KR101186139B1 - Method for cleaning surface of building - Google Patents

Abstract

PURPOSE: A method for cleaning the exterior wall of a building using a building wall cleaning robot assembly with a function for coping with unevenness of the exterior wall of the building by a front rotary brush device is provided to improve cleaning efficiency by brushing dust before a washing solution is jet. CONSTITUTION: A building wall cleaning robot assembly with a function for coping with unevenness of the exterior wall of the building by a front rotary brush device comprises a main body, a wiper device(10), and a rotary brush device(40). The wiper device has a wiper blade. The wiper blade wipes contaminants on the exterior wall of a building. The rotary brush device brushes contaminants on the exterior wall of a building using the rotation of a brush(41). The rotary brush device comprises a forward and backward brush moving member and a brush moving member. The brush moving member moves the forward and backward brush moving member front and backward.

Description

Method for cleaning building exterior wall surface using robot assembly cleaning the building exterior wall surface of unevenness function of building exterior wall with front rotating brush device {Method for Cleaning Surface of Building}

The present invention relates to a cleaning robot assembly for cleaning the outer wall surface of a building, and specifically, descending along the outer wall surface of a building, such as a building while spraying the cleaning liquid to the building outer wall surface, such as the window or the outer wall surface of the building and the wiper blade Wipe and clean, but not only to improve the cleaning efficiency by wiping off the foreign matter such as dust by the rotary brush device, but also by wiper blade, and protruding parts such as the window frame of the glass window on the outer wall of the building. The present invention relates to a building exterior wall cleaning robot assembly having a function of cleaning the exterior wall surface of a building cleanly in spite of the presence of the protruding portion by operating in response thereto.

In recent years, buildings such as buildings are often constructed with high floors having a very high number of floors, and the outer walls are often made of glass. As a cleaning apparatus for cleaning outer wall surfaces such as glass and outer surfaces in buildings including high-rise buildings, automated cleaning apparatuses having various structures have been proposed.

In general, the cleaning device of the building exterior wall surface according to the prior art (hereinafter abbreviated as "cleaning device") is moved from top to bottom along the exterior wall surface of the building by a cable or the like hanging down from the roof of the building, the exterior wall surface It works by spraying water on and wiping the water on the outer wall with a wiper member or by wiping with a brush. Korean Unexamined Patent Publication No. 10-2011-0136311 discloses a cleaning device for wiping a glass window of a building with a brush as described above.

By the way, most of the outer wall surface of the building is convex protruding portion (for example, window frame) is present, in the prior art disclosed in Korean Patent Publication No. 10-2011-0136311 so that the axis of rotation of the brush is perpendicular to the building outer wall surface do. Therefore, in the conventional apparatus, when the cleaning device passes the protrusion, the brush does not come into contact with the outer wall of the building, and thus there is a disadvantage in that the cleaning is not made completely.

In addition, in the conventional cleaning apparatus, even when cleaning while wiping with a wiper member, a part of the cleaning is not completely made due to the protrusion, but a solution for this problem has not been proposed in the related art.

See Republic of Korea Patent Publication No. 10-2011-0136311 (published Dec. 17, 2011).

The present invention was developed in order to overcome and solve the problems and limitations of the prior art as described above, specifically, installed on the outside of a building, such as a building while moving downwards using a cable hanging down from the roof, such as a window or the outer surface As a device for cleaning the outer wall surface of the building, it is possible to prevent the incomplete cleaning even if a protrusion exists on the outer wall of the building, and to prevent work stoppage due to the existence of the protrusion, It is an object of the present invention to provide a building exterior wall cleaning robot assembly that can prevent re-contamination of already cleaned parts.

In addition, the cleaning operation is made using a rotating brush, the object of the present invention is to provide a building exterior wall cleaning robot assembly that can be performed smoothly by the brush despite the presence of the protrusion.

In the present invention to achieve the above object, the main body and descends facing the outer wall surface of the building; A wiper device coupled to the main body and having a wiper blade extending in a lateral direction such that the front end portion contacts the outer wall of the building to scrape off contaminants on the outer wall of the building by the wiper blade; It is provided in the lower position of the wiper device in the main body, and comprises a rotating brush device having a rotating brush to shake off the dirt on the outer wall surface of the building by the rotation of the brush; The rotary brush device includes a shaft support member for supporting the brush, a brush forward and backward member coupled to a rear of the shaft support member and moving forward or backward toward a building outer wall, and provided in a main body, and the brush forward and backward member. It comprises a brush moving member for advancing forward and backward toward the building outer wall surface; In the case where the protrusion existing on the outer wall surface of the building interferes with the lowering of the brush, the brush moving member retracts the brush back and forth so that the brush moves away from the building outer wall direction, and after the brush passes through the protrusion, The building exterior wall cleaning robot assembly is provided, characterized in that the front and rear of the brush advances by the moving member, the brush contacts the building outer wall again to shake off the foreign matter.

In the present invention as described above, in order to move the wiper device toward the building outer wall or vice versa, the wiper device is coupled to the wiper device and at the same time as the back and forth of the wiper device to move up and down relative to the body vertically It is further provided with a wiper device moving member coupled to the main body so that it can be; In the part where the protrusion is not present on the outer wall of the building, the main body and the wiper moving member are lowered together while being fixed to each other to clean the outer wall by the wiper blade, and the lowering of the wiper device is prevented by the protrusion. When the position of the wiper device moving member is moved relative to the rising along the main body, the wiper device moving member and the wiper device does not change the vertical height, but the main body continues to descend and at the same time, the wiper device is retracted The wiper blade is away from the building exterior wall surface; When the wiper device is retracted so that the wiper blade does not touch the protrusion, the wiper moving member accelerates and descends in the direction in which the main body moves; After the wiper blade passes the protrusion by the lowering of the wiper device moving member, the wiper device moving member moves relative to the main body so that the wiper device moving member and the wiper blade do not change the vertical height, but the main body continues. At the same time as the lowering state, the wiper device advances toward the building outer wall surface such that the front end of the wiper blade touches the outer wall surface while the wiper blade maintains the vertical height at the position past the protrusion; When the front end of the wiper blade is in contact with the outer wall surface, the main body and the wiper moving member is lowered together; Even if a protrusion is present on the outer wall of the building, the main body may continue to descend without stopping, and thus, the presence of the protrusion may prevent the building outer wall of the upper portion of the protrusion from being contaminated again.

In addition, in the present invention as described above, the wiper device, the nozzle member is provided at a position below the wiper blade and is formed with a nozzle hole for spraying the cleaning liquid to the building outer wall surface, and provided at the position below the nozzle member outer wall And a waste washing liquid collection member for collecting the waste washing liquid scraped from the surface, wherein the wiper blade is sprayed from the nozzle member to the building outer wall while the wiper is lowered by the lowering of the main body. Scraping and cleaning together, the waste washing liquid and contaminants scraped off by the wiper blade may have a configuration that is recovered by the waste washing liquid collection member.

In particular, the blade mounting member is divided into a blade holding member in which the wiper blade is disposed and mounted in the lateral direction, and a rear supporting member disposed at intervals behind the blade holding member; The gap between the blade holding member and the rear support member may have a configuration in which a spring member having elasticity is provided to push the blade fixing member toward a building outer wall surface by an elastic force, and further, the nozzle member may be provided. And a nozzle tube extending in the lateral direction and having a plurality of nozzle holes spaced apart from each other, and a coupling bracket for fixing the nozzle tube by being coupled to both transverse ends of the nozzle tube, respectively; The joining bracket is formed with an arc-shaped long hole, and guide pins are provided at both ends of the transverse direction of the nozzle tube, and the guide pins are fitted into the long holes, so that the guide pins are used to form the arc-shaped holes of the joining bracket. As the nozzle tube is pivoted so as to reciprocate along, the spraying direction of the washing liquid from the nozzle hole may be changed up and down, and the washing liquid may be sprayed up and down on the outer wall of the building. In addition, the waste washing liquid collection member is composed of a waste washing liquid collecting trough communicating with the waste washing liquid storage tank, and a plate member is provided on the front of the washing liquid collecting trough in the direction of the outer wall of the building, the waste washing liquid scraped off by the wiper blade It may be configured to include a waste washing liquid flow guide plate to guide the flow to the waste washing liquid recovery trough.

On the other hand, in the present invention, the wiper device is not provided with a waste washing liquid collection member, the waste washing liquid collecting member is provided under the brush, soaked with the waste washing liquid and contaminants and the brush scraped off by the wiper blade and remaining The washing liquid may be configured to be recovered by the waste washing liquid collection member.

Since the building exterior wall cleaning robot assembly according to the present invention includes a rotary brush device, after the preliminary cleaning is performed by the rotary brush device, a double cleaning operation is performed in earnest by the wiper blade located above. Therefore, the cleaning efficiency by the wiper blade is improved, the cleaning of the outer wall of the building is more effective is achieved.

In the building exterior wall cleaning robot assembly according to the present invention, when preliminary cleaning by the rotary brush device is in progress, it can be configured to operate the rotary brush device in a state in which the cleaning liquid is sprayed on the building exterior wall surface, in this case, the rotary brush The effect of being able to prevent dust and the like from scattering when the device is operated is exerted. Particularly, in the configuration in which the rotary brush device is operated in this wet manner, the rotary brush apparatus further includes a waste washing liquid collection member so that the waste washing liquid used to wet the brush or scraped off by the wiper blade is used for the waste washing liquid collection member. By collecting, the waste washing liquid containing contaminants can be prevented from being left unprotected, and the waste washing liquid flows down the outer wall of the building to prevent the contamination of the outer wall of the building again.

