JPH07268824A - Wall surface cleaning robot - Google Patents

Abstract

PURPOSE:To provide a cleaning robot which is excellent in operability and workability by forming the cleaning robot with a chassis which is small in width and a running device which drives the chassis in automatic mode and a cleaning device having a rotary brush and a control device which controls both devices simultaneously. CONSTITUTION:A running device is formed with a drive front wheel 3, a rear wheel 4 and rollers 6 and 8, thereby driving a chassis along a wall surface W at a low speed. In addition, a sensor 11 is installed to the chassis 1 so as to prevent a collision. A cleaning device is further installed to the chassis 1. The wall surface W is cleaned by spraying clean water with a plurality of rotary brushes 12. Then, a residual water removable device is installed to the rear part of the cleaning device, thereby sucking up the clean water remaining on the wall surface W. During the suction operation, the cleaning device and the residual water removable device are integrally controlled together with the running device by the operation of a control device 10. This construction makes it possible to remove all possible causes of traffic jam and enhance operability and workability as well.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wall surface cleaning robot for automatically cleaning a wall surface.

[0002]

2. Description of the Related Art Conventionally, in order to efficiently perform a cleaning work on, for example, a wall surface W on the side of an expressway, a wall cleaning vehicle as shown in FIG. 8 has been used in place of manual cleaning.

The wall cleaning vehicle has a cleaning device 71 including a rotating brush 70 mounted on a general truck 72, and drives the cleaning device 71 while running the truck 72 at a low speed along a wall surface W. Let the rotating brush 7
0 was supposed to do cleaning work.

[0004]

However, in the conventional method, since the truck 72 travels on the road R on the side of the wall W, it is necessary to restrict the passage of half or the entire width of the road. It was Therefore, it has been a cause of traffic congestion.

Further, the cleaning device 71 is used for the truck 7.
If the vehicle is driven by the driving power of 2 (that is, the driving power of the truck and the cleaning power of the cleaning device are the same source), the truck 72
It was difficult to arbitrarily select the rotation speed of the rotary brush 70 and to arbitrarily change the pressing force of the rotary brush 70 that hits the wall surface W while keeping the running speed at a constant low speed.

The present invention has been made in view of the above circumstances. Means for cleaning the wall surface are mechanized, and
It is an object of the present invention to provide a wall surface cleaning means having good operability and workability without causing traffic congestion even when cleaning a wall surface facing a road.

[0007]

In order to achieve the above-mentioned object, a wall surface cleaning robot having the following constitution was devised.

That is, a vehicle body having a narrow width, a traveling device for automatically traveling the vehicle body along a guide rail horizontally provided on a wall surface, and a cleaning device having a rotating brush abutting against the wall surface, The control device controls the operation of the traveling device and the operation of the cleaning device at the same time.

Further, it has a narrow vehicle body, a traveling device for automatically traveling the vehicle body along a guide rail horizontally provided on a wall surface, and a rotating brush abutting against the wall surface for sprinkling water. While cleaning the wall surface, a cleaning device, which is provided at the rear of the cleaning device in the traveling direction, and removes the residual cleaning water remaining on the wall surface by sucking and removing the cleaning water, and the operation of the traveling device and the cleaning device. It can also be constituted by a control device for simultaneously controlling the operation and the operation of the residual water removing device.

The traveling device has a front wheel attached to the vehicle body so that the direction can be freely changed, an urging means for urging the front wheel to face the wall surface, and an integral direction with the front wheel. And an arm having a rolling element that is provided so as to be changeable and has its tip abutting against the wall surface by the urging force of the urging means.

Further, the cleaning device is provided with a brush support body which is provided substantially in parallel with the wall surface and is supported by the vehicle body so as to be uniformly pressed to the wall surface side. The rotating brushes are respectively provided via compression springs, and the rotating brushes clean the wall surface while spraying water from the vehicle body side to the wall surface side.

Further, the residual water removing device communicates the inside and outside of the suction cylinder body with the suction cylinder body which is provided rearward in the traveling direction of the cleaning device in a vertical direction. The suction groove is provided so as to face the vertical direction so that the vehicle body travels by being provided on the rear side in the traveling direction of the suction groove along the suction groove and in contact with the wall surface. It is composed of a wiper for collecting the cleaning water remaining on the wall surface and a suction blower communicating with the inside of the suction cylinder.

