KR970006487B1 - Robot device for cleaning outside glass wall of a building - Google Patents

Abstract

The robot system with preset program washes the outside glass wall of the building by means of a wiper. The system comprises a transporting mount(2) installed on the rooftop, a pair of ropes(18,20) dangled downwards from the transporting mount, four horizontal supporters(9, 10,11,12) movably engaged between two ropes, four pairs of pneumatic grippers(1-8) for holding or releasing the supporter from the rope, a pneumatic cylinder(13) for transporting vertically the first and fourth supporters, four pairs of vacuum pads(25-32) for keeping the supporter to the outside glass wall, a lot of pneumatic cylinders(33-40) for sucking and releasing the vacuum pads, a cleaning wiper(43) movably mounted on the first supporter(9) with two pneumatic cylinders(41,42) for left & right, back & forth movement, and a PLC (74) for controlling the sequential operation of the solenoid valves.

Description

Robot device for cleaning building exterior wall

1 is a front view showing an embodiment structure of the present invention.

Figure 2 is a side view showing an embodiment structure of the present invention.

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

Figure 4a, b is an electric pneumatic control circuit diagram of the robot device of the present invention.

5a to h are a front view and a side view showing a sequential operation of the robot device of the present invention.

6 is a flowchart of a logic control program of the robot apparatus of the present invention.

* Explanation of symbols for main parts of the drawings

1-8: Pneumatic gripper 9-12: Horizontal support,

13: pneumatic cylinder for vertical movement 13a: piston rod

14, 15: slide guides 18, 20: rope,

19, 21: weight 22: carrier,

23: rail 25-32: vacuum pad,

33 to 42: pneumatic cylinder 43: cleaning wiper,

The present invention relates to an apparatus for cleaning the glass outer wall of a high-rise building on behalf of a person, and in particular, by cleaning a glass outer wall by operating a wiper for moving down or up a rope from a roof of a building by a pre-programmed program. It relates to a robot device.

In recent years, a number of high-rise buildings, which consist of glass as the outer wall of a building, are increasing as one of the modern architectural styles, and one of the difficult tasks in the management of these buildings is when the glass outer wall is dirty by dust or rainwater in the atmosphere. It is necessary to clean dirty glass exterior walls from outside the building.

Normally, the cleaning of the glass exterior walls of the building is performed by hand using a cleaning tool such as a sponge or a rubber wiper, while a person descends a rope hanging down from the roof of a building or a gondola hanging between ropes. It is done by putting out.

Thus, the washing work carried out on the rope is carried out in a very dangerous working environment, and in case of a fall accident, there is a risk that serious injury may occur not only to the worker but also to the pedestrian under the building.

As the cleaning work on the building's glass walls has many risk factors, the working wage for workers who perform them will be higher than in other industries, and the social tendency to avoid labor in dangerous working environments will spread. It is anticipated that even in the future, it will be difficult to obtain skilled workers.

Also, in the past, a washing stand operating device, such as Japanese Utility Model Publication No. 49-74765, has been conceived, but since it is to be lifted along the rope while the expectations are suspended on two ropes, the washing device is shaken by the wind and the washing device is uniform on the wall. The contact pressure changes from time to time, and the cleaning efficiency is greatly reduced. In addition, when the glass exterior wall is cleaned, the glass exterior wall is damaged by the collision, which causes damage to pedestrians, vehicles, or facilities under the building. There was this.

Therefore, in order to solve the problems of the building glass wall cleaning work, the present invention allows a machine having a self-moving function to climb on a rope hanging down from the roof of a building by a pre-programmed program on behalf of a person. It is an object of the present invention to provide a robotic glass cleaning device for cleaning a glass exterior wall by automatically operating a cleaning wiper while descending.

Another object of the present invention is to clean the horizontal support while moving the cleaning wiper in a state that is fixed to the glass outer wall by the vacuum pad, so even when the wind blows strongly, the cleaning wiper contacts the glass outer wall with equal force. Not only will the efficiency be improved, but the horizontal support will not be shaken to prevent damage to the glass outer wall or damage to pedestrians, vehicles and facilities under the building.

