KR102140282B1 - Cleaning robot apparatus having water jet unit - Google Patents

Abstract

The present invention relates to a cleaning robot device having a water jet unit that removes and cleans polymers or other contaminants attached to a polymerization tank and a drying tank in a process of producing SAP (Super Adsorbent Polymers) in an industrial facility. A plurality of spray nozzles arranged at predetermined intervals on the upper part are connected, the water jet unit provided with the spray nozzles facing upward and the lower end of the water jet unit, forming a receiving portion therein, and wheels provided outside on both sides It includes a body portion having a driving module comprising a.

Description

CLEANING ROBOT APPARATUS HAVING WATER JET UNIT}

The present invention relates to a cleaning robot device having a water jet unit that removes and cleans polymers or other contaminants attached to a polymerization tank and a drying tank in an SAP (Super Adsorbent Polymers) production process in an industrial facility.

Super absorbent polymers (SAPs) are materials that can absorb and retain large amounts of water and aqueous solutions and are used in products such as baby diapers and adult pads, medical dressings, and modified starch, cellulose, and polyvinyl alcohol ( Polymers such as Poly Vinyl Alcohol and Polyethylene Oxide are neutralized and crosslinked.

These superabsorbent polymers are manufactured at a low solids (low molecular weight) level for quality and economic reasons, and require a process of pulverizing into a dry and finely divided white solid, granularly mixing an initiator and an additive with caustic soda (NaOH) to generate an exothermic polymerization reaction To make a polymer gel, dry the polymer gel (150~170℃), crush it to 85~150㎛, and fine powder particles smaller than this undergo a post-treatment process depending on the usage.

At this time, the polymerization reaction tank for the polymerization reaction and the drying tank for the drying of the polymer gel have a polymer attached to or deposited on the wall or frame or the bottom, and the quality of the product and the process network function are maintained as the operation time elapses. As it has no adverse effect on the product, it should be cleaned every 6 months to 1 year.

Currently, in the SAP process, the method of washing the polymerization tank and the drying tank is most frequently used with a water jet, and the washing method is primarily by spraying the water jet from the top and bottom based on the device to remove attached or deposited polymer and contaminants. Second, it is made by removing water using an air jet.

However, in the conventional method, when the working space has an area of about 4.5 m in width and about 6.6 m in length, two workers use water jets and air jets in the upper part based on the polymerization tank or dryer unit, and in the lower part Two workers spray the water jet, and the lower part of the device has a low height of the device and the floor, so that the worker lays down using a skid loader, etc., which can have a fatal result for worker safety.

In addition, there is a problem in that the working space is made of a dark closed room structure, it is difficult to secure a field of view due to polluted water falling from the upper part, and work efficiency is deteriorated by working for a long time in an uncomfortable working posture.

In addition, polymers and contaminants that have been removed and dropped to the floor must be freely transported to the outside. However, as the worker acts as a barrier to block the flow, contaminants accumulate on the floor during work and require a process to remove them, resulting in lost work time and energy There is a problem that occurs.

Korean Patent Publication No. 2005-0086750

The present invention is to provide a cleaning robot device equipped with a water jet unit capable of installing a plurality of water jet units and adjusting the angle of the spray nozzle to increase cleaning efficiency and to simultaneously clean a large and large area.

In addition, the present invention is to provide a cleaning robot device equipped with a water jet unit that is not affected by the type of work site by using the free running performance of the cleaning robot.

In addition, the present invention is to provide a cleaning robot device equipped with a water jet unit that enables existing work with fewer people and equipment than the existing manpower input method.

In addition, the present invention enables a long-time and continuous work by injecting the robot compared to the working time of the existing manpower input method, shortening the working time in a dangerous working environment, and equipped with a water jet unit that prevents an operator from directly entering the construction site. It is intended to provide a cleaning robot device.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

The cleaning robot apparatus provided with the water jet unit of the present invention for achieving the above-described problem is connected to a base part and a plurality of spray nozzles arranged at predetermined intervals at the upper end of the base part, so that the spray nozzles face upward. A waterjet unit including a waterjet module provided; And a body part coupled to the bottom of the water jet unit, forming a receiving portion therein, and having a driving module including wheels provided on both sides outside, wherein the water jet unit is fastened with an external water jet or water pressure generating device. Capable joints; A cloth fitting part for distributing water supplied from the outside to each spray nozzle; And a water pipe connecting the fitting part and each injection nozzle.

