Cleaning robot

Abstract

To provide a cleaning robot which is capable of avoiding deterioration of cleaning quality of even a temporarily installed cleaning robot.SOLUTION: A window cleaning robot 20 is hung from a lifting device 100 temporarily provided on a building 10 and performs cleaning operation while being lifted along a wall surface 11 of the building 10. The window cleaning robot 20 includes: a cleaning part 21 cleaning a window 11a of the building 10 by moving while pressing a brush 21a against the window 11a of the building 10; and two suctioning devices 23 for fixing the window cleaning robot 20 to the wall surface 11 and the window 11a of the building 10 and disposed at positions where they grip the cleaning part 21 vertically. Since the two suckers 23 are disposed at the position gripping the cleaning part 21, a suction force can be stabilized by fixing of gripping and, even in the window cleaning robot 20 temporarily provided, powerful window cleaning by the cleaning part 21 is enabled and the window cleaning robot 20 of high cleaning quality can be provided.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a cleaning robot. [Background technology]

[0002] Conventionally, building cleaning robots have been used that clean windows by moving while pressing brushes or wipers against the windows, as in Patent Documents 1 and 2. These cleaning robots are permanently installed specifically for a building and must be installed at the time of construction, requiring the installation of guide rails on the wall for the robot to move and a device for suspending the robot on the roof. Because these permanent cleaning robots move along guide rails installed on the wall, even if the brushes or wipers are pressed hard, they can receive a reaction force via the rails. Other conventional technologies include those described in Patent Documents 3 to 5. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 03-109016 [Patent Document 2] Japanese Patent Application Laid-Open No. 1989-121025 [Patent Document 3] Japanese Patent Application Publication No. 2019-535403 [Patent Document 4] Japanese Patent Publication No. 2023-102091 [Patent Document 5] Japanese Patent Application Laid-Open No. 2017-510402 Summary of the Invention [Problem to be solved by the invention]

[0004] In response to this, the present inventors have developed temporary cleaning robots that can be installed and removed from existing buildings later. These temporary cleaning robots are smaller and lighter than permanent cleaning robots, making them portable. By installing a lifting device on the building to be cleaned and suspending the temporary cleaning robot, it is possible for the temporary window cleaning robot to move along the wall and clean windows. This makes it possible to use the temporary window cleaning robot to clean any building where a permanent cleaning robot is not installed.

[0005] However, even if the cleaning robots are similar, the required configurations for temporary and permanent cleaning robots are different. Temporary cleaning robots have no rails on the wall, so they must clean and move while suspended in mid-air. Furthermore, temporary cleaning robots cannot clean by simply pressing their brushes or wipers against the window while suspended in mid-air. Therefore, they must generate a reaction force that acts perpendicular to the window surface when cleaning.

[0006] As a method for generating this reaction force, the technology in Patent Document 3 proposes a method of sticking the cleaner to the window by generating wind pressure from a fan. However, the reaction force from the wind pressure is not enough to press the cleaner firmly against a brush or the like, so it cannot remove stubborn dirt such as bird droppings.

[0007] Furthermore, as in Patent Documents 4 and 5, there are also proposals to clean windows by moving the cleaning part while adhering to the window, but this requires precise control of the adhesive force; if the adhesive force is weak the part will fall off, while if the adhesive force is too strong the robot will not be able to move. Ultimately, as mentioned above, this means that powerful cleaning is not possible and cleaning quality is reduced.

[0008] Therefore, an object of the present invention is to provide a cleaning robot that can avoid a decrease in cleaning quality even if the cleaning robot is a temporary one. [Means for solving the problem]

[0009] The present invention employs the following solutions to solve the above-mentioned problems. Note that the solutions and the wording in parentheses below are merely examples, and the present invention is not limited thereto. The present invention can be an invention that includes at least one of the invention-specifying matters shown in the solutions below. Furthermore, each invention-specifying matter shown in the solutions below can be made into a subordinate concept by adding an element that limits the invention-specifying matter, or can be made into a superordinate concept by removing an element that limits the invention-specifying matter.

