KR100993004B1 - Remote controlled robot for cleaning the interior of duct - Google Patents

Abstract

The present invention relates to a remote control robot for duct cleaning, comprising: a cart which is remotely controlled to operate and moves inside the duct; A first link extending in front of the cart and rotatably fixed to the cart; A first driving part rotating the first link with respect to the cart; A second link rotatably connected to the first link; A second driving part which rotationally drives the second link with respect to the first link; A cleaning unit located around the second link to remove dust from the duct surface; It is configured to include, so that the ceiling surface and the bottom surface in the duct at the same time contact or close, and even if the duct height changes during the cleaning process by adjusting the angle of the second link to the change height to continue cleaning In addition, the cleaning time inside the duct can be shortened, and even if the duct has an inclination upward or downward, the remote control robot for cleaning the duct can be cleaned more cleanly by increasing the cleaning rate by bringing it into contact with or approaching the ceiling surface and the floor surface. To provide.

Duct, 1st Link, 2nd Link, Segmented Link, Suction, Cleaning Brush

Description

Remote Control Robot for Duct Cleaning {REMOTE CONTROLLED ROBOT FOR CLEANING THE INTERIOR OF DUCT}

The present invention relates to a remote control robot for cleaning a duct, and more particularly, for a duct cleaning that allows the cleaning unit to effectively clean the inner wall of the duct while contacting or approaching the upper and lower and side surfaces of the duct's inner wall, even if the duct varies in height or inclination. It relates to a remote control robot.

Generally, the air conditioner is installed in the building to maintain the indoor temperature and humidity appropriately, and the duct is installed to send air from the air conditioner to various places in the room or to recover the air back to the air conditioner. In addition, a duct for receiving fresh outside air or a duct for discharging some indoor air is also provided.

These ducts cause the respiratory diseases such as asthma and bronchitis in people in the building, because as time passes due to the dust flowing into the air after installation, dust accumulates or dirty foreign matters accumulate and bacteria and mold grow. It is becoming. In addition, contaminants such as fine dust that enter the building through the duct may accumulate in office equipment or other electronic devices such as computers or multifunction devices, and may cause malfunctions. The flow is disturbed and the heating and cooling efficiency is lowered. Therefore, the inside of the duct should be cleaned periodically to remove the foreign matter inside the duct.

However, because the duct is hard and difficult to enter directly inside, it is formed to be narrow and long and is not firmly supported so that a person can move inside. Therefore, to clean the inside of the duct, a remote control is used. .

However, the conventional duct cleaning robot is generally used to fix one large brush having a diameter corresponding to the duct height, which is accompanied by the hassle of having to replace the brush when the duct height changes In addition, in the case of using a brush of smaller diameter, there is a problem in that it takes a long time to clean the duct because the ceiling surface, the bottom surface, and the side center portion can be cleaned separately.

Above all, there is a limitation that the robot, in which the brush is fixed in a fixed position with respect to the cart, cannot clean all the areas because the brush does not touch a certain area in cleaning the duct with the downward or upwardly inclined area. .

Therefore, the ceiling surface, the bottom surface and the side surfaces of the duct can be simultaneously brought into contact with each other so that the cleaning of the duct can be completed in a short time, and the ceiling surface and the bottom surface can be effectively applied even when the duct has an upward or downward slope. There is a great demand for a duct cleaning robot that can clean the side surface.

In addition, the conventional duct cleaning robot is equipped with a brush of a predetermined height, as the robot for cleaning the inner wall of the high duct and a robot for cleaning the inner wall of the low-duct ducts must be provided separately, the cleaning company has a variety of sizes There was also a problem that the cost of having to have a robot significantly increased.

In addition, the conventional duct cleaning robot is composed mainly of the brush to separate the foreign matter inside the duct from the inner wall of the duct, there was also a problem that must be installed by connecting a separate dust collector outside the duct to discharge the separated foreign matter.

In order to solve the problems described above, the present invention is controlled so as to contact or approach the bottom surface, the ceiling surface and the side surface of the duct at the same time, even if the height or inclination of the duct fluctuates, so that It is an object of the present invention to provide a remote control robot for duct cleaning, which enables cleaning of the ceiling, floor, and side surfaces at once, thereby enabling cleaning to completely separate foreign substances from the inner wall of the duct.

It is another object of the present invention to provide a remote control robot for duct cleaning composed of segmented links to clean ducts of various heights with one robot.

In addition, another object of the present invention is to provide a duct cleaning remote control robot having a structure in which a camera and a light for checking a cleaning state are not disturbed by a cleaning unit.

In addition, another object of the present invention is to enable a more complete cleaning by performing the work of brushing off the foreign matter or dust from the inner wall of the duct by the brush-type cleaning brush, and the operation of suctioning the foreign matter and dust off. .

