JP4381406B2 - Automatic wall cleaning equipment - Google Patents

Automatic wall cleaning equipment Download PDF

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JP4381406B2
JP4381406B2 JP2006283999A JP2006283999A JP4381406B2 JP 4381406 B2 JP4381406 B2 JP 4381406B2 JP 2006283999 A JP2006283999 A JP 2006283999A JP 2006283999 A JP2006283999 A JP 2006283999A JP 4381406 B2 JP4381406 B2 JP 4381406B2
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cleaning
brush
wall surface
vibration
squeegee
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JP2008099818A (en
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正大 道越
貞信 松山
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Nihon Bisoh Co Ltd
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Nihon Bisoh Co Ltd
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Description

この発明は自動壁面清掃装置に関し、清掃度の向上と清掃ヘッドの小型軽量化を図るようにしたもので、特にビルなどの自動窓拭きに好適なものである。   The present invention relates to an automatic wall surface cleaning apparatus, which is intended to improve the degree of cleaning and reduce the size and weight of a cleaning head, and is particularly suitable for automatic window cleaning of buildings and the like.

構造物の壁面に対する清掃を行う方法の１つに、屋上のルーフカーなどから自動作業装置や有人ケージを吊り下げ、これらを壁面に沿って昇降させつつ自動的に、あるいはケージ内の作業者の手作業によって行うものがあり、特に外壁面の清掃作業は、近年のビルの高層化に伴う清掃作業面積の拡大などから自動壁面清掃装置が用いられることも多くなっている。   One method of cleaning the wall surface of a structure is to suspend an automatic working device or a manned cage from a roof car on the roof, etc., and move them up and down along the wall surface automatically or by a worker in the cage. Some of the work is performed by work, and in particular, an automatic wall surface cleaning device is often used for cleaning the outer wall surface due to an increase in the area of the cleaning work accompanying the recent increase in the number of buildings.

自動壁面清掃装置としては、特許文献１に開示されたものを図１４に示すように、建築物１の屋上から吊り下げられたワイヤロープ２を介して自動壁面清掃装置の装置本体３が外壁面に沿って昇降可能に支持され、装置本体３に上下に間隔をあけてスクイジー４、４が設けられるとともに、これらスクイジー４、４の間に清掃水が供給される回転ブラシ５が設けられている。   As an automatic wall surface cleaning apparatus, as shown in FIG. 14, the apparatus main body 3 of the automatic wall surface cleaning apparatus is an outer wall surface via a wire rope 2 suspended from the roof of the building 1. , And squeegees 4 and 4 are provided in the apparatus main body 3 at intervals in the vertical direction, and a rotating brush 5 to which cleaning water is supplied is provided between the squeegees 4 and 4. .

そして、清掃水を散水しながら回転ブラシ５で汚れを落しつつ装置本体３を下降させ、上側のスクイジー４で拭き取り、下側のスクイジー４で流下する汚水を受け止めて回収するようにしている。   Then, while spraying cleaning water, the apparatus body 3 is lowered while removing dirt with the rotating brush 5, wiped with the upper squeegee 4, and received and collected by the lower squeegee 4.

また、他の自動壁面清掃装置では、平ブラシやスポンジなどを壁面に押し付けるようにして清掃するものやこれらに清掃水の散水を組み合わせて清掃するようにしたものもある。
特開平１０−２５８００４号公報 Other automatic wall surface cleaning devices include one that cleans by pressing a flat brush, sponge, or the like against the wall surface, or one that combines these with a sprinkling of cleaning water.
JP-A-10-258004

ところが、従来の自動壁面清掃装置では、回転ブラシを用いることで清掃度を確保することはできるもののブラシの回転駆動機構やこれらの支持機構を装置本体に搭載する必要があり、機構が複雑で重量も増大し、小型軽量化を図ることができないという問題がある。   However, in the conventional automatic wall surface cleaning device, although the degree of cleaning can be ensured by using a rotating brush, it is necessary to mount the rotation driving mechanism of the brush and these support mechanisms on the device main body, and the mechanism is complicated and heavy. There is also a problem that the size and weight cannot be reduced.

また、ブラシやスポンジを押し付けるだけのものでは、軽量で、機構は簡素化できるものの清掃度の確保が不十分であるという問題がある。   In addition, there is a problem that the thing that only presses the brush or sponge is lightweight and the mechanism can be simplified, but the degree of cleaning is insufficient.

この発明は、上記従来技術が有する課題に鑑みてなされたもので、小型軽量化を図ると同時に、清掃度を確保することができる自動壁面清掃装置を提供しようとするものである。   The present invention has been made in view of the above-described problems of the prior art, and aims to provide an automatic wall surface cleaning device that can achieve a reduction in size and weight and at the same time ensure a degree of cleaning.

上記課題を解決するためこの発明の請求項１にかかる自動壁面清掃装置は、構造物の壁面に沿って移動しつつ清掃水を用いてブラシで当該壁面の汚れを落すとともに、スクイジーで拭き取って清掃する自動壁面清掃装置において、前記ブラシをほぼ被清掃幅に対応させ前記清掃水のブラシに沿う流れを阻止する空間を介在させた分割構造とし、当該ブラシを前記壁面に対して押し付け可能とする押圧機構を設けるとともに、この押圧機構で押し付けられる当該ブラシに、前記壁面上で被清掃幅まで往復させる往復駆動機構および当該ブラシの振動で前記清掃水に振動を与えて汚れ落しを促進可能な振動機構を設けたことを特徴とするものである。 In order to solve the above-mentioned problems, an automatic wall surface cleaning apparatus according to claim 1 of the present invention cleans the wall surface by cleaning it with a brush using cleaning water while moving along the wall surface of the structure and wiping with a squeegee. In the automatic wall surface cleaning device, the brush has a split structure that substantially corresponds to the width to be cleaned and prevents the flow of the cleaning water along the brush, and presses the brush against the wall surface. provided with a mechanism, this on the brush to be pressed by the pressing mechanism, the reciprocating drive mechanism and the brush vibration in the accelerator capable vibrating mechanism dirt drop giving vibration to the cleaning water is reciprocated to be cleaned width on said wall surface the is characterized in that provided.

