KR20210104301A - Cleaning Robot Manipulator - Google Patents

Abstract

The present invention relates to a cleaning robot manipulator. The cleaning robot manipulator includes: a frame part extended in a longitudinal direction; an extension part installed in the frame part to be slidable in the longitudinal direction, and extended to be adjustable in length in a direction orthogonal to the longitudinal direction; a first slide part installed in the frame part to be slidable between first ends in the longitudinal direction of the frame part and the extension part; a first link part connected with the first slide part to be rotatable in the longitudinal direction and a horizontal direction parallel with the extension part; a second slide part installed in the frame part to be slidable between second ends in the longitudinal direction of the frame part and the extension part; a second link part connected with the second slide part to be rotatable in the horizontal direction; and a combination part connected with the extension part, the first link part and the second link part to be rotatable in the horizontal direction, and detachably combined with a cleaning module. Therefore, the present invention is capable of effectively cleaning an outer wall of a building even when a cleaning robot is wobbling.

Description

Cleaning Robot Manipulator

The present invention relates to a cleaning robot manipulator, and more particularly, to a cleaning robot manipulator that maintains a constant contact between a cleaning module of a robot for cleaning an exterior wall of a building and an exterior wall of a building.

The exterior walls of buildings are polluted by weather phenomena such as rain, wind, snow, and fine dust. In order to clean the exterior wall of the contaminated building, conventionally, a worker directly uses a rope to clean the exterior wall of the building while moving along the exterior wall of the building.

However, since an accident such as a fall of a worker may occur in the process of cleaning the exterior wall of a high-rise building, research on a robot capable of cleaning the exterior wall of a building (hereinafter referred to as a cleaning robot) is being conducted. Since the cleaning robot replaces the operator, there is little concern that the operator may be injured, but there is a problem in that the exterior wall of the building cannot be effectively cleaned due to various shapes of the exterior wall of the building and the shaking of the cleaning robot due to the wind.

In addition, if the cleaning module installed in the cleaning robot does not maintain a certain distance from the outer wall of the building, there is a problem in that a specific part of the outer wall of the building is cleanly cleaned and the other part is not properly cleaned.

In order to solve this problem, a cleaning robot capable of controlling the movement of a cleaning module attached to the cleaning robot according to the shape of a building has been developed. For example, as a prior document, Korean Patent Registration No. 10-2028882 discloses an external window cleaning robot that can be applied to external windows of various specifications by having a transfer device capable of adjusting the position in three axes with respect to the external window.

However, the cleaning robot of Korean Patent Registration No. 10-2028882 can move a cleaning module (hereinafter referred to as a cleaning module) provided with a brush for cleaning the exterior wall of a building in a horizontal direction to closely adhere to the glass window, It is not possible to adjust the horizontal angle of the cleaning module that comes into contact with the windshield.

Therefore, when the cleaning robot is shaken in the horizontal direction by draft, etc., since the cleaning module cannot be brought into close contact with the glass window by adjusting the horizontal angle of the cleaning module, there is a problem in that the glass window cannot be effectively cleaned.

One object of the present invention is to solve the problem that the cleaning robot for cleaning the exterior wall of a building cannot effectively clean the exterior wall of a building having various shapes because the cleaning robot cannot move freely in the horizontal direction.

Another object of the present invention is to solve the problem that the cleaning robot cannot effectively clean the exterior wall of a building when the cleaning robot is shaken by a draft.

Another object of the present invention is to solve a problem in which cleaning modules of various standards cannot be installed in a cleaning robot.

Another object of the present invention is to solve the problem that the cleaning module cannot clean the outer wall of the building with a constant efficiency while maintaining a constant distance from the outer wall of the building.

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

A cleaning robot manipulator according to an embodiment of the present invention for solving the above problems is a frame portion extending in a longitudinal direction, installed in the frame portion so as to be able to slide along the longitudinal direction, and is orthogonal to the longitudinal direction. an extension portion extending so as to be adjustable in length in the direction, a first slide portion installed in the frame portion to be slidable between the extension portion and the first end in the longitudinal direction of the frame portion, the longitudinal direction and the extension A first link part connected to the first slide part so as to be rotatably rotatable in a horizontal direction parallel to the part, and between the extension part and the second end in the longitudinal direction of the frame part, installed in the frame part so as to be able to slide a second slide unit to be rotated in the horizontal direction, a second link unit and the extension unit connected to the second slide unit to be rotatable in the horizontal direction, and the first link unit and the second link unit to rotate in the horizontal direction is connected, and the cleaning module may include a detachable coupling part.