[0013]

According to the present invention, first, the narrow vehicle body is positioned along the wall surface. This wall surface has a horizontal direction (the traveling direction of the vehicle body) in advance along the wall surface.
A guide rail is attached so as to extend to.

The vehicle body is prevented from rolling over by being engaged with the guide rails, and is automatically advanced at a low speed along the guide rails by the traveling device while keeping a constant distance from the wall surface. .

While moving forward, the wall surface is cleaned by the cleaning device having the rotating brush that is in contact with the wall surface.

Since both the traveling device and the cleaning device are controlled by the control device at the same time, the operator only has to turn on the start switch and the stop switch, for example. It is done automatically without the need for.

Since the vehicle body is constructed to have a narrow width, it can run on a road shoulder on the side of a wall surface, for example, and will not overhang on the roadway.

The operation of the traveling device will be described.
The front wheels constituting the traveling device are always biased by the biasing means so as to face the wall surface side. The rolling element provided at the tip of the arm is also urged toward the wall surface by the urging means and is in contact with the wall surface. Then, the rolling element comes into contact with the wall surface to restrict the directional property of the front wheel toward the wall surface side, and the front wheel is directed in the traveling direction.

It is assumed that the vehicle body starts to separate from the wall surface for some reason. Then, the rolling element brought into contact with the wall surface by the biasing means is displaced toward the wall surface so as to maintain the contact state with the wall surface. At the same time, the front wheels also turn to the wall surface side, and the traveling direction of the vehicle body returns to the direction along the wall surface.

On the contrary, when the vehicle body starts to approach the wall surface for some reason, the rolling element is pushed against the wall surface and the front wheel is directed away from the wall surface against the urging force of the urging means. The traveling direction of the vehicle body returns to the direction along the wall surface.

Next, the operation of the cleaning device will be described.

Since the brush supporting member constituting the cleaning device is uniformly pressed to the wall surface side, the plurality of rotating brushes provided on the brush supporting member are also uniformly pressed to the wall surface side. . Further, each of the rotating brushes is attached to the brush support via a compression spring.

Therefore, when viewed from the vehicle body, each of the rotating brushes is in pressure contact with the wall surface via the double pressing mechanism. Therefore, the followability of each of the rotating brushes with respect to the unevenness and inclination of the wall surface is good.

The residual water removing device wipes and collects the water sprinkled by the cleaning device and remaining on the wall surface while removing it.

That is, by the operation of the suction blower,
Water on the wall surface is sucked from the suction groove into the suction cylinder that communicates with the suction blower. At this time, the water remaining on the wall surface is wiped by the wiper along the suction groove as the vehicle body advances, so that the residual water removal efficiency is good.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

First, the overall construction of a wall cleaning robot according to an embodiment of the present invention will be described with reference to FIGS.

The wall surface cleaning robot has a skeleton of a vehicle body formed by a vehicle frame 1 framed in a substantially rectangular shape, and various components are assembled to the vehicle frame 1 to form an entire body.

FIG. 1 shows the wall surface cleaning robot arranged along the wall surface W as seen from a direction perpendicular to the wall surface W. In FIG. 1, the outline indicated by a two-dot chain line so as to surround the vehicle frame 1 is the cover 2. The cover 2 is detachably provided to the vehicle frame 1 so as to cover the entire surface of the wall surface cleaning robot opposite to the wall surface W side. The cover 2 covers and protects the internal components of the wall surface cleaning robot, prevents the danger of the operator, and adjusts the external appearance of the wall surface cleaning robot. In FIG. 1, the state in which the cover 2 is removed is illustrated in order to make the internal structure easy to understand.

The vehicle frame 1 has a narrow width as shown in FIG. For example, the width is such that the narrow shoulder P provided between the wall surface W to be cleaned and the road R can travel.

One front wheel 3 and one rear wheel 4 for traveling are provided at both front and rear ends (left and right in FIG. 1) of the lower portion of the vehicle frame 1. At least the front wheel 3 among the wheels 3 and 4 is configured so that the direction thereof can be freely changed. In the illustrated example, only the front wheel 3 is a driving wheel, but the rear wheel 4 can also be a driving wheel if necessary.

