KR20130107185A - Apparatus for cleaning surface of building and cleaning method of building - Google Patents

Abstract

PURPOSE: A device for cleaning the surface of a building having the moving prevention installation structure of a cleaning robot assembly using a crane device having a vertical extension rail and a method for cleaning the surface of a building using the same are provided to prevent damage to the wall of a building by preventing a cleaning robot assembly from moving in a vertical direction. CONSTITUTION: A device (500) for cleaning the surface of a building having the moving prevention installation structure of a cleaning robot assembly using a crane device having a vertical extension rail comprises a cleaning robot assembly (1), a lifting crane, and a lifting rail (60). The cleaning robot assembly jets a washing solution to the wall (700) of a building through a nozzle member and wipes the wall of the building using a wiper blade. The lifting crane is installed in the building and lifts up and down the cleaning robot assembly using a cable (201). The lifting rail is vertically installed on the wall of the building and guides the lifting of the cleaning robot assembly.

Description

Apparatus for Cleaning Surface of Building and Cleaning Method of Building}

The present invention is a device for cleaning the outer wall surface of the building having a cleaning robot assembly for cleaning and spraying and wiping the cleaning liquid on the outer wall surface of the building, such as a window or the outer wall surface of the building while descending along the outer wall surface, such as a building, and the building using the same The method for cleaning the outer wall surface, specifically, when installing the cleaning robot assembly on the top of the building outer wall surface, by using a crane device having a vertical extension rail to be continuous with the elevating rail installed on the outer wall surface of the building In the process of lowering the cleaning robot assembly until the cleaning robot assembly is coupled to the lifting rail installed on the outer wall of the building, the cleaning robot assembly is stably lowered and coupled with the lowering rail without shaking in the direction perpendicular to the outer wall of the building. Therefore, the glass windows, etc. are damaged in advance due to the shaking of the cleaning robot assembly. At the same time, the cleaning robot assembly has a structure that operates in response to the protruding portion such as the window frame of the glass window existing on the outer wall of the building so that the outer wall of the building can be cleaned cleanly despite the presence of the protruding portion. The present invention relates to a building exterior wall cleaning device and a cleaning method of a building exterior wall surface using the same.

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.

In the installation of the cleaning device on the outer wall of the building, as mentioned above, the cleaning device is raised and lowered by hanging the cable down from the roof of the building. Because it can't be prevented from shaking in one direction, the glass window can be damaged due to the shaking of the cleaning device, and the wiper member of the cleaning device is not adhered to the outer wall of the building so that it can not be cleaned properly. There is a problem that is not.

Furthermore, although the conventional cleaning device is described as spraying and wiping the cleaning liquid on the outer wall of the building, the waste washing liquid after spraying on the outer wall of the building is left unattended without falling off, and falls to the street as it is to the pedestrian passing the road. It causes great harm and defiles the roads. 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.

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, the glass window while moving down the cleaning robot assembly using a cable laid down on the roof of the building, such as a building, etc. In the process of lowering the cleaning robot assembly until the cleaning robot assembly is coupled to the lifting rail installed on the building exterior wall surface, the cleaning robot assembly swings in a direction perpendicular to the building exterior wall surface. It stably lowers to be combined with the lifting rails to prevent damage to the glass windows due to the shaking of the cleaning robot assembly, and at the same time, the wiper blades provided on the cleaning robot assembly reliably adhere to the outer wall of the building. Building exterior walls to ensure clean cleaning To provide a device for the purpose.

In addition, in the present invention, as a device, by the cleaning robot assembly is provided with a configuration that can safely collect the waste washing liquid sprayed to the outer wall of the building for the cleaning, containing contaminants, causing inconvenience to pedestrians due to the neglect of the waste washing liquid. It is an object of the present invention to provide a building exterior wall cleaning device that can solve problems such as recontamination of the exterior wall surface of the building and causing environmental pollution.

In addition, the present invention can prevent the occurrence of incomplete cleaning even when there is a protrusion on the outer wall surface of the building, so that no work stop occurs due to the presence of the protrusion, and the already cleaned portion due to the presence of the protrusion An object of the present invention is to provide a building exterior wall cleaning device having a cleaning robot assembly that can prevent contamination.

In order to achieve the above object, in the present invention, the cleaning robot assembly for wiping the outer wall of the building, the elevating crane is installed in the building to raise and lower the cleaning robot assembly, and installed vertically on the building outer wall surface of the cleaning robot assembly It comprises a lifting rail for guiding the lifting; The cleaning robot assembly is a wiper device having a wiper blade for contacting the outer wall of the building to scrape off contaminants and a nozzle member for spraying the cleaning liquid, and the wiper device is coupled and descends facing the outer wall of the building. Including a body; The lifting and lowering crane is rigidly coupled to the cable support frame and the cable support frame, and the swing preventing transverse frame for guiding the cleaning robot assembly to be lowered without swinging before the cleaning robot assembly is coupled to the lifting rail. And a cable connected to the cleaning robot assembly and a winding device for releasing or pulling the cable; The oscillation preventing side frame is an orthogonal horizontal member that is rigidly coupled and orthogonally coupled to a cable support frame, and is coupled to each other in a rigid state and disposed in a vertical direction at both ends of the orthogonal horizontal member and installed on an outer wall of a building. Positioned so as to be continuous with the falling rail and the wheel member provided in the cleaning robot assembly is provided with a cleaning device for the building outer wall surface characterized in that it comprises an extension rail for guiding the vertical movement.