この自動壁面清掃装置によれば、ブラシをほぼ被清掃幅に対応させ清掃水のブラシに沿う流れを阻止する空間を介在させた分割構造とし、当該ブラシを壁面に対して押し付け可能とする押圧機構を設けるとともに、この押圧機構で押し付けられる当該ブラシに、前記壁面上で被清掃幅まで往復させる往復駆動機構および当該ブラシの振動で前記清掃水に振動を与えて汚れ落しを促進可能な振動機構を設けており、壁面に押し付けるブラシを壁面上で往復駆動することで、壁面を擦るようにして汚れを掻き落とすことができ、清掃度を確保できるようになるとともに、往復駆動を流体圧シリンダなどを用いて行うことで小型軽量化を図ることもできるようになる。
また、ブラシを壁面に対して押し付け可能とする押圧機構を設けるとともに、この押圧機構で押し付けられるブラシに、往復駆動機構を設けるのに加え、振動を加える振動機構を設けており、壁面に押し付けるブラシに振動を加えることで、壁面を細かく擦るようにして汚れを掻き落とすことができ、清掃度を確保できるようになるとともに、振動をバイブレータなどで加えることで小型軽量化を図ることもできるようになる。
さらに、ブラシの前記振動機構によるブラシの振動で前記清掃水に振動を与えて汚れ落しを促進可能に構成しており、比較的大量の清掃水を散布し、これに振動を加えることでキャビテーションを発生されるなどで汚れを効果的に落すようにしている。
また、ブラシに、空間を介在させた分割構造としており、清掃水がブラシに沿って水平に流れることを防止して有効に清掃に利用できるようにし、清掃度の向上を図るようにしている。 According to this automatic wall surface cleaning apparatus, the pressing mechanism is configured to have a split structure in which the brush substantially corresponds to the width to be cleaned and includes a space that prevents the flow of cleaning water along the brush, and allows the brush to be pressed against the wall surface. provided with a, to the brush to be pressed by the pressing mechanism, the reciprocating drive mechanism and a vibration mechanism capable promote dirt drop giving vibration to the cleaning water in the vibration of the brush is reciprocated to be cleaned width on said wall surface The brush that presses against the wall surface is reciprocated on the wall surface, so that the dirt can be scraped off by rubbing the wall surface, and the degree of cleaning can be secured. By using it, it becomes possible to reduce the size and weight.
In addition to providing a pressing mechanism that enables the brush to be pressed against the wall surface, a brush that presses against the wall surface is provided with a vibration mechanism that applies vibration in addition to providing a reciprocating drive mechanism to the brush pressed by the pressing mechanism. By adding vibration to the wall, dirt can be scraped off by rubbing the wall surface finely, so that the degree of cleaning can be secured, and by adding vibration with a vibrator, etc., it can also be reduced in size and weight Become.
Further, the cleaning water is vibrated by the vibration of the brush by the vibration mechanism of the brush so as to promote the removal of dirt. A relatively large amount of cleaning water is sprayed, and the cavitation is applied by adding vibration to the cleaning water. The dirt is effectively removed by being generated.
In addition, the brush has a divided structure in which a space is interposed, so that the cleaning water can be effectively used for cleaning by preventing the cleaning water from flowing horizontally along the brush, thereby improving the degree of cleaning.

また、この発明の請求項２にかかる自動壁面清掃装置は、請求項１に記載の構成に加え、前記押圧機構による前記ブラシの前記壁面への押し付け力を押し付け開始時と清掃中とで制御可能に構成したことを特徴とするものである。 According to a second aspect of the present invention, in addition to the configuration of the first aspect , the automatic wall surface cleaning device can control the pressing force of the brush against the wall surface by the pressing mechanism at the start of pressing and during cleaning. It is characterized by comprising.

この自動壁面清掃装置によれば、前記押圧機構による前記ブラシの前記壁面への押し付け力を押し付け開始時と清掃中とで制御可能に構成しており、ブラシの押し付け力清掃開始時と清掃中で調整することで、一層清掃度を向上できるようになる。 According to this automatic wall surface cleaning device, the pressing force of the brush against the wall surface by the pressing mechanism is configured to be controllable at the start of pressing and during cleaning, and the pressing force of the brush starts cleaning and during cleaning. By adjusting, the degree of cleaning can be further improved.

さらに、この発明の請求項３にかかる自動壁面清掃装置は、請求項１または２記載の構成に加え、前記ブラシを清掃幅方向に沿う平ブラシで構成したことを特徴とするものである。 Furthermore, an automatic wall surface cleaning apparatus according to a third aspect of the present invention is characterized in that, in addition to the configuration according to the first or second aspect, the brush is configured by a flat brush along the cleaning width direction .

この自動壁面清掃装置によれば、前記ブラシを清掃幅方向に沿う平ブラシで構成しており、小型軽量化を図ることができるようにしている。 According to this automatic wall surface cleaning device, the brush is constituted by a flat brush along the cleaning width direction so that a reduction in size and weight can be achieved.

この発明の請求項１にかかる自動壁面清掃装置によれば、ブラシをほぼ被清掃幅に対応させ清掃水のブラシに沿う流れを阻止する空間を介在させた分割構造とし、当該ブラシを壁面に対して押し付け可能とする押圧機構を設けるとともに、この押圧機構で押し付けられる当該ブラシに、前記壁面上で被清掃幅まで往復させる往復駆動機構および当該ブラシの振動で前記清掃水に振動を与えて汚れ落しを促進可能な振動機構を設けたので、壁面に押し付けるブラシを壁面上で往復駆動することで、壁面を擦るようにして汚れを掻き落とすことができ、清掃度を確保できるとともに、往復駆動を流体圧シリンダなどを用いて行うことで小型軽量化を図ることもできる。
また、ブラシを壁面に対して押し付け可能とする押圧機構を設けるとともに、この押圧機構で押し付けられるブラシに、往復駆動機構を設けるのに加え、振動を加える振動機構を設けたので、壁面に押し付けるブラシに振動を加えることで、壁面を細かく擦るようにして汚れを掻き落とすことができ、清掃度を確保できるとともに、振動をバイブレータなどで加えることで小型軽量化を図ることもできる。
さらに、ブラシの前記振動機構によるブラシの振動で前記清掃水に振動を与えて汚れ落しを促進可能に構成したので、比較的大量の清掃水を散布し、これに振動を加えることでキャビテーションを発生されるなどで汚れを効果的に落すことができる。
また、ブラシに、空間を介在させた分割構造としたので、清掃水がブラシに沿って水平に流れることを防止して有効に清掃に利用することができ、清掃度の向上を図ることができる。
According to the automatic wall surface cleaning device of the first aspect of the present invention, the brush has a split structure that substantially corresponds to the width to be cleaned and has a space that prevents the flow of cleaning water along the brush, and the brush is attached to the wall surface. provided with a pressing mechanism which enables pressing Te, to the brush to be pressed by the pressing mechanism, dirt drop giving vibration to the cleaning water in the vibration of the reciprocating drive mechanism and the brush is reciprocated to be cleaned width on said wall surface Since the vibration mechanism that can promote the vibration is provided, the brush that presses against the wall surface is reciprocated on the wall surface, so that the dirt can be scraped off by rubbing the wall surface. By using a pressure cylinder or the like, the size and weight can be reduced.
In addition to providing a pressing mechanism that enables the brush to be pressed against the wall surface, and a brush that is pressed by the pressing mechanism, in addition to providing a reciprocating drive mechanism, a vibration mechanism that applies vibration is provided. By applying vibration to the wall, dirt can be scraped off by finely rubbing the wall surface, the degree of cleaning can be ensured, and the size and weight can be reduced by applying vibration with a vibrator or the like.
In addition, since the cleaning water is vibrated by the vibration of the brush by the vibration mechanism of the brush so that the removal of dirt can be promoted, a relatively large amount of cleaning water is sprayed and vibration is applied to this to generate cavitation. The dirt can be effectively removed.
In addition, since the brush is divided into spaces, the cleaning water can be effectively used for cleaning by preventing the cleaning water from flowing horizontally along the brush, and the degree of cleaning can be improved. .

また、この発明の請求項２にかかる自動壁面清掃装置によれば、前記押圧機構による前記ブラシの前記壁面への押し付け力を押し付け開始時と清掃中とで制御可能に構成したので、ブラシの押し付け力清掃開始時と清掃中で調整することで、一層清掃度を向上することができる。 According to the automatic wall surface cleaning apparatus of the present invention, the pressing force of the brush against the wall surface by the pressing mechanism can be controlled at the start of pressing and during cleaning. The degree of cleaning can be further improved by adjusting at the start of force cleaning and during cleaning.

