JP2023511636A - Surface cleaning robot device for variable rail drive - Google Patents

Abstract

A variable rail driven surface cleaning robotic device is disclosed. A variable rail-driven surface cleaning robot apparatus of the present invention includes a main body that moves along a rail member provided on an object to be cleaned, including a solar panel, and a main body that is provided on the main body and moves the main body along the rail member. driving means for moving the cleaning object by means of a driving means; cleaning means provided on the main body for cleaning the surface of the object to be cleaned and having a rotating brush connected to the driving means to rotate; and a rail height correction unit that corrects the distance between the rail members according to the distance between the rail members; and a correction unit. [Selection drawing] Fig. 1

Description

The present invention relates to a cleaning robot apparatus, and more particularly, to clean the surface of an object to be cleaned, including a solar panel, by correcting the interval or curved surface (height) of rails provided on the object to be cleaned. It relates to a variable rail-driven surface cleaning robotic device capable of

Unlike existing energy sources such as fossil fuels, solar power is a clean energy source that does not emit greenhouse gases, cause noise, or destroy the environment. In addition, unlike other wind and sea power, photovoltaic power generation facilities have the advantage of being free to install and having low maintenance costs.

However, such a solar module has a drawback that dirt tends to accumulate on the solar cell plate due to weather phenomena such as yellow sand and bad weather. When dirt accumulates on the solar module, the light absorptance of the solar module is significantly reduced, resulting in a reduction in power generation efficiency.

In addition, when rain or snow falls on the solar panel in winter, power generation efficiency may be reduced. In order to prevent deterioration of power generation efficiency due to dirt, snow, rain, etc., it is necessary to wash the solar module periodically.

However, it takes a lot of time and manpower to clean the solar modules arranged in large numbers one by one. To solve this problem, devices have been developed that can clean solar modules in a short period of time with minimal human power.

However, the existing solar module cleaning device is not properly corrected when the distance between the rails installed on the solar module is narrowed or widened, or when the rails are raised or widened. Since there is a problem of detachment or falling from the rail, a remedy for this problem is required.
The technical configuration described above is the background art for helping understanding of the present invention, and does not mean the prior art widely known in the technical field to which the present invention belongs.

Korean Patent No. 10-1171853

Accordingly, the technical problem to be solved by the present invention is to clean the surface of the object to be cleaned, including the solar panel, by correcting the interval, curved surface, or height of the rails provided on the object to be cleaned. To provide a variable type rail-driven surface cleaning robot device capable of

According to one aspect of the present invention, a main body that moves along a rail member provided on an object to be cleaned, including a solar panel, and a driving means that is provided on the main body and moves the main body along the rail member. cleaning means provided on the main body for cleaning the surface of the object to be cleaned and having a rotating brush connected to the driving means to rotate; and a rail height correction unit provided in the main body for correcting the height of the main body corresponding to the heights of the plurality of rail members. A surface cleaning robotic device is provided that includes:

The rail gap correction part is provided in the main body and includes an LM guide that moves in the width direction of the rail member, a guide support whose upper part is connected to the LM guide, and a lower part that is connected to the guide support. a plurality of first correction wheel shafts coupled to the first support frame so as to be able to move up and down; and a plurality of first guide wheels supported by the .

The rail gap correction part may further include a plurality of first elastic members provided on upper portions of the plurality of first correction wheel shafts to elastically support the upper portions of the plurality of first correction wheel shafts.
The rail gap correction part may further include a plurality of first washers supporting upper and lower ends of the plurality of first elastic members.

The rail height correction unit includes a second support frame coupled to the main body at a position facing the rail gap correction unit, and a plurality of second correction wheel shafts coupled to the second support frame so as to be able to move up and down. a plurality of second guide wheels provided on the lower side of the plurality of second correction wheel shafts and rotatably supported by the rail member; and a plurality of second guide wheels provided on the upper side of the plurality of second correction wheel shafts, and a plurality of second elastic members elastically supporting upper portions of the plurality of second correction wheel shafts.
The rail height corrector may further include a plurality of second washers supporting upper and lower ends of the plurality of second elastic members.