In addition, a ball screw is installed in the frame part in the longitudinal direction, and a ball screw nut is installed in each of the extension part, the first slide part, and the second slide part to insert the ball screw, and the ball screw nut is inserted. The extension part, the first slide part, and the second slide part may be installed in the frame part so as to be able to slide, respectively, by the rotation.

In addition, the extension part, the first slide part, and the second slide part may each include a motor, and the ball screw nut may be rotated by a rotational force of the motor.

In addition, the motor and the ball screw nut of the extension part, the first slide part, and the second slide part each have a timing gear, and the timing gear of the motor and the timing gear of the ball screw nut are connected to a timing belt. to transmit the rotational force of the motor to the ball screw nut.

In addition, the first link portion, the second link portion and the coupling portion may be adjustable in length.

In addition, the first link part, the second link part, and the coupling part are each an outer pipe, an inner pipe that is slidably inserted inside the outer pipe, and a tightening that fixes the inner pipe inserted into the outer pipe. member may be included.

In addition, it may include a distance measuring sensor for measuring the distance between the cleaning module and the outer wall of the building.

In addition, the distance measuring sensor may be composed of a load cell for measuring the force acting on the first link portion and the second link portion.

In addition, each of the timing belts may include a tensioner to adjust the tension of the timing belt.

Specific details of other embodiments for solving the problem are included in the description and drawings of the invention.

The cleaning robot manipulator according to the present invention provides an effect that the cleaning robot can effectively clean the exterior walls of buildings having various shapes by freely moving the cleaning module in a horizontal direction and adjusting the angle of the cleaning module.

In addition, since the cleaning robot manipulator can freely move the cleaning module in the horizontal direction, it is possible to effectively clean the outer wall of the building even when the cleaning robot is shaken by drafts or the like.

In addition, since the length of the coupling portion of the cleaning robot manipulator can be adjusted, cleaning modules of various standards can be installed in the cleaning robot.

In addition, the cleaning robot manipulator is provided with a load cell capable of measuring the force between the cleaning module and the outer wall of the building, so that the distance between the cleaning module and the outer wall of the building is maintained constant, thereby providing an effect of cleaning the outer wall of the building with a constant efficiency.

1 is a diagram illustrating a cleaning robot manipulator according to an embodiment of the present invention.
FIG. 2 is a view illustrating a frame part of the cleaning robot manipulator of FIG. 1 .
FIG. 3 is a view illustrating an extension part installed in the cleaning robot manipulator of FIG. 1 .
Figure 4 (a) is a front view of the slide means of the extension of Figure 3 is seen.
Figure 4 (b) is a view showing the rear surface of the slide means of the extension of Figure 3;
FIG. 5 is a view illustrating a first slide unit installed in the cleaning robot manipulator of FIG. 1 .
Figure 6 (a) is a view showing the first slide portion of Figure 5 showing the first coupling portion.
Fig. 6(b) is a view showing the first slide part of Fig. 5 in which the first motor is visible.
7 is a view illustrating a second slide unit installed in the cleaning robot manipulator of FIG. 1 .
Figure 8 (a) is a view showing the second slide portion of Figure 7 showing the second coupling portion.
Fig. 8(b) is a view showing the second slide part of Fig. 7 in which the second motor is visible.
9 is a view illustrating a first link unit installed in the cleaning robot manipulator of FIG. 1 .
FIG. 10( a ) is a view showing the shortened first link part of FIG. 9 .
FIG. 10(b) is a view showing the first link part of FIG. 9 having an extended length.
11 is a view illustrating a second link unit installed in the cleaning robot manipulator of FIG. 1 .
Fig. 12 (a) is a view showing the second link portion of Fig. 11 having a shortened length.
FIG. 12(b) is a view showing the second link part of FIG. 11 having an extended length.
13 is a view illustrating a coupling part of the cleaning robot manipulator of FIG. 1 .
14 is a diagram illustrating the operation of the cleaning robot manipulator according to the shaking of the cleaning robot.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings and the content to be described later. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and that the spirit of the present invention may be sufficiently conveyed to those skilled in the art. Like reference numerals refer to like elements throughout. On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular form includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and/or "comprising" means that a referenced component, step, action, member, component, material, and/or element is one or more other components, steps, actions. , the presence or addition of elements, components, materials and/or elements is not excluded.

