KR101308975B1 - Apparatus for cleaning surface of building - Google Patents

Abstract

PURPOSE: A robot assembly for cleaning the outer wall surface of the buildings, capable of ascending or descending along an ascending/descending rail corresponding to the gradient of the outer wall surface of the buildings is provided to completely clean the outer wall even if a protrusion unit exists on the outer wall surface of the buildings and to prevent a work from being stopped by the protrusion unit. CONSTITUTION: A robot assembly for cleaning the outer wall surface of the buildings comprises a wiper device and a main body. A rail combination driving device is equipped in the main body to face the outer wall surface of the buildings. A plurality of wheel members (81) having different heights which are protruded from the main body to the outer wall surface is equipped on the rail combination driving device. The wheel members retreat to the main body or proceed to the outer wall surface while the wheel member has the elasticity corresponding to the gradient of an ascending/descending rail by an elastic pressurizing member. The wheel members come in contact with the surface facing each other from the channel space inner surface of the ascending/descending rail to the outer wall surface along the protruded height and move in an attached state.

Description

Robotic outer wall cleaning robot assembly that moves up and down along the elevating rail in response to the gradient of the outer wall of the building {Apparatus for Cleaning Surface of Building}

The present invention relates to a cleaning robot assembly for cleaning an outer wall of a building, and specifically, by descending along an outer wall of a building, such as a building, by spraying and wiping a cleaning liquid onto a building's outer wall, such as a window or an outer wall of a building, As a result, the wiper blade continuously adheres to the outer wall of the building to ensure a stable cleaning, and operates in response to the protruding parts such as the window frames of the glass windows on the outer wall of the building. The present invention relates to a building exterior wall cleaning robot assembly having a function of cleaning an exterior wall surface of a building in spite of the presence of a protruding portion.

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 the surface and scraping off the water on the outer wall with a wiper or wiping with a rotary brush. Korean Unexamined Patent Publication No. 10-2011-0136311 discloses a cleaning device for wiping the windows of a building with a rotating brush in this way.

By the way, the conventional cleaning device is described as spraying the cleaning liquid on the outer wall of the building and wiping it, but the waste washing liquid after spraying on the outer wall of the building is not completely wiped and left unattended and falls to the street as it is, causing great harm to pedestrians passing by the road. It is the result of getting dirty or polluting the road. In addition, when the waste washing liquid flows down the outer wall of the building, it causes another contamination of the outer wall of the building. In the conventional cleaning device, the dust and other contaminants sprayed on the outer wall of the building are buried on the outer wall. There is no configuration at all capable of safely processing the contained waste washing liquid.

On the other hand, most of the outer wall surface of the building protrudes, such as a protruding portion due to the window frame existing between the glass window, but in the conventional cleaning device, such a portion due to such a protrusion does not completely clean the occurrence occurs In the prior art, there is no solution to this problem.

In particular, the outer wall surface of the building does not form a perfect vertical surface due to construction errors, etc., and often has an irregular gradient in which the front surface becomes convex or concave. In the related art, a cleaning apparatus is provided to cope with the irregular gradient of the outer wall surface of the building. There is no conventional technique for stably moving up and down.

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 in the exterior of a building, such as a building while moving downwards using a cable or the like hanging down from the roof, such as windows and outer walls As a device for cleaning the outer wall of a building, even if the outer wall of the building does not form a perfect vertical surface due to construction errors and has an irregular gradient, the outer wall of the building can be stably descended in response to the irregular gradient of the outer wall of the building. It is an object of the present invention to provide a robot assembly for cleaning a building exterior wall, which can be cleaned by wiping.

In addition, the present invention can prevent the cleaning part is not generated even when there is a protrusion on the outer wall surface of the building, so that work stoppage does not occur due to the presence of the protrusion, and the portion already cleaned due to the presence of the protrusion An object is to provide a building exterior wall cleaning robot assembly that can prevent re-contamination.

Furthermore, it is possible to safely recover the waste washing liquid containing contaminants by being sprayed on the exterior wall of the building for cleaning, causing inconvenience to pedestrians due to neglect of the waste washing liquid, recontamination of the exterior wall of the building, and environmental pollution. An object of the present invention is to provide a building exterior wall cleaning robot assembly that can solve the problems.

