WO2012036101A3 - 窓ガラスなどの清掃装置 - Google Patents

窓ガラスなどの清掃装置 Download PDF

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Publication number
WO2012036101A3
WO2012036101A3 PCT/JP2011/070659 JP2011070659W WO2012036101A3 WO 2012036101 A3 WO2012036101 A3 WO 2012036101A3 JP 2011070659 W JP2011070659 W JP 2011070659W WO 2012036101 A3 WO2012036101 A3 WO 2012036101A3
Authority
WO
WIPO (PCT)
Prior art keywords
suction unit
suction
horizontal row
access means
groups
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2011/070659
Other languages
English (en)
French (fr)
Other versions
WO2012036101A2 (ja
Inventor
浦上　不可止
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Urakami LLC
Original Assignee
Urakami LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Urakami LLC filed Critical Urakami LLC
Priority to US13/823,242 priority Critical patent/US9022159B2/en
Priority to EP11825104.0A priority patent/EP2617337B1/en
Priority to KR1020137009418A priority patent/KR20140021513A/ko
Publication of WO2012036101A2 publication Critical patent/WO2012036101A2/ja
Publication of WO2012036101A3 publication Critical patent/WO2012036101A3/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L3/00—Safety devices for use in window-cleaning
    • A47L3/02—Cages; Platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

【課題】建造物のガラス製壁面或いは窓面などに真空吸着し且つこれに沿って移動しながら清掃作業を施す装置を提供する。 【解決手段】横並びで配置された３式の吸着ユニット(４)の各々は、吸着ユニット(４)を表面と交差する方向に出入りさせる前後方向出入手段(８０)を具備し、隣り合った吸着ユニット(４)同士は、前後方向出入手段(８０)を介して横方向伸縮手段(６２)により連結されて横一列吸着ユニット群を構成しており、縦並びで配置された３式の横一列吸着ユニット群の隣り合った横一列吸着ユニット群同士は、前後方向出入手段(８０)を介して縦方向伸縮手段(６８)により連結されており、且つ、吸着ユニット(４)の各々は、表面に吸着しながら且つ表面に沿って移動される吸着可動状態と、表面に吸着しながら且つ表面に係止される吸着係止状態と、表面から隔離しながら且つ表面に沿って移動できる非吸着可動状態、の以上３つの状態のいずれかを選択できるように設定されている。
PCT/JP2011/070659 2010-09-15 2011-09-12 窓ガラスなどの清掃装置 Ceased WO2012036101A2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US13/823,242 US9022159B2 (en) 2010-09-15 2011-09-12 Cleaning device for window glass
EP11825104.0A EP2617337B1 (en) 2010-09-15 2011-09-12 Cleaning device for window glass
KR1020137009418A KR20140021513A (ko) 2010-09-15 2011-09-12 창 유리 등의 청소 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010207382A JP2012061116A (ja) 2010-09-15 2010-09-15 窓ガラスなどの清掃装置
JP2010-207382 2010-09-15

Publications (2)

Publication Number Publication Date
WO2012036101A2 WO2012036101A2 (ja) 2012-03-22
WO2012036101A3 true WO2012036101A3 (ja) 2012-05-31

Family

ID=45832030

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/070659 Ceased WO2012036101A2 (ja) 2010-09-15 2011-09-12 窓ガラスなどの清掃装置

Country Status (5)

Country Link
US (1) US9022159B2 (ja)
EP (1) EP2617337B1 (ja)
JP (1) JP2012061116A (ja)
KR (1) KR20140021513A (ja)
WO (1) WO2012036101A2 (ja)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH705732B1 (de) * 2011-11-07 2016-05-13 Logistics Wash Holding Ag Fahrwerk für einen Roboter.
CN110432816B (zh) * 2014-07-25 2022-01-18 科沃斯家用机器人有限公司 吸附式自移动装置
TWI580387B (zh) * 2015-05-27 2017-05-01 趙志謀 機器人
JP2017029280A (ja) * 2015-07-30 2017-02-09 東京エレクトロン株式会社 清掃装置及び半導体製造システム
GB201521712D0 (en) * 2015-12-09 2016-01-20 F Robotics Acquisitions Ltd Window cleaning robot
JP6547230B2 (ja) 2016-04-03 2019-07-24 ウラカミ合同会社 負圧吸着自走ロボット装置
CN106264306B (zh) * 2016-08-31 2018-11-27 遵化市悠柠服装设计有限公司 一种擦玻璃机器人
CN106983435B (zh) * 2017-03-14 2023-08-01 南京斯旭辰智能科技有限公司 智能化多功能玻璃幕墙高空清洗设备
CN109419457A (zh) * 2017-08-25 2019-03-05 科沃斯机器人股份有限公司 多介质智能清洁装置
CN118058644B (zh) * 2024-04-18 2024-06-21 河南欢徕科技有限公司 一种建筑幕墙清洁装置及其行走方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03104785A (ja) * 1989-09-19 1991-05-01 Ishikawajima Kensa Keisoku Kk 吸着走行車
JPH0542063A (ja) * 1991-08-12 1993-02-23 Fukashi Uragami 表面に吸着し且つそれに沿つて移動可能な装置
JPH1024875A (ja) * 1996-07-11 1998-01-27 Nippon Kensetsu Kikaika Kyokai 壁面走行ロボットの足回り装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3365802B2 (ja) * 1992-12-01 2003-01-14 健 柳沢 歩行ロボット
DE4313719C2 (de) * 1993-04-27 2000-05-31 Hans Yberle Transportvorrichtung
US7155307B2 (en) * 2001-09-09 2006-12-26 Seemann Henry R Surface adhering tool carrying robot
CN100496368C (zh) * 2002-09-24 2009-06-10 三宅彻 擦窗装置
DE10320570B4 (de) * 2003-05-07 2005-04-21 Unique Cleaning Systems Gmbh Selbstkletterndes Fahrwerk für Fassaden, insbesondere Glasfassaden
JP4543278B2 (ja) * 2004-05-01 2010-09-15 ウラカミ合同会社 物体表面に沿って移動可能な装置
US20060048800A1 (en) * 2004-09-09 2006-03-09 Rast Rodger H Automated building exterior cleaning apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03104785A (ja) * 1989-09-19 1991-05-01 Ishikawajima Kensa Keisoku Kk 吸着走行車
JPH0542063A (ja) * 1991-08-12 1993-02-23 Fukashi Uragami 表面に吸着し且つそれに沿つて移動可能な装置
JPH1024875A (ja) * 1996-07-11 1998-01-27 Nippon Kensetsu Kikaika Kyokai 壁面走行ロボットの足回り装置

Also Published As

Publication number Publication date
US9022159B2 (en) 2015-05-05
EP2617337A2 (en) 2013-07-24
EP2617337A4 (en) 2017-09-06
US20130206492A1 (en) 2013-08-15
WO2012036101A2 (ja) 2012-03-22
JP2012061116A (ja) 2012-03-29
KR20140021513A (ko) 2014-02-20
EP2617337B1 (en) 2019-03-20

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