In addition, the present invention does not clean the inside of the duct by contact, for example, when cleaning the inside of the duct through which chemicals harmful to the human body chemicals attached to the inner wall of the duct is not scattered immediately to the cleaning robot Another object is to provide a cleaning robot of the type that sucks in foreign matter inside the duct for collection.

In addition, the present invention, in the case of the duct that is made of a heat insulating material, while the cleaning should not be damaged by contact with the heat insulating material, it is another object to make it possible to effectively clean without damage by spraying the compressed air.

The present invention and the cart to move in the duct is controlled remotely to achieve the object described above; A first link extending in front of the cart and rotatably fixed to the cart; A first driving part rotating the first link with respect to the cart; A second link rotatably connected to the first link; A second driving part which rotationally drives the second link with respect to the first link; A cleaning unit located around the second link to remove dust from the duct surface; It provides a remote control robot for duct cleaning, characterized in that configured to include.

That is, the first link to which the cleaning unit is attached is pivoted with respect to the cart from a remotely operated cart, so that the cleaning unit rotates the first link along the inclined surface even if the duct has an inclination, thereby causing the cleaning unit to bottom in the duct. The second link is adjusted to be in contact with the face, the ceiling and the side at the same time, making it possible to clean quickly and cleanly.

More specifically, in the related art, even if a cleaning unit such as a brush is fixed or moved at a predetermined relative position from a cart, the cleaning unit is configured to move only in a very limited range. The remote control robot for duct cleaning according to the present invention includes a first link. As the cart is pivotally fixed relative to the cart, an environment is provided in which the cleaning unit located around the second link pivotally fixed to the first link may be lowered further than the bottom surface on which the wheels of the cart contact. Therefore, even when the slope in which the duct is bent downward is severe, as the first link rotates downward, the ends of the second link can also come into contact with the bottom surface of the downwardly inclined duct. The floor can also be cleaned cleanly. In addition, even when the duct is bent upward, the first link is controlled to be parallel or somewhat higher so that the end of the second link, which is rotatably coupled to the first link, is placed on the ceiling surface of the duct inclined upward. It is possible to contact more easily to enable clean cleaning.

Here, the first driving unit and the second driving unit may be formed to include an electric motor for driving the rotation of the first link and the second link or an air motor operated at a high pressure of a compressor as described in the following embodiments. It may be formed, including a hydraulic cylinder for driving linearly by hydraulic pressure or an electric cylinder for driving linearly by receiving electricity. At this time, the hydraulic cylinder or the electric cylinder is installed hinged to one end of the cart and the other end is installed hinged to the first link can be driven to rotate the first link relative to the cart, similarly, another hydraulic cylinder or electric One end of the cylinder is hingedly coupled to the cart or the first link, and the other end is hingedly coupled to the second link, so that the second link can be rotationally driven relative to the first link. However, since the hydraulic cylinder and the electric cylinder are driven in a straight line, it is preferable to drive the cleaning unit rotational drive by the electric motor or the air motor. In addition, the first driving unit, the second driving unit and the cleaning unit rotation driving unit may be made by other means not listed above.

In addition, even when the height of the duct changes during the cleaning, if the angle of the second link is changed to match the height of the duct and contacted to match the ceiling surface, it is possible to enable clean cleaning.

In this way, the first link is pivotally configured relative to the cart, so that the second link connected to it is much more controlled to control its one end on the bottom surface and the other end on the ceiling surface in accordance with the inclination of the various ducts. It has an advantageous effect that is easily implemented.

At this time, the second link is preferably formed in a pair spaced apart in the width direction of the cart. At this time, it is preferable that the pair of second links provided to be spaced apart from each other are provided with a connecting member for interconnecting the second links in that the second links have a structurally stable structure.

Therefore, the cleaning unit is arranged and installed in an area connecting between one end of the pair of second links and an area connecting between the other ends of the pair of second links. In this way, the cleaning unit arranged between one end of the second link is in contact with or close to the floor surface inside the duct in a larger area, and the cleaning unit arranged between the other ends of the second link is connected to the ceiling surface inside the duct. The cleaning can be done by touching or approaching a larger area.

First of all, when the second link is formed in pairs spaced in the width direction, it becomes much easier to control the duct cleaning remote control robot. In more detail, in order to move the robot to be dark inside the duct and to check the cleaning state, a camera photographing the inside of the duct and a light shining brightly inside the duct are necessary. However, if a cleaning unit, such as a brush for cleaning the bottom, ceiling and sides of the duct, is fixedly positioned on one link, it will obscure the front of the camera and the light, making the robot operator very difficult to control, The robot may fall down during the cleaning because it does not find a part or an inclined surface in advance, and a problem may occur that may damage the temperature sensor or the air flow sensor that protrude in the duct.