Particularly, in the building exterior wall cleaning robot assembly according to the present invention, the collected waste washing liquid may be purified by a filter device and recycled as water for washing liquid, and the water used for cleaning may be saved by recycling the waste washing liquid. In addition, the effect of not being able to supply a separate washing solution or supplying the water is minimized, thereby enabling continuous use.

Furthermore, in the building exterior wall cleaning robot assembly according to the present invention, when the wiper blade descends while cleaning the exterior wall of the building and meets the protrusion, the wiper blade retreats, passes through the protrusion, and then advances back to the building exterior wall surface. While lowering and cleaning in contact with the body, the heavy-weight body continues to descend at constant speed regardless of this retraction operation of the wiper blades. Therefore, the stop shock due to the sudden stop of the main body due to the protrusion is not applied to the wiper member, and the stop impact can prevent the water from splashing from the wiper blade to the upper windshield, thereby causing contamination of the cleaned part again. The effect that there is is exerted.

In addition, in the present invention, since the building outer wall cleaning robot assembly descends and continues to descend without stopping even when it meets the protrusion, it is possible to prevent a decrease in work speed due to work stoppage, and the efficiency of the work is increased to improve economic efficiency. The effect is exerted.

1 and 2 are schematic perspective views showing different directions in which a building exterior wall cleaning robot assembly according to an embodiment of the present invention is viewed on a building exterior wall surface by a crane member.
3 and 4 are schematic perspective views showing different directions of separating and viewing only a building exterior wall cleaning robot assembly according to an embodiment of the present invention.
FIG. 5 is a schematic perspective view showing only a wiper device provided in a building outer wall cleaning robot assembly according to an embodiment of the present invention.
Figure 6 is a perspective view corresponding to Figure 4, a schematic perspective view showing a state in which the back plate of the main body provided in the building exterior wall cleaning robot assembly according to an embodiment of the present invention.
7 to 10 are perspective views corresponding to FIG. 6, respectively, in a rear direction of the front plate in a state in which a washing liquid storage tank and a waste washing liquid storage tank are removed from a body of a building exterior wall cleaning robot assembly according to an embodiment of the present invention. It is a schematic perspective view shown in the viewed state.
Figure 11 is a schematic perspective view showing the front plate of the main body and the rotary brush device separately from the building exterior wall cleaning robot assembly according to an embodiment of the present invention.
12 is a schematic perspective view showing the back portion of that shown in FIG.
FIG. 13 is a schematic side view for explaining a state where the wiper blade descends past the protrusion in a state where the wiper blade does not retreat from the building outer wall surface.
14 to 20 are schematic side cross-sectional views taken along the line KK of FIG. 7 showing a state in which the building exterior wall cleaning robot assembly according to the present invention is located on the front of the glass window.
FIG. 21 shows that in an embodiment where the front end of the wiper blade protrudes more toward the outer wall of the building than the front end of the waste flushing fluid flow guide plate, the waste washing liquid recovery trough is retracted out of the protrusion and the wiper blade is retracted from the windshield. A schematic side cross-sectional view showing the touching state.
FIG. 22 is a schematic side cross-sectional view illustrating a state in which the wiper blade is lowered and touches the protrusion in the embodiment illustrated in FIG. 21.
FIG. 23 is a schematic side cross-sectional view showing a state in which the wiper blade is retracted so as not to contact the protrusion subsequent to the state shown in FIG. 22.
24 is a schematic side cross-sectional view showing a state in which the waste washing liquid flow guide plate passes through the protrusions while being deflected in an embodiment in which the protrusion length of the waste washing liquid flow guide plate is lengthened.
25 is a schematic perspective view corresponding to FIG. 3 showing a building exterior wall cleaning robot assembly according to another embodiment of the present invention.
FIG. 26 is a schematic perspective view corresponding to FIG. 11 showing only the front plate of the main body and the rotary brush device separately in the embodiment shown in FIG. 25.
FIG. 27 is a schematic side cross-sectional view corresponding to FIG. 14 showing a state in which a building exterior wall cleaning robot assembly operates according to another embodiment of the present invention shown in FIGS. 25 and 26.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the technical idea of the present invention and its essential structure and operation are not limited thereby. In particular, the term "building exterior wall surface" is used herein, which is used not only to mean an exterior wall surface of a building, but also to include a window of a building.

1 and 2, the building exterior wall cleaning robot assembly 1 (hereinafter, abbreviated as "cleaning robot assembly 1") according to the present invention is installed on the building exterior wall surface by the crane member 200, respectively. 3 is a schematic perspective view showing different directions, and FIG. 3 and FIG. 4 are schematic perspective views showing different directions of separating and viewing only the cleaning robot assembly 1 of the present invention, respectively.

The cleaning robot assembly 1 according to the present invention, spraying the cleaning liquid to the outer wall surface while moving from the top to the bottom along the outer wall surface of the building by a cable or the like hanging down from the roof of the building, as described later, The outer wall surface of the building is cleaned by scraping off with the wiper blade, for example, as shown in FIGS. 1 and 2, hanging on a cable installed on a crane member 200 installed on a roof of a building.

As an embodiment of the present invention is shown in detail in Figures 3 and 4, the cleaning robot assembly 1 according to the present invention, the wiper for contacting the outer wall surface of the building to scrape and remove contaminants on the surface of the outer wall surface A wiper device 10 having a blade 110, a main body 20 to which the wiper device 10 is coupled and descend to face an outer wall of a building, and the main body 20 is rotated. It has a configuration including a rotary brush device 40 having a brush for brushing off and remove the contaminants on the building outer wall surface. In FIG. 4, the cover member 39 covering the horizontal plate 32 of the connection moving plate 19 and the wiper moving member 30 to show the structure of the connection moving plate 19 and the wiper moving member 30 which will be described later. ) And a pleated stretchable protective member 38 that wraps and protects the vertical movable plate 31 of the wiper moving member 30 so that the cleaning solution does not protrude.

FIG. 5 is a schematic perspective view showing only the wiper device 10 provided in the cleaning robot assembly 1 according to the present invention. In the following, the wiper device 10 will be described in detail with reference to FIG. Explain.

In the present invention, the wiper device 10 is installed on the connecting plate 19 coupled to the wiper device moving member 30, which will be described later, the wiper blade 110 is provided in the building outer wall direction, that is, the front direction It is provided at the blade mounting member 140, the lower position of the wiper blade 110, the nozzle member 120 for spraying the cleaning liquid to the outer wall surface of the building, and the lower position of the nozzle member 120 There is a waste washing liquid collection member 130 for collecting the waste washing liquid scraped from the building outer wall surface. Specifically, the blade mounting member 140 is provided with a wiper blade 110 extending in the horizontal direction in contact with the outer wall surface of the building to scrape the material and the cleaning liquid on the outer wall surface. The wiper blade 110 may be made of rubber or synthetic resin.

In the case of the embodiment shown in Figure 5, the blade mounting member 140, the wiper blade 110 is provided so that the wiper blade 110 is horizontally disposed so that the state in which the wiper blade 110 is in close contact with the building outer wall surface can be stably maintained. It is divided into a blade fixing member 114 and the rear mounting member 113, the spring member 115 having elasticity in the interval between the blade fixing member 114 and the rear support member 113 is provided Have In such a configuration, the blade fixing member 114 is continuously pushed toward the outer wall of the building by the elastic force of the compressed spring member 115, and thus, the wiper blade provided at the front of the blade fixing member 114. When 110) touches the outer wall of the building, even if there is a gradient on the outer wall of the building it is possible to maintain a close contact.

In particular, the configuration in which elastic force is applied to the wiper blade 110 by the spring member 115 in the building outer wall surface direction is very useful when passing through the protrusions existing on the building outer wall surface, as will be described later. When the cleaning robot assembly 1 is lowered and meets the protrusion, the front end of the wiper blade 110 is not in contact with the outer wall of the building so that the wiper blade 110 can be lowered to just above the protrusion. If present, it is preferable that the front end of the wiper blade 110 protrudes further toward the building outer wall surface direction than the front end of the waste washing liquid flow guide plate 131 which will be described later by the pressing force of the spring member 115. In such a configuration, when the cleaning of the building outer wall surface proceeds, the front end of the wiper blade 110 is pressed against the building outer wall surface to be in close contact, so that the spring member 115 is in a compressed state, and thus will be described later. The front end of the waste washing liquid flow guide plate 131 is also in contact with the outer wall surface. In the embodiment shown in FIG. 5, the front guide rods 119 are provided on both sides of the rear installation member 113 in the width direction in the building outer wall surface direction, and both sides of the blade fixing member 114 in the width direction are respectively front. It is fitted to the guide rod 119, the blade holding member 114 and the wiper blade 110 is pushed by the spring member 115 in the direction of the building outer wall surface or to be retracted to compress the spring member 115. When the front guide rod 119 is configured to move in a guided state. Reference numeral 118 denotes a forward adjustment stopper 118 provided in the front guide rod 119 to restrict excessive movement of the blade fixing member 114 in the direction of the outer wall of the building.

On the other hand, in the present invention, in the wiper device 10, a nozzle hole is formed below the wiper blade 110, and the nozzle member 120 is provided to spray the cleaning liquid toward the building outer wall surface through the nozzle hole. . In the embodiment shown in the figure is a vertical mounting plate 116 is connected to the rear support member 113, the nozzle member 120 is provided on the front of the vertical mounting plate 116.

