KR970003564B1 - Cleaning robot for wall glass of building - Google Patents

Abstract

This invention is about the robot with the wiper for washing the glass external wall of building from the upper part in zigzags instead of a man. The washing process consists of two wire rope winch(2)(3) located on the right and left angle of the rooftop(1a) of building(1), the wire rope(4)(5) which is winded, unfastened and rewind on wire rope winch, the robot(6) which washes the glass external wall and is pooled by the lower part of wire rope, and a robot controller. The robot is composed of the horizontal supporting mount(12) installed at the upper part of robot, the rodless pneumatic cylinder(17) attached to the horizontal supporting mount(12) vertically and the transporting mount(18) which drives reciprocally, a bracket(19), right and left pneumatic cylinders(21)(22) which make the wiper move in close to and part from the wall, the wiper(20), and water injection nozzles(23)(24) mounted on the end of right and left pneumatic cylinders(21)(22).

Description

Robot for cleaning glass exterior wall of building

1 is a partial perspective view of a building schematically showing a state in which the robot device for cleaning the glass outer wall of the present invention is installed.

Figure 2 is a front view showing the configuration of the cleaning robot of the present invention.

3 to 5 are for showing the configuration and operation of the cleaning robot according to the present invention, (A) of each drawing is a cross-sectional view before the movement, (B) is a cross-sectional view during the movement,

3 is a cross-sectional view taken along the line A-A 'of FIG.

4 is a cross-sectional view taken along the line B-B 'of FIG.

5 is a cross-sectional view taken along the line C-C 'of FIG.

6 is a block diagram of a wire rope winch according to the present invention.

7 is a view showing a state in which the wire rope is fixed to the holder by the present invention,

(A) is a plan view seen from the upper side of the fixture.

(B) is section D-D 'of Fig.

8 is a block diagram of a washing robot controller according to the present invention.

9 is an explanatory diagram of a coordinate system on a moving plane of a washing robot according to the present invention.

10 is a block diagram of a winch motor rotation angle control unit according to the present invention.

11 is a control flowchart of an automatic operation control unit according to the present invention.

12 is a block diagram of a pneumatic and electric drive circuit of the device of the present invention.

Figure 13 is an explanatory diagram of the movement between the walls of the device of the present invention.

Explanation of symbols on the main parts of the drawings

1: building 1a: building rooftop

2,3: wire rope winch 4,5: wire rope

6: washing robot 7: washing robot controller

11: fixed support 12: horizontal support

13,14: Vacuum pad 15,16: Pneumatic cylinder for the vacuum pad front and back

17 rodsless pneumatic cylinder 18 carrier

19: bracket 20: cleaning wiper

21,22: Pneumatic cylinder for wiper forward and backward 23,24: Water spray nozzle

25, 26, 27: caster 28: air compressor

29: air tank 30: water tank and water pump.

The present invention relates to a robot for cleaning a glass exterior wall of a building to clean glass on the outside of a high-rise building on behalf of a person, and in particular, by installing two winch motors and a washing robot whose position is controlled by a rope by the motor in advance. The present invention relates to a robot for cleaning a building's glass exterior wall, in which a cleaning robot equipped with a wiper in a zigzag form from the top of the building automatically cleans the glass exterior wall.

In recent years, as a trend of modern architectural styles, there has been an increase in the number of high-rise buildings made of glass on the outside of the building. One of the difficulties in managing such high-rise buildings is that when the outer walls of the glass are soiled by dust or smoke, It is necessary to clean the glass wall from the outside.

Normally, the washing of the glass outer wall of the building is performed by hand by hanging down on the rope from the roof of the building, or by riding down a kind of gondola between two ropes. It will be washed.

Therefore, the building glass wall cleaning work was not only very poor working environment, but also in the event of an accident, there was a risk of a large accident that injuries not only workers but also pedestrians under the building. In addition, it is increasingly difficult to obtain a skilled worker due to such dangerous working conditions, and accordingly, various problems occur in performing work, such as a worker's wages being increased day by day.