Therefore, when the second link is spaced apart in the width direction, and the cleaning units are arranged between both ends of the pair of second links, the cleaning unit located between the pair of second links and both ends is empty. Since the quadrangle is formed, it is advantageous to look at the front of the cart through the center portion emptied by the front light and the front camera. Here, the front camera and the front light is rotatably installed in the left and right (width) direction, and may be used for looking at the left and right front portions of the cart.

On the other hand, the remote control robot for cleaning the duct can be cleaned only when the cleaning unit is located and moved in contact with or close to the floor surface and the ceiling surface of the duct. However, the duct is characterized by a very large difference in height depending on the intended use or building. Therefore, conventionally, cleaning robots having various sizes for each height of the duct could be cleaned. However, it is very costly to have a robot for cleaning various sizes, and since the cleaning takes a long time due to the occasional replacement, the length of the second link on which the cleaning unit such as a brush is mounted is divided into two or more segment links. Is formed by combining so that the length of the second link is variable according to the number and length of the segment links, so that it is possible to clean the high and low height ducts smoothly with one remote control robot. do.

Here, the cleaning unit has a plurality of rotating cleaning brush (that is, brush) is located between both sides of the second link and both ends, so that the cleaning brush is in contact with the inner wall of the duct and mechanical contact to the inner wall It is possible to separate the stuck foreign matter from the inner wall.

At this time, the cleaning unit is not limited to being made by a brush, but after installing an air passage through which air passes through the four surfaces of the second link and forming a slit toward the duct surface or installing a nozzle It may also be configured to connect with an air compressor and a hose. In this way, when the inner wall of the duct cannot be directly contacted, the inner wall of the duct can be cleaned by the compressed air injected through the end of the air passage and the narrow hop or nozzle formed therebetween.

In addition, the cleaning unit may be formed as a suction unit connected from the suction unit to suck the surrounding dirt or may be configured in addition to the configuration of the cleaning brush and the high-pressure air passage. Through this, it is easy to clean the accumulated dust or foreign matter that is not fixed in the duct, and has the advantage of not generating dust around the cleaning process. In addition, by immediately collecting the foreign matter separated from the inner wall of the duct by a cleaning brush or a high-pressure air passage, it is possible to perform these processes at the same time, unlike the conventional method in which the foreign matter separation process and the foreign matter collection process in the duct was performed separately The beneficial effect is obtained.

In addition, a rotating cleaning brush is attached to the suction port of the suction unit, and separates the foreign matter stuck to the inside of the duct with the cleaning brush, and immediately collects the foreign matter separated through the suction port to quickly remove the dust from the inside of the duct without causing dust. It becomes possible to clean.

As described above, the present invention includes a cart that is moved and controlled to move in the duct remotely; A first link extending in front of the cart and rotatably fixed to the cart; A first driving part rotating the first link with respect to the cart; A second link rotatably connected to the first link; A second driving part which rotationally drives the second link with respect to the first link; A cleaning unit located around the second link to remove dust from the duct surface; It is configured to include a ceiling surface and the bottom surface and the side of the duct at the same time to reduce the cleaning time in the duct, as well as the ceiling surface even if the height of the duct changes or has an inclination upward or downward It provides a remote control robot for duct cleaning that can be in close contact with or close to the floor and side.

In addition, the present invention is configured so that the second link that is mounted to the cleaning unit, such as a cleaning brush is coupled to each other is composed of segmented links to be extensible, so that one robot can clean a low height duct and a high height duct. Provide a remote control robot for duct cleaning.

In addition, the present invention implements a link structure formed through the center portion of the cleaning unit, such as a cleaning brush, a suction unit, a spray unit, and the like so that the view of the front is not obstructed by the link, so that the camera and the light can be controlled by the cleaning unit. You can check the cleaning status smoothly without being disturbed.

In addition, the present invention is provided with a cleaning unit in which the suction unit and the brush-type cleaning brush is combined, so that the work to shake off the foreign matter or dust from the inner wall of the duct and the suction to remove the foreign matter and dust from the duct can be performed simultaneously Complete in time, dust does not spread to the surroundings and enables duct cleaning without the use of a separate dust collector.

In the present invention, when the suction unit is mounted as the cleaning unit, the suction unit can be rotated by contact with the ceiling surface or the floor surface while moving the inclined area of the duct cleaning robot, and always faces the ceiling surface or the floor surface. It is possible to increase the cleaning efficiency.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the following description, well-known functions or constructions are not described in detail to avoid obscuring the subject matter of the present invention.