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

In addition, in the present invention as described above, the wiper device, the nozzle member is provided at a position below the wiper blade and is formed with a nozzle hole for spraying the cleaning liquid to the building outer wall surface, and provided at the position below the nozzle member outer wall 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.

On the other hand, the present invention provides a cleaning method for the outer wall of the building using the cleaning robot assembly, specifically, the cleaning robot assembly is provided with a rail coupling driving device; A building elevating crane for elevating the cleaning robot assembly; Vertically installing a lifting rail for guiding the lifting and lowering of the cleaning robot assembly on the outer wall of the building; With the extension rail positioned continuously with the elevating rail, the rail coupling driving device enters the elevating rail through the extension rail and moves along the elevating rail to move the cleaning robot assembly to the building exterior wall surface. There is provided a cleaning method of a building exterior wall surface using a cleaning robot assembly, wherein the building exterior wall surface is cleaned while descending in a state facing the surface.

In the cleaning method of the present invention, the main body includes a front plate and a back plate, and is made of a box-shaped member having an inner space between the front plate and the back plate, and inside the body, two waste washing liquids in the transverse direction. Storage tanks are spaced apart from each other, and the two waste washing liquid storage tanks have a conduit connected to each other. In a part where no protrusions exist on the outer wall of the building, the cleaning robot assembly is disposed on the outer wall of the building. Located on the front surface, the main body and the wiper device moving member is fixed to each other, the wiper blade is in close contact with the front surface of the building outer wall, the brush touches the building outer wall surface to shake off the building outer wall surface In the state, the main body and the wiper device moving member is lowered at the same speed with the wiper blale Degas the step of cleaning the outer wall surface, by building and at the same time moving down standing scratch the front of the building outer wall surface to the rotation of the brush; Retracting the brush to a position where the lowering of the brush is prevented by the protrusion existing on the outer wall of the building, and the position where the brush can be overrun by the operation of the brush moving member; Advancing the brush to clean the outer wall of the building by the brush moving member after the brush has moved over the protrusion; When the lowering of the wiper device is hindered while the main body is lowered, the state where the main body and the wiper device moving member are fixed to each other is released so that the wiper device moving member moves up along the main body. By moving, the wiper device moving member and the wiper device 10 is in a state where the vertical height does not change, but the main body continues to descend at constant speed, and at the same time, the wiper device retreats from the outer wall of the building to the wiper blade. Moving away from the building exterior wall surface; If the wiper device is retracted while the main body continues to descend at a constant speed 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; Immediately after the wiper blade passes the protrusion by the accelerated lowering of the wiper device moving member, the wiper device moving member stops the accelerated lowering and moves relative to the upward direction along the main body, thereby moving the wiper device moving member and the The wiper blade does not change its vertical height, but the main body continues to descend at constant speed, and the wiper device moves forward toward the outer wall of the building, keeping the vertical height at the position just after the wiper blade passes the protrusion. The front end of the wiper blade is in contact with the building outer wall surface; After the front end of the wiper blade touches the outer wall of the building, the wiper device moving member accelerates and descends in the direction in which the main body moves; And cleaning the outer wall of the building while the main body and the wiper moving member are lowered together, so that the main body can be continuously lowered without stopping even if the protrusion is present on the outer wall of the building, and the upper part of the protrusion is caused by the presence of the protrusion. The outer wall of the building can be configured to be able to prevent the contamination again.

In the building exterior wall cleaning apparatus of the present invention, the cleaning robot assembly is provided in a direction perpendicular to the building exterior wall surface in the process of lowering the cleaning robot assembly until the cleaning robot assembly is coupled to the elevating rail by providing a swing preventing transverse frame. It is very efficient to prevent swinging, thus preventing the cleaning robot assembly from colliding with the building exterior wall due to rocking and the occurrence of the damage. The wheel member provided in the cleaning robot assembly can be easily mounted on the lifting rail. The effect of being able to insert is exhibited.

In addition, in the building exterior wall cleaning apparatus of the present invention, the rail coupling driving device of the cleaning robot assembly is provided with a plurality of wheel members, so that the plurality of wheel members in the direction of the building outer wall surface elasticity, By varying the height at which the plurality of wheel members protrude from the main body, the plurality of wheel members are always in close contact with at least one of the inner surface of the channel space of the elevating rail facing the building outer wall, the elevating rail Since the phenomenon in which the wiper blade front end does not come into contact with the outer wall of the building is not generated due to the play in the channel space of the channel space, the wiper blade can be cleaned by scraping the building outer wall stably and faithfully. In particular, by producing a plurality of wheel members in the form of a caterpillar of the form of the band wound around the problem of the problem caused by the clearance in the channel space of the elevating rail as described above is further improved.

Furthermore, according to the cleaning robot assembly of the present invention, a waste washing liquid collection member may be provided, and the waste washing liquid scraped off by the wiper blade is collected by using the waste washing liquid collection 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.

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

In addition, in the present invention, since the 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 the economic efficiency. do.

