WO2019077757A1 - Dispositif de lavage de surface de paroi sans contact - Google Patents

Dispositif de lavage de surface de paroi sans contact Download PDF

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Publication number
WO2019077757A1
WO2019077757A1 PCT/JP2017/038092 JP2017038092W WO2019077757A1 WO 2019077757 A1 WO2019077757 A1 WO 2019077757A1 JP 2017038092 W JP2017038092 W JP 2017038092W WO 2019077757 A1 WO2019077757 A1 WO 2019077757A1
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WIPO (PCT)
Prior art keywords
wall surface
cleaning
unit
contact
gondola
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PCT/JP2017/038092
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English (en)
Japanese (ja)
Inventor
英明 溝渕
高雄 伊藤
アントン ジュラブリョフ
Original Assignee
株式会社Ｇｏｌｄｅｎ Ｌｅａｆ‐Ｗｏｒｋｓ
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Application filed by 株式会社Ｇｏｌｄｅｎ Ｌｅａｆ‐Ｗｏｒｋｓ filed Critical 株式会社Ｇｏｌｄｅｎ Ｌｅａｆ‐Ｗｏｒｋｓ
Priority to PCT/JP2017/038092 priority Critical patent/WO2019077757A1/fr
Priority to JP2019549094A priority patent/JPWO2019077757A1/ja
Publication of WO2019077757A1 publication Critical patent/WO2019077757A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices

Definitions

  • the present invention relates to a wall cleaning apparatus that cleans walls and steep slopes of buildings and structures using a gondola in an unmanned and non-contact manner.
  • the gondola is connected to a gondola for work at heights, and this gondola is moved up and down, a traveling device with an adsorption device using a vacuum pump is attached to the gondola, and a wall moving device that moves the wall up and down according to the gondola It is proposed (patent document 2). Furthermore, it has a suction disk, a suction part, a drive part, a sealing mechanism, and a roughness meter sensor which are arranged on the outer wall of the crawler and the crawler, and moves along the wall surface to detect the level difference of the wall surface. A crawler device with a disc has been proposed (Patent Document 3).
  • Patent No. 2888477 gazette JP, 2009-107417, A Japanese Patent Application Laid-Open No. 63-312278
  • the self-propelled automatic wall surface cleaning device of Patent Document 1 described above has a problem that the wall surface and the glass surface are scratched because the wall surface and the glass surface are cleaned by rotating the brush. Further, the wall surface movement device of Patent Document 2 has a problem that the gondola encounters a danger of shaking when the cleaning worker needs to get on the gondola and the gondola is hit. In addition, since a vacuum pump is mounted on the traveling part or its periphery as an adsorption source, the mass of the traveling part is increased, and the adsorption force of the adsorption part is increased.
  • the present invention has been made in view of such a situation, and provides a traveling device capable of stably traveling without adverse effects such as shaking of a steep slope such as a wall surface of a building or a building, and a cleaning worker on the gondola
  • the present invention provides a noncontact wall cleaning apparatus which cleans a window and an outer wall without human being and without touching.
  • the non-contact cleaning device for injecting air and water is disposed between the gondola and the wall while preventing the sway of the gondola, and when the gondola moves up and down the wall, the wall is unmanned and non-contacting
  • the present invention provides a noncontact cleaning device that performs window cleaning operations.
  • the moving force uses the moving force of the gondola up and down
  • the suction unit is an ejector-type suction method, and there is no need to mount a drive unit (drive source) such as a drive motor or a vacuum pump. It is possible to realize significant weight reduction of parts, and to provide a safe non-contact wall cleaning apparatus in which the load on wall surfaces, window glass and the like is significantly reduced.
  • the non-contact wall surface cleaning apparatus includes a gondola moving the wall in the vertical direction, a holding unit holding the gondola, a drive device moving the gondola in the vertical direction, and the gondola And a non-contact cleaning unit for removing dirt on the wall surface.
  • the traveling unit has a plurality of crawlers and a plurality of suction cups.
  • the suction cup holder holds the suction unit, and the suction unit holds the suction unit so that the suction unit holds the suction unit and the gondola and non-contact cleaning unit are fixed to the wall surface.
  • the crawler part is rotated by the moving force of the gondola in the vertical direction, and the adsorption is performed. It has a configuration that moving up and down the gondola while adsorbing the location on the wall.
  • the non-contact wall surface cleaning apparatus is configured as described above, and can clean the wall surface and the window glass without contact, so that the wall surface and the window glass are not damaged or damaged. It is possible to perform high-quality cleaning work, and because it is non-contact, wear and deformation are less likely to occur in the cleaning part, the frequency of part replacement can be greatly suppressed, and the work cost and work time are significantly reduced. Can be In addition, since both the non-contact cleaning device and the vacuum generating device use air such as an ejector, the air supply source can be made common, and there is no need to mount a vacuum pump as a vacuum generating device on the traveling part. Weight reduction can be realized.
  • the traveling portion does not have a drive source, it is possible to further reduce the size and weight, and to significantly reduce the damage and damage to the wall and the window glass during the cleaning operation. Furthermore, since the traveling part follows the movement of the gondola by the winch and the wire, the driving source is not required for the traveling part, and the drive configuration is greatly simplified and high reliability is realized. As described above, according to the present configuration, it is possible to realize the reduction in size, weight, quality and performance of the non-contact wall cleaning apparatus.
  • FIG. 2 is a schematic view of a perspective view showing an example of the configuration of the non-contact wall cleaning apparatus according to the first embodiment.
  • FIG. 2 is a schematic view of a perspective view showing an example of the configuration of the non-contact wall cleaning apparatus according to the first embodiment.