The driving means includes a driving motor installed at one side of the body, and a driving motor installed at one side of the body and connected to the driving motor to move the one side of the body along the rail member. and a first driving part, which is provided on one side of the body apart from the first driving part, is connected to the first driving part, and moves the one side of the body along the rail member. a second drive section provided on the other side of the main body and connected in parallel to the first drive section to move the other side of the main body along the rail member; A fourth driving part is provided on the other side of the main body apart from the driving part, is connected to the second driving part and the third driving part, and moves the other side of the main body along the rail member. and

The cleaning means includes a brush shaft connected to the driving means and rotating; a rotating brush provided on the brush shaft and rotating together with the brush shaft to clean the surface of the object to be cleaned; A line-shaped brush may be provided on the main body spaced apart from the brush to clean the surface of the object to be cleaned.

The cleaning device may further include a belt tension unit installed in the main body to press the first belt member and the second belt member of the driving means to be connected to the brush pulley of the cleaning means.

The surface cleaning robot device may further include at least one of a battery installed in the main body and a charging terminal installed in the main body to be electrically connected to the battery and charging the battery. .

In the embodiment of the present invention, the rail gap correction part provided in the main body corrects the gap between the rail members corresponding to the gap between the rail members, and the rail height correction part corresponds to the height of the rail member and corresponds to the height of the main body. By correcting the roughness, it is possible to stably clean the object to be cleaned, including the solar panel, without detaching or dropping the main body.
Moreover, since the rail gap correction part can additionally correct the height of the main body corresponding to the height of the rail member, it is possible to further improve safety.
In addition, the battery can be conveniently charged through the charging terminal provided on the main body.

1 is a schematic front view of a variable rail driven surface cleaning robot apparatus according to an embodiment of the present invention; FIG. 2 is a schematic plan view of FIG. 1; FIG. FIG. 2 is an enlarged view showing a region of a rail gap correction portion shown in FIG. 1; FIG. 3 is an enlarged perspective view showing regions of a first driving section and a second driving section shown in FIG. 2; FIG. 2 is an enlarged view showing a region of a rail height correction portion shown in FIG. 1; 3 is an enlarged perspective view showing regions of a third driving section and a fourth driving section shown in FIG. 2; FIG. Fig. 2 schematically shows the driving means and the cleaning means of the present embodiment; FIG. 4 is a diagram schematically showing a rail interval correction unit shown in FIG. 3; It is a figure which shows roughly the rail height correction|amendment part shown in FIG. Figure 2 schematically shows a region of the first outer plate shown in Figure 1; 3 is an enlarged view showing the area of the charging terminal shown in FIG. 2; FIG. It is a figure which shows the use condition of a present Example.

For a fuller understanding of the invention and its operational advantages and objectives attained by the practice of the invention, reference should be made to the accompanying drawings, which illustrate a preferred embodiment of the invention, and the contents of which are set forth in the accompanying drawings. must refer to.
BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention based on the accompanying drawings. The same reference numerals presented in the figures refer to the same parts.

FIG. 1 is a schematic front view of a variable rail-driven surface cleaning robot apparatus according to an embodiment of the present invention, FIG. 2 is a schematic plan view of FIG. 1, and FIG. 4 is an enlarged perspective view showing the area of the first drive unit and the second drive unit shown in FIG. 2, FIG. 5 is an enlarged view showing the area of the rail height correction unit shown in FIG. 3 is an enlarged perspective view showing regions of a third driving section and a fourth driving section shown in FIG. 2; FIG.

7 schematically shows the driving means and the cleaning means of this embodiment, FIG. 8 schematically shows the rail interval correction section shown in FIG. 3, and FIG. 9 shows the rail height correction shown in FIG. 10 is a diagram schematically showing the area of the first outer plate shown in FIG. 1, FIG. 11 is an enlarged diagram showing the area of the charging terminal shown in FIG. 2, and FIG. 12 is the present embodiment. is a diagram showing the state of use of the .

As shown in these figures, the variable rail-driven surface cleaning robot device 1 according to this embodiment includes a main body 100 that moves along a rail member 10 provided on an object to be cleaned including a solar panel 20, and a main body A driving means 200 provided on the body 100 for moving the main body 100 along the rail member 10, and a rotating brush 320 provided on the main body 100 for cleaning the surface of the object to be cleaned and rotating while being connected to the driving means 200 are provided. a cleaning means 300 provided on the main body 100 for correcting the spacing of the rail members 10 corresponding to the spacing between the plurality of rail members 10; a rail height correction unit 600 for correcting the height of the main body 100 corresponding to the height of the main body 100; a printed circuit board 700 provided on the main body 100; a battery 800 provided on the main body 100 and connected to the printed circuit board 700; It includes a charging terminal 900 installed on the body 100 and connected to the battery 800 , a charging bracket 1000 installed on the body 100 in the area where the charging terminal 900 is installed, and a limit switch 1100 installed on the body 100 .