In the present invention, the nozzle member 120 may be configured to change the spraying direction of the washing liquid up and down. That is, as in the embodiment shown in the drawing, the nozzle member 120 extends in the lateral direction and is formed with a plurality of nozzle holes spaced apart from each other, the nozzle tube 121 and the both ends of the nozzle tube 121 in the horizontal direction It may be composed of a coupling bracket 122 for coupling to the nozzle tube 121 to the vertical installation plate 116, respectively, the coupling bracket 122 is formed in the arc-shaped long hole 123 is formed The guide pins 124 may be provided at both end portions of the nozzle tube 121 in the horizontal direction, and the guide pins 124 may be fitted into the long holes 123. In such a configuration, when the nozzle tube 121 is rotated by using a power device such as a motor, the guide pin 124 reciprocates along the arc-shaped long hole 123 of the coupling bracket 122 and accordingly the nozzle As the spraying direction of the washing liquid from the sphere is changed up and down, there is an advantage that the washing liquid can be sprayed evenly over a wide range up and down the outer wall of the building.

As the cleaning robot assembly 1 of the present invention descends vertically facing the outer wall of the building, the wiper blade 110 scrapes off the cleaning liquid sprayed from the nozzle port to the building outer wall, thereby wiper blade 110. The waste washing liquid scraped off by) contains dust and other contaminants on the outer wall. If these waste liquors fall into the street, they will not only cause pedestrians passing under the building, but will also be polluted by the road. It can also contaminate the exterior walls of buildings that have not yet been cleaned. In this way, in the wiper device 10 of the cleaning robot assembly 1 of the present invention, the waste washing liquid collection member 130 for collecting the waste washing liquid scraped off from the outer wall of the building is installed to prevent contamination caused by the waste washing liquid. It may be further provided.

1 to 5, the waste washing liquid collection member 130 is located below the nozzle member 120, specifically, the waste washing liquid collection member 130, waste washing liquid flow guide plate 131 and the waste washing liquid recovery trough 132, the waste washing liquid recovery trough 132 is provided on the front surface of the vertical installation plate 116 in the lower side of the nozzle member 120, the building outer wall surface direction The front surface of the washing liquid collecting gutter 132 may have a configuration in which a waste washing liquid flow guide plate 131 made of a plate member is provided. In particular, the waste washing liquid flow guide plate 131 may be inclined so as to be inclined toward the waste washing liquid collecting trough 132, and as shown in the drawing, a plurality of layers may be provided. The front end of the waste washing liquid flow guide plate 131 is more preferable for inducing the flow of waste washing liquid, and the waste washing liquid flow guide plate 131 is a rubber plate or the like as the wiper blade 110. It can be made of an elastic member.

When the wiper device 10 is provided with the waste washing liquid collection member 130 having the above configuration, the waste washing liquid scraped off by the wiper blade 110 flows down the waste washing liquid flow guide plate 131 to waste washing liquid. It is collected in the collecting trough 132, it may be configured to subsequently collect in the waste washing liquid storage tank 22 in communication with the waste washing liquid recovery trough (132). According to such a configuration, it is possible to prevent the waste washing liquid containing contaminants from being discarded in an unprotected state, and to prevent the waste washing liquid from flowing down the building outer wall surface to re-dirt the building outer wall surface. However, in the present invention, the waste washing liquid collection member 130 may be located under the brush, not below the nozzle member 120. This embodiment will be described later.

The waste washing liquid storage tank 22 may be installed in the main body 20. FIG. 6 is a schematic perspective view of a state in which the back plate 29 constituting the main body 20 of FIG. 4 is removed. For reference, in FIG. 6, the cover member covering the horizontal plate 32 of the connecting movable plate 19 and the wiper moving member 30 so that the structure of the connecting movable plate 19 and the wiper moving member 30 to be described later is shown. (39) and the pleated stretch protection member 38 for wrapping and protecting the vertical moving plate 31 of the wiper moving member 30 are omitted.

As illustrated in the drawings, in the present invention, the main body 20 includes a front plate 28 and a back plate 29 so as to have a box-shaped member having an inner space between the front plate 28 and the back plate 29. As shown in the figure, the waste washing liquid storage tank 22 may be located in the main body 20. In particular, in the embodiment shown in the drawings for the purpose of securing a space to install another configuration in the main body 20, the waste washing liquid storage tank 22 is divided into two tanks in the transverse direction of the main body 20 In this case, the two tanks are spaced apart from each other. In this case, the two waste washing liquid storage tanks are connected to each other by a communication tube 25 so that the waste washing liquid is equally stored in the two waste washing liquid storage tanks. If the two waste washing liquid storage tanks are not in communication with each other, the amount of the waste washing liquid contained in the two waste washing liquid storage tanks 22 may vary, and in this case, the weight between the two waste washing liquid storage tanks is changed so that the main body ( 20) may be inclined toward the heavier waste washing liquid storage tank 22, resulting in an unstable state. However, if the communication between the two waste washing liquid storage tank 22 spaced apart as described above by the communication tube 25, even if the waste washing liquid flows into one of the two waste washing liquid storage tank through the communication tube (25) The amount of waste washing liquid flowing into the other tank and contained in the two waste washing liquid storage tanks 22 becomes equal, and thus, an unstable condition due to the difference in weight between the two waste washing liquid storage tanks 22 occurs. It can be blocked at source.

As shown in the figure, a washing liquid storage tank 26 containing a washing liquid to be sprayed through the nozzle member 120 may be disposed in the inner space of the main body 20. In particular, in the present invention, the collected waste washing liquid may be purified and recycled as water for the washing liquid. Although not shown in the drawings, for example, the waste washing liquid storage tank 22 and the washing liquid storage tank 26 are connected to each other by a pipe or the like, and a filter device is installed in the connected pipes to the waste washing liquid storage tank 22. The collected waste washing liquid is purified by a filter device and then supplied to the washing liquid storage tank 26, whereby the collected waste washing liquid may be purified and used again as a washing liquid. Thus, through the recovery of the waste washing liquid and reuse by water purification, it is possible to save the water used in the washing liquid, therefore, the cleaning robot assembly 1 of the present invention does not need a separate washing liquid water supply or minimize the water supply recovery The advantage that it becomes possible to use continuously in the state made. In purifying and recycling the waste washing liquid as described above, the filter device may be provided between the waste washing liquid storage tank 22 and the washing liquid storage tank 26, but the waste washing liquid collecting gutter 132 of the waste washing liquid collection member 130. Filter device is provided between the washing liquid storage tank 26 or the washing liquid storage tank 26 or between the waste washing liquid collecting trough 132 and the nozzle member 20, so that the collected waste washing liquid may be immediately purified and recycled. have.

On the other hand, in the cleaning robot assembly 1 according to the present invention, the wiper device 10 is moved forward and backward toward the building outer wall surface and the wiper blade is lowered when the wiper blade 110 touches the protrusion of the building outer wall surface. The wiper device moving member 30 is provided to allow the wiper device 10 to move relative to the main body 20 so that the main body 20 can be continuously lowered without stopping.

7 to 10, the washing liquid storage tank 26 and the waste washing liquid storage tank 22, and the rotary brush device 40 to be described later for convenience of showing the configuration of the wiper device moving member 30 in detail, respectively. A schematic perspective view of the front plate 29 and the wiper device moving member 30 and the wiper device 10 of the main body 20, as viewed from the rear direction of the front plate 29, is omitted. have.

As mentioned above, the wiper device moving member 30 advances the wiper device 10 toward the building outer wall or vice versa, and at the same time, the wiper device moving member 30 itself is attached to the main body 20. Relative to move up and down with respect to the vertical. In the embodiment shown in the drawing, the wiper moving member 30 is composed of an L-shaped member in which the vertical moving plate 31 and the horizontal plate 32 are coupled, and the main rail 20 has a vertical rail 21. It is provided, the vertical movable plate 31 has a configuration that moves along the vertical rail (21). In the embodiment shown in the figure as a method of raising and lowering the wiper moving member 30 vertically, a motion conversion mechanism (mechanism) for converting the rotational motion into a linear motion was used. That is, a first rotary motor M1 and a first rotary shaft 23 rotated by the first rotary motor M1 are provided on the rear side of the front plate 28 of the main body 20, and the first rotary shaft is installed. The first rotation shaft 23 is coupled to the first rotation shaft 23 is rotated by installing a motion conversion member (not shown) on the vertical moving plate 31 to move linearly along the rotation axis, the first rotation by the motion conversion member The rotational movement of the motor M1 and the first rotary shaft 23 is converted into a linear movement so that the vertical movable plate 31 is vertically moved up and down along the vertical rail 21. FIG. 7 shows that the vertical moving plate 31 is not moved yet, but the wiper device moving member 30 is fixed to the main body 20, but the wiper device 10 has moved toward the outer wall of the building. FIG. 8 illustrates a state in which the wiper moving member 30 is raised by moving the vertical plate 31 in the state shown in FIG. 7 relative to the main body 20. Since the motion conversion member itself is combined with the rotating shaft to linearly move according to the rotation of the rotating shaft, a detailed description thereof will be omitted.

