KR20140061171A - Processing device for moving on wall - Google Patents

Abstract

The present invention relates to a processing device for moving on a wall that moves on a wall by using a suction plate and enables operation to be conducted while stably fixed on a wall for the operation. The processing device for moving on a wall comprises a driving part and a control part. The driving part includes a body having a hydraulic pump for supplying oil pressure inside; a left movement module arranged on the left side surface of the body, contracting in four directions, and adhering to a wall; a right movement module arranged on the right side surface of the body, contracting in four directions, and adhering to the wall; and a rotation module arranged on the bottom surface of the body, contracting vertically, and adhering to the wall. The control part controls the contraction and adhesion of the left movement module, the right movement module, and the rotation module.

Description

[0001] PROCESSING DEVICE FOR MOVING ON WALL [0002]

The present invention relates to a wall surface treating apparatus, and more particularly, to a wall surface treating apparatus which moves on a wall surface using a suction plate, stably fixed in a state of being fixed to a wall surface for performing a work, ≪ / RTI >

Generally, the wall-running type moving device is divided into a rail-type moving device and a spider-type moving device.

The rail-type moving device is a device that performs the work while fixing the rail on the wall or the ceiling and moving along the installed rail. It is possible to perform stable movement and work regardless of the material of the outer wall of the building, It is troublesome to install and install the rails from time to time. In addition, there is a problem that it is difficult to mount a rail on a wall made of glass.

The spider-type moving device is a device that moves using attraction force or magnetic force when the wall surface is made of a smooth material, for example, glass or an iron plate.

Among the spider-type mobile devices, the adsorption plate of the adsorption plate becomes a very important factor in the mobile device using the adsorption force.

Therefore, in order to increase the attraction force, several suction plates are provided, or other units for assisting the suction plate are provided to reinforce the attraction force.

As one of such techniques, a three-dimensional adsorption mobile robot and a moving method thereof are disclosed in Korean Patent Registration No. 10-0632260.

1 (a) is a side view schematically showing a state in which a conventional adsorption mobile robot is adsorbed on a wall surface, in which the first adsorption plate 1 and the second adsorption plate 2 are provided with two adsorption plates arranged symmetrically, The first up-and-down driving member 3 is operated to raise the second adsorption plate 2 in a state where the adsorption plate is adsorbed on a predetermined plane and then the first adsorption plate 1 is rotated by the first horizontally rotating member 5, The second adsorption plate 2 is rotated. Subsequently, the first up-and-down driving member 3 is operated to lower the second adsorption plate 2, and then the adsorption force is applied to adsorb the second adsorption plate 2 on the plane. After the attraction force of the first attracting plate 1 is removed, the first attracting plate 1 is moved in the same manner. That is, the two adsorption plates are configured to be able to move in a zigzag manner from the wall surface. In the state in which one adsorption plate is adsorbed and supported on the wall surface, the other adsorption plates are spaced apart from the wall surface and the adsorption plate supported on the wall surface is moved Device. Here, reference numerals 4 and 6 denote a second up-down driving member and a second horizontal rotating member, respectively.

Fig. 1 (b) shows a moving process of the conventional adsorption mobile device. The adsorption plate of another adsorption plate is lifted and rotated by the adsorption force of the adsorption plate supported on the wall surface. Accordingly, the adsorption plate adsorbed on the wall surface in the movement and rotation operations must bear the weight of the entire adsorption mobile device. Furthermore, since the center of gravity of the adsorption mobile robot is located in the middle of the structure, a high attraction force is required. Accordingly, if sufficient suction force is not supplied to the adsorption plate, it may fall away from the wall surface. In addition, the adsorption mobile device is attached to the wall for adsorbing and moving while performing other operations. In the conventional adsorption mobile robot, it is difficult to install such a device additionally, An attraction force is required.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems and to facilitate installation of an apparatus capable of performing an additional operation according to the movement of a wall with a minimal attraction force, The present invention is to provide a wall surface treatment apparatus capable of moving on the basis of the center of gravity when moving, and securing stability with adsorption on the wall surface.