In order to achieve the above object, in the present invention, a wiper device having a wiper blade that contacts the outer wall surface of the building to scrape off contaminants, and the main body which is combined with the wiper device and descends facing the building outer wall surface. A cleaning robot assembly comprising: a rail coupling driving device comprising a channel-shaped member having a rectangular cross section, coupled to a lifting rail vertically installed on an outer wall of a building, and moving the cleaning robot assembly along a lifting rail; It is provided in the main body toward the outer wall surface of the building; The rail coupling driving apparatus includes a plurality of wheel members having elasticity in the building outer wall surface direction and different heights protruding from the main body in the building outer wall surface direction; The wheel member is provided with a building exterior wall cleaning robot assembly, characterized in that it has a configuration that is vertically fitted from the top of the elevating rail to move in close contact with the inner surface of the channel space of the elevating rail.

In the building exterior wall cleaning robot assembly of the present invention, the two-way damper device, the wheel mounting beam is rotatably coupled to the wheel member, and the wheel mounting beam is coupled to the wheel mounting beam and the wheel mounting beam respectively in both longitudinal directions of the wheel mounting beam; It is composed of an elastic mounting beam is provided with a spring member for pressing the beam on both sides in the longitudinal direction, by the spring member, the wheel mounting beam is retracted in the body direction while having elasticity corresponding to the gradient of the elevating rail or By advancing in the direction of the building outer wall surface, the plurality of wheel members may have a configuration that is installed in the main body having elasticity in the building outer wall surface direction.

Particularly, in the present invention as described above, the wiper device is coupled to the wiper device so that the wiper device can be moved forward or vice versa in the direction of the outer wall of the building, and is moved relative to the main body at the same time as the wiper device moves forward and backward. It is further provided with a wiper device moving member coupled to the main body so as to exercise; 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 A waste washing liquid collection member for collecting the waste washing liquid scraped from the cotton; As the wiper device descends due to the lowering of the main body, the wiper blade scrapes and cleans the cleaning liquid sprayed from the nozzle member to the building outer wall surface, and the waste washing liquid and the contaminant scraped off by the wiper blade are cleaned. It may have a configuration to be recovered by the waste washing liquid collection member.

In particular, in this case, the blade mounting member is divided into a blade holding member to which the wiper blade is disposed and mounted in the lateral direction, and a rear supporting member arranged to be spaced 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.

Cleaning robot assembly according to the present invention is provided with a plurality of wheel members in the rail coupling driving device, the plurality of wheel members to the elasticity in the direction of the outer wall surface of the building, a plurality of wheel members from the body of the cleaning robot assembly Is different from the height of the protruding, the wheels in the channel space of the elevating rail is always in close contact with at least one surface of the inner surface of the channel space of the elevating rail facing the building outer wall, The gap between the member and the inner surface of the channel space prevents the wiper blade front end from coming into contact with the building exterior wall surface. Thus, the wiper blade can be cleaned by scraping the building exterior wall surface stably and faithfully. , In particular, a cage in which the band is wound around the plurality of wheel members The problem to remove effects due to the clearance in the channel space of the elevating rail above by manufacturing a pillar form is further improved.

In addition, the building exterior wall cleaning robot assembly according to the present invention is provided with a waste washing liquid collecting member, and the waste washing liquid scraped off by the wiper blade is collected using such waste washing liquid collecting member, and thus, waste washing liquid containing contaminants. It can be prevented from being discarded in this unprotected state, and the effect of being able to prevent the waste washing liquid from flowing down the outer wall of the building and re-contaminating the outer wall of the building.

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. Particularly, 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 the work speed due to work stoppage, and the efficiency of the work is increased to improve economic efficiency. Effect is exerted.