さらに、この発明の請求項３にかかる自動壁面清掃装置によれば、前記ブラシを清掃幅方向に沿う平ブラシで構成したので、小型軽量化を図ることができる。 Further, according to the automatic wall surface cleaning device of the third aspect of the present invention, since the brush is constituted by a flat brush along the cleaning width direction, it is possible to reduce the size and weight.

以下、この発明の一実施の形態を図面を参照して詳細に説明する。
図１〜図７はこの発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかり、図１は全体の概略斜視図、図２は全体の概略側面図、図３は清掃ヘッドの傾斜修正昇降機構の側面図および正面図、図４は清掃ヘッドの窓面に対する接近離反機構の平面図、図５は清掃ヘッドの部分平面図および異なる清掃状態での側面図、図６はブラシ機構の平面図、図７はそれぞれブラシ機構の断面図である。 Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
1 to 7 relate to an embodiment in which the automatic wall cleaning device of the present invention is applied to cleaning of a window of a building, FIG. 1 is a schematic perspective view of the whole, FIG. 2 is a schematic side view of the whole, FIG. 3 is a side view and a front view of the inclination correction lifting mechanism of the cleaning head, FIG. 4 is a plan view of an approaching / separating mechanism with respect to the window surface of the cleaning head, FIG. 5 is a partial plan view of the cleaning head, and a side view in different cleaning states, 6 is a plan view of the brush mechanism, and FIG. 7 is a cross-sectional view of the brush mechanism.

この自動壁面清掃装置１０は、建築物１の屋上から垂下されたワイヤロープ２を介して装置本体１１が昇降可能に支持され、この装置本体１１に搭載された清掃ヘッド１２に上下・左右の４組のガイドローラ群１３が設けられ、建築物１の外面に垂直に配設されたガイドレールにガイドローラ群１３を装着してガイドされ、壁面に沿って移動（昇降）しながら建築物１の壁面である窓面Ｗの外面の清掃作業を行うものであり（図２参照）、ガイドレールは、建築物１に予め清掃幅に応じて設けられているものである。   This automatic wall surface cleaning device 10 is supported by a device main body 11 so as to be movable up and down via a wire rope 2 suspended from the roof of a building 1, and the cleaning head 12 mounted on the device main body 11 is vertically and horizontally 4. A set of guide roller groups 13 is provided, guided by guide roller groups 13 mounted on guide rails arranged perpendicular to the outer surface of the building 1, and moved (lifted and lowered) along the wall surface. The outer surface of the window surface W, which is a wall surface, is cleaned (see FIG. 2), and the guide rail is provided on the building 1 in advance according to the cleaning width.

この自動壁面清掃装置１０は、装置本体１１には、図３に示すように、屋上から垂下されるワイヤロープ２の巻上および繰り出しによる昇降に加え、独自の昇降駆動と左右の傾斜を修正するための傾斜修正昇降機構１４が設けられ、装置本体１１の左右にボールねじ機構を構成するボールねじ１４ａが設けられてそれぞれがモータ１４ｂで回転駆動され、ボールナット１４ｃに連結用ワイヤ１４ｄが連結され、この連結用ワイヤ１４ｄに屋上から垂下されるワイヤロープ２が連結されて自動壁面清掃装置１０が吊り下げられている。   As shown in FIG. 3, the automatic wall surface cleaning device 10 corrects its own lifting drive and right / left inclination in addition to the winding and unwinding of the wire rope 2 suspended from the roof as shown in FIG. 3. And a ball screw 14a constituting a ball screw mechanism is provided on the left and right sides of the apparatus main body 11, and each of them is rotationally driven by a motor 14b. A connecting wire 14d is connected to the ball nut 14c. The wire rope 2 hanging from the roof is connected to the connecting wire 14d, and the automatic wall surface cleaning device 10 is suspended.

これにより、左右のボールねじ１４ａを単独でモータ１４ｂで回転駆動することで、左右のボールナット１４ｃの位置を変えて左右の傾斜を修正することができ、左右を水平に保った状態で左右のモータ１４ｂを同時に駆動することで、ワイヤロープ２とは独立して装置本体１１を昇降することができるようにしてある。また、この傾斜修正昇降機構１４では、ボールナット１４ｃに連結やワイヤ１４ｄを連結しており、連結ロッドなどを使用しないことで、装置本体１１が例え傾斜してもボールナットに１４ｃに無理な力が加わることを防止してスムーズにボールねじ１４ａを駆動して修正することができるようにしてある。   As a result, the left and right ball screws 14a are independently driven to rotate by the motor 14b, so that the right and left inclinations can be corrected by changing the positions of the left and right ball nuts 14c. By simultaneously driving the motor 14b, the apparatus main body 11 can be moved up and down independently of the wire rope 2. Further, in this tilt correcting lifting mechanism 14, the ball nut 14c and the wire 14d are connected, and by using no connecting rod or the like, an excessive force is applied to the ball nut 14c even if the device body 11 is tilted. The ball screw 14a can be smoothly driven and corrected so as to be prevented from being added.

さらに、この自動壁面清掃装置１０では、装置本体１１に清掃作業対象である窓面Ｗに対して接近離反させるように前後に往復させる接近離反機構１５が設けられ、図１および図４に示すように、２本の基端アーム１５ａと、先端アーム１５ｂを連結したパンタアームを左右一対設けてあり、上下のアーム部材で構成した基端アーム１５ａとその間に入る先端アーム１５ｂとを駆動用リンク機構やチェーンスプロケット機構を介してモータ１５ｃで駆動し、折り畳むようにして引き込むことができるとともに、直線状にして突き出すことができるようにしてある。そして、この接近離反機構１５の先端アーム１５ｂを介して清掃ヘッド１２が設けられる。   Furthermore, in this automatic wall surface cleaning device 10, an approach / separation mechanism 15 that reciprocates back and forth so as to approach and separate from the window surface W to be cleaned is provided in the apparatus main body 11, as shown in FIGS. In addition, a pair of left and right punter arms connecting two base end arms 15a and a front end arm 15b are provided, and a base end arm 15a constituted by upper and lower arm members and a front end arm 15b interposed therebetween are connected to a drive link mechanism. In addition, it is driven by a motor 15c via a chain sprocket mechanism and can be retracted, and can be projected linearly. The cleaning head 12 is provided via the tip arm 15 b of the approaching / separating mechanism 15.

これにより、接近離反機構１５で大きな前後ストロークを確保しながら、接近離反機構１５の上下方向の高さを極力おさえて小型コンパクトに構成することができる。   As a result, it is possible to reduce the height in the vertical direction of the approaching / separating mechanism 15 as much as possible while ensuring a large front / rear stroke in the approaching / separating mechanism 15, and to make the apparatus compact and compact.

清掃ヘッド１２は、図１、図２および図５に示すように、清掃水を用いてブラシで窓面Ｗの汚れを落すとともに、スクイジーで拭き取って清掃するものであり、ブラシ機構２０、スクイジー機構３０および散水機構を備えて構成されている。   As shown in FIGS. 1, 2 and 5, the cleaning head 12 removes dirt on the window surface W with a brush using cleaning water and wipes it with a squeegee to clean the brush head 20, squeegee mechanism. 30 and a watering mechanism.