According to an aspect of the present invention, there is provided a wall surface treatment apparatus comprising: a body (100) having a hydraulic pump (110) for supplying hydraulic pressure therein; A left moving module 200 provided on the left side of the body 100 and being stretched and contracted left and right and upward and downward and adsorbed on the wall; A right movement module 300 provided on the right side of the body 100 and being stretched and contracted left and right and upward and downward and adsorbed on the wall; A driving unit 10 and a left moving module 200, a right moving module 300, and a rotating module 400, which are provided on a bottom surface of the body 100 and include a rotating module 400 that is vertically stretched and attracted to a wall surface, And a control unit (20) for controlling the expansion and contraction of the wall (400).

The apparatus for moving the wall according to the present invention can adsorb the apparatus on the wall surface at the center of gravity by moving the left and right moving modules and left and right moving modules respectively attached to the left and right sides and the rotating module.

In addition, it is easy to install a processing apparatus according to the moving process.

FIG. 1 is a side view (a) of a conventional adsorption mobile device and a side view (b)
2 is a configuration diagram of a wall surface movement processing apparatus according to the present invention,
FIG. 3 is a perspective view showing an embodiment of the apparatus for moving a wall surface according to the present invention,
Fig. 4 is a sectional view according to Fig. 3,
5 is a cross-sectional view of a hydraulic pump according to an embodiment of the present invention,
6 is a perspective view of a wall surface treatment apparatus according to another embodiment of the present invention,
7 is an operational state diagram showing movement of the wall surface movement processing apparatus according to the present invention;
8 is an operational state diagram showing rotation of the wall surface movement processing apparatus according to the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may properly define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents And variations are possible.

Before describing the present invention with reference to the accompanying drawings, it should be noted that the present invention is not described or specifically described with respect to a known configuration that can be easily added by a person skilled in the art, Let the sound be revealed.

FIG. 2 is a block diagram of a wall movement processing apparatus according to the present invention. The wall movement processing apparatus according to the present invention is roughly divided into a driving unit 10 and a control unit 20.

The driving unit 10 includes a hydraulic pump 110, a left moving module 200, a right moving module 300, a rotating module 400, and a sensor 500, which are substantially driven to move, rotate, do.

The control unit 20 includes software for controlling the driving unit 10 by using the moving direction, the attraction force, and the sensed sensing value, and includes a hydraulic pump control module 21, an expansion control module 22, An adsorption control module 23 and a sensor detection module 24.

First, the configuration of each of the driving units 10 will be described with reference to FIG. 3 and FIG. 4 of the accompanying drawings.

The hydraulic pump 110 is installed inside the body 100 to generate attraction force and supply power for driving the cylinder, which will be described later. In this case, the hydraulic pump 110 may be installed outside the body 100.

The hydraulic pump 110 may be constituted by a plurality of hydraulic pumps 110 according to respective required motive power. That is, the hydraulic pump for generating the attraction force and the hydraulic pump for driving the cylinder can be constituted, respectively. However, when each of the hydraulic pumps is constituted, the weight of the hydraulic pump is increased and a considerable attraction force is required. Therefore, a hydraulic pump is required which supplies a plurality of hydraulic fluids with one pump or generates an attracting force.

FIG. 5 shows a hydraulic pump 110 that can supply various types of operating fluid or generate an attraction force in one housing according to the demand of the hydraulic pump 110.

As shown in the accompanying drawings, the hydraulic pump 110 includes a rotary shaft 111, swash plates 112 and 113, a cylinder block 114, a piston 115, piston rods 116 and 117, a valve 118 , 119).