Hereinafter, a cleaning robot manipulator according to an embodiment of the present invention will be described.

1 is a diagram illustrating a cleaning robot manipulator according to an embodiment of the present invention.

Referring to FIG. 1 , the cleaning robot manipulator 1 according to an embodiment of the present invention includes a frame part 100 forming a skeleton, and an extension part extending from the frame part 100 to be adjustable in length ( 200), the first slide part 300 and the second slide part 400, the first slide part 300 and the second slide part 400 which are slidably installed on the frame part 100. The first link unit 500 and the second link unit 600 coupled to each may include a coupling unit 700 in which a cleaning module can be installed.

FIG. 2 is a view illustrating a frame part of the cleaning robot manipulator of FIG. 1 .

First, a configuration of the frame unit 100 will be described with reference to FIGS. 1 and 2 .

The frame part 100 may form a skeleton of the robot cleaner manipulator 1 and may be formed so that parts constituting the robot cleaner manipulator 1 can be installed.

For example, referring to FIGS. 1 and 2 , the frame part 100 may be formed by combining a plurality of frames 110 extending in the longitudinal direction. In addition, the frame part 100 may be installed so that both ends of the ball screw 120 are fixed in the longitudinal direction.

Fig. 3 is a view showing an extension installed in the cleaning robot manipulator of Fig. 1, Fig. 4 (a) is a front view of the slide means of the extension of Fig. 3, and Fig. 4 (b) is the slide of the extension of Fig. 3 It is a drawing showing the back side of the means.

Next, with reference to FIGS. 3, 4 (a) and 4 (b), the configuration of the extension part 200 will be described.

The extension part 200 is installed on the frame part 100 so as to be able to slide along the longitudinal direction, and is configured to be adjustable in length in a direction orthogonal to the longitudinal direction (hereinafter referred to as orthogonal direction). can

For example, referring to FIG. 3 , the extension part 200 is installed on the frame part 100 to slide means 210 and the slide means 210 to slide along the longitudinal direction. ) may include a length adjustment means 230 that is installed in the length adjustment is possible.

4(a) and 4(b), the slide means 210 includes a central ball screw nut 211 having a timing gear, a central motor 215 having a timing gear, and an insertion member. 217 , it may include a central guide member 219 .

The ball screw 120 may be inserted into the central ball screw nut 211 , and the timing gear of the central motor 215 and the timing gear of the central ball screw nut 211 may be connected by a timing belt. Therefore, when the central ball screw nut 211 receives the rotational force of the central motor 215 and rotates, the slide means 210 rides the ball screw 120 and moves in the longitudinal direction.

The insertion member 217 may be configured such that the length adjusting means 230 is inserted to perform a sliding motion. For example, referring to FIGS. 4 (a) and 4 (b), the insertion member 217 may have a structure in which holes are formed in the orthogonal direction, and the central ball screw nut 211 A plurality may be provided so as to be symmetrical with respect to .

In addition, the central guide member 219 may be configured such that the extension part 200 can stably slide along the longitudinal direction of the frame part 100 .

For example, referring to FIG. 4(b) , the central guide member 219 may be provided to be symmetrical with the central ball screw nut 211 in which a central valley 219 - 1 is formed. And, by configuring the frame 110 to be inserted into the central trough 219-1 formed in each of the central guide members 219, the extension 200 is guided by the central guide member 219. Thus, it is possible to stably slide along the frame 110 in the longitudinal direction.

The length adjusting means 230 may be formed in a rod shape, and may be configured to extend so as to be adjustable in length in the orthogonal direction by being inserted into the hole of the insertion member 217 .