  • FIG. 2 is a schematic view of a perspective view showing an example of the configuration of the non-contact wall cleaning apparatus according to the first embodiment.
  • FIG. 2 is a schematic view of a side view showing an example of the configuration of the non-contact wall cleaning apparatus according to the first embodiment.
  • FIG. 7 is a schematic view of a perspective view showing an example of the configuration of the wall surface movement cleaning unit according to the first embodiment.
  • FIG. 7 is a schematic view of a partial perspective view showing an example of the configuration of the wall surface movement cleaning unit according to the first embodiment.
  • FIG. 7 is a schematic view of a perspective view showing an example of the configuration of the wall surface movement cleaning unit according to the first embodiment.
  • FIG. 7 is a schematic view of a partial perspective view showing an example of the configuration of the wall surface movement cleaning unit according to the first embodiment.
  • 5 is a schematic view of a perspective view showing an example of the configuration of the non-contact cleaning unit according to Embodiment 1.
  • FIG. 1A is a perspective view showing an example of the configuration of a traveling unit according to Embodiment 1
  • FIG. 5 is a schematic view of a perspective view showing an example of the configuration of a traveling unit according to Embodiment 1.
  • FIG. 5 is a schematic view of a perspective view showing an example of the configuration of a suction unit according to Embodiment 1.
  • FIG. 5 is a schematic view of a perspective view showing an example of the configuration of a suction unit according to Embodiment 1.
  • 5 is a schematic view showing an example of the configuration of a suction unit according to Embodiment 1.
  • FIG. 2 is a schematic view of a cross-sectional view showing an example of the configuration of a traveling unit according to Embodiment 1.
  • the process of obtaining one form of the present invention The inventor of the present invention has intensively studied the conventional wall moving apparatus and the wall cleaning apparatus described in "Background Art". According to the conventional wall moving apparatus and the wall cleaning apparatus, the cleaning worker performs the wall cleaning operation. There is a problem that the gondola encounters danger of shaking when it is hit by a gust because it is necessary to board the gondola. Moreover, in a wall surface washing
  • the crawler device having an adsorption part and a drive part and self-propelled on the wall surface
  • a load of the crawler device is generated on the window or wall surface, and in the worst case, the window glass It had problems such as breakage.
  • the gondola while supporting the mass of the gondola by a holding part arranged on the roof of the building via a wire, the gondola is provided with a traveling part having a crawler and the adsorption part of the traveling part adsorbs the gondola to the wall surface while moving the gondola up and down
  • the structure can significantly reduce the load such as gondola to the wall surface or the glass window and significantly reduce the possibility of damage to the wall surface or the window glass due to the load of the gondola and the running part.
  • the vacuum generator for forming the adsorption part provided in the traveling part is not a vacuum pump but is a pneumatic type using air and an ejector, and the vacuum pump is unnecessary by making it the same as the air path for cleaning.
  • the air compressor can be configured with only one unit, and significant weight reduction can be realized by simplifying the configuration as well as greatly simplifying the configuration and reducing the cost.
  • the vacuum region of the adsorption unit is formed by a vacuum pump, when the vacuum region is returned to normal pressure and the wall surface and the adsorption unit are separated, a predetermined time is required, and the workability is deteriorated. By mounting an actuator that peels off the part, smooth work can be realized.
  • a non-contact wall cleaning apparatus includes a gondola moving a wall in the vertical direction, a holding unit for holding the gondola, and a driving device for moving the gondola in the vertical direction along the wall.
  • the suction unit holding unit holds the suction unit
  • the suction unit holds the suction unit
  • the suction unit holds the suction unit to cause the suction unit to suction the suction unit onto the wall surface
  • Movement of the gondola in the vertical direction by keeping the non-contact cleaning part at a fixed distance from the wall and pressing the gondola and the traveling part against the wall with a fixed adsorption force That rotates the crawler portion by the force, while the gondola still adsorbed is vertically moving the suction device to the wall surface, and configured to wash the wall surface by the non-contact cleaning unit.
  • the mass of the gondola is supported by the wire attached to the gondola and the holding part for holding the wire installed on the roof, and the gondola is connected to the wire to drive the wire to be wound up and wound back It is connected and it is supposed to go up and down the gondola.
  • the gondola is provided with a traveling unit having a crawler, and the gondola is moved up and down by the driving unit while adsorbing the gondola to the wall surface by the suction unit of the traveling unit.
  • the load can be greatly reduced and the gondola will not shake even when the wind blows, and the possibility of damaging the wall and window glass can be greatly reduced.
  • the crawler portion comprises a sprocket, a chain, a sprocket holding shaft, a suction cup holding portion, and suction.
  • the system comprises a device, a chain tension adjusting portion, a pipe portion and a pipe connecting portion, and the pipe connecting portion is disposed between two of the sprockets arranged on the same shaft, and when the suction cup holding portion rotates.
  • the piping portion is also configured to be rotatable in conjunction with the rotation of the suction cup holding portion.
  • the sprocket can be accurately supported and its rotation can be stabilized, and the reliability of the rotating piping portion and the piping joint portion can be greatly improved, and the suction device configured in the rotating crawler portion can be obtained. It is possible to realize a simple, low-cost, high-reliability, high-quality, high-accuracy traveling unit and crawler unit that can be configured simply and with high accuracy.
  • the vacuum unit of the adsorption device is a vacuum pump or a so-called vacuum pump. It is set as the structure made into a substantially vacuum state by the ejector system.
