be moved forward and backward by a reach cylinder 20 is provided on the rail portions. In this embodiment, the carriage 19 is provided with a reach amount sensor 21 that can detect the amount of movement. By providing the reach amount sensor 21, the reach amount, that is, the front-back movement of the carriage 19 can be regulated.

Further, in this embodiment, one of the straddle legs 11 is connected to the cleaning liquid pump P which can supply a cleaning liquid to the cleaning tool 6 described later, and the cleaning liquid pump P.
In addition, a cleaning liquid tank T equipped with a filter is arranged inside.

As shown in FIG. 2, the elevating tool 3 is composed of a joint material 3B for joining a pair of side plates 3A having rollers R, and in this embodiment, a mast which can be moved back and forth along the straddle leg 11. The thing which can be raised and lowered by being guided by the member 24 is illustrated.

The mast member 24 is composed of a fixed mast 22 and an elevating mast 23. The lower end of the fixed mast 22 is fixed to the carriage 19 so that it can be extended and retracted forward and backward with respect to the vehicle body 2. There is.

A lift cylinder (not shown) is attached to the lifting mast 23, and the lifting mast 23 can be lifted along the fixed mast 22 by extending the lift cylinder.

The lifting mast 23 is provided with a chain wheel 26 pivotally supported by a connecting plate 25 which joins the upper end thereof. One end of a chain 27 wound around the chain wheel 26 is fixed to the lifting tool 3 and the other end is fixed. By being fixed to an object, the lifting tool 3 can be lifted and lowered at a speed twice that of the lifting mast 23. In this embodiment, a lift sensor 31 is provided which can detect the height of the elevator 3 from the ground by detecting the rotation amount of the chain wheel 26.

By providing the lift sensor 31 as described above, the height position of the lifting tool 3 can be regulated.
In addition, a cleaning base frame 5 having a swinging frame 4 which can be tilted about a horizontal axis is arranged on the elevator 3.

The swing frame 4 has a substantially "U" shape in plan view, and is pivotally supported by the side plate 3A of the elevating tool 3 around a horizontal axis and the rotation of the motor 32 attached to the side plate 3A. The swing frame 4 can be tilted about the horizontal axis with respect to the elevator 3 by the shaft 32A.

Since the motor 32 is provided with the angle sensor 33, the tilting angle of the swing frame 4 can be detected and the maximum tilting tilting angle can be restricted.

A slide guide 34 is provided on the swing frame 4, and a receiving plate 35 is slidably supported on the slide guide 34. Further, a rod 37 of an air cylinder 36 provided on the swing frame 4 is connected to the rising portion 35A of the receive plate 35, so that the receive plate 35 is always biased in a direction away from the swing frame 4. .

Further, in this embodiment, the first and second stroke sensors 42 and 43 which can detect the expansion and contraction amount of the rod 37 of the air cylinder 36 in two steps are exemplified. The first stroke sensor 42 is set to be turned on when the rod is reduced by ⅕ or more of the total stroke, and the second stroke sensor 43 is set to be turned on by reducing the full stroke.

The cleaning base frame 5 is the receiving plate 35 in this embodiment.
In the figure, a rotary actuator 39 is attached to the receiving plate 35, and the receiving plate 35 can be rotated by a small angle around a vertical axis.

The cleaning base frame 5 includes a housing 40 having an opening on the front surface, an elastic cover 41 attached around the opening of the housing 40, and a cleaning tool 6 disposed in the housing 40.

As a sensor capable of detecting the wall surface W to be cleaned, the housing 40 can detect the distance to the wall surface by irradiating infrared light and receiving the reflected light reflected on the wall surface W in this embodiment. First sensor 7 including a distance measuring sensor
A, 7B and 7C are provided.

Instead of the distance measuring sensor, at least three limit switches capable of detecting the wall surface W by directly contacting the wall surface W are provided, and various sensors such as a proximity switch and an ultrasonic sensor may be used. It is possible and the first sensors 7A-7C are in this embodiment the housing 4
An example is shown in which two are provided on the upper part of 0 and one is provided on the lower part.

