WO2020078500A1

WO2020078500A1 - Cleaning device for a façade

Info

Publication number: WO2020078500A1
Application number: PCT/DE2019/000272
Authority: WO
Inventors: Fabian Fürst; Daniel Schröter
Original assignee: Auconic Schmidt & Partner Gbr Gesellschaft Für Service-Robotik (Vertretungsberechtigter Gesellschafter: Herr Fabian Fürst, 55252 Mainz-Kastel)
Priority date: 2018-10-16
Filing date: 2019-10-15
Publication date: 2020-04-23
Also published as: DE102018008198A1; DE102018008198B4

Abstract

A cleaning device (100) for a façade (500) is described, comprising a robotic arm (200), at the first end (201) of which a robot base (203) is arranged and at the opposite second end (202) of which an end effector (300) is arranged, the end effector being a cleaning head (300) which has at least one liquid injection nozzle (310) and one squeegee device (350). The problem addressed by the invention is that of providing a cleaning device (100) which can be used on varying building objects with minimal complexity. The problem is solved according to the invention in that a connection plate (204) is fastened to the robot base (203), by means of which connection plate the cleaning device (100) can be releasably attached to a work cage (410) of a façade exterior access system.

Description

Facade cleaning device

description

The invention relates to a cleaning device for a facade with the features in the preamble of claim 1. The invention is also implemented on a cleaning system.

Glass and facade cleaning is often carried out manually by means of one located on a work basket of a facade exterior access system

Cleaning staff. A facade exterior access system can be, for example, a lifting platform or telescopic forklift, whose telescopic arm lifts the work basket attached to it to a height of approx. 60 meters. In the case of even taller buildings, there is often a facade exterior access system in the form of a gondola system permanently installed on the building, the work basket of which is lowered from the roof on ropes directly in front of the facade to be cleaned.

However, manual cleaning of the facade has proven to be time-consuming and economically inefficient. In addition, manual glass and facade cleaning always leads to fatal crashes, especially when the cleaning staff tries to extend their own radius of action of cleaning without moving the work basket by leaning out of the work basket and sometimes loosening the fall protection.

For this reason, efforts have already been made in the prior art to mechanize or even automate glass and facade cleaning. WO 97/33509 describes an automatic cleaning device with convertible support legs. A manipulator with a cleaning head is arranged on a frame suspended on ropes, with which a

Confirmation copy Window pane is scanned line by line and cleaned. The frame is suspended from a crane or trolley, which can be moved laterally on rails which are attached to the roof of the building. To avoid a pendulum movement of the frame in the event of gusts of wind, the frame is supported by means of the at least two convertible support legs via holders that can be detachably attached to the facade surface.

WO 95/29620 also discloses an automatic cleaning device for a facade with a movable along the building facade

Work basket of a gondola system. The work cage carries a frame with a pivot arm attached to it, at one end of which a cleaning head is attached. There is also a on the work basket

Cantilever arm attached with a rope pulley on which a rope engaging the cleaning head is positioned for positioning the cleaning head. The cleaning head is mechanically decoupled from the work basket and contains an electromagnet which interacts with a ferromagnetic slide guided behind the pane to be cleaned, as a result of which the

Cleaning head is held securely on the disc. This is to prevent a pendulum movement of the work cage caused by wind power from being transmitted to the cleaning head.

The main disadvantage of the known cleaning devices is that the glass and facade cleaning is often only carried out once or twice a year and therefore permanently installed, fully automatic systems can hardly be operated economically.

The invention was therefore based on the object of providing a cleaning device which changes with as little effort as possible

Building objects can be used.

The object is achieved with the features of claim 1. The robot arm is attached to the work cage exclusively via the connecting plate. The connecting plate has, in particular, a one-part or multi-part flat surface which bears against the work cage in the assembled position and preferably contacts it on one side. The connecting plate is advantageously detachably attached to an outside of the work cage facing the facade. This has the advantage that the interior of the work basket can be walked on by an operator almost without restrictions. In addition, the cleaning device does not need to be lifted over the walls of the work basket during assembly and disassembly, as a result of which set-up times are reduced considerably. In its assembled position, the connecting plate is typically oriented essentially vertically and thus regularly parallel to the facade.

The robot arm also only acts on the connecting plate, so that when the cleaning device changes location, only the

Detach connection plate from the work basket and to another

Work basket of a facade exterior access system is to be attached. In this way, a modular structure and a resulting rapid change of the facade exterior access system to be equipped with the cleaning device is achieved.