FIG. 5 is a view showing the first slide part installed in the cleaning robot manipulator of FIG. 1, FIG. 6(a) is a view showing the first slide part of FIG. 5 showing the first coupling part, and FIG. 6(b) is the first slide part 1 It is a view showing the 1st slide part of FIG. 5 with a motor visible.

Next, a configuration of the first slide unit 300 will be described with reference to FIGS. 5 and 6 .

Referring to FIG. 5 , the first slide part 300 can slide between the extension part 200 and the first longitudinal end of the frame part 100 (between A and C). It may be configured to be installed on the frame part 100 .

For example, referring to FIGS. 6(a) and 6(b), the first slide part 300 includes a first ball screw nut 311 having a timing gear, and a first slide part 300 having a timing gear. One motor 315 , a first guide member 317 , and a first coupling member 319 may be included.

The ball screw 120 may be inserted into the first ball screw nut 311 , and the timing gear of the first motor 315 and the timing gear of the first ball screw nut 311 may be connected by a timing belt. can Therefore, when the first ball screw nut 311 receives the rotational force of the first motor 315 and rotates, the first slide part 300 rides the ball screw 120 in the longitudinal direction. can move At this time, the timing belt may be provided with a tensioner to adjust the tension.

The first guide member 317 may be configured such that the first slide unit 300 can stably slide along the longitudinal direction of the frame unit 100 .

For example, referring to FIG. 6( a ), the first guide member 317 may be provided to be symmetrical with the first ball screw nut 311 by forming a first valley 317 - 1 . have. And, by configuring the frame 110 to be inserted into the first valleys 317-1 formed in each of the first guide members 317, the first slide unit 300 is formed by the first guide member ( 317), it is possible to stably slide along the frame 110 in the longitudinal direction.

The first coupling member 319 may be configured to be rotatably coupled to the first link part 500 . For example, the first coupling member 319 is rotated in a horizontal direction (hereinafter referred to as a horizontal direction) in which the first link part 500 is parallel to the longitudinal direction and the extension part 200 . It may have a configuration having a rotating shaft so as to be possible to couple.

Fig. 7 is a view showing the second slide unit installed in the cleaning robot manipulator of Fig. 1, Fig. 8 (a) is a view showing the second slide unit of Fig. 7 showing the second coupling unit, and Fig. 8 (b) is the second slide unit. It is a view showing the second slide part of FIG. 7 with the 2 motors visible.

Next, a configuration of the second slide part 400 will be described with reference to FIGS. 7 and 8 .

Referring to FIG. 7 , the second slide part 400 can slide between the extension part 200 and the second longitudinal end of the frame part 100 (between B and C). It may be configured to be installed on the frame part 100 . Meanwhile, the second slide part 400 may be configured to be symmetrical with the first slide part 300 with respect to the extension part 200 .

For example, referring to FIGS. 8(a) and 8(b), the second slide part 400 includes a second ball screw nut 411 having a timing gear, and a second slide part 400 having a timing gear. It may include two motors 415 , a second guide member 417 , and a second coupling member 419 .

The ball screw 120 may be inserted into the second ball screw nut 411 , and the timing gear of the second motor 415 and the timing gear of the second ball screw nut 411 may be connected by a timing belt. can Therefore, when the second ball screw nut 411 receives the rotational force of the second motor 415 and rotates, the second slide part 400 rides the ball screw 120 in the longitudinal direction. can move At this time, the timing belt may be provided with a tensioner to adjust the tension.

The second guide member 417 may be configured such that the second slide part 400 can stably slide along the longitudinal direction of the frame part 100 .

For example, referring to FIG. 8( a ), the second guide member 417 may be provided such that a second valley 417 - 1 is formed so as to be symmetrical with the second ball screw nut 411 . have. And, by configuring the frame 110 to be inserted into the second valley 417-1 formed in each of the second guide members 317, the second slide part 400 is the guide member 417. It is possible to stably slide along the frame 110 in the longitudinal direction by the guidance.

The second coupling member 419 may be configured to be rotatably coupled to the second link unit 600 . For example, the second coupling member 419 may have a configuration including a rotation shaft so that the second link part 600 can be rotatably coupled in the horizontal direction.

Fig. 9 is a view showing the first link part installed in the cleaning robot manipulator of Fig. 1, Fig. 10 (a) is a view showing the shortened first link part of Fig. 9, and Fig. 10 (b) is a view showing the length is increased It is a view showing the extended first link part of FIG.