More specifically, among the injection nozzles, the injection nozzles located at the outer shells are inclined at an angle in the range of 15 to 30° based on the injection nozzles perpendicular to the lower surface of the base part, which is one of the front, rear, and both outer directions. It is characterized by being inclined in one or more directions.

In addition, the main body portion has a lower body frame having a drive module including a wheel provided on both sides outside and forming a receiving portion therein; And it is characterized in that it comprises an upper body frame coupled to the upper end of the lower body frame so as to prevent liquid from entering the receiving portion of the lower body frame, the upper end coupled to the water jet unit.

In addition, the receiving unit is a controller transceiver that can receive a control signal from the outside; And a power supply unit provided with a battery to supply power or to receive power from an external energy source to receive power.

In addition, the drive module is connected to the power supply drive motor for generating power; A gear part that transmits power to the wheel by connecting the shaft of the wheel provided to both sides of the main body part and the drive motor; And a brake unit forcibly stopping rotation of the wheel.

In addition, one side is coupled to the base portion of the water jet unit, and has a water jet portion connected to the spray nozzles arranged at predetermined intervals at the top, and further includes an expandable water jet unit having a plurality of auxiliary wheel portions in the longitudinal direction at the bottom of the other side. It is characterized by.

In addition, an image input unit for inputting a situation as an image is provided on the front surface of the lower body frame, and an illumination unit for adjusting brightness is provided on the front surface of the base unit of the water jet unit.

In addition, the water jet unit is characterized in that detachable from the main body.

As described above, the present invention has a low height between the floor and the object to be cleaned, such as an SAP generating process device (polymerization tank, drying tank, etc.) and can be cleaned in a closed or dark space, and is similar in construction to the robot's driving performance. There is an effect that can be applied in.

In addition, the present invention has the effect of increasing the working efficiency because it is possible to use a plurality of spray nozzles at the same time in cleaning (cleaning) has a high cleaning efficiency, it is possible to clean a large area at the same time.

In addition, the present invention is possible to reduce the total working time, it is possible to continuously work compared to the working time of the existing manpower input method, there is an effect of increasing the safety of workers by not entering the construction site, the worker.

In addition, the present invention has the effect of being able to work with fewer people than the existing manpower input method, thereby reducing the additional cost.

In addition, the present invention is easy to transport and store the robot due to the light weight of the robot, and thus has good input to the construction site, and has a relatively simple structure to facilitate maintenance of the robot.

1 is a view showing a cleaning robot apparatus having a water jet unit according to an embodiment of the present invention.
Figure 2 is an exploded perspective view showing a water jet unit of the cleaning robot apparatus having a water jet unit according to an embodiment of the present invention.
3 is a perspective view showing a water jet unit of a cleaning robot apparatus having a water jet unit according to the first and second embodiments of the present invention.
4 is a front view and a side view showing a water jet unit of a cleaning robot apparatus having a water jet unit according to the first and second embodiments of the present invention.
5 is a view showing a main body of a cleaning robot apparatus having a water jet unit according to an embodiment of the present invention.
6 is a configuration diagram showing a cleaning robot apparatus having a water jet unit according to an embodiment of the present invention.
7 is a view showing a drive module of a cleaning robot apparatus having a water jet unit according to an embodiment of the present invention.
8 is a view showing first and second gears of a cleaning robot device having a water jet unit according to an embodiment of the present invention.
9 is an enlarged view of a cleaning robot device having a water jet unit according to an embodiment of the present invention.

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

In addition, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of description, and terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator And definitions of these terms should be made based on the contents throughout this specification.

1 to 9 is a view showing a cleaning robot device having a water jet unit according to an embodiment of the present invention, the cleaning robot device 1000 having a water jet unit of the present invention is a water jet unit 100, the body portion 200 ), and the drive module 300.

The warner jet unit 100 includes a base unit 110 and a water jet module 120 as shown in FIGS. 2 to 4.

The base unit 110 may be formed in a plate shape as shown in FIG. 3(a) or in a rounded shape as shown in FIG. 3(b), and the image input unit 212 provided in the main unit 200 may be fastened. The first fastening portion 111 in the form of a groove is formed.

Here, the first fastening part 111 may be omitted depending on the structure.