The cleaning process is not fully automatic, but in one

Cooperation between cleaning staff and cleaning device, the cleaning device the actual cleaning of glass and

Facade elements takes over and the cleaning staff controls the facade exterior access system and possibly the robot arm and monitors the work of the cleaning device. This will

Cleaning staff relieved of physically demanding and dangerous work. In addition, the cleaning can be carried out by a single person who is also able to use the cleaning device on the existing facade exterior access system, typically a gondola system permanently installed on the building, or a rented facade. External access system, typically a mobile lifting platform. Basically, a single cleaning device can be installed on different facade exterior access systems, whereby a high economic profitability is achieved.

In the case of surfaces to be cleaned on the facade that are not within the reach of the cleaning device, the work basket is moved over the facade exterior access system. The quality control of the

The cleaning result is achieved by the one in the work basket

Cleaning personnel, which means that a complex, fault-prone and cost-intensive camera system can be dispensed with. The

Cleaning staff also takes over the guarantee of

Occupational safety. The cleaning process is started and monitored by humans via a safety-related approval device. For this reason, surrounding areas only need to be secured, as is the case with today's manual cleaning. In the case of a fully automatic cleaning system, on the other hand, the area around the facade to be cleaned would have to be cordoned off.

A form-locking means is preferably formed on the connecting plate, with which the cleaning device can be hung on the work cage. The term “hook in” is understood in particular to mean a releasable fastening for absorbing forces acting in the direction of the normal force. The form-locking means is typically hung on a single wall of the work basket.

A form-fit means means one or more components that protrude but are firmly connected to the connecting plate and that can be brought into active engagement with the work cage. If the form-fitting means comprises several components, these should be arranged on a common side of the connecting plate. The one or more form-fitting means at least partially encompass parts of the work basket and thereby hold the cleaning device in position. This makes it possible for a single person to install the cleaning device by hanging it on the work basket without additional help from outside. Additional clamping elements can be used to further fix the connection plate to the work cage, which hold the already aligned connection plate free of play on the work cage.

According to a particularly advantageous embodiment, the robot arm is a vertical articulated arm robot. Vertical articulated arm robots, also known as vertical articulated arm robots, are robots with serial kinematics consisting of several axes, which enable any movement including tilting movements in all directions.

A first horizontal axis of rotation serves to rotate a first one

Articulated arm around a robot foot. Further articulated arms connect to the joints of the previous articulated arm. The articulated arms can be moved in the vertical direction and almost make one possible

spherical segment-shaped work space. At the end of the kinematic chain, the end effector for attaching the cleaning head is attached, which can be moved in any orientation via up to three axes.

Vertical articulated arm robots typically require a separate drive for each articulated arm.

The vertical articulated arm robot can have a plurality of articulated arms which are adjacent to one another and movable in one plane with one another. There are preferably three articulated arms adjoining one another.

The robot foot expediently comprises a stationary on the

Connection plate attached base flange and a rotary flange pivotally mounted thereon by means of a first swivel joint, the first swivel joint being a first one oriented in the axial direction of the robot foot Has bearing axis. In the assembled position of the cleaning device on the work cage, the base flange and rotary flange enable the articulated arms following in the direction of the cleaning head to rotate about a horizontal axis.

It turned out to be particularly useful if between the

Rotary flange and a first articulated arm, a second swivel joint with a second bearing axis is arranged, the second bearing axis being oriented perpendicular to the first bearing axis.

A third swivel joint with a third bearing axis can be arranged between the first articulated arm and a second articulated arm, the third bearing axis always being aligned parallel to the second bearing axis.

In addition, a fourth swivel joint with a fourth bearing axis can also be arranged between the second articulated arm and a third articulated arm, the fourth bearing axis always being aligned parallel to the second and third bearing axis.

According to a special embodiment, the third articulated arm has

Receiving element, via which the cleaning head is connected to the robot arm. The receiving element can be donated around a further three axes and enable any spatial orientation of the end effector.

The cleaning head preferably has a base plate. The base plate serves as an abutment for all components on the cleaning head and is also located in the power flow to the robot arm.

An adapter plate, which is connected to the robot arm, in particular to its receiving element, is advantageously arranged on the base plate. The mechanical connection of the cleaning head to the robot arm takes place exclusively via the adapter plate and the receiving element, which can be designed as a mechanical quick coupling.