1, 2A and 2B are schematic perspective views showing a state in which the building exterior wall cleaning robot assembly of the present invention descends along a lifting rail installed on the building exterior wall.
Figure 3 and Figure 4 is a schematic perspective view showing different views of the building exterior wall surface cleaning robot assembly of the present invention, respectively.
Figure 5 is a schematic perspective view of the cleaning robot assembly of the present invention, independently showing only the two-way damper device with a wheel member.
FIG. 6 is a schematic enlarged view of a portion E of FIG. 3.
FIG. 7 is a schematic cross-sectional view taken along the line JJ of FIG. 2B showing a state where the wheel member is inserted into the elevating rail.
Figure 8 is a schematic perspective view showing only the wiper device separated from the building exterior wall cleaning robot assembly according to the present invention.
Figure 9 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 the present invention.
10 to 13 are perspective views corresponding to FIG. 9, respectively, as viewed from the rear surface of the front plate in a state in which the washing liquid storage tank and the waste washing liquid storage tank are removed from the main body of the building exterior wall cleaning robot assembly according to the present invention. One schematic perspective view.
FIG. 14 is a schematic side view for explaining a state in which the wiper blade descends past the protrusion in a state where the wiper blade does not retreat from the building outer wall surface.
15 to 20 are schematic side cross-sectional views taken along the line KK of FIG. 10 showing a state in which the building exterior wall cleaning robot assembly according to the present invention is located in front of the glass window.
FIG. 21 shows that the waste washing liquid collecting gutter is retracted out of the protrusion in an embodiment in which the front end of the wiper blade protrudes more toward the outer wall of the building than in the front end of the waste washing liquid flow guide plate in another embodiment of the present invention. The wiper blade is a schematic side cross-sectional view showing the front end touching the windowpane.
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.

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, 2A and 2B, respectively, the lifting rail 60 provided with the building exterior wall cleaning robot assembly 1 (hereinafter, abbreviated as "cleaning robot assembly 1") installed on the building exterior wall surface. A schematic perspective view is shown sequentially showing the descending state accordingly. 3 and 4 are schematic perspective views showing different views of the cleaning robot assembly 1 of the present invention, respectively.

The cleaning robot assembly 1 according to the present invention, as described later, the elevating rail installed on the outer wall surface of the building by the cable 201 supported by the frame 200 of the elevating crane installed on the roof of the building and hung down ( The cleaning solution is sprayed on the outer wall of the building while moving from top to bottom along 60), and the outer wall of the building is cleaned by scraping off the cleaning solution on the outer wall with a wiper blade. In the drawing, the member number 230 is a winding device 230 for winding or unwinding the cable 201, and the member number 231 is a frame 200 of the elevating crane placed on an upper surface of the building in the transverse direction (the arrow PP direction in FIG. 1). The transverse movement frame 231 to move in), the member number 232 is a horizontal movement rail disposed in the transverse direction so that the movement wheels provided in the transverse movement frame 231 is coupled to move in the transverse direction ( 232).

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 It comprises a wiper device 10 having a blade 110 and the main body 20 is coupled to the wiper device 10 is lowered facing the outer wall of the building. 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.

First, the configuration of the cleaning robot assembly 1 of the present invention moving along the elevating rail 60 will be described with reference to FIGS. 5 to 7. As shown in the figure, in order to use the cleaning robot assembly 1 of the present invention, a lifting rail 60 for guiding the lifting and lowering of the cleaning robot assembly 1 is vertically installed on the outer wall of the building. In addition, the cleaning robot assembly 1 of the present invention has a rail coupling driving device 80 coupled with the elevating rail 60 to move the cleaning robot assembly 1 along the elevating rail 60, and the outer wall of the building. It is provided in the front plate of the main body 1 facing a surface.

In the embodiment shown in the drawing the rail drive device 80 is configured to include one or a plurality of wheel members 81, each wheel member 81 is mounted to the two-way damper device (82) It is desirable to have. FIG. 5 is a schematic perspective view of the bidirectional damper device 82 having the wheel member 81 independently, and as shown in the drawing, the bidirectional damper device 82 is rotatably coupled to the wheel member 81. Compression with the wheel mounting beam 810, the spring is coupled to the wheel mounting beam 810 and the spring mounting the wheel mounting beam 810 on both sides in the longitudinal direction of the wheel mounting beam 810, respectively The member 821 may be provided and may include an elastic installation beam 820 coupled to the main body 20. Specifically, in the embodiment shown in the drawings, the elastic installation beam 820 is formed with a through-hole penetrating in the transverse direction, the two through-hole elastic member 821 is disposed in the longitudinal direction, the cross-linking The bidirectional damper device 82 is configured to have a structure passing through the through hole of the elastic installation beam 820 so that the cross-linking portion of the wheel mounting beam 810 having a portion is located between the two elastic pressing members 821. It is. Accordingly, the two wheel mounting beams 810 are retracted in the direction of the main body 20 while being elastically corresponding to the gradient of the elevating rail 60 by two elastic pressing members 821 or moving forward in the building outer wall surface direction. You can do it. That is, the plurality of wheel members 81 are installed in the main body 20 while having elasticity in the building outer wall surface direction.