The upper frame portion 1a of the vehicle frame 1 is provided with a plurality of guide rollers 6, 8 as rolling elements via pivot shafts 5, 7 extending in the vertical direction. These rollers 6 and 8 are adapted to roll by sandwiching a guide rail 9 horizontally attached to the wall surface W in advance from the inside and outside before the cleaning work. The rollers 6, 8 and the guide rail 9 enable the vehicle frame 1 to move from the wall surface W at a constant interval, and prevent the vehicle frame 1 from rolling over.

The drive front wheel 3, the rear wheel 4, the rollers 6, 8 and the like described above constitute a traveling device for the vehicle frame 1.
With this traveling device, the vehicle frame 1 along the wall surface W
Runs at low speed. This traveling device is automatically controlled by a control device 10 provided at an appropriate position in the vehicle frame 1. Therefore, the operator only has to issue a start command or a stop command with an operation button on an operation panel (not shown) provided at an appropriate position of the vehicle frame 1.

The front frame portion 1b and the rear frame portion 1c of the vehicle frame 1 are provided with an obstacle detecting sensor 1 for preventing a collision.
1 are provided respectively. These sensors 11 are also in communication with the control device 10, and when the sensor 11 works, the operation of the traveling device is automatically stopped.

A cleaning device, which will be described in detail later, is provided on the front side of the inside of the vehicle frame 1. This cleaning device has a plurality of rotating brushes 12 that come into contact with the wall surface, and cleans the wall surface W with the rotating brush 12 while spraying cleaning water toward the wall surface W.

Further, behind the cleaning device in the traveling direction,
A residual water removal device, which will be described in detail later, is provided. The residual water removing device sucks and removes the cleaning water remaining on the wall surface W that has been cleaned by the cleaning device.

The cleaning device and the residual water removing device are
The operation of the traveling device is simultaneously and integrally controlled by the control device 10 together with the traveling device. That is, the vehicle frame 1 slowly travels along the wall surface W by the traveling device, the cleaning device cleans the wall surface, and the water on the wall surface W is removed by the residual water removing device. Therefore, the cleaning of the wall surface W is completed when the wall surface cleaning robot passes by.

Inside the vehicle frame 1, as shown in FIG. 1, an engine 13, a generator (not shown) linked to the engine 13, a hydraulic pump 14 linked to the engine 13 to operate. Oil tank 15, wash water tank 16,
Necessary components such as the dirty water tank 17 are provided.

Next, regarding the characteristic parts of the traveling device,
This will be described in detail with reference to FIGS.

FIG. 3 is a partial view taken along the arrow A in FIG.
5 is a sectional view taken along the line IV-IV in FIG. 3, and FIG. 5 is a partial view taken along the arrow B in FIG.

In the lower part of the front frame portion 1b of the vehicle frame 1,
The front wheel supporting bracket 20 is fixed so as to horizontally project in the forward direction. A vertical main shaft 21 is attached to the front wheel supporting bracket 20 so as to be rotatable about its axis.

A bifurcated wheel support 22 is fixed downward to the lower end of the main shaft 21.
A front wheel pivot shaft 23 in the left-right direction is rotatably supported on the front wheel 2, and the front wheel 3 is fixed to the front wheel pivot shaft 23.
The front wheel 3 is located directly below the main pivot shaft 21 (see FIG. 4).

The front wheel pivot shaft 23 extends in a direction opposite to the wall surface W side, and a sprocket 24 is fixed to the tip thereof.

Further, the wheel support 22 is integrally provided with a motor support bracket 25 extending upward. On the motor supporting bracket 25, a traveling motor 26 is supported as a driving source for traveling. The traveling motor 26 is arranged so that its output shaft 27 extends in the opposite side of the wall surface W and is parallel to the front wheel pivot shaft 23.

A sprocket 28 is fixed to the output shaft 27 of the traveling motor 26, and a chain 29 for transmitting a driving force is provided between the sprocket 28 and the sprocket 24 fixed to the front wheel pivot shaft 23. Is wrapped around. As a result, when the traveling motor 26 operates, the front wheels 3 are driven via the chain 29.

The front wheel 3 is urged by an appropriate urging means so that the front portion side thereof always faces the wall surface W direction.

