JPH0612870Y2 - Automatic work equipment on the outer wall of the building - Google Patents

Description

[Detailed Description of the Invention] [Industrial application] The present invention relates to an automatic work device for an outer wall surface of a building, which is capable of controlling vertical movement and stop position of an automatic work machine suspended from a roof car.

[Conventional technology]

As a conventional method for determining a vertical stop position with respect to the outer wall of an automatic work machine that can be lifted and lowered along the outer wall of a building, for example, it is mounted on a roof car that suspends this automatic work machine. Also, the unwinding length of the wire cable wound on the drum of the winch is obtained from the movement amount of the idler of the winch, and the winch is controlled by determining the position at which the automatic working machine should be stopped.

In addition, when performing automatic painting on the outer wall surface, an optical sensor that detects the outer wall surface to be coated and the glass surface that cannot be coated is installed on the automatic work machine, and the winch is sent via the control device by the signal from this optical sensor. The method of controlling the rotation of was adopted.

[Problems to be solved by the invention]

However, in the case of such a conventional method, in the former case, the unwinding length detection amount of the wire cable due to the elongation of the wire cable due to the weight of the suspended automatic working machine, the manufacturing error of the wire cable drum, etc. There is a problem of the stop position shift of the automatic working machine due to the inaccuracy, and in the latter case, there are problems such as measurement error and sensor malfunction due to the influence of sunlight and dirt on the light receiving surface of the optical sensor.

The present invention has been made in view of the above-mentioned conventional problems, and an automatic working device provided with a rotor or the like that is in contact with an outer wall surface that rotates as the automatic working machine moves up and down is provided. The purpose is to solve the problem.

[Means for solving problems]

This invention detects the rotor rotating on the automatic work machine suspended along the outer wall surface of a building so that it can be lifted and lowered, and the rotor that contacts the outer wall surface and rotates as the automatic work machine moves up and down. And a detection device for converting the electric pulse signal to be transmitted and transmitting the electric pulse signal to a roof car in which the automatic work machine is suspended, and counts the number of electric pulses received from the detection device to correspond to the movement amount of the rotor. This is an automatic work device for an outer wall surface of a building, which is provided with a control device that calculates a lifting distance and controls the lifting position of the automatic work machine based on the calculated value.

〔work〕

Since the automatic working machine is provided with a rotor that rolls on the outer wall surface when the automatic working machine is suspended along the outer wall surface of the building, the rotor rotates when the automatic working machine moves up and down. Then, the number of rotations of the rotor corresponding to the ascending / descending distance of the automatic work machine is detected by the detection device, converted into an electric pulse signal and transmitted to the control device. The control device counts the number of electric pulses received, and further calculates the ascending / descending distance corresponding to the product (movement amount) of this and the outer peripheral length of the rotor, and based on this calculated value, the automatic work machine on the outer wall surface The position is determined to control the elevation.

In this way, since the vertical distance is determined by the number of rotations of the rotor that rolls against the outer wall surface without slipping, the distance can be determined by the unwinding length of a conventional wire cable that causes errors such as elongation. Unlike, the position determination with respect to the outer wall surface of the automatic working machine is accurate.

〔Example〕

The present invention will be described below with reference to the drawings. 1 to 3 are views showing an embodiment of the present invention. FIG. 1 is a schematic view of the apparatus according to the present invention, FIG. 2 is a view showing an arrow AA in FIG. 1, and FIG. 3 is an enlarged detailed view of a detecting means.

First of all, the structure will be described. 1 is an automatic working machine, which is generally equipped with a device or the like for performing cleaning, painting, peeling diagnosis and other various works on an outer wall surface of a building or the like. It is suspended on a roof car 3 by a wire cable 2. The roof car 3 travels on a rail 5 laid on the roof of the building in parallel with the outer wall surface 4 of the building so that the automatic work machine 1 can be laterally moved. Reference numeral 6 denotes a wire cable take-up reel provided on the roof car 3, which winds and unwinds the wire cable 2 by driving a motor 7 provided on the roof car 3 in the forward and reverse directions to vertically move the automatic work machine 1. Can be moved up and down in any direction.