A measuring plate with a force-torque sensor is advantageously arranged between the base plate and the adapter plate. The force-torque sensor can include, for example, strain gauges and detects the resulting operating forces acting on the cleaning head. The force-torque sensor is used to adjust the spatial orientation of the cleaning head. Furthermore, operating forces growing above a predetermined threshold value can be an indication of excessive pressure on the cleaning head on the facade to be cleaned. In this case it would depend on the sensitivity of the facade to be cleaned

possibly useful to increase the distance of the base plate to the facade.

An embodiment in which a distance sensor is attached to the base plate is particularly useful. The distance sensor should be arranged such that its measuring lobe is directed towards the facade in the working position of the cleaning head. In this way, projecting building contours can be identified and, if necessary, the distance of the cleaning head can be adapted to the actual course of the facade.

A boom rocker is preferably arranged on the base plate. The cantilever rocker arm is only attached to the base plate with one end section and swings relative to the base plate in a spatial plane oriented at right angles to the base plate. In principle, the mobility of the cantilever rocker with respect to the base plate can be realized by designing the cantilever rocker arm as a leaf spring which, under the operational forces to be expected, causes a reversible deformation in the spatial plane. However, an embodiment is preferred in which the boom rocker engages the base plate by means of a pivot bearing. This results in a defined pivoting movement of the boom rocker around the pivot bearing.

The liquid injection nozzle is advantageously fastened to the boom rocker, preferably to the end of the boom rocker which is distal with respect to the base plate. In this way, a relatively constant distance between the liquid injection nozzle and the facade is achieved in the working area, regardless of the distance of the base plate to the facade and the

Swivel position of the boom swing arm, which means that the spray fan and the pressure of the liquid are only subject to slight fluctuations. In addition, the liquid used for cleaning can be applied to the facade as close as possible to any existing brush.

According to a further embodiment, a pivot angle of the

Swivel bearing detected using an angle sensor. As a result, the dimension of a pivoted position of the boom rocker in the direction of

Base plate recognized and, if necessary, by a method of

Robot arm a greater distance from the base plate to the facade

manufactured so that the boom swing arm has a larger swivel range. The base plate of the cleaning head is thus kept at a constant distance from the facade and a constant contact pressure is regulated by querying the angle sensor.

It may be expedient for the boom rocker to be supported on the base plate by means of a spring element. On the one hand, the spring element ensures a defined pressing force of the cantilever arm against the facade and, on the other hand, for sufficient spring travel in the case of smaller, protruding building contours. It also starts

Spring element shocks by the in the basket

Cleaning staff, wind or the commissioning of the facade External access system can be caused. The spring element is typically a passive spring-damper system. The spring element is preferably interchangeable with the aid of quick-release fasteners in order to be able to react to different facade surfaces and contamination intensities via different spring elements with different spring characteristics.

It makes sense to have a brush rotatably mounted on the boom arm. When the cleaning head reaches the working position, the brush is in constant contact with the facade to be cleaned. The boom swing arm is thus clamped between the base plate and the brush.

The brush is preferably a cleaning roller, the axis of rotation of which is always aligned parallel to the base plate. The cleaning roller contacts the facade to be cleaned in a line. The cleaning roller has one

cylindrical shape with radially aligned cleaning bristles, typically the axial length of the cleaning roller greater than the latter

Diameter is selected.

The removal device is advantageously arranged parallel to the axis of rotation of the brush. Because of this, the pulling device is at a constant distance from the cleaning roller and the liquid to be removed from the pulling device runs to the lower end of the pulling device due to gravity when the pulling device is in a vertical position. With a cell-shaped cleaning of the facade from top to bottom, the risk of the liquid escaping onto the already cleaned facade is minimized even when the cleaning head is turned and the direction of work is inverted.

The puller is advantageously attached to the boom rocker. This results in the advantage that the cantilever swing arm that is present anyway is also used functionally for the pulling device and for others

Storage of the puller necessary components can be dispensed with. The resulting reduction in mass simplifies the installation of the cleaning device on the facade exterior access system which can be carried out by one person. In addition, the brush and the pull-off device are kinematically coupled on account of their common cantilever arm and are thus aligned essentially equidistant from the facade in the working position of the cleaning device.