Next, the configuration of the first link unit 500 will be described with reference to FIGS. 9, 10(a) and 10(b).

The first link part 500 may be configured to be rotatably connected to the first slide part 300 and the coupling part 700 in the horizontal direction, and may be configured to be adjustable in length. .

For example, referring to FIGS. 10 ( a ) and 10 ( b ), the first link part 500 may include a first length adjusting member 510 and a first connecting member 540 . have.

The first length adjustment member 510 is configured to be adjustable in length, and includes a first outer pipe 510-1, a first inner pipe 510-2, and a first tightening means 510-3. can do.

Specifically, the first outer pipe 510 - 1 may have a hollow structure inside, and the first inner pipe 510 - 2 may be inserted therein to enable sliding motion. In addition, the first fastening means 510-3 may be composed of a fastener capable of fixing the movement of the first inner pipe 510-2.

Therefore, the length of the first length adjustment member 510 is adjusted by moving the first inner pipe 510-2 sliding inside the first outer pipe 510-1, and then the first tightening The length of the first length adjusting member 510 can be adjusted by fixing the movement of the first inner pipe 510 - 2 with the means 510 - 3 .

The first connection member 540 may rotatably connect the first link part 500 and the first slide part 300 , and the first link part 500 and the coupling part 700 . It can be configured to

Specifically, the first connecting member 540 is provided on the first length adjusting member 510 so as to be symmetrical with respect to the first length adjusting member 510, and the first connecting member 540 on one side is The first slide part 300 may be rotatably connected to the horizontal direction, and the first connection member 540 on the other side may be rotatably connected to the coupling part 700 .

Meanwhile, the first length adjusting member 510 and the first connecting member 540 connected to the first length adjusting member 510 are configured to be connected in parallel to form the first link unit 500 . can do.

For example, referring to FIGS. 10( a ) and 10 ( b ), the first link part 500 is the first length adjusting member in which the two first connecting members 540 are connected to both sides. Two 510 may be configured to be connected in parallel. As such, since the first link part 500 is configured with a plurality of the first length adjusting member 510 and the first connecting member 540 , the first link part 500 may be rigid.

Fig. 11 is a view showing the second link unit installed in the cleaning robot manipulator of Fig. 1, Fig. 12 (a) is a view showing the shortened second link unit of Fig. 11, and Fig. 12 (b) is a view showing the reduced length. It is a view showing the extended second link part of FIG. 11 .

Next, the configuration of the second link unit 600 will be described with reference to FIGS. 11, 12 (a) and 12 (b).

The second link part 600 may be configured to be rotatably connected to the second slide part 400 and the coupling part 700 in the horizontal direction, and the length may be adjustable. . Meanwhile, the second link part 600 may be configured to be symmetrical with the first link part 500 with respect to the extension part 200 .

For example, referring to FIGS. 12 ( a ) and 12 ( b ), the second link part 600 may include a second length adjusting member 610 and a second connecting member 640 . have.

The second length adjusting member 610 is configured to be adjustable in length, and includes a second outer pipe 610-1, a second inner pipe 610-2, and a second tightening means 610-3. can do.

Specifically, the second outer pipe 610-1 may have a hollow structure inside, and the second inner pipe 610-2 may be inserted therein to enable sliding motion. And, the second fastening means 610-3 may be composed of a fastener capable of fixing the movement of the second inner pipe 610-2.

Therefore, the length of the second length adjusting member 510 is adjusted by moving the second outer pipe 610-2 sliding within the second outer pipe 610-1, and then the second tightening is performed. By fixing the movement of the second inner pipe 610-2 by means 610-3, the length of the second length adjusting member 610 can be adjusted.

The second connecting member 640 may rotatably connect the second link unit 600 and the second slide unit 400, and the second link unit 600 and the coupling unit 700. It can be configured to

Specifically, the second connecting member 640 is provided on the second length adjusting member 610 so as to be symmetrical with respect to the second length adjusting member 610, and the second connecting member 640 on one side is The second slide part 400 may be rotatably connected to the horizontal direction, and the second connection member 640 on the other side may be rotatably connected to the coupling part 700 .

