KR20090051786A

KR20090051786A - Building inside cleaning robot

Info

Publication number: KR20090051786A
Application number: KR1020070118173A
Authority: KR
Inventors: 정용훈
Original assignee: 정용훈
Priority date: 2007-11-20
Filing date: 2007-11-20
Publication date: 2009-05-25

Abstract

본 발명은 건물내부청소로봇에 관한 것으로 진공청소장치(1), 브러쉬청소장치(2), 걸레청소장치(3), 물청소장치(4), 스팀청소장치(5), 청소헤드(10), 청소기(13)의 전체 또는 일부가 고정선(50), 이동선(52), 골절기구(54)의 전체 또는 일부에 장착이 되어 건물의 유리, 벽체, 천정, 바닥 등 청소대상면의 먼지, 때, 이물질, 협잡물을 청소하거나 제거하는 것을 특징으로 한다. The present invention relates to a building cleaning robot, vacuum cleaning device (1), brush cleaning device (2), mop cleaning device (3), water cleaning device (4), steam cleaning device (5), cleaning head (10) When all or part of the cleaner 13 is mounted on all or part of the fixed line 50, the moving line 52, and the fracture mechanism 54, dust or dirt on the surface to be cleaned such as glass, walls, ceilings, and floors of the building It is characterized by cleaning or removing foreign matters and contaminants.

건물, 내부, 청소, 로봇, 물청소, 진공청소, 걸레청소 Building, interior, cleaning, robot, water cleaning, vacuum, mop

Description

Building inside cleaning robot}

본 발명은 건물내부청소로봇에 관한 것이다. The present invention relates to a building cleaning robot.

건물내부 청소는 대부분이 인력에 의하여 진행되고 있다. 인력의 수작업에 의하여 걸레질 정도의 청소작업이 진행되고 있다. 인력에 의한 청소작업은 단순 밀대기구와 물통을 이용하여 건물유리를 청소하는 정도에 불과하다. Most of the building's interior cleaning is done by manpower. Cleaning work is performed as much as mop by manual labor. Cleaning by personnel is only a matter of cleaning the building glass using a simple push and bucket.

상기와 같은 종래 기술에서의 문제점을 해결하기 위한 본 발명의 목적은, 진공청소장치, 브러쉬청소장치, 걸레청소장치, 물청소장치, 스팀청소장치, 회전장치, 고정선, 고정기구, 이동선, 이동기구, 골절기구의 전체 또는 일부로 구성된 건물내부청소로봇을 고안하고자 하는데 있다. An object of the present invention for solving the problems in the prior art as described above, vacuum cleaner, brush cleaning device, mop cleaning device, water cleaning device, steam cleaning device, rotary device, fixed line, fixed mechanism, moving line, moving mechanism In other words, it is intended to design an internal cleaning robot that consists of all or part of a fracture device.

상기된 바와 같은 목적을 달성하기 위한 실시예에 따른 건물내부청소로봇은 진공청소장치, 브러쉬청소장치, 걸레청소장치, 물청소장치, 스팀청소장치, 청소헤드, 청소기의 전체 또는 일부가 고정선, 이동선, 골절기구의 전체 또는 일부에 장착이 되어 건물의 유리, 벽체, 천정, 바닥 등 청소대상면의 먼지, 때, 이물질, 협잡물을 청소하거나 제거하는 해결수단을 제공한다. Building interior cleaning robot according to an embodiment for achieving the above object is a vacuum cleaner, a brush cleaning device, a mop cleaning device, a water cleaning device, a steam cleaning device, a cleaning head, all or part of the cleaner fixed line, moving line It is installed on all or part of the fracture mechanism, and provides a solution for cleaning or removing dust, dirt, foreign matter, and contaminants on the surface to be cleaned, such as glass, walls, ceilings, and floors of buildings.

상기한 바와 같이 본 발명은 건물내부청소시 기존의 인력에 의한 수작업을 로봇을 이용한 자동화 작업을 제공한다. 따라서 건물내부 청소작업의 신속성, 경제성, 효율성, 안전성에 대한 효과가 매우 크다. As described above, the present invention provides an automated operation using a robot by manual work by the existing manpower when cleaning the building. Therefore, the effect on the speed, economy, efficiency and safety of the cleaning work inside the building is very large.

상기 진공청소장치(1)는 진공(1-5)에 의하여 청소되는 것으로 흡입구(1-1), 흡입관(1-2), 진공펌프(1-3), 집진기(1-4)로 구성되고, 상기 진공(1-5)은 진공펌프(1-3)에서 제공되고 진공(1-5)에 의해 먼지, 때, 이물질, 협잡물이 흡입구(1-1), 흡입관(1-2)을 통하여 집진기(1-4)에 집적된다. 상기 브러쉬청소장치(2)는 브러쉬(2-1)에 의하여 청소되는 것으로 브러쉬(2-1)로 구성되고, 상기 브러쉬(2-1)는 길이가 동일하거나 또는 길이가 상이한 것이 가능하다. 상기 걸레청소장치(3)는 걸레(3-1)에 의하여 청소되는 것으로 걸레(3-1), 완충재(3-2)로 구성되고, 상기 걸레(3-1)는 청소헤드바닥면(10-1) 또는 완충재(3-2)에 부착되거나 감싸서 설치되고, 상기 완충재(3-2)는 청소대상면의 굴곡에 대응되도록 걸레(3-1)가 변형되도록 하는 스펀지, 섬유 등과 같은 재료이나 필요시 이의 생략이 가능한 구조이다. 상기 물청소장치(4)는 물 또는 수분(4-5)에 의하여 청소되는 것으로 물분사노즐관(4-1), 급수관(4-2), 급수펌프(4-3), 급수통(4-4)으로 구성되고, 이는 브러쉬청소 또는 걸레청소의 보조적인 역할도 가능하다. 상기 스팀청소장치(5)는 스팀(5-5)에 의하여 청소되는 것으로 스팀노즐관(5-1), 스팀공급관(5-2), 스팀펌프(5-3), 스팀발생기(5-4) 로 구성되고, 이는 브러쉬청소 또는 걸레청소의 보조적인 역할도 가능하다. The vacuum cleaner 1 is cleaned by a vacuum (1-5) and consists of a suction port (1-1), a suction pipe (1-2), a vacuum pump (1-3), a dust collector (1-4) The vacuum (1-5) is provided in the vacuum pump (1-3) by the vacuum (1-5) dust, dirt, foreign matter, contaminants through the inlet (1-1), suction pipe (1-2) It is integrated in the dust collector 1-4. The brush cleaning device 2 is composed of a brush 2-1, which is cleaned by the brush 2-1, and the brush 2-1 may have the same length or different lengths. The mop cleaning device 3 is cleaned by a mop 3-1, and is composed of a mop 3-1 and a cushioning material 3-2, and the mop 3-1 has a cleaning head bottom surface 10 -1) or attached to or wrapped around the cushioning material (3-2), the cushioning material (3-2) is a material such as sponge, fiber or the like to deform the mop (3-1) to correspond to the curvature of the surface to be cleaned or It can be omitted if necessary. The water cleaning device (4) is to be cleaned by water or water (4-5) water spray nozzle pipe (4-1), water supply pipe (4-2), water supply pump (4-3), water supply tank (4) -4), which can also be used as an assistant for brush cleaning or mop cleaning. The steam cleaner 5 is cleaned by the steam 5-5, the steam nozzle pipe 5-1, the steam supply pipe 5-2, the steam pump 5-3, the steam generator 5-4. ), It can also be used as an assistant for brush cleaning or mop cleaning.