The piston 115 provided on the cylinder block 114 to which the swash plate 112 and 113 fixed by the rotating shaft 111 are fixed is reciprocated to move the piston 115 in the reciprocating motion of the piston 115 The hydraulic fluid can be supplied to the cylinder block 114 by repeating the process of introducing or discharging the hydraulic fluid into the cylinder block 114.

At this time, the rotary shaft 111 is rotated by a rotary power from a rotary power unit, for example, a motor (not shown in the figure).

More specifically, when the swash plates 112 and 113 are rotated by the rotation of the swash plate 111, the piston rods 116 and 117 in contact with the swash plate 112 and 113 reciprocate.

The reciprocating motion of the piston rods 116 and 117 causes the piston 115 to reciprocate and the internal volume of the cylinder block 114 is varied by the reciprocating motion of the piston 115. [

The valve 118 of the hydraulic oil line (not shown) is opened so that the hydraulic oil is supplied to the cylinder block 114 (not shown) ). On the other hand, when the space (volume) in which the hydraulic oil can be accommodated in the cylinder block 114 is reduced due to the reciprocating movement of the piston 115, the valve 119 of the hydraulic oil line is opened so that the hydraulic oil flows outside the cylinder block 114 And is discharged. At this time, the valves 118 and 119 may be composed of a check valve, an electromagnetic valve, or the like.

In the above, a plurality of cylinder blocks 114 are formed in the circumferential direction of the rotary shaft 111.

According to the above-described configuration, the hydraulic pump 110 is capable of individually reciprocating the pistons provided in the respective cylinder blocks, and each cylinder block can supply different hydraulic fluid or fluid in accordance with the reciprocating motion of the pistons, The horizontal and vertical cylinders and the adsorbing portion of the adsorbent can be driven.

The body 100 is an outer housing constituting a wall moving device, and is illustrated in a hexahedron shape in the accompanying drawings, but may be formed in various shapes. The left and right movement modules 200 and 300 are installed on the left and right sides of the body 100 and the rotation module 400 is installed on the bottom of the body 100.

The description of the left movement module 200 and the right movement module 300 will be described with reference to FIG. 4 is a cross-sectional view of a wall surface treatment apparatus according to an embodiment of the present invention.

The left movement module 200 and the right movement module 300 are respectively provided on the left and right sides of the body 100 and are stretched and contracted left and right and upward and downward under control to be adsorbed on the wall surface to enable movement on the wall surface.

A plurality of left movement modules 200 and right movement modules 300 may be provided for stability, and one embodiment thereof is shown in FIG.

The left movement module 200 includes a first movement module 201, a second movement module 202, a third movement module 203 and a fourth movement module 204, 201, 202, 203, and 204 have the same configuration.

The description of the first to fifth moving modules 201, 202, 203 and 204 will be omitted. The first moving module 201 includes a horizontal cylinder 210 extending in the horizontal direction on the wall surface, a vertical cylinder 220 and a vertical cylinder 220 installed in the horizontal cylinder 210 and extending / And a suction part 230 to be installed.

The horizontal cylinder 210 operates the horizontal cylinder rod 211 in the horizontal direction on the wall surface by the hydraulic fluid supplied from the hydraulic pump 110.

The vertical cylinder 220 is installed at the front end of the horizontal cylinder rod 211 and operates the vertical cylinder rod 221 in the horizontal direction on the wall surface by the hydraulic oil supplied from the hydraulic pump 110.

The suction unit 230 is installed at the tip of the vertical cylinder rod 221 and contacts the wall or the ceiling by the operation of the vertical cylinder 220 and receives the suction force from the hydraulic pump 110 to be adsorbed or desorbed on the wall surface or the ceiling .

Meanwhile, the first movement module 201 and the second movement module 202 may be installed in the same horizontal position, and the third movement module 203 and the fourth movement module 204 may be installed in the same horizontal position have. The first movement module 201 and the second movement module 202 perform the same operation with one set and the third movement module 203 and the fourth movement module 204 are set as one set The vertical cylinder 220 of the first movement module 201 and the vertical cylinder 220 of the second movement module 202 are connected to the first connection bar 206, The vertical cylinder 220 of the first moving module 203 and the vertical cylinder 220 of the fourth moving module 202 may be connected to the second connecting bar 207.