The present invention has been made in view of the various difficulties in the conventional building glass outer wall cleaning work made by the human hand as described above, in order to solve this problem, the building glass to clean the glass on the outer surface of the high-rise building on behalf of the person The object is to provide a robot for cleaning the outer wall.

The object of the present invention is two wire rope winch is installed on the left and right corners of the roof of the building, a wire rope wound and unwinding or rewinding on the wire rope winch, a washing robot installed on the lower end of the wire rope to wash the glass outer wall and The building glass comprising a cleaning robot controller configured to control the cleaning robot to move along the input path and the cleaning path by automatically moving the cleaning robot in a horizontal direction and a vertical direction to clean the glass. An outer wall cleaning robot is provided and achieved.

Hereinafter, an example of a specific configuration of a robot apparatus for cleaning a building glass outer wall according to the present invention will be described in detail with reference to FIGS. 1 to 5.

1 is an external perspective view of a building schematically showing an embodiment of the robot device according to the present invention. As shown in the drawing, the present invention provides two wires installed at the left and right edges of the roof of the building 1. A rope winch (2) (3), a wire rope (4) (5) wound around the wire rope winch (2) (3) and unwound or rewound, and towed at the lower end of the wire rope (4) (5) The cleaning robot 6 for cleaning the glass outer wall 1b, the distance to move the cleaning robot 6 in the horizontal direction and the vertical direction, and the cleaning path are inputted along the path automatically input by the robot 6. It consists of a washing robot controller 7 which moves and controls to wash the glass 1b.

As shown in FIGS. 2 to 5, the washing robot 6 has a horizontal support 12 installed at an upper side thereof, and a rodless pneumatic cylinder perpendicular to the horizontal support 12. 17), the rodless pneumatic cylinder (17) has a carriage 18 which is reciprocally driven, so that the wiper (20) is in close contact with the carriage (18) on both sides of the carriage (18) or detached from the wall surface. A bracket 19 on which the right pneumatic cylinders 21 and 22 are mounted is provided, and at the ends of the left and right pneumatic cylinders 21 and 22, the wiper 20 and the water spray nozzles 23 and 24 are provided. Is fixed.

In the center of the horizontal support 12 is a fixed support (11) for fixing two rows of wiper ropes (4) (5) lowered from the two wire rope winch (2) (3) is formed, the horizontal support ( Pneumatic cylinders 15 and 16 and vacuum pads 13 and 14 are provided on both sides of the 12. When the wiper 20 of the cleaning robot is operated, the vacuum pads 13 and 14 attached to the end of the rod are mounted. Advance to the glass wall so that the cleaning robot is adsorbed and fixed to the glass wall surface 1b by the vacuum pressure.

In addition, a small air compressor 28 for operating the vacuum pads 13, 14 and the wiper 20, an air tank 29, a washing water tank and a water pump are disposed below the washing robot 6. 30 is installed to hold the center of the washing robot by their weight.

On the other hand, casters 25, 26, 27 are provided on the lower surface of both side portions of the horizontal support 12 and the lower surface of the air compressor 28, so that the vacuum pads 13, 14 are unwinded and rewinded. With the robot 20 lifted, the cleaning robot 6 is freely movable with a certain distance from the glass surface 1b.

As shown in FIG. 6, the wire rope winch (2) (3) is a winch 31 to which the wire rope is wound, the motor 32 for rotating the winch 37, the drive torque of the motor 32 It consists of a reducer 33 to increase, and a rotation angle sensor 34 for detecting the rotation angle of the wire rope.

7 shows a state in which the wire rope is fixed to the washing robot, each of the wire ropes 4 and 5 is formed to have a coupling hole at an end thereof, and a pin 34 penetrates the coupling hole to allow the rope 4 (5) to be fixed to the holder (11).

