JPH0810190A - Suction type wall face cleaning device - Google Patents

Abstract

PURPOSE:To provide a suction type wall face cleaning device which effectively prevents driving wheels from slipping, and increase the working efficiency on cleaning wall face. CONSTITUTION:A suction type wall face cleaning device is provided with a frame body 2 holding a plurality of cleaning brushes 1, a plurality of traveling wheels 3 set in the frame body 2, a driving means 4 of driving wheels, a dome- shaped cover body 6 covering the whole structure of respective constituting members, a deaeration mechanism 7 mounted on the dome-shaped cover body 6, a sucker-type sealing mechanism 8 equipped at the periphery of the cover body, and a feeding mechanism 9 of cleaning water for the respective brushes 1. Partition plates 11, 12 are fitted to separate the periphery of the traveling wheels 3 and the driving means 4 from other zones in the dome-shaped cover body 6. The sucker-type sealing mechanism is set in the partition plates 11, 12 as well and the inside space of the partition plates 11, 12 is connected to the outside air.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction type wall surface cleaning device, and more particularly to a suction type wall surface cleaning device that automatically moves a flat wall surface in any direction to clean the wall surface.

[0002]

2. Description of the Related Art Conventionally, it has been customary for a worker to directly wash a wall surface of a building by using a wire or a gondola. On the other hand, in recent years when the number of buildings is increasing, the mechanization of wall washing is being advanced at a rapid pace from the standpoint of worker safety measures or work efficiency.

As this mechanized wall surface cleaning device,
For example, a wall surface cleaning system has been developed in which a vacuum pump is installed on the ground (or on the roof), a robot that self-propels while vacuum adsorbing to the wall surface through a hose is installed, and this self-propelled robot is equipped with cleaning means to clean the wall surface Has been done.

The self-propelled wall surface cleaning device is equipped with traveling drive wheels, and is configured to drive the traveling drive wheels to move the wall surface while cleaning the wall surface.

[0005]

However, in a system in which the wall suction means of the self-propelled robot depends on a vacuum pump on the ground (or on the roof), the length of the vacuum hose is limited, and in particular, the wall washing of middle-high-rise buildings is performed. Was virtually unusable.

Also, regardless of the height of the building,
In the conventional self-propelled robot type wall cleaning device, the traveling drive wheels slip due to the cleaning water adhering to the wall or the cleaning water flowing down during the process of moving while cleaning the wall surface. And the work efficiency was poor, which was a problem.

[0007]

It is an object of the present invention to improve the disadvantages of the prior art, in particular to effectively eliminate the slip of the traveling drive wheels regardless of the height of the building, and thereby to improve the work efficiency of wall washing. It is an object of the present invention to provide an improved adsorption type wall surface cleaning device.

[0008]

According to the present invention, a plurality of cleaning brushes arranged toward a wall surface, a frame body for holding each cleaning brush, and a predetermined frame body provided on the frame body. A plurality of traveling drive wheels and drive wheel drive means for moving in a direction,
A dome-type cover body supported by the frame body and covering the frame body and the respective constituent members as a whole, an air discharge mechanism for constantly discharging the air in the dome-type cover body to the outside, and a dome-type cover body equipped around the body. Further, it is provided with a suction cup type main body sealing mechanism and a cleaning water supply mechanism which is mounted on the frame and supplies cleaning water to each cleaning brush.

A partition plate is provided around the traveling drive wheels and the drive wheel drive means so as to be separated from the other regions in the dome-shaped cover body, and a suction cup partition seal is provided on the wall surface side of the partition plate. Equipped with a mechanism.

The dome-shaped cover body is provided with an outside air communicating means for communicating the inside space of the partition plate with the outside air. This aims to achieve the above-mentioned object.

[0011]

[Operation] First, when the entire device is set to the operating state, the air discharge mechanism 7 and each drive wheel drive means 4 are activated, and the automatic traveling along the wall surface W is performed with the entire device adsorbed on the wall surface W. Be started. At the same time, the cleaning water supply mechanism 9 operates to supply the cleaning water to the cleaning surface of each cleaning brush 1, and the cleaning of the wall surface W is started as the cleaning brush 1 rotates.