상기 물분사노즐관(4-1)과 스팀노즐관(5-1)은 하나로 설치되거나 또는 별도로 설치되고, 상기 급수관(4-2)과 스팀공급관(5-2)은 하나로 설치되거나 또는 별도로 설치되고, 상기 물분사노즐관(4-1) 및 스팀노즐관(5-1)은 걸레(3-1) 및 완충재(3-2)에 연결되는 구조이거나 또는 연결되지 않고 별도로 되는 가변적인 구조이고, 상기 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)는 각각 개별적으로 설치되거나 하나로 통합되어 일체로 설치된다. 상기 회전장치(6)는 전원(6-1), 전선(6-2), 회전모타(6-3)로 구성되고, 상기 회전모타(6-3)는 청소헤드(10)를 회전시키는 것이다. The water spray nozzle pipe 4-1 and the steam nozzle pipe 5-1 are installed as one or separately installed, and the water supply pipe 4-2 and the steam supply pipe 5-2 are installed as one or separately installed. The water spray nozzle pipe 4-1 and the steam nozzle pipe 5-1 may be connected to the mop 3-1 and the cushioning material 3-2, or may be separated from each other without being connected. , The vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5-4), respectively Individually installed or integrated into one unit. The rotary device 6 is composed of a power supply 6-1, an electric wire 6-2, a rotary motor 6-3, and the rotary motor 6-3 rotates the cleaning head 10. .

상기 흡입구(1-1), 흡입관(1-2), 브러쉬(2-1), 걸레(3-1), 완충재(3-2), 물분사노즐관(4-1), 급수관(4-2), 스팀노즐관(5-1), 스팀공급관(5-2), 회전모타(6-3)의 전체 또는 일부는 일정한 형태의 청소헤드(10)에 집적되어 장착이 되고, 상기 장착은 청소헤드(10)의 청소헤드바닥면(10-1)과 청소헤드측면(10-2) 모두에 또는 청소헤드바닥면(10-1) 하나만에 또는 청소헤드측면(10-2) 하나만에 된다. 상기 청소헤드(10)는 일정한 두께 및 직경을 가진 원통판(10-3) 또는 일정한 두께 및 면적을 가진 다각형통판(10-4)의 구조이고, 이는 회전장치(6)에 의하여 회전되는 것을 원칙으로 하나 필요시 회전장치(6)가 없는 무회전도 가능한 가변적인 구조이고, 또한 이는 청소봉(11)에 연결되어 정착이 된다. 상기 청소봉(11)은 강성봉(11-1) 만으로 되거나 또는 강성봉(11-1)과 연성봉(11-2)의 조합으로 되고, 상기 연성봉(11-2)은 청소대상면의 굴곡에 대응되도록 청소봉(11)이 변형되도록 하는 연성구조, 스프링구조, 주름구조, 굴곡구조 등과 같은 구조이나 필요시 이의 생략이 가능한 구조이다. 상기 청소헤드(10)에는 청소시 먼지, 때, 이물질, 협잡물, 수분, 스팀의 비산을 방지하기 위하여 청소카바(12)가 설치 또는 무설치 되는 구조이고, 상기 청소헤드(10) 및 청소봉(11) 및 청소카바(12)는 하나로 결합되어 청소기(13)가 되는 구조인 것을 특징으로 한다. The suction port (1-1), suction pipe (1-2), brush (2-1), mop (3-1), buffer material (3-2), water spray nozzle pipe (4-1), water supply pipe (4- 2), the whole or part of the steam nozzle pipe (5-1), the steam supply pipe (5-2), the rotary motor (6-3) is integrally mounted to the cleaning head (10) of a certain type, the mounting is In both the cleaning head bottom surface 10-1 and the cleaning head side surface 10-2 of the cleaning head 10, or only one cleaning head bottom surface 10-1 or only one cleaning head side surface 10-2. . The cleaning head 10 has a structure of a cylindrical plate 10-3 having a constant thickness and diameter or a polygonal plate 10-4 having a constant thickness and area, which is in principle rotated by the rotating device 6. The one is a variable structure that can be rotated without the rotary device (6) if necessary, it is also connected to the cleaning rod (11) to be settled. The cleaning rod 11 is made of only the rigid rod (11-1) or a combination of the rigid rod (11-1) and the flexible rod (11-2), the flexible rod (11-2) to the bending of the surface to be cleaned It is a structure such as a flexible structure, a spring structure, a corrugated structure, a curved structure, or the like, so that the cleaning rod 11 is deformed so as to correspond thereto, or a structure thereof may be omitted if necessary. The cleaning head 10 has a structure in which the cleaning cover 12 is installed or not installed in order to prevent scattering of dust, dirt, foreign matter, contaminants, moisture, and steam during cleaning, and the cleaning head 10 and the cleaning rod ( 11) and the cleaning cover 12 is characterized in that the structure is combined to one cleaner 13.

또한 본 발명에 의한 건물내부청소로봇의 자동이동기구는 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 전체 또는 일부로 구성되고, 상기 고정선(50)은 건물(60)의 일정한 공간에서 수평방향, 수직방향, 대각선방향, 장방향, 단방향 중의 어느 방향으로도 1개 이상 설치가 가능한 가변적인 구조이고, 이는 이동선(52)을 지지하고 이동선(52)의 이동행로를 제공하는 것으로 고정선(50)에는 1개 이상의 이동선(52)이 설치가 되고, 상기 고정기구(51)는 건물 또는 지면에 고정선(50)의 양간 또는 일단을 지지 및 정착하는 것이다. In addition, the automatic moving mechanism of the building cleaning robot according to the present invention comprises a fixed line 50, a fixed mechanism 51, a moving line 52, a moving mechanism 53, a fracture mechanism 54, or a part of the fixed line. 50 is a variable structure that can be installed in one or more of the horizontal direction, vertical direction, diagonal direction, long direction, unidirectional direction in a certain space of the building 60, which supports the moving line 52 and moving line One or more moving lines 52 are installed in the fixed line 50 by providing a moving route of the 52, and the fixing mechanism 51 supports and fixes both or one ends of the fixed line 50 in the building or the ground. It is.