1 is a schematic perspective view showing a building exterior wall cleaning apparatus according to the present invention in a form viewed from a building direction.
Figure 2 is a schematic perspective view showing a state in which the cleaning robot assembly provided in the cleaning apparatus of the present invention enters the lifting rail installed on the outer wall of the building.
Figure 3a is a schematic perspective view showing a state in which the cleaning robot assembly of the present invention descends along the lifting rail following the state of Figure 2 entering the lifting rail.
Figure 3b is a schematic detailed view of the circle S portion of Figure 3a showing a state in which the rail coupling drive unit is coupled to the elevating rail.
4 and 5 is a schematic perspective view of the building exterior wall cleaning apparatus of the present invention, the cleaning robot assembly is separated and viewed in different directions.
FIG. 6 is a schematic perspective view corresponding to FIG. 1, which is a schematic perspective view illustrating a state of rocking when the anti-sway horizontal frame is not provided.
Figure 7a 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. 7B is a schematic cross-sectional view taken along the line RR of FIG. 7A.
FIG. 8 is a schematic enlarged view of a portion E of FIG. 4.
9 is a schematic cross-sectional view showing a state in which the wheel member is inserted into the elevating rail.
Figure 10 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 11 is a perspective view corresponding to Figure 5, showing only the building exterior wall cleaning robot assembly according to the present invention, a schematic perspective view showing a state in which the back plate of the main body is removed.
12 to 15 are respectively a perspective view corresponding to FIG. 11, in the state of the front plate in the 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 provided in the present invention. It is a schematic perspective view.
FIG. 16 is a schematic side view for explaining a state where the wiper blade descends past the protrusion in a state where the wiper blade does not retreat from the building outer wall surface.
17 to 22 are schematic side cross-sectional views, respectively, along the line KK of FIG. 12 showing a state in which the building exterior wall cleaning robot assembly is located on the front of the window in the present invention.
Figure 23 is another embodiment of the present invention in the embodiment in which the front end of the wiper blade is more protruded toward the outer wall surface of the building than the front end of the waste washing liquid flow guide plate and the waste washing liquid recovery trough is retracted out of the protrusion The wiper blade is a schematic side cross-sectional view showing the front end touching the windowpane.
FIG. 24 is a schematic side cross-sectional view showing a state in which the wiper blade is lowered to reach the protrusion in the embodiment shown in FIG. 23.
FIG. 25 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. 24.
FIG. 26 is a schematic side cross-sectional view illustrating a state in which a waste washing liquid flow guide plate passes through a protrusion while bending deformation 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 is a schematic perspective view showing a building exterior wall cleaning apparatus 500 (hereinafter, abbreviated as "cleaning apparatus 500") in a form viewed from a building direction according to the present invention, Figure 2 is a cleaning of the present invention A schematic perspective view showing a state in which the cleaning robot assembly 1 provided in the apparatus 500 enters the elevating rail 60 installed on the outer wall 700 of the building. 3A is a schematic perspective view showing a state in which the cleaning robot assembly 1 of the present invention entering the elevating rail 60 descends along the elevating rail 60, and FIG. 3B is a circle S portion of FIG. 3A. As a detailed view shows the state in which the rail coupling drive unit 80 is coupled to the elevating rail 60. 4 and 5 are respectively a schematic perspective view of the cleaning device 500 of the present invention, the cleaning robot assembly 1 is separated and viewed in different directions.

As shown in the drawings, the cleaning device 500 according to the present invention, the cleaning robot assembly (1) for wiping the building outer wall surface by spraying the cleaning liquid on the building outer wall 700 and scraping the cleaning liquid with the wiper blade, and the building, Installed on the elevating crane which lowers or raises the cleaning robot assembly 1 by using a cable 201, and is installed vertically on the building outer wall 700, and the cleaning robot assembly 1 is engaged to be cleaned. It comprises a lifting rail 60 for guiding the lifting of the robot assembly (1).

4 and 5, the cleaning robot assembly 1 according to the present invention, the wiper blade and the cleaning liquid for contacting the outer wall surface 700 of the building to scrape and remove contaminants on the surface of the outer wall surface It comprises a wiper device (10) having a nozzle member for spraying, and the main body (20) which is coupled to the wiper device 10 is lowered facing the building outer wall (700). The main body 20 is a member to which the wiper device 10 and the wiper moving device 30 described later are coupled. In FIG. 5, 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. ), The pleated stretch protection member 38 for wrapping and protecting the vertical movable plate 31 of the wiper moving member 30 to prevent the cleaning solution from splashing out is illustrated in dashed lines. On the other hand, the cleaning robot assembly 1 of the present invention is provided with a rail coupling drive device 80, the rail coupling drive device 80 is provided with a wheel member (81). A detailed configuration of the rail coupling driving device 80 will be described later.

First, the elevating crane, the elevating crane is a device that is installed in the building to lower or raise the cleaning robot assembly 1 using the cable 201, the cable support frame 200 is installed in the building ) And the cable support frame 200 are integrally orthogonally coupled to each other at a protruding end of the cable support frame 200 protruding outside the building outer wall, and the cleaning robot assembly 1 is mounted on the elevating rail 60. The anti-shake horizontal frame 210 which guides the lowering while preventing the rocking robot assembly 1 from shaking in the state before being coupled, and supported by the cable support frame 200 and the cleaning robot assembly 1 It is configured to include a cable 201 to be connected, and a winding device 230 for releasing or pulling the cable 201.