このブラシ機構２０は、図６および図７に抽出して示すように、水平に配置される平ブラシ２１を備え、この平ブラシ２１を略鉛直面の窓面Ｗに押し付けるとともに、左右に往復駆動し、さらに振動を加えるようにしてあり、ここでは、前後方向（窓面に対する接近離反方向）に振動を付加するようにしてある。   As shown in FIGS. 6 and 7, the brush mechanism 20 includes a flat brush 21 that is horizontally disposed. The brush mechanism 20 presses the flat brush 21 against a substantially vertical window surface W and reciprocates left and right. However, further vibration is applied, and here, vibration is applied in the front-rear direction (direction of approaching and moving away from the window surface).

清掃ヘッド１２のフレーム１２ａにブラシ機構２０のベースフレーム２２が固定され、このベースフレーム２２に前後方向に移動するガイドシャフト２３ａとガイドブッシュ２３ｂとで構成された往復支持部材２３が左右一対設けられ、それぞれのガイドシャフト２３ａの先端部に左右方向に往復移動可能に支持するＬＭガイドで構成されたスライドガイド２４ａとスライドシャフト２４ｂを介してブラシ取付部材２５が取り付けられる。そして、一方のスライドシャフト２４ｂとブラシ取付部材２５との間には、往復駆動機構２６を構成する往復駆動用エアシリンダ２６ａが介装され、例えば、左右に７．５ｍｍずつ合計１５ｍｍのストロークで１分間に２００回往復駆動できるようにしてある。   A base frame 22 of the brush mechanism 20 is fixed to the frame 12a of the cleaning head 12, and a pair of right and left reciprocating support members 23 each including a guide shaft 23a and a guide bush 23b that move in the front-rear direction are provided on the base frame 22. A brush mounting member 25 is attached to the tip of each guide shaft 23a via a slide guide 24a and a slide shaft 24b, each of which is an LM guide that is supported so as to be reciprocally movable in the left-right direction. A reciprocating drive air cylinder 26a constituting a reciprocating drive mechanism 26 is interposed between the one slide shaft 24b and the brush mounting member 25. It can be reciprocated 200 times per minute.

また、このブラシ機構２０には、ブラシ２１を窓面Ｗに押し付けるための押圧機構２７として押し付け用シリンダ２７ａがベースフレーム２２に取り付けられ、シリンダロッド２７ｂの先端に連結ローラ２８が取り付けられ、この連結ローラ２８を囲むように左右に空間を備えるとともに、前後左右に隙間を備えた連結ブラケット２８ａがブラシ取り付け部材２５に取り付けてあり、押し付け用シリンダ２７ａのシリンダロッド２７ｂを伸長してブラシ２１を押し付けたり、引き込むこともでき、さらに左右の往復動や後述する振動も連結ローラ２８と連結ブラケット２８ａとの空間および隙間で許容できるようになっている。そして、この押し付け用シリンダ２７ａには、制御装置を介して供給エアを調整制御することで、ブラシ２１の押し付け力を調整でき、例えば清掃開始時に強く押し付け、清掃中は弱くするなどの調整ができるようにしてある。   The brush mechanism 20 has a pressing cylinder 27a attached to the base frame 22 as a pressing mechanism 27 for pressing the brush 21 against the window surface W, and a connecting roller 28 is attached to the tip of the cylinder rod 27b. A connecting bracket 28a having a space on the left and right to surround the roller 28 and having a gap on the front, rear, left and right is attached to the brush mounting member 25, and the cylinder rod 27b of the pressing cylinder 27a is extended to press the brush 21. Further, the reciprocation of the left and right and the vibration described later can be allowed in the space and the gap between the connecting roller 28 and the connecting bracket 28a. The pressing cylinder 27a can be adjusted to control the pressing force of the brush 21 by adjusting and controlling the supply air via a control device. For example, the pressing cylinder 27a can be pressed strongly at the start of cleaning and weakened during cleaning. It is like that.

さらに、このブラシ機構２０には、ブラシ２１に前後方向の振動を加える振動機構２９としてエアバイブレータ２９ａがブラシ取付部材２５との間に取り付けてあり、例えば１分間に５７００サイクルの振動を与えるようにしてある。   Further, in this brush mechanism 20, an air vibrator 29a is mounted between the brush mounting member 25 as a vibration mechanism 29 for applying vibration in the front-rear direction to the brush 21, and for example, vibration of 5700 cycles per minute is applied. It is.

これにより、ブラシ２１と接触する清掃水に振動が伝わり、この高周波振動で清掃水にキャビテーションを誘発し、汚れを剥離させて清掃度を向上することができる。   Thereby, vibration is transmitted to the cleaning water in contact with the brush 21, and cavitation is induced in the cleaning water by this high-frequency vibration, and the degree of cleaning can be improved by peeling off dirt.

さらに、この平ブラシ２１は、例えば図７に示すように、ブラシ取付部材２５に上下に２段に配置されるとともに、左右方向には、図６に示すように、空間を設けた分割構造としてある。これにより、後述する散水機構による清掃水が平ブラシ２１に沿って横に流れることを防止して窓面Ｗの清掃に有効に利用できるようにしてある。   Further, as shown in FIG. 7, for example, the flat brush 21 is arranged in two steps on the brush mounting member 25 in the vertical direction, and in the left-right direction, as shown in FIG. is there. Thereby, the cleaning water by the watering mechanism to be described later is prevented from flowing sideways along the flat brush 21 and can be effectively used for cleaning the window surface W.

このようなブラシ機構２０を備えた自動壁面清掃装置１０によれば、平ブラシ２１を壁面である窓面Ｗに対して押し付け可能とする押圧機構２７を設けるとともに、この押圧機構２７で押し付けられる平ブラシ２１に、壁面上である窓面Ｗの表面で往復させる往復駆動機構２６を設けたので、窓面に押し付ける平ブラシ２１を窓面上で往復駆動することで、窓面を擦るようにして汚れを掻き落とすことができ、必要十分な清掃度を確保することができるとともに、往復駆動をエアシリンダ２６ａを用いて行うことで小型軽量化を図ることもできる。   According to the automatic wall surface cleaning device 10 provided with such a brush mechanism 20, a pressing mechanism 27 that can press the flat brush 21 against the window surface W that is a wall surface is provided, and the flat surface that is pressed by the pressing mechanism 27 is provided. Since the brush 21 is provided with the reciprocating drive mechanism 26 that reciprocates on the surface of the window surface W on the wall surface, the flat brush 21 pressed against the window surface is reciprocated on the window surface so that the window surface is rubbed. The dirt can be scraped off, a necessary and sufficient degree of cleaning can be ensured, and the reciprocating drive can be performed using the air cylinder 26a to reduce the size and weight.

また、窓面に押し付ける平ブラシＷに振動機構２９で振動を加えることで、窓面の汚れを掻き落とすことができ、これによっても必要十分な清掃度を確保することができるとともに、振動をエアバイブレータ２９ａで加えることで小型軽量化を図ることもできる。   In addition, by applying vibration to the flat brush W pressed against the window surface by the vibration mechanism 29, dirt on the window surface can be scraped off, and this can also ensure a necessary and sufficient degree of cleaning, and vibration can be removed by air. By adding the vibrator 29a, it is possible to reduce the size and weight.