In addition, the first lighting unit 112 for irradiating light in the upper direction may be provided on both sides where the fastening unit 111 on the upper portion of the base 110 is formed.

The water jet module 120 is provided with a plurality of spray nozzles 121 arranged at predetermined intervals at the top of the base part 110, so that the spray nozzles 121 face upward.

In addition, the injection nozzle 121 of the water jet module 120 is a joint 122 that can be fastened with an external water jet or water pressure generator to inject water delivered by an external water jet or water pressure generator (not shown) Wow, the closing fitting part 123 for distributing water supplied from the outside by the joint 122 to each injection nozzle 121, and connecting the closing fitting part 123 and each injection nozzle 121 It includes a water pipe 124.

The point at which the water is branched is provided with a cloth fitting part 123 to distribute water to each spray nozzle 121.

The injection control of the injection nozzle 121 of the water jet module 120 is controlled by controlling an external water jet or water pressure generating device.

Here, among the injection nozzles 121, the injection nozzle 121 located at the outer shell is as shown in FIG. 4, and the injection nozzle 121 is based on the injection nozzle 121 perpendicular to the lower surface of the horizontal base portion 110. It is tilted at an angle in the range of 15 to 30°. This may be elongated in the moving direction of the cleaning robot or may be left and right outwards of the moving direction.

In more detail, when the base portion 110 is plate-shaped as shown in FIG. 3(a) or FIG. 4(a), the injection nozzle 121 located at the outer side is forward in the movement direction based on the upper surface of the base portion 110. Alternatively, when the injection nozzle is inclined in the range of 15 to 30° to the rear, as shown in FIG. 3(b) or FIG. 4(b), when the upper surface of the base portion 110 has a rounded shape in the longitudinal direction, the injection nozzle 121 ) Is located on the basis of the rounded shape and is inclined in the left and right directions in the direction of movement of the cleaning robot, but in the range of 15 to 30° to the left or right based on the lower surface of the base portion 110.

As such, the injection nozzle 121 may have an angle inclined in any one or more of the front, rear, and both outer directions, and may employ any one or more of a rotating nozzle and a fixed nozzle.

In the embodiment of the present invention, the injection nozzle 121 is made of four rows, but each row has a constant separation distance, but the spacing of the injection nozzles provided on both sides of each row is the same as the first row and the fourth row, and the second row. And 3 rows are formed to be the same.

More specifically, if it is 1 row from the rear end, the injection nozzles of 1 row having an angle of 15 to 30° in the rear direction and the injection nozzles of 1 row are spaced apart at regular intervals from the injection nozzles of 1 row and spaced apart at regular intervals. Two rows of spray nozzles with shorter intervals and vertical angles than those, three rows of spray nozzles arranged in a predetermined interval from the two rows of spray nozzles and having the same shape as the two rows of spray nozzles, and three rows Includes four injection nozzles arranged at regular intervals from the injection nozzle of and having an angle of 15 to 30° in the front direction of the robot.

Here, the reason for providing the inclined spray nozzle 121 at an angle is to facilitate access of the sprayed water when it cannot enter the nook space.

5 and 6, the main body portion 200 includes a lower body frame 210 and an upper body frame 220, and the lower body frame 210 forms a receiving portion 211 therein. And, it is provided with a drive module 300 including a wheel 310 is provided to both sides outside, the upper body frame 220, the top is combined with the bottom of the waterjet unit 100, the bottom is the lower body frame 210 It serves as a cover.

In more detail, an image input unit 212 for inputting a situation as an image is provided on the front of the lower body frame 210. A transparent protection window 212a for protecting the image input unit 212 from an external environment is further provided.

At this time, the protective window 212a is made of tempered glass or a reinforced plastic material, but is not limited thereto.

Here, the image input unit 212 simultaneously serves as a self-propelled vehicle (exploration robot), such as the progress of the operation, and allows external monitoring by the image input.

The image input through the image input unit 212 is transmitted to an external monitor unit (not shown) through a transmission module (not shown).

In addition, the receiving unit 211 of the lower body frame 210 is provided with a controller transceiver 213 and a battery that can control the driving of the cleaning robot 1000 by receiving a control signal from the outside to supply power or external energy. It includes a power source 214 that receives power from a source and receives power.

That is, the cleaning robot provided with the controller transceiver 213 can be driven by wireless adjustment.