It has proven to be particularly advantageous if the pull-off device is fastened to the boom rocker by means of a movable bearing, which permits a relative movement between the brush and the pull-off device. The resultant advantage lies in the possibility of liquid contaminated with dirt particles behind the brush up to the corner of a building contour projecting with respect to the facade with the movably mounted one

To be able to remove the puller. As soon as the brush hits a protruding building contour in the working direction, the cleaning head is moved away from the facade via the robot arm and the brush is thereby lifted off the protruding building contour. Due to the movable and spring-preloaded mounting of the puller, the puller continues to contact the facade and can be brought up to the projecting building contour in the working direction, so that any liquid remaining on the facade is completely removed.

The movable bearing can be a linear unit, for example. A linear unit is understood to be a straight guide equipped with rolling elements or plain bearings. The linear unit enables an exclusively translatory movement of the pulling device relative to the

Cantilever swing arm. The linear unit is able to absorb transverse and torsional forces and the boom arm in one with respect to the

To keep the boom arm in a rotationally fixed position. With the help of the linear unit, the intended distance between the brush and the pull-off device is kept constant except in the direction of movement of the linear unit, so that a complete removal of the liquid in the area of the above building contours is possible.

A suction device expediently acts on the pulling device. The suction device advantageously comprises a suction pump and one or more suction lines, with the aid of which liquid contaminated with dirt particles is suctioned off behind the brush in the working direction and thereby removed from the surface of the facade to be cleaned.

The suction device can each have a first and second suction opening arranged on the end of the pulling device. The end

The position of the suction openings on the puller is located at the lateral ends of the puller on the side facing the facade, as seen in the working direction. The liquid captured by the pulling device and running along the end enters the area of action of one of the suction openings and is drawn off there.

The at least one liquid injection nozzle is preferably in

Working direction arranged in front of the brush. From this position, the liquid emitted by the liquid injection nozzle hits the surface of the facade and removes adhering dirt particles. With the help of the brush, the liquid contaminated with dirt particles is transported in the direction of the pull-off device and suctioned off there. The brush detects dirt particles that have softened but still adhere to the facade and mechanically detaches them from the facade. These dirt particles also collect in front of the puller and from there over the

Extractor removed. Instead of a liquid injection nozzle, a plurality of liquid injection nozzles can also be provided in the transverse direction, distributed over the pull-off device.

The at least one liquid injection nozzle is expediently oriented in such a way that the liquid is applied in front of the brush in the working direction Facade meets. In addition to or instead of aligning the at least one liquid injection nozzle onto the facade, the liquid can also be dispensed directly onto the brush.

According to a particularly favorable embodiment, the

Puller a first side distance sensor and / or second

Side distance sensor attached. With the help of the first and second

Lateral distance sensors can be seen protruding building contours, which protrude transversely to the working direction on the facade and on which the cleaning head is as precise as possible, either manually or automatically, based on the measurement signals provided by the lateral distance sensors

drives along. Due to the first and second side distance sensors, the cleaning head can approach the protruding building contour as precisely as possible, so that the facade is cleaned as comprehensively as possible, without however colliding with the protruding building contour and sometimes damaging it.

It has proven to be particularly expedient that the distance sensor and / or the first and second side distance sensors is an ultrasonic sensor. The main advantage of this configuration is that there is no camera system, which is often susceptible to changing light conditions and reflections on reflecting surfaces. Furthermore, the use of ultrasonic sensors does not cause any problems with regard to any personal rights of persons located inside the building and visible through glazed facades, since these cannot be identified when using ultrasonic sensors as with a camera system.

The invention can also be implemented in connection with a cleaning system, in which there is additionally a liquid reservoir which is connected to the cleaning head via an inlet line. The liquid reservoir is a tank for holding the amount of liquid required for cleaning. The inlet pipe runs logically along the robot arm to the cleaning head and is connected there to the liquid injection nozzle. The feed line can be in the area of the cleaning device on the robot arm and / or the

Cleaning head must be set.

A feed pump is advantageously in the liquid reservoir

arranged. The modular structure of the

Cleaning device also continues on the cleaning system. The set-up time for setting up the system can be further reduced by a single person, particularly when changing locations. In addition, if necessary, the pump is better protected from frost damage in winter by heating the liquid reservoir during shorter downtimes.

According to a first embodiment, it can be provided that the

Liquid reservoir is parked on the work basket. The main advantage of this embodiment is that the length of the inlet line and thus also a return line can be made short. On the one hand, this reduces the amount to be overcome by the feed pump

Resistance and on the other hand that through the supply line and / or

Return line caused dead load, which is to be borne by the facade exterior access system. In this respect, this embodiment is particularly suitable for high facades to be cleaned.