[0010] Solution 1: The cleaning robot of this solution is a cleaning robot that is suspended from a lifting device temporarily installed on a building, and is equipped with a cleaning unit that cleans the surface of the building to be cleaned by moving while pressing it against the surface, and two or more suction devices that are devices that fix the cleaning robot to the building and are positioned to clamp the cleaning unit.

[0011] According to this solution, two or more suction devices are arranged at a position that clamps the cleaning unit, so that a constant reaction force can always be obtained even when the cleaning unit moves along the clamped straight line.As a result, even with a temporary cleaning robot, it is possible to avoid a decline in cleaning quality.

[0012] Solution 2: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, two suction devices are arranged above and below the cleaning unit, and the center of gravity of the cleaning robot is positioned on the line connecting the two suction devices.

[0013] According to this solution, the center of gravity of the cleaning robot is located on the line connecting the two suction devices, so that the left and right balance of the cleaning robot can be stabilized.

[0014] Solution 3: The cleaning robot of this solution is a cleaning robot according to any one of the solutions described above, characterized in that the center of gravity of the cleaning robot is located below the cleaning robot.

[0015] According to this solution, the center of gravity of the cleaning robot is located below the cleaning robot, which reduces the wobbling of the cleaning robot when suspended in mid-air.

[0016] Solution 4: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, two suction devices are arranged, and the two suction devices are arranged in symmetrical positions relative to the center of the movement area of ​​the cleaning unit.

[0017] According to this solution, the two suction devices are arranged at positions symmetrical with respect to the center of the movement area of ​​the cleaning unit, so that fixation by suction can be stabilized.

[0018] Solution 5: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the cleaning unit is movable in the vertical direction, two suction devices are arranged, and the two suction devices are arranged in positions that sandwich the cleaning unit from above and below.

[0019] According to this solution, the cleaning unit is movable in the vertical direction, and the two suction devices are positioned to sandwich the cleaning unit from above and below, so that it can be sandwiched from above and below as it moves in the vertical direction, making the fixation by suction more stable.

[0020] Solution 6: The cleaning robot of this solution is a cleaning robot that is any of the solutions described above, characterized in that the cleaning unit is movable in the vertical direction and is equipped with a circulation unit that circulates and utilizes the cleaning water used in the cleaning unit.

[0021] According to this solution, the cleaning robot is provided with a circulation unit that circulates and utilizes the cleaning water used in the cleaning unit, so that the cleaning robot can be used for a long period of time while minimizing changes in the weight balance of the cleaning unit. [Effects of the Invention]

[0022] According to the present invention, even if a temporary cleaning robot is used, it is possible to avoid a decrease in cleaning quality. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a diagram showing a lifting device 100 according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing the window cleaning robot 20. [Figure 3] 1A and 1B are front and rear views showing a window cleaning robot 20. [Figure 4] 2 is a diagram showing the positional relationship between the cleaning unit 21 and the suction device 23 as viewed from the rear side. FIG. [Figure 5] 2 is a diagram showing the positional relationship between the cleaning unit 21 and the suction device 23 as viewed from the side. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a diagram showing a lifting device 100 and a window cleaning robot 20 according to the embodiment. In this specification, when viewing a building 10 in Fig. 1 from the front, the left side is the -X direction, the right side is the +X direction, the bottom side is the -Y direction, the top side is the +Y direction, the near side (front side) is the -Z direction, and the far side (rear side) is the +Z direction.

