JPH0568592B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to an apparatus for working on the exterior wall of a building, which is used for construction and maintenance of the exterior wall of a building.

[Prior Art] Work such as painting, cleaning, and maintenance on the exterior walls of buildings is generally performed manually by workers riding on work gondolas suspended along the exterior walls. be.

[Problems to be solved by the invention] However, since the work is performed at a high place, it is dangerous and can be extremely painful depending on the weather conditions. Mechanization and automation were desired as the process was generally simple and repetitive.

[Means for Solving the Problems] The present invention has been made in order to solve the above problems, and provides a traveling trolley that is disposed on the top of a building and is movable in parallel with the outer wall of the building. and a gondola, which is suspended from a running carriage via a wire and is movable in the left and right directions as the running carriage moves, and is movable in the vertical direction by winding and unwinding the wire, and the gondola is attached to a building. A work unit equipped with work means for repairing, cleaning, etc. of the outer wall surface of a work unit, a frame that supports this work unit so that it can move freely within one plane,
A work unit moving mechanism that moves the work unit to an arbitrary position within the frame, and an uneven shape of the building exterior wall portion surrounded by the frame by measuring the distance between the frame and the building exterior wall surface at each position within the frame. The gondola is intermittently moved along the outer wall of the building by moving the traveling cart and winding and unwinding the wire, and
The present invention is characterized by comprising a control device that controls the operation of the work unit moving mechanism and the work unit according to the uneven shape of the outer wall of the building detected by the three-dimensional sensor while the gondola is stopped.

[Operation] The gondola is operated by a control device and moves intermittently in the vertical and horizontal directions over the entire outer wall surface of the building. In addition, when the gondola stops, the work unit automatically moves within the frame while making the optimal movement according to the uneven shape of a predetermined part of the outer wall of the building that the gondola frame faces. Perform any work such as cleaning or painting.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

Figure 1 is a side view showing the arrangement of equipment in the entire device;
FIG. 2 is a block diagram of the same.

In FIG. 1, the reference numeral 1 indicates a traveling trolley placed on the roof of building B.

This trolley 1 is moved in a direction parallel to the outer wall surface C of the building (in a direction perpendicular to the plane of the paper in FIG. It is said to be movable. A position sensor 4 for detecting the moving position of the trolley, a control device 5 for controlling the traveling device 2 and a winding device 10 to be described later, and a remote control panel 6 are attached to the trolley 1, respectively. Also,
An arm 7 is provided extending obliquely upward from the truck 1, and a pulley 8 is attached to the tip of the arm 7, and a wire 9 is wound around the pulley 8. One end of the wire 9 is wound around a winding device 10 on the trolley 1, and the other end is suspended along the outer wall of the building, with a condoler 11 at its tip.
is suspended.

Further, a sensor 14 is attached to the tip of the arm 7, so that the height position of the gondola 11 can be detected. Also, arm 7
A reset switch 15 is attached to the . This prevents the winding device 10 from rising when the gondola 11 attempts to rise above a predetermined height, and also prevents the winding device 10 from rising above a predetermined height.
This cancels and resets the information on the height position of the gondola.

The gondola 11 includes a gondola main body 20 that houses work equipment such as a vacuum pump, compressor, and motor, and a rectangular frame 21 that is integrally provided on the top of the gondola main body 20.

The gondola main body 20 is provided with stabilizing means 22 for stabilizing the gondola against the outer wall surface C of the building. The stabilizing means 22 is the gondola main body 20
outriggers 23 extending from the four corners of the
A suction plate 24 made of a flexible material connected to a vacuum pump (not shown) is attached to the tip of the suction plate 23, and the air inside the suction plate 24 is drawn as necessary. 24, the gondola 11 can be stabilized on the outer wall surface C.

In addition, a three-dimensional sensor 25 is provided in the gondola body 20.
is installed. The three-dimensional sensor 25 includes, for example, a distance meter consisting of a light-emitting element and a light-receiving element, which is built into the gondola 1 so that it can move freely in the left and right directions in FIG. 2 via a drive mechanism 26 (see FIG. 3).
When the gondola 1 is lowered, it descends integrally with the gondola 11 and simultaneously moves in the left and right direction, and the gondola 1
The three-dimensional shape of a predetermined portion of the building's outer wall C surrounded by the frame 21 can be determined by measuring the distance between the frame 21 and the building's outer wall C, and combining the individual data. The three-dimensional sensor 25 is attached to the front end of the gondola 11 in the traveling direction (in this embodiment, the gondola 11 moves downward, so the lower end of the condoler body 20).

Further, the gondola main body 20 is provided with a mechanism for moving the gondola 11 vertically and horizontally along the outer wall surface C by the traveling trolley control device 5 and the traveling device 2 and winding device 10 controlled thereby, and the three-dimensional sensor. Based on information about the uneven shape of the outer wall surface C obtained from
A control device 27 is incorporated to control the operation.

As shown in FIG. 2, a bar 30 is attached to the frame 21 so as to be movable up and down while being held horizontally, and a movable body 31 is attached to the bar 30 so as to be movable in the left and right directions. . The movable body 31 houses a drive source for vertically moving the bar 30 and a drive source for moving the movable body 31 itself in the left-right direction with respect to the bar 30. The bar 30, the moving body 31, etc. constitute a moving unit 32 that moves the moving body vertically and horizontally within the frame. A working unit 33 is detachably attached to the building exterior wall C side of the movable body 31 by means of fixing means such as screws. There are various working units 33 for cleaning, painting, etc., and any one of them can be attached to the movable body 31 as required.