1 is a perspective view showing the configuration of a duct cleaning remote control robot according to a first embodiment of the present invention, Figure 2 is a perspective view showing an enlarged portion 'A' of Figure 1, Figure 3 is a cut line III of Figure 2 4 is a perspective view showing an enlarged portion 'B' of FIG. 1, FIG. 5 is a view of the shape viewed along the cutting line V-V of FIG. 5 is a view illustrating the shape viewed along the cutting line VI-VI of FIG. 5, and FIG. 7 is a perspective view illustrating the segmented shape of the second link of FIG. 1.

As shown in the figure, the remote control robot 100 for cleaning the duct according to the first embodiment of the present invention is remotely controlled in the duct 88 to move the front, rear, left, right, cart 110, A pair of first links 120 rotatably installed in front of the cart 110 and a pair of rotatably installed ones of the first links 120 and one or more segment links 131-133. The second link 130, the first driving unit 140 for rotatably driving the first link 120 with respect to the cart 110, and the second link 130 with respect to the first link 120. The second driving unit 150 to be rotatable and the area connecting between one end and the other end of the pair of second links 130 and both sides are rotatably installed to remove dust from the surface of the duct 88 The cleaning unit 160 for cleaning out and the inside of the duct 88 cleaned with the cleaning unit 160 as the cart 110 moves in the duct 88. The cleaning unit is configured to include a rotary drive unit 180 for driving the rotation of the photographing unit 170, a cleaning brush made of the cleaning unit 160 for recording.

The cart 110 is provided with a steering function to switch the left and right directions, the wheel 111 for moving the cart 110 forward and backward, the driving power to the cart 110 and the photographing unit 170, etc. And a power supply line 112 for supplying power, a signal line 113 for transmitting photographing data and a driving signal from the photographing unit 170, and a motor (not shown) for driving the movement of the cart 110.

The first link 120 is located in front of the cart 110 and is installed to be rotated forward and backward with respect to the cart 110 by the first driving unit 140, so that one end of the second link 130 is rotated. It is rotatable to reach a position lower than the wheel 111. Since the first link 120 is formed in a pair spaced apart in the width direction of the cart 110, in order to secure the structural strength of the first link 120, the connection link 121 is a pair of first links ( Interconnect 120).

The second link 130 is rotated with respect to the first link 120, so that the cleaning brush 161 installed at one end is in contact with the bottom surface of the duct 88 and the cleaning brush 162 provided at the other end is It is controlled to contact the ceiling surface of the duct 88. Since the second link 130 is also formed in a pair spaced apart in the width direction of the cart 110, in order to secure the structural strength of the second link 120, the connection link 134 is a pair of second links Interconnect 130. However, the connection link 134 is installed at a position where the photographing unit 170 does not interfere with photographing the front of the second link 130 through the center penetrating portion.

Here, the second link 130 may be formed as a single link, but as shown in FIGS. 3 and 7, a plurality of segment links 131, 132, and 133 are coupled to each other by a fastening means such as a bolt 139, and thus, a duct. It becomes possible to be provided in the length corresponding to the height H of 88. In this case, although the second link 130 of the first embodiment of the present invention has been described that three segment links 131 to 133 are coupled to each other, three or more segment links may be coupled to each other, and three segment links may be combined. The central portion of the segment link 132 may be coupled to each other by replacing the one formed with a length corresponding to the height (H) of the duct 88. Through this, the duct cleaning remote control robot 100 according to the first embodiment of the present invention can effectively clean the duct 88 of various heights with one robot.

The first driving unit 140 is installed on one side of the pair of first links 120, and as shown in FIG. 2, the driven gear 141 integrally coupled with the first link 120 and integrally rotating. ), A connecting gear 142 rotatably installed in the cart 110 so as to rotate in engagement with the driven gear 141, a pinion 143 for driving the rotation of the connecting gear 142, and a pinion 143 to rotate. A first driving motor 144 for driving is provided. Accordingly, the pinion 143, the connecting gear 142, and the driven gear 141 are sequentially engaged with and rotated in accordance with the rotation of the first driving motor 144, and the first link 120 according to the rotation of the driven gear 141. ) Rotates in the forward and reverse directions.

The second driving unit 150 is installed on the other side of the pair of first links 120, as shown in Figures 4 and 5, integrally coupled to the second link 130 and the connecting pin (151a). And integrally rotate the driven gear 151, the connecting gear 152 rotatably installed inside the first link 120 to rotate in engagement with the driven gear 151, and to drive the rotation of the connecting gear 152. A pinion 153 and a second drive motor 154 fixed to the first link 120 by a fixing stand 154b to drive the pinion 153 in rotation. Here, the connection gear 152 and the pinion 153 are supported by the bearings 152b and 153b on the first link 120 so as to be rotatable inside the first link 120. In addition, the second link 130 is coupled to the first link 120 by a hinge pin 77 therebetween so that it can be rotated stably.