In particular, in the present invention, the plurality of wheel members 81 provided in the rail coupling driving device 80 preferably have different heights protruding from the main body 20 in the direction of the outer wall of the building. That is, since the length of the bidirectional damper device 82 is different, the height at which the wheel member 81 protrudes from the front surface of the main body 20 toward the building outer wall surface is different.

FIG. 6 is a schematic enlarged view of a circle E portion of FIG. 3, and FIG. 7 is a schematic cross-sectional view taken along the line JJ of FIG. 2B, in which the wheel member 80 is inserted into the elevating rail 60. A cross-sectional view is shown from the vertical direction to show. As shown in the figure, the elevating rail 60 is made of a member in the form of a channel having a rectangular cross section, the elevating rail 60 of the channel form in the direction toward the outer wall surface of the building from the outside of the body 20 Cutting portion 61 is formed long in the vertical direction so that the wheel member 81 can be inserted. Accordingly, the wheel member 81 mounted on the bidirectional damper device 82 is vertically fitted from the top of the elevating rail 60 to be positioned in the channel space of the elevating rail 60, and the wheel member 81 is disposed. The wheel mounting beam 810 of the bidirectional damper device 82 is fixed and extends toward the main body 20 through the cutout 61 as shown in FIGS. 2B and 7.

In this way, when the wheel member 81 is located in the channel space of the elevating rail 60, there may be a play in the channel space in the transverse direction, but the wheel member in the building outer wall direction, that is, the arrow GG direction of FIG. There should be no play between 81 and the inner surface of the elevating rail 60. If there is play between the wheel member 81 and the inner surface of the channel of the elevating rail 60 in the direction of the arrow GG of FIG. 7, the wiper blade 110 of the wiper device 10 provided in the main body 20 is eventually formed. This is because the play is present at the front end and the outer wall of the building, and thus the wiper blade 110 is in a state in which the outer wall of the building cannot be wiped off. On the other hand, the outer wall of the building is difficult to form a perfect vertical surface due to errors in the construction of the building, and convex forward, but concave conversely, there may be a predetermined gradient, and thus the elevating rail attached to the outer wall of the building ( 60) Since there may also be a gradient, when the wheel member 81 is simply located in the channel space of the elevating rail 60, as shown above, the wheel member 81 may move in the direction of the arrow GG of FIG. There may be a problem that there is a play between the inner surface of the channel of the falling rail 60.

However, as described above, in the present invention, when the plurality of wheel members 81 are provided in the rail coupling driving apparatus 80, the plurality of wheel members 81 are elastic in the building outer wall surface direction, and the main body 20 is provided. By differentiating the height at which the plurality of wheel members 81 protrude from the plurality of wheel members 81, the plurality of wheel members 81 are always at least on one side of the direction of the arrow GG of FIG. 7 among the inner surfaces of the channel space of the elevating rail 60. Since the state is in close contact, the phenomenon that the front end of the wiper blade 110 does not come into contact with the outer wall of the building due to the play in the channel space of the elevating rail 60 does not occur. In this way, since the inner height of the channel space of the elevating rail 60 that the wheel member 81 is in contact with each other because the protrusion height of the wheel member 81 is different, when viewed from the vertical direction as shown in FIG. The wheel member 81 is shown in a superimposed state.

In particular, as shown in the figure, when the wheel member 81 is manufactured in the form of a caterpillar of a band wound form, there is a problem elimination effect due to the clearance in the channel space of the elevating rail 60 as described above It is further improved.

Next, the wiper device provided in the cleaning robot assembly 1 of the present invention will be described with reference to FIG. 8, which shows only the wiper device 10 provided in the cleaning robot assembly 1 according to the present invention in a schematic perspective view. An embodiment of 10) will be described in detail.