[0025] As shown in FIG. 1, the lifting device 100 is a device that lifts a cleaning robot along a wall surface 11 of a building 10. The building 10 has an installation unit 12 (e.g., a parapet) on the roof where the lifting device 100 is installed. The lifting device 100 is a device that can move the cleaning robot up, down, left, and right on the building wall surface and is easy to install on a building. In this embodiment, a window cleaning robot 20 that cleans windows 11a arranged on the wall surface 11 of the building 10 will be described as an example of a cleaning robot. The window cleaning robot 20 is a device that is suspended from the lifting device 100 that is temporarily installed on the building 10, and performs cleaning work along the wall surface 11 of the building 10 while being lifted.

[0026] The lifting device 100 comprises a hanging unit 30, a wire 40 (stretching member, hanging tool), a hanging unit 50, and a power unit 60. The hanging units 30 are installed (fixed) in two locations on the left and right ends of the roof of the building 10, and wires 40 are extended from each of them and connected to the window cleaning robot 20 (hanging units 50), and the window cleaning robot 20 is lifted and moved up, down, left, and right by winding up the left and right wires 40. The hanging unit 30 is a member that supports the window cleaning robot 20, wire 40, hanging unit 50, etc., and fixes the lifting device 100 to the rooftop.

[0027] The wire 40 is a member stretched between at least two hanging units 30, and connects the hanging units 30 to the window cleaning robot 20. In this embodiment, the wire 40 is stretched between the upper left power unit 60, the upper left hanging unit 30, the hanging unit 50, the upper right hanging unit 30, and the upper right power unit 60. The wire 40 is a member that suspends the window cleaning robot 20 via the hanging units 50.

[0028] The wire 40 is a linear or belt-like member. The wire may be a chain or a rope. The wire 40 can be changed to another member as appropriate depending on the weight and purpose of the object to be lifted. The type of member selected for the wire 40 can be determined taking into consideration the conditions of the installation location. Multiple wires 40 may be arranged in parallel in the depth direction. This makes it possible to prevent the window cleaning robot 20 from falling even if one of the wires 40 breaks for some reason.

[0029] The suspending unit 50 is movably suspended by a wire 40 between the two suspension units 30, and is a member that suspends the window cleaning robot 20. The suspending unit 50 is composed of two pulleys 51 to which the wire 40 extending from the suspension unit 30 is connected, and a joint 52 that is joined to the window cleaning robot 20 by a ball joint or the like, and the joint 52 makes it possible to keep the window cleaning robot 20 horizontal. Furthermore, the joint 52 can be made movable in the front-to-rear direction (±Z directions) by being slidably attached to the frame 27 (see FIG. 2). By moving the joint 52 in the front-to-rear direction, the window cleaning robot 20 can be kept horizontal even if the cleaning unit 21 or the suction device 23 moves forward or backward and the center of gravity is shifted (see FIG. 2).

[0030] The hanging part 50 hangs from the wire 40, and the two pulleys 51 are rotatable. Therefore, the hanging part 50 is positioned at the lowest point of the wire 40 between the two hanging parts 30 due to its own weight. Note that the window cleaning robot 20 may be configured to be directly connected to the wire 40.

[0031] The power unit 60 (winding power unit) is disposed behind the hanging unit 30. The power unit 60 can wind and unwind the wire 40 by rotating a motor (not shown) or the like, and can change the position of the hanging unit 50 (window cleaning robot 20) by each performing at least one of winding and unwinding. The left and right power units 60 are connected to a control panel 66, and the control panel 66 controls the winding and unwinding of the wire 40 while synchronizing the motors of the left and right power units 60.

[0032] In this embodiment, the power units 60 are installed on both ends of the roof of the building 10, and the left and right power units 60 respectively wind or unwind the wire 40 to lift the window cleaning robot 20.

[0033] When moving the window cleaning robot 20 suspended from the suspension part 50, the left and right winding lengths are adjusted, thereby enabling the window cleaning robot 20 to move up, down, left, and right along the wall surface 11 of the building 10.