In order to achieve the object of the present invention, a carriage that is horizontally movable on a roof of a building, two rows of ropes vertically lowered from the carriage, and first to fourth horizontally supported to be elevated between the two ropes. Pneumatic gripper is installed on both ends of the support, the horizontal support to secure and release the horizontal support to the rope, and vertical movement for vertical movement to move the first and fourth horizontal support is mounted between the second and third horizontal support Pneumatic cylinder, the horizontal support for fixing the horizontal support to the glass outer wall, but the vacuum pad, these vacuum pads are mounted on the first horizontal support object and the left and right reciprocating pneumatic cylinder for the front and back to close or detach the glass wall Washing wiper for washing glass wall while moving left and right and back and forth by driving pneumatic cylinder and back and forth pneumatic cylinder, input washing and vertical movement Provided is a robot device for cleaning a building's exterior glass wall, comprising a PLC for controlling sequential operation of each solenoid valve of the electropneumatic control circuit according to the distance.

An example of a specific configuration of the robot device of the present invention will be described in detail with reference to FIGS. 1 to 3 as follows.

1 is a detailed configuration of an example of the robot device according to the present invention with reference to FIGS. 1 to 3 as follows.

1 is a front view of an embodiment of the robot apparatus of the present invention, FIG. 2 is a side view of the apparatus, and FIG. 3 is a cross-sectional view taken along the line AA of FIG. Two rows of ropes 18, 20, which are vertically lowered from the roof 75 of the building, are installed in parallel with each other at a constant interval, and four horizontal lines between the two ropes 18, 20. The supports 9, 10, 11 and 12 are supported in parallel at regular intervals up and down.

At this time, the support of the rope (18, 20) of the horizontal support (9), (10), (11), 12 is formed at both ends of each horizontal support to hold the two ropes (18) (20) at the same time from left and right It is made by a pneumatic gripper (1) (2), (3) (4), (5) (6), (7) (8) which can be placed.

Between the uppermost first horizontal support 9 and the lowermost fourth horizontal support 12, two vertical movement guide slide guides 14 and 15 are provided with an inner second and third horizontal support 10. It is formed through the slide bush (16) and (17) of the (11), the vertical movement pneumatic cylinder (13) is mounted between the second and third horizontal support (10, 11), the upper end of the piston rod (13a) Is coupled to the bottom of the first horizontal support (9).

On the left and right sides of the horizontal supports 9, 10, 11, and 12, the pneumatic cylinders 33, 34, 35, 36, 37, 38 are directed toward the glass outer wall 24 of the building. ), (39) (40) and the vacuum pads 25, 26, 27, 28, 29, 30, 31, 32 which are in close contact with or detached from the glass wall by the driving thereof. Is installed.

In addition, on the first horizontal support (9) is provided with a wiper for washing 43 is moved to the left and right by the pneumatic cylinder 41 for the wire reciprocating drive, the cleaning wiper 43 is a pneumatic cylinder for the back, before wiper By 42, the state of the apparatus itself is separated from the glass wall 24, and the cleaning operation is maintained in close contact with the glass wall 24.

Meanwhile, two rows of vertical ropes on which the robot body is suspended are installed on the roof 75 of the building, where a carriage 22 is guided to a horizontal rail 23 and horizontally moved by one section by a manual or electric motor (not shown). (18) and (20) are configured to move horizontally, and are not shown elsewhere in the drawings, but are provided with a compressor for the operation of each pneumatic cylinder and a vacuum pump for the operation of the vacuum pad.

Next, Figure 4 (a), (b) is an electro-pneumatic control circuit diagram to perform the cleaning operation on the glass wall while moving the robot device main body of the present invention in a vertical configuration as follows. As shown, the control circuit includes a relay 44 to 47, a pneumatic solenoid valve 48 to 51, and a vacuum pad for operating the vacuum pad back and forth pneumatic cylinders 33 to 40 by an electric signal. Relays 60 to 55 for applying a vacuum pressure or an atmospheric pressure to the pairs 25 to 32 and the air pressure solenoid valves 56 to 59, and a relay 60 for operating the pneumatic cylinder 13 for vertical movement. And the relay 62 and the pneumatic solenoid valve 63 for the operation of the pneumatic solenoid valve 61 and the wiper forward and backward pneumatic cylinder 42, and the rodless pneumatic cylinder 41 for the reciprocating operation of the wiper. The relay 64 and the pneumatic solenoid valve 65, the relays 66 to 69 and the pneumatic solenoid valves 70 to 73 to operate the pair of left and right pneumatic grippers 1 to 8, and the washing and vertical movement distances Electric input to each relay It is composed of a programmable logic controller (PLC) 74 that controls the sequential operation of the pneumatic solenoid valves by applying a signal.