  • the vacuum unit when configuring the vacuum unit, increase the degree of vacuum using a vacuum pump to increase the force of adsorption on the wall of the adsorption device to increase the reliability of the adsorption force, or use an ejector in the compressed air flow path.
  • the vacuum part it is possible to share the compressed air of the non-contact cleaning part with the flow path and the compressor, and it is possible to realize downsizing, weight reduction and cost reduction by simplification of the configuration. Play.
  • the non-contact cleaning unit comprises water and / or compressed air.
  • the wall surface or window glass can be cleaned without contact and unattended, so high-quality and safe cleaning operations and automatic cleaning operations can be performed in a short time and efficiently. The effect is achieved that high quality, high efficiency and safety of the cleaning operation can be realized.
  • a noncontact wall cleaning apparatus is the configuration of the noncontacting wall cleaning apparatus according to the first to fourth aspects, wherein the noncontact cleaning unit supplies air at high pressure. And a water supply tank and a water supply pump for supplying water, piping serving as an air and / or water passage, and a nozzle for injecting air and / or water.
  • a plurality of the nozzles are disposed, and inflowing water and / or It is a so-called swing-type nozzle that performs swing operation when the pressure of air exceeds a predetermined pressure, and in order to avoid the collision of water or air ejected from the nozzles adjacent to each other, around the axis around the jet direction of the nozzles
  • the installation angle is fixed by tilting and rotating within a range of 5 degrees to 30 degrees.
  • the wall surface or window glass can be automatically cleaned in a wide range, and the non-contact cleaning operation can be efficiently performed in a short time, and water or air jetted from the adjacent nozzles mutually Since there is no collision, there is no washing residue on the interface of water or compressed air jetted from each nozzle, so that significant efficiency and high quality can be realized.
  • the adsorption device is an air attached to the suction cup holder.
  • the valve switch is configured to be turned on or off in synchronization with the rotation of the suction cup holder.
  • the suction device has a mechanism for adjusting the distance from the wall surface, and is synchronized with the rotation of the suction cup holder to position relative to the wall surface.
  • the suction unit having the elasticity of the suction device and forming the vacuum unit and having a suction cup made of rubber, silicon, etc. has a predetermined angle to the wall or window glass just before it is adsorbed to the wall or window glass. It is configured to prevent deformation and formation of a vacuum portion when moving, and to move in the direction of the wall surface or window glass when the suction cup portion becomes substantially horizontal to the wall surface or window glass. This has the effect of achieving high precision and stabilization of the suction operation of the suction device.
  • a noncontact wall cleaning apparatus is a wall moving cleaning unit in which the traveling unit and the noncontact cleaning unit are unitized, and the wall moving cleaning unit is fixed to the gondola. It has composition.
  • the wall surface movement cleaning unit has one or more vertical position adjusting devices configured of a suction cup and a linear actuator, and the vertical position adjusting device After pressing the suction device against the wall surface and moving the gondola up and down by the drive device while suctioning the suction device onto the wall surface, when releasing the suction operation of the wall surface and the suction device, 1
  • the suction device is configured to be separated from the wall surface by the swinging operation by the at least one vertical position adjustment device.
  • the non-contact wall cleaning apparatus including the gondola and the wall moving cleaning section is pressed against the wall by the suction cup and linear actuator constituting the vertical position adjusting apparatus, and the suction cup of the suction apparatus firmly on the wall or window glass
  • the non-contact wall surface cleaning apparatus after having been pressed and starting the adsorption operation is configured to start moving up and down, so that the quality of the adsorption operation on the wall surface of the adsorption device can be significantly improved. . Furthermore, when the adsorption operation between the wall surface and the adsorption device is released, the air pressure in the vacuum part of the adsorption device does not immediately increase, so the wall surface and the adsorption device are hardly separated.
  • the adsorption device by configuring the adsorption device to be separated from the wall surface by the oscillating operation by one or more of the vertical position adjustment devices, it is possible to significantly reduce the quality of the cancellation of the adsorption operation from the wall surface of the adsorption device.
  • the wall moving cleaning unit has a horizontal moving device including a roller and a roller linear actuator, and the wall moving cleaning unit uses the horizontal moving device.
  • the roller portion is pressed against the wall surface by the actuator when moving horizontally at the upper end portion or the lower end portion of the wall surface, and the wall surface movement cleaning portion is maintained while maintaining a predetermined distance between the wall surface and the wall surface movement cleaning portion. It is configured to stabilize horizontal movement.
  • cleaning apparatus which concerns on the 12th aspect of this invention is taken as the structure by which the said water supply tank is mounted in the said wall surface movement washing
  • the non-contact cleaning unit has a circulation tank for circulating air and a purification unit for sucking and purifying air from the circulation tank and discharging the air to the outside.
  • the configuration is According to the above-described configuration, high-quality cleaning work can be realized by preventing air containing dirt such as sand during cleaning from splattering and re-adhering to the cleaned wall or window glass. .
  • the non-contact cleaning unit is configured using a cyclone cleaner, and the cyclone cleaner is mounted on the wall moving cleaning unit or the gondola. It has composition.
  • the non-contact wall cleaning apparatus according to the fifteenth aspect of the present invention, dust from the outside is prevented in order to prevent foreign matter from being mixed in the air jetted from the nozzle in the air flow path from the compressor to the nozzle. It is set as the structure provided with the dustproof filter which collects sand, etc. at least one or more places. According to the above configuration, dust and sand contained in the air jetted from the non-contact cleaning unit can be removed, so that it is possible to prevent the wall and the window glass from being scratched, so that the high quality cleaning operation can be realized. Play.