[0034] For example, when only the left wire 40 is reeled in by the left power unit 60, the window cleaning robot 20 moves diagonally upward to the left. On the other hand, when only the right wire 40 is reeled in by the right power unit 60, the window cleaning robot 20 moves diagonally upward to the right. Furthermore, when both the left and right wires 40 are reeled in simultaneously by two power units 60, the window cleaning robot 20 moves upward. On the other hand, when both the left and right wires 40 are reeled out simultaneously by two power units 60, the window cleaning robot 20 moves downward. Furthermore, when the left wire 40 is reeled in by the left power unit 60 and the right wire 40 is reeled out by the right power unit 60, the window cleaning robot 20 moves left. On the other hand, when the left wire 40 is reeled out by the left power unit 60 and the right wire 40 is reeled in by the right power unit 60, the window cleaning robot 20 moves right.

[0035] Fig. 2 is a perspective view showing the window cleaning robot 20. Fig. 2(A) shows a perspective view of the window cleaning robot 20 seen from the front side, and Fig. 2(B) shows a perspective view of the window cleaning robot 20 seen from the back side.

[0036] The window cleaning robot 20 includes a cleaning unit 21, an operating unit 22, a suction device 23 (fixing mechanism), a storage box 24, a tank 25, a hose 26, a frame 27, and wheels 28.

[0037] The cleaning unit 21 is a member that cleans the windows 11a (see FIG. 1) of the building 10, and has a roll-shaped brush 21a for wiping windows attached to its tip. The cleaning unit 21 cleans the windows 11a of the building 10 by moving while pressing the brush 21a against the windows 11a (surfaces to be cleaned) of the building 10. The cleaning unit 21 is movable in the vertical direction (Y direction).

[0038] The operating unit 22 is a device that moves the cleaning unit 21 up and down, and moves the cleaning unit 21 in the up and down direction by a motor and a drive mechanism (not shown).

[0039] The suction device 23 is a device that fixes the window cleaning robot 20 to the wall surface 11 or window 11a (see FIG. 1) of the building 10. Two suction devices 23 are arranged at positions that sandwich the cleaning unit 21 from above and below.

[0040] Although multiple (for example, three or more) suction devices 23 can be attached, in consideration of reducing the weight of the temporary window cleaning robot 20, it is desirable to attach and fix them by suction in two places, which is the minimum number of multiple places.

[0041] The storage box 24 is a box that houses a control panel for operating the operating unit 22, the suction device 23, the pump, etc. The tank 25 is a member that stores cleaning water. The hose 26 is a member that supplies the cleaning water stored in the tank 25 to the cleaning unit 21 using a pump (not shown) or the like. The hose 26 is made of a flexible material such as resin or rubber, and can flex and bend in accordance with the movement of the cleaning unit 21. The tank 25, the hose 26, the pump, etc. constitute a circulation unit that circulates and utilizes the cleaning water used in the cleaning unit 21.

[0042] The frame 27 is a member that supports each component of the window cleaning robot 20, and has a joint 52 and a hanging part 50 attached to its upper part. Note that pulleys 51 (see FIG. 1) are not shown. Four wheels 28 are arranged at the four corners of the lower part of the frame 27. The four wheels 28 are used to move the window cleaning robot 20 on the ground, floor, etc.

[0043] When using this window cleaning robot 20, the window cleaning robot 20 is installed so that the cleaning unit 21 and the suction device 23 face the wall surface of the building 10, and the window is cleaned (see FIG. 1).

[0044] 3A and 3B are front and rear views showing the window cleaning robot 20. Note that Fig. 3A shows a front view of the window cleaning robot 20, and Fig. 3B shows a rear view of the window cleaning robot 20.

[0045] Two suction devices 23 are arranged above and below the cleaning unit 21, and are arranged so that the center of gravity G of the window cleaning robot 20 is located on a line L1 connecting the two suction devices 23. The center of gravity G can be the center of gravity when the tank 25 is full of cleaning water, when a certain amount of cleaning water is contained in the tank 25, or when there is no cleaning water in the tank 25.