(A) to (h) of FIG. 5 sequentially show the step-by-step operation of the robot apparatus of the present invention. (A) to (h) to (a) are front views, and (b) is a side view.

First, (a) of FIG. 5 is a reference state in which all pneumatic grippers are operated to hold the two right and left ropes 18 and 20 tightly, and the piston rod 13a of the vertically moving pneumatic cylinder 13 completely exits outward. The wiper 43 for cleaning is separated from the glass wall 24 and all the vacuum pads are in close contact with the glass wall 24 to attach the robot body to the glass wall by vacuum pressure.

(B) of FIG. 5 is a first operation, in which the vacuum state of the vacuum pads 27, 28, 29, 30 formed on the second and third horizontal supports 10, 11 is released and they are pneumatic for forward and backward. Pneumatic grippers 3 and 4 which are separated from the glass wall 24 surface by the cylinders 35, 36, 37 and 38, and formed at the left and right ends of the second and third horizontal supports 10 and 11, respectively. (5) (6) are released and both ropes 18 and 20 are placed.

(C) of FIG. 5 shows the next operation as pneumatic grippers (3) (4) (5) (6) attached to the second and third horizontal supports (10) (11). The piston rod 13a of the vertically moving pneumatic cylinder 13 in the placed state is retracted inward to move the second and third horizontal supports 10 and 11 upwardly toward the first horizontal support 9.

(D) of FIG. 5 shows the next operation as pneumatic grippers (3) (4) (5) (6) attached to the second and third horizontal supports (10) (11) are again loaded (18) (20). Vacuum pads 27, 28, 29 and 30 are held in close contact with the glass wall 24 by pneumatic cylinders 35, 36, 37 and 38 while It shows a fixed state.

(E) of FIG. 5 is a next operation, in which the vacuum state of the vacuum pads 25, 26, 31, 32 formed on the first and fourth horizontal supports 9, 12 is released and the pneumatic cylinder for forward and backward movement ( 33) (34) (39) (40) are separated from the glass wall (24) and the pneumatic grippers (1) (2) (7) (8) are released to release both ropes (18) (20). to be.

(F) of FIG. 5 shows the next operation as pneumatic grippers (1) (2) (7) (8) attached to the first and fourth horizontal supports (9) (12). The piston rod 13a of the vertically moving pneumatic cylinder 13 in the laid state shows a state in which the first and fourth horizontal supports 9 and 12 are moved upward by the battery movement outward.

(G) of FIG. 5 shows that the pneumatic gripper (1) (2) (7) (8) attached to the first and fourth horizontal supports (9) (12) is again connected to the rope (18) (20). And the vibrating pads 25, 26, 31 and 32 are pressed against the glass wall 24 by the pneumatic cylinders 33, 34, 39 and 40 for forward and backward and fixed by vacuum pressure. Shows the status.

(H) of FIG. 5 shows as a next operation the glass wall by the wiper reciprocating pneumatic cylinder 41 in a state where the wiper 43 for cleaning is closely adhered to the glass wall surface by the pneumatic cylinder 42 for the back and front of the wiper. (24) shows the process of reciprocating the left and right.

By completing the vertical movement and washing process from (a) to (h) of FIG.

The cycle is performed, after which the same process is repeated.

FIG. 6 is a flow chart of a logic control program executed by the PLC 74, and the steps 1 to 8 shown in the flowchart are the respective operations from (a) to (h) of FIG. 5 described above. Corresponding to each control operation of the PLC 74 for applying electrical ON and OFF signals to the pneumatic solenoid valve operating relay of the corresponding pneumatic cylinder so as to be sequentially performed. When transitioning from one step to the next, it is possible to adjust with a time delay on the PLC 74 program to have one operation complete and then move on to the next.