In addition, the packing portion 215 is provided to increase the binding force in combination with the upper body frame 220 around the upper surface of the lower body frame 210 so as to serve as a waterproof.

In more detail, the packing part 215 increases the binding force in the combination of the lower body frame 210 and the upper body frame 220, and as the water sprayed in the upper direction falls to the lower part, the body part 200 located at the lower part It prevents water from penetrating into the receiving part.

At this time, the packing portion 215 may be a rubber material, but is not limited because a material capable of waterproofing may be employed.

In addition, a second illumination unit 216 that is directed toward both sides of the image input unit 212 of the lower body frame 210 is provided to widen the field of view of the image input through the image input unit 212 even in a dark place.

The upper body frame 220 is wrapped around the top of the lower body frame 210 so that liquid such as water is not introduced to protect the components provided in the receiving portion 211 of the lower body frame 210, but the lower body frame (210) a second fastening part 221 such as the first fastening part 111 formed on the base part 110 of the waterjet unit 100 is further formed so that the image input part 212 located on the front face can look at the front face. do.

In addition, the upper end of the upper body frame 220 is combined with the water jet unit 100, but the water jet unit 100 is characterized in that it is detachable from the upper body frame 220.

7 and 8, the drive module 300 includes a wheel 310, a driving motor 320, a gear part 330, and a brake part 340.

Wheel wheel 310 allows the cleaning robot 1000 to move freely, and is provided on a plurality of sides of the lower body frame 210.

The driving motor 320 is provided in the receiving portion 211 of the lower body frame 210 and is connected to the power supply unit 214 to generate power, and the driving motor 320 controls the rotation speed by the reduction gear 321 And, the drive shaft 322 coupled to both sides of the reducer 321 is connected to the gear unit 330.

Here, the driving motor 320 may be any one of a pneumatic motor, a hydraulic motor, and an electric motor. Although one driving motor 320 is used as an embodiment according to the present invention, two driving motors may be installed depending on the case. It can be driven by a combination of one driving motor and one servo motor, and it is desirable to determine the number and output of motors in consideration of the size, weight, and operating conditions of the robot.

The gear part 330 includes first to fourth gears 331,332,333,334.

The first gear 331 has a certain size at the end of the drive shaft 322 connected to the reduction gear 321, the second gear 332 is smaller than or equal to the size of the first gear 331, shown in FIG. As described above, it is not connected to the shaft of the first gear 331, but is directly connected to the wheel 310 to perform idling.

The third gear 333 further changes the first gear 331 and the second gear 332, and further includes a first electric motor 335 that adjusts the third gear 333 for the change.

In addition, one side of the fourth gear 334 is connected to the wheel 310 and the first gear 331 is connected to the chain 336 to transmit power. At this time, it is preferable that the fourth gear 334 is connected to the wheel 310 located next to the wheel 310 connected to the second gear 332.

The brake unit 340 is configured to forcibly stop the rotation of the wheel 310 to stop the cleaning robot, one shaft is connected to the wheel 310, the other side is connected to the brake disc 341, and the brake disc A brake pad 342 is provided to hold the 341 to give a braking force, and a second motor 343 is provided to drive the brake pad 342.

It is preferable that the first and second motors according to the embodiment of the present invention adopt an electric motor. It is not limited.

As in the embodiment according to the present invention, when one driving motor 320 is used, driving is performed by connecting the first gear 331 and the fourth gear 334 when moving and reversing the cleaning robot and switching when turning left and right. The third gear 333 is controlled by controlling the third gear 333 so that the second gear 332 and the fourth gear 334 are connected, and when the third gear 333 is controlled, it is transmitted to the first motor 335 It is necessary to enable the direction change by simultaneously transmitting the electric signal to the second motor 343 for operating the brake pad 342.

Additionally, as illustrated in FIG. 9, the cleaning robot apparatus 1000 may further expand the cleaning robot 1000 by further forming an extended water jet unit 400.

The extended water jet unit 400 is coupled to the base portion 110 of the water jet unit 100 on one side, and has a water jet portion 410 connected to spray nozzles arranged at predetermined intervals at the top, in the longitudinal direction at the bottom of the other side. It includes a secondary wheel portion 420 having a plurality of wheels.

The water jet unit 410 may be provided with injection nozzles in the same manner as the water jet module 120, or may simply have an injection nozzle.

The auxiliary wheel unit 420 allows natural movement according to the moving direction of the cleaning robot without requiring a separate driving force.