In this case, in the dome-shaped cover body 6, the suction air type body seal mechanism 8 also functions together with the operation of the air discharge mechanism 7 to gradually discharge the internal air to the outside, and the inside thereof has the above-mentioned cylindrical shape. Except for the inside of each of the partition plates 11 to 14, a negative pressure state is set. Due to this negative pressure, the entire apparatus is maintained in a state of being attracted to the wall surface W without slipping off from the wall surface W.

On the other hand, the traveling drive wheel 3 and the drive wheel drive means 4 provided in the dome-shaped cover body 6 are individually conducted to the outside air in the partition plates 11 to 14 as described above. The surrounding environment is always set to 1 atm. Thereby, each partition plate 11-14
The inflow of washing water into the inside is always effectively prevented as long as the entire apparatus is operating normally.

[0014]

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

1 to 3 show the overall construction of this embodiment. The embodiment shown in FIGS. 1 to 3 includes five cleaning brushes 1 arranged toward the wall surface W, and a frame 2 that holds each cleaning brush 1. The frame body 2 is equipped with four traveling drive wheels 3 for transferring the frame body 2 in a predetermined direction and four sets of drive wheel drive means 4 individually connected to the traveling drive wheels 3. There is. Reference numeral 5 indicates a control unit for controlling the operation of the four sets of driving wheel drive means 4 and other operations.

Further, a dome-shaped cover body 6 which covers the frame body 2 and all the constituent members supported by the frame body 2 is connected to the frame body 2. The dome-shaped cover body 6 is equipped with an air discharge mechanism 7 for constantly discharging the air inside the dome-shaped cover body 6 and a suction cup-type body seal mechanism 8 provided around the dome-shaped cover body 6. Has been done. Further, the frame body 2 described above is equipped with a cleaning water supply mechanism 9 for supplying cleaning water to each cleaning brush 1 described above.

Around the four traveling drive wheels 3 and the drive wheel drive means 4, a relatively large cylindrical partition plate 1 which is separated from the other regions in the dome-shaped cover body 6 described above.
1, 12, 13, 14 are equipped. Suction cup type partition seal mechanisms 11A, 12A, 13A and 14A are provided on the wall surface w side of each of the partition plates 11 to 14 described above. Reference numeral 11a indicates an annular reinforcing member provided in each suction cup type partition seal mechanism 11A to 14A.

A plurality of vent holes 10 as outside air communicating means for communicating the inner space of each partition plate 11-14 with the outside air are located in the area surrounded by each partition plate 11-14. It is provided in the main body 6 part.

This will be described in more detail below.

As shown in FIGS. 1 and 2, each of the five cleaning brushes 1 is independently driven by five brush drive motors 1A as brush drive means individually provided in each cleaning brush 1. It is supposed to be done. FIG. 2 shows a rear view of this embodiment as seen from the wall surface side. As shown in the back view of FIG. 2, each of the five cleaning brushes 1 is divided into two sets of two and three and arranged in two rows at a predetermined interval.

A cleaning water supply mechanism 9 for supplying cleaning water to each cleaning brush 1 includes a cleaning water tank 9A and a cleaning water branch for guiding the cleaning water in the cleaning water tank 9A to the wall surface side of each cleaning brush 1. A configuration including a guide tube 9B and a plurality of cleaning water injection nozzles 9C that are provided for each cleaning brush 1 and inject the cleaning water guided by the cleaning water branch guide tube 9B described above for each cleaning brush 1. Has become. Reference numeral 9P indicates a wash water pump.

As a result, the cleaning water is individually and surely supplied to each of the five cleaning brushes 1.

In this case, the injection amount of the cleaning water and the rotation speed of each cleaning brush 1 described above are specifically controlled by the control unit 5 described above in relation to the rotation speed of the traveling drive wheel 3 described above. It has become.

The used cleaning water sprayed and used for cleaning falls below each cleaning brush 1 and temporarily stays in the dome-shaped cover body 6, but the dome-shaped cover body 6 travels. It naturally flows out to the outside through the gap between the wall surface W and the wall surface W that is generated during movement.