The upper and lower surfaces of the housing 40 have a second
Sensors 44A and 44B are provided. The second sensors 44A and 44B are arranged so as to be able to detect wall surface portions existing in regions above and below the first sensors 7A to 7C, respectively.

The elastic cover 41 is preferably made of, for example, rubber and can be easily deformed by coming into contact with the wall surface W to be cleaned. Particularly, the elastic cover 41 can be easily deformed by forming it in a bellows shape. You can also do it.

In this embodiment, the elastic cover 41 is provided with a hole 41A. One end of the hose 45 is connected to the hole 41A and the other end is filled with the injection port 29 of the cleaning liquid tank T. By connecting to the cleaning tool, the cleaning solution sprayed from the cleaning tool can be collected without being scattered to the outside, and can be filtered by the filter of the cleaning solution tank T to be circulated for use. As a result, the cleaning solution can be effectively used.

In the present embodiment, the cleaning tool 6 includes a pair of cleaning bodies 6A and 6B arranged side by side. Explaining the cleaning body 6B, in the present embodiment, the cleaning body 6B is composed of a first sliding contact portion 46 and a second sliding contact portion 47 that can rotate on the same rotation axis in mutually different directions. It

The first sliding contact portion 46 includes a flange portion 46A fixed to one end of a hollow cylindrical body 50, and the flange portion 4
6A and the brush portion 46B that has been flocked are provided,
A small gear 53B is provided near the other end.

The cylindrical body 50 has an opening structure at both ends in which a cleaning liquid flow channel 60 is formed, and an injection nozzle 49 having a plurality of small holes is fitted in the opening on the flange portion 46A side.

The injection nozzle 4 is provided on the flange portion 46A.
A brush portion 46 </ b> B is formed so as to surround 9. In addition, this brush part, pig hair, synthetic fiber, steel wire, etc.
Various types can be used depending on the wall surface to be cleaned.

The second sliding contact portion 47 accommodates the cylindrical body 50 of the first sliding contact portion 46 and is fixed to one end of the cylindrical body 51, which is supported by the shaft body 50. A flange portion 47B, a knife blade 47A capable of suitably removing barnacles and the like radially arranged on the flange portion 47B so as to surround the brush portion 46B, and a large blade arranged on the other end side of the cylindrical body 51. This gear 52A is provided with a gear 52B.
Are arranged so as to mesh with the large gear 52A of the other cleaning body 6A.

However, the cylindrical body 50 of the first sliding contact portion 46 is
A rotary joint 59 is connected to each of the ends of the rotary joints 59, 59, and the rotary joints 59, 59 are connected to the pulley 32 in which the cleaning fluid sent from the cleaning fluid pump P via the pipes 61, 62 is juxtaposed with the chain wheel 26. It is supplied from the wound hose 30.

The cleaning liquid supplied to the rotary joint 59 passes through the cleaning liquid flow passage 60 of the cylindrical body 50, and the jet nozzle 49.
More jettable.

Further, in this embodiment, a drive motor M for rotating the first sliding contact portion 46 of the cleaning body 6A is mounted, and
An example is shown in which the differential portion 57 that makes the rotating directions different from each other is provided.

The differential portion 57 is the small gear 5 of the cleaning body 6A.
3A, a first idle gear 54, a second idle gear 55 that meshes with the first idle gear 54 and also meshes with the small gear 53B of the other cleaning body 6B, and is integrally coaxial with the second idle gear. Fixed to the cleaning body 6A
And a third idle gear 56 meshing with the large gear 52A.

Therefore, by rotating the drive motor M in the clockwise direction, for example, the first sliding contact portion 46 of the cleaning body 6A.
On the other hand, the second sliding contact portion 47 can be rotated counterclockwise because the second sliding contact portion 47 is driven by the small gear 53A by the differential portion 57 by the meshing of the three outer contacts.

Further, in the other cleaning body 6B, the first sliding contact portion 46 is driven by the three external meshes with the small gear 53A of the one cleaning body 6A, and as a result, the first sliding contact portion 46 is rotated counterclockwise. The second sliding contact portion 47 can rotate clockwise by directly meshing with the large gear of the other cleaning body 6A.