On the other hand, the wiper device moving member 30 is provided with a configuration that can advance or reverse the wiper device 10 in the direction of the building outer wall surface as mentioned above, in the embodiment shown in the figure Another second rotary motor M2 and a second rotary shaft 27 rotated by the second rotary motor M2 are installed on the upper surface of the flat plate 32 in the direction of the outer wall of the building, and the wiper device ( The connecting moving plate 19 connected to the 10 is coupled to the linear movement by the rotation of the second rotary shaft (27). Similar to the vertical movable plate 31, the connection movable plate 19 also includes a motion converting member (not shown) that linearly moves along the rotating shaft when the second rotating shaft 27 is rotated. When the 27 is rotated, the connecting movable plate 19 enters or retracts toward the outer wall of the building, and thus the wiper device 10 coupled to the connecting movable plate 19 moves toward the outer wall of the building. The wiper blade 110 is brought into close contact with the outer wall of the building or the wiper device 10 retreats backward so that the wiper blade 110 is moved away from the outer wall of the building. In the drawing, the member number 24 is a horizontal rail 24 installed in the horizontal plate 32 to guide the forward and backward movement of the connecting plate 19. That is, in the embodiment shown in the drawing the connecting plate 19 is movably coupled to the horizontal rail 24, is guided by the horizontal rail 24 to move forward and backward. FIG. 9 shows a state in which the connecting moving plate 19 and the wiper device 10 are retracted from the building outer wall direction by the operation of the wiper moving member 30 in the state shown in FIG. 8. The wiper moving member 30 of the wiper moving member 30 in the state shown in FIG. 9 is moved relative to the downward direction with respect to the main body 20 so that the wiper device moving member 30 again with respect to the main body 20. It shows a fixed state.

As mentioned above, the cleaning robot assembly 1 according to the present invention may further include a rotary brush device 40 that shakes off and removes contaminants on the outer wall of the building by rotation. In Figure 11 in order to explain in detail the configuration of the rotary brush device 40, all other components in the cleaning robot assembly 1 of the present invention is omitted, the front plate 28 and the rotary brush device 40 of the main body 20 A schematic perspective view showing the bays separately is shown, and FIG. 12 shows a schematic perspective view showing the back portion of that shown in FIG. 11. In FIG. 11, the illustration of the pleated horizontal stretch protective member 49 for wrapping and protecting the brush back and forth member 44, which will be described later, of the rotary brush device 40 is omitted.

The rotary brush device 40 is provided with a brush 41 which is arranged to extend in the horizontal direction in parallel with the wiper blade 110 and rotated, so that the brush 41 is attached to the building outer wall surface while rotating An apparatus for removing foreign matter such as dust, which is present, is provided at a lower position of the wiper device 10 in front of the main body 20. Therefore, when the cleaning robot assembly 1 descends vertically on the outer wall of the building, the brush 41 of the rotary brush device 40 rotates to remove foreign substances first, and then the nozzle member provided in the wiper device 10 ( At 140, the cleaning solution is sprayed onto the building outer wall surface, and the wiper blade 110 located above the nozzle member 140 contacts the exterior wall surface of the building to scrape and clean the contaminants on the building exterior wall surface with the cleaning liquid. Done. That is, preliminary cleaning is performed by the rotary brush device 40 before cleaning by the wiper blade 110. As described above, according to the cleaning robot assembly 1 of the present invention having the rotary brush device 40, two types of preliminary cleaning by the rotary brush device 40 and subsequent cleaning by the wiper blade 110 are performed. Since the cleaning is carried out, the cleaning efficiency by the wiper blade 110 is improved, and the cleaning of the building outer wall surface is made more perfect.

On the other hand, in providing the rotary brush device 40 in this way, it is also preferably configured so that the brush 41 can move forward and backward in the building outer wall surface direction. 11 and 12, the rotary brush device 40 includes a brush 41 that rotates about a rotation axis disposed in parallel with the wiper blade 110, and the brush 41 of the brush 41. It is provided in the main body 20 and the shaft support member 42 for supporting the rotating shaft, the brush forward and backward member 44 coupled to the rear of the shaft support member 42 to move forward or backward toward the building outer wall surface. It comprises a brush moving member 43 for advancing the brush forward and backward member 44 toward the building outer wall surface. In particular, in the embodiment illustrated in the drawings, the brush moving member 43 is formed in a plate shape is disposed in the main body 20, the plate-shaped brush moving member 43, the third rotary motor (M3), The third rotary shaft 45 rotated by the third rotary motor M3 is installed in the building wall direction, and the brush moving member 44 positioned behind the brush 41 is the brush moving member. (43) In the state placed on the brush by the rotation of the third rotary shaft 45, the brush forward and backward member 44 is installed so as to linearly move. The brush forward and backward member 44 is provided with a motion conversion member (not shown) that linearly moves along the rotation axis when the third rotation shaft 45 is rotated, and when the third rotation shaft 45 is rotated, the brush The front and rear members 44 move forward or backward in the direction of the building outer wall, and thus, the brush 41 coupled to the front of the brush forward and backward members 44 is supported in the building outer wall surface and the brushes 41. ) Is the position to shake off the building exterior wall surface, or the brush 41 retreats backward and away from the building exterior wall surface. In the drawing, member number 48 is a guide rail 48 installed in the brush moving member 43 to guide the brush back and forth member 44 to move forward and backward. That is, in the embodiment shown in the figure, the brush back and forth member 44 is movably coupled to the guide rail 48, and moves forward and backward along the guide rail 48. The front plate 28 of the main body 20 is formed with a through hole through which the brush forward and backward members 44 move forward and backward.

Cleaning robot assembly 1 according to the present invention having the configuration as described above is to operate in the manner described below. Hereinafter, for convenience, the glass window 100 will be described as an outer wall surface of the building as an example. Prior to explaining the operation process of the present invention, a state in which a conventional wiper blade moves when a protrusion is present on the building outer wall surface will be described first.

FIG. 13 is a schematic side view for explaining a state in which the wiper blade 110 descends past the protrusion of the building outer wall surface while the wiper blade 110 does not retreat from the building outer wall surface. .

As shown in FIG. 13, the wiper blade 110 moves downward while scratching the surface of the glass window 100 of the building, and as shown by the position “b” shown in solid lines. If the protrusion continues on the outer wall of the building, for example, the protrusion 300 due to the window frame existing between the windows, such as the wiper blade 110 is still lowered after being caught, the rubber or synthetic resin produced And the elastic wiper blade 110 is deformed in the state of "position (c)" shown by the dotted line, and is carried over to the protrusion 300 and returned to its original shape again, and is marked as "position (d)". It is in the same state. However, when the shape of the wiper blade 110 returns to its original shape while passing through the protrusion 300, water or droplets, which are buried in the wiper blade 110 due to the impact, have already passed by the wiper blade 110. The glass window is cleaned, that is, the glass window on the wiper blade 110 is splashed, thereby causing the phenomenon that the glass window that has been cleaned is dirty again. In addition, the point where the shape of the wiper blade 110 is returned to its original shape and touches the surface of the glass window 100 becomes a position away from the protrusion 300 by a predetermined distance (the distance indicated by reference numeral L-1 in FIG. 13). Therefore, a certain distance (distance indicated by reference numeral L-1 in FIG. 13) immediately below the protrusion 300 has a problem that the cleaning is not made. In addition, as shown in FIG. 13, when the wiper blade 110 accidentally passes over the protrusion 300, the wiper blade 110 may be damaged, and when the vertical width of the protrusion 300 is wide, the wiper The blade 110 may not be burnt, and even if the burnt over the protruding portion 300 forcibly, a problem arises in that the distance for cleaning is not increased.

In order to solve this, it may be considered to retreat the wiper blade 110 after the wiper blade 110 touches the protrusion 300, but in this case, the wiper blade 110 may have a time to retreat. When the blade 110 touches the protrusion 300, the downward movement of the cleaning robot assembly should be stopped. By the way, stopping while the cleaning robot assembly 1 is lowering causes another problem. In the main body 20 of the cleaning robot assembly 1, various devices such as storage tanks are installed and thus have a considerable weight. The heavy chain cleaning robot assembly 1 is suspended from a cable hanging from a roof of a building. It is a state. Therefore, when the wiper blade 110 meets the protrusion and stops the movement of the cleaning robot assembly 1 while the cleaning robot assembly 1 is lowered, an impact due to the stop of the heavy cleaning robot assembly 1 is generated. Accordingly, the wiper blade 110 is also impacted, so that the wiper blade 110 moves irregularly, and eventually, the water remaining on the wiper blade 110 is splashed onto the upper windshield, which has been cleaned. Will occur.

In addition, since the wiper blade 110 must move forward toward the window after the wiper blade 110 passes through the protrusion 300, the cleaning robot assembly 1 again operates immediately after the wiper blade 110 passes through the protrusion 300. Should be stopped, accordingly there is a problem that water splashing phenomenon from the wiper blade 110 as described above upward, re-contamination of the already cleaned glass window occurs. In addition, if the cleaning robot assembly 1 descends and repeats the operation of stopping and lowering each time it meets the protrusion 300, the working speed is lowered and economical efficiency is lowered.

However, in the present invention, as described above, the wiper device moving member 30 moves forward by moving relative to the main body 20 while moving the wiper device 10 toward the building outer wall direction or vice versa. Since it is provided, it is possible to solve the above problems shown in FIG.

14 to 20 are schematic side cross-sectional views taken along the line K-K of FIG. 7 showing the cleaning robot assembly 1 according to the invention, respectively, located in front of the windshield 100. FIG.