According to an alternative, second embodiment, the liquid reservoir is parked on the top edge of the terrain. This location allows easy filling and, if necessary, mixing of the liquid required for cleaning. In addition, the facade exterior access system is not burdened by the weight of the liquid reservoir filled with liquid.

A return line, which is connected to the suction device, preferably engages the cleaning head. Via the return line, a closed circuit can be realized for the liquid used for cleaning, whereby the consumption of the liquid is significantly reduced. For this purpose, the return line can open in particular in a collecting tank or alternatively open in the liquid reservoir.

For a better understanding, the invention is explained below using seven figures. They show

Fig. 1: is a schematic side view of a

Work basket of a lifting device attached cleaning device in the working position;

2 shows a side view of a cleaning device while it is being attached to the work basket;

3: a view according to FIG. 2 after attachment to the work basket;

Fig. 4: an enlarged side view of a

Cleaning head with movably mounted

Puller in working position;

5: a rear view of the cleaning head according to

Fig. 4;

Fig. 6: an enlarged side view of a

Cleaning head with a rigid bearing

Puller in working position and

7: a view according to FIG. 6 while hitting a modified contour of the facade. 1 shows a side view of a facade 500 to be cleaned and a facade exterior access system 400 in the form of a lifting platform. The facade exterior access system 400 comprises a chassis 401 which has a chassis with wheels 402 which stand on the top edge of the terrain GOK and by means of which the facade exterior access system 400 can be maneuvered into a suitable position in front of the facade 500 to be cleaned. The chassis 401 carries a telescopic boom 403, the axial length of which is adjustable and on the free end of which a work cage 410 is attached. For a rough one

Alignment of the work cage 410 allows the telescopic boom 403 to be rotated 360 ° about a vertical axis of the chassis 401 by means of a boom pivot bearing 404.

The work basket 410 has a base 411 and a base thereon

Railing 412 on (see Fig. 2). The railing 412 completely surrounds the floor 411 in the circumferential direction or can be closed in such a way that cleaning personnel located in the work basket 410 are lifted up

Position of the work basket 410 is secured against falling out.

One is detachably on one of the outer sides of the work basket 410

Fixed cleaning device 100, which comprises a robot arm 200 and a cleaning head 300 acting on the end thereof. Of the

The robot arm 200 and the cleaning head 300 are controlled by the cleaning personnel from the work basket 410 by means of a control device 206. The control device 206 is detachable on the railing 412 of the

Work basket 410 attached, preferably on the inside and thus within easy reach for the cleaning staff. During the

The cleaning staff moves the cleaning head 300 along the facade 500 and thereby cleans the cleaning process.

The energy required for operating the cleaning device 100 is provided by means of one arranged on the work basket 410

Energy supply device 440 and thus in close proximity to the Cleaning device 100. The energy supply device 440 can, for example, be a generator or a sufficiently dimensioned one

Be an accumulator. According to an alternative embodiment, shown by a broken line in FIG. 1, the

Energy supply device 440 on the facade external access system 400, for example the chassis 401, and is connected from there via an energy supply line 441 to the cleaning device 100. In principle, it is also possible to

Energy supply device 440 directly on the

Park the top edge of the GOK.

The liquid required for the cleaning process is in one

Liquid reservoir 420 is stored and is fed to the cleaning head 300 by means of a feed pump 422 and an inlet line 421. In the illustration shown in FIG. 1, the liquid reservoir 420 is arranged on the work basket 410. This can result in a low-performance dimension

Feed pump 422 may be provided since the geodetic head to be cleaned to the cleaning head 300 is also low. The

Feed pump 422 can be used in particular as a submersible pump in the

Liquid reservoir 420 may be arranged, which contributes to a space-saving and modular structure of the cleaning device 100.

The liquid contaminated with dirt particles is from the

Cleaning head 300 is fed again to the liquid reservoir 420 via a return line 423 in a closed circuit. Before the liquid enters the liquid reservoir 420, inside the

Return line 423 a filter element, not shown here, with the help of which a part of the dirt particles is removed from the liquid.

According to an alternative shown with broken lines

The embodiment is the liquid reservoir 420 on the

The top edge of the terrain is turned off and the liquid is removed using the Feed pump 422 to the cleaning head 300 and from there by means of

Return line 423, depending on the degree of contamination, can either be returned to the liquid reservoir 420 or, as illustrated in FIG. 1, to a separate collecting tank 430.

