WO2015056957A1 - Robot de nettoyage de fenêtres - Google Patents

Robot de nettoyage de fenêtres Download PDF

Info

Publication number
WO2015056957A1
WO2015056957A1 PCT/KR2014/009635 KR2014009635W WO2015056957A1 WO 2015056957 A1 WO2015056957 A1 WO 2015056957A1 KR 2014009635 W KR2014009635 W KR 2014009635W WO 2015056957 A1 WO2015056957 A1 WO 2015056957A1
Authority
WO
WIPO (PCT)
Prior art keywords
coupled
main body
adsorption
frame
elevating
Prior art date
Application number
PCT/KR2014/009635
Other languages
English (en)
Korean (ko)
Inventor
김경식
Original Assignee
김경식
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 김경식 filed Critical 김경식
Publication of WO2015056957A1 publication Critical patent/WO2015056957A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to a window cleaning robot, and more particularly to a window cleaning robot that can automatically clean the glass window provided on the building outer wall.
  • Glass windows provided on the outer wall of the building is not easy to clean the outside of the glass window due to the height of the building. Accordingly, in order to clean the glass windows provided on the outer wall of the conventional building, a service is provided to a professional cleaning company, and the worker is suspended from the outside of the building by directly hanging on a rope or using a gondola to clean the glass window.
  • automatic cleaning robots can reduce the risk, and many automatic cleaning robots can be used to clean the exterior of the building's glass windows at all times for a small fee, helping to keep the building clean.
  • Both ends of the auxiliary shaft are installed with bolts on the left and right conveying members provided at the front and rear ends of the first transfer plate, and both ends of the auxiliary shaft are inserted with lower ends of the circular rails, and the first and second fastening grooves are formed at the upper ends of the circular rails.
  • First reference axes inserted in both ends of the main shaft;
  • Both ends of the auxiliary shafts are installed with bolts on the left and right transfer members provided at the front and rear ends of the second transfer plate, and both ends of the auxiliary shaft are inserted with lower ends of the circular rails, and the first and second fastening grooves are formed at the upper ends of the circular rails.
  • a second reference shaft inserted into both ends of the main shaft, and having one end of the redirection member bolted to the rear surface of the circular rail;
  • First and fourth servo motors are installed in front of the first and second transfer plates to control forward and backward movement of the cleaning robot, and the second and third servo motors and the second reference axis are provided on the left side of the auxiliary axis of the first reference axis.
  • a fifth and sixth servo motors are installed on the right side of the shaft, and a seventh servo motor to which the other end of the direction shifting member to which one end is fastened to the circular rail of the second reference shaft is fixed to the rear surface of the auxiliary shaft;
  • First, second, and third support parts, one end of which is fixed to the upper end of the main axis of the first reference axis, and the fourth, fifth, and sixth support parts of which one end is fixed to the upper part of the main axis of the second reference axis are provided.
  • the support unit is provided with a suction pad connected to the connecting pipe;
  • the main frame lower surface is provided with an injection pump for storing the washing water, an injection nozzle for spraying the washing water from the injection pump, and a nozzle fixing fixture for fixing the injection nozzle, and a motor protruding shaft to one side and both sides.
  • the shaft is provided with a brush protruding from the front and rear ends, the timing belt is connected to the shaft, and consists of a vacuum cleaner provided with a silicon plate and a battery for