Referring to the flowchart of FIG. 6 in relation to FIG. 5, first, when all the relays are turned OFF in the initialization step, the state of FIG. 2 is in (a) and the signals are sequentially sent to the relays as shown in subsequent steps. By turning ON, the operations from (b) to (h) of FIG. 5 are executed.

On the other hand, in Step 8 of FIG. 6, the relay 62 is turned on to close the cleaning wiper 43 to the glass wall 24, and then the relay 64 is turned on so that the cleaning wiper 43 moves to the right. Command to move, but the time delay (T ₁ ) to turn off the relay 64 to turn back to the left side and the relay 64 is turned off to send the cleaning wiper 43 to the left and then turn off the relay 62 The time delay T ₂ until the cleaning wiper 43 is detached from the glass wall 24 can be set by the timer.

Ultimately, when the vertical movement and the washing operation of one cycle are completed, the number of cycles performed by each other and the number of operating cycles input by the operator to the PLC 74 are compared, and the operation from Step 2 to Step 8 until the two values are the same. You will fall in love with it. At this time, since the vertical movement distance in the operation of one cycle corresponds to the stroke distance of the pneumatic cylinder for vertical movement, the total vertical movement distance is calculated by multiplying the stroke length of the pneumatic cylinder for vertical movement by the number of working cycles.

As described above, the robot apparatus of the present invention can automatically wash the glass wall while moving vertically by rope from the roof of a high-rise building composed of glass outer walls, and the horizontal movement is performed by one section by manual or electric motor. This not only eliminates the risk of safety accidents but also saves money by not requiring skilled workers who require high wages. In addition, since the horizontal supports are cleaned while moving the cleaning wipers while they are fixed and fixed to the glass outer wall by the vacuum pads, the cleaning wiper contacts the glass outer wall with equal force even when the wind blows strongly, thus improving the cleaning efficiency. In addition, because the horizontal support is not heard, it is possible to prevent damage to the glass outer wall or damage to pedestrians, vehicles and facilities under the building.

Claims (4)

A carriage 22 horizontally movable on the roof of the building, two rows of ropes 18 and 20 vertically lowered from the carriage, and first to fourth horizontal supports which are liftably supported between the two ropes. (9,10,11,12) and pneumatic grippers (1,2) (3,4) (5,6) (7,8) installed at both ends of the horizontal supports to fix and release the horizontal supports to the rope. And a pneumatic cylinder 13 for vertical movement, which is mounted between the second and third horizontal supports 10 and 11 to vertically move the first and fourth horizontal supports 9 and 12, and each horizontal support 9 Vacuum pads (25, 26) (27, 28) (29, 30) (31, 32) for fixing the 12 to the outer wall of glass, and for the forward and the reverse of bringing these vacuum pads into close contact with or detached from the glass wall. Pneumatic cylinders (33, 34) (35, 36) (37, 38) (39, 40) and the first horizontal support (9) mounted on the left and right reciprocating pneumatic cylinder (41) and pneumatic cylinder for forward and backward 42 moves the glass wall to the left and right and back and forth Washing wiper 43 for washing and PLC 74 for controlling the sequential operation of each solenoid valve of the electro-pneumatic control circuit according to the input cleaning and vertical movement distance, the building robot for cleaning the glass wall Device. The robot apparatus for cleaning a building exterior glass wall according to claim 1, wherein the carriage (22) is fixed to a traveling cart (22 ') that runs left and right on a rail (23) arranged horizontally on a roof of a building. According to claim 1, The two ropes (18, 20) is a robot device for cleaning the building glass exterior wall, characterized in that the weight (19) (21) is suspended at the bottom of each of them to maintain a constant tension. [2] The slide guide according to claim 1, wherein a pair of vertical movement guide slide guides (14, 15) are fixedly installed between the first horizontal support (9) and the fourth horizontal support (12). Slide supports 16 and 17 through which the slide bushes 14 and 15 penetrate are installed on the supports 10 and 11 so that the second and third horizontal supports move vertically between the first and fourth horizontal supports. Robotic device for cleaning the glass outer wall of the building.