상기 이동선(52)은 청소기(13)를 일정한 곳으로 이동시키는 행로를 제공하는 것이고, 이동선(52)에는 1개 이상의 이동기구(53) 및 골절기구(54)가 설치되고, 상기 고정선(50) 및 이동선(52)은 재질이 강선, 철선, PC선, 강봉, 철봉, PC봉, 밧줄, 섬유선, 나일론선과 같이 굵기가 가늘고 길이가 길며 강하고 질긴 재질이다. 상기 이동기구(53)는 고정선(50)의 행로를 따라 이동선(52)를 이동시키는 장치로서, 이는 이동바퀴(53-1)와 이동원(53-2)으로 구성되고, 상기 이동바퀴(53-1)는 고정선(50)에 안착이 되어 이동선(52) 및 청소기(13)를 이동시키는 것이고, 상기 이동원(53-2)은 전동모타(53-21) 또는 중력 또는 인력이고, 상기 전동모타(53-21)는 전동모타의 회전력에 의하여 자동으로 이동바퀴(53-1)가 이동되는 것으로, 이에는 전원이 제공되고, 상기 중력 및 인력은 이동기구(53)에 이동줄(53-22)을 연결하여 중력 또는 인력에 의하여 이동줄(53-22)을 당기거나 풀어서 이동바퀴(53-1)를 이동시키는 것이다. 상기 골절기구(54)는 로봇골절로서 자체로 회전연동 및 좌우연동 및 상하연동이 가능하여 청소기(13)를 회전연동 및 좌우연동 및 상하연동 시키는 것을 특징으로 한다. The moving line 52 provides a path for moving the cleaner 13 to a predetermined place, and the moving line 52 is provided with one or more moving mechanisms 53 and a fracture mechanism 54, and the fixed line 50. And the moving line 52 is a material, such as steel wire, iron wire, PC wire, steel bar, iron bar, PC rod, rope, fiber wire, nylon wire is thin, long, strong, tough material. The moving mechanism 53 is a device for moving the moving line 52 along the path of the fixed line 50, which is composed of a moving wheel 53-1 and a moving source 53-2, and the moving wheel 53-. 1) is to be seated on the fixed line 50 to move the moving line 52 and the cleaner 13, the moving source 53-2 is an electric motor 53-21 or gravity or attraction, the electric motor ( 53-21 is a moving wheel (53-1) is automatically moved by the rotational force of the electric motor, which is provided with power, the gravity and attraction force is moved to the moving mechanism (53) (53-22) By connecting to pull or loosen the moving bar (53-22) by gravity or gravity to move the wheel (53-1). The fracture mechanism 54 is a robot fracture, it is possible to rotate itself, and the left and right interlocking and vertical interlocking to rotate the vacuum cleaner 13 and the interlocking and vertical interlocking.

또한 본 발명에 의한 건물내부청소로봇을 구성하는 진공청소장치(1), 브러쉬청소장치(2), 걸레청소장치(3), 물청소장치(4), 스팀청소장치(5), 청소헤드(10), 청소기(13)의 전체 또는 일부가 상기 고정선(50), 이동선(52), 골절기구(54)의 전체 또는 일부에 장착이 되어 건물의 유리, 벽체, 천정, 바닥 등 청소대상면의 먼지, 때, 이물질, 협잡물을 청소하거나 제거하는 것을 특징으로 한다. In addition, the vacuum cleaning device (1), the brush cleaning device (2), the mop cleaning device (3), the water cleaning device (4), the steam cleaning device (5), the cleaning head constituting the building cleaning robot according to the present invention ( 10), the whole or part of the cleaner 13 is mounted on all or part of the fixing line 50, the moving line 52, the fracture mechanism 54 to clean the surface of the building, such as glass, walls, ceilings, floors, etc. It is characterized by cleaning or removing dust, dirt, debris and contaminants.

이와 같은 본 발명의 구성을 첨부된 도면에 의거 상세히 설명하면 다음과 같다. Referring to the configuration of the present invention as described above in detail as follows.

도 1은 청소기(13)가 진공청소장치(1), 물청소장치(4), 스팀청소장치(5) 및 고정 선(50), 이동선(52), 이동기구(53), 골절기구(54)에 연결된 것을 보여주는 사시도로서, 진공청소장치(1), 브러쉬청소장치(2), 걸레청소장치(3), 물청소장치(4), 스팀청소장치(5), 청소헤드(10), 청소기(13)의 전체 또는 일부가 고정선(50), 이동선(52), 골절기구(54)의 전체 또는 일부에 장착이 되어 건물의 유리, 벽체, 천정, 바닥 등 청소대상면의 먼지, 때, 이물질, 협잡물을 청소하거나 제거하는 것을 특징으로 하는 본 발명에 의한 건물내부청소로봇을 보여준다. 여기서 물청소장치(4) 및 스팀청소장치(5)을 구성하는 물분사노즐관(4-1)과 스팀노즐관(5-1)은 하나로 설치되거나 또는 별도로 설치되는 것이 가능하고, 또한 급수관(4-2)과 스팀공급관(5-2)은 하나로 설치되거나 또는 별도로 설치되는 것이 가능하다. 1 shows a vacuum cleaner 13, a vacuum cleaner 1, a water cleaner 4, a steam cleaner 5, a fixed line 50, a moving line 52, a moving mechanism 53, and a fracture mechanism 54. A vacuum cleaner (1), brush cleaner (2), mop cleaner (3), water cleaner (4), steam cleaner (5), cleaning head (10), cleaner All or part of (13) is attached to all or part of the fixed line 50, moving line 52, fracture mechanism 54, so that dust, dirt, foreign matter on the surface to be cleaned, such as glass, walls, ceilings, floors, etc. , Shows a building cleaning robot according to the present invention, characterized in that to clean or remove impurities. Here, the water spray nozzle pipe 4-1 and the steam nozzle pipe 5-1 constituting the water cleaning device 4 and the steam cleaning device 5 may be provided as one or separately installed, and the water supply pipe ( 4-2) and the steam supply pipe 5-2 may be installed as one or separately installed.

도 2는 청소헤드(10)에 브러쉬청소장치(2) 및 걸레청소장치(3)가 조합되어 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5), 청소카바(12)의 일부분이 장착된 것을 보여주는 단면도로서, 청소의 주체가 되는 청소헤드(10)에 브러쉬청소장치(2) 및 걸레청소장치(3)가 조합되어 장착이 된 것이다. 2 is a combination of the brush cleaning device (2) and the mop cleaning device (3) mounted on the cleaning head (10) and additionally the vacuum cleaning device (1), water cleaning device (4), steam cleaning device (5) , Which is a sectional view showing that a part of the cleaning cover 12 is mounted, and the brush cleaning device 2 and the mop cleaning device 3 are combined and installed in the cleaning head 10 which is the main body of the cleaning.

브러쉬청소장치(2)는 브러쉬(2-1)에 의하여 청소되는 것으로 브러쉬(2-1)로 구성된다. 브러쉬(2-1)는 청소헤드바닥면(10-1) 및 청소헤드측면(10-2)에 설치가 된다. 걸레청소장치(3)는 걸레(3-1)에 의하여 청소되는 것으로 걸레(3-1), 완충재(3-2)로 구성되고, 걸레(3-1)는 청소헤드바닥면(10-1) 또는 완충재(3-2)에 부착되거나 감싸서 설치되고, 완충재(3-2)는 청소대상면의 굴곡에 대응되도록 걸레(3-1)가 변형되 도록 하는 스펀지, 섬유 등과 같은 재료이나 필요시 이의 생략이 가능한 구조이다. The brush cleaning device 2 is cleaned by the brush 2-1 and is composed of a brush 2-1. The brush 2-1 is provided on the cleaning head bottom surface 10-1 and the cleaning head side surface 10-2. The mop cleaning device 3 is cleaned by the mop 3-1, and is composed of the mop 3-1 and the cushioning material 3-2, and the mop 3-1 is the cleaning head bottom surface 10-1. ) Or the cushioning material 3-2 is installed or wrapped around the cushioning material 3-2, and the cushioning material 3-2 is made of a material such as sponge, fiber, or the like that allows the mop 3-1 to be deformed to correspond to the curvature of the surface to be cleaned. This structure can be omitted.