[0046] Furthermore, the line L1 can be a line connecting the same portion (for example, the tip, the center, the end, or a predetermined point on the suction surface) of the two suction devices 23. The line L1 and the center of gravity G may overlap, or may not overlap but may overlap when viewed from the front.

[0047] Furthermore, the center of gravity G of the window cleaning robot 20 is located below the window cleaning robot 20. Here, below means below the center of the window cleaning robot 20 in the vertical direction. Because the window cleaning robot 20 is suspended in mid-air when not attached, it is desirable that the center of gravity be as low as possible from the suspended position. In this regard, the window cleaning robot 20 of this embodiment is made up of the movement area E of the cleaning unit 21 (the operating range of the cleaning unit 21 (brush 21a)) and the upper and lower suction devices 23 that sandwich it, and because the window cleaning robot 20 has a vertically long shape, the center of gravity G is located low and is less likely to shake.

[0048] Furthermore, the two suction devices 23 are arranged at positions symmetrical with respect to the center C of the movement area E of the cleaning unit 21. Specifically, the two suction devices 23 are arranged at positions symmetrical with respect to a horizontal line L2 that passes horizontally through the center C of the movement area E.

[0049] In this way, by positioning the suction device 23 at a position that faces both ends of the movement area E of the cleaning unit 21 above and below, and at a position where the position of the center of gravity G of the window cleaning robot 20 is located on the line L1 connecting the suction device 23, the pressure pressing the brush 21a of the cleaning unit 21 can always be constant regardless of the position of the cleaning unit 21 within the movement area E, making it possible to clean the window without uneven wiping.

[0050] 4 is a diagram showing the positional relationship between the cleaning unit 21 and the suction devices 23 as viewed from the rear side. As shown in FIG. 4, the cleaning unit 21 is movable in the vertical direction (see arrow A). The two suction devices 23 are arranged in positions that sandwich the cleaning unit 21 from above and below. The two suction devices 23 then adhere to the wall surface 11 of the building 10, and fix the window cleaning robot 20 by adsorbing to it. The cleaning unit 21 (brush 21a) moves in the vertical direction while the window cleaning robot 20 is fixed to the wall surface 11 of the building 10, and cleans the window 11a.

[0051] When the window cleaning robot 20 is lifted along the wall surface 11 of the building 10, the window cleaning robot 20 is suspended from the suspension part 50. Therefore, the position and posture of the window cleaning robot 20 may become unstable due to movement or the influence of wind, and in such a case, it is difficult to clean the window 11a.

[0052] Therefore, the window cleaning robot 20 of this embodiment is equipped with a suction device 23 that, when the window cleaning robot 20 is lifted and moved to the target window surface, suctions and fixes the window cleaning robot 20 to the wall surface 11, stabilizing its posture and enabling cleaning work to begin. The suction device 23 adheres to the cleaning unit 21 while it is operating, and can release the suction when the window cleaning robot 20 moves on to the next cleaning job after cleaning is completed. The suction device 23 may be remotely switched between operation and non-operation, or may be automatically activated when the drive unit 60 finishes driving and automatically stopped before the drive unit 60 starts driving.

[0053] The fixing method of the suction device 23 can be vacuum suction with a suction pad or magnetic suction with an electromagnet, and can be selected depending on the material and shape of the target wall. For example, if the building wall is a tiled surface with few irregularities, vacuum suction can be used. Also, if the building wall is made of metal, magnetic suction can be used.

[0054] In this embodiment, as described above, the cleaning unit 21 is movable in the vertical direction, and the cleaning unit 21 that moves in the vertical direction is further sandwiched and fixed by two suction devices 23 from above and below, so that it can perform powerful cleaning while exerting a strong suction force, thereby improving cleaning quality.