The cleaning operation of the glass outer wall according to the present invention constituted in this way is to adjust the rotation angle of the left and right winch motor to adjust the length of the wire rope released from each position, so that the worker can remove the cleaning robot pulled from the end of the wire rope by the operator. You can move it to a location.

In principle, the cleaning robot stops along the zigzag-shaped path in the order of horizontal forward movement, vertical downward movement, horizontal backward movement, and vertical downward movement as shown in FIG. 1 by controlling the rotation angle of the left and right winch motors. The washing and moving is repeated one step at this time. In this case, the washing robot washes the glass windows from the upper side of the building to the horizontal and horizontal direction and goes down. Therefore, the filthy water generated while washing the glass window flows down and the cleaned glass surface again. There is an advantage that the dirt does not get dirty due to the washing water.

The distance between the horizontal movement step and the vertical movement step of the washing robot is determined by the width and height of the area that the washing robot can wash at once, that is, the width of the wiper and the vertical reciprocating stroke.

On the other hand, the washing robot controller is composed of a manual operation command input unit, an automatic operation control unit, a winch motor drive signal generation unit, a winch motor rotation angle control unit, a vacuum pad operation control unit, a wiper operation control unit, as shown in FIG. Referring to a more specific washing operation of the washing robot by the washing robot controller configured as described above are as follows.

First, as shown in FIG. 9, the manual operation command input unit moves the washing robot to an arbitrary position by manual operation on the XY coordinate system defined by using the position of the left winch motor as the origin, and then the coordinates of the starting point of operation, It has the function to set (X _r , Y _r ). When the "Manual operation selection" signal is input to the manual operation command input unit, all operation is stopped and the manual operation mode is executed while the vacuum pad and the wiper are moved backward from the wall. Is performed.

In this mode, when the pulse type "vertical rise" signal is inputted, each pulse subtracts a constant value Y _P from the current Y-coordinate value, and when the "vertical fall" signal is input, conversely, Y _P is added for each pulse. Outputs the X and Y coordinate values to the motor drive signal generator. Then, when "move left" signal is input, as a single pulse each time when the current of the X- coordinates value ppaejugo a predetermined value _P X, the "or right" signal input, whereas each one pulse by adding the X _P winch motor drive signal generator Negative X and Y coordinate values are output.

Here, Y _P X and _P, for example, can be appropriately set as needed as small a distance of 100mm or 50mm. The "origin input" command has a function of specifying to input the current position of the washing robot moved by manual operation to the starting point of origin.

In addition, the winch motor drive signal generation unit calculates the rotation angle of the left and right winch motor by calculating the length of the left and right wire ropes from the next moving coordinates (X, Y) of the washing robot received from the manual operation command input unit or the automatic operation control unit. With that,

Length of left wire rope

Length of right wire rope

Rotation angle of left winch motor θ ₁ = L ₁ / πD ₁

Rotation angle of right winch motor θ ₂ = L ₂ / πD ₂

Where B = distance between left and right winch motors

D ₁ = average diameter of left winch

D ₂ = average diameter of right winch

The rotation angle of the winch motor is an angle measured based on the state in which the wire rope is wound around the winch.

When the position calculation is completed, the winch motor driving signal generation unit outputs each target rotation angle to the winch motor rotation angle control unit.

FIG. 10 shows the configuration and operation of the winch motor rotation angle control unit. The DC motor is configured to receive feedback from the actual rotation angle of the winch motor measured by the rotation angle sensor and to reduce the error by comparing with a newly input command value. Operate a relay that either fails or reverses. If this control error is smaller than a certain value, a "movement complete" signal is output to the automatic operation control unit.