  • the traveling unit cleaning nozzle for cleaning with air is arranged before and after the traveling unit in the vertical direction to prevent the entry of dirt into the adsorption device. It has composition. With the above-described configuration, sand and dust can be prevented from entering the suction cup or ejector portion of the adsorption device or the inside of the adsorption device, and it is possible to realize a highly reliable wall adsorption operation.
  • a noncontact wall cleaning apparatus is configured to have a wiper and / or a sponge for removing water for cleaning at the upper or lower part of the noncontact wall cleaning apparatus. According to the above-described configuration, the water sprayed from the non-contact cleaning unit can cleanly remove the water adhering to the wall surface, the window glass and the like, so that the high-quality cleaning operation can be realized.
  • the sponge is a rotational drive system that rotates around and absorbs water around a pipe at the center of the sponge, and the water supplied to the pipe is air The water in the sponge is removed by discharging the air to the outside through the holes formed in the pipe.
  • the water sprayed from the non-contact cleaning unit can remove the water adhering to the wall surface and the window glass more beautifully, so that the cleaning operation with higher quality can be realized.
  • a heater for warming the air flowing into the pipe is mounted on a part of a pipe through which the air flowing into the pipe flows, and water is supplied to the sponge To promote the evaporation of water.
  • a vacuum cleaner for sucking water for cleaning is provided at a lower portion of the noncontact wall cleaning apparatus, and the water tank disposed in the gondola portion It is configured to collect water.
  • a so-called gyro device is mounted on the gondola to suppress a decrease in the attraction to the wall surface due to a gust or the like. According to the above-described configuration, even if the non-contact wall cleaning device is shaken by a gust or the like, it is possible to realize the stability of the operation of adsorbing the adsorbing device on the wall surface.
  • the gyro device is configured to be inclined at a predetermined angle with respect to the wall surface.
  • 1 to 8 are schematic views showing an example of the configuration of the non-contact wall cleaning apparatus according to the first embodiment.
  • 1 to 3 schematically show a perspective view of the non-contact wall cleaning apparatus according to the first embodiment.
  • FIG. 4 is a schematic view showing an example of the configuration of the side surface of the non-contact wall cleaning apparatus according to the first embodiment.
  • FIG. 5 to 8 schematically show perspective views of the wall surface movement cleaning unit of the non-contact wall surface cleaning device according to the first embodiment.
  • the non-contact wall cleaning apparatus 100 is connected to the gondola 1, the wire 2 which is moved up and down while holding the load of the gondola 1, and the wire 2
  • a drive unit 5 comprising a guide roller 4 for guiding the wire 2 and a motor for winding up and rewinding the wire 2 to move the gondola 1 up and down, a wall moving cleaning unit 101 fixed to the gondola 1 It consists of.
  • the gondola 1 and the wall moving and washing unit 101 are fixed by a gondola joint 89 with a bolt or the like.
  • a vacuum cleaner 15, a water supply tank 14, a water supply pump 71 (not shown), and a gyro device 70 are mounted on the gondola 1, and one or more compressors 72 (not shown) are provided on the roof of a building such as a building. It is arranged.
  • the traveling unit 6 includes a traveling unit frame 19 constituting a crawler, a sprocket 9, a chain 33, a chain tension adjusting unit 34, an adsorbing device 8 for adsorbing to a wall surface, and an adsorbing device cleaning unit 21.
  • the suction device 8 is configured of a suction cup holding unit 10, a suction unit 7, an ejector 12, and a vacuum unit 22.
  • the wall moving cleaning unit 101 includes a traveling unit 6 mounted with the wall moving cleaning unit frame 50 as a framework, a noncontact cleaning unit 11, a vertical position adjustment device 13, and a horizontal movement roller 30. , Circulation tank 32, wiper 31, vacuum cleaner 16, air pipe 18, water pipe 17, electric wiring 49 (not shown in detail), regulator 48, compressed air inflow portion 75, water inflow portion 76, branch portion 74 The vacuum cleaner connecting portion 77, the suction portion connecting portion 78, the circulation tank connecting portion 79, and the switching valve 80 are provided.
  • the compressed air of about 0.5 MPa to 1 MPa supplied from the compressor 72 enters the compressed air inflow portion 75 by the air pipe 62 (details are not shown) and a part of the compressed air
  • the air flows through the air pipe 18 to the non-contact cleaning unit 11 and a part of the compressed air flows through the air pipe 18 to the branch portion 74.
  • Part of the compressed air from the branch part 74 flows through the air pipe 18 to the regulator 48, part of the compressed air flows to the vertical position adjusting device distributor 20, and part of the compressed air of the horizontal movement roller 30. Flow for driving a linear actuator.
  • the suction unit 8 and the ejector 12 are held by the suction cup holding unit 10, and the compressed air supplied to the ejector 12 forms a vacuum unit 22 between the suction unit 8 and the wall surface and suctions the wall or glass surface.
  • the adsorption device cleaning unit in advance. The wall surface or the surface of the glass is cleaned by the compressed air jetted from the air nozzle attached to 21.
  • FIG. 9 is a view showing the configuration of the noncontact cleaning unit 11.
  • the non-contact cleaning unit 11 has a swing type nozzle, and swings while reciprocating at a predetermined angle when the pressure or flow rate of the supplied compressed air and / or water reaches a specified value or more.
  • compressed air and / or water will be jetted from the tip of the nozzle.
  • the injection speed of compressed air and / or water may reach 200 m / s to 300 m / s. As shown in FIG.
  • the noncontact cleaning unit 11 includes a swing nozzle 73, a connecting unit 85, a fixing unit 84, a water inlet 86, a compressed air inlet 87, a water pipe 17, and an air pipe 18.