The horizontal position of the first moving module 201 and the second moving module 202 and the horizontal position of the third moving module 203 and the fourth moving module 204 may be different from each other.

The rightward movement module 300 may correspond to the leftward movement module 200 and may be configured to be symmetrical with the leftward movement module 200. That is, as described for the left side moving module 200, the right side moving module 300 includes a fifth moving module 301, a sixth moving module 302, a seventh moving module 303, and an eighth moving module 304 The fifth to eighth movement modules 301, 302, 303, and 304 have the same configuration. The fifth movement module 301 includes a horizontal cylinder 310 that is expanded and contracted in the horizontal direction on the wall surface, A vertical cylinder 320 installed in the horizontal cylinder 310 and expanded and contracted in a direction perpendicular to the wall surface and a suction unit 330 installed in the vertical cylinder 320.

The vertical cylinder 320 of the fifth moving module 301 and the vertical cylinder 320 of the sixth moving module 302 are connected to the fifth connecting bar 306 and the vertical movement of the seventh moving module 303, The cylinder 320 and the vertical cylinder 320 of the eighth movement module 304 may be configured to be connected to the sixth connection bar 307.

Here, the first movement module 201 and the second movement module 202 are driven in conjunction with the fifth movement module 301 and the sixth movement module 302, and the third movement module 203 and the fourth movement module 202, (204) may be configured to be driven in conjunction with the seventh movement module (303) and the eighth movement module (304).

Of course, each of the mobile modules may be driven separately.

The rotation module 400 is provided on the bottom surface of the body 100 and includes a center cylinder 410 which is vertically extended and contracted and is attracted to the wall surface to rotate the body 100, And a suction unit 430 installed in the cylinder 410.

The center cylinder 410 is installed at the center of gravity of the bottom side of the body 100 and draws or draws the center cylinder rod 420 by the supplied operating fluid.

The adsorption unit 430 is installed at the front end of the central cylinder rod 420 and contacts the wall surface according to the operation of the central cylinder rod 420. The adsorption unit 430 is attracted to the wall surface by the control force of the control unit 20.

A worm wheel 450 is installed on the outer side of the central cylinder 410 to rotate the body 100 and includes a worm 470 engaged with the worm wheel 450 and rotated by the motor 460. At this time, the motor 460 is driven under the control of the control unit 20. [

The sensor 500 includes a pressure sensor 510 and a proximity sensor 520.

The pressure sensor 510 senses the pressure inside the adsorption units 230 and 330, and the adsorption force of the adsorption units 230 and 330 is used as data for performing a later operation. That is, when the pressure is equal to or more than a predetermined value, it means that it is fixed on the wall surface. If the pressure is less than a predetermined value, it means that the wall is not fixed to the wall. .

The proximity sensor 520 senses an object close to the adsorption units 230 and 330 to detect whether a wall surface exists or an obstacle is present at the movement position of the left and right movement modules 200 and 300, It is used as data to be determined.

The control unit 20 controls the expansion and contraction of the left moving module 200, the right moving module 300 and the rotation module 400. The control unit 20 includes a hydraulic pump control module 21, a stretching control module 22, A module 23 and a sensor detection module 24.

More specifically, the hydraulic cylinders 210 and 310 and the vertical cylinders 220 and 320 block the hydraulic fluid supplied from the hydraulic pump 110 to control the attraction force of the suction units 230 and 330.

The hydraulic control module 21 controls the operation and the rotation speed of the hydraulic pump 110 and the expansion control module 22 controls the operation of the hydraulic pump 110 by operating the left moving module 200, the right moving module 300, and the rotating module 400, Is controlled.