진공청소장치(1)는 진공(1-5)에 의하여 청소되는 것으로 흡입구(1-1), 흡입관(1-2), 진공펌프(1-3), 집진기(1-4)로 구성되고, 진공(1-5)은 진공펌프(1-3)에서 제공되고 진공(1-5)에 의해 먼지, 때, 이물질, 협잡물이 흡입구(1-1), 흡입관(1-2)을 통하여 집진기(1-4)에 집적이 된다. 물청소장치(4)는 물 또는 수분(4-5)에 의하여 청소되는 것으로 물분사노즐관(4-1), 급수관(4-2), 급수펌프(4-3), 급수통(4-4)으로 구성되고, 이는 브러쉬청소 또는 걸레청소의 보조적인 역할도 가능하다. 스팀청소장치(5)는 스팀(5-5)에 의하여 청소되는 것으로 스팀노즐관(5-1), 스팀공급관(5-2), 스팀펌프(5-3), 스팀발생기(5-4)로 구성되고, 이는 브러쉬청소 또는 걸레청소의 보조적인 역할도 가능하다. 물분사노즐관(4-1) 및 스팀노즐관(5-1)은 걸레(3-1) 및 완충재(3-2)에 연결되는 구조이거나 또는 연결되지 않고 별도로 되는 가변적인 구조이다. The vacuum cleaner 1 is cleaned by a vacuum 1-5 and is composed of a suction port 1-1, a suction pipe 1-2, a vacuum pump 1-3, and a dust collector 1-4. The vacuum 1-5 is provided in the vacuum pump 1-3, and dust, dirt, foreign matters and contaminants are collected by the vacuum 1-5 through the suction port 1-1 and the suction pipe 1-2. It is accumulated in 1-4). The water cleaning device 4 is cleaned by water or water (4-5), and the water spray nozzle pipe (4-1), water supply pipe (4-2), water supply pump (4-3), water supply tank (4- 4), it is also possible to play a secondary role of brush cleaning or mop cleaning. The steam cleaner 5 is cleaned by the steam 5-5, and the steam nozzle pipe 5-1, the steam supply pipe 5-2, the steam pump 5-3, and the steam generator 5-4. It also consists of a brush cleaning or mop cleaning can be a secondary role. The water spray nozzle pipe 4-1 and the steam nozzle pipe 5-1 are connected to the mop 3-1 and the shock absorbing material 3-2 or have a variable structure that is separate from each other without being connected.

흡입구(1-1), 흡입관(1-2), 브러쉬(2-1), 걸레(3-1), 완충재(3-2), 물분사노즐관(4-1), 급수관(4-2), 스팀노즐관(5-1), 스팀공급관(5-2), 회전모타(6-3)의 전체 또는 일부는 일정한 형태의 청소헤드(10)에 집적되어 장착이 된다. 여기서 장착은 청소헤드(10)의 청소헤드바닥면(10-1)과 청소헤드측면(10-2) 모두에 또는 청소헤드바닥면(10-1) 하나만에 또는 청소헤드측면(10-2) 하나만에 된다. 청소헤드(10)는 일정한 두께 및 직경을 가진 원통판(10-3) 또는 일정한 두께 및 면적을 가진 다각형통판(10-4)의 구조이다. Suction port (1-1), suction pipe (1-2), brush (2-1), mop (3-1), buffer material (3-2), water spray nozzle pipe (4-1), water supply pipe (4-2) ), The steam nozzle pipe (5-1), steam supply pipe (5-2), all or part of the rotary motor (6-3) is integrated and mounted to the cleaning head (10) of a certain form. Here, the mounting may be performed on both the cleaning head bottom surface 10-1 and the cleaning head side surface 10-2 of the cleaning head 10 or only on the cleaning head bottom surface 10-1 or the cleaning head side surface 10-2. Only one. The cleaning head 10 has a structure of a cylindrical plate 10-3 having a constant thickness and diameter or a polygonal plate 10-4 having a constant thickness and area.

청소헤드(10)에는 청소시 먼지, 때, 이물질, 협잡물, 수분, 스팀의 비산을 방지하기 위하여 청소카바(12)가 설치 또는 무설치 되는 구조를 가진다. 본 건물내부청소로봇은 청소헤드(10) 및 청소봉(11) 및 청소카바(12)는 하나로 결합되어 청소기(13)가 되는 구조인 것을 특징으로 한다. The cleaning head 10 has a structure in which the cleaning cover 12 is installed or not installed in order to prevent scattering of dust, dirt, foreign matter, contaminants, moisture, and steam during cleaning. The cleaning robot inside the building is characterized in that the cleaning head 10, the cleaning rod 11 and the cleaning cover 12 is a structure that is combined into one to become a cleaner (13).

도 3은 원통판(10-3)의 청소헤드(10)에 대한 청소헤드바닥면(10-1)의 평면도로서, 청소헤드바닥면(10-1)에는 흡입구(1-1), 브러쉬(2-1), 걸레(3-1), 물분사노즐관(4-1), 스팀노즐관(5-1)의 전체 또는 일부가 설치된다. 본 도는 일정한 두께 및 직경을 가진 원통판(10-3) 청소헤드(10)의 바닥면을 보여준다. 3 is a plan view of the cleaning head bottom surface 10-1 with respect to the cleaning head 10 of the cylindrical plate 10-3, with the suction head 1-1 and the brush ( 2-1), the mop 3-1, the water spray nozzle pipe 4-1, and the steam nozzle pipe 5-1 are provided in whole or in part. This figure shows the bottom surface of the cylindrical head 10-3 cleaning head 10 having a constant thickness and diameter.

도 4는 다각형통판(10-4)의 청소헤드(10)에 대한 청소헤드바닥면(10-1)의 평면도로서, 청소헤드바닥면(10-1)에는 흡입구(1-1), 브러쉬(2-1), 걸레(3-1), 물분사노즐관(4-1), 스팀노즐관(5-1)의 전체 또는 일부가 설치된다. 본 도는 일정한 두께 및 직경을 가진 다각형통판(10-4) 청소헤드(10)의 바닥면을 보여준다. 4 is a plan view of the cleaning head bottom surface 10-1 with respect to the cleaning head 10 of the polygonal plate 10-4, with the suction head 1-1 and the brush ( 2-1), the mop 3-1, the water spray nozzle pipe 4-1, and the steam nozzle pipe 5-1 are provided in whole or in part. This figure shows the bottom surface of the polygonal plate (10-4) cleaning head 10 having a constant thickness and diameter.

도 5는 청소카바(12)가 장착된 청소헤드(10)에 대한 청소헤드바닥면(10-1)의 평면도로서, 청소카바(12)는 청소시 먼지, 때, 이물질, 협잡물, 수분, 스팀의 비산을 방지하기 위한 것으로 이는 청소카바(12)에 설치 또는 무설치 되는 구조를 가진다.5 is a plan view of the cleaning head bottom surface 10-1 with respect to the cleaning head 10 equipped with the cleaning cover 12, wherein the cleaning cover 12 is dust, dirt, foreign matter, contaminants, water, steam during cleaning. This is to prevent the scattering of the cleaning cover 12 has a structure that is installed or no installation.