Cleaning robot assembly (1) of the present invention, as described above, the wiper blade (110) while scratching the wiper blade 110 while lowering the encounter with the protrusion 300, the wiper blade 110 is difficult to lower due to the protrusion In this case, the wiper blade 110 stops descending, but the main body 20 has a configuration that continues to descend without stopping. To this end, the present invention is provided with a "first protrusion detecting sensor (not shown)" for detecting whether the wiper blade 110 is in a state that cannot be lowered due to the protrusion 300. The "first protrusion detecting sensor" is provided in the main body 20 to send a signal in the direction of the glass window 100 from the lower position of the wiper blade 110, through a method of recognizing the signal reflected from the protrusion 300, the protrusion It may be made of a sensor of the type to recognize the presence of the 300, it is made of a contact sensor is attached to the lower surface of the wiper blade 110 or the lower surface of the waste washing liquid recovery trough 132 by the projection 300 and the wiper blade 110 ) Or between the protrusion 300 and the waste washing liquid collecting trough 132 to recognize the contact when the wiper blade 110 or the waste washing liquid collecting trough 132 is in contact with the protrusion 300 or the wiper blade ( By recognizing the distance between the 110 and the protrusion 300 or the distance between the waste washing liquid collecting trough 132 and the protrusion 300, it may be configured in a form to recognize the presence of the protrusion 300.

On the other hand, as described above, the wiper device moving member 30 is provided between the main body 20 and the wiper device 10, the wiper device moving member 30 in the direction of the building outer wall surface It is provided with a structure that can be advanced or retreat in reverse. In addition, the wiper device moving member 30 has a configuration capable of relative movement in the form of lifting up and down with respect to the main body 20 when viewed from the main body 20.

First, in the "normal cleaning state", the wiper device moving member 30 and the main body 20 are in a locked state with respect to each other. That is, the wiper device moving member 30 is in a state in which the relative movement is not perpendicular to the main body 20. However, in the "normally clean state", the wiper device 10 is advanced toward the outer wall surface of the building. That is, the connecting movable plate 19 coupled to the wiper device moving member 30 is advanced toward the outer wall of the building so that the wiper blade 110 is in close contact with the outer wall of the building. In addition, the front and rear brush member 44 is also advanced to the building outer wall surface direction so that the brush 41 is in a position to shake off the building outer wall surface. This "normal cleaning state" is shown in FIGS. 7 and 14.

In this "normal cleaning state", when the cleaning robot assembly 1 descends, the main body 20, the wiper moving member 30, and the wiper device 10 all descend together at the same speed, and the brush 41 ) Rotates to shake off foreign substances such as dust on the outer wall surface of the building, while the cleaning liquid is injected into the glass window 100 from the nozzle hole of the nozzle member 120 located above the rotary brush device 40 during the lowering process. The wiper blade 110 scrapes and cleans the contaminants in the glass window 100 together with the washing liquid, and the waste washing liquid containing the contaminants is guided by the waste washing liquid flow guide plate 131 to collect the waste washing liquid collection gutter ( 132).

Maintaining the "normal cleaning state" as above while the cleaning operation of the conventional glass window 100 is in progress, the brush 41 may be caught in the protrusion (300). This state is recognized by the "second projection detection sensor (not shown)", if the second projection detection sensor by the second projections in this way it is recognized that the obstacle to the lowering of the brush 41, As described, the rotary brush device 40 is operated so that the brush moves forward and backward in the direction of the building outer wall. Since the brush 41 provided in the rotary brush device 40 has a predetermined length of fiber to shake off dust and the like, and in general, the protrusion height t of the protrusion 300 is within the fiber length of the brush 41. The brush 41 may naturally fall beyond the protrusion 300, but in some cases, the protrusion height of the protrusion 300 may be excessive so that the brush 41 may not naturally cross the protrusion 300. May be As such, when the protrusion height of the protrusion 300 is excessive and the protrusion 300 becomes obstructive to the lowering of the brush 41, the "second protrusion detection sensor" recognizes this, and the third rotary motor M3 and the third rotary motor M3 and the third rotor motor M3 are formed. By the operation of the three rotation shaft 45, the brush forward and backward member 44 placed on the brush moving member 43 is retracted as shown in FIG. 15, and thus the brush coupled to the front of the brush forward and backward member 44. The 41 is moved away from the building outer wall surface direction so that the protrusions 300 do not interfere with the lowering of the brushes 41, and the brushes 41 fall over the protrusions 300. After the brush 41 passes over the protrusion 300, the brush forward and backward member 44 placed on the brush moving member 43 is operated again by the operation of the third rotating motor M3 and the third rotating shaft 45. By advancing, the brush 41 coupled to the front of the brush forward and backward member 44 shakes off dust on the outer wall of the building. After the retraction of the brush 41, the rewinding operation can be set to be automatically performed after a predetermined time has elapsed from the retreat start time of the brush forward and backward member 44. That is, from the time when the brush forward and backward member 44 retreats in consideration of the normal protrusion height and vertical width of the protrusion 300, and the fall time of the brush 41, the brush forward and backward member is automatically fixed after a predetermined time. (44) can be set to advance. The “second projection detecting sensor” is provided in the main body 20 to send a signal in the direction of the glass window 100 to recognize a signal reflected from the protrusion 300, thereby recognizing the existence of the protrusion 300. It may be made of a type of sensor, in this case, it may be configured as a single protrusion detection sensor by integrating the first projection detection sensor and the second projection detection sensor.

After the brush 41 has passed over the protrusion 300, the "normal cleaning state" proceeds continuously. Subsequently, as illustrated in FIG. 16, the waste washing liquid collecting gutter 132 is disposed on the protrusion 300 of the outer wall of the building. When the protrusion 300 is in a state where the lowering of the wiper blade 110 is in contact with this, this state is recognized by the "first protrusion detecting sensor (not shown)", by the "first protrusion detecting sensor". As such, when the protrusion 300 recognizes a state in which the wiper device 10 is lowered, the locked state between the wiper moving member 30 and the main body 20 is released. Lowered state " and the main body 20 continues to descend while the wiper moving member 30 maintains the vertical height. That is, when the wiper blade 110 is in contact with the protrusion 300, the first rotation shaft 23 is rotated by the driving of the first rotation motor M1, so that the wiper moving member ( The vertical moving plate 31 of 30 is moved to rise upward of the main body 20 vertically along the vertical rail 21, and as a result, the wiper is connected to the wiper moving member 30 as shown in FIG. The device 10 maintains the vertical height of the state which is no longer lowered due to the protrusion 300, and starts the "original lowering state of the primary body only" in which only the main body 20 continues to descend independently. . At this time, it is preferable to allow the main body 20 to descend at a constant speed.

While only the main body 20 is in the " originally lowered state of the first main body only " which descends independently, the wiper moving member 30 is moved relative to the main body 20 in the upward direction to move the wiper moving member. 30 and the wiper device 10 are in a state of being stopped while maintaining the original vertical height, and only the main body 20 continues to descend. That is, in the present invention, when the protrusion 300 reaches a state where the lowering of the wiper device 10 is lowered, the relative movement is started so that the wiper moving member 30 rises along the main body 20, and the wiper moves. The member 30 and the wiper device 10 hold the position where the lowering is stopped, but the main body 20 is continuously lowered without stopping. Therefore, in the present invention, even when the wiper blade 110 descends and the protrusion 300 reaches a state where the obstacle to the lowering of the wiper device 10 reaches the state, the main body 20 can continue while maintaining the speed of descending, As the impact of stopping of the main body 20 is not generated due to the slack and the splashing of the wiper blade 110 due to the stopping impact does not occur, the cleaning liquid is buried in the upper windshield already cleaned. Pollution is prevented.

On the other hand, when the "original lowering state of the first main body only" starts, only the main body 20 starts to descend, and the wiper device 10 starts to retreat. That is, when the first protrusion detecting sensor recognizes that the protrusion 300 of the outer wall of the building has reached a position where the lowering of the wiper device 10 is lowered, the second rotary motor M2 starts to drive. As the rotary shaft 27 rotates, the connecting moving plate 19 coupled to the wiper device moving member 30 starts to retreat from the direction of the outer wall surface of the building. Thus, in the " primary descending state of the primary body only ", the wiper blade 110 retracts from the windshield 100 to a length exceeding the protruding height t of the protrusion 300 as shown in Figs. do. However, as described above, in the " primary descending state of the primary body only ", the wiper blade 110 is retracted to a length exceeding the protrusion height t, and thus the wiper while the wiper blade 110 is retracted in this way. Relative movement between the moving member 30 and the main body 20 proceeds and the main body 20 continues to descend without stopping. The dotted line shown in FIG. 17 shows the position in the state shown in FIG. 16 for reference.

In the cleaning robot assembly 1 according to the present invention, the front end of the wiper blade 110, together with the "protrusion detection sensor" recognizing that the protrusion 300 is obstructed with respect to the descending wiper device 10. "Retreat detection sensor" (not shown) is provided to recognize whether the retracted enough to not reach the 300, through the "retreat detection sensor" is recognized that the wiper blade 110 has been retracted so as not to catch the protrusion 300. In this case, the "original lowering state of the primary body only" ends and the "acceleration lowering state of the first wiper moving member" starts, and the retraction of the wiper device 10 is stopped, and the wiper moving member 30 The relative motion that has been raised relative to the main body 20 is stopped, and the relative motion that descends in the direction in which the main body 20 moves again starts. That is, when it is recognized by the retreat detection sensor that the wiper blade 110 is retracted so as not to be caught by the protrusion 300, the "original lowering state of the primary body only" ends and the acceleration of the first wiper moving member is terminated. The lowering state "is started, and the first rotary motor M1 is driven in the opposite direction to rotate the first rotary shaft 23 so that the vertical movable plate 31 of the wiper moving member 30 is along the vertical rail 21. The relative movement to move downward relative to the body 20 vertically. In such an "accelerated lowering state of the first wiper moving member", the retraction of the wiper blade 110 may be no longer performed.