Reference numeral 11 is a rotor, 11a is a wheel attached to one end of the shaft 11b, and 12 is an encoder attached to the other end of the shaft 11b, which detects the rotation speed of the rotor 11 and converts it into an electric pulse signal. Convert and send. The rotor 11 has a holding frame 14 via a ball bearing 13.
It is rotatably held by the holding frame 14, and the holding frame 14 is slidably fitted to a slide bar 15 attached to the automatic work machine body 1a. Reference numeral 16 is a tension spring, which is interposed between a mounting arm 17 fixed to the main body 1a of the automatic work machine and the holding frame 14, and constantly urges the holding frame 14 in the direction of arrow B to move the wheel 11a to the outer wall surface. 4 is pressed against the guide groove surface 4a formed on the surface 4. Wheel 1
Since the outer peripheral portion of 1a is formed of an elastic body such as urethane or rubber, the wheel 11a surely comes into close contact with the guide groove surface 4a without slipping when the automatic working machine 1 is moved up and down, and the vertical distance is accurately adjusted. It can detect it.

Reference numeral 18 denotes a communication cable, which transmits the electric pulse signal transmitted from the encoder 12 to the control device 20 via the communication cable take-up reel 19 provided on the roof car 3.
The communication cable 18 is wound and unwound in synchronization with the wire cable 2 when the automatic working machine 1 is moved up and down by a torque motor (not shown) coaxial with the reel 19.

Next, the operation will be described.

Wheels 11a of the automatic work machine 1 suspended from the roof car 3
However, when the motor 7 is driven while being in pressure contact with the guide groove surface 4a of the outer wall surface 4 of the building, the automatic work machine 1 moves up and down along the outer wall surface 4 via the wire cable 2, and the wheels 11a follow this vertical movement. Rotate without slipping. The encoder 12 attached to the other end of the shaft 11b of the wheel generates an electric pulse corresponding to the rotation speed of the wheel 11a of which the outer peripheral length is known, and outputs this signal via the signal cable 18 to the control device 20 of the roof car 3. Send to. Control device 20
Counts the number of electric pulses sent, and this and the rotor 1
The vertical distance corresponding to the product (movement amount) of the outer peripheral length of the wheel 11a of 1 is calculated, and the motor 7 is driven or stopped by collating with the given program to move the automatic working machine 1 to a predetermined position accurately. Or stop.

At this time, the rotor 11 is always urged by the tension spring 16 in the direction of arrow B in FIG.
Always rotates in close contact with the guide groove surface 4a, and therefore rotates without slipping when the automatic working machine 1 is moved up and down, and therefore an accurate electric pulse number is output from the encoder 12.

[Effect of device]

As described above, according to the present invention, since the vertical position of the automatic working machine can be accurately detected and moved, workability,
The safety and construction accuracy are improved, and therefore, great effects can be obtained for automatic work on the exterior wall surface of the building, such as accurate application of paint and prevention of scattering of wall cleaning wastewater.

[Brief description of drawings]

FIG. 1 is a schematic view of an automatic working apparatus according to the present invention, FIG. 2 is a view taken along the line AA in FIG. 1, and FIG. 3 is an enlarged detailed view of a rotor portion in FIG. 1 ... Automatic work machine, 3 ... Roof car, 4 ... Building outer wall surface, 11 ... Rotor, 12 ... Encoder, 20 ...
Control device, 11, 12 ... Detection device.

Claims (1)

[Scope of utility model registration request] 1. An automatic work machine suspended along an outer wall surface of a building so as to be lifted up and down, and a rotor that comes into contact with the outer wall surface and rotates as the automatic work machine moves up and down, and the number of rotations of the rotor are detected. A detection device for converting this to an electric pulse signal and transmitting the electric pulse signal is provided, and the number of electric pulses received from the detection device is further counted in the roof car in which the automatic work machine is suspended to correspond to the movement amount of the rotor. An automatic work device for an outer wall surface of a building, which is provided with a control device that calculates the ascending / descending distance and controls the ascending / descending position of the automatic work machine based on the calculated value.