In detail, the cable support frame 200 is a structure installed on a roof of a building, and one end thereof protrudes outward from an outer wall of the building, and the cable support frame 200 has a pulley for supporting the cable 201. It is provided. As shown in the figure, in the present invention, the cable support frame 200 is installed on the roof of a building, etc., so that the cable support frame 200 can move in the transverse direction of the building (arrow PP direction of Figure 1) Can be. That is, after the cleaning robot assembly 1 cleans the building outer wall surface while descending in the vertical direction as described later, the cable support frame 200 moves in the transverse direction of the building, and the position adjacent to the cleaned portion. In again, the cleaning robot assembly (1) is to be lowered in the vertical direction to clean. To this end, as illustrated in the drawings, the cleaning apparatus 500 of the present invention may be further provided with a horizontal frame 231 and a horizontal rail (232). Specifically, the horizontal support frame 231 is installed in the lower portion of the cable support frame 200, the horizontal rail is installed in the transverse movement frame 231 to be disposed in the transverse direction provided in the transverse movement frame 231 The wheel may be configured to move in the transverse direction of the building along the transverse rail (232). However, the transverse movement configuration of the cable support frame 200 is not limited to that shown in the drawings, and may be modified in various forms.

On the other hand, in the present invention, one side end of the cable support frame 200 protruding in the outer direction of the building outer wall surface is coupled to the rocking prevention horizontal frame 210 in a rigid form, the rocking prevention horizontal frame 210 Is, orthogonal horizontal member 211 parallel to the building outer wall surface 700, but in the width direction of the building and coupled in a rigid structure in a state orthogonal to the cable support frame 200, and the orthogonal Both ends of the horizontal member 211 are coupled in a rigid structure in a vertical direction, respectively, and are positioned so as to be continuous with the elevating rail 60 installed on the outer wall of the building, and the rail coupling driving device 80 is coupled and moves vertically. It is configured to include an extension rail 212 to guide to be. That is, the orthogonal horizontal member 211 facing the building outer wall 700 and extending in the width direction (lateral direction) of the building is disposed at the end of the cable support frame 200 protruding in the building outer wall surface outward direction. In the orthogonal direction, the rigidity form, that is, is integrally coupled in a form that is not possible to rotate, and both ends of the orthogonal horizontal member 211 is integrally coupled in a rigid state in each of the extension rails 212 disposed vertically. . If necessary, the reinforcing beam 213 may be further disposed in the transverse direction between the two extension rails 212 as shown in the figure.

The extension rail 212 has the same configuration as the elevating rail 60 to be described later, like the elevating rail 60 as described later, the extension rail 212 is also a member having a channel space of the rectangular cross section The cutout 61 is vertical to move vertically along the extension rail 212 with the wheel member 81 provided in the cleaning robot assembly 1 inserted in the direction from the outside toward the outer wall of the building. It is formed long in the direction. Accordingly, the wheel member 81 of the cleaning robot assembly 1 is positioned in the channel space of the extension rail 212, and the wheel mounting beam 810 of the bidirectional damper device 82 fixed to the wheel member 81 It extends toward the main body 20 through the cutout 61. Thus, the cleaning robot assembly 1 in the present invention, the wheel member 81 provided in the cleaning robot assembly 1 of the present invention in the state before the cleaning of the building outer wall surface is always extended rail 212 ), And the wheel member 81 moves along the extension rail 212 when the cleaning robot assembly 1 is raised and lowered.

Hereinafter, a process of installing and lifting the cleaning robot assembly 1 on the outer wall of the building by the elevating crane will be described with reference to FIGS. 1, 2, 3A, and 3B. To start cleaning the outer wall of the building using the present invention, at the top of the elevating rail 60 is installed on the outer wall of the building, the extension rail 212 is positioned so as to be continuous with the elevating rail (60). do. That is, as described later, in order to clean the building outer wall using the cleaning robot assembly 1, the elevating crane so that the extension rail 212 is in a position continuous with each other at the upper end of the elevating rail (60). You have to move. Specifically, as shown in FIG. 1, the cleaning robot assembly 1 is coupled to the bottom of the cable 201 spanning the cable support frame 200 to protrude outside the building outer wall surface of the cable support frame 200. The cleaning robot assembly (1) is suspended on the vertical bottom of the, the cable support frame 200 is coupled to the rocking prevention horizontal frame (210) consisting of an orthogonal horizontal member 211 and an extension rail (212) in a rigid state In addition, the wheel member 81 of the cleaning robot assembly 1 is coupled to the extension rail 212, the cleaning robot assembly 1 is suspended on the cable 201. In addition, the extension rail 212 is in a position continuous with the elevating rail 60 installed on the outer wall surface of the building.