도 6은 청소헤드(10)에 브러쉬청소장치(2)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5)의 일부분이 장착된 것을 보여주는 단면도로서, 청소헤드바닥면(10-1) 및 청소헤드측면(10-2)에 브러쉬(2-1)가 장착된 것을 보여준다. 여기서 청소헤드바닥면(10-1)은 유리, 벽면, 바닥, 천정의 평평한 면을 청소하게 되고 청소헤드측면(10-2)은 난간, 턱, 모서리 등과 같이 각이 진 면을 청소하게 된다. 6 is a cross-sectional view showing that the brush cleaning device 2 is mounted on the cleaning head 10 and that a part of the vacuum cleaning device 1, the water cleaning device 4, and the steam cleaning device 5 are mounted. The cleaning head bottom surface 10-1 and the cleaning head side surface 10-2 show that the brush 2-1 is mounted. Here, the cleaning head bottom surface 10-1 cleans flat surfaces of glass, walls, floors, and ceilings, and the cleaning head side surface 10-2 cleans angled surfaces such as railings, jaws, and edges.

도 7은 상기 도 6에 대한 사시도로서, 청소헤드(10)에 브러쉬청소장치(2)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5)의 일부분이 장착된 것을 보여준다. FIG. 7 is a perspective view of FIG. 6, in which a brush cleaning device 2 is mounted on the cleaning head 10, and additionally, the vacuum cleaning device 1, the water cleaning device 4, and the steam cleaning device 5 are installed. Show that part is mounted.

도 8은 청소헤드(10)에 브러쉬(2-1)의 길이가 상이한 브러쉬청소장치(2)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5)의 일부분이 장착된 것을 보여주는 단면도로서, 브러쉬(2-1)는 길이가 동일하거나 또는 길이가 상이한 것이 가능하다는 것을 보여준다. 8 shows that the cleaning head 10 is equipped with a brush cleaning device 2 having a different length of the brush 2-1, and additionally a vacuum cleaning device 1, a water cleaning device 4, and a steam cleaning device 5. As a cross-sectional view showing a portion of) is mounted, the brush 2-1 shows that it is possible to have the same length or different lengths.

도 9는 청소헤드(10)에 걸레청소장치(3)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5), 청소카바(12)의 일부분이 장착된 것을 보여주는 단면도로서, 청소헤드바닥면(10-1) 및 청소헤드측면(10-2)에 모두 걸레(3-1) 및 완충재(3-2)가 설치된 것을 보여준다. 걸레(3-1)는 청소헤드바닥면(10-1) 또는 완충재(3-2)에 부착되거나 감싸서 설치되고, 완충재(3-2)는 청소대상면의 굴곡에 대응되도록 걸레(3-1)가 변형되도록 하는 스펀지, 섬유 등과 같은 재료이나 필요시 이의 생략이 가능한 구조이다. 9 shows that the cleaning head 10 is equipped with a mop cleaning device 3 and a part of the vacuum cleaning device 1, the water cleaning device 4, the steam cleaning device 5, and the cleaning cover 12 is additionally installed. As a cross-sectional view showing that it is mounted, it shows that the mop 3-1 and the cushioning material 3-2 are installed on both the cleaning head bottom surface 10-1 and the cleaning head side surface 10-2. The mop 3-1 is attached to or wrapped around the cleaning head bottom 10-1 or the cushioning material 3-2, and the cushioning material 3-2 is provided to correspond to the curvature of the cleaning object surface. ) Is a material such as sponge, fiber, or the like, which can be omitted if necessary.

도 10은 회전장치(6) 및 청소봉(11)을 나타낸 사시도로서, 회전장치(6)는 전원(6-1), 전선(6-2), 회전모타(6-3)로 구성되고, 회전모타(6-3)는 청소헤드(10)를 회전시키는 것이다. 청소헤드(10)는 회전장치(6)에 의하여 회전되는 것을 원칙으로 하나 필요시 회전장치(6)가 없는 무회전도 가능한 가변적인 구조이다.10 is a perspective view showing the rotating device 6 and the cleaning rod 11, the rotating device 6 is composed of a power supply 6-1, electric wire 6-2, rotary motor 6-3, The rotary motor 6-3 rotates the cleaning head 10. In principle, the cleaning head 10 is rotated by the rotating device 6, but if necessary, the cleaning head 10 can be rotated without the rotating device 6.

청소헤드(10)는 청소봉(11)에 연결되어 정착이 된다. 여기서 청소봉(11)은 강성봉(11-1) 만으로 되거나 또는 강성봉(11-1)과 연성봉(11-2)의 조합으로 되고, 연성봉(11-2)은 청소대상면의 굴곡에 대응되도록 청소봉(11)이 변형되도록 하는 연성구조, 스프링구조, 주름구조, 굴곡구조 등과 같은 구조이나 필요시 이의 생략이 가능한 구조이다. The cleaning head 10 is connected to the cleaning rod 11 to be fixed. Here, the cleaning rod 11 is made of only the rigid rod 11-1 or a combination of the rigid rod 11-1 and the flexible rod 11-2, and the flexible rod 11-2 corresponds to the bending of the cleaning target surface. It is a structure such as a flexible structure, a spring structure, a corrugated structure, a curved structure, or the like, so that the cleaning rod 11 is deformed as much as possible, or a structure thereof may be omitted if necessary.

도 11은 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)가 개별적으로 설치된 것을 보여주는 사시도로서, 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)가 독립적으로 설치되는 하나의 예를 보여준다. 11 is a vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5-4) As a perspective view showing separately installed, the vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator ( 5-4) shows one example of being installed independently.

도 12는 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)가 통합적으로 설치된 것을 보여주는 사시도로서, 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)는 각각 개별적으로 설치되지 않고 하나로 통합되어 일체로 설치되는 하나의 예를 보여준다. 도 11 및 도 12에 의하여 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)는 개별적으로 또는 통합적으로 설치가 가능하다. 12 is a vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5-4) As a perspective view showing integrally installed, the vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator ( 5-4) shows an example in which all of them are integrated into one unit instead of individually installed. 11 and 12, the vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5) -4) can be installed individually or integrated.

도 13은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)가 건물(60)에 설치되고, 고정선(50)이 건물(60)의 길이방향 또는 수평방향으로 설치된 것을 보여주는 사시도로서, 본 발명에 의한 건물내부청소로봇에 의하여 건물의 유리, 벽체, 천정, 바닥 등 청소대상면의 먼지, 때, 이물질, 협잡물을 청소하거나 제거되는 장면을 보여준다. In FIG. 13, the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 are installed in the building 60, and the fixing line 50 is constructed. (60) is a perspective view showing the installation in the longitudinal or horizontal direction, the building cleaning robot according to the present invention to clean the dust, dust, foreign matter, contaminants, such as glass, walls, ceilings, floors, etc. Shows the scene being removed.