Here, as shown in FIG. 6, the second link 130 rotates with respect to the first link 120 irrespective of the rotation of the bottom cleaning brush 161 for cleaning the bottom surface of the duct 88. In the center portion of the driven gear 151 of the second driving unit 150, a through hole 151x through which the rotating shaft 161x of the bottom cleaning brush 161 passes is formed. In addition, the rotation shaft 161x of the bottom cleaning brush 161 is supported and rotated by bearings 164b respectively installed on one side of the pair of second links 130, and thus, the second link with respect to the first link 120. It becomes possible to control independently of the rotation of 130.

The cleaning unit 160 may include a bottom cleaning brush 161 and a pair of second links 130 arranged in a rotatable manner continuously in an area connecting one end of the pair of second links 130 to each other. A ceiling cleaning brush 162 arranged to be rotatable continuously in an area connecting the other ends, and side cleaning brushes 163 rotatably arranged on both outer surfaces of the pair of second links 130; Floor side cleaning brushes 164 rotatably arranged on both outer surfaces of the bottom cleaning brush 161 and ceiling side cleaning brushes 165 rotatably arranged on both outer surfaces of the ceiling cleaning brush 162. )

Here, since the bottom cleaning brush 161 and the ceiling cleaning brush 162 are for cleaning the bottom and ceiling surfaces of the duct 88, respectively, the cleaning brush is formed to protrude only in the vertical direction, and the side cleaning brush 163. ) Is for cleaning the side of the duct 88, so the cleaning brush is formed to protrude obliquely in the lateral direction, the bottom side cleaning brush 164 and the ceiling side cleaning brush 165 is the bottom surface and the ceiling surface of the duct 88. In addition, since the side surface of the duct 88 is also cleaned, the cleaning brush is formed to protrude both in the vertical direction and in the inclined direction.

Each of the cleaning brushes 161-165 is rotationally driven together and has a gear supported by the bearing. Therefore, the cleaning brush 161-165 is rotated by the rotational drive of the gear.

The photographing unit 170 photographs the front of the travel direction of the cart 110 to transmit the cleaning state information of the front through the signal line 113 and is installed to be rotatable by a predetermined angle in the up, down, left and right directions. And left and right cameras 172 and 173 respectively photographing the front left and right sides of the cart 110 so as to transmit cleaning state information of the side surfaces of the duct through the signal line 113, and the ducts passed while the cart 110 is cleaned. Both sides of the rear camera 174 and the front camera 171 which photograph the rear of the cart 110 so as to transmit the cleaning state information of the 88 through the signal line 113 and are rotatably installed by a predetermined angle in the up, down, left and right directions. And a front light 175 installed at both sides of the front camera 171 to indicate the direction in which the front camera 171 faces, and a rear light 176 installed at both sides of the rear camera 174 to indicate the direction toward the rear camera 174. .

The remote controller for controlling the duct cleaning remote control robot 100 according to the first embodiment of the present invention into the duct 88 and controlling the inside of the duct transmitted from the plurality of cameras 171-174 of the photographing unit 170. While observing the photographed image in real time, since the movement of the cart 110 in the front, rear, left, right direction is controlled, if the cleaned surface of the inner wall of the duct 88 is not made clean completely Since it is possible to control the intensive cleaning of some surfaces of the duct 88, it is possible to clean the inner wall of the duct more cleanly.

As shown in FIGS. 2 and 3, the cleaning unit rotation driving unit 180 is a driven gear 164a installed on a rotation shaft 161x connecting the bottom cleaning brush 161 and the bottom side cleaning brush 164. Drive gear 181 that rotates in engagement with the drive, a plurality of connection gears 182 installed in the first link 120 to rotate in engagement with the drive gear 181, and drive the connection gear in engagement with the connection gear 182. And a pinion 183 installed at the first link 120 and a cleaning unit rotation driving motor 184 fixed to the first link 120 to drive the pinion 183 in rotation.

Accordingly, when the cleaning unit rotary drive motor 184 rotates, the drive gear 181 is driven to rotate through a plurality of connection gears 182, the driven gear 164a meshing with the drive gear 181 also rotates. Accordingly, the bottom cleaning brush 161 and the bottom side cleaning brush 164 rotate. At this time, as shown in Figure 3, the drive gear 181 is installed so as to be freely rotatable with respect to the first link 120 and the second link 130 at the same time, the cleaning unit rotary drive unit 180 is the first It does not affect the rotational displacement between the link 120 and the second link 130.