A specific example of this urging method will be described with reference to FIG.
As shown in, an arm 30 extending in the wall surface direction is integrally provided at the front portion of the wheel support 22. The tip of the arm 30 has a vertical guide roller pivot shaft 3
1 as a rolling element (guide roller 3
2) is rotatably provided.

The tip side of the arm 30 is a tension spring 3 fixed to the base side of the wheel supporting bracket 20.
It is pulled backwards by 3. As a result, the wheel support 22 (that is, the front wheel 3) is urged so that the front side of the wheel support 22 always faces the wall surface W with the main pivot 21 as the center, and the guide roller 32 moves toward the wall surface W. The abutment restricts the change in the wall surface W direction.

Since the tension spring 33 imparts a force to the wheel 3 toward the wall surface W about the main pivot 21, the arm 30 to which the tension spring 33 is attached is It must be located in front of the main axis 21. The tension spring 3
The rear end side of 3 may be fixed to an appropriate fixed portion rearward of the main shaft 21, and may be attached to the front frame portion 1b or the like, for example.

On the other hand, although the rear wheel 4 is not shown in detail, the rear wheel 4 is also urged by the same construction as the front wheel 3 so that its front side faces the wall surface W side. The deflection of the guide roller 34 is regulated by the guide roller 34 contacting the wall surface.

The rear wheel 4 may be a driven wheel which is pulled by the front wheel 3 and rolls, and if necessary,
It can also be a drive wheel with the same configuration as the front wheel 3.

The operation of the drive front wheel 3 will be described.
Now, it is assumed that the vehicle frame 1 moving forward along the wall surface W starts to separate from the wall surface W for some reason. Then, the wheel support 22, which is biased by the tension spring 33 to face the wall surface W, changes its direction such that its front side moves to the wall surface W side around the main pivot 21. Along with this, the front wheels 3 also turn to the wall surface W side, and the traveling direction of the vehicle frame 1 returns to the direction along the wall surface W.

On the contrary, it is assumed that the vehicle frame 1 starts to approach the wall surface W for some reason. Then, the guide roller 32 is pushed by the wall surface W, and the wheel support 22 rotates about the main pivot shaft 21 and is returned in the direction along the wall surface W. Along with this, the front wheels 3 are also returned to the direction along the wall surface W, and the traveling direction of the vehicle frame 1 is returned to the direction along the wall surface W.

FIG. 5 shows the upper portion of the vehicle frame 1 and the wall surface W.
The engagement relationship with is shown.

On the upper frame portion 1 of the vehicle frame 1, as shown in FIG. 1, an outer guide roller 6 is provided via a vertical shaft 5.
Are provided one by one before and after. These guide rollers 6 come into contact with the outer surface of the guide rail 9 and roll along the outer surface of the guide rail 9.

Inner guide rollers 8 are provided on the front frame portion 1b and the rear frame portion 1c of the vehicle frame 1, respectively. The inner guide roller 8 abuts on the inner side surface of the guide rail 9 and rolls along the inner side surface of the guide rail 9.

The guide rail 9 has a vertical portion 9a sandwiched between at least the outer guide roller 6 and the inner guide roller 8. In the illustrated example, the wall surface W
It has a cross-sectional shape projecting in an inverted L-shape.

The inner guide roller 8 can be freely moved up and down by operating the lever 35.

That is, the vertical axis 7 of the inner guide rail 8 extends long downward. This axis 7
The front frame portion 1b and the rear frame portion 1c are attached to the front frame portion 1b and the rear frame portion 1c so as to be slidable in the vertical direction by using attachment fittings 36. A lever 35 is connected to the lower end of the pivot 7 via a joint 37.

When the wall surface cleaning robot is installed along the wall surface W, the lever 35 is operated so that the vertical portion 9a of the guide rail 9 is sandwiched between the lever 35 and the outer guide roller 6. The inner guide roller 8 may be raised. On the contrary, when the cleaning robot is removed from the side of the wall surface W after cleaning, the lever 35 may be operated to lower the inner guide roller 8.

Each of the guide rollers 6 and 8 rolls while sandwiching the guide rail 9 from the inside and outside, so that the vehicle frame 1 is moved along the wall surface W while maintaining a constant distance from the wall surface W. The cleaning robot is configured to be movable, and is prevented from rolling over to the side opposite to the wall surface W, which is configured to have a narrow width and travels only by the front and rear wheels 3 and 4, respectively.