In addition, when the vacuum pad operation control unit receives the "adsorption" command from the automatic operation control unit, the left and right vacuum pad advance pneumatic cylinders are operated to closely adhere the vacuum pads to the glass wall, and generate a vacuum pressure in the vacuum pads. If there is no abnormality in the suction state, the vacuum pressure switch generates an "on" signal and outputs a "sorption complete" signal to the automatic operation control unit. On the contrary, upon receiving the "Exit" command from the automatic operation control unit, the pressure in the vacuum pad is returned to atmospheric pressure, and then, the left and right vacuum pad forward pneumatic cylinders are reversed. When the reverse confirmation proximity switch generates the "on" signal, the "deviation complete" signal Output to the automatic operation control unit.

When the wiper operation control unit receives a "cleaning" command from the automatic operation control unit, the wiper forward and backward pneumatic cylinders are operated to closely adhere the wiper to the glass wall, and the water pump in the water tank is driven by an electric motor to clean the cleaning liquid. The wiper is reciprocated vertically by the number of times programmed by the rodless pneumatic cylinder, and when the reciprocating drive is completed by the proximity switch installed at the top of the rodless pneumatic cylinder, the left and right wiper forward pneumatic cylinders are reversed. The wiper is removed from the glass wall again, and when the "on" signal is generated from the reverse check proximity switch attached to the wiper forward pneumatic cylinder, the "cleaning complete" signal is output to the automatic operation control unit.

On the other hand, the automatic operation control unit controls to perform the cleaning operation automatically in accordance with the flowchart shown in FIG. That is, when the "start" command is received, the washing robot calculates the number of horizontal moving steps (N) and vertical moving steps (M) to move in order to clean the entire glass wall, and this number of steps (N) (M) Is obtained by dividing the horizontal movement distance (W) and the vertical movement distance (H) by the horizontal movement step (ΔX) and the vertical movement step (ΔY) in consideration of the area that can be wiped by the cleaning wiper in the stationary state.

If the starting point of origin 0 'specified in the manual operation mode receives the coordinates (X _r , Y _r ), the X is moved at each step relative to the starting point of origin to move the cleaning robot along the zigzag path shown in FIG. The horizontal movement step (ΔX) is added to the coordinates, or the subtracted X and Y coordinate values are outputted to the winch motor drive signal generator to move, and the movement, stop, vacuum pad adsorption, wiper cleaning, and vacuum pad removal are repeated. At the end of the horizontal movement, the vertical movement step (ΔY) is added to the Y coordinate instead of adding or subtracting the horizontal movement step (ΔX) to the current X coordinate.

"Stop" command is a command in case an abnormality occurs during the cleaning process and it is necessary to stop the operation, and "Home Return" is intended when the cleaning operation is to be restarted from the beginning while stopped or when the cleaning operation is completed. This command is in case of moving robot to origin.

12 is a signal connection circuit diagram of a peripheral device and a washing robot control period for operating the wiper in a state in which the washing robot is fixed to a glass wall. The pneumatic solenoid is applied by applying an electrical signal to each relay so that automatic washing operation is implemented. The washing robot controller 7 which controls the sequential operation of the valves includes a relay 41 and a pneumatic solenoid valve 42 for operating the left and right vacuum pad advance pneumatic cylinders 15 and 16 by electric signals, Relay 43, pneumatic solenoid valve 44 and vibration generating line 45 for applying vacuum pressure or atmospheric pressure to the left and right vacuum pads 13 and 14, and pneumatic cylinders 21 and 22 for advancing the left and right wipers. Relay 46 and pneumatic solenoid valve 47 for operation, relay 48 and pneumatic solenoid valve 49 for operation of rodless pneumatic cylinder 17 for vertical reciprocating operation of the wiper, and water pump For operation Relay 51 for operating the motor 50, proximity switches 52 and 53 for checking the reverse of the pneumatic cylinders 15 and 16 for forward and backward vacuum pad advancement, and the vacuum pad 13, respectively. Vacuum pressure switch 54 for checking whether or not the vacuum pressure is applied to the 14, proximity switch 55 for checking the reverse of the pneumatic cylinders 21 and 22 for forward and backward wiper, and wiper vertical A proximity switch 56 for confirming the reverse of the reciprocating rodless pneumatic cylinder 17 and a level switch 57 for detecting the exhaustion of water in the water tank 30 are connected.