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 8, the blade mounting member 140, the blade is provided with the wiper blade 110 is arranged horizontally so that the wiper blade 110 can maintain the state in close contact with the building outer wall surface stably. It is divided into a fixing member 114 and the rear mounting member 113, and the spring member 115 having elasticity is provided in the interval between the blade fixing member 114 and the rear support member 113. 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. 8, the front guide rods 119 are provided at 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 is further provided.

The waste washing liquid collection member 130 is positioned below the nozzle member 120. Specifically, the waste washing liquid collecting member 130 is a waste washing liquid flow guide plate 131 and a waste washing liquid collecting gutter 132. The waste washing liquid recovery trough 132 is provided on the front surface of the vertical installation plate 116 at the lower side of the nozzle member 120, and the front surface of the washing liquid recovery trough 132 toward the outer wall of the building as a plate member. The waste washing liquid flow guide plate 131 may be configured to be 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.

The waste washing liquid storage tank 22 may be installed in the main body 20. FIG. 9 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. 9, a cover member 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. (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.

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.

10 to 13, the washing liquid storage tank 26 and the waste washing liquid storage tank 22 are removed and the front plate 29 of the main body 20 is shown in detail to show the configuration of the wiper device moving member 30 described above. ), And a schematic perspective view of the wiper device moving member 30 and the wiper device 10 is shown as viewed from the rear direction of the front plate 29.

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. 10 shows that the vertical moving plate 31 has not moved yet, so that 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. 11 illustrates a state in which the wiper moving member 30 is raised by moving the vertical movable plate 31 in the state shown in FIG. 10 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. 12 shows a state in which the connecting moving plate 19 and the wiper device 10 retreat from the building outer wall surface direction by the operation of the wiper moving member 30 in the state shown in FIG. The wiper moving member 30 of the wiper moving member 30 in the state shown in FIG. 12 is moved relative to the downward direction with respect to the main body 20 so that the wiper device moving member 30 is again moved with respect to the main body 20. It shows a fixed state.

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. 14 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 has a configuration that does not retreat from the building outer wall surface. .

As shown in FIG. 14, 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 reaches the surface of the glass window 100 is a position away from the protrusion 300 by a predetermined distance (the distance indicated by reference numeral L-1 in FIG. 14). Therefore, a certain distance (distance indicated by reference numeral L-1 in FIG. 14) immediately below the protrusion 300 has a problem that the cleaning is not made. In addition, as shown in FIG. 14, 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.

15 to 20 are schematic side cross-sectional views taken along the line K-K of FIG. 10 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 “protrusion detection sensor (not shown)” for detecting whether the wiper blade 110 is in a state in which it cannot be lowered due to the protrusion 300. The "protrusion detection 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 (more specifically, the lower position of the waste washing liquid recovery trough 132) to protrude ( Through a method of recognizing the signal reflected from the 300, it may be made of a sensor of the type that recognizes the presence of the protrusion 300, it is made of a contact sensor attached to the lower surface of the waste washing liquid recovery trough 132, the protrusion 300 ) And the waste washing liquid recovery gutter 132 is located between the waste washing liquid recovery gutter 132 and the protrusion 300 by recognizing the contact or the distance between the waste washing liquid recovery gutter 132, It may also be configured in a form that will recognize the existence of 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 that can move relative to the main body 20 in the vertical rising and lowering 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. This "normal cleaning state" is shown in FIGS. 10 and 15.

In this "normal cleaning state", when the cleaning robot assembly 1 is lowered, the main body 20, the wiper moving member 30, and the wiper device 10 are all lowered together at the same speed, and in the lowering process As the cleaning liquid is sprayed from the nozzle hole of the nozzle member 120 to the glass window 100, the wiper blade 110 scrapes and cleans the contaminants in the glass window 100 together with the cleaning liquid. The flow is guided by the washing liquid flow guide plate 131 and collected in the waste washing liquid recovery trough 132.