The sensor detection module 24 is utilized as data for determining whether to perform a subsequent operation according to a signal detected by the sensor 500. [

Accordingly, the wall movement processing apparatus can be moved and rotated according to a signal controlled by the control unit 20.

FIG. 7 illustrates an operation state of the apparatus for moving a wall surface according to the present invention. The process of moving the apparatus for moving the wall surface to the right will be described.

The vertical cylinders 220 and 320 of the left and right moving modules 200 and 300 are operated while the adsorption part 430 of the rotation module 400 is adsorbed and fixed on the wall surface to separate the adsorption parts 230 and 330 Keep it away from the wall. Next, the horizontal cylinders 210 and 310 are operated to move to the right (see Fig. 7 (a)).

The vertical cylinders 220 and 320 are operated at a position where the horizontal cylinders 210 and 310 are moved so that the adsorption units 230 and 330 are brought into close contact with the wall surface and the center cylinder 410 of the rotation module 400 is operated, (See Fig. 7 (b)) from the wall surface.

Accordingly, the body 100 is separated from the wall surface, and the horizontal cylinders 210 and 310 are operated again to move the body 100 to the right side (see (c) of FIG. 7).

The adsorption portion 430 of the rotation module 400 can be fixed to the wall surface by applying attraction force to the wall surface for more firmly fixing the wall surface. Although not shown in the figure with the wall surface treatment apparatus fixed to the wall surface, a cleaning apparatus or the like is installed on the top or side surface of the wall surface treatment apparatus to perform the wall surface treatment work.

In the above description, only the movement to the right side is described, but it is also possible to move to the left side by controlling them in the reverse order.

6, when the left moving module 200 and the right moving module 300 are constituted by a plurality of units, the role of the rotating module 400 can be eliminated from moving to the left or the right.

That is, the first moving module 201, the second moving module 202, the fifth moving module 301, and the sixth moving module 302 are linked to be driven by the first moving module, and the third moving module 203 ), The fourth movement module 204, the seventh movement module 303, and the eighth movement module 304 are configured to be driven by the second movement module, the first movement module is fixed to the wall surface And the second moving module is moved and fixed to the wall surface, and the first moving module is moved away from the wall surface.

In this configuration, the rotation module 400 fixes and rotates the body 100 for rotation, and can be configured not to perform the movement according to the movement.

8 is an operational state diagram showing rotation of the wall surface movement processing apparatus according to the present invention. This will be explained in conjunction with FIG.

The vertical cylinders 220 and 320 of the left and right moving modules 200 and 300 are operated while the suction unit 430 of the rotation module 400 is fixed to the wall surface to separate the suction units 230 and 330 . Next, when the worm 470 is rotated by driving the motor 460, a rotational force is transmitted to the worm wheel 450 engaged with the worm 470, and the body 100 is rotated. At this time, the angle at which the body 100 is rotated is changed according to the number of rotations of the motor 460, so that it can rotate at a predetermined angle.

The apparatus for moving the wall according to the present invention can adsorb the apparatus on the wall surface at the center of gravity by moving the left and right moving modules and left and right moving modules respectively attached to the left and right sides and the rotating module attached to the bottom.

In addition, since the entire weight can be borne by the minimum attraction force, a small hydraulic pump can be applied, so that the overall weight can be reduced, and the processing apparatus can be easily installed according to the movement process.

2 to 8 are merely illustrative of the essential features of the present invention. As various designs can be made within the technical scope of the present invention, the present invention is limited to the configurations of Figs. 2 to 8 It is self-evident.

