JPS62117653A - Automatic traveling device on outer wall surface - Google Patents

Abstract

PURPOSE:To automatically travel a working pedestal without rolling by arranging a wire winding drum, a generator for driving the drum, and a controller at the four corners of a wall body, tying the pedestal, and traveling the pedestal. CONSTITUTION:In the device for automatically traveling the working pedestal used for the cleaning, etc., of the outer wall surface of a building, wire delivery devices 1A, 1B, 1C, and 1D are arranged at the four corners of the outer wall A of a building, one ends of wires 2a, 2b, 2c, and 2d are tied to the four corners of the working pedestal B and the other ends are wound on the wire winding drum, and a motor for driving the drum and an encoder are provided to the wire delivery device. Furthermore, the delivery amt. and the retraction amt. of the wire 2 are measured by the encoder in correspondence with the rotation of the drum, the measured values are sent to a computer 7, and the motor is controlled. Consequently, the working pedestal can be horizontally held at all times and accurately moved along the outer wall, and rolling is prevented.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention is applied to an automatic traveling device for the outer wall surface of a work platform used for cleaning the outer wall surface of a building, inspecting the peeling of tiles, spray painting, cleaning window glass, etc. This is related.

(Prior Art) Conventional 1 As the device 11 for moving the outer wall surface of the work platform, there is a bond method in which the work platform is moved up and down using a wire suspended from the top of the building, and a bond method in which the work platform is moved while adhering to the wall surface using an air vacuum. Air vacuum methods and other methods are used in which the work platform is moved along rails installed on the outside wall.

(Problems to be Solved by the Invention) In the conventional bonding method, one work platform is moved horizontally by moving a wire supply device installed on the rooftop, but in this case, the horizontal movement of one work platform is difficult. Lateral movement along the way would be a national disaster, as it would need to be dealt with.

The conventional air vacuum method has problems when the wall surface is uneven, and the amount of vehicles that can be carried is very small.

Furthermore, in the movement method using rails installed on the outer wall, one work platform can move linearly up and down or left and right.

(Means for Solving the Problems) The present invention has been proposed to solve all of these problems, and is provided at each of the four corners of the wall, and at the four corners of the work base.
A wire winding drum having one end connected to a corner and extending in a diagonal direction of a wall surface, the other end of which is wound around a wire winding drum, a direct drive motor for driving the drum, and a control device for each of the electric motors;
The present invention relates to an automatic outer wall traveling device characterized in that the control device is configured to control the amount of wire feeding and retraction of each wire winding ram 3.

(Function) Since the present invention is configured as described above, the four walls of the wall
Each electric motor installed at the corner is controlled by a control device, and each wire winding drum driven by the electric motor sends out each wire whose one end is connected to the four corners of the work base and extends in the diagonal direction of the wall surface. By adjusting the amount of retraction, it is possible to move the work base to any position on the outer wall surface while keeping it horizontal.

(Effects of the Invention) According to the present invention, it is possible to move the work base to any position on the outer wall surface while always keeping it in a horizontal state, and the electric motor for driving the wire winding drum can be automatically operated. By controlling the work platform, the work platform can be automatically moved to the outer wall of the building, and the work of moving the work platform can be made safer.

(Example) The present invention will be described below with reference to the illustrated embodiments.

(A) shows the outer wall of a building, and wire feeding devices (LA), (IB), (Ic), and (LD) are arranged at its four corners.

Each of the wire feeding devices has wires (2a) (2b) (2C) (2) whose ends are connected to the four corners of the work base (B).
a) A wire winding drum (3) with the other end wound around it, a motor for driving the wire (4), and an encoder (51).
', and the encoder (5) is connected to the winding drum (3).
A roller (6) configured to rotate in response to the rotation of
) and read the rotation speed of the wires (2a) (2b) (2
c) Measure the sending amount and pulling amount of (2d), send the data signal to the computer (7), send a control signal from the computer (7) to each of the motors (4), and control the motors (4). is configured to control.

Note that the encoder (5) and computer (7) constitute a control device for the electric motor.

In the figure, (8) is an arm installed on the roof, which separates the wire from the building (q) by a certain distance and acts as a fulcrum for sending out and pulling in the wire.

Since the illustrated embodiment is constructed as described above, 1. For example, when moving the work platform upward, the computer (7) controls each wire feeding device (LA).
(IE) (rc) A control signal is issued to the electric motor (2) of (tD), and the wire (2a) (2b) is
At the same time as pulling in the wire feeding device (iC) (lD)
The wire (2c) (
Send 2d).

At the same time, the amount of retraction of the wires (2a) and (2b) and the amount of delivery of the wires (2c and 2d) are calculated, and each is adjusted so that the work platform (G) is always kept horizontally and moved upward to a predetermined height. Electric motor (4) fc sub-control.

In addition, as shown in Figure 2, the support tool (9) is attached to the work base.
Take out the wire ropes (2a) (2b) (2c) (
2d) is given tension to obtain a reaction force when performing work from the work base (B).

The wire rope tension is controlled by receiving the rope tension as data from the torque sensor attached to the electric motor (4).
@Wire feeding device (lA) (tB) (tc) (t
The computer (7) controls each electric motor (3) in D) to maintain a balance.

Since the illustrated embodiment is constructed as described above, each wire feeding device (tA) is controlled by the computer (7).
) (1) (tc) 1( in (tD) is the motive (
・Each wire (2a) (2
b) By fully controlling the sending amount and retracting amount of (2e) (2d), each wire (2a) (2b) (2c) (2d)
Is it possible to keep the connected work base (to) horizontal at all times?
It can be accurately moved by a predetermined amount in a predetermined direction along the exterior wall (A), and therefore it is possible to automate tasks such as cleaning the exterior wall of a building, inspecting peeling of exterior wall tiles, spray painting, and cleaning window glass. and the external complement of the building (1 Wt VC
External scaffolding is not required.

Although the present invention has been described above with reference to embodiments, the invention is of course not limited to such embodiments, and various modifications to the design can be made without departing from the spirit of the present invention.

[Brief explanation of drawings]

Fig. 1 is a front view showing an embodiment of the external wall automatic traveling device according to the present invention, Fig. 2 is a side view thereof, Fig. 3 is a plan view of its wire feeding portion, and Fig. 4 is its front view. It is. (A)...Outer wall, (B)...Work pedestal, (IA) (IB) (IC) (LD) --- Wire feeding device, (2a) (2b) (2c) (2d)
...Wire, (3) ... Winding drum,
(4)...Electric motor for driving the wire winding trolley,
(5) Encoder, (7) Computer agent Patent attorney Shigefumi Okamoto and two others Figure 3 Figure 4

Claims (1)

[Claims] A wire winding drum, in which the other end of each wire extending in the diagonal direction of the wall surface is wound, and the wire winding drum is arranged at each of the four corners of the wall, and one end is connected to the four corners of the work base, and for driving the drum. An automatic outer wall surface traveling device comprising an electric motor and a control device for each of the electric motors, the control device controlling the amount of wire feeding and retraction of each of the wire winding drums. .