The main body 100 can be moved in the longitudinal direction of the rail member 10 shown in FIG. Here, the upper surface of the solar panel 20 can be cleaned by the cleaning means 300 provided on the main body 100 .

In this embodiment, as shown in FIG. 2, the main body 100 includes a plurality of horizontal frames 110, a first side plate 120 coupled to left sides of the plurality of horizontal frames 110 with bolts or screws, and a plurality of horizontal frames. A second side plate 130 coupled to the right side of the horizontal frame 110 with bolts or screws, a first outer plate 140 spaced from the first side plate 120 and disposed on the left side of the plurality of horizontal frames 110, and a second side plate 140 . A second outer plate 150 disposed on the right side of the plurality of horizontal frames 110 apart from the plate 130, a first connecting frame 160 connecting the first side plate 120 and the first outer plate 140, and a second side plate. 130 and the second outer plate 150; at least one body cover 180 connected to the horizontal frame 110 with bolts or screws; A first side cover 190 coupled with screws, a second side cover 193 coupled with the second side plate 130 and the second outer plate 150 with bolts or screws, and a first outer plate 140 and the second outer plate 150. and a plurality of rail blades 195 that are connected by bolts or screws.

In this embodiment, a plurality of body covers 180 may be provided as shown in FIG. In this case, the plurality of body covers 180 may be detachably coupled with bolts or screws.

The driving means 200 is installed in the main body 100 to move the main body 100 back and forth in the longitudinal direction of the rail member 10, and is connected to the battery 800 to receive electric energy.

In this embodiment, as shown in FIG. 2, the driving means 200 includes a driving motor 210 coupled to the first outer plate 140, and a driving motor 210 coupled to the body 100 so as to be connected to the left side of the body 100. A first driving part 220 that moves the upper part along the rail member 10 and a second driving part that is separated from the first driving part 220 and coupled to the main body 100 and moves the left lower part of the main body 100 along the rail member 10 . 230, a third driving unit 240 provided on the right side of the main body 100 and connected in parallel to the first driving unit 220 to move the upper right side of the main body 100 along the rail member 10; A fourth driving part 250, which is spaced from the right side of the main body 100, is connected to the second driving part 230 and the third driving part 240, and moves the right lower part of the main body 100 along the rail member 10; A first belt member 260 connecting the driving portion 220 and the second driving portion 230 and a second belt member 270 connecting the third driving portion 240 and the fourth driving portion 250 are included.

In this embodiment, the driving unit 200 can drive the second driving unit 230, the third driving unit 240 and the fourth driving unit 250 only by driving the first driving unit 220 connected to the driving motor 210. The brush shaft 310 and the rotating brush 320 of the cleaning means 300 can be rotated. In addition, when the first driving part 220 is driven, the second driving part 230, the third driving part 240 and the fourth driving part 250 can be driven at the same time, and the brush shaft 310 and the rotating brush 320 of the cleaning means 300 are also driven. can rotate at the same time.
The driving motor 210 of the driving means 200 may be detachably coupled to the first outer plate 140 or the first side plate 120 with screws or bolts.
The first driving part 220 of the driving means 200 may be directly connected to the driving motor 210 and driven.

In this embodiment, as shown in FIG. 7, the first driving part 220 includes a driving shaft 221 directly connected to the driving motor 210 and rotating, and a second driving shaft 221 connected to the driving shaft 221 and rotating together with the driving shaft 221 . 1 pulley 222, a first wheel member 223 coupled to the driving shaft 221 to rotate together with the driving shaft 221 and having a bottom portion supported by the rail member 10, a left portion supporting the first pulley 222, and a right portion supporting the first pulley 222. A pair of first collars 224 coupled to the drive shaft 221 to support the first wheel member 223; a first coupling 225 coupled to the right end of the drive shaft 221; and a first connecting shaft 226 that is connected to the right end of the drive shaft 221 via and rotates together with the drive shaft 221 .
In this embodiment, the driving shaft 221 of the first driving part 220 may be rotatably coupled to the first side plate 120 and the first outer plate 140 .

The second driving part 230 of the driving means 200 is connected to the first driving part 220 via the first belt member 260 and can rotate together with the first driving part 220, as shown in FIG.