  • the swing nozzle 73 is fixed to the wall moving and washing unit frame 50 of the wall moving and washing unit by the fixing unit 84, and water and compressed air are supplied by the water piping 17 and the air piping 18.
  • the flow rate of water or the flow rate of air (or pressure) exceeds a certain value, the swing nozzle 73 sprays water and / or compressed air from the tip of the swing nozzle 73 while swinging left and right. At this time, if only one of the water and the compressed air is not supplied, it is possible to inject only one of them.
  • the swing nozzle 73 includes a guide 81, an injection nozzle 82, and a swing flow path 83.
  • the swing flow path 83 is reciprocated to the left and right while being held by the guide 81.
  • bond part 85 may become substantially equivalent.
  • the vacuum cleaner 15 When cleaned by the non-contact cleaning unit 11, if the compressed air jetted out splashes into the air while containing sand or dust on the wall surface or glass surface, it adheres again to the cleaned wall surface or glass surface, resulting in a cleaned wall surface. Or it may stain the glass surface.
  • the vacuum cleaner 15, the circulation tank 32, the vacuum cleaner connection unit 77, the suction unit connection unit 78, the circulation tank connection unit 79, the switching valve 80, and the vacuum cleaner suction unit 16 are provided.
  • the contaminated air generated in the cleaning unit is circulated to the vacuum cleaner 15 through the circulation tank connecting portion 79 and the vacuum cleaner connecting portion 77 while swirling in the circulation tank 32, and the cleaning by the cyclone system or the filter system is performed.
  • the machine 15 collects dust in the air and discharges the air to the outside.
  • water or moisture on the wall of the cleaning unit is sucked by the vacuum cleaner suction unit 16 and sucked to the vacuum cleaner 15 through the teacher unit connection unit 78 and the vacuum cleaner connection unit 77, and the water is stored in the water tank of the vacuum cleaner 15. It will be collected in (not shown).
  • FIGS. 10 to 17 are diagrams showing the configuration of the traveling unit 6.
  • the traveling unit 6 comprises an adsorption unit 7, a traveling unit frame 19, a sprocket 9, a suction cup holder 10, a chain 33 and a chain tension adjusting device 34
  • the adsorption unit 7 comprises a suction cup 8 consists of ejector 12
  • the closed space between the adsorption device 8 and the wall surface or the glass surface is brought into a state close to vacuum, and the vacuum portion 22 is formed.
  • the adsorbing device 8 adsorbs to the wall surface or the glass surface. Further, the chain 33 is smoothly rotated by the sprocket 9 and the chain tension adjusting device 34 rotatably attached to the plurality of traveling part frames 19.
  • the chains 33 attached to both sides of the traveling unit frame 19 are connected by the reinforcing plate 88 and the suction cup holding unit 10, and the suction unit 8 and the ejector 12 are attached to the suction cup holding unit 10
  • the traveling portion 6, the non-contact wall surface cleaning device 100, and the wall surface movement cleaning portion 101 are adsorbed on the wall surface or the glass surface and pressed against the wall surface or the glass surface with a constant force.
  • the vacuum unit 22 is formed in the adsorption device 8 by flowing compressed air into the ejector 12, the electric vacuum pump (not shown) and the adsorption device 8 are connected.
  • the vacuum unit 22 may be formed without the ejector 12.
  • the mass of the traveling unit 6 will be significantly increased.
  • the suction roller frame 37 and the valve switch frame 36 are fixed to the traveling part frame 19.
  • a valve switch 35 attached to the suction disk holder 10 is attached, and an adsorption roller 26 is attached to the adsorption device 8.
  • valve switch 35 When the valve switch 35 passes through the surface of the valve switch frame 36, the valve switch 35 is switched ON, and at other rotational positions of the chain 33, the valve switch 35 is switched OFF.
  • the valve switch 35 When the valve switch 35 is turned on, compressed air flows to the ejector 12 through the air pipe 18 and the vacuum unit 22 is formed.
  • the adsorption roller 26 passes the surface of the adsorption roller frame 37, the adsorption device 8 moves to the wall surface or the glass surface side, and the adsorption device 8 has the wall surface or the glass surface at the rotational position of the chain 33 other than that.
  • the adsorption device 8 came to a position approximately parallel to the wall surface or glass surface in order to move to the far side and to prevent the suction cup portion of the adsorption device 8 from being bitten or deformed when it approaches the wall surface or glass surface. At this time, the adsorbing device 8 is moved to the wall surface or the glass surface side to adsorb. Further, as shown in FIG. 11, the switch guide portion 38 and the roller guide portion 39 are respectively formed on the suction roller frame 37 and the valve switch frame 36, and the valve switch 35 is turned on and off. It has a function to make the movement operation smooth. The suction roller frame 37 and the valve switch frame 36 are accurately fixed to the traveling portion frame 19 by the attachment portion. 12 and 13 are diagrams showing the configuration of the suction unit 7.
  • a bubble switch 35 One end of a bubble switch 35, a linear slider 25, and a suction spring 28 are attached to the suction holding unit 10.
  • a suction roller 26 having a shaft, a suction device 8 integrally formed with the suction shaft 27, an ejector 12 and a suction spring 28 are fixed to the suction movement plate 27, and the shaft of the suction roller 26 is It is slidably supported in the axial direction by the linear slider 25, and is slid in the axial direction by the spring force of the suction spring 28 fixed to the suction holding portion 10.
  • FIGS. 13 (a) and 13 (b) are views showing an example of the moving method of the adsorption device 8.