On the other hand, in the "accelerated lowering state of the first wiper moving member", it is preferable that the wiper moving member 30 moves relative to the body 20 to descend faster than the speed at which it descends. Because, in the " original lowering state of the first main body only, " only the main body 20 is in the lowering state, when viewed in the moving direction, that is, in the lowering direction, the main body 20 is positioned ahead of the wiper moving member 30. Will be in. Therefore, in the "accelerated lowering state of the first wiper moving member", the wiper moving member 30 starts the acceleration motion faster in the moving direction of the main body 20, thereby moving the moving distance of the main body 20 which has been continuously lowered. To catch up. FIG. 18 illustrates a state in which the wiper moving member 30 accelerates and descends in the "accelerated lowering state of the first wiper moving member" so that the wiper blade 110 passes without reaching the protrusion 300. The dotted line in FIG. 18 shows the position in the state shown in FIG. 17 by reference.

Immediately after the wiper moving member 30 accelerates and descends so that the wiper blade 110 completely passes the protrusion 300 without touching the protrusion 300, the wiper moving member 30 stops accelerating and stops in the opposite direction. The relative movement with respect to 20), the wiper moving member 30 and the wiper device 10 continues to maintain the vertical height of the position passing through the protrusion 300, the main body 20 is continuously lowered without stopping. . That is, when the "original lowering state only the secondary body" starts, the wiper moving member 30 stops the acceleration lowering, and the wiper moving member (by the operation of the first rotating motor M1 and the first rotating shaft 23) 30 is actively starting to move relative to the direction to rise from the main body 20.

As such, the cleaning robot assembly 1 is provided with a “projection passage detection sensor” so that the robot robot 1 can enter the “secondary body-only descending state” as described above. Upon recognizing that the blade 110 has passed through the protrusion 300, the wiper moving member 30 stops accelerating and actively moves up from the main body 20 to be opposite to the moving direction of the main body 20. Will move. However, since the rotary brush device 40 adheres to the previous position in the " originally lowered state only of the secondary body ", the cleaning of the building outer wall surface by the brush 41 continues.

As described above, while the wiper moving member 30 accelerates and descends so that the wiper blade 110 passes the protrusion 300, the main body 20 continues to descend, and the wiper blade 110 moves the protrusion 300. In the last state, it is necessary to advance the wiper blade 110 so that it touches the windshield 100, while the main body 20 continues to descend so that its position gradually goes down while the wiper blade 110 is advanced, The wiper blade 110 should continue to be positioned at the vertical height just below the protrusion 300. In order to make such a state, the wiper moving member 30 actively reenters the " independently lowered state of the secondary body only " which is relatively moved in a direction opposite to the downward direction of the main body 20.

Accordingly, when the "secondary main body only descends" in this manner, the main body 20 continues to descend and the wiper moving member 30 actively moves in the direction opposite to the moving direction of the main body 20. Thus, as shown in FIG. 19, the wiper moving member 30 and the wiper device 10 are not lowered anymore, so that the wiper blade 110 stays in the position just below the protrusion 300, and only the main body 20. ) Only appears to be descending. When the "original lowering state only the secondary body" starts, the second rotary motor (M2) and the second rotary shaft 27 is operated, accordingly the wiper blade 110 is advanced toward the glass window (100) The front end of the wiper blade 110 is in contact with the glass window 100 at a position directly below the protrusion 300. That is, the wiper blade 110 advances to the window 100 in the original lowered state of the secondary body only.

In the present invention, the wiper blade 110 in the position just below the protrusion 300 as described above is advanced to the glass window 100, and thus from the position immediately below the protrusion 300 to the wiper blade 110 again. Cleaning can be started. Therefore, according to the cleaning robot assembly 1 of the present invention, it is possible to prevent the occurrence of the portion that is not cleaned immediately under the protrusion 300 to achieve a more perfect cleaning. For reference, the dotted line in FIG. 19 illustrates a position in the state shown in FIG. 18.

The present invention is provided with a "wiper contact sensor" (not shown) that can recognize that the wiper blade 110 in contact with the window 100, the front end of the wiper blade 110 by the wiper contact sensor When it is recognized that it reaches 100, the " original lowering state only of the secondary body " ends again and the " accelerated lowering state of the secondary wiper moving member " starts again. That is, when the front end of the wiper blade 110 touches the glass window 100, the "accelerated lowering state of the second wiper moving member" starts and the wiper moving member 30 is the main body 20 as shown in FIG. ) Will descend quickly with acceleration in the direction of movement. That is, in the state where the front end of the wiper blade 110 touches the window 100, the first rotation motor M1 and the first rotation shaft 23 operated to raise the wiper moving member 30 with respect to the main body 20. ) Is operated in the opposite direction, while the wiper moving member 30 moves relative to the main body 20 to descend, the wiper moving member 30 accelerates and descends quickly. Even in the acceleration lowering state of the secondary wiper moving member, since the front end of the wiper blade 110 touches the glass window 100, the cleaning of the glass window 100 by the wiper blade 110 is continuously performed. For reference, the dotted line in FIG. 20 illustrates a position in the state shown in FIG. 19.

When the wiper moving member 30 reaches the position at which the wiper moving member 30 becomes a "normal cleaning state" by the aggressive acceleration and falling of the wiper moving member 30, the relative movement of the wiper moving member 30 with respect to the main body 20 is stopped. , The wiper moving member 30 is fixed to the main body 20 again so that the relative movement is not made, the "normal cleaning state" is started, the wiper moving member 30 and the main body 20 are lowered together at the same speed and the glass window Will be cleaned.

As described above, in the cleaning robot assembly 1 according to the present invention, when the wiper blade 110 descends while cleaning the window 100 and encounters the protrusion 300, the wiper blade 110 retreats to protrude ( While passing through 300 and cleaning while lowering again to contact the glass window 100, the main body 20 made of a heavy weight is continuously lowered at a constant speed irrespective of this operation of the wiper blade (110). Accordingly, the stop shock due to the sudden stop of the main body 20 is not applied to the wiper blade 110, and the water splashes from the wiper blade 110 to the upper windshield 100 due to the stop shock, thereby contaminating the cleaned part. It is possible to prevent the phenomenon from occurring. In addition, in the present invention, the matters discussed with reference to FIG. 11 as a problem of the related art, that is, the wiper blade 110 is damaged by the wiper blade 110 due to overhanging the protrusion 300, the protrusion 300 ) All the problems such as the increase in the uncleaned area below can be solved.

On the other hand, as described above, the present invention "first projection detection sensor (not shown)" for detecting whether the protrusion 300 is an obstacle to the lowering of the wiper device 10, the protrusion (protrusion in the descending progress of the brush 41 "Secondary protrusion detection sensor (not shown)" for detecting whether the obstruction 300 is obstructed, and whether the wiper blade 110 is sufficiently retracted so as not to touch the protrusion 300 when retreating to avoid the protrusion 300. "Retreat detection sensor (not shown)", the wiper blade 110, the "projection passage detection sensor (not shown)" that recognizes whether the lower portion has passed past the protrusion 10 completely when the lower back after retreating, wiper blade 110 The wiper contact sensor (not shown) is provided to recognize whether the wiper blade 110 has touched the glass window 100 when the protrusion fully descends past the protrusion and then moves back toward the glass window. The "first protrusion detection sensor", "second protrusion detection sensor", "retreat detection sensor", "projection passing sensor" and "wiper contact sensor" are described separately according to the recognition situation, various known objects It utilizes recognition sensor technology and can be configured so that a separate independent sensor recognizes each situation, and is composed of one sensor or a group of sensors (hereinafter referred to as a "composite sensor group") and all of the above situations (protrusions) The situation where the wiper device is lowered, the wiper member is fully retracted, the protrusion passes, and the wiper member is in contact with the window) may be recognized. The "composite sensor group" by sending a signal in the omni-directional direction at the end of the wiper blade 110 or the waste washing liquid recovery trough to recognize the signal reflected from the protrusion 300 or the glass window 100, of the protrusion 300 It may be made of a sensor of the type to recognize the presence or to recognize the contact with the glass window 100, it may be able to recognize the contact of the protrusion 300 or the glass window 100 by sensing the pressure change. Preferably, the "composite sensor group" is a combination of the above various recognition methods. Such sensors may be provided in the main body 20.

On the other hand, in the above description, when the lower surface of the waste washing liquid recovery trough 132 is in contact with the protrusion 300, the wiper device 10 is retracted and the wiper blade 110 starts to move away from the glass window 100 Depicted. In this case, the wiper blade 110 does not touch the window 100 at a small height between the wiper blade 110 and the waste washing liquid collecting gutter 132, so that the cleaning of the window 100 for the portion is not performed. Will not. Since the height between the wiper blade 110 and the waste washing liquid collecting gutter 132 is not large, and generally there is a molding for fixing the glass window 300 on the immediately upper surface of the protrusion 300, Existence can be ignored, but in the present invention, even the occurrence of the above-mentioned uncleaned region can be completely prevented by using the following configuration.