In this embodiment, the second driving part 230 includes a second wheel shaft 231 and a second pulley 232 coupled to the second wheel shaft 231 and rotating together with the second wheel shaft 231, as shown in FIG. , a second wheel member 233 coupled to the second wheel shaft 231 to rotate together with the second wheel shaft 231 and having a bottom portion supported by the rail member 10; a left side portion supporting a second pulley 232; a pair of second collars 234 coupled to the second wheel axle 231 to support the second wheel member 233; a second coupling 235 coupled to the right end of the second wheel axle 231; and a second connecting shaft 236 coupled to the right end of the second wheel shaft 231 via 2 couplings 235 and rotating together with the second wheel shaft 231 .
In this embodiment, the second wheel shaft 231 of the second driving part 230 may be rotatably coupled to the first side plate 120 and the first outer plate 140 .

The third driving part 240 of the driving means 200 is connected to the first driving part 220 through the first connecting shaft 226 and can rotate together with the first driving part 220, as shown in FIG.

In this embodiment, the third driving part 240 includes a third wheel shaft 241 and a third pulley 242 coupled to the third wheel shaft 241 and rotating together with the third wheel shaft 241, as shown in FIG. , the third wheel member 243 coupled to the third wheel shaft 241 to rotate together with the third wheel shaft 241, the bottom portion of which is supported by the rail member 10; the right side portion of which supports the third pulley 242; A pair of third collars 244 are coupled to the third wheel axle 241 so as to support the third wheel member 243, and the left end of the third wheel axle 241 is coupled to the first connecting axle 226 and the third coupling axle. and a third coupling 245 connecting the wheel axle 241 .
In this embodiment, the third wheel shaft 241 of the third driving part 240 may be rotatably coupled to the second side plate 130 and the second outer plate 150 .

The fourth driving part 250 of the driving means 200 is connected to the third driving part 240 by the second belt member 270 and can rotate together with the third driving part 240, as shown in FIG.

In this embodiment, the fourth driving part 250 includes a fourth wheel shaft 251 and a fourth pulley 252 coupled to the fourth wheel shaft 251 and rotating together with the fourth wheel shaft 251, as shown in FIG. , a fourth wheel member 253 coupled to the fourth wheel shaft 251 to rotate together with the fourth wheel shaft 251 and having a bottom portion supported by the rail member 10; a right side portion supporting a second pulley 232; A pair of fourth collars 254 coupled to the fourth wheel shaft 251 to support the fourth wheel member 253 and a fourth cup connecting the left end of the fourth wheel shaft 251 and the second connecting shaft 236. ring 255.
In this embodiment, the fourth wheel shaft 251 of the fourth driving part 250 may be rotatably coupled to the second side plate 130 and the second outer plate 150 .

As shown in FIGS. 4 and 6, the first belt member 260 and the second belt member 270 of the driving means 200 are pressed by the belt tension unit 400 to maintain tension.
The cleaning means 300 is installed in the main body 100 to clean the surface of the solar panel 20 with a brush, and is connected to the driving means 200 so that most of the components can be rotated.

In this embodiment, as shown in FIG. 7, the cleaning means 300 includes a brush shaft 310 connected to the first belt member 260 of the driving means 200 to rotate, and a brush shaft 310 installed on the brush shaft 310 to rotate together with the brush shaft. 2, a rotating brush 320 for cleaning the surface of the solar panel 20, and a linear brush installed on the horizontal frame 110 apart from the rotating brush 320 for cleaning the surface of the solar panel 20, as shown in FIG. a pair of brush connecting shafts 340 rotatably connected to the first side plate 120 and the first outer plate 140 and the second side plate 130 and the second outer plate 150 and connected to the brush shaft 310; A pair of brushes connected to the brush connecting shaft 340 to rotate together with the brush connecting shaft 340 and connected to the first belt member 260 or the second belt member 270 to transmit the rotational force of the driving means 200 to the brush connecting shaft 340. A pulley 350 and a pair of brush couplings 360 connecting the brush shaft 310 and the pair of brush connecting shafts 340 are included.

As shown in FIG. 2 , the rotating brush 320 of the cleaning means 300 is spirally installed on the brush shaft 310 to continuously clean the surface of the solar panel 20 .

In this embodiment, when the driving means 200 is driven, the brush pulley 350 connected to the first belt member 260 shown in FIG. 310 to rotate the brush shaft 310 . In this embodiment, the rotating brush 320 can rotate together with the brush shaft 310 to clean the surface of the solar panel 20 .