In this state, when the winding device 230 is operated to release the cable 201, the cleaning robot assembly 1 is lowered by the weight of the cleaning robot assembly 1. That is, the wheel member 81 inserted into the extension rail 212 is moved while being guided along the extension rail 212 so that the cleaning robot assembly 1 is lowered. If the swing preventing side frame 210 is not provided, the cleaning robot assembly 1 is not yet coupled to the elevating rail 60, and the risk of swinging back and forth is very high when the building robot is suspended from the upper part of the building. FIG. 6 is a schematic perspective view corresponding to FIG. 1, and for reference, a diagram for showing a state of rocking when the anti-shaft horizontal frame 210 is not provided. As shown in Figure 6, if the anti-sway transverse frame 210 is not provided, if the cleaning robot assembly 1 is not yet coupled to the elevating rail 60, but simply hanging on the cable 201, As shown by a dotted line in FIG. 6, it may swing in a direction perpendicular to the building exterior wall surface due to wind or unbalanced weight of the cleaning robot assembly 1, and thus the building exterior wall surface or cleaning by collision with the building exterior wall surface. Not only does damage occur to the robot assembly 1, but also very difficult difficulties may occur in the cleaning robot assembly 1 is coupled to the elevating rail 60.

However, in the present invention, since the anti-vibration transverse frame 210 is secured to the cable support frame 200 as described above, when the wound state of the cable 201 is released, as shown in Figure 2 of the main body 20 The cleaning robot assembly 1 descends while the wheel member 81 is coupled to the extension rail 212. As mentioned above, since the anti-overturning side frame 210 is rigid to the cable support frame 200, the anti-overturning side frame 210 and the extension rail 212 constituting it do not swing. Therefore, the main body 20 of the cleaning robot assembly 1 is guided by the extension rail 212 provided in the swing-free transverse frame 210 that does not swing as described above, as shown by the dotted line of FIG. The same type of fluctuations do not occur and fall down stably.

On the other hand, as mentioned above, to perform the cleaning of the building outer wall surface using the present invention, the extension rails 212 are positioned so as to be continuous with each other, at the top of the elevating rail 60 is installed on the building outer wall surface. do. That is, the extension rail 212 is continuously positioned at the upper end of the elevating rail 60 so that the inner channel of the extension rail 212 and the inner channel of the elevating rail 60 communicate with each other. It is preferable to couple the extension rail 212 and the lifting rail 60 temporarily using a rail connection member so that the extension rail 212 does not change the continuous state at the upper end of the lifting rail 60. For example, after the rail connecting member is manufactured using the plate member, the plate member is disposed over the extension rail 212 and the elevating rail 60, and then both ends of the plate member are fastened with bolts or the like. A method of coupling to each of the extension rails 212 and the lifting rails 60 may be used. However, the manner in which the extension rails 212 and the lifting rails 60 are coupled to each other is not limited to this embodiment.

1 and 2, with the extension rail 212 continuously positioned at the top of the elevating rail 60, the cleaning robot assembly 1 continues to descend and the rail of the cleaning robot assembly 1 The wheel member 81 provided in the coupling driving device 80 is inserted into the elevating rail 60 while moving out of the extension rail 212. When the wheel member 81 of the rail coupling driving device 80 is inserted into the elevating rail 60 out of the extension rail 212, cleaning is performed as shown in FIG. 3A without the help of the anti-sway horizontal frame 210. The robot assembly 1 is stably lowered along the elevating rail 60.

As described above, the cleaning device 500 of the present invention includes a swing preventing transverse frame 210 to lower the cleaning robot assembly 1 until the cleaning robot assembly 1 is coupled to the lifting rail 60. The oscillation is prevented from occurring in a very efficient manner. Therefore, according to the present invention, the cleaning robot assembly 1 can be prevented from colliding with the building exterior wall surface due to the oscillation and the resulting damage, and the cleaning robot assembly 1 The wheel member of the rail coupling driving device (80) provided in the) can be easily inserted into the lifting rail (60).

Hereinafter, a rail coupling driving device 80 provided in the cleaning robot assembly 1 of the present invention will be described. As shown in Figure 4, in the cleaning device 500 of the present invention, coupled to the extension rail 212 of the anti-vibration transverse frame 210, and the elevating rail (60) vertically installed on the building outer wall (700). And a rail coupling driving device 80 for vertically moving the cleaning robot assembly 1, the cleaning robot assembly 1 is provided in the direction of the building outer wall 700.

In the embodiment shown in the drawings, the rail coupling drive 80 comprises one or a plurality of wheel members 81, each wheel member 81 is mounted to the two-way damper device 82 It is preferable. FIG. 7A is a schematic perspective view of the bidirectional damper device 82 having the wheel member 81 independently, and FIG. 7B is a schematic cross-sectional view taken along the line R-R of FIG. 7A. As shown in the drawing, the bidirectional damper device 82 includes a wheel mounting beam 810 to which the wheel member 81 is rotatably coupled, and a wheel mounting beam 810 coupled to the wheel mounting beam 810. An elastic pressing member 821 is formed of a spring for pressing the wheel mounting beams 810 on both sides in the longitudinal direction of the rod, and may be composed of an elastic installation beam 820 coupled to the main body 20. . Specifically, in the embodiment shown in the drawing, the elastic installation beam 820 is formed with a through-hole penetrating in the transverse direction, two elastic pressing member 821 is disposed in the through-hole in the longitudinal direction, 2 The bidirectional damper device 82 has a structure in which a cross-linking portion connecting between the two wheel mounting beams 810 passes through the through hole of the elastic installation beam 820 so as to be positioned between the two elastic pressing members 821. Is composed. Therefore, the wheel mounting beam 810 is retracted by the two elastic pressing members 821 in the direction of the main body 20 while having elasticity corresponding to the gradient of the extension rail 212 and the elevating rail 60. You will be able to move forward toward the exterior wall of the building. 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. 8 is a schematic enlarged view of a circle E portion of FIG. 4, and FIG. 9 is a cross-sectional view viewed from the vertical direction to show a state in which the wheel member 80 is inserted into the elevating rail 60. have. 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. 3A, 3B, and 9. Of course, even when the wheel member 81 is coupled to the extension rail 212, the wheel mounting beam 810 of the two-way damper device 82 is fixed to the wheel member 81 as described above, the cut portion of the extension rail 212 It extends in the direction of the main body 20 through.