さらに、押圧機構２７を備えた平ブラシ２１に、往復駆動機構２６を設けるのに加え、振動を加える振動機構２９を設けたので、一層清掃度を向上することができるとともに、ブラシ機構２０自体は小型軽量化を図ることもできる。   Furthermore, since the flat brush 21 provided with the pressing mechanism 27 is provided with the vibration mechanism 29 for applying vibration in addition to the reciprocating drive mechanism 26, the degree of cleaning can be further improved, and the brush mechanism 20 itself is It can also be reduced in size and weight.

また、押圧機構２７による平ブラシ２１の窓面への押し付け力を押し付け開始時と清掃中とで制御可能としたので、平ブラシ２１の押し付け力を清掃開始時に強く、清掃中は弱くするなどに調整することで、適切な押し付け力として一層清掃度を向上することができる。   Further, since the pressing force of the pressing mechanism 27 against the window surface of the flat brush 21 can be controlled at the start of pressing and during cleaning, the pressing force of the flat brush 21 is strong at the start of cleaning and weakened during cleaning. By adjusting, the degree of cleaning can be further improved as an appropriate pressing force.

さらに、平ブラシ２１の振動機構２９による平ブラシ２１の振動で、後述する散水機構で散水される清掃水に振動を与えて汚れ落しを促進可能としたので、比較的大量の清掃水を散布し、これに振動を加えることでキャビテーションを発生させて汚れを効果的に落すことができ、清掃度を一層向上することができる。   Furthermore, the vibration of the flat brush 21 by the vibration mechanism 29 of the flat brush 21 vibrates the cleaning water sprayed by the water spray mechanism, which will be described later, thereby facilitating the removal of dirt, so that a relatively large amount of cleaning water is sprayed. By applying vibration to this, cavitation can be generated to effectively remove dirt, and the degree of cleaning can be further improved.

また、ブラシを清掃幅方向に沿う平ブラシ２１で構成したので、特別なブラシを必要とせず、構造を簡素化できるとともに、小型軽量化を図ることができる。   Further, since the brush is composed of the flat brush 21 along the cleaning width direction, a special brush is not required, the structure can be simplified, and the size and weight can be reduced.

さらに、この自動壁面清掃装置１０によれば、窓面に沿う移動を昇降方向とし、平ブラシ２１を水平に配置するとともに、空間を介在させた分割構造としたので、清掃水が平ブラシ２１に沿って水平に流れることを防止して有効に清掃に利用することができ、清掃度の向上を図ることができる。   Furthermore, according to the automatic wall surface cleaning device 10, the movement along the window surface is set as the up-and-down direction, the flat brush 21 is horizontally disposed, and the divided structure with the space interposed therebetween. Accordingly, it can be used effectively for cleaning by preventing horizontal flow along, and the degree of cleaning can be improved.

なお、このブラシ機構２０では、平ブラシ２１を押圧機構２７で押し付けるのに加え、往復駆動機構２６で平ブラシ２１を左右に往復駆動するとともに、振動機構２９で平ブラシ２１に振動を加えるようにしたが、押圧機構２７と往復駆動機構２６の組合せとしたり、押圧機構２７と振動機構２９の組合せとしても良い。   In this brush mechanism 20, in addition to pressing the flat brush 21 with the pressing mechanism 27, the reciprocating drive mechanism 26 reciprocates the flat brush 21 left and right, and the vibration mechanism 29 applies vibration to the flat brush 21. However, a combination of the pressing mechanism 27 and the reciprocating drive mechanism 26 or a combination of the pressing mechanism 27 and the vibration mechanism 29 may be used.

このようなブラシ機構２０で落とした汚れをふき取るためのスクイジー機構３０は、図１、図２、図５および図８〜図１０に示すように、ブラシ機構２０の上方に設けられ、窓面Ｗへの前後移動と斜め上方から斜め下方に連続する俯仰動作とを組み合わせて拭き取りを行うものである。   The squeegee mechanism 30 for wiping off the dirt removed by the brush mechanism 20 is provided above the brush mechanism 20 as shown in FIGS. 1, 2, 5, and 8 to 10. The wiping operation is performed by combining the back-and-forth movement and the up-and-down motion that continues from diagonally upward to diagonally downward.

このスクイジー機構３０では、ブラシ機構２０が設けられるベースプレート２２に前後移動をガイドする左右一対のスライドガイド３１を介して左右にスライドベース３２が設けられ、これらスライドベース３２の内側に前後移動用エアシリンダ３３が連結されて窓面Ｗに対して前後移動できる前後移動機構が構成されている。 In this squeegee mechanism 30, slide bases 32 are provided on the left and right via a pair of left and right slide guides 31 that guide the back and forth movement on the base plate 22 on which the brush mechanism 20 is provided. A back-and-forth movement mechanism that is connected back and forth with respect to the window surface W is configured.

さらに、左右のスライドベース３２の外側には、俯仰をガイドするカム溝３５ａを備えた一対のカム板３５が設けられ、カム板３５の間にスクイジー取付アーム３６が配置され、このスクイジー取付アーム３６の両側に設けた４個の従動ローラ３６ａがカム溝３５ａに装着されてカム溝３５ａに倣って斜め上方から斜め下方に俯仰動作させることができるようにしてある。この図示例では、上下方向の高さを極力抑えて俯仰角度を６０度程度確保できるようにしているが、カム板３５のカム溝３５ａの形状を適宜設計することで、俯仰角度などを簡単に変えることができる。   Further, a pair of cam plates 35 provided with cam grooves 35 a for guiding elevation are provided outside the left and right slide bases 32, and a squeegee mounting arm 36 is disposed between the cam plates 35. The four driven rollers 36a provided on both sides of the motor are mounted in the cam groove 35a so that they can be lifted from diagonally upward to diagonally downward along the cam groove 35a. In this illustrated example, the height in the vertical direction is suppressed as much as possible to ensure an elevation angle of about 60 degrees. However, by appropriately designing the shape of the cam groove 35a of the cam plate 35, the elevation angle and the like can be simplified. Can be changed.

そして、それぞれのスクイジー取付アーム３６の基端部には、俯仰用エアシリンダ３７のロッド３７ａが連結してあり、俯仰できるようにしてある。   The base end of each squeegee mounting arm 36 is connected to the rod 37a of the air cylinder 37 for raising and lowering so that it can be raised and lowered.

また、左右のスクイジー取付アーム３６の先端部には、拭取り幅に対応するスクイジー取付部材３８を介して拭取りスクイジー３９が取り付けてある。なお、この拭取りスクイジー３９は、すでに説明した前後移動用エアシリンダ３３によって窓面Wに押し付けられる。   Further, a wiping squeegee 39 is attached to the distal ends of the left and right squeegee attaching arms 36 via a squeegee attaching member 38 corresponding to the wiping width. The wiping squeegee 39 is pressed against the window surface W by the air cylinder 33 for moving back and forth already described.