Meanwhile, the second length adjusting member 610 and the second connecting member 640 connected to the second length adjusting member 610 are configured to be connected in parallel to form the second link unit 600 . can do.

For example, referring to FIGS. 12(a) and 12(b), the second link part 600 is the second length adjusting member in which the two second connecting members 640 are connected to both sides. Two 610 may be configured to be connected in parallel. As such, since the second link unit 600 is configured with a plurality of the second length adjustment member 610 and the second connection member 640 , the second link unit 600 may be rigid.

13 is a view illustrating a coupling part of the cleaning robot manipulator of FIG. 1 .

Next, with reference to FIG. 13 , the configuration of the coupling part 700 will be described.

The coupling part 700 may perform a function of controlling the movement of the cleaning module so that the cleaning module can be detachably attached, and the attached cleaning module comes into contact with the outer wall of the building to perform cleaning. In addition, the coupling part 700 may include a third length adjusting member 710 and a connecting means 730 .

Specifically, the coupling part 700 may be rotatably connected to the connection part 200 , the first link part 500 , and the second link part 600 in the horizontal direction by the connection means 730 . and may be configured to be adjustable in length.

For example, the connection means 730 includes the first link part 500 and the first connection means 730 - 1 , which are rotatably connected in the horizontal direction, and the second link part 600 . ) and a second connecting means 730-2 rotatably connected in the horizontal direction, and a central connecting means 730-3 rotatably connected to the connecting part 200 and rotatably in the horizontal direction. have.

In addition, the first connecting means 730-1, the central connecting means 730-3, the second connecting means 730-2, and the central connecting means 730-3 are each adjustable in length. It may be connected to the third length adjusting member 710 . The third length adjustment member 710 may include a third outer pipe 710-1, a third inner pipe 710-2, and a third tightening member 710-3, the first length described above. The adjustment member 510 and the second length adjustment member 610 may be configured the same.

Therefore, cleaning modules of various sizes can be attached to the coupling part 700 by adjusting the length of the third length adjusting member 710 . And, the coupling part 700 by the rotational movement of the first link part 500 and the second link part 600 according to the sliding motion of the first slide part 300 and the second slide part 400 . ) of the horizontal direction angle can be adjusted.

Meanwhile, the cleaning robot manipulator 1 of the present invention may include a load cell capable of measuring the force acting between the cleaning module and the outer wall of the building. Specifically, as the cleaning module comes into contact with the outer wall of the building, the extension part 200, the extension part 200, so that the force acting on the first link part 500 and the second link part 600 is constantly measured by the load cell. By moving the first slide unit 300 and the second slide unit 400 , the distance between the cleaning module and the outer wall of the building may be constantly maintained.

Hereinafter, the operation and effect of the cleaning robot manipulator 1 of the present invention will be described in detail.

The user attaches the cleaning module to the coupling part 700 by adjusting the length of the coupling part 700 and the length of the first link part 500 and the second link part 600 according to the size of the cleaning module. can do it

The attached cleaning module is brought into contact with the outer wall of the building using a cleaning robot to clean the outer wall of the building. At this time, the cleaning robot manipulator 1 operates so that the distance between the cleaning module and the outer wall of the building is kept constant. The distance between the cleaning module and the outer wall of the building may be kept constant by making the force acting between the cleaning module and the outer wall of the building constant.

14 is a diagram illustrating an operation of the cleaning robot manipulator according to the shaking of the cleaning robot.

Referring to FIG. 14( a ), when the cleaning robot moves away from or approaches the outer wall of the building in the orthogonal direction, the cleaning robot manipulator 1 operates to maintain the distance between the cleaning module and the outer wall of the building.

Specifically, the extension part 200 may be extended or shortened so that the force acting on the first link part 500 and the second link part 600 measured by the load cell does not change.

And, referring to FIG. 14(b), when the cleaning robot moves away from the outer wall of the building to be cleaned in the longitudinal direction, the cleaning robot manipulator 1 can be maintained in place without moving in the longitudinal direction. will work

Specifically, so that the force acting on the first link part 500 and the second link part 600 measured by the load cell does not change, the extension part 200, the first slide part 300, The second slide part 400 may slide in a direction opposite to the longitudinal direction in which the cleaning robot manipulator 1 moves.