  • FIG. 13A At a rotational position where the roller 26 is at the suction roller frame 37, as shown in FIG. 13A, the suction device 28 is in close contact with the wall surface or the glass surface while the suction spring 28 is extended.
  • FIG. 14A shows the case where the bubble switch 35 is in the OFF position with respect to the bubble switch frame 36. Compressed air flows into the bubble switch 35 through the air pipe 18.
  • FIG. 14 (b) shows a state in which the bubble switch 35 is being turned on with respect to the switch guide 38. While the bubble switch 35 is in the OFF position, compressed air flows into the bubble switch 35 through the air pipe 18.
  • FIG. 14A shows the case where the bubble switch 35 is in the ON position by the bubble switch frame 36 and the switch guide 38. Compressed air flows into the bubble switch 35 through the air pipe 18.
  • FIG. 15 (a) and 15 (b) are views showing a method of rotatably supporting the sprocket 9. As shown in FIG. Fig.15 (a) shows the schematic of the cross section of the driving
  • the rotational support portion of the sprocket 9 is obtained from the sprocket 9, the running portion frame 19, the sprocket holding shaft 40, the sprocket holding member 41, the key 42, the bearing 43, the shaft retaining 44, the shaft fixing screw 45, the bearing fixing screw 46, and the set screw 47 Configured
  • a bearing 43 is embedded in the sprocket holding member 41, and the sprocket holding portion 41 is fixed to the traveling portion frame 19 with a set screw 47.
  • the key 42 is fitted to the sprocket 9 and fitted on the sprocket holding shaft 40 to prevent slippage at the time of rotation by the key 41 and the shaft retention stoppers 44 are fitted on both sides of the sprocket 9.
  • the sprocket holding member 41 is fixed to the sprocket holding member 41 and the sprocket 9 is held in rotation by the traveling part frame 19 with the bearing fixing screw 46.
  • the sprocket 9 can be rotated, and by holding the sprocket 9 in a cantilever manner with respect to the traveling portion frame 19, the sprocket is held between the pair of sprockets 9.
  • a space without the shaft 40 can be created, and it is possible to secure a space for carrying out an air pipe for supplying compressed air to the ejector 12 and the adsorption device 8.
  • 16 (a) and 16 (b) are diagrams showing an example of a method of supplying compressed air to the ejector 12 and the adsorption device 8 when the chain 33 rotates.
  • the cross section D shown in FIG. 16 (a) is shown in FIG. 16 (b).
  • the air piping of the rotating portion is composed of the rotary pipe joint 24 and the coil pipe 23, and the air pipe 18 to which compressed air is supplied and the rotary pipe joint 24 are connected.
  • the compressed air is accurately supplied to the ejector 12 and the adsorbing device 8 through the coil pipe 23 connected to 24 even when the chain 33 and the sprocket 9 rotate.
  • FIG. 17 (a) is a schematic view showing a cross-sectional configuration around the sprocket 9 of the traveling unit 6, a configuration of connection to the coil piping 23 and the adsorption device 8 configured between two sprockets 9, and coil piping 23 shows the connection between the rotary joint 23 and the rotary joint 24.
  • FIG. 17B is a schematic perspective view showing the structure of the rotary pipe joint 24.
  • the rotary pipe joint 24 is a frame serving as a mounting member to the joint portion 51, the rotating portion 52 and the traveling portion frame 19 It comprises the mounting portion 53.
  • the eight coil pipings 23 arranged at the joint portion 51 are rotated according to the rotation of the chain 33 and the sprocket 9 by the rotation portion 52 rotating in a circumferential shape with respect to the frame attachment portion 53. It is possible to rotate between the two sprockets 9 with high accuracy and high reliability.
  • the gondola 1 moving the wall in the vertical direction, the wire 2 and the holding portion 3 holding the load (mass) of the gondola 1, and the gondola 1 along the wall
  • It consists of a drive unit 5 that moves in the direction, a traveling unit 6 that is fixed to the gondola 1 and that rotates following the vertical movement of the gondola 1, and a noncontact cleaning unit 11 that removes dirt on the wall.
  • the part 6 has a plurality of suction cup holding parts 10, and the suction cup holding part 10 holds the suction device 8, and the ejector 12 sucks the suction device 8 on the wall surface or glass surface by generating the vacuum portion 22 in the suction device 8.
  • the traveling unit 6 of the crawler system is rotated by the vertical movement force of the gondola 1, and the gondola 1 is moved up and down while the adsorption device 8 is adsorbed on the wall surface or glass surface.
  • the wall surface and the glass surface are cleaned by the portion 11.
  • the load (mass) of the gondola 1 is supported by the wire 2 attached to the gondola 1 and the holding part 3 holding the wire 2 installed on the roof, and the gondola 1 is connected to the wire 2
  • the gondola 1 is configured to move up and down by connecting it to a drive unit 5 that winds up and rewinds 2.
  • the drive unit 5 also has a function of holding the wire 2 wound up and unwound, one end is coupled to the wire 2, and one end is fixed to the gondola 1 at the drive unit fixing portion as shown in FIG.
  • the gondola 1 is configured to clean without contact by injecting compressed air or water onto the wall surface or the surface of the glass unmannedly. Further, the gondola 1 adheres to the wall surface and moves up and down so that the gondola collides with the wall surface and the glass surface without being shaken by wind or gust and does not damage or damage the wall surface or the glass surface.
  • the moving wall cleaning unit 101 is fixed to the gondola 1, and the adsorption unit 8 of the traveling units 6 of a plurality of crawler methods disposed in the wall moving cleaning apparatus 101 adsorbs the gondola 1 to the wall surface while adsorbing the gondola 1 to the wall surface
  • the gondola 1 up and down it is possible to adsorb the wall surface or the glass surface up and down and move the gondola 1 up and down stably while washing the wall surface or the glass surface without contact.