Also, in this embodiment, when the driving means 200 is driven, the brush pulley 350 connected to the second belt member 270 shown in FIG. It can be transmitted to the brush shaft 310 to rotate the brush shaft 310 . In this embodiment, since the first belt member 260 and the second belt member 270 rotate in the same direction, the pair of brush pulleys 350 arranged on both left and right sides of the brush shaft 310 can also rotate in the same direction. It can rotate in the same direction as the first belt member 260 and the second belt member 270 .

4 and 6, the belt tension part 400 is provided on the first outer plate 140 and the second outer plate 150, respectively, and serves as a first belt member that connects the first driving part 220 and the second driving part 230. 260 may be pressed to be connected with the brush pulley 350 , and the second belt member 270 connecting the third driving part 240 and the fourth driving part 250 may be pressed to be connected with the brush pulley 350 .

In this embodiment, the belt tensioning part 400 includes a tension body 410 bolted to the first outer plate 140, a tension shaft 420 connected to the tension body 410, and a tension shaft 420, as shown in FIG. and a plurality of tension rollers 430 rotatably coupled to urge the first belt member 260 to be coupled with the brush pulley 350 .

Also, in this embodiment, the belt tension part 400 may also be provided on the second outer plate 150, as shown in FIG. In this case, the plurality of tension rollers 430 described above may press the second belt member 270 .

As shown in FIG. 3 , the rail gap correction part 500 is coupled to the main body 100 in the area where the drive motor 210 is provided, and corrects the gap between the rail members 10 corresponding to the gap between the rail members 10 . The height of the main body 100 can be corrected corresponding to the height of the .

In this embodiment, as shown in FIG. 8 , the rail gap correction part 500 is coupled to the first connection frame 160 to move in the width direction of the rail member 10 , and the upper part is coupled to the LM guide 510 . a first support frame 530 coupled to the lower part of the guide support 520; a plurality of first correction wheel shafts 540 coupled to the first support frame 530 so as to be able to ascend and descend; A plurality of first guide wheels 550 provided on the lower side of one correction wheel shaft 540 and rotatably supported by the rail member 10; A plurality of first elastic members 560 that elastically support the upper portion of the first correction wheel shaft 540, a plurality of first washers 570 that support the upper and lower ends of the plurality of first elastic members 560, and a plurality of first corrections. and a first fastening member 580 coupled to the upper end of the wheel axle 540 .

In this embodiment, the LM guide 510 moves in the lateral direction of the first connection frame 160 with reference to FIG. Spacing errors can be corrected.

Also, in this embodiment, the pair of first correction wheel shafts 540 are moved in the vertical direction of the first support frame 530 by the pair of first elastic members 560 shown in FIG. By raising or lowering, the main body 100 can be moved along the curved surface of the rail member 10 .

Further, in the present embodiment, as shown in FIG. 4, a pair of rail gap correction units 500 may be separately installed in the area where the first driving unit 220 and the second driving unit 230 are installed.

As shown in FIG. 5, the rail height correction part 600 is coupled to the body 100 in the area where the printed circuit board 700 is provided, and when the height of the rail member 10 is increased or decreased, the body is adjusted accordingly. A height of 100 can be corrected.

In this embodiment, as shown in FIG. 9, the rail height correction unit 600 includes a second support frame 610, a plurality of second correction wheel shafts 620 coupled to the second support frame 610 so as to move up and down, a plurality of A plurality of second guide wheels 630 provided on the lower side of the second correction wheel shaft 620 and rotatably supported by the rail member 10; a plurality of second elastic members 640 that elastically support the upper portion of the second correction wheel shaft 620; a plurality of second washers 650 that support the upper and lower ends of the plurality of second elastic members 640; and a second fastening member 660 coupled to the upper end of the second correction wheel shaft 620 .
The second support frame 610 of the rail height correction part 600 may be detachably coupled to the second side plate 130 and the second outer plate 150 with bolts.

In this embodiment, when the main body 100 moves along the curved rail member 10, the pair of second correction wheel shafts 620 are moved by the pair of second elastic members 640 shown in FIG. 9(a). 2. The body 100 can be moved along the curved shape of the rail member 10 by moving the supporting frame 610 vertically to increase or decrease the height of the body 100 .

Also, in the present embodiment, as shown in FIG. 6, a pair of rail height correction units 600 may be separately installed in a region where the third driving unit 240 and the fourth driving unit 250 are installed.

As shown in FIG. 1, the printed circuit board 700 is installed in the main body 100 in the area where the rail height correction unit 600 is installed, and can control the drive motor 210, the battery 800, the limit switch 1100, and the like.