[0055] FIG. 5 is a diagram showing the positional relationship between the cleaning unit 21 and the suction device 23 as viewed from the side. As shown in FIG. 5, the cleaning unit 21 is movable in the vertical direction (see arrow B). The two suction devices 23 are arranged in positions that sandwich the cleaning unit 21 from above and below. Cleaning water is supplied to the cleaning unit 21 from the tank 25 via the hose 26 (see white triangle), and the cleaning water used in the cleaning unit 21 returns to the tank 25 via the hose 26 (see black triangle). For example, the hose 26 has a two-layer structure internally, and the upper layer supplies cleaning water and the lower layer collects cleaning water.

[0056] The cleaning unit 21 also includes a brush 21a, an upper wiper 21b, and a lower wiper 21c. As described above, the brush 21a is a roll-shaped cleaning body for wiping windows. The upper wiper 21b is pressed against the window 11a to scrape and collect cleaning water on the window 11a. The lower wiper 21c is pressed against the window 11a to collect used cleaning water so that it does not spill downwards.

[0057] In addition, when adopting a system in which cleaning water is pumped by a pump only when it is supplied from the tank 25 to the cleaning unit 21, and the cleaning water after cleaning flows back into the tank 25 by gravity, it is preferable that the connection point between the cleaning unit 21 and the hose 26 be set at the bottom of the cleaning unit 21 (for example, near the lower end of the back surface of the cleaning unit 21 or on the bottom surface of the cleaning unit 21).

[0058] By operating the cleaning unit 21 in a wiping direction from top to bottom, the cleaning water used by the brush 21a of the cleaning unit 21 is collected by the lower wiper 21c, and the collected cleaning water can be filtered in any location (for example, in the hose 26 or the tank 25) and reused. In order to make the window cleaning robot 20 smaller and lighter while taking into consideration the configuration of such circulation units (the tank 25, the hose 26, the pump, etc.), it is desirable to operate the cleaning unit 21 in a wiping direction from top to bottom (vertical direction) and to arrange the suction devices 23 in positions that sandwich the cleaning unit 21 above and below and face each other.

[0059] As described above, this embodiment has the following advantages. (1) According to this embodiment, even in a temporary window cleaning robot 20, powerful window cleaning by the cleaning unit 21 (brush 21a) is possible, and a window cleaning robot 20 with high cleaning quality can be provided. (2) According to this embodiment, two or more suction devices 23 are arranged at positions where the cleaning unit 21 is clamped. This allows a constant reaction force to be obtained even when the cleaning unit 21 moves along the clamped straight line (the clamping can be fixed to stabilize the suction force). As a result, even with a temporary window cleaning robot 20, it is possible to avoid a decrease in cleaning quality.

[0060] (3) According to this embodiment, the center of gravity G of the window cleaning robot 20 is located on the line L1 connecting the two suction devices 23, so that the left and right balance of the window cleaning robot 20 can be stabilized. (4) According to this embodiment, the center of gravity G of the window cleaning robot 20 is located below the window cleaning robot 20, which reduces wobbling of the window cleaning robot 20 while suspended in mid-air.

[0061] (5) According to this embodiment, the two suction devices 23 are arranged in positions that are symmetrical with respect to the horizontal line L2 that passes horizontally through the center C of the movement area E of the cleaning unit 21, thereby enabling stable fixation by suction. (6) According to this embodiment, the cleaning unit 21 can move in the vertical direction, and the two suction devices 23 are positioned to sandwich the cleaning unit 21 from above and below, so that the cleaning unit 21 can be sandwiched from above and below when it moves in the vertical direction, making the fixation by suction more stable.

[0062] (7) According to this embodiment, the window cleaning robot 20 is provided with a circulation unit that circulates and utilizes the cleaning water used in the cleaning unit 21, so that the window cleaning robot 20 can be used for a long period of time while minimizing changes in the weight balance of the cleaning unit 21.