2 and 3 show an enlarged side view of the

Work basket 410 and the cleaning device 100 to be attached to it during and after assembly. The cleaning device 100 comprises the robot arm 200, the first end 201 of which has a connecting plate 204 with which the robot arm 200 is detachably fastened to the work basket 410. For this purpose, in the assembled position, the connecting plate 204 lies flat against the railing 412 of the work basket 410 from the outside. At least one form-locking means 205 is formed on the connecting plate 204, which engages over the railing 412 and fixes the cleaning device 100 in

Normal force direction causes. The form-locking means 205 can, for example, have an inverted U-shape, which is suspended on the railing 412 and this in the lowered position of the connecting plate 204

3 overlaps from three sides. In order to prevent the connecting plate 204 from being lifted laterally from the railing 412, at least one additional tensioning element 413 (see FIG. 3) can be arranged in addition to the form-locking means 205, which releasably pulls the connecting plate 204 onto the railing 412. The additional tensioning element (s) 413 can in particular be attached below the form-locking means 205.

The robot arm 200 is a vertical articulated arm robot which is attached to the connecting plate 204 via a robot base 203. The robot base 203 has a first swivel joint 211, which is formed from a base flange 210 which is arranged in a stationary manner with respect to the connecting plate 204 and a rotary flange 213 which is rotatably held on the base flange 210 about a first bearing axis 212. The first bearing axis 212 is essentially perpendicular to the connecting plate 204. The rotary movement of the Rotary flange 213 consequently takes place about the essentially horizontally oriented first bearing axis 212 and varies with the inclination of the

Work basket 410.

A first articulated arm 220 is fastened to the rotary flange 213 by means of a second rotary joint 221 so that it can pivot in a spatial plane. The second swivel joint 221 allows the first joint arm 220 to rotate about a second bearing axis 222, which is always oriented at right angles to the first bearing axis 212.

At its end facing away from the second swivel joint 221, the first articulated arm 220 is pivotally connected to a second articulated arm 230 in a spatial plane by means of a third swivel joint 231. The third swivel joint 231 allows the second articulated arm 230 to rotate about a third bearing axis 232, which is always oriented at right angles to the first bearing axis 212 and parallel to the second bearing axis 222.

At its end facing away from the third swivel joint 231, the second articulated arm 230 is connected to a third articulated arm 240 in a spatial plane by means of a fourth swivel joint 241. The fourth swivel joint 241 allows the third joint arm 240 to rotate about a fourth bearing axis 242, which is always oriented at right angles to the first bearing axis 212 and parallel to the second and third bearing axes 222, 232.

At its end facing away from the fourth swivel joint 241, the third articulated arm 240 has a receiving element 243, which forms a second end 202 of the robot arm 200 and is detachably connected to the cleaning head 300.

The cleaning head 300 can be seen particularly well in the side view of FIG. 4. The central component is a base plate 320, on which by means of a Pivot bearing 331 a boom rocker 330 is pivotally mounted in one plane. A brush 340 in the form of a cleaning roller 340 is rotatably mounted on a free end of the cantilever rocker arm 330 facing away from the base plate 320. The cleaning roller 340 is motor-driven and rotates counterclockwise in the image plane of FIG. 4. The cleaning roller 340 always has a parallel to the

Base plate 320 and in the working position also parallel to the facade 500 aligned axis of rotation 341. By swiveling the

Robot arm 200 becomes the cleaning head 300 and thus also the

Cleaning roller 340 moved over the facade 500 to be cleaned in the working direction X.

In order to avoid excessive pressure of the brush 340 on the facade 500 to be cleaned or for gentle cleaning of building contours 501 protruding with respect to the facade 500, such as window frames, the cantilever rocker arm 330 is supported on the base plate 320 via a spring element 332.

The base plate 320 can be firmly connected to an adapter plate 321, which is detachably connected to the receiving element 243 by means of a coupling element, for example around the cleaning head 300

Separate robot arm 200. Between the adapter plate 321 and the

Base plate 320 is also a measuring plate 322 with an integrated force-torque sensor 360 is used, which actually on the

Base plate 320 acting forces and moments regardless of one

Travel path of the spring element 332 measures. If the measured forces and moments exceed a predetermined threshold value, a larger distance of the

Cleaning head 300 can be set to the facade 500.