While the cleaning operation of the conventional glass window 100 is maintained by maintaining the "normal cleaning state" as described above, as shown in FIG. 16, the waste washing liquid recovery trough 132 contacts the protrusion 300 of the building outer wall surface. When the protrusion 300 becomes in a state where the lower portion of the wiper blade 110 falls, this state is recognized by the "protrusion detection sensor (not shown)", which is thus projected by the "protrusion detection sensor". Recognizing the state that the obstacles to the lowering of the wiper device 10, the locked state between the wiper moving member 30 and the main body 20 is released, and becomes the "original lowering state of the primary body only" The wiper moving member 30 continues to descend only the main body 20 while maintaining the vertical height. That is, when the wiper blade 110 is in contact with the protrusion 300, the first rotating shaft 23 is rotated by the driving of the first rotating 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 protrusion detecting sensor recognizes that the protrusion 300 on the outer wall surface of the building has reached a position where the lowering of the wiper device 10 occurs, the second rotary motor M2 starts to drive and the second rotary shaft ( By rotating 27, the connecting moving plate 19 coupled to the wiper device moving member 30 starts to retreat from the direction of the outer wall of the building. Thus, in the " primary descending state of the primary body only ", the wiper blade 110 retracts from the window 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.

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 a position where the wiper moving member 30 becomes a "normal cleaning state" by the aggressive acceleration and fall 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. 14 as a problem of the related art, that is, the wiper blade 110 is damaged and the protrusion of the wiper blade 110 due to overshooting the protrusion 300 blindly. ) All the problems such as the increase in the uncleaned area below can be solved.

Meanwhile, as described above, in the present invention, the protrusion protrusion sensor (not shown) and the wiper blade 110 avoid the protrusion 300 to detect whether the protrusion 300 interferes with the lowering of the wiper blade 110. "Retreat detection sensor (not shown)" for recognizing whether the retractor is sufficiently retracted so as not to touch the protrusion 300 when retreating, and whether the wiper blade 110 descends after passing the protrusion 10 completely when retreating. "Protrusion passage detection sensor (not shown)", the wiper contact to recognize that the wiper blade 110 has touched the glass window 100 when the wiper blade 110 descends completely past the protrusion and then advances back toward the glass window Sensor (not shown) ”. The "protrusion sensor," "retraction sensor," "protrusion sensor," and "wiper contact sensor" are described separately according to the recognition situation, but using a variety of known object recognition sensor technology and separate independent sensors It can be configured to recognize each situation, it is composed of one sensor or composite sensor group (hereinafter referred to as "composite sensor group") to all the above situation (the situation where the obstacles in the lowering of the wiper device by the protrusions) , The state that the wiper member is sufficiently retracted, the state that has passed through the protrusion, the state that the wiper member is in contact with the glass window). The “composite sensor group” recognizes the presence of the protrusion 300 or through the manner of recognizing a signal reflected from the protrusion 300 or the window 100 by sending a signal omnidirectionally from the end of the wiper blade 110. It may be made of a sensor of the type that recognizes the contact with the 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.

15 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. 15 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. 16 showing a state in which the front end touches the window 300.

In the embodiment described above with reference to FIGS. 15 to 20, the wiper blade 110 retreats above the height of the protrusion in the " primary descending state of the primary body only " and subsequently the " primary wiper moving member " The acceleration lowered state "has been described as starting, but 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 lowered state only the primary body " The "original lowering state of the primary body only" is paused, and the main body 20 and the wiper moving member 30 are lowered together or the "additional acceleration lowering state of the wiper moving member" is advanced. In FIG. 22, the " primary descending state of the primary body only " is temporarily suspended so that the main body 20 and the wiper moving member 30 descend together, or the " additional acceleration lowering state of the wiper moving member " A schematic side cross-sectional view is shown showing the blade 110 in contact with the protrusion. 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 portion of the waste washing liquid is pressed by the spring member 115. Only the original lowered state "is paused and the main body 20 and the wiper moving member 30 are fixed to each other and lowered together so that the wiper blade 110 descends while scratching the window 100 or the above-described" first order ". As the wiper moving member 30 moves relative to the lower body along the main body 20, the wiper blade 110 descends while scratching the window 100, as shown in FIG. It will come. Therefore, the wiper device 10 is lowered while the front end of the wiper blade 110 is in contact with the glass window 100 so that the wiper blade 110 may wipe off the glass window directly above the protrusion 300. Subsequently to the state shown in FIG. 22 in which the wiper blade 110 also wipes the glass window directly above the protrusion 300, the wiper blade 110 is retracted so as not to contact the protrusion 300. A cross-sectional side view is shown in FIG. 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 such a short interval, when the wiper blade 110 recognizes that the wiper blade 110 touches the protrusion 300 by a protrusion sensor, The original lowering state of the primary body only "is restarted so that the body 20 continues to descend and the wiper blade 110 retreats so as to pass through the protrusion 300 as shown in FIG. 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, so that the retreat wiper blade 110 passes through the protruding portion 300, and thus the same description as described above with reference to FIGS. 15 to 20 will be omitted.