Next, the operation of the above working device will be explained with reference to the flowchart shown in FIG.

S ₁ ; Work preparation A work unit 33 suitable for the work is attached to the moving body 31 within the gondola frame 21, and materials and other items necessary for the work are loaded onto the gondola 11. Additionally, the software in the control device 27 is replaced as necessary.

S ₂ ; Start Input a start signal on the remote control panel 6.

S ₃ ; The movement start signal of the traveling bogie is sent to the control device 27 on the gondola 11, and from there the signal is sent to the control device 27 on the gondola 11, and from there
An operation signal is sent to. Then, the traveling trolley 1 starts moving, and the distance traveled is detected by the position sensor 4 and sent to the control device 27.

S ₄ ; Stopping the traveling trolley The Condra traveling trolley 1 stops at a predetermined position according to the program.

S ₅ ; Setting the gondola A signal is sent to the control device 5 to set the gondola 11, and the gondola 11 is set so as to face the outer wall C of the building.

S ₆ ; Lowering of the gondola After the setting of the gondola 11 is completed, the gondola 11 is lowered by one working stroke of the working unit 33. At this time, the three-dimensional sensor 25 and the sensor 1 that detects the height of the gondola 11
4 work together to develop the shape of the outer wall surface C of the building to the CPU in the control device 27.

S ₇ ; Stopping the gondola When the gondola 11 has been lowered a certain amount (one working stroke), it is stopped. The height of the gondola 11 at that time is determined by the sensor 14.
It can be detected by

S ₈ ; Stable support for the gondola Suction plate 24 attached to the tip of the outrigger 23
to stabilize gondola 11.

S ₉ ;Program of work procedure An optimal work pattern is automatically programmed from the shape of the outer wall surface C detected and developed in step _S6 .

S ₁₀ ; Work The movement unit 32 and work unit 33 are controlled in accordance with the program in step S ₉ to perform work on the outer wall surface C.

S ₁₁ ; Releasing fixation by stabilizing device When the work for one stroke is completed, the suction by the suction plate 24 attached to the tip of the outrigger 23 of the stabilizing device 22 is released, and preparations for the next movement are made.

S ₁₂ ; Height check Compare the signal sent from the height sensor 14 with the pre-input building height data, and if the gondola 11 has not reached the bottom, the outer wall surface C located directly below it. The process returns to step _S6 to perform the work on the predetermined portion.

S ₁₃ ; Rise of the gondola Gondola 1 in the judgment in step S ₁₂ above
1 has reached the bottom, the winding device 10 winds up the wire 9 and the gondola 11
to rise.

S ₁₄ ; Gondola stop When the reset switch 15 detects that the gondola 11 has risen to a predetermined height, the hoisting operation is stopped and the gondola height position information in the control device 27 is reset.

S ₁₅ ; Completion check Determine whether all work has been completed,
Proceed to the next step _S16 with YES as the condition.
If NO, return to step ₃ and continue the work.

S ₁₆ ; Completion work Predetermined completion work such as removing the work unit 33 from the moving body 31 and hoisting the gondola 11 and returning it to a predetermined position on the roof of building B is performed.

S ₁₇ ; End By the above-described operation, cleaning or painting work can be completely automated over the entire outer wall surface C of the building.

[Effects of the Invention] As explained above, according to the apparatus for working on the exterior wall of a building of the present invention, work such as construction and maintenance of the exterior wall of a building can be performed automatically without manual intervention as in the past. This has the effect of freeing workers from dangerous and painful work, and increasing the frequency of work, so that the beauty of the building's exterior walls can always be maintained.

[Brief explanation of the drawing]

1 to 4 show one embodiment of the present invention, in which FIG. 1 is a schematic side view of the entire device, FIG. 2 is a view taken in the direction of the arrows in FIG. 1, FIG. 3 is a block diagram, and FIG.
The figure is a flowchart explaining the operation of the device. DESCRIPTION OF SYMBOLS 1... Traveling trolley, 9... Wire, 11... Gondola, 21... Frame, 22... Stabilizing means, 2
5... Three-dimensional sensor, 27... Control device, 32...
...Movement unit, 33...Working unit.

Claims (1)

[Claims] 1. A running trolley installed on the top of a building and movable parallel to the outer wall of the building, and a wire winding that is suspended from the running trolley via a wire and is movable left and right as the running trolley moves. A gondola is provided with a gondola that can be moved vertically by unwinding, and the gondola is equipped with a work unit equipped with a work means for repairing, cleaning, etc. the outer wall of a building, and the work unit is installed in one plane. A frame that supports the work unit so that it can be moved freely, a work unit movement mechanism that moves the work unit to an arbitrary position within the frame, and a distance between the frame and the building exterior wall surface at each position within the frame are measured. It has a three-dimensional sensor that detects the uneven shape of the building's outer wall surface.
Furthermore, the gondola was moved intermittently along the outer wall of the building by moving the traveling cart and winding and unwinding the wire, and the gondola was detected by the three-dimensional sensor while the gondola was stopped. A working device for an external wall of a building, comprising a control device that controls the operation of the working unit moving mechanism and the working unit according to the uneven shape of the external wall of the building.