The four traveling drive wheels 3 and the drive wheel drive means 4 having the same structure are used. FIG. 3 shows the locations of the four traveling drive wheels 3 and drive wheel drive means 4. The traveling drive wheels 3 and the drive wheel drive means 4 are arranged in the above-mentioned cylindrical partition plates 11 to 14 as shown in FIGS. 4 to 6.

Of these, the drive wheel drive means 4 is provided with a drive wheel drive mechanism 4A and a drive wheel steering mechanism 4B as shown in FIG.

The drive wheel drive mechanism 4A is an L-shaped support member 1
Drive motor 4A ₁ supported by 5 and this drive motor 4A ₁
It is composed of a speed reducer 4A ₂ that reduces the rotational speed of A ₁ and transmits it to the traveling drive wheels 3. The traveling drive wheel 3 is connected to the L-shaped support member 1 described above via the speed reducer 4A _2.
It is fixedly equipped with 5. Here, the L-shaped support member 15
Is arranged so that one of the bent end portions 15A supports the drive motor 4A _{1 and the} like and the other bent end portion 15B covers the traveling drive wheel 3 described above.

A drive wheel steering mechanism 4B is provided on the other bent end portion 15B of the L-shaped support member 15 described above. The drive wheel steering mechanism 4B supports the entire drive wheel drive mechanism 4A via the L-shaped support member 15 described above, and the traveling direction of the traveling drive wheel 3 is 360 ° along the wall surface. It also has a function to set so that it can also run.

That is, the drive wheel steering mechanism 4B is provided with a rotary support shaft 4B ₁ which is provided at the other bent end portion 15B of the L-shaped support member 15 so as to project in the opposite direction to the above-mentioned traveling drive wheel 3.
And the rotation support shaft 4B ₁ to the bearings 16a and 16b.
A fixed support member 16 that rotatably supports the rotary support shaft 4B ₁ and a steering motor 17 that rotatably drives the above-described rotary support shaft 4B ₁ are provided. The steering motor 17 and the fixed support member 16 are fixed to the frame body 2 described above via a drive means support fitting 18. Code 17A
Shows a spacer for attaching the steering motor 17 to the drive means support fitting 18. FIG. 6 shows a front view of the traveling drive wheel 3 and the drive wheel drive means 4 disclosed in FIG. 5 as seen from the direction of arrow A in the figure.

The other traveling drive wheels 3 and drive wheel drive means 4 have the same structure. Then, the drive wheel drive means 4 of each of these groups is drive-controlled by the above-mentioned control unit 5 so that they are simultaneously operated in the same direction and at the same speed.

As shown in FIGS. 1 to 3, the dome-shaped cover body 6 has a rectangular shape as a whole, and both longitudinal end portions have a semicircular shape, and at the same time, a central portion thereof projects outward. It has a dome shape. The air discharge mechanism 7 described above is mounted on the dome-shaped central protruding portion. Reference numeral 7A indicates an exhaust motor, and reference numeral 7B
Indicates an exhaust fan.

Therefore, the dome-shaped cover body 6 is
Since the internal air is discharged to the outside together with the operation of the air discharge mechanism 7, the inside of the cylinder-shaped partition plates 11 to 14 except the inside thereof functions of the suction cup type main body seal mechanism 8 described above. The negative pressure state is always set by
Due to this negative pressure, the state of being attracted to the wall surface is maintained without slipping off the wall surface.

On the other hand, the four sets of traveling drive wheels 3 and drive wheel drive means 4 mounted on the dome-shaped cover body 6 are individually partitioned as described above.
And partition walls 11-1 to 14A on the wall surface side, and at the same time, the partition plates 11 to 1
The inside of 4 is connected to the outside air by a vent 10.

Therefore, unlike the negative pressure state inside the dome-shaped cover body 6, the atmospheric pressure inside each of the partition plates 11 to 14 is always set to the same atmospheric pressure (1 atmospheric pressure) as the outside air. For this reason, the inflow of washing water into the partition plates 11 to 14 is effectively prevented as long as the entire apparatus is operating normally, because it is pushed out to the atmospheric pressure.