As described above, the robot device for cleaning the outer wall glass of a building according to the present invention is on the glass wall surface by controlling the rotation angle of the winch motor while the outer wall is towed by two winch motors installed on the roof of a high-rise building formed of glass walls. It will be able to clean automatically while moving.

On the other hand, since the walls of the building are four sides, as shown in FIG. 13, in order to perform cleaning while rotating each of the surfaces 1b, 1c, 1d, and 1e, each corner of the roof of the building 1a is formed. Install winches 2, 3, 2 'and 3' one by one.

If the winch is installed at each corner of the roof of the building as described above, when the cleaning of one wall is completed and the cleaning surface is changed, the left wire rope 4 of the cleaning surface 1b is fixed to the fixing stand 11 of the cleaning robot 6. ), Loosen the left and right winches (2) (2 ') of the surface (1c) to be cleaned and orient it perpendicular to the cleaning surface (1c) and then the right wire rope (5) of the surface (1c) to be cleaned. ') Can be connected to the washing robot's stand to perform cleaning work.

As described above, the robot for cleaning the outer wall of the building of the present invention adjusts the rotation angle of the left and right winch motors so as to adjust the length of the wire ropes released from each winch so as to wash them horizontally from the top to the bottom along the zigzag path. This eliminates the risk of safety accidents and saves money by eliminating the need for skilled workers who require high wages.

Claims (5)

Two wire rope winches (2) (3) installed at the left and right corners of the roof (1a) of the building (1), and wire ropes (4) (5) wound and unwound or rewound by the wire rope winches (2) (3). And a washing robot 6 installed at the lower end of the wire rope 4 and 5 to wash the glass outer wall 1b, and a distance and washing in which the washing robot 6 should be moved in the horizontal and vertical directions. A robot for cleaning a building's exterior glass wall, characterized in that it is configured as a washing robot controller that controls the robot to move along the input path automatically and clean the glass by inputting a path. According to claim 1, wherein the cleaning robot (6) is fixed to the wire rope 11 is fixed, the horizontal support 12 is formed in the center of the support 11, and both ends of the horizontal support (12) The vacuum pads 13 and 14 which are installed in the horizontal support 12 and fix the horizontal support 12 to the glass wall 1b, and the vacuum pads 13 and 14 which adhere to or detach from the glass wall 1b. A pneumatic cylinder (15) and a rodless pneumatic cylinder (17) installed in the vertical direction on the horizontal support (12), and a carriage mounted on the rodless pneumatic cylinder (17) to drive up and down ( 18), a cleaning wiper 20 fixed to the bracket 19 installed on the carriage 18 to clean the glass wall 1b by the vertical movement of the carriage 18, and the bracket 19 And the pneumatic cylinders 21 and 22 for the rewinding and wiping, which are installed between the cleaning wiper 20 and the wiper 20 to close or detach the wiper 20 to the glass wall 1b. A robot for cleaning exterior glass walls of a building, characterized in that it is installed in a reverse pneumatic cylinder (21) (22) and is composed of a water spray nozzle (23) (24) for spraying water during the cleaning of the glass wall. The air compressor 28 and the air tank 29 and the water spray nozzle 23 for operating the vacuum pads 13 and 14 and the wiper 20 at the lower end of the cleaning robot 6. ) 24, the building for cleaning the glass outer wall of the building, characterized in that the water tank for water supply and water pump (30) is installed. 4. The caster according to claim 2 or 3, wherein the lower surface of the horizontal support 12 and the air compressor 28 have several casters for smoothly moving on the glass wall without hitting the glass wall. (25) (26) (27) is a robot for cleaning the outer wall of the building glass provided. The building glass outer wall cleaning robot according to claim 1, wherein the pair of wiper rope winches (2) (3) are installed at corners of the roof of the building facing each other.