As shown in FIGS. 14 to 20, when the front end of the wiper blade 110 is not in contact with the building outer wall surface, the front end of the wiper blade 110 and the front end of the waste washing liquid flow guide plate 131. Although the height protruding to the building outer wall surface may be approximately the same, as mentioned above, when the front end of the wiper blade 110 is not in contact with the building outer wall surface, the wiper is pressed by the pressing force of the spring member 115. The front end of the blade 110 may be more protruded toward the outer wall surface of the building than the front end of the waste washing liquid flow guide plate 131. Even in the embodiment in which the front end portion of the wiper blade 110 protrudes more toward the building outer wall surface than the front end portion of the waste washing liquid flow guide plate 131, the wiper is similar to the state shown in FIG. 14 in the "normal cleaning state". The front end of the blade 110 and the front end of the waste washing liquid flow guide plate 131 are in contact with the glass window 100.

When the cleaning robot assembly 1 descends to the "normal cleaning state" and the lower surface of the waste washing liquid collecting trough 132 contacts the protrusion 300, as described above, the "original lowering state of the primary body only" starts. While the connection moving plate 19 coupled to the wiper device moving member 30 starts to retreat, the waste washing liquid recovery trough 132 is also retracted, and the blade fixing member 114 to which the wiper blade 110 is coupled ) Is pressurized by the spring member 115 in the direction of the outer wall of the building, so that the wiper blade 110 still has its front end in contact with the glass window 300 even when the waste washing liquid collecting trough 132 is retracted. Will be maintained. At this time, since the wiper moving member 30 adheres to the position because it is in the " originally lowered state only of the primary body ", the main body 20 continues to descend without stopping. In FIG. 21, the " primary descending state of the first body only " is started following the state shown in FIG. 16 so that the waste washing liquid collecting trough 132 is retracted to be out of the protrusion and the wiper blade 110 is still A schematic side cross-sectional view is shown corresponding to FIG. 15 showing a state where the front end touches the window 300.

In the embodiment described with reference to FIGS. 14 to 20, the wiper blade 110 retreats above the height of the protrusion in the original lower state of the primary body only, and subsequently, the acceleration of the primary wiper moving member is performed. Although the lowering state "has been described as starting, in the embodiment shown in FIG. 21, after the waste washing liquid recovery trough 132 retreats so as to pass through the protrusion 300 in the " original lowering state of the first body only " The original lowering state of the primary main body only " is paused so that the main body 20 and the wiper moving member 30 are lowered together or the " additional acceleration lowering state of the wiper moving member " "Original lower state only the primary body" is paused and the main body 20 and the wiper moving member 30 is lowered together or "additional acceleration lowering state of the wiper moving member" proceeds to the wiper blade 110 projection part A schematic side cross-sectional view showing a contacted state is shown: The waste washing liquid collecting trough 132 is retracted out of the protrusion 300 and the wiper blade 110 is pressed by the spring member 115 so that the front end thereof is pressed. In the state of contact with the glass window 100, the "original lowering state only the primary body" is paused, the main body 20 and the wiper moving member 30 is fixed to each other and lowered together, the wiper blade 110 is the glass window 100 ), Or the wiper blade 110 moves relative to the lower body along the main body 20 as described above, such as the "accelerated lowering state of the first wiper moving member". ) And come down to the state shown in Fig. 22. Thus, the wiper device 10 is lowered while the front end of the wiper blade 110 touches the glass window 100, thereby wiper blades. 110 will also wipe off the windshield of the upper portion of the protrusion 300. Thus, following the state shown in Fig. 22, the wiper blade 110 will also wipe off the windshield of the upper portion of the protrusion 300. A schematic side cross-sectional view is shown in FIG. 23 showing the retracted state so that 110 does not touch the protrusion 300. In FIG. 23, the dotted line shows the state of FIG. 22 for reference.

After the wiper blade 110 descends in close contact with the glass window for a short interval as described above, when the wiper blade 110 recognizes that the wiper blade 110 touches the protrusion 300 by the protrusion detection sensor, the wiper moving member is again. The additional acceleration lowering state of the "end", and the paused "original lowering state of the first main body only" restarted, as shown in Figure 23, the main body 20 continues to descend and the wiper blade 110 is a projection 300 Retreat to pass). After the wiper blade 110 is retracted to pass through the protrusion 300, the wiper blade 110 descends past the protrusion 300, and again the wiper blade 110 is positioned at the position below the protrusion 300. Cleaning is performed in contact with the wiper blade, which is thus retracted from the operation of passing the wiper blade 110 through the protrusion 300 as described above with reference to FIGS. 14 to 20.

According to the above-described embodiment described with reference to FIGS. 21 to 23, it is possible to effectively prevent the occurrence of the phenomenon that the cleaning of the glass window 100 is not made at a small height between the wiper blade 110 and the waste washing liquid collecting trough 132. It becomes possible.

On the other hand, in general, the height of the protrusion of the protrusion 300 can be roughly expected or often known in advance. In this case, the window structure can be prevented from cleaning up on the protrusion part 300 even by the following structure further simplifying the configuration of the various embodiments described above. That is, the height of the front end portion of the wiper blade 110 and the front end portion of the waste washing liquid flow guide plate 131 protrude to the outer wall of the building as in the embodiment shown in FIGS. The protruding length of the flow guide plate 131 is long so that the waste washing liquid recovery trough 132 is in a position not caught at all by the protrusion 300 when the cleaning robot assembly 1 descends. FIG. 24 is a schematic side cross-sectional view showing a state where the waste washing liquid flow guide plate 131 passes through the protrusion 300 while being deflected in the embodiment in which the protrusion length of the waste washing liquid flow guide plate 131 is long. It is.

Like the wiper blade 110, the waste washing liquid flow guide plate 131 may be made of an elastic plate member such as rubber or synthetic resin. As shown in FIG. 24, the waste washing liquid flow guide plate 131 is cleaned by lengthening the protruding length of the waste washing liquid flow guide plate 131. If the waste washing liquid recovery trough 132 is positioned at the position where the robot assembly 1 is lowered to the protrusion 300 at all, the cleaning robot assembly 1 descends and meets the protrusion 300, even though the waste washing liquid flows. The guide plate 131 is deflected and overhangs the protrusions 300, and the "normal cleaning state" is continuously maintained until the wiper blades 110 are prevented from descending by the protrusions 300, thereby protruding the protrusions 300. Cleaning may be made by the wiper blade 110 up to the portion of the windshield 100 directly above. That is, in the embodiment illustrated in FIG. 24, the "original lowering state of the primary body only" starts when the wiper blade 110 touches the protrusion 300.

Although the waste washing liquid flow guide plate 131 is deflected in the above embodiment, the waste washing liquid buried in the waste washing liquid flow guide plate 131 may be lifted into the upper glass window 300, but the waste washing liquid flow guide plate 131 The wiper blade 110 is blocked at the upper side, and since the wiper blade 110 is wiped off, the waste washing liquid splashed on the glass window does not cause recontamination of the glass window 100.

Meanwhile, in the embodiment illustrated in FIGS. 1 to 24, the waste washing liquid collection member 130 is provided in the wiper device 10, and the brush 41 of the rotary brush device 40 rotates in a dry state to remove dust. Although it is configured to shake off the back, as in another embodiment of the present invention shown in Figures 25 to 27 to be described later may have a configuration in which the brush 41 is rotated in a wet state. Specifically, FIG. 25 shows a schematic perspective view corresponding to FIG. 3 showing a cleaning robot assembly 1 according to another embodiment of the invention, and FIG. 26 shows the body 20 in the embodiment shown in FIG. 25. A schematic perspective view corresponding to FIG. 11 showing only the front plate 28 and the rotary brush device 40 of FIG. 11 is shown, and FIG. 27 is shown according to another embodiment of the present invention shown in FIGS. 25 and 26. A schematic side cross-sectional view is shown corresponding to FIG. 14 showing the cleaning robot assembly 1 in operation.

In the case of the cleaning robot assembly 1 according to another embodiment of the present invention shown in FIGS. 25 to 27, the wiper device 10 is not provided with a waste washing liquid collection member 130, and instead, waste washing liquid. The collecting member 130 is provided below the brush 41 in the rotary brush device 40. Specifically, as illustrated in FIG. 25, the waste washing liquid collection member 130 is not provided below the nozzle member 120 of the wiper device 10. Therefore, the washing liquid sprayed from the nozzle member 120 flows down the building outer wall surface, and the washing liquid reaches the brush 41 located below the wiper device 10. When the brush 41 rotates to shake off foreign substances such as dust attached to the outer wall surface of the building, dust or the like may scatter and fall downward, which may cause inconvenience to pedestrians or dirty the streets. In this case, since the cleaning liquid sprayed from the nozzle member 120 reaches the brush 41, the brush 41 itself or dust, etc., are cleaned by the brush 41 in a wet state, that is, a wet state. Therefore, in the process of cleaning by the brush 41, dust and the like are scattered, so that problems such as falling do not occur.

On the other hand, when the brush 41 is a cleaning operation in the wet state as described above, since the washing liquid or waste washing liquid may fall, in the embodiment of Figures 25 to 27, the waste washing liquid collection member (under the brush 41) ( 130, the waste washing liquid collection member 130 is installed to advance or retreat together with the brush 41 when the brush 41 advances or retracts toward the building exterior wall surface direction. Specifically, in the embodiment of FIGS. 25 to 27, the shaft supporting member 42 supporting the rotating shaft of the brush 41 is made of a plate, and the bottom of the brush 41 is forward of the shaft supporting member 42 made of the plate. The waste washing liquid recovery trough 132 is attached to the waste washing liquid recovery trough 132, and the waste washing liquid flow guide plate 131 is provided.