Here, a concrete example of the suction cup type main body seal mechanism 8 is shown in FIG.

In FIG. 7, FIG. 7A is the same as the suction cup type main body seal mechanism 8 shown in FIG. 1, and the reference numeral 8A is a cross section L provided around the wall surface side of the dome-shaped cover main body 6.
A character-shaped main body seal is shown. The main body seal 8A is arranged such that its bent portion comes into contact with the wall surface and its end flat surface projects outward. At the same time, the main feature of the present invention is that a wrap-in prevention plate 8B as a reinforcing plate is mounted around the protruding portion 8a of the main body seal 8A. In this case, the hardness of the body seal 8A is H
A soft rubber sheet of _S 50 or less is used.

7B is equipped with a main body seal 28A having an L-shaped cross section having the same shape as the main body seal 8A shown in FIG.
It is characterized in that it is a suction cup type main body seal mechanism 28 in which a is formed of a hard member. In this case, the body seal 28
The hardness of the protruding portion 28a of A is set to about H _S 90, and the hardness of the other portions is set to H _S 50 or less.

Further, the suction cup type main body sealing mechanism 29 of FIG. 7C has a square pipe frame 29A provided around the wall surface side of the dome type cover main body 6, and the square pipe frame 2
9A, a strip-shaped underbar 29B disposed on the wall surface side, a plurality of elliptical leaf springs 29C arranged at predetermined intervals between the underbar 29B and the above-mentioned square pipe frame 29A, and The strip-shaped underbar 29B and the elliptical leaf spring 29C are twisted together to form a soft rubber sheet 29D having a U-shaped cross section, which is arranged so as to wrap the whole, and the opening side of the soft rubber sheet 29D is the square pipe frame described above. 29A is in a fixed state.

By doing so, there is an advantage that the unevenness of the wall surface can be effectively followed.

The suction cup type partition seal mechanism 11A-
Also for 14A, the structure shown in FIGS. 7A, 7B and 7C may be used.

FIG. 8 shows an example of a specific usage state of the above embodiment. In this case, the wire Y is for preventing a fall accident of the device, and is normally set in a loose state as shown in the drawing. Further, reference numeral 100 indicates a fixed frame body mounted on the rooftop, and reference numerals 101 and 102 indicate casters, respectively.

Next, the running operation of the above embodiment during operation will be described.

First, when the entire apparatus is set to the operating state,
The air discharge mechanism 7 and each of the four driving wheel drive means 4 are activated, and the automatic running along the wall surface W is started in the state where the entire apparatus is adsorbed on the wall surface W. At the same time, the cleaning water supply mechanism 9
The cleaning water is supplied to the cleaning surface of each cleaning brush 1, and the cleaning of the wall surface W is started as the cleaning brush 1 rotates.

In this case, in the dome-type cover body 6, the air suction mechanism 7 is actuated and the sucker-type body seal mechanism 8 described above also functions to gradually discharge the internal air to the outside.
The inside is the above-mentioned cylindrical partition plates 11 to 1
Except for the inside of No. 4, it becomes a negative pressure state. Due to this negative pressure, the entire apparatus is maintained in a state of being attracted to the wall surface W without slipping off from the wall surface W.

On the other hand, the four sets of traveling drive wheels 3 and drive wheel drive means 4 provided in the dome-shaped cover body 6 are
As described above, each partition plate 11 to 11 is individually
Since the atmosphere is communicated with the outside air in 14, the surrounding environment is always set to 1 atm. Therefore, each partition plate 11-
The inflow of washing water into 14 is always effectively prevented as long as the entire apparatus is operating normally.

Therefore, in the present embodiment, the disadvantage of the above-mentioned conventional example, that is, a situation in which a film of washing water is formed around the traveling drive wheels 3 and the traveling drive wheels 3 cannot run due to slippage or the like. Is effectively eliminated, and the traveling drive wheels 3 have an advantage that they can always be smoothly driven for traveling.