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 surface 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 flexibly deformed and is overrun the protrusion 300, and the "normal cleaning state" is continuously maintained until the wiper blade 110 is prevented from being lowered by the protrusion 300, thereby protruding the protrusion 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.

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

Claims (3)

Wiper device 10 having a wiper blade 110 to scrape contaminants by contacting an outer wall of a building, and the main body 20 coupled with the lower wiper device 10 and facing down to an outer wall of the building. As a cleaning robot assembly (1) comprising a,
A rail coupling driving device which is composed of a channel-shaped member having a rectangular cross section and is coupled to the elevating rail 60 vertically installed on the outer wall of the building to move the cleaning robot assembly 1 along the elevating rail 60. 80 is provided on the main body 20 toward the outer wall of the building;
The rail coupling driving device (80) is provided with a plurality of wheel members (81) having elasticity in the building outer wall surface direction and protruding from the main body (20) in the building outer wall surface direction;
The wheel member 81 is mounted to the bidirectional damper device 82. The bidirectional damper device 82 includes a wheel mounting beam 810 to which the wheel member 81 is rotatably coupled, and the wheel mounting device. Composed of an elastic installation beam 820 is coupled to the beam 810 and provided with an elastic pressing member 821 to press the wheel mounting beam 810 on both sides in the longitudinal direction of the wheel mounting beam 810, respectively. Is done;
The wheel member 81 may be retracted in the direction of the main body 20 or move forward in the building outer wall surface direction while having elasticity corresponding to the gradient of the elevating rail 60 by the elastic pressing member 821;
The wheel member 81 is vertically fitted from the uppermost end of the elevating rail 60 to be located in the channel space of the elevating rail 60, and acts in a building outer wall surface direction with respect to the wheel member 81. Due to the elasticity, the wheel members 81 having different projecting heights move in close contact with each other in contact with the surfaces facing each other in the direction of the outer wall of the building from the inner surface of the channel space of the elevating rail 60 according to the projecting height. Building exterior wall surface cleaning robot assembly having a.
delete The method of claim 1,
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. The wiper device moving member 30 is further provided to be coupled to the main body 20 to allow the relative movement of lifting up and down;
In the part where the protruding portion 300 does not exist on the outer wall of the building, the main body 20 and the wiper moving member 30 are lowered together while being fixed to each other to clean the outer wall by the wiper blade 110. When the lowering of the wiper device 10 is prevented by the protrusion part 300, the wiper device moving member 30 moves relatively to ascend along the main body 20 so that the wiper device moving member ( 30) and the wiper device 10, the vertical height does not change, but the main body 20 continues to descend, and at the same time, the wiper device 10 is retracted so that the wiper blade 110 away from the building outer wall surface Become;
When the wiper device 10 is retracted so that the wiper blade 110 does not touch the protrusion 300, the wiper device moving member 30 accelerates and descends in the direction in which the main body 20 moves;
After the wiper blade 110 passes the protrusion 300 by the lowering of the wiper device moving member 30, the wiper device moving member 30 moves relative to the main body 20 so that the wiper device moves upward. The moving member 30 and the wiper blade 110 are not changed in the vertical height, but the main body 20 continues to descend, and at the same time, the wiper device 10 is advanced toward the building outer wall surface to the wiper blade 110. The front end of the wiper blade 110 is in contact with the outer wall surface while maintaining the vertical height of the position past the protrusion 300;
When the front end of the wiper blade 110 touches the outer wall surface, the main body 20 and the wiper device moving member 30 are 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. Building exterior wall cleaning robot assembly, characterized in that possible.

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