A swing angle a of the boom rocker 330 is from one

Angle sensor 364 measured, which is a change in angle of the Pivot bearing 331 detected and made available to the control device 206. This gives the possibility of a deeply depressed

Cantilever swing arm 330 and a thereby increasing swivel angle a, either automatically or manually by the cleaning staff, to move the robot arm 200 and to cause a greater distance between the base plate 320 and the facade 500.

The current distance of the base plate 320 to the facade 500 or a projecting building contour 501 is detected by a distance sensor 361 arranged on the base plate 320. The measurement direction of the

Distance sensor 361 acts in the direction of the facade 500

Distance sensor 361 is arranged in front of brush 340 in working direction X, so that one end or corner of a building of facade 500 is recognized before brush 340 is reached and can be controlled as precisely as possible.

A liquid injection nozzle 310 is arranged on the cleaning head 300, with the aid of which liquid made available via the inlet line 421 is sprayed onto the facade 500 to be cleaned. The liquid injection nozzle 310 is attached to the boom rocker 330. The liquid emerging from the liquid injection nozzle 310 meets the facade 500 in the working direction X in front of the brush 340, so that dirt particles adhering to it are first dissolved by the liquid and then removed by means of the brush 340.

In the working direction X, a pull-off device 350 is arranged behind the brush 340, the elastic lip 355 thereof being in the working position of the

Cleaning head 300 is in constant contact with the facade 500 and thus draws liquid adhering to the facade 500.

The puller 350 is on the in all embodiments

Cantilever swing arm 330 attached. According to the embodiment shown in FIG. 4 and in FIG. 5, the fastening is a movable bearing in the form of a linear unit 351. The linear unit 351 allows exclusively linear guidance of the

Puller 350 in the direction of movement 356, which is preferably aligned parallel to the axial extension of the boom rocker 330. In the working position, the pulling device 350 is pressed by the linear unit 351 in the direction of the facade 500 and partially deflects depending on the pressure applied by the robot arm 200. When a protruding building contour 501 of the facade 500 is passed over, for example in the area of a window frame, the brush 340 sweeps over the protruding one

Building contour 501 due to its flexible bristles or, for larger ones

Contour changes, the distance between the above

Building contour 501 and the cleaning head 300 are enlarged by retracting the robot arm 200 and this makes it possible to drive over the above building contour 501. In any case, the cleaning head 300 moves further in the working direction X and the puller 350 slides in

extended position up to the protruding building contour 501, so that liquid remaining on the facade 500 is completely drawn off up to the protruding building contour 501.

A suction device 352 is arranged on the pull-off device 350 and sucks off liquid contaminated with dirt particles via a first and second suction opening 353, 354. The first suction opening 353 is arranged in the image plane of FIG. 5 on the left side of the pull-off device 350 and the second suction opening 354 on the right side of the pull-off device 350. In the case of a substantially vertical facade 500 and a vertical orientation of the axis of rotation 341 of the brush 340, the liquid drawn off runs downwards in front of the elastic lip 355 due to gravity and arrives at the suction opening 353 or the suction opening 354 located there

Suction openings 353, 354 on the puller 350 can

Cleaning head 300 rotated at the end of an operation and immediately used in the opposite working direction X, because then the other suction opening 353, 354 is located below. Otherwise, the cleaning head 300 would first have to be moved back without a cleaning function and then the next cleaning cycle would have to be carried out.

The puller 350 also carries first and second

Side distance sensor 362, 363, the measurement direction of which acts laterally outwards. With the help of the side distance sensors 362, 363, the lateral distance to a projecting building contour 501 of the facade 500 can be measured and approached exactly by the cleaning head 300.

FIG. 6 shows an alternative embodiment in which a movable bearing 351 of the pulling device 350 on the

Cantilever swing arm 330 has been omitted and instead the

Puller 350 is rigidly attached to the boom rocker 330. In this embodiment, any changes in the contour of the facade 500 are caused by a changed position of the cleaning head 300 with the aid of the

Robot arm 200 (see FIG. 1) to compensate. The remaining components also correspond in this embodiment to the previously described embodiment of the invention.