As described above, by rotating the first sliding contact portion 46 and the second sliding contact portion 47 in different directions, and by rotating the cleaning bodies adjacent to each other symmetrically. As a result of the reaction forces canceling each other when the cleaning tool 6 is brought into contact with the wall surface W, it is possible to prevent a large vibration and a lateral force biased in one direction from being generated in the lifting tool 3 to improve workability. sell. A torque limiter 63 is attached to the drive motor M so that an excessive load does not act on the drive motor M.

FIG. 4 shows an electrical block diagram of the control device 8 of this embodiment. The CPU 63 has an input side I / O.
Through the port 64, the first sensors 7A to 7C, the second sensors 44A and 44B, the traveling distance sensor 15, the reach amount sensor 21, the lift sensor 31, the angle sensor 33 of the swing frame 4, and the air cylinder 36 are provided. The first and second stroke sensors 42 and 43 are input.

Further, the CPU 64 has a ROM 65 in which predetermined processing procedures and the like are stored, and an RA as a working memory.
The M66 and the I / O port 67 on the output side are connected.

In the CPU 64, the above-mentioned input signals and R
Based on the processing procedure stored in the OM 65, a hydraulic drive motor 69 for a lift cylinder or a reach cylinder, a traveling motor 70, and solenoid valves 71, 72 for raising and lowering the lift cylinder capable of raising and lowering the lifting tool 3. And solenoid valves 73 and 74 that can extend and contract the reach cylinder that moves the mast member back and forth, the motor 32 that tilts the swing frame around the horizontal axis, and the cleaning base frame 5 that rotates around the vertical axis. The cleaning tool 6 can be moved along the wall surface W by controlling the rotary actuator 39 and the rotary actuator 39, respectively.

Next, a processing procedure of the control device 8 which can cause the cleaning tool 6 to follow the wall surface W will be described. As shown in FIG. 9, in the present embodiment, the automatic control of the cleaning base frame 5 is performed by the feeding operation of the cleaning base frame 5 (step S1), the tilting motion about the horizontal axis (step S2), and the rotation about the vertical axis. The moving operation (step S3) and the feeding operation (step S4) are performed in parallel, and the vertical operation of the cleaning base frame 5 is performed manually by the driver.

In the present embodiment, the feeding operation of the cleaning base frame 5 shown in step S1 is exemplified by extending the rod of the reach cylinder 20 as shown in the flowchart of FIG. Instead of expanding and contracting the rod of the reach cylinder 20, the cleaning base frame 5 may be extended by directly moving the vehicle body portion 2 back and forth.

Reference numerals L1 and L3 used in FIG. 10 indicate the first sensor 7 as schematically shown in FIGS. 5 (A) and 5 (B), respectively.
The distance to the wall surface W to be cleaned detected by A and 7C, d is a preset value stored in the ROM 65,
One of the detection distances of the first sensors 7A and 7C is d
If it is smaller than this, the cleaning tool 6 operates as if the feeding operation is stopped. It is also assumed that the wall surface is inclined at an angle θ with respect to the vertical surface.

However, the CPU 63 detects the detection distances L1 and L of the first sensors 7A and 7C arranged above and below the cleaning base frame 5, respectively.
It is determined whether 3 is smaller than the set value d (steps S11 and S12).

If the result of this judgment is negative, it is judged whether the first stroke sensor 42 of the air cylinder 36 is on, that is, whether a load is acting on the cleaning base frame 5 (step S).
13).

These judgments (steps S11 to S13)
If all are no, the CPU 63 excites the reach cylinder expansion solenoid valve (step S14), and the reach cylinder 2 is driven by the pressure oil supplied from the hydraulic drive motor 69.
Extend the 0 rod.

When the rod of the reach cylinder 20 is extended, the cleaning base frame 5 approaches the wall surface W and the detection distance L1 of the first sensor 7A becomes smaller than d, as shown by the solid line in FIG. 5 (A). (Y in step S11), the reach cylinder extension solenoid valve is demagnetized (step S15), and the feeding operation of the cleaning base frame 5 is stopped.