Here, the expandable water jet unit 400 is preferably detachable so that it can be selectively used depending on the working place, and the auxiliary wheel part 420 can be provided only on one lower part by the wheel 310 of the cleaning robot located at the main. have.

Therefore, it is possible to clean in a closed or dark space with a low height between the floor and the object to be cleaned, such as a SAP generating process device (polymerization tank, drying tank, etc.), and the effect that can be applied in similar construction sites due to the robot's driving performance. have.

In addition, the present invention has the effect of increasing the working efficiency because it is possible to use a plurality of spray nozzles at the same time in cleaning (cleaning) has a high cleaning efficiency, it is possible to clean a large area at the same time.

In addition, the present invention is possible to reduce the total working time, it is possible to continuously work compared to the working time of the existing manpower input method, there is an effect of increasing the safety of workers by not entering the construction site, the worker.

In addition, the present invention has the effect of being able to work with fewer people than the existing manpower input method, thereby reducing the additional cost.

In addition, the present invention is easy to transport and store the robot due to the light weight of the robot, and thus has good input to the construction site, and has a relatively simple structure to facilitate maintenance of the robot.

Although the embodiments according to the present invention have been described above, they are merely exemplary, and those skilled in the art will understand that various modifications and equivalent ranges of the embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be defined by the following claims.

1000...Cleaning robot device
100...waterjet unit
110...base part
111...first fastening
112...First lighting unit
120...waterjet module
121...spray nozzle
122...Joint
123...Fitting
124... water pipe
200...
210...lower body frame
211...
212... video input
213...controller transceiver
214... power supply
215...packing part
216...second lighting unit
220... upper body frame
221... second fastening
300...drive module
310...wheel
320...drive motor
321...Reduction gear
322...drive shaft
330... Gear Fisherman
331...first gear
332... second gear
333... third gear
334... fourth gear
335...first motor
336...Chain
340... brake
341... brake disc
342... brake pads
343...second motor
400...extended waterjet unit

Claims (8)

A water jet unit including a base unit and a plurality of jet nozzles arranged at predetermined intervals at the upper end of the base unit, the water jet module having the jet nozzles facing upward; And
It includes a main body portion having a drive module including a wheel that is coupled to the bottom of the waterjet unit, forms a receiving portion therein, and is provided on both sides outside;
The water jet unit is a joint that can be fastened with an external water jet or water pressure generating device;
A cloth fitting part for distributing water supplied from the outside to each spray nozzle; And
It includes; a water pipe connecting the fitting portion and each injection nozzle;
One side is coupled to the base portion of the water jet unit, and has a water jet portion connected to the spray nozzles arranged at predetermined intervals at the top, and further includes an extended water jet unit having a plurality of auxiliary wheel portions in the longitudinal direction at the bottom of the other side. A cleaning robot device equipped with a water jet unit. The method according to claim 1,
Among the injection nozzles, the injection nozzle located at the outer angle is inclined at an angle in the range of 15 to 30° based on the injection nozzle perpendicular to the lower surface of the base portion, but in one or more of the front, rear, and both outer directions. A cleaning robot device having a water jet unit characterized by being inclined. The method according to claim 1,
The main body portion includes a lower body frame having a drive module including a wheel provided on both sides and forming a receiving portion therein; And
A cleaning robot apparatus having a waterjet unit, comprising an upper body frame that wraps and engages the upper end of the lower body frame so that no liquid is drawn into the receiving portion of the lower body frame, and the upper end includes an upper body frame that engages the waterjet unit. The method according to claim 1,
The receiving unit is a controller transceiver that can receive a control signal from the outside; And
A cleaning robot device having a water jet unit, comprising: a power supply unit having a battery to supply power or receiving an energy source from an external energy source to receive power; The method according to claim 1,
The drive module is connected to the power supply drive motor for generating power;
A gear part that transmits power to the wheel by connecting the shaft of the wheel provided to both sides of the main body part and the drive motor; And
And a brake unit forcibly stopping the rotation of the wheel. delete The method according to claim 3,
A cleaning robot device having a water jet unit, comprising an image input unit for inputting a situation as an image on the front surface of the lower body frame, and an illumination unit for adjusting brightness on the front surface of the water jet unit. The method according to claim 1,
The water jet unit is a cleaning robot device having a water jet unit, characterized in that detachable to the main body.

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