  • the wall 2 or the glass window is configured to support all the vertical loads of the non-contact wall cleaning apparatus 100 by the wire 2 and the holder 3 Since the load (mass) of the non-contact wall cleaning apparatus 100 is hardly applied to the wall, the load on the wall or glass surface is greatly reduced and the gondola does not shake even when the wind is blown, which may damage the wall or window glass Can be significantly reduced. Furthermore, by mounting the non-contact cleaning unit 11 that jets high-pressure compressed air or water to the wall moving cleaning unit 101, cleaning of the wall and window glass can be performed unmanned and non-contact, and safety and reliability can be achieved.
  • the non-contact wall surface cleaning apparatus 100 can be realized with high quality, high quality, high accuracy and high efficiency.
  • one or more vertical position adjusting devices 13 composed of a suction cup and a linear actuator are mounted on the wall surface movement cleaning unit 101, and the suction position 8 is pressed against the wall surface or glass surface by the vertical position adjusting device 101. Later, while moving the gondola 1 up and down by the drive unit 5 while adsorbing the adsorbing device 8 to the wall surface or glass surface, when canceling the adsorbing operation of the adsorbing device 8 with the wall surface or glass surface, one or more vertical position adjustments The suction device 8 is configured to be pulled away from the wall surface or the glass surface by the rocking operation by the device 13.
  • the non-contact wall cleaning device 100 including the gondola 1 and the wall moving cleaning unit 101 is pressed against the wall by the suction cup and the linear actuator that constitute the vertical position adjusting device 13, and the suction cup portion of the suction device 8 is firmly fixed to the wall.
  • the non-contact wall surface cleaning apparatus 100 starts to move up and down after it is pressed against the glass surface and starts the adsorption operation, thereby significantly improving the quality of the adsorption operation on the wall surface of the adsorption device 8 realizable.
  • a plurality of horizontal movement rollers 30 including rollers and linear actuators are arranged, and the wall surface movement cleaning unit 101 is formed by the horizontal movement roller 30 at the upper end portion or the lower end portion of the wall surface.
  • the roller portion is pressed against the wall surface by an actuator, and the movement of the wall surface movement cleaning portion 101 is stabilized while maintaining a predetermined distance between the wall surface and the wall surface movement cleaning portion 101.
  • the wiper 31 is disposed at the top of the wall moving cleaning unit 101 and water is jetted from the nozzle of the non-contact cleaning unit 11 when the non-contact wall cleaning apparatus 100 cleans from the top to the bottom, Since the water remains attached to the wall surface or the glass surface, the wiper 31 removes the adhesion of the water on the surface.
  • the compressed air flowing into the non-contact cleaning device 11, the adsorption device cleaning unit 21 and the ejector 12 is supplied from the air compressor 72 disposed on the roof via the air piping 62 and the air piping 18.
  • the air compressor 72 depending on the output of the air compressor 72, one unit may supply the compressed air, or a plurality of air compressors 72 may supply the compressed air.
  • the traveling unit 6, the suction device cleaning unit 21, the vertical position adjusting device 13, the horizontal movement roller 30, the wiper 31, the vacuum cleaner suction unit 16 and the noncontact cleaning unit 11 Although the present invention is configured to be fixed to the wall moving and washing unit frame 50 of 101, all or any of them may be directly attached to the gondola 1, or all may be attached to the gondola 1 without the wall moving and washing unit frame 50.
  • compressed air and water are injected from the injection nozzle 82 of the noncontact cleaning unit 11 in the first embodiment, only compressed air or only water may be used. Also, the water may be mixed with a chemical that promotes the removal of dirt or a chemical that coats the surface.
  • the cleaning of the wall surface or the glass surface is performed when the gondola 1 moves up and down.
  • the dustproof filter 67 (not shown) is inserted in one or more locations of the air suction portion of the vacuum cleaner 15, the air piping 18, and the jet nozzle path of the swing nozzle 73,
  • the dustproof filter 67 may be configured to be replaceable as well as configured to remove dust and dirt contained in the air.
  • the vacuum cleaner suction portion 78 for removing moisture on the wall surface and the vacuum cleaner connection portion 77 are replaced with a sponge type water absorption portion 54.
  • the sponge-type water absorbing unit 54 includes a wall moving and washing unit frame 50, a rotary sponge 55, a hollow shaft 56, a water supply hole 57, an electric motor 58, a pulley 59, a transmission belt 60, and a bearing. 61, rotary joint 63, frame 64, air joint 65. It comprises air piping 66.
  • a bearing 61 is attached to the frame 64 attached to the wall surface movement cleaning unit frame 50, and the hollow shaft 56 is rotatably held.
  • the hollow shaft 56 is rotated clockwise and counterclockwise by the pulley 59 attached to the output shaft of the electric motor 58 attached to the frame 64 and the pulley 59 attached to the transmission belt 60 and the hollow shaft 56.
  • the hollow shaft 56 and the air pipe 66 can circulate air in a rotatable state via the rotary joint 63.
  • the surface of the hollow shaft 56 has a large number of holes to be the water absorption holes 57, and water on the wall surface or glass surface absorbed by the rotary sponge 55 is absorbed by the water absorption holes 57, hollow shaft 56, air piping 66, vacuum cleaner suction portion
  • the vacuum cleaner 15 sucks the air through the switching valve 80 and the vacuum cleaner connection 77.
  • the electric motor 58 is used as a power source for rotating the rotary sponge 55.