도 14는 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 및 고정선(50)이 건물(60)의 길이방향 또는 수평방향으로 설치된 것을 보여주는 사시도로서, 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 예를 보여주고 또한 이중에서 고정선(50)이 건물(60)의 길이방향 또는 수평방향으로 설치되는 예를 보여준다. 14 shows the combination of the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54 and the fixing line 50 in the longitudinal direction of the building 60. Or as a perspective view showing that installed in the horizontal direction, showing the coupling example of the vacuum cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54 and double Shows an example in which the fixed line 50 is installed in the longitudinal or horizontal direction of the building 60.

본 발명에 의한 건물내부청소로봇의 이동장치는 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 전체 또는 일부로 구성되고, 여기서 고정선(50)은 건물(60)의 일정한 공간에서 수평방향, 수직방향, 대각선방향, 장방향, 단방향 중의 어느 방향으로도 1개 이상 설치가 가능한 가변적인 구조이고, 이는 이동선(52)을 지지하고 이동선(52)의 이동행로를 제공하는 것으로 고정선(50)에는 1개 이상의 이동선(52)이 설치가 된다. The moving device of the building cleaning robot according to the present invention is composed of all or part of the fixed line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54, where the fixed line 50 ) Is a variable structure that can be installed in one or more of the horizontal direction, vertical direction, diagonal direction, long direction, unidirectional direction in a certain space of the building 60, which supports the moving line 52 and the moving line 52 One or more moving lines 52 are installed in the fixed line 50 by providing a moving route of the "

여기서 고정기구(51)는 건물 또는 지면에 고정선(50)의 양간 또는 일단을 지지 및 정착하는 것이고, 이동선(52)은 청소기(13)를 일정한 곳으로 이동시키는 행로를 제공하는 것이고, 이동선(52)에는 1개 이상의 이동기구(53) 및 골절기구(54)가 설치되고, 고정선(50) 및 이동선(52)은 재질이 강선, 철선, PC선, 강봉, 철봉, PC봉, 밧줄, 섬유선, 나일론선과 같이 굵기가 가늘고 길이가 길며 강하고 질긴 재질이다. Here, the fixing mechanism 51 is to support and fix both ends or one end of the fixing line 50 to the building or the ground, and the moving line 52 is to provide a path for moving the cleaner 13 to a certain place, and the moving line 52 ) Is provided with one or more moving mechanism 53 and fracture mechanism 54, the fixed wire 50 and the moving wire 52 is made of steel wire, steel wire, PC wire, steel bar, iron bar, PC bar, rope, fiber wire Like nylon wire, it is thin, long and strong and strong material.

이동기구(53)는 고정선(50)의 행로를 따라 이동선(52)를 이동시키는 장치로서, 이는 이동바퀴(53-1)와 이동원(53-2)으로 구성된다. 골절기구(54)는 로봇골절로서 자체로 회전연동 및 좌우연동 및 상하연동이 가능하여 청소기(13)를 회전연동 및 좌우연동 및 상하연동 시키는 것을 특징으로 한다. The moving mechanism 53 is a device for moving the moving line 52 along the path of the fixed line 50, which is composed of a moving wheel 53-1 and a moving source 53-2. Fracture mechanism (54) is a robot fracture itself is characterized in that the rotational interlocking and left and right interlocking and vertical interlocking to rotate the vacuum cleaner 13 and interlocking and vertical interlocking.

도 15는 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절 기구(54)가 건물(60)에 설치되고, 고정선(50)이 건물(60)의 높이방향 또는 수직방향으로 설치된 것을 보여주는 사시도로서, 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)가 건물(60)에 설치되는 예를 보여주고 또한 고정선(50)이 건물(60)의 높이방향 또는 수직방향으로 설치된 예을 보여준다. 15, the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 are installed in the building 60, and the fixing line 50 is constructed. A perspective view showing the installation in the height direction or the vertical direction of (60), wherein the cleaner (13), the fixing line (50), the fixing mechanism (51), the moving line (52), the moving mechanism (53), and the fracture mechanism (54) Show an example installed in (60) and also shows an example in which the fixed line 50 is installed in the height direction or the vertical direction of the building (60).

도 16은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 및 고정선(50)이 건물(60)의 높이방향 또는 수직방향으로 설치된 것을 보여주는 사시도로서, 도 15에 대하여 건물을 제외한 나머지 부분에 대한 사항을 도식적으로 보여준다. 16 shows the combination of the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 and the fixing line 50 in the height direction of the building 60. Or as a perspective view showing that it is installed in a vertical direction, with respect to Figure 15 shows the details of the rest except for the building.

도 17은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)가 건물(60)에 설치되고, 고정선(50)이 1개 설치된 것을 보여주는 사시도로서, 고정선(50)이 1개 설치되고 고정선(50)에는 다수개의 이동선(52) 및 이동기구(53)가 설치되고 이동선(52) 및 이동기구(53)는 상호 연결이 되어 균형을 이루는 것을 보여준다. 17, the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54 is installed in the building 60, the fixing line 50 is 1 As a perspective view showing that the dog is installed, one fixing line 50 is installed, a plurality of moving lines 52 and the moving mechanism 53 is installed on the fixing line 50 and the moving line 52 and the moving mechanism 53 are interconnected. To show balance.

도 18은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 및 고정선(50)이 1개 설치된 것을 보여주는 사시도로서, 도 17에 대하여 건물을 제외한 나머지 부분에 대한 사항을 도식적으로 보여준다. 18 is a perspective view showing the combination of the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 and one fixing line 50. FIG. 17 schematically shows the matters of the remaining parts except for the building.

도 19는 전동모타(53-21)에 의해 가동되는 이동기구(53)를 나타낸 사시도로서, 이동기구(53)는 고정선(50)의 행로를 따라 이동선(52)를 이동시키는 장치로서 이는 이동바퀴(53-1)와 이동원(53-2)으로 구성된다. 이동바퀴(53-1)는 고정선(50)에 안착이 되어 이동선(52) 및 청소기(13)를 이동시키는 것이고, 이동원(53-2)은 전동모타(53-21) 또는 중력 또는 인력이다. 전동모타(53-21)는 전동모타의 회전력에 의하여 자동으로 이동바퀴(53-1)가 이동되는 것으로, 이에는 전원이 제공된다. 19 is a perspective view showing a moving mechanism 53 which is driven by the electric motors 53-21. The moving mechanism 53 is a device for moving the moving line 52 along the path of the fixed line 50, which is a moving wheel. 53-1 and the moving source 53-2. The moving wheel 53-1 is seated on the fixed line 50 to move the moving line 52 and the cleaner 13, and the moving source 53-2 is the electric motor 53-21 or gravity or gravity. The electric motors 53-21 automatically move the moving wheels 53-1 by the rotational force of the electric motors, and power is supplied thereto.

도 20은 이동줄(53-22)에 의해 가동되는 이동기구(53)를 나타낸 사시도로서, 이동기구(53)가 이동줄(53-22)을 연결되어 중력 또는 인력에 의하여 이동줄(53-22)을 당기거나 풀어져서 이동바퀴(53-1)를 이동시키는 것을 도식적으로 보여준다. FIG. 20 is a perspective view showing a moving mechanism 53 which is operated by a moving string 53-22, in which the moving mechanism 53 is connected to the moving string 53-22 and moved by gravity or attraction. 22) schematically shows the movement of the moving wheel (53-1) by pulling or loosening.