As the wheel member 81 is located in the channel space of the extension rails 212 and the elevating rails 60, there may be a play in the channel space in the transverse direction, but the building outer wall direction, that is, the arrow of FIG. 9. It is preferable that there is no play between the wheel member 81 and the inner surface of the elevating rail 60 in the GG direction. If there is play between the wheel member 81 and the inner surface of the elevating rail 60 in the direction of the arrow GG of FIG. 9, the wiper blade 110 front of the wiper device 10 provided in the main body 20 is eventually formed. This is because the clearance is present at the end and the outer wall of the building, and thus the wiper blade 110 may be 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, in the present invention, when the plurality of wheel members 81 are provided in the rail coupling driving device 80, the plurality of wheel members 81 may have elasticity in the building outer wall direction, and the building may be constructed from the main body 20. By varying the height at which the plurality of wheel members 81 protrude in the direction of the outer wall surface, at least one of the plurality of wheel members 81 is in the direction of the arrow GG of FIG. 9 among the inner surfaces of the channel space of the elevating rail 60. Since one surface is always in close contact with each other, 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 clearance in the channel space of the elevating rail 60 does not occur. 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 height of the protrusion of the wheel member 81 is different, 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. That is, the plurality of wheel members 81 may have a configuration in which a band-shaped band is wound, and according to such a configuration, a problem caused by play in the channel space of the elevating rail 60 may be more effectively eliminated. It can be.

Next, the wiper device provided in the cleaning robot assembly 1 according to the present invention will be described with reference to FIG. 10 showing 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 FIG. 10, the blade mounting member 140 is provided with a wiper blade 110 arranged horizontally so that the wiper blade 110 can be stably in close contact with the building outer wall surface. It is divided into a blade fixing member 114 and the rear mounting member 113, the spring member 115 having elasticity in the interval between the blade fixing member 114 and the rear support member 113 is provided Have In such a configuration, the blade fixing member 114 is continuously pushed toward the outer wall of the building by the elastic force of the compressed spring member 115, and thus, the wiper blade provided at the front of the blade fixing member 114. When 110) touches the outer wall of the building, even if there is a gradient on the outer wall of the building it is possible to maintain a close contact.

In particular, the configuration in which elastic force is applied to the wiper blade 110 by the spring member 115 in the building outer wall surface direction is very useful when passing through the protrusions existing on the building outer wall surface, as will be described later. When the cleaning robot assembly 1 is lowered and meets the protrusion, the front end of the wiper blade 110 is not in contact with the outer wall of the building so that the wiper blade 110 can be lowered to just above the protrusion. If present, it is preferable that the front end of the wiper blade 110 protrudes further toward the building outer wall surface direction than the front end of the waste washing liquid flow guide plate 131 which will be described later by the pressing force of the spring member 115. In such a configuration, when the cleaning of the building outer wall surface proceeds, the front end of the wiper blade 110 is pressed against the building outer wall surface to be in close contact, so that the spring member 115 is in a compressed state, and thus will be described later. The front end of the waste washing liquid flow guide plate 131 is also in contact with the outer wall surface. In the embodiment shown in FIG. 10, 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 provided at the front side. 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.

FIG. 11 is a schematic perspective view of a state in which the back plate 29 constituting the main body 20 is removed. For reference, in FIG. 11, the 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. In addition, for convenience, the swing frame 210 is also omitted.

As shown in the drawing, the waste washing liquid storage tank 22 may be installed in the main body 20. Specifically, the waste washing liquid may be disposed in an internal space formed between the front plate 28 and the rear plate 29 of the main body 20. Storage tank 22 may be located. 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.

Further, as shown in the figure, the washing liquid storage tank 26 containing the 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.

12 to 15, the washing liquid storage tank 26 and the waste washing liquid storage tank 22 are removed to show the configuration of the wiper device moving member 30 in detail, respectively, and the front plate 29 of the main body 20 is shown. ), 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. 12 shows that the vertical moving plate 31 has not yet moved, 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. 13 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. 12 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. 14 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. 14 is moved relative to the downward direction with respect to the main body 20 so that the wiper device moving member 30 again moves 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. 16 is a schematic side view for explaining a state in which the wiper blade 110 descends past the protrusion of the building outer wall surface while the wiper blade 110 does not retreat from the building outer wall surface. .