As such, when the waste washing liquid collection member 130 including the waste washing liquid flow guide plate 131 and the waste washing liquid collecting trough 132 is provided under the brush 41 to retreat together with the brush 41, a washing liquid or the like may be provided. While the brush 41 can be wetted to wet the dust, etc., the wetted brush 41 remains after being wetted, and the fluid flowing down, that is, a washing liquid or a waste washing liquid is collected and collected by the waste washing liquid collection member 130. As a result, it is possible to prevent contamination of pedestrians and walkers due to waste washing liquid and the like.

On the other hand, in the case where the waste washing liquid collection member 130 is provided below the brush 41 as described above, as shown in Figure 27, when the waste washing liquid recovery trough 132 is caught on the protrusion 300, " The second protrusion detecting sensor "recognizes this, and the normal cleaning state is stopped and the brush back and forth members 44 placed on the brush moving member 43 are retracted so that the waste washing liquid collection member 130 together with the brush 41 is moved. Since the protrusion 300 is not obstructed by the lowering of the brush 41 due to a distance from the outer wall surface of the building, the brush 41 and the waste washing liquid collecting member 130 fall down over the protrusion 300. The operation and other operations after the brush 41 and the waste washing liquid collection member 130 pass over the protrusion 300 may be understood with reference to the above-described embodiment of FIGS. 1 to 23, and thus, repeated description thereof will be omitted.

10: wiper device
20: main body
30: wiper moving member
40: rotary brush device
110: wiper blade

Claims (7)

delete A main body 20 descending facing the outer wall of the building; It is coupled to the main body 20, and provided with a wiper blade 110 extending in the transverse direction so that the front end is in contact with the building outer wall surface, by the wiper blade 110 to scrape off the contaminants on the building outer wall surface. A wiper device 10; Rotating brush device which is provided at the lower position of the wiper device 10 in the main body 20 and provided with a brush 41 to shake off the contaminants on the outer wall surface of the building by the rotation of the brush 41 ( 40); The wiper device 10 is coupled to the wiper device 10 so as to move the wiper device 10 toward the building outer wall or vice versa, and is perpendicular to the main body 20 simultaneously with the wiper device 10. It includes a wiper device moving member 30 is coupled to the main body 20 so that the relative motion of lifting up and down; The rotary brush device 40 is coupled to the shaft support member 42 for supporting the brush 41, the front and rear brushes to move forward or backward toward the building outer wall surface coupled to the rear support member 42 A member (44) and a brush moving member (43) provided in the main body (20) to move the brush forward and backward member (44) forward and backward toward the building outer wall surface; The main body 20 includes a front plate 28 and a back plate 29 is made of a box-shaped member having an internal space between the front plate 28 and the back plate 29, the main body 20 Two waste washing liquid storage tanks 22 are disposed in a transverse direction and spaced apart from each other, and the two waste washing liquid storage tanks are constructed using a building outer wall cleaning robot assembly having a configuration in which communication pipes 25 are connected to each other. As a method of cleaning building exterior walls,
The cleaning robot assembly is located in front of the building exterior wall surface, the main body 20 and the wiper device moving member 30 is fixed to each other in a portion where the protrusion 300 is not present on the building exterior wall surface, The wiper blade 10 is in close contact with the front surface of the building outer wall, the brush 41 is in contact with the building outer wall surface to shake off the building outer wall surface, the main body 20 and the wiper device moving member ( 30) moving the wiper blade 110 downward while scraping the front surface of the building outer wall surface at the same speed, and cleaning the building outer wall surface by the rotation of the brush 41;
When the lowering of the brush 41 is prevented by the protrusion 300 existing on the outer wall of the building, the brush moves to the position where the brush 300 can be overrun by the operation of the brush moving member 43. 41, the retreat;
Advancing the brush 41 to clean the outer wall of the building by the brush moving member 43 after the brush 41 has passed over the protrusion 300;
When the lowering of the wiper device 10 is hindered while the main body 20 is lowered, the state in which the main body 20 and the wiper moving member 30 are fixed to each other is released and the As the wiper device moving member 30 moves relative to the main body 20 to move up, the wiper device moving member 30 and the wiper device 10 do not change their vertical height, but the main body 20 Maintaining the state of descending at a constant speed, and at the same time, the wiper device 10 retreats from the outer wall of the building so that the wiper blade 110 moves away from the outer wall of the building;
When the wiper device 10 retreats in the state where the main body 20 continues to descend at the same speed so that the wiper blade 110 does not touch the protrusion 300, the wiper device moving member 30 is the main body 20. Acceleration and descending in the direction in which the movement;
Immediately after the wiper blade 110 passes the protrusion 300 by the accelerated lowering of the wiper device moving member 30, the wiper device moving member 30 stops the accelerated lowering and follows the main body 20. By the relative movement to rise upward, the wiper device moving member 30 and the wiper blade 110 does not change the vertical height, but the main body 20 continues to be lowered at constant speed and at the same time, the wiper device (10) advancing toward the building outer wall surface such that the front end of the wiper blade 110 touches the building outer wall surface while maintaining the vertical height at the position immediately after the wiper blade 110 passes the protrusion 300;
After the front end of the wiper blade 110 touches the outer wall of the building, the wiper device moving member 30 accelerates and descends in a direction in which the main body 20 moves; And
By cleaning the building outer wall surface while the main body 20 and the wiper moving member 30 is lowered together,
Even if the protrusion 300 is present on the outer wall of the building, the main body 20 may continue to descend without stopping, thereby preventing contamination of the outer wall of the building above the protrusion 300 due to the presence of the protrusion 300. Cleaning method of the building exterior wall surface using a cleaning robot assembly, characterized in that it is possible to.
The method of claim 2,
The wiper device 10, the blade mounting member 140 is provided with the wiper blade 110, the wiper blade 110 is provided at a position below the nozzle hole is formed in the cleaning solution to the building outer wall surface It comprises a nozzle member 120 for spraying, and a waste washing liquid collection member 130 provided at a position below the nozzle member 120 to collect the waste washing liquid scraped off the building outer wall surface;
In the step of cleaning the building outer wall surface while the wiper device 10 is lowered by the lowering of the main body 20, a cleaning liquid is injected from the nozzle member 120 to the building outer wall surface, the wiper blade 110 The cleaning solution sprayed on the outer wall surface of the building is scraped and cleaned with contaminants, and the waste washing liquid and the contaminants scraped off by the wiper blade 110 are collected by the waste washing liquid collection member 130 into the waste washing liquid storage tank. Cleaning method of the building exterior wall surface using a cleaning robot assembly, characterized in that the recovery.
The method of claim 2,
The wiper device 10, the blade mounting member 140 is provided with the wiper blade 110, the wiper blade 110 is provided at a position below the nozzle hole is formed in the cleaning solution to the building outer wall surface It comprises a nozzle member 120 for spraying;
Under the brush 41 in the rotary brush device 40, a waste washing liquid collection member 130 is provided at a position below the nozzle member 120 to collect the waste washing liquid scraped off the building outer wall surface. Is done;
In the step of cleaning the building outer wall surface while the wiper device 10 is lowered by the lowering of the main body 20, a cleaning liquid is injected from the nozzle member 120 to the building outer wall surface, the wiper blade 110 Cleaning by spraying the cleaning solution sprayed on the outer wall of the building with contaminants;
Cleaning, characterized in that the waste cleaning liquid scraped by the wiper blade 110 and the contaminants and the brush 41 soaked and the remaining cleaning liquid is recovered by the waste washing liquid collection member 130 to the waste washing liquid storage tank. Cleaning method of building exterior wall using robot assembly.

The method according to claim 3 or 4,
The blade mounting member 140, the blade holding member 114, the wiper blade 110 is disposed in the horizontal direction is mounted, and the rear support member disposed at intervals behind the blade fixing member 114 ( 113);
In the gap between the blade fixing member 114 and the rear support member 113, a spring member 115 having elasticity is provided to push the blade fixing member 114 toward the building outer wall surface by elastic force. Cleaning method of the building exterior wall surface using a cleaning robot assembly, characterized in that.
The method according to claim 3 or 4,
The nozzle member 120 extends in the lateral direction, and a plurality of nozzle holes are formed at intervals, and the nozzle pipe 121 is coupled to both of the transverse direction ends of the nozzle pipe 121, respectively. It is configured to include a coupling bracket 122 for fixing the;
The coupling bracket 122 is formed with an arc-shaped long hole 123, the guide pins 124 are provided at both ends of the transverse direction of the nozzle tube 121, respectively, the guide pin 124 is the long hole ( 123, the nozzle pin 121 is rotated so that the guide pin 124 moves back and forth along the arc-shaped long hole 123 of the coupling bracket 122, the spraying direction of the cleaning liquid from the nozzle port The cleaning method of the building exterior wall surface using a cleaning robot assembly, characterized in that the cleaning liquid is sprayed up and down the building exterior wall surface while changing up and down.
The method according to claim 3 or 4,
The waste washing liquid collection member 130, and the waste washing liquid recovery trough 132 in communication with the waste washing liquid storage tank,
It is composed of a plate member is provided on the front surface of the washing liquid recovery gutter 132 in the direction of the building outer wall, comprising a waste washing liquid flow guide plate 131 for inducing fluid to flow into the waste washing liquid recovery gutter 132 Cleaning method of the building exterior wall surface using a cleaning robot assembly, characterized in that.

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