On the other hand, the driven gear 164a, which is integrally rotated with the bottom cleaning brush 161 and the bottom side cleaning brush 164, is freely rotated by the bearing 164b in the second link 130 in the rotation shaft 161x. Is supported. In addition, the driving force is connected to the rotating gear 163a and the driven gear 164a together with the side cleaning brush 163 in the second link 130 formed by the coupling of the plurality of segment links 131-133. Connection gear 169 for transmitting the is installed. Accordingly, when the bottom cleaning brush 161 and the bottom side cleaning brush 164 are rotated by transmitting the driving force to the driven gear 164a, all the side cleaning brushes 163 installed on the side through the connecting gear 169. This will rotate in conjunction.

Similarly, as shown in FIG. 7, the ceiling cleaning brush 162 installed at the other end of the second link 130 to clean the ceiling surface of the duct 88 cleans the bottom surface of the duct 88. Like the bottom cleaning brush 161 and the bottom side cleaning brush 164 installed at one end of the second link 130, the driven gear fixed to the ceiling side cleaning brush 165 and the rotating shaft (not shown) The driving force is transmitted to the 162a through the connection gear 169 provided in the segment link 132 in the center, and rotates together with the rotation of the floor cleaning brush 161. In addition, although not shown in Figure 3, the other connecting gear that is linked to the rotation of the ceiling cleaning brush 162 (which is arranged similar to the one connection gear 169, but not linked to the other floor cleaning brush 161). And the other side cleaning brush of the second link 130 also rotates in conjunction with each other.

The remote control robot 100 for cleaning the duct according to the first embodiment of the present invention configured as described above, as shown in FIG. 8, the floor cleaning brush 161 arranged between one end of the second link 130. The cart 110 is brought into contact with the bottom surface of the duct 88 and the ceiling cleaning brush 162 arranged between the other ends of the second link 130 is in contact with the ceiling surface of the duct 88. The rear side is controlled to rotate and drive the second link with respect to the first link 120 so as to correspond to a change in the height or the slope of the inside of the ceiling duct, so that even if the cart 110 passes through the duct once, the ceiling surface and the bottom surface are Clean at the same time.

For example, since the first link 120 is driven to rotate up and down relative to the cart 110, when the duct cleaning robot 100 cleans the inside of the duct 88 inclined downward, By rotating the link 120 downward by θ1 and by rotating the second link 130 upward so as to be at an angle of θ2 with the horizontal plane, the cleaning unit 160 is connected to the ceiling and bottom surfaces of the duct 88. At the same time, the state of contact is maintained, whereby the inner wall of the duct 88 can be cleaned. Similarly, when the duct cleaning robot 100 cleans the inside of the inclined duct 88, by rotating the first link 120 upward and rotating the second link 130 downward, The cleaning unit 160 can continuously clean the inner wall of the duct 88 while maintaining the state of being in contact with the ceiling surface and the bottom surface of the duct 88 at the same time.

Hereinafter, the duct cleaning remote control robot 200 according to the second embodiment of the present invention will be described in detail. The duct cleaning remote control robot 200 according to the second embodiment of the present invention does not clean the inner wall of the duct 88 by the cleaning brush 160 with respect to the first embodiment 100 described above. There is a difference in that it is made by spraying. Therefore, in the following description of the second embodiment 200 of the present invention, the configuration and operation overlapping with the first embodiment 100 described above will be described in order to clarify the gist of the second embodiment 200. The description will be omitted.

FIG. 8 is a schematic diagram showing the shape of the duct cleaning remote control robot of FIG. 1 cleaning the inside of the duct bent downward; FIG.

As shown in the figure, the remote control robot 200 for cleaning the duct according to the second embodiment of the present invention is remotely controlled in the duct 88 to move the front, rear, left, right and the cart 210, A pair of second links 220 rotatably installed in front of the cart 210 and a pair of second links rotatably installed with respect to the first link 220 and formed by combining one or more segment links ( 230, a first driving unit (not shown) for rotatably driving the first link 220 with respect to the cart 210, and a second link 230 with the first link 220. The second driving unit (not shown), and the area connecting between one end and the other end of the pair of second link 230 and rotatably installed on both sides are sprayed with compressed air to the surface of the duct 88 to dust As a cleaning unit which removes a back and cleans, it comprises the square air path 260.

The cart 210 is provided with a compressed air supply pipe 214 in communication with an external compressor to blow high pressure air as well as a power supply line 212 and a signal line 213 as in the first embodiment described above.

The air passage 260 is installed in a quadrangular shape so that air flows on four surfaces around the second link 230 and communicates with the compressed air supply pipe 214 to blow compressed air to the inner wall of the duct 88. The slit 260a 'for spraying compressed air is formed on the four sides and the front side, or the nozzle 260a is mounted. Through this slit 260a 'and the nozzle 260a, high pressure compressed air is injected to the bottom surface, ceiling surface, and side surface of the duct 88. In this case, when it is difficult to separate foreign matters such as dust or the like which are stuck or accumulated on the inner wall of the duct 88 by the physical contact of the cleaning brush 161, the high pressure compressed air is blown to the inner wall of the duct 88. By giving it becomes possible to clean.