Here, in the above-mentioned embodiment, the ventilation port 10 is used as the outside air communication means for communicating the inside space of each of the partition plates 11 to 14 with the outside air.
Dome-shaped cover body 6 located in a region surrounded by 14
Although the case where the vent hole 10 is provided in the portion is illustrated, the vent hole 10 may be provided in another portion of the dome-type cover body 6 by installing an outside air introduction pipe.

Further, in the above-mentioned embodiment, the case where four sets of traveling drive wheels 3 and drive wheel drive means 4 are provided has been exemplified, but a plurality of sets are sufficient, and the number is not particularly limited to four sets.

Further, the drive wheel drive means 4 is illustrated as having the drive wheel drive mechanism 4A and the drive wheel steering mechanism 4B as an example, but it may be composed of only the drive wheel drive mechanism 4A.

Further, the case where the cleaning water tank 9A is incorporated as the cleaning water supply mechanism 9 is illustrated, but the cleaning water tank 9A is separately arranged outside the dome-shaped cover body 6 so as to be cooperatively operated. It may be.

[0051]

Since the present invention is constructed and functions as described above, according to the present invention, the periphery of the traveling drive wheel and the drive wheel drive means is always operated by the action of the partition plate, the suction cup type partition seal mechanism and the outside air communication means. Since the air pressure is set to be the same as that of the outside air, it is possible to effectively prevent the wash water from flowing into the periphery of the travel drive wheel and the drive wheel drive means, and therefore, the travel drive that occurs in the conventional example. It is possible to effectively eliminate the occurrence of a situation in which the vehicle cannot be driven due to wheel slips, etc., so that the traveling drive wheels can always be smoothly driven to drive, thereby improving the work efficiency of wall washing. It is possible to provide an excellent adsorption type wall surface cleaning device which has never been obtained.

[Brief description of drawings]

FIG. 1 is a partially omitted schematic cross-sectional view showing an embodiment of the present invention.

FIG. 2 is a view (back view) seen from the wall surface side of the embodiment in FIG.

FIG. 3 is a plan view of the embodiment shown in FIG.

FIG. 4 is a partially cutaway explanatory view showing a specific example of a portion S in FIG.

5 is a cross-sectional view with a part of FIG. 3 omitted.

FIG. 6 is an explanatory view, partly omitted, as viewed in the direction of arrow A in FIG.

FIG. 7 is an explanatory view showing a specific example of the suction cup type main body sealing mechanism disclosed in FIG. 1 and another example, FIG. 7 (A) shows a specific example of the suction cup type main body sealing mechanism, and FIG. Shows another example of the suction cup type body sealing mechanism, and FIG. 7C shows another example of the suction cup type body sealing mechanism.

8 is an explanatory diagram showing an operating state of the embodiment shown in FIG. 1. FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Cleaning brush 2 Frame 3 Travel drive wheel 4 Drive wheel drive means 5 Control part 6 Dome type cover main body 7 Air discharge mechanism 8 Sucker type main body sealing mechanism 9 Cleaning water supply mechanism 10 Vent hole 11, 12, 13, 14 Partition plate 11A, 12A, 13A, 14A Sucker type partition seal mechanism

Claims (1)

[Claims] 1. A plurality of cleaning brushes arranged toward a wall surface, a frame body for holding each cleaning brush, and a plurality of traveling drives mounted on the frame body for transferring the frame body in a predetermined direction. A wheel and a drive wheel driving means, a dome-type cover body supported by the frame body and covering the frame body and the respective constituent members as a whole, and an air discharge mechanism for constantly discharging the air in the dome-type cover body to the outside. A suction drive type body sealing mechanism provided around the dome-shaped cover body, and a cleaning water supply mechanism which is provided in the frame body and supplies cleaning water to the cleaning brushes; A partition plate is provided around the drive means so as to be separated from other areas in the dome-shaped cover body, and a suction cup-type partition seal mechanism is provided on the wall surface side of the partition plate. Adsorption wall cleaning apparatus characterized in that a fresh air communicating means for communicating the side space and the outside air in the dome-type cover body.