As shown in FIG. 16, the wiper blade 110 moves downward while scratching the surface of the glass window 100 of the building, and as shown by the position “b” shown in solid lines. If the protrusion continues on the outer wall of the building, for example, the protrusion 300 due to the window frame existing between the windows, such as the wiper blade 110 is still lowered after being caught, the rubber or synthetic resin produced And the elastic wiper blade 110 is deformed in the state of "position (c)" shown by the dotted line, and is carried over to the protrusion 300 and returned to its original shape again, and is marked as "position (d)". It is in the same state. However, when the shape of the wiper blade 110 returns to its original shape while passing through the protrusion 300, water or droplets, which are buried in the wiper blade 110 due to the impact, have already passed by the wiper blade 110. The glass window is cleaned, that is, the glass window on the wiper blade 110 is splashed, thereby causing the phenomenon that the glass window that has been cleaned is dirty again. In addition, the point where the shape of the wiper blade 110 is returned to its original shape and touches the surface of the glass window 100 becomes a position away from the protrusion 300 by a predetermined distance (the distance indicated by reference numeral L-1 in FIG. 16). Therefore, a certain distance (distance indicated by reference numeral L-1 in FIG. 16) immediately below the protrusion 300 has a problem that the cleaning is not made. In addition, as shown in FIG. 16, 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.

17 to 26 are schematic side cross-sectional views taken along the line K-K of FIG. 12, showing a state in which the cleaning robot assembly 1 according to the invention is located in front of the windshield 100, respectively.

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. 12 and 17.

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. 18, the waste washing liquid recovery trough 132 contacts the protrusion 300 of the building outer wall. 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, and thus, as shown in FIG. 13, the wiper moving member ( The vertical moving plate 31 of 30 is moved to rise upwardly of the main body 20 vertically along the vertical rail 21, and consequently the wiper 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. 14 and 19. 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. 19 shows the position in the state shown in FIG. 18 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. 20 illustrates a state in which the wiper moving member 30 accelerates and lowers in the "accelerated lowering state of the first wiper moving member" so that the wiper blade 110 passes without reaching the protrusion 300. In FIG. 20, the dotted line shows the position in the state shown in FIG. 19 for 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. 21, the wiper moving member 30 and the wiper device 10 are not lowered any more, and thus the wiper blade 110 stays at 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. 21 illustrates a position in the state shown in FIG. 20.

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. 22 illustrates a position in the state shown in FIG. 21.

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.

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.

17 to 22, 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. 17 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. 23, the " primary descending state of the first body only " is started following the state shown in FIG. 18 so that the waste washing liquid recovery 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. 23 showing a state where the front end touches the window 300.

In the embodiment described above with reference to FIGS. 17 to 22, 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 " 23, but in the embodiment shown in FIG. 23, after the waste washing liquid recovery trough 132 retreats so as to pass through the protrusion part 300 in the " originally lowered state of the first body only " 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. 24, 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” proceeds. 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 shown in FIG. 24, the wiper moving member 30 moves relative to the main body 20 to descend along the main body 20 such that the wiper blade 110 descends while scratching the windshield 100. 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. Thus, subsequent to the state shown in FIG. 24 in which the wiper blade 110 also wiped the glass window directly above the protrusion 300, the wiper blade 110 was retracted so as not to contact the protrusion 300. A cross-sectional side view is shown in FIG. 25. The dashed line in FIG. 25 illustrates the state of FIG. 24 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 main body 20 continues to descend as shown in FIG. 25 and the wiper blade 110 retreats to pass through the protrusion 300. 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 110, and thus the repetition of the wiper blade 110 passing through the protrusion 300 is the same as described above with reference to FIGS. 17 to 22.

According to the above-described embodiment described with reference to FIGS. 23 to 25, it is possible to effectively prevent the occurrence of the phenomenon that the window 100 is not cleaned at a small height between the wiper blade 110 and the waste washing liquid collecting trough 132. It becomes possible.

On the other hand, in general, the height of the protrusion of the protrusion 300 can be roughly expected or often known in advance. In this case, the window structure can be prevented from cleaning up on the protrusion part 300 even by the following structure further simplifying the configuration of the various embodiments described above. That is, the height of the front end portion of the wiper blade 110 and the front end portion of the waste washing liquid flow guide plate 131 protrude to the outer wall of the building as in the embodiment shown in FIGS. The protruding length of the flow guide plate 131 is long so that the waste washing liquid recovery trough 132 is in a position not caught at all by the protrusion 300 when the cleaning robot assembly 1 descends. FIG. 26 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 an 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. 26, the waste washing liquid flow guide plate 131 is cleaned by lengthening the protruding length of the waste washing liquid flow guide plate 131. If the waste washing liquid recovery trough 132 is positioned at the position where the robot assembly 1 is lowered to the protrusion 300 at all, the cleaning robot assembly 1 descends and meets the protrusion 300, even though the waste washing liquid flows. The guide plate 131 is deflected while the protrusion 300 is overrun, and the "normal cleaning state" is continuously maintained until the wiper blade 110 is prevented from being lowered by the protrusion 300 to protrude 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. 26, 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 (6)