도 1은 청소기(13)가 진공청소장치(1), 물청소장치(4), 스팀청소장치(5) 및 고정선(50), 이동선(52), 이동기구(53), 골절기구(54)에 연결된 것을 보여주는 사시도1 shows a vacuum cleaner 1, a vacuum cleaner 1, a water cleaner 4, a steam cleaner 5 and a fixed line 50, a moving line 52, a moving mechanism 53, and a fracture mechanism 54. Perspective view showing connected to

도 2는 청소헤드(10)에 브러쉬청소장치(2) 및 걸레청소장치(3)가 조합되어 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5), 청소카바(12)의 일부분이 장착된 것을 보여주는 단면도2 is a combination of the brush cleaning device (2) and the mop cleaning device (3) mounted on the cleaning head (10) and additionally the vacuum cleaning device (1), water cleaning device (4), steam cleaning device (5) , Cross section showing a portion of the cleaning cover 12 mounted

도 3은 원통판(10-3)의 청소헤드(10)에 대한 청소헤드바닥면(10-1)의 평면도3 is a plan view of the cleaning head bottom surface 10-1 with respect to the cleaning head 10 of the cylindrical plate 10-3.

도 4는 다각형통판(10-4)의 청소헤드(10)에 대한 청소헤드바닥면(10-1)의 평면도4 is a plan view of the cleaning head bottom surface 10-1 with respect to the cleaning head 10 of the polygonal mail plate 10-4.

도 5는 청소카바(12)가 장착된 청소헤드(10)에 대한 청소헤드바닥면(10-1)의 평면도5 is a plan view of the cleaning head bottom surface 10-1 for the cleaning head 10 to which the cleaning cover 12 is mounted.

도 6은 청소헤드(10)에 브러쉬청소장치(2)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5)의 일부분이 장착된 것을 보여주는 단면도6 is a cross-sectional view showing that the brush cleaning device 2 is mounted on the cleaning head 10 and additionally, a part of the vacuum cleaning device 1, the water cleaning device 4, and the steam cleaning device 5 is mounted.

도 7은 상기 도 6에 대한 사시도FIG. 7 is a perspective view of FIG. 6.

도 8은 청소헤드(10)에 브러쉬(2-1)의 길이가 상이한 브러쉬청소장치(2)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5)의 일부분이 장착된 것을 보여주는 단면도8 shows that the cleaning head 10 is equipped with a brush cleaning device 2 having a different length of the brush 2-1, and additionally a vacuum cleaning device 1, a water cleaning device 4, and a steam cleaning device 5. Section showing a portion of the

도 9는 청소헤드(10)에 걸레청소장치(3)가 장착되고 부가적으로 진공청소장치(1), 물청소장치(4), 스팀청소장치(5), 청소카바(12)의 일부분이 장착된 것을 보여주는 단면도9 shows that the cleaning head 10 is equipped with a mop cleaning device 3 and a part of the vacuum cleaning device 1, the water cleaning device 4, the steam cleaning device 5, and the cleaning cover 12 is additionally installed. Section showing mounted

도 10은 회전장치(6) 및 청소봉(11)을 나타낸 사시도10 is a perspective view of the rotating device 6 and the cleaning rod 11

도 11은 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)가 개별적으로 설치된 것을 보여주는 사시도 11 is a vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5-4) Perspective view showing individually installed

도 12는 진공펌프(1-3), 집진기(1-4), 급수펌프(4-3), 급수통(4-4), 스팀펌프(5-3), 스팀발생기(5-4)가 통합적으로 설치된 것을 보여주는 사시도 12 is a vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5-4) Perspective view showing integral installation

도 13은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)가 건물(60)에 설치되고, 고정선(50)이 건물(60)의 길이방향 또는 수평방향으로 설치된 것을 보여주는 사시도In FIG. 13, the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 are installed in the building 60, and the fixing line 50 is constructed. Perspective view showing the installation in the longitudinal or horizontal direction of 60

도 14는 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 및 고정선(50)이 건물(60)의 길이방향 또는 수평방향으로 설치된 것을 보여주는 사시도14 shows the combination of the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54 and the fixing line 50 in the longitudinal direction of the building 60. Or a perspective view showing the horizontal installation

도 15는 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)가 건물(60)에 설치되고, 고정선(50)이 건물(60)의 높이방향 또는 수직방향으로 설치된 것을 보여주는 사시도15, the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54 is installed in the building 60, the fixing line 50 is the building Perspective view showing the installation in the height direction or the vertical direction of 60

도 16은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 및 고정선(50)이 건물(60)의 높이방향 또는 수직방향으로 설치된 것을 보여주는 사시도16 shows the combination of the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 and the fixing line 50 in the height direction of the building 60. Or a perspective view showing the installation in the vertical direction

도 17은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)가 건물(60)에 설치되고, 고정선(50)이 1개 설치된 것을 보여주는 사시도17, the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54 is installed in the building 60, the fixing line 50 is 1 Perspective view showing dog installed

도 18은 청소기(13), 고정선(50), 고정기구(51), 이동선(52), 이동기구(53), 골절기구(54)의 결합 및 고정선(50)이 1개 설치된 것을 보여주는 사시도18 is a perspective view showing that a combination of the cleaner 13, the fixing line 50, the fixing mechanism 51, the moving line 52, the moving mechanism 53, and the fracture mechanism 54 and one fixing line 50 are installed.

도 19는 전동모타(53-21)에 의해 가동되는 이동기구(53)를 나타낸 사시도19 is a perspective view showing a moving mechanism 53 that is driven by an electric motor 53-21.

도 20은 이동줄(53-22)에 의해 가동되는 이동기구(53)를 나타낸 사시도 20 is a perspective view showing the moving mechanism 53 which is operated by the moving strings 53-22.

<도면의 주요부분에 대한 부호 설명><Description of Signs of Major Parts of Drawings>

1 : 진공청소장치 1-1 : 흡입구1: vacuum cleaner 1-1: suction port

1-2 : 흡입관 1-3 : 진공펌프1-2: suction pipe 1-3: vacuum pump

1-4 : 집진기 1-5 : 진공1-4: Dust Collector 1-5: Vacuum

2 : 브러쉬청소장치 2-1 : 브러쉬2: Brush cleaning device 2-1: Brush

3 : 걸레청소장치 3-1 : 걸레3: mop cleaning device 3-1: mop

3-2 : 완충재 4 : 물청소장치3-2: buffer material 4: water cleaning device

4-1 : 물분사노즐관 4-2 : 급수관4-1: water spray nozzle pipe 4-2: water supply pipe

4-3 : 급수펌프 4-4 : 급수통4-3: water supply pump 4-4: water supply tank

4-5 : 물 또는 수분 5 : 스팀청소장치4-5: water or moisture 5: steam cleaner

5-1 : 스팀노즐관 5-2 : 스팀공급관5-1: Steam nozzle pipe 5-2: Steam supply pipe

5-3 : 스팀펌프 5-4 : 스팀발생기5-3: steam pump 5-4: steam generator

5-5 : 스팀 6 : 회전장치5-5 Steam 6: Rotator

6-1 : 전원 6-2 : 전선6-1: Power 6-2: Wire

6-3 : 회전모타 10 : 청소헤드6-3: Rotating Motor 10: Cleaning Head

10-1 : 청소헤드바닥면 10-2 : 청소헤드측면10-1: cleaning head bottom surface 10-2: cleaning head side