Also, referring to FIG. 14C , when the cleaning robot has a specific angle with the exterior wall of the building, the cleaning robot manipulator 1 operates so that the cleaning module comes into contact with the exterior wall of the building and the like at a predetermined distance.

Specifically, the length of the extension part 200 is adjusted so that the force acting on the first link part 500 and the second link part 600 measured by the load cell does not change, and the first slide part 300 and the second slide part 400 may slide.

As described above, the cleaning robot manipulator of the present invention provides an effect that the cleaning robot can effectively clean the exterior walls of buildings having various shapes by freely moving the cleaning module in the horizontal direction and adjusting the angle of the cleaning module.

In addition, since the cleaning robot manipulator can freely move the cleaning module in the horizontal direction, it is possible to effectively clean the outer wall of the building even when the cleaning robot is shaken by drafts or the like.

In addition, since the length of the coupling portion of the cleaning robot manipulator can be adjusted, cleaning modules of various standards can be installed in the cleaning robot.

In addition, the cleaning robot manipulator is provided with a load cell capable of measuring the force between the cleaning module and the outer wall of the building, so that the distance between the cleaning module and the outer wall of the building is maintained constant, thereby providing an effect of cleaning the outer wall of the building with a constant efficiency.

Although the present invention has been described in detail through representative embodiments above, those of ordinary skill in the art to which the present invention pertains can make various modifications to the above-described embodiments without departing from the scope of the present invention. will understand Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by all changes or modifications derived from the following claims as well as the claims and equivalent concepts.

1: cleaning robot manipulator 100: frame part
110: frame 120: ball screw
200: extension 210: slide means
230: length adjustment means 300: first slide part
400: second slide unit 500: first link unit
600: second link part 700: coupling part

Claims (9)

a frame portion extending in the longitudinal direction;
an extension part installed on the frame part to be slidable along the longitudinal direction, and extending to be adjustable in length in a direction orthogonal to the longitudinal direction;
a first slide part installed on the frame part to be able to slide between the extension part and the first end in the longitudinal direction of the frame part;
a first link part connected to the first slide part so as to be rotatable in the longitudinal direction and in a horizontal direction parallel to the extension part;
a second slide part installed on the frame part to be able to slide between the extension part and the second end of the frame part in the longitudinal direction;
a second link part connected to the second slide part so as to be rotatable in the horizontal direction; and
A cleaning robot manipulator comprising a coupling part that is rotatably connected to the extension part, the first link part, and the second link part in the horizontal direction, and to which a cleaning module is detachable.
According to claim 1,
A ball screw is installed in the frame part in the longitudinal direction,
A ball screw nut is installed in each of the extension part, the first slide part, and the second slide part to insert the ball screw,
The cleaning robot manipulator, wherein the extension part, the first slide part, and the second slide part are installed in the frame part to be able to slide, respectively, by rotation of the ball screw nut.
3. The method of claim 2,
The extension part, the first slide part, and the second slide part each include a motor, and a cleaning robot manipulator for rotating the ball screw nut by a rotational force of the motor.
4. The method of claim 3,
The motor and the ball screw nut of the extension part, the first slide part, and the second slide part each have a timing gear,
A cleaning robot manipulator that connects the timing gear of the motor and the timing gear of the ball screw nut with a timing belt to transmit the rotational force of the motor to the ball screw nut.
5. The method of claim 4,
The first link part, the second link part and the coupling part are adjustable in length, a cleaning robot manipulator.
6. The method of claim 5,
The first link part, the second link part, and the coupling part each include an outer pipe, an inner pipe inserted to be slidable inside the outer pipe, and a tightening member for fixing the inner pipe inserted into the outer pipe. Including, cleaning robot manipulator.
7. The method of claim 6,
A cleaning robot manipulator comprising a distance measuring sensor for measuring the distance between the cleaning module and the outer wall of the building.
8. The method of claim 7,
The distance measuring sensor is composed of a load cell that measures the force acting on the first link part and the second link part, a cleaning robot manipulator.
9. The method of claim 8,
Each of the timing belts is provided with a tensioner to adjust the tension of the timing belt, cleaning robot manipulator.

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