Thus, in the feeding operation of the cleaning base frame 5,
The cleaning base frame 5 always acts so as to approach the wall surface at a constant distance. When the reach signal of the reach sensor 21 input to the CPU 63 detects that the maximum stroke is reached, the vehicle body is moved forward, the hydraulic drive motor 69 is stopped, and the like. .

Further, as shown in FIGS. 6A and 6B, when the cleaning base frame 5 is vertically lowered with respect to the inclined wall surface W, the first sensors 7A and 7C are As a result of the detection distance becoming larger than d, the above-described feeding operation is performed, and the cleaning base frame 5 can be along the wall surface W.

Next, in the tilting motion of the cleaning base frame 5 about the horizontal axis, as shown in FIG. 11, it is judged whether or not the detection distance L1 of the first sensor 7A is smaller than the set value d (step S).
21).

If L1 is smaller than d (step S2)
If Y is 1, the detection distance L3 of the first sensor 7C is smaller than d (step S22).

If both steps S21 and S22 are "Y", it is determined that the cleaning base frame 5 is along the wall surface W, the tilting about the horizontal axis is stopped (step S23), and the determination in step S21 is made. If the result is negative, the same judgment as in step S22 is made again (step S25).

If Y in step S25, the process shown in FIG.
As shown in (B), the cleaning base frame 5 is tilted downward, and the tilt is stopped when the detection distance L1 of the upper first sensor becomes smaller than d (step S23).

If N in step S22, the cleaning base frame 5 is tilted upward (step S24), and tilting stops when the detection distance L3 of the first sensor 7C becomes smaller than the set value d. To be done.

As described above, in the tilting movement of the cleaning base frame about the horizontal axis, the angle of the cleaning base frame 5 about the horizontal axis with respect to the wall surface W is controlled so that the wall surface angle θ and the inclination angle α are always approximated. To work. If the maximum inclination angle of the wall surface is known in advance, it is possible to provide a safety device that stops the inclination when the detection signal of the angle sensor 33 exceeds this angle.

Next, the rotating operation of the cleaning base frame about the vertical axis will be described. As shown in the flowchart of FIG. 12, the absolute value of the difference between the detection distances of the first sensors 7A and 7B can be arbitrarily determined. It is determined whether or not the value is larger than the set value D (step S31), and if not, the rotation operation of the cleaning base frame 5 is stopped as an allowable range (step S3).
5).

In step S31, the first sensors 7A, 7A
If the absolute value of the difference between the respective detection distances of B is larger than the set value D that can be arbitrarily set, it is determined whether or not the difference is positive (step S32).

If the difference is positive (Y in step S32), the cleaning base frame 5 is rotated clockwise (step S3).
3) If the difference is negative (N in step S32),
By rotating it counterclockwise (step S3
4) By controlling the angle between the wall surface W and the cleaning base frame 5 about the vertical axis, the cleaning base frame 5 can be provided along the wall surface W.

Next, the inserting operation of the cleaning base frame 5 will be described with reference to the flowchart shown in FIG.
Detection distances L4 and L5 to the wall surface W of each of 4A and 44B
Is smaller than a reference distance d2 that can be arbitrarily determined (steps S41 and S42), and if smaller, the reach cylinder reducing solenoid valve is excited to reach the reach cylinder 20.
Shrink.

As shown in FIG. 8, when the cleaning base frame 5 is raised in a tunnel or the like, the upper curvature surface WR is detected in advance, and the cleaning base frame 5 is retracted to move the curvature. It is possible to follow the surface.

If the detection distance to the wall surface W of each of the second sensors 44A and 44B is greater than the reference distance d2 (N in both steps S41 and 42), the second stroke sensor 43 of the air cylinder 36 is turned on. It is determined whether or not (step S43).

If the second stroke sensor 43 is on (Y in step S43), it is considered that the cleaning base frame 5 receives a large reaction force from the wall surface W, as shown in FIG. 6 (C). The process of step S45 is performed to reduce the reach cylinder and separate the cleaning base frame 5 from the wall surface. In addition, when the reach amount is in the maximum reduction state,
The body part 2 can be retracted.