Next, the cleaning device will be described in detail with reference to FIGS. 1 and 6. Although FIG. 6 corresponds to the portion viewed from the arrow C in FIG. 1, it is merely an example of the linked state between the vehicle frame 1 and the rotating brush 12, and more precisely, it is seen from the arrow C in FIG. It is not a partial view.

The rotating brush 1 constituting the cleaning device
A plurality of the cleaning robots 2 are arranged vertically on the front side of the cleaning robot. In the illustrated example, the number is seven.

Each of these rotary brushes 12 is attached to one brush support 38. In the illustrated example, the brush support 38 is a plate that is long in the vertical direction.

The brush support 38 is provided on the wall surface W side of the vehicle frame 1. The brush support 38 is between the vehicle frame 1 and the wall surface W, and is supported with respect to the vehicle frame 1 so as to be movable in parallel between them. That is, the vehicle frame 1 is provided with several pairs of guide brackets 39 facing each other vertically. The guide brackets 39 respectively support pivots 40 that extend horizontally toward the wall surface W. Each of these pivots 40 is movable in the axial direction.

Hydraulic cylinders 41 for pressing the upper and lower ends of the brush support 38 toward the wall surface W with the same strength are provided above and below the brush support 38, respectively. These hydraulic cylinders 41 are provided by pins 42 extending over the vehicle frame 1 and the brush supporting body 38, and the upper and lower hydraulic cylinders are operated simultaneously, so that the brush supporting body 3
The whole 8 is evenly pressed to the wall surface W side.

A plurality of brush rotary shafts 43 are provided on the brush support body 38 so as to penetrate the brush support body 38, and a brush bracket 44 is provided at an end of the brush rotary shaft 43 on the wall surface W side. Are fixed respectively.
Then, in the brush bracket 44, two compression springs 45, 4 positioned so as to sandwich the brush rotation shaft 43.
The rotating brushes 12 are attached to each other through 5.

On the other hand, a chain sprocket 46 is fixed to each end of the brush rotary shaft 43 on the vehicle frame 1 side. These chain sprockets 46 are connected to each other by one endless chain 47 and are designed to rotate simultaneously.

A chain sprocket 49 fixed to the output shaft of a hydraulic motor 48 as a drive source meshes with the endless chain 47. The hydraulic motor 48 is operated by the hydraulic pump 14, and its attachment position is appropriately determined.

The brush support 38 has a wall surface W.
A plurality of water spray nozzles 50 are provided in the direction of. These sprinkling nozzles 50 are provided not only on the front side of the rotary brush 12 but also on the rear side of the rotary brush 12. This is to improve the finishing condition of the wall surface cleaning by spraying water on the wall surface W even after cleaning the wall surface W by the rotating brush 12.

Although not shown, pressure water is supplied to the water spray nozzle 50 from the wash water tank 16 via a pump and a hose.

According to the cleaning device constructed as described above, since the brush support 38 is uniformly pressed toward the wall surface W by the hydraulic cylinder 41, the brush support 38 is provided on the brush support 38. The plurality of rotating brushes 12 are also uniformly pressed to the wall surface W side. Therefore, by changing the hydraulic pressure of the hydraulic cylinder 41, it is possible to appropriately change the degree of contact between the rotary brushes 12 and the wall surface W.

Further, each of the rotary brushes 12 is attached to the brush support 38 via compression springs 45, 45, respectively.

Therefore, when viewed from the vehicle frame 1, the rotating brushes 12 are pressed against the wall surface W through the double pressing mechanism. Therefore, even if the wall surface W has unevenness or inclination, the followability of the rotary brushes 12 to the wall surface W is good, and uniform cleaning is possible regardless of the surface state of the wall surface W.

Furthermore, each rotary brush 12 is
With respect to the brush bracket 44, the brush rotating shaft 43
Since the rotary brushes 12 are attached via the two compression springs 45, 45 positioned so as to sandwich the rotary brush 12, the rotary brushes 12 can be independently tilted. Therefore, even when the wall surface W is partially uneven or inclined, the individual rotating brushes 12 can independently and freely follow the wall surface W.