10: driving unit 20:
100: Body 110: Hydraulic pump
200: left movement module
201, 202, 203, 204: first to fourth moving modules
206, 207: first connection bar and second connection bar
210, 310: Horizontal cylinder 211, 311: Horizontal cylinder rod
220, 320: vertical cylinder 221, 321: vertical cylinder rod
230, 330, 430: adsorption unit 300: right movement module
301, 302, 303, 304: fifth to eighth moving modules
306, 307: fifth connecting bar and sixth connecting bar
400: rotation module 410: center cylinder
420: central cylinder rod 430:
450: Worm wheel 460: Motor
470: Worm 500: Sensor
510: Pressure sensor 520: Proximity sensor

Claims (12)

In the wall surface movement processing apparatus including the driving unit (10) and the control unit (20)
The driving unit 10
A body 100 to which a hydraulic pump 110 for supplying hydraulic pressure is installed;
A left moving module 200 provided on the left side of the body 100 and being stretched and contracted left and right and upward and downward and adsorbed on a wall surface;
A right movement module 300 provided on the right side of the body 100 and being stretched and contracted left and right and upward and downward and adsorbed on the wall surface;
And a rotation module (400) provided on a bottom surface of the body (100) and being stretched and contracted up and down and adsorbed on the wall surface,
The control unit 20
And controls the expansion and attraction of the left movement module (200), the right movement module (300), and the rotation module (400).
The method according to claim 1,
Wherein the left moving module (200) comprises a first moving module (201), a second moving module (202), a third moving module (203) and a fourth moving module (204).
The method of claim 2,
The first to fourth moving modules 201, 202, 203, and 204 have the same configuration,
The first moving module 201 includes a horizontal cylinder 210 extending in the horizontal direction on the wall surface, a vertical cylinder 220 installed on the horizontal cylinder 210 and extending and contracted in a direction perpendicular to the wall surface, And a suction unit (230) installed on the wall (220).
The method of claim 3,
The vertical cylinder 220 of the first movement module 201 and the vertical cylinder 220 of the second movement module 202 are connected to the first connection bar 206,
Wherein the vertical cylinder (220) of the third movement module (203) and the vertical cylinder (220) of the fourth movement module (202) are connected by a second connection bar (207).
The method according to claim 1,
Wherein the rightward movement module (300) comprises a fifth movement module (301), a sixth movement module (302), a seventh movement module (303), and an eighth movement module (304).
The method of claim 5,
The fifth to eighth movement modules 301, 302, 303, and 304 have the same configuration,
The fifth movement module 301 includes a horizontal cylinder 310 extending in the horizontal direction on the wall surface, a vertical cylinder 320 installed in the horizontal cylinder 310 and extending and contracted in a direction perpendicular to the wall surface, 320). ≪ RTI ID = 0.0 > 31. < / RTI >
The method of claim 6,
The vertical cylinder 320 of the fifth moving module 301 and the vertical cylinder 320 of the sixth moving module 302 are connected to the fifth connecting bar 306,
Wherein the vertical cylinder (320) of the seventh movement module (303) and the vertical cylinder (320) of the eighth movement module (304) are connected by a sixth connection bar (307).
The method according to claim 3 or 6,
The control unit 20
The hydraulic cylinders 210 and 310 and the vertical cylinders 220 and 320 intermittently operate hydraulic fluid supplied from the hydraulic pump 110 to control the attraction force of the suction units 230 and 330. [ A mobile processing device.
The method according to claim 3 or 6,
And a pressure sensor (510) for sensing a pressure inside the suction units (230, 330) is installed.
The method according to claim 3 or 6,
Wherein the adsorption units (230, 330) are provided with a proximity sensor (520) for sensing objects close to the adsorption units (230, 330).
The method according to claim 1,
The rotation module 400
A central cylinder 410 extending and contracted in a direction perpendicular to the wall surface, and a suction unit 430 installed in the central cylinder 410,
The control unit 20
Wherein the central cylinder (410) interrupts the hydraulic fluid supplied from the hydraulic pump (120) and controls the attraction force of the suction unit (430).
The method of claim 11,
A worm wheel 450 is installed on the outer side of the center cylinder 410,
A worm 470 engaged with the worm wheel 450 and rotated by a motor 460,
And the motor (460) is driven under the control of the control unit (20).

Images