A cleaning robot assembly (1) for wiping out the building exterior wall (700), a lifting crane (3) installed in the building to raise and lower the cleaning robot assembly (1), and installed vertically on the building exterior wall (700) and the cleaning robot assembly. It comprises a lifting rail 60 for guiding the lifting of (1);
The cleaning robot assembly 1 includes a wiper device 10 having a wiper blade 110 for contacting an outer wall 700 of a building to scrape off contaminants, and a nozzle member for spraying a cleaning liquid, and the wiper device ( 10) is coupled and comprises a main body 20 which is lowered facing the building outer wall 700;
The cleaning robot assembly (1) is provided with a rail coupling drive (80);
The elevating crane is a cable support frame 200 is installed in the building, the cable support frame 200 is rigidly coupled to the state before the cleaning robot assembly 1 is coupled to the elevating rail (60). Anti-sway horizontal frame 210 for guiding the cleaning robot assembly 1 to descend without shaking, the cable 201 connected to the cleaning robot assembly 1, and a winding device for releasing or pulling the cable 201. 230, including;
The oscillation preventing horizontal frame 210 is orthogonal to the cable support frame 200 is orthogonal horizontal member 211 is rigidly coupled to each other, and are arranged in a vertical direction at both ends of the orthogonal horizontal member 211 and rigid It is coupled to the state and positioned so as to be continuous with the elevating rail 60 is installed on the outer wall of the building and the rail coupling drive unit 80 provided in the cleaning robot assembly (1) is coupled to guide to move vertically Cleaning device for a building outer wall surface comprising an extension rail (212).
The method of claim 1,
A transverse moving frame 231 is further provided below the cable support frame 200;
The transverse movement frame 231 is further provided with a transverse rail 232 disposed in the transverse direction in the building so as to be movably coupled,
The transverse movement frame 231 is cleaning device for the building exterior wall surface, characterized in that configured to move in the transverse direction of the building along the transverse rail (232).
3. The method according to claim 1 or 2,
The rail coupling driving device 80 includes one or a plurality of wheel members 81, and each wheel member 81 is mounted to the bidirectional damper device 82.
The two-way damper device 82, the wheel mounting beam 810, the wheel member 81 is rotatably coupled, the wheel mounting beam 810 is coupled to the both sides of the wheel mounting beam 810 in the longitudinal direction An elastic pressing member 821 is formed of a spring for pressing the wheel mounting beams 810 on both sides in the longitudinal direction, and is composed of an elastic mounting beam 820 coupled to the main body 20;
The elastic installation beam 820 is formed with a through hole penetrating in the transverse direction;
Two elastic pressing members 821 are disposed in the through hole in the longitudinal direction;
The outer wall of the building having a structure passing through the through-hole of the elastic installation beam 820 so that the cross-linking portion connecting between the two wheel mounting beam 810 is located between the two elastic pressing member 821. Cotton cleaning device.
The method of claim 3,
The plurality of wheel members (81) provided in the rail coupling driving device (80) is a cleaning device for a building outer wall surface, characterized in that the height protruding from the main body 20 in the direction of the building outer wall surface.
The method of claim 3,
Cleaning device for the outer wall of the building, characterized in that the band-shaped band is wound around the plurality of wheel members 81 provided in the rail coupling drive device (80).
A main body 20 descending facing the outer wall of the building; It is coupled to the main body 20, and provided with a wiper blade 110 extending in the transverse direction so that the front end is in contact with the building outer wall surface, by the wiper blade 110 to scrape off the contaminants on the building outer wall surface. A wiper device 10;
The wiper device 10 having a wiper blade 110 for contacting the exterior wall surface 700 of the building to scrape off contaminants and a nozzle member for spraying the cleaning liquid, and the wiper apparatus 10 are coupled to the exterior wall surface of the building. A building exterior wall surface cleaning method using a building exterior wall surface cleaning robot assembly (1) having a main body (20) which is lowered facing (700),
A rail coupling driving device (80) is installed in the cleaning robot assembly (1);
A building elevating crane for elevating the cleaning robot assembly 1 is installed in the building;
The building outer wall 700 vertically installs a lifting rail 60 for guiding the lifting and lowering of the cleaning robot assembly 1;
The elevating crane is a cable support frame 200 is installed in the building, the cable support frame 200 is rigidly coupled to the state before the cleaning robot assembly 1 is coupled to the elevating rail (60). Anti-sway horizontal frame 210 for guiding the cleaning robot assembly 1 to descend without shaking, the cable 201 connected to the cleaning robot assembly 1, and a winding device for releasing or pulling the cable 201. To include 230;
The oscillation preventing horizontal frame 210 is orthogonal to the cable support frame 200 is orthogonal horizontal member 211 is rigidly coupled to each other, and are arranged in a vertical direction at both ends of the orthogonal horizontal member 211 and rigid It is configured to include an extension rail (212) that is coupled in the state and provided so that the rail coupling drive (80) provided in the cleaning robot assembly (1) is coupled to move vertically;
In the state where the extension rail 212 is positioned so as to be continuous with the elevating rail 60, the rail coupling drive unit 80 enters the elevating rail 60 through the extension rail 212 and the The building using the cleaning robot assembly, which moves along the elevating rail 60 to clean the building outer wall 700 while the cleaning robot assembly 1 descends while facing the building outer wall 700. How to clean the outer wall surface.

Images