Next, the residual water removing device is shown in FIG.
And FIG. 7 will be described. FIG. 7 shows D in FIG.
It is a schematic diagram corresponding to an arrow portion.

On the rear side in the traveling direction of the cleaning device, a cylindrical suction cylinder 51 is provided with its vertical direction facing. In the illustrated example, the suction cylinder body 51 is in the shape of a rectangular cylinder, and the upper and lower ends thereof are closed. The suction cylinder body 51 covers all the rear side in the traveling direction of the cleaning device,
It is provided along the cleaning device to the bottom of the cleaning robot.

On the wall surface W side of the suction cylinder body 51, a groove is provided in the vertical direction so that the inside and outside of the suction cylinder body 51 can communicate with each other. This groove is a suction groove 52 for sucking the cleaning water remaining on the wall surface into the suction cylinder 51.

A wiper 53 is provided on the rear side of the suction groove 52 in the traveling direction so as to be along the suction groove 52 and to be in contact with the wall surface W. This wiper 53
Is made of, for example, a rubber material, and is for wiping off the cleaning water remaining on the wall surface W as the vehicle frame 1 travels. By the action of the wiper 53, the washing water on the wall surface W gathers just in the suction groove 52, so that the washing water on the wall surface W can be efficiently collected.

The inside of the suction cylinder body 51 is connected to a suction blower 55 provided at an appropriate position in the vehicle frame 1 via a hose 54. The suction blower 55 includes a hydraulic motor 56 linked with the hydraulic pump 14 and a chain 5
It is contacted at 7 and works. The air in the suction cylinder 51 is strongly sucked by the operation of the suction blower 55, and accordingly, the water collected by the wiper 53 is sucked from the suction groove 52 into the suction cylinder 51.
The water sucked into the suction cylinder body 51 is
4 and the suction blower 55 between the inclined surface 58
At this time, the waste water is collected in a dirty water tank 17 provided at an appropriate position in the vehicle frame 1.

The water sucked into the suction cylinder 51 may be drained as it is onto the road without being collected in the dirty water tank 17.

By the way, in order to wipe off and collect all the cleaning water remaining on the wall surface W, the interval between the wall surface W and the suction cylinder body 51 is always kept constant, and the wiper 53 is always operated as described above. It must be in contact with the wall surface W.

Therefore, the present embodiment is constructed as follows.

That is, the entire suction cylinder 51 is uniformly urged toward the wall surface W by the compression springs 55 that simultaneously urge the upper and lower ends of the suction cylinder 51 in the direction of the wall surface W with the same strength. The guide roller 56, which is a rolling element that comes into contact with the wall surface W, prevents the suction cylinder body 51 from colliding with the wall surface W. The roller 56 includes the compression spring 55.
Of the suction cylinder body 51, it is urged in the wall surface W direction integrally with the suction cylinder body 51 and abuts on the wall surface W to roll, thereby reducing the distance S between the suction cylinder body 51 and the wall surface W. Always maintain equality. As a result, the wiper 53 is attached to the wall surface W.
Is prevented from leaving.

In FIG. 7, reference numeral 57 is a block-shaped suction cylinder support body attached to each of the upper and lower ends of the suction cylinder body 51, and 58 is fixed to the suction cylinder support body 57, respectively, and the wall surface W is attached. A guide rod extending in a direction perpendicular to
Reference numeral 59 is a guide bracket for fixing the guide rod 58 to the vehicle frame 1 so as to be horizontally movable in the axial direction. The guide brackets 59 are attached to the upper frame portion 1a and the lower frame portion 1d of the vehicle frame 1, respectively. The compression spring 55 is the guide rod 5
8 and is urged to separate the suction cylinder support 57 and the guide bracket 59 from each other. The guide roller 56 is attached to the suction cylinder support 57, is urged toward the wall surface W by the compression spring 55, and is in contact with the wall surface W.

[0086]

According to the wall surface cleaning robot according to the first, second, third, fourth and fifth aspects of the present invention, the work of cleaning the wall surface is mechanized, and traffic congestion occurs even when cleaning the wall surface facing the road. It is not a cause and has good operability and workability.

According to the wall surface cleaning robot of the second, third, fourth, and fifth aspects, the water remaining on the wall surface is automatically removed, so that the finish condition after cleaning the wall surface becomes good.