As shown in FIG. 11 , the battery 800 is installed in the main body 100 in the area where the printed circuit board 700 is installed, and is connected to the driving motor 210 to supply electric energy to the driving motor 210 .
In this embodiment, battery 800 includes lithium battery 800 .

As shown in FIG. 11 , the charging terminal 900 is installed in the main body 100 in the area where the battery 800 is installed, is connected to the battery 800 , and can supply external power to the battery 800 .
In this embodiment, the charging terminal 900 may be protected by a charging bracket 1000 installed in front of the charging terminal 900 .

As shown in FIG. 1, the limit switch 1100 is provided on the main body 100 in the area where the rail height correction section 600 is provided, and contacts a stopper provided on the rail member 10 to limit the movement of the main body 100. can be done.

Thus, it is common knowledge in the art that the present invention is not limited to the embodiments described above, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. It is clear to those who have Accordingly, such modifications or variations are deemed to fall within the scope of the claims of the present invention.

Claims (10)

a main body that moves along a rail member provided on an object to be cleaned including a solar panel;
a driving means provided on the main body for moving the main body along the rail member;
cleaning means provided on the main body and comprising a rotating brush that cleans the surface of the object to be cleaned and is connected to the driving means to rotate;
a rail spacing correction unit provided in the main body for correcting the spacing of the rail members corresponding to the spacing of the plurality of rail members;
A surface cleaning robot apparatus comprising: a rail height correction unit provided in the main body for correcting the height of the main body in accordance with the heights of the plurality of rail members. The rail interval correction unit
an LM guide that is provided on the main body and moves in the width direction of the rail member;
a guide support having an upper portion coupled to the LM guide;
a first support frame coupled to the lower portion of the guide support;
a plurality of first correction wheel shafts movably coupled to the first support frame;
2. The robotic surface cleaning apparatus of claim 1, further comprising a plurality of first guide wheels provided on the underside of the plurality of first correction wheel axles and rotatably supported on the rail member. 3. The rail gap correction unit further includes a plurality of first elastic members provided on upper portions of the plurality of first correction wheel shafts and elastically supporting the upper portions of the plurality of first correction wheel shafts. 10. The surface cleaning robotic device according to 1. 4. The surface cleaning robot apparatus of claim 3, wherein the rail gap correction unit further includes a plurality of first washers supporting upper and lower ends of the plurality of first elastic members. The rail height correction unit is
a second support frame coupled to the main body at a position facing the rail gap correction part;
a plurality of second correction wheel shafts movably coupled to the second support frame;
a plurality of second guide wheels provided on the lower side of the plurality of second correction wheel shafts and rotatably supported by the rail member;
2. The surface cleaning robot apparatus of claim 1, further comprising a plurality of second elastic members provided on upper portions of the plurality of second correction wheel shafts and elastically supporting the upper portions of the plurality of second correction wheel shafts. . 6. The surface cleaning robot apparatus of claim 5, wherein the rail height correction unit further includes a plurality of second washers supporting upper and lower ends of the plurality of second elastic members. The drive means
a driving motor installed at one side of the body;
a first driving unit provided at one side of the main body and connected to the driving motor to move the one side of the main body along the rail member;
a second driving part spaced from the first driving part and provided on one side of the body, connected to the first driving part, and configured to move the one side of the body along the rail member;
a third driving unit provided on the other side of the main body, connected in parallel to the first driving unit, and configured to move the other side of the main body along the rail member;
A second driving unit is provided on the other side of the main body apart from the third driving part, is connected to the second driving part and the third driving part, and moves the other side of the main body along the rail member. 4. The surface cleaning robotic device of claim 1, comprising four drives. The cleaning means
a brush shaft connected to the driving means and rotating;
a rotating brush that is provided on the brush shaft and rotates together with the brush shaft to clean the surface of the object to be cleaned;
2. The surface cleaning robot apparatus according to claim 1, further comprising: a line-shaped brush installed on the main body spaced apart from the rotating brush for cleaning the surface of the object to be cleaned. 2. The surface cleaning robot according to claim 1, further comprising a belt tension unit provided on the main body and pressing the first belt member and the second belt member of the driving means to be connected to the brush pulley of the cleaning means. Device. a battery provided in the main body;
2. The robot surface cleaning device of claim 1, further comprising a charging terminal provided on the body to be electrically connected to the battery and charging the battery.

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