Since the air passage 260 according to the second embodiment of the present invention is configured to not rotate as shown in the drawing, the second link 230 is not equipped with gears 164a, 165a, and 169a therein. It can be formed in a simple shape. However, when the air passage 260 is to be rotated to obtain more improved cleaning efficiency, the air passage 260 may be configured to rotate as in the above-described first embodiment.

Hereinafter, the duct cleaning remote control robot 300 according to the third embodiment of the present invention will be described in detail. The remote control robot 300 for cleaning the duct according to the third embodiment of the present invention does not clean the inner wall of the duct 88 by the cleaning brush 160 with respect to the first embodiment 100 described above. In parallel with this, there is a difference in that the foreign matter is removed by the suction pressure of high pressure and the foreign matter is removed from the duct 88 at the same time. Therefore, in the following detailed description of the third embodiment 300 of the present invention for the configuration and operation overlap with the above-described first embodiment 100 in order to clarify the gist of the third embodiment (300) The description will be omitted.

9 is a perspective view showing the configuration of a duct cleaning remote control robot according to a second embodiment of the present invention, Figure 10 is a perspective view showing a part of the configuration of a remote control robot for duct cleaning according to a third embodiment of the present invention. .

As shown in the drawings, the remote control robot 300 for cleaning the duct according to the third embodiment of the present invention is remotely controlled in the duct 88 and moved to the front, rear, left, right and (not shown) and A pair of second links 330 rotatably installed in front of the cart and a pair of second links 330 rotatably installed with respect to the first link 320 and formed by combining one or more segment links. And a first driver (not shown) for rotatably driving the first link 320 with respect to the cart, and a second driver for rotatably driving the second link 330 with respect to the first link 320. (Not shown), and a region connecting between one end of the pair of second links 330 and the other end and installed on both sides to remove foreign substances from the surface of the duct 88 and to suck the foreign substances removed and discharge them to the outside. And cleaning units 360, 360 ', 360 ".

In addition to the power supply line and the signal line, the cart 310 is provided with suction pipes 362, 362 ′ and 362 ″ for suctioning and discharging foreign substances in the duct 88 to the outside.

The cleaning unit 360 includes a first cleaning unit 360 installed at the other end of the second link 330 to clean the ceiling surface of the duct 88 and a duct 88 at one end of the second link 330. And a second cleaning unit 360 'installed to clean the bottom surface of the second cleaning unit 360' and a third cleaning unit 360 "installed to clean the side surfaces of the duct 88 on both outer sides of the second link 330. In FIG. 10, the third cleaning unit 360 ″ is installed only at the central portion of the side surface of the second link 330 for convenience, but the third cleaning unit 360 ″ covers the entire side surface of the second link 330. Installed in length.

Here, as shown in FIG. 11, the first cleaning unit 360 includes a suction case 361 and a suction port 360a of the suction case 361 that are freely rotatable at the other end of the second link 330. The suction pipe 362 is connected to the inside of the suction case 362 and connected to the outside so that the foreign substance is introduced into and discharged to the outside, and when the external force is not applied to the suction case 361, the suction port 360a has a direction of gravity and A weight 363 mounted on the lower side facing the opposite direction 363a, a cleaning brush 364 rotatably installed at an inlet region of the inlet 360a, and a rotating shaft 364a to which the cleaning brush 364 is attached. ) Is provided with a drive motor 365 for rotationally driving.

That is, the rotating shaft 364a integrally rotating with the cleaning brush 364 is rotatably supported by the bearing 361b to the cleaning case 361, and at the same time, the cleaning case 361 is attached to the second link 330. Since the cleaning case 361 is rotatably supported by the pin 364b, the cleaning case 361 tries to face the opposite direction of gravity 363a by the weight 363, and is provided at the inlet of the suction port 360a. 364 may be implemented to rotate by the rotation of the rotation shaft 364a. Similarly, the second cleaning unit 360 'is configured similarly to the first cleaning unit 360, with the weight 363' being the suction port of the second cleaning unit 360 'so that the suction port always faces the bottom surface. It is mounted around.

In the first cleaning unit 360 and the second cleaning unit 360 'configured as described above, the cart is moved with one end and the other end of the second link 330 approaching the bottom surface and the ceiling surface of the duct 88, respectively. The lower surface of the first cleaning unit 360 and the second cleaning unit 360 'are respectively faced by the weights 363 and 363' so as to face the ceiling surface and the bottom surface, respectively. By contacting the 361, 361 'with the surface of the duct 88, it becomes possible to maintain the inlet in proximity to the ceiling surface and the bottom surface, respectively.