このスクイジー取付部材３８への拭取りスクイジー３９の取付構造は、図１０に示すように、スクイジー取付部材３８がスクイジー取付アーム３６の先端水平部の下面に取り付けられて下方前方に突き出した部分が取付部３８ａとされ、平板状の汚水受け板４０と、汚水の吸引空間を確保するＵ字状の開口を幅方向に備えるスペーサ４１とを介してその上にゴムなどの弾性体の拭取りスクイジー３９が当て板を介してボルトで締め付けてある。   As shown in FIG. 10, the squeegee mounting member 38 has a structure in which the squeegee mounting member 38 is attached to the lower surface of the tip horizontal portion of the squeegee mounting arm 36 and protrudes downward and forward. A squeegee 39 for wiping an elastic body such as rubber on the flat waste water receiving plate 40 and a spacer 41 having a U-shaped opening in the width direction for securing a waste water suction space. Is tightened with a bolt through a backing plate.

したがって、拭取り完了の際などには、拭取りスクイジー３９で拭き取った汚水は、汚水受け板４０を介してスペーサ４１によって形成された後方の空間に集められ、図示しない汚水回収ポンプで回収され、フィルタなどで浄化して循環使用される。なお、通常の拭取り中の汚水の回収は、後述する受スクイジーを介して行われる。   Therefore, when the wiping is completed, the sewage wiped off by the wiping squeegee 39 is collected in a rear space formed by the spacer 41 via the sewage receiving plate 40, and is collected by a sewage collecting pump (not shown). It is circulated and purified with a filter. In addition, collection | recovery of the waste water in normal wiping is performed via the receiving squeegee mentioned later.

拭取りスクイジー３９は、ゴムなどの弾性体で形成された板状とされ、先端部が下方に向かって尖った拭取り部３９ａを備え、中間部の上面にＶ字状の切り欠き部３９ｂを備えており、この切り欠き部３９ｂの後方までを当て板で抑えることを組み合わせて、幅方向に長い拭取りスクイジー３９にある程度以上の力が加わると、Ｖ字状の切り欠き部３９ｂから上方に折れ曲がるようにし、特に俯仰完了近くでもほぼ一定の状態で拭取ることができるようにしてある。   The wiping squeegee 39 has a plate shape formed of an elastic body such as rubber, and includes a wiping portion 39a with a tip portion pointed downward, and a V-shaped cutout portion 39b on the upper surface of the intermediate portion. When a force beyond a certain level is applied to the wiping squeegee 39 that is long in the width direction in combination with restraining up to the rear of the notch 39b with a contact plate, the V-shaped notch 39b moves upward. It is designed to bend, and in particular, it can be wiped off in a substantially constant state even near the completion of the elevation.

このようなブラシ機構２０およびスクイジー機構３０による清掃を効率的に行うため清掃水を散水する散水機構５０が設けられ、図１０に示すように、スクイジー取付部材３８の下側に散水パイプ５１が取り付けられ、前方に散水孔５２が所定のピッチで複数形成してあり、幅方向の複数箇所から清掃水を供給して散水するようにしてある。この散水機構５０では、例えば直径０．３ｍｍの孔が２０ｍｍのピッチで７５個設けてあり、幅方向の２箇所から清掃水を供給し、これまでの散水量に比べ散水量を多くするようにしてある。   In order to efficiently perform the cleaning by the brush mechanism 20 and the squeegee mechanism 30, a watering mechanism 50 for spraying cleaning water is provided, and as shown in FIG. 10, a watering pipe 51 is attached below the squeegee mounting member 38. A plurality of water spray holes 52 are formed at a predetermined pitch in the front, and cleaning water is supplied from a plurality of positions in the width direction to spray water. In this watering mechanism 50, for example, 75 holes with a diameter of 0.3 mm are provided at a pitch of 20 mm, cleaning water is supplied from two places in the width direction, and the amount of water sprayed is increased compared to the conventional watering amount. It is.

このように多量に散水することで、ブラシ機構２０の振動機構２９のエアバイブレータ２９ａによる高周波振動を散水に作用させてキャビテーションを誘発し、いわゆる超音波洗浄効果で汚れを容易に落すことができるようになる。   By spraying a large amount of water in this manner, high-frequency vibrations generated by the air vibrator 29a of the vibration mechanism 29 of the brush mechanism 20 can act on the water spray to induce cavitation, and dirt can be easily removed by the so-called ultrasonic cleaning effect. become.

さらに、散水機構５０として、例えば図７中に示すように、上下２段の平ブラシ２１の間にも散水パイプ５３が取り付けられ、前方に開口した多数の散水孔５４から窓面Ｗに向けて清掃水を散水できるようにしてある。   Further, as the watering mechanism 50, for example, as shown in FIG. 7, a watering pipe 53 is also attached between the upper and lower two-stage flat brushes 21, and a large number of watering holes 54 opened forward are directed toward the window surface W. The cleaning water can be sprinkled.

こうして散水させた清掃水を用いてブラシ機構２０とスクイジー機構３０で汚れを落として拭取った汚水を回収するため、汚水回収用の受スクイジー機構６０が設けてある。   A receiving squeegee mechanism 60 for collecting sewage is provided to collect the sewage that has been wiped off by the brush mechanism 20 and the squeegee mechanism 30 using the cleaning water sprayed in this way.

この受スクイジー機構６０は、図１１に示すように、ベースプレート２２の中心部を挟んで一対のリニアガイド６１が設けられてスライドブロック６２に取り付けた受スクイジー取付部材６３にゴムなどの弾性体で作られた受スクイジー６４が清掃幅に応じて取り付けてある。この受スクイジー６４の上面にスペーサ６５を介して後方に汚水を集める空間６６が形成され、この汚水空間６６に汚水回収ポンプが接続されて汚水を回収し、浄化して再使用するようにしてある。なお、この汚水回収ポンプは、拭取りスクイジー３９後方の空間とこの汚水空間６６とを切り換えて使用される。   As shown in FIG. 11, the receiving squeegee mechanism 60 is made of an elastic body such as rubber on a receiving squeegee mounting member 63 provided with a pair of linear guides 61 sandwiching the center portion of the base plate 22 and attached to the slide block 62. The received receiving squeegee 64 is attached according to the cleaning width. A space 66 for collecting sewage is formed on the upper surface of the receiving squeegee 64 behind the spacer 65, and a sewage recovery pump is connected to the sewage space 66 to recover, purify and reuse the sewage. . This sewage recovery pump is used by switching between the space behind the wiping squeegee 39 and the sewage space 66.

次に、このような自動壁面清掃装置１０による自動清掃を行うため、清掃開始位置と清掃終了位置を検出する位置検出機構７０が設けてあり、清掃する窓面Ｗごとに窓枠の上端と下端とをそれぞれ検出することで、建付けの誤差などの影響を受けることなく拭き残しをなくして清掃できるようにする。   Next, in order to perform automatic cleaning by the automatic wall surface cleaning device 10 as described above, a position detection mechanism 70 for detecting the cleaning start position and the cleaning end position is provided, and the upper and lower ends of the window frame for each window surface W to be cleaned. By detecting each of the above, it is possible to clean without leaving any wiping without being affected by the error of installation.

窓枠の上端を検出して清掃開始位置とするための上端位置検出機構７１は、図１２に示すように、スクイジー機構３０のスクイジー取付部材３８の上側に検出板７２が上方に付勢されて俯仰可能に取り付けられ、斜め上方に付勢された状態から伏せられたことを検出するタッチセンサ７３が設けられて構成されている。   As shown in FIG. 12, the upper end position detection mechanism 71 for detecting the upper end of the window frame and setting it as the cleaning start position has a detection plate 72 urged upwardly above the squeegee mounting member 38 of the squeegee mechanism 30. A touch sensor 73 is provided, which is attached so as to be able to be lifted and detects that the robot is turned down from the state of being biased upward.