According to the wall surface cleaning robot of the third aspect, it is guaranteed that the vehicle body always travels along the wall surface while maintaining a constant space between the vehicle body and the wall surface.

According to the wall surface cleaning robot of the fourth aspect, the followability of each of the rotating brushes to the unevenness and inclination of the wall surface is good.

According to the wall surface cleaning robot of the fifth aspect, the efficiency of removing the water remaining on the wall surface is good.

[Brief description of drawings]

FIG. 1 is a schematic view disclosing the inside of a wall surface cleaning robot according to an exemplary embodiment of the present invention.

FIG. 2 is a state of use of the wall surface cleaning robot shown in FIG. 1 viewed from the front.

3 is a front wheel portion of the wall cleaning robot shown in FIG.
It is a front view which shows the arrow part.

FIG. 4 is a sectional view taken along line IV-IV in FIG.

FIG. 5 is a partial view taken along the arrow B in FIG.

FIG. 6 is a plan view showing an example of a portion viewed in the direction of arrow C in FIG.

FIG. 7 is a partial view seen from an arrow D in FIG.

FIG. 8 is an explanatory diagram showing a conventional method of cleaning a wall surface.

[Explanation of symbols]

 1 Body (Vehicle Frame) 3 Front Wheel 9 Guide Rail 12 Rotating Brush 10 Control Device 30 Arm 32 Rolling Element 33 Energizing Means 38 Brush Support 45 Compression Spring 51 Suction Cylindrical 52 Suction Groove 53 Wiper 55 Suction Blower W Wall

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Teru Hayashi 7-1 Futochi Chichi, Matsudo City, Chiba Prefecture Ministry of Construction Kanto Technical Office (72) Inventor Akihiko Taya 7-1 Fuhichi Chichi, Chiba Prefecture Kanto Gifu Inside the operation office (72) Inventor Akira Kitajima 3-1, Okawa, Kanazawa-ku, Yokohama, Kanagawa Tokyu Vehicle Manufacturing Co., Ltd. Development Headquarters (72) Inventor, Takashi 3-1, Okawa, Kanazawa-ku, Yokohama, Kanagawa Yokohama Works Co., Ltd.

Claims (5)

[Claims] 1. A narrow vehicle body, a traveling device for automatically traveling the vehicle body along a guide rail horizontally provided on a wall surface, and a cleaning device having a rotating brush abutting against the wall surface. A wall surface cleaning robot including a control device that simultaneously controls the operation of the traveling device and the operation of the cleaning device. 2. A vehicle body having a narrow width, a traveling device for automatically traveling the vehicle body along a guide rail horizontally provided on a wall surface, and a rotating brush abutting on the wall surface while sprinkling water. A cleaning device for cleaning the wall surface, a residual water removing device provided at the rear of the cleaning device in the traveling direction for sucking and removing the cleaning water remaining on the wall surface, and the operation of the traveling device and the operation of the cleaning device. A wall cleaning robot comprising a control device that simultaneously controls the operation of the residual water removing device. 3. A front wheel attached to the vehicle body so that the traveling device can change its direction freely, an urging means for urging the front wheel to face a wall surface, and the front wheel integrally with the front wheel. 3. The wall surface cleaning robot according to claim 1, further comprising an arm having a rolling element that is provided so as to be able to change its direction and that is in contact with a wall surface by the urging force of the urging means at its tip. 4. The cleaning device comprises a brush support body which is provided substantially parallel to the wall surface and is supported by the vehicle body so as to be uniformly pressed to the wall surface side. 3. The wall surface cleaning robot according to claim 1, wherein the rotary brushes are respectively provided via compression springs, and the rotary brushes clean the wall surface while spraying water from the vehicle body side to the wall surface side. 5. The residual water removing device communicates the inside and outside of the suction cylinder with a suction cylinder provided in a rear direction of the cleaning device in a vertical direction, and the wall surface side of the suction cylinder. The suction groove is provided so as to face the vertical direction so as to bulge, and the suction groove is provided on the rear side in the traveling direction along the suction groove so as to abut the wall surface, and thereby the vehicle body travels so that the wall surface is The wall surface cleaning robot according to claim 2, comprising a wiper for wiping off the remaining cleaning water, and a suction blower communicating with the inside of the suction cylinder.