If the results of the determinations in steps S41 to S43 are negative, the reach cylinder reduction solenoid valve is demagnetized to stop the reach cylinder reduction.

By thus feeding the cleaning base frame 5, it is possible to prevent a large load from acting on the cleaning base frame 5 from the wall surface W.

As described above, in this embodiment, the cleaning base frame 5 can be moved along the wall surface W by performing the above-described processing, and as a result, the cleaning tool 6 can be reliably contacted with the wall surface W. Can be contacted.

FIG. 14 shows another embodiment of the cleaning base frame 75. This cleaning base frame 75 has a circular shape when viewed from the front,
In this example, four cleaning bodies 76 to 79 are arranged concentrically.

In the cleaning body, the first sliding contact portion 80 is the brush portion 82, and the second sliding contact portion 81 is the knife blade 83.
The first cleaning body 84 having the above, and vice versa, the first sliding contact portion 80.
Has a knife blade 83, while the second sliding contact portion 81
Second cleaning bodies 85 having brush portions 82 are alternately arranged. It should be noted that the first sliding contact portion and the second sliding contact portion may be unified to either the knife blade 83 or the brush portion 82.

FIG. 15 shows another embodiment of the present invention. As shown in the figure, in this embodiment, the lifting tool is a lift bracket of a forklift (not shown in the whole), which can move the mast member 24 up and down, and has a pair of forks F, F on which the cleaning is performed. The thing which can attach | attach the base frame 5 detachably is illustrated.

The lift bracket comprises a pair of side plates 101A having rollers R capable of rolling the mast member, and joint materials 101B and 101C connecting the upper and lower sides, respectively, and an axis line horizontal to the lift bracket 101. It has a tilt frame 97 that can be tilted around.

The tilt frame 97 is moored and held by the lift bracket 101 on the shaft 99 by mounting frames 98 provided at both ends, and is tilted by a tilt cylinder provided on the side plate 101A of the lift bracket.

Further, a pair of forks F retained on the shaft 99 is provided on the front surface of the tilt frame 97, and the fork F can be tilted by tilting the tilt frame 97.

On the other hand, the cleaning base frame 5 is fixed to the support plate 93, and the lower surface of the support plate 93 is provided with an insertion opening 90 having screw means 92 into which the fork F can be inserted and fixed. A sheath portion 91 is provided.

Therefore, the fork F can be inserted into the sheath 91 and fixed by the screw means 92. As a result, the cleaning base frame 5
Can be freely attached to and detached from the forklift, increasing versatility as a forklift.

Further, the joint material 10 of the lift bracket 101.
By providing the coupling male portion C1 on 1C and the coupling female portion C2 on the support plate 93, electric power can be supplied from the vehicle body portion to the cleaning base frame 5 via the cable 95, and A detection signal from the first sensor or the like of the cleaning base frame can be guided to the control device on the vehicle body side via the sensor cable 94.

Although described in detail above, the present invention is not limited to the above-mentioned embodiment, and for example, a railway tunnel can be used by using a vehicle body which can run on a rail for rails laid in advance. Can be cleaned along the rail, and can be variously modified depending on the environment in which the cleaning device is used. If you do not have a reach cylinder,
The same function can be achieved by directly moving the body part forward and backward.

[0084]

As described above, according to the present invention, it is possible to improve the workability when cleaning a wall surface, and to eliminate the need for a complicated operation by controlling the cleaning tool along the wall surface. The work time and work effort can be greatly reduced.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is an enlarged perspective view of a cleaning base frame.

FIG. 3 is a perspective view of a cleaning tool.

FIG. 4 is an electrical block diagram of the present embodiment.

FIG. 5 is a diagram for explaining the operation of the present embodiment.

FIG. 6 is a diagram for explaining the operation of the present embodiment.

FIG. 7 is a diagram for explaining the operation of the present embodiment.

FIG. 8 is a diagram for explaining the operation of the present embodiment.

FIG. 9 is a diagram for explaining a processing procedure of the present invention.