10-3 : 원통판 10-4 : 다각형통판10-3: cylindrical plate 10-4: polygonal plate

11 : 청소봉 11-1 : 강성봉11: cleaning rod 11-1: rigid rod

11-2 : 연성봉 12 : 청소카바11-2: flexible rod 12: cleaning cover

13 : 청소기 50 : 고정선13: cleaner 50: fixed line

51 : 고정기구 52 : 이동선51: fixing mechanism 52: moving line

53 : 이동기구 53-1 : 이동바퀴53: moving mechanism 53-1: moving wheel

53-2 : 이동원 53-21 : 전동모타53-2: moving source 53-21: electric motor

53-22 : 이동줄 54 : 골절기구53-22: moving line 54: fracture mechanism

60 : 건물60: building

Claims

It consists of all or part of the vacuum cleaner 1, the brush cleaner 2, the mop cleaner 3, the water cleaner 4, the steam cleaner 5, the rotary device 6,

The vacuum cleaner 1 is cleaned by a vacuum (1-5) and consists of a suction port (1-1), a suction pipe (1-2), a vacuum pump (1-3), a dust collector (1-4) ,

The vacuum (1-5) is provided in the vacuum pump (1-3) and the dust, dirt, foreign matters and contaminants are collected by the vacuum (1-5) through the suction port (1-1), suction pipe (1-2) (1-4) is accumulated,

The brush cleaning device 2 is composed of a brush (2-1) to be cleaned by the brush (2-1),

The brush 2-1 may have the same length or different lengths,

The mop cleaning device (3) is cleaned by the mop (3-1) is composed of a mop (3-1), the cushioning material (3-2),

The mop 3-1 is attached to or wrapped around the cleaning head bottom surface 10-1 or the cushioning material 3-2,

The cushioning material 3-2 is a material such as sponge, fiber or the like that allows the mop 3-1 to be deformed to correspond to the curvature of the surface to be cleaned, or a structure thereof may be omitted if necessary.

The water cleaning device (4) is to be cleaned by water or water (4-5) water spray nozzle pipe (4-1), water supply pipe (4-2), water supply pump (4-3), water supply tank (4) -4), which can be used as an auxiliary role for brush cleaning or mop cleaning,

The steam cleaner 5 is cleaned by the steam 5-5, the steam nozzle pipe 5-1, the steam supply pipe 5-2, the steam pump 5-3, the steam generator 5-4. ), Which can be used as a secondary cleaning brush or rag cleaning,

The water spray nozzle pipe (4-1) and the steam nozzle pipe (5-1) is installed as one or separately installed,

The water supply pipe 4-2 and the steam supply pipe 5-2 are installed as one or separately installed,

The water spray nozzle pipe (4-1) and the steam nozzle pipe (5-1) is a structure that is connected to the mop (3-1) and the cushioning material (3-2) or a variable structure that is separated without being connected,

The vacuum pump (1-3), dust collector (1-4), feed water pump (4-3), feed water tank (4-4), steam pump (5-3), steam generator (5-4) are each individually Installed as one or integrated into one,

The rotary device 6 is composed of a power source 6-1, a wire 6-2, a rotary motor 6-3,

The rotary motor (6-3) is to rotate the cleaning head 10,

The suction port (1-1), suction pipe (1-2), brush (2-1), mop (3-1), buffer material (3-2), water spray nozzle pipe (4-1), water supply pipe (4- 2), the whole or part of the steam nozzle pipe (5-1), steam supply pipe (5-2), rotary motor (6-3) is integrated and mounted to the cleaning head (10) of a certain form,

The mounting may be performed on both the cleaning head bottom surface 10-1 and the cleaning head side surface 10-2 of the cleaning head 10 or only on the cleaning head bottom surface 10-1 or on the cleaning head side surface 10-2. Only one,

The cleaning head 10 has a structure of a cylindrical plate 10-3 having a constant thickness and diameter or a polygonal plate 10-4 having a constant thickness and area, which is in principle rotated by the rotating device 6. It is a variable structure that can be rotated without one, if necessary, without the rotary device (6), which is also connected to the cleaning rod (11) is settled,

The cleaning rod 11 is made of only the rigid rod (11-1) or a combination of the rigid rod (11-1) and soft rod (11-2),

The flexible rod 11-2 is a structure such as a flexible structure, a spring structure, a corrugated structure, a curved structure, or the like, which can be omitted if necessary so that the cleaning rod 11 is deformed to correspond to the curvature of the cleaning target surface.

The cleaning head 10 has a structure in which the cleaning cover 12 is installed or not installed in order to prevent scattering of dust, dirt, foreign matters, contaminants, moisture, and steam during cleaning,

The cleaning head 10, the cleaning rod 11 and the cleaning cover 12 is a building inside the cleaning robot, characterized in that the structure is combined to one cleaner 13

It consists of all or part of the fixed line 50, the fixed mechanism 51, the moving line 52, the moving mechanism 53, the fracture mechanism 54,

The fixed line 50 is a variable structure that can be installed in one or more of the horizontal direction, vertical direction, diagonal direction, long direction, unidirectional direction in a certain space of the building 60, which supports the moving line 52 By providing a moving route of the moving line 52, one or more moving lines 52 are installed in the fixed line 50,

The fixing mechanism 51 is to support and fix both ends or one end of the fixing line 50 on the building or ground,

The moving line 52 is to provide a path for moving the cleaner 13 to a certain place, the moving line 52 is provided with one or more moving mechanism 53 and fracture mechanism 54,

The fixed line 50 and the moving line 52 is a material such as steel wire, iron wire, PC wire, steel bar, iron bar, PC rod, rope, fiber wire, nylon wire, thin, long, strong, tough material,

The moving mechanism 53 is a device for moving the moving line 52 along the path of the fixed line 50, which is composed of a moving wheel 53-1 and a moving source 53-2,

The moving wheel 53-1 is seated on the fixed line 50 to move the moving line 52 and the cleaner 13,

The moving source 53-2 is an electric motor 53-21 or gravity or gravity,

The electric motor 53-21 is a moving wheel (53-1) is automatically moved by the rotational force of the electric motor, which is provided with power,

The gravity and the attraction is to connect the moving line 53-22 to the moving mechanism 53 to move or move the moving wheel 53-1 by pulling or loosening the moving line 53-22 by gravity or attraction,

The fracture mechanism 54 is a robot fracture, it is possible to rotate itself, and the left and right interlocking and vertical interlocking to clean the interior of the building robot, characterized in that the rotary interlocking and horizontal interlocking and vertical interlocking

The method according to claim 1 and 2,

All or part of the vacuum cleaner (1), brush cleaner (2), mop cleaner (3), water cleaner (4), steam cleaner (5), cleaning head (10), vacuum cleaner (13) Is attached to all or a part of the fixed line 50, the moving line 52, the fracture mechanism 54 to clean or remove dust, dirt, foreign matter, contaminants on the surface to be cleaned, such as glass, walls, ceilings, floors of the building Interior cleaning robot, characterized in that