The remote control robot 300 for cleaning the duct according to the third embodiment of the present invention configured as described above physically separates foreign substances from the inner wall of the duct 88 by the rotation of the cleaning brushes 364 and 364 ″, and at the same time, the suction pipe ( By discharging the foreign matter to the outside through the 362, it is possible to clean the inner wall of the duct 88 at once without generating dust around.

The exemplary embodiments of the present invention have been described above by way of example, but the scope of the present invention is not limited only to the specific embodiments, and may be appropriately changed within the scope described in the claims.

That is, in the embodiment described by way of example, the means for rotationally driving the first link with respect to the cart, the means for rotationally driving the second link with respect to the first link, and the means for rotationally driving the plurality of cleaning brushes are all included. Although made by electric motors 144, 154, 184, this may be done by other drive means within the scope of the claims.

In the embodiments and drawings illustrating the present invention, the means for rotationally driving the second link with respect to the first link and the drive motors 154 and 184 for rotationally driving the plurality of cleaning brushes are attached to the link for convenience. Although described above, these drive motors 154 and 184 are preferably installed inside the cart to prevent the center of gravity of the cleaning robot from being forwardly moved. In addition, when the driving motor 184 for driving the cleaning brush rotationally drives any one of the plurality of gears 182 and 183, the cleaning brush is driven to rotate in conjunction with the one of the plurality of gears 182 and 183. It may be installed at a location, and also installed inside the second link, it is within the scope of the claims to belong to the present invention.

1 is a perspective view showing the configuration of a duct cleaning remote control robot according to a first embodiment of the present invention

FIG. 2 is an enlarged perspective view of portion 'A' of FIG.

FIG. 3 is a view showing a shape seen from cut line III-III of FIG.

4 is an enlarged perspective view of portion 'B' of FIG.

FIG. 5 is a view illustrating a shape viewed along the cutting line VV of FIG. 2. FIG.

FIG. 6 is a view illustrating a shape viewed along the cutting line VI-VI of FIG. 5.

7 is a perspective view showing the segmented shape of the second link of FIG.

FIG. 8 is a schematic diagram showing a shape of cleaning the inside of a duct curved downward by the remote control robot for cleaning the duct of FIG.

9 is a perspective view showing the configuration of a duct cleaning remote control robot according to a second embodiment of the present invention;

10 is a perspective view showing a part of a configuration of a remote control robot for cleaning ducts according to a third embodiment of the present invention;

** Description of symbols for the main parts of the drawing **

88: Duct 100,200,300: Remote control robot for duct cleaning

110, 210: cart 120: first link

130: second link 140: first drive unit

150: second drive unit 160,260,360,360 ', 360 ": cleaning unit

170: recording unit 180: cleaning unit rotational drive unit

Claims (9)

A cart which is remotely controlled to move and move inside the duct; A first link extending in front of the cart and rotatably fixed to the cart; A first driving part rotating the first link with respect to the cart; A second link rotatably connected to the first link; A second driving part which rotationally drives the second link with respect to the first link; A cleaning unit positioned at the periphery of the second link to separate foreign matter including surrounding dust from the duct surface; Duct cleaning remote control robot, characterized in that configured to include. The method of claim 1, The second link is a remote control robot for duct cleaning, characterized in that formed in a pair spaced apart in the width direction of the cart. 3. The method of claim 2, The cleaning unit includes a remote control robot for duct cleaning, characterized in that arranged in the area connecting between one end of the pair of second link, and the area connecting between the other end of the pair of second link. . The method of claim 3, wherein A front camera installed toward the front of the cart; A light installed toward the front of the cart; In addition, the camera is a remote control robot for duct cleaning, characterized in that positioned to shoot through the pair of the second link. 5. The method according to any one of claims 1 to 4, The second link is formed by combining two or more segment links with each other, and the length of the second link is variable depending on the number and length of the segment links to be coupled to the remote control robot for cleaning the duct The method according to any one of claims 1 to 4, The cleaning unit is a remote control robot for duct cleaning, characterized in that it comprises a plurality of rotating brushes The method according to any one of claims 1 to 4, The cleaning unit is provided with an air passage through which air flows on four sides of the second link, and an air passage connected to the compressor to blow compressed air to the inner wall of the duct is formed, and the duct inner wall from the air passage Duct cleaning remote control robot, characterized in that the slit for injecting compressed air in the nozzle is formed or the nozzle is mounted The method according to any one of claims 1 to 4, The cleaning unit includes a suction control remote control robot, characterized in that it comprises a suction unit connected from the suction unit to suck dust. The method of claim 8, Duct cleaning robot remote control, characterized in that the rotating cleaning brush is attached to the suction port of the suction unit.

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