FIG. 10 is a flowchart for explaining a processing procedure of the present invention.

FIG. 11 is a flowchart for explaining a processing procedure of the present invention.

FIG. 12 is a flowchart for explaining a processing procedure of the present invention.

FIG. 13 is a flowchart for explaining a processing procedure of the present invention.

FIG. 14 is a perspective view showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning device 2 Car body part 3 Lifting tool 4 Swing frame 5 Cleaning base frame 6 Cleaning tool 7 First sensor 9 First sliding contact part 10 Second sliding contact part

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] August 10, 1994

[Procedure 3]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Correction content]

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is an enlarged perspective view of a cleaning base frame.

FIG. 3 is a perspective view of a cleaning tool.

FIG. 4 is an electrical block diagram of the present embodiment.

FIG. 5 is a diagram for explaining the operation of the present embodiment.

FIG. 6 is a diagram for explaining the operation of the present embodiment.

FIG. 7 is a diagram for explaining the operation of the present embodiment.

FIG. 8 is a diagram for explaining the operation of the present embodiment.

FIG. 9 is a diagram for explaining a processing procedure of the present invention.

FIG. 10 is a flowchart for explaining a processing procedure of the present invention.

FIG. 11 is a flowchart for explaining a processing procedure of the present invention.

FIG. 12 is a flowchart for explaining a processing procedure of the present invention.

FIG. 13 is a flowchart for explaining a processing procedure of the present invention.

FIG. 14 is a front view showing another embodiment of the present invention.

FIG. 15 is a perspective view showing another embodiment of the present invention.

[Explanation of reference numerals] 1 cleaning device 2 vehicle body part 3 lifting tool 4 swinging frame 5 cleaning base frame 6 cleaning tool 7 first sensor 9 first sliding contact portion 10 second sliding contact portion

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masaharu Fujii 1-15-2 Yoshishima Higashi, Naka-ku, Hiroshima City, Hiroshima Prefecture, Chugoku Paint Co., Ltd. (72) Yoshinori Fujiwara 6-3 Chiyoda-cho, Tokuyama City, Yamaguchi Prefecture Aitokui Co., Ltd. (72) Inventor Shunsaku Tachibana 2410 Motoe, Uozu-shi, Toyama Prefecture Sugino Ma Shin Co., Ltd. (72) Inventor Yoshiaki Matsumoto 2410 Motoe, Uozu-shi, Toyama Prefecture In Sugino Ma Shin Co., Ltd. (72) Inventor Toshihiro Suzuki 2-1, 1-1 Higashijinshi, Nagaokakyo, Kyoto Prefecture

Claims (8)

[Claims] 1. A wall body that is movable with respect to a horizontal plane, is movable, is provided on the body part, and can be moved up and down, and the wall surface is slidably contacted with a wall surface to be washed. A cleaning base frame having a cleaning tool capable of cleaning the cleaning base frame, and a sensor for detecting the wall surface is provided on the cleaning base frame, and the cleaning tool of the cleaning base frame is arranged along the wall surface based on a detection signal from the sensor. A cleaning device provided with a control device for controlling. 2. The cleaning apparatus according to claim 1, wherein the vehicle body parts linearly move in directions orthogonal to each other. 3. The cleaning apparatus according to claim 1, wherein the cleaning base frame is arranged on the elevating tool via a swing frame that can tilt about a horizontal axis. 4. The cleaning apparatus according to claim 1, wherein the elevating tool is horizontally movable back and forth with respect to the vehicle body. 5. The cleaning apparatus according to claim 1, wherein the cleaning base frame is detachably attached to the elevating tool. 6. The cleaning apparatus according to claim 5, wherein the cleaning base frame is detachably attached to a fork provided on a lifting tool of a forklift. 7. The cleaning apparatus according to claim 5, wherein the cleaning base frame is supplied with electric power from the vehicle body portion by being mounted on the elevating tool. 8. The cleaning apparatus according to claim 1, wherein the cleaning tool includes first and second sliding contact portions that can rotate on the same rotating shaft in mutually different directions.