これにより、拭取りスクイジー３９を上昇させたときに窓枠上端に検出板７２が接触したことをタッチセンサ７３で検出することで、上昇の停止位置および清掃開始位置を設定することができる。   As a result, when the wiping squeegee 39 is raised, the touch sensor 73 detects that the detection plate 72 is in contact with the upper end of the window frame, so that the raising stop position and the cleaning start position can be set.

窓枠の下端を検出して清掃終了位置とするための下端位置検出機構７５は、図１３に示すように、受スクイジー機構６０のスライドブロック６２の前側に薄板状の検出ロッド７６の基端が回動可能に支持されて受スクイジー６４の伸縮に連動して受スクイジー６４の下方に検出ロッド７６の先端が位置するようにしてあり、検出ロッド７６は、その回動中心の前方側に検出状態で水平となる水平部７６ａと、これに連続する斜め下方に２段に突き出す傾斜部７６ｂとで構成され、この検出ロッド７６の先端にローラ７８を備えたローラアーム７７が長孔で位置調整可能に取り付けてある。そして、検出ロッド７６の基端に支持軸７６ｃが取り付けられる一方、ベースフレーム２２の先端部に支持ローラ８０が取り付けてある。そして、このローラアーム７７が窓枠下端に接触した状態を近接スイッチ７９を介して検出ロッド７６の上端面までの距離の変化からの検出するようにしてある。   As shown in FIG. 13, the lower end position detection mechanism 75 for detecting the lower end of the window frame and setting it as the cleaning end position has a base end of a thin plate-like detection rod 76 on the front side of the slide block 62 of the receiving squeegee mechanism 60. The tip of the detection rod 76 is positioned below the receiving squeegee 64 in conjunction with the expansion and contraction of the receiving squeegee 64 so that the detection rod 76 is detected in front of the rotation center. It is composed of a horizontal portion 76a that is horizontal and an inclined portion 76b that protrudes in two steps diagonally downward, and a roller arm 77 having a roller 78 at the tip of the detection rod 76 can be adjusted by a long hole. It is attached to. A support shaft 76 c is attached to the proximal end of the detection rod 76, and a support roller 80 is attached to the distal end portion of the base frame 22. The state in which the roller arm 77 is in contact with the lower end of the window frame is detected from the change in the distance to the upper end surface of the detection rod 76 via the proximity switch 79.

これにより、受スクイジー６４を伸長させると、検出ロッド７６が連動して前方に押し出された後、支持軸７６ｃおよび支持ローラ８０によって自重で斜め下方に突き出す。そして、ローラアーム７７のローラ７８が窓枠下端に接触したことを近接スイッチ７９で検出することで、下降の停止位置および清掃終了位置を設定することができる。   Thus, when the receiving squeegee 64 is extended, the detection rod 76 is pushed forward in conjunction with it, and then protrudes obliquely downward by its own weight by the support shaft 76c and the support roller 80. The proximity switch 79 detects that the roller 78 of the roller arm 77 has come into contact with the lower end of the window frame, so that the lowering stop position and the cleaning end position can be set.

このような自動壁面清掃装置１０による自動窓面清掃について説明すると、予め自動壁面清掃装置１０を昇降させる建築物側のワイヤロープの巻き取り繰り出しで最上部の窓面Ｗの清掃開始位置に位置させるとともに、必要に応じて窓面の大きさに合わせて所定量ずつ下降するように設定したり、窓枠を検出しながら下降するようにしておく。   If automatic window surface cleaning by such an automatic wall surface cleaning apparatus 10 is demonstrated, it will be located in the cleaning start position of the uppermost window surface W by winding-up delivery of the wire rope by the side of the building which raises / lowers the automatic wall surface cleaning apparatus 10 previously. At the same time, it is set to descend by a predetermined amount according to the size of the window surface as necessary, or it is lowered while detecting the window frame.

最上部の窓面Ｗの清掃開始位置に吊り下げられ、ボールねじ１４ａの中央にボールナット１４ｃを位置させた状態で、傾斜修正昇降機構１４により傾斜を修正し、装置本体１１が水平となるようにした後、清掃ヘッド１２を接近離反機構１５のアーム１５ａ，１５ｂで窓面Ｗまで前進させる。   With the ball nut 14c positioned at the center of the ball screw 14a suspended from the cleaning start position of the uppermost window surface W, the inclination is corrected by the inclination correction lifting mechanism 14 so that the apparatus main body 11 becomes horizontal. After that, the cleaning head 12 is advanced to the window surface W by the arms 15 a and 15 b of the approaching / separating mechanism 15.

この後、両側の傾斜修正昇降機構１４で清掃ヘッド１２を上昇させ、拭取りスクイジー３９の上方の上端位置検出機構７１で窓枠の上端を検出し、この検出信号に基づき下降させながら清掃が開始される。   Thereafter, the cleaning head 12 is lifted by the tilt correction lifting mechanisms 14 on both sides, the upper end position detection mechanism 71 above the wiping squeegee 39 detects the upper end of the window frame, and cleaning starts while being lowered based on this detection signal. Is done.

清掃の開始は、拭取りスクイジー３９を斜め上方にして押し付けるとともに、ブラシ機構２０を清掃開始時には強く押し付けるとともに、往復駆動機構２６で左右に往復駆動するとともに、振動機構２９で前後に振動を与えた状態とし、受スクイジー６４を窓面Ｗに接触させ、散水機構５０の散水孔５２，５４から清掃水を窓面に吹き付ける。   At the start of cleaning, the wiping squeegee 39 is pressed obliquely upward, the brush mechanism 20 is pressed strongly at the start of cleaning, the reciprocating drive mechanism 26 is driven back and forth, and the vibration mechanism 29 is vibrated back and forth. In this state, the receiving squeegee 64 is brought into contact with the window surface W, and cleaning water is sprayed from the water spray holes 52 and 54 of the water spray mechanism 50 onto the window surface.

こうして清掃を開始したのち、装置１０全体を下降させて清掃水を受スクイジー６４で受けながら回収・循環させて清掃を行い、清掃途中では、平ブラシ２１の押し付け力を弱めるようにするとともに、予め定めた距離を下降したときに散水を停止する。   After starting the cleaning in this way, the entire apparatus 10 is lowered, and the cleaning water is collected and circulated while receiving the cleaning water by the receiving squeegee 64, and the pressing force of the flat brush 21 is weakened during the cleaning. Stop watering when descending the set distance.

そして、受スクイジー６４の伸長で前方に突き出ている下端位置検出機構７５の近接スイッチ７９で窓枠の下端が検出されると、傾斜修正昇降機構１４で清掃ヘッド１２を上昇、下降、停止しながら受スクイジー６４を引き込み、拭取りスクイジー３９を伏せるようにして下端角部までを完全に拭取るようにする。この受スクイジー６４を引き込んだ後は、拭取りスクイジー３９部分で汚水を回収するように汚水回収ポンプを切り換えておく。   When the lower end of the window frame is detected by the proximity switch 79 of the lower end position detecting mechanism 75 protruding forward by the extension of the receiving squeegee 64, the cleaning head 12 is lifted, lowered and stopped by the tilt correcting lifting mechanism 14. The receiving squeegee 64 is pulled in, and the wiping squeegee 39 is turned down so that the lower end corner is completely wiped. After drawing in the receiving squeegee 64, the sewage recovery pump is switched so as to recover the sewage at the wiping squeegee 39.