6, the cleaning head 300 moves in the working direction X over the facade 500 and contacts a protruding one with its brush 340

Building outline 501, such as a window frame. The cleaning process carried out by means of the brush 340 has already been carried out in this position, but not the removal of the liquid by means of the

Pull-off device 350, the elastic lip 355 of which is positioned at a distance from the projecting building contour 501 in the working direction X. To remove residual liquid from the facade 500, the

The cleaning head 300 is tilted into the position shown in FIG. 7 and continues to move in the working direction X until the elastic lip 355 is located shortly in front of or on the projecting building contour 501 and the remaining liquid is completely removed from the facade 500. Reference list

Robot arm cleaning device, vertical articulated arm robot first end

second end

Robot foot

Connecting plate

Positive locking means

Control device base flange

first swivel

first bearing axis

Rotary flange first articulated arm

second swivel

second bearing axis second articulated arm

third swivel

third bearing axis third articulated arm

fourth swivel

fourth bearing axis

End effector mounting element, cleaning head Liquid injector

Base plate

Adapter plate

Measuring plate

Cantilever swing arm

Swivel bearing

Spring element

Brush, cleaning roller

Axis of rotation

Puller

movable storage, linear unit

Suction device

first suction opening

second suction opening

elastic lip

Direction of movement linear unit

Force-torque sensor

Distance sensor

first side distance sensor second side distance sensor

Angle sensor

Facade exterior access system

chassis

bikes

Telescopic boom 04 Boom pivot bearing 10 work basket

11 floor

12 railings

13 clamping element 20 liquid reservoir

21 inlet pipe

22 Feed pump

423 return line

430 collecting tank

440 energy supply device

441 power supply line

500 facade

501 protruding building contour a swivel angle swivel bearing

GOK ground level

X Working direction cleaning head

Claims

1. Cleaning device (100) for a facade (500), comprising a robot arm (200), at its first end (201) a robot foot (203) and at its opposite, second end (202)

End effector (300) is arranged, the end effector being a

Cleaning head (300) with at least one

Liquid injection nozzle (310) and a puller (350), characterized in that

that a connecting plate (204) is attached to the robot base (203), with which the cleaning device (100) is detachably attached to a

Work basket (410) of a facade exterior access system (400) can be attached.

2. Cleaning device (100) according to claim 1, characterized

characterized in that on the connecting plate (204)

Form-locking means (205) is molded with which the

Cleaning device (100) can be hung on the work basket (410).

3. Cleaning device (100) according to claim 1 or 2, characterized

characterized in that the robot arm (200) is a vertical articulated arm robot (200).

4. Cleaning device (100) according to one of claims 1 to 3,

characterized in that the cleaning head (300) a

Has base plate (320).

5. Cleaning device (100) according to claim 4, characterized

characterized in that on the base plate (320)

Distance sensor (361) is attached.

6. Cleaning device (100) according to claim 4 or 5, characterized in that on the base plate (320)

Boom swing arm (330) is arranged.

7. Cleaning device (100) according to claim 6, characterized

characterized in that the boom rocker arm (330) engages on the base plate (320) by means of a pivot bearing (331).

8. Cleaning device (100) according to claim 6 or 7, characterized

characterized in that the liquid injection nozzle (310) is attached to the boom rocker (330).

9. Cleaning device (100) according to claim 7, characterized

characterized in that a pivot angle (a) of the pivot bearing (331) is detected by means of an angle sensor (364).

10. Cleaning device (100) according to one of claims 6 to 9,

characterized in that the boom rocker arm (330) is supported on the base plate (320) by means of a spring element (332).

11. Cleaning device (100) according to one of claims 6 to 10,

characterized in that a brush (340) is rotatably mounted on the boom rocker arm (330).

12. Cleaning device (100) according to claim 11, characterized

characterized in that the puller (350) on the

Cantilever rocker arm (330) is fastened by means of a movable bearing (351) which permits a relative movement between the brush (340) and the pulling device (350).

13. Cleaning device (100) according to claim 12, characterized in that the movable bearing (351) is a linear unit.

14. Cleaning device (100) according to one of claims 1 to 13,

characterized in that a suction device (352) acts on the pull-off device (350).

15. Cleaning device (100) according to one of claims 1 to 14,

characterized in that a first side distance sensor (362) and / or second on the pull-off device (350)

Side distance sensor (363) is attached.

16. Cleaning system with a cleaning device (100) according to one of claims 1 to 15 and a liquid reservoir (420), characterized in that the liquid reservoir (420) via a

Inlet line (421) is connected to the cleaning head (300).

17. Cleaning system according to claim 16, characterized in that a feed pump (422) is arranged in the liquid reservoir (420).

18. Cleaning system according to claim 16 or 17, characterized

characterized in that on the cleaning head (300)

Return line (423) attacks which is connected to the suction device (352).