[0063] [Modifications] The present invention is not limited to the above-described embodiment, and can be practiced in various modified forms. (1) Although the cleaning robot has been described using the example of the window cleaning robot 20, other cleaning robots may also be used. For example, the cleaning robot may be a robot that cleans the wall surfaces of buildings. The surface to be cleaned may be a window or a wall.

[0064] (2) The cleaning range of the window cleaning robot 20 can be changed by changing the installation positions of the hanging unit 30 and the power unit 60. In other words, the arrangement positions of the hanging unit 30 and the power unit 60 are not limited to the example shown in FIG.

[0065] (3) An auxiliary wire may be provided to connect the two hanging portions 30 together. (4) Although the example has been described in which two suction devices 23 are arranged above and below the cleaning unit 21, two may be arranged on the left and right sides of the cleaning unit 21, or two may be arranged on the upper left, upper right, lower left, or lower right of the cleaning unit 21. The number of suction devices 23 may be three or more.

[0066] (5) The lifting device 100 may be placed in a location other than the roof (such as a balcony or veranda). (6) The suction device 23 may be a device that is movable in at least one direction among the up-down direction (Y direction), the left-right direction (X direction), and the front-rear direction (Z direction).

[0067] (7) The suction devices 23 may be disposed in a location where the center of gravity G of the window cleaning robot 20 is not located on the line L1 connecting the two suction devices 23. (8) The center of gravity G of the window cleaning robot 20 may be located at the center or above the cleaning robot.

[0068] (9) The two suction devices 23 may be arranged at positions that are point-symmetrical with respect to the center C of the movement area E of the cleaning unit 21. Alternatively, the two suction devices 23 may be arranged at positions that are not symmetrical with respect to the center C of the movement area E of the cleaning unit 21. (9) The cleaning unit 21 may be movable left and right, front and rear, and diagonally.

[0069] (10) The cleaning robot does not have to have a circulation unit. (11) At least one of the upper wiper 21b and the lower wiper 21c may not be provided. [Explanation of symbols]

[0070] 10 Building 11 Wall 11a Window 12 Installation part 20 Window Cleaning Robot 21 Cleaning Department 21a Brush 21b Upper wiper 21c Lower wiper 22 Operating unit 23 Adsorption device 24 Storage Box 25 Tank 26 Hose 27 frames 28 wheels 30 Hanging part 40 wire 50 Hanging part 51 Pulley 52 Joint 60 Power section 66 Control Panel C Center of the cleaning unit's movement area E Cleaning unit movement area G Center of gravity of window cleaning robot L1: Line connecting two suction devices L2 A horizontal line passing through the center of the moving area 100 Lifting equipment

Claims

1. A cleaning robot that is suspended from a lifting device temporarily installed in a building, a cleaning unit that cleans the cleaning target surface of the building by moving while pressing against the cleaning target surface; a device for fixing the cleaning robot to the building, the device including two or more suction devices arranged at positions that sandwich the cleaning unit; A cleaning robot comprising:

2. The cleaning robot according to claim 1 , The cleaning robot is characterized in that two suction devices are arranged above and below the cleaning unit, and the center of gravity of the cleaning robot is positioned on a line connecting the two suction devices.

3. The cleaning robot according to claim 1 , The cleaning robot is characterized in that the center of gravity of the cleaning robot is located below the cleaning robot.

4. The cleaning robot according to claim 1 , Two of the adsorption devices are arranged, The cleaning robot is characterized in that the two suction devices are arranged at positions symmetrical with respect to the center of the movement area of ​​the cleaning unit.

5. The cleaning robot according to claim 1 , The cleaning unit is movable in the up and down direction, Two of the adsorption devices are arranged, The cleaning robot is characterized in that the two suction devices are arranged in positions that sandwich the cleaning unit from above and below.

6. The cleaning robot according to claim 1 , The cleaning unit is movable in the up and down direction, A cleaning robot characterized by comprising a circulation unit that circulates and utilizes cleaning water used in the cleaning unit.

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