  • the rotary sponge 55 is pressed against the wall surface, and the frictional force between the wall surface and the rotary sponge 55 matches the upper and lower sides of the gondola 1.
  • the rotary sponge 55 may be rotated. Further, although the water absorbed by the rotary sponge 55 is sucked from the hollow shaft 57 and the water absorption hole 56, the air may be blown out from the hollow shaft 57 and the water absorption hole 56, and the water may be discharged into the atmosphere. .
  • a heater in part of the flow path of the air supplied to the rotary sponge 55 and raising the temperature of the air, it becomes possible to more efficiently release the moisture contained in the rotary sponge 55 to the atmosphere. .
  • the present invention is capable of performing adsorption running on the wall with a simple configuration, light weight and stability, non-contact cleaning of the wall unmanned, and recovery of water adhering to the wall, as compared with the prior art. Realizes a traveling device that can run stably without adverse effects such as shaking on steep slopes such as wall surfaces, and a non-contact wall cleaning device that cleans windows and outer walls in unmanned and non-contact manner without having a cleaning worker board the gondola Do. Therefore, the present invention can be used for a wall cleaning device such as a building.

Landscapes

  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

La présente invention concerne un dispositif de déplacement capable de se déplacer de façon stable sur une pente raide telle que la surface de paroi d'un bâtiment ou d'autres structures sans subir des effets indésirables tels que des tremblements, et un dispositif de lavage de paroi sans contact conçu pour nettoyer des fenêtres et des parois extérieures de bâtiments ou d'autres structures sans contact, sans opérateur, sans personnel de nettoyage présent sur une nacelle. Le dispositif de lavage de paroi sans contact (100) est pourvu d'une nacelle (1), d'un fil (2), d'un rouleau de guidage (4), d'une unité d'entraînement (5), d'une unité de déplacement (6), d'une unité d'aspiration (7), d'un dispositif d'aspiration (8), d'un pignon (9), d'une unité de maintien de ventouse (10), d'une unité de lavage sans contact (11), d'un éjecteur (12), d'un dispositif d'ajustement de position verticale (13), d'un réservoir d'alimentation en eau (14), d'un dispositif de nettoyage (15), d'un cadre d'unité de déplacement (19), d'une unité de lavage de dispositif d'aspiration (21), d'un rouleau d'aspiration (26), d'un racleur (31), d'un réservoir à circulation (32), d'une chaîne (33), d'un dispositif gyroscopique (70), d'une buse oscillante (73), d'une unité de raccordement de nacelle (89), et d'une unité de déplacement/lavage de surface de paroi (101).
PCT/JP2017/038092 2017-10-20 2017-10-20 Dispositif de lavage de surface de paroi sans contact WO2019077757A1 (fr)

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PCT/JP2017/038092 WO2019077757A1 (fr) 2017-10-20 2017-10-20 Dispositif de lavage de surface de paroi sans contact
JP2019549094A JPWO2019077757A1 (ja) 2017-10-20 2017-10-20 非接触壁面洗浄装置

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Cited By (7)

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CN110151045A (zh) * 2019-05-15 2019-08-23 金华宣亚环保技术有限公司 一种高空玻璃清洁装置
CN110215155A (zh) * 2019-06-20 2019-09-10 诸暨市斯博申机电设备设计有限公司 一种玻璃外墙清洁装置
CN111603088A (zh) * 2020-06-04 2020-09-01 广州连进玻璃科技有限公司 一种适用高空楼层的平面玻璃清洁装置
CN112914409A (zh) * 2021-01-27 2021-06-08 吴建华 一种用于高层建筑物表面玻璃清洗设备
CN113491475A (zh) * 2021-09-09 2021-10-12 徐州帝威伦新型建材有限公司 一种垂吊式转臂行进建筑幕墙清洗打磨抛光装置
CN113558543A (zh) * 2021-08-04 2021-10-29 宋时春 一种建筑外墙快速清洗装置
CN113605668A (zh) * 2021-08-02 2021-11-05 王巧灵 一种防急坠安全吊篮

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CN112566420B (zh) * 2020-12-15 2022-03-18 衢州学院 一种多功能温湿度控制设备

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EP0505956A1 (fr) * 1991-03-29 1992-09-30 Hebor Anstalt Appareil de nettoyage de surfaces lisses continues
JPH05329068A (ja) * 1992-05-29 1993-12-14 Bridgestone Corp 壁面昇降装置
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Publication number Priority date Publication date Assignee Title
CN110151045A (zh) * 2019-05-15 2019-08-23 金华宣亚环保技术有限公司 一种高空玻璃清洁装置
CN110215155A (zh) * 2019-06-20 2019-09-10 诸暨市斯博申机电设备设计有限公司 一种玻璃外墙清洁装置
CN111603088A (zh) * 2020-06-04 2020-09-01 广州连进玻璃科技有限公司 一种适用高空楼层的平面玻璃清洁装置
CN112914409A (zh) * 2021-01-27 2021-06-08 吴建华 一种用于高层建筑物表面玻璃清洗设备
CN112914409B (zh) * 2021-01-27 2022-09-09 新疆九洲海诺建筑工程有限责任公司 一种用于高层建筑物表面玻璃清洗设备
CN113605668A (zh) * 2021-08-02 2021-11-05 王巧灵 一种防急坠安全吊篮
CN113558543A (zh) * 2021-08-04 2021-10-29 宋时春 一种建筑外墙快速清洗装置
CN113491475A (zh) * 2021-09-09 2021-10-12 徐州帝威伦新型建材有限公司 一种垂吊式转臂行进建筑幕墙清洗打磨抛光装置

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