こうして１つの窓面Ｗの自動清掃が完了した後、清掃ヘッド１２の引き込みや必要に応じて接近離反機構１５のアーム１５ａ，１５ｂによる引き込みで次の窓面Ｗに下降し、ボールねじ１４ａの中央にボールナット１４ｃを位置させたリセット状態とし、次の窓面の上端清掃開始位置の検出を行うことなどで清掃を行うことを繰り返す。   After the automatic cleaning of one window surface W is completed in this way, the cleaning head 12 is pulled down to the next window surface W by pulling in by the arms 15a, 15b of the approaching / separating mechanism 15 as required, and the center of the ball screw 14a The ball nut 14c is placed in the reset state, and the cleaning is repeated by detecting the upper end cleaning start position of the next window surface.

この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる全体の概略斜視図である。BRIEF DESCRIPTION OF THE DRAWINGS It is the whole schematic perspective view concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる全体の概略側面図である。BRIEF DESCRIPTION OF THE DRAWINGS It is the whole schematic side view concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる清掃ヘッドの傾斜修正昇降機構の側面図および正面図である。It is the side view and front view of the inclination correction raising / lowering mechanism of the cleaning head concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる清掃ヘッドの窓面に対する接近離反機構の平面図である。It is a top view of the approach / separation mechanism with respect to the window surface of the cleaning head concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる清掃ヘッドの部分平面図および異なる清掃状態での側面図である。It is the partial top view and side view in a different cleaning state of the cleaning head concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかるブラシ機構の平面図である。It is a top view of the brush mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかるそれぞれブラシ機構の断面図である。It is sectional drawing of each brush mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかるスクイジー機構の平面図である。It is a top view of the squeegee mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかるスクイジー機構の異なる状態の概略側面図である。It is a schematic side view of the state which the squeegee mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building differs. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかるスクイジイー機構および散水機構の概略断面図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic sectional drawing of the squeegee mechanism and watering mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる受スクイジー機構の異なる状態の概略側面図および部分拡大断面図である。It is the schematic side view and partial expanded sectional view of a different state of the receiving squeegee mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる上端位置検出機構の平面図および側面図である。It is the top view and side view of the upper end position detection mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building. この発明の自動壁面清掃装置を建築物の窓面の清掃に適用した一実施の形態にかかる下端位置検出機構の異なる状態の側面図である。It is a side view of the state from which the lower end position detection mechanism concerning one Embodiment which applied the automatic wall surface cleaning apparatus of this invention to the cleaning of the window surface of a building differs. 従来の自動外面清掃装置の概略構成図である。It is a schematic block diagram of the conventional automatic outer surface cleaning apparatus.

符号の説明Explanation of symbols

１０ 自動壁面清掃装置
１１ 装置本体
１２ 清掃ヘッド
１３ ガイドローラ群
１４ 傾斜修正昇降機構
１５ 接近離反機構
２０ ブラシ機構
２１ 平ブラシ
２２ ベースフレーム
２３ 往復支持部材
２３ａ ガイドシャフト
２３ｂ ガイドブッシュ
２４ａ スライドガイド
２４ｂ スライドシャフト
２５ ブラシ取付部材
２６ 往復駆動機構
２６ａ 往復駆動用エアシリンダ
２７ 押圧機構
２７ａ 押し付け用シリンダ
２８ 連結ローラ
２８ａ 連結ブラケット
２９ 振動機構
２９ａ エアバイブレータ
３０ スクイジー機構
３９ 拭取りスクイジー
５０ 散水機構
５１ 散水パイプ
５２ 散水孔
６０ 受スクイジー機構
６４ 受スクイジー
７０ 位置検出機構
７１ 上端位置検出機構
７５ 下端位置検出機構
Ｗ 窓面（壁面） DESCRIPTION OF SYMBOLS 10 Automatic wall surface cleaning apparatus 11 Apparatus main body 12 Cleaning head 13 Guide roller group 14 Inclination correction raising / lowering mechanism 15 Approaching / separating mechanism 20 Brush mechanism 21 Flat brush 22 Base frame 23 Reciprocating support member 23a Guide shaft 23b Guide bush 24a Slide guide 24b Slide shaft 25 Brush mounting member 26 Reciprocating drive mechanism 26a Reciprocating drive air cylinder 27 Pressing mechanism 27a Pressing cylinder 28 Connecting roller 28a Connecting bracket 29 Vibration mechanism 29a Air vibrator 30 Squeezing mechanism 39 Wiping squeegee 50 Sprinkling mechanism 51 Sprinkling pipe 52 Sprinkling hole 60 Receiving Squeeze mechanism 64 Receiving squeegee 70 Position detection mechanism 71 Upper end position detection mechanism 75 Lower end position detection mechanism W Window surface (wall surface)

Claims (3)

構造物の壁面に沿って移動しつつ清掃水を用いてブラシで当該壁面の汚れを落すとともに、スクイジーで拭き取って清掃する自動壁面清掃装置において、
前記ブラシをほぼ被清掃幅に対応させ前記清掃水のブラシに沿う流れを阻止する空間を介在させた分割構造とし、
当該ブラシを前記壁面に対して押し付け可能とする押圧機構を設けるとともに、この押圧機構で押し付けられる当該ブラシに、前記壁面上で被清掃幅まで往復させる往復駆動機構および当該ブラシの振動で前記清掃水に振動を与えて汚れ落しを促進可能な振動機構を設けたことを特徴とする自動壁面清掃装置。 In an automatic wall surface cleaning device that cleans the wall surface with a brush while using the cleaning water while moving along the wall surface of the structure and wiping with a squeegee
A split structure in which the brush substantially corresponds to the width to be cleaned and a space that prevents the flow of the cleaning water along the brush is interposed,
Provided with a pressing mechanism which enables pressing the brush against the wall, on the brush to be pressed with the pressing mechanism, the cleaning water in the vibration of the reciprocating drive mechanism and the brush is reciprocated to be cleaned width on said wall surface An automatic wall surface cleaning device provided with a vibration mechanism capable of facilitating removal of dirt by applying vibration to the wall. 前記押圧機構による前記ブラシの前記壁面への押し付け力を押し付け開始時と清掃中とで制御可能に構成したことを特徴とする請求項１に記載の自動壁面清掃装置。 2. The automatic wall surface cleaning apparatus according to claim 1 , wherein the pressing force of the brush against the wall surface by the pressing mechanism can be controlled at the start of pressing and during cleaning. 前記ブラシを清掃幅方向に沿う平ブラシで構成したことを特徴とする請求項１または２に記載の自動壁面清掃装置。 The automatic wall surface cleaning device according to claim 1 or 2, wherein the brush is a flat brush along a cleaning width direction .
JP2006283999A 2006-10-18 2006-10-18 Automatic wall cleaning equipment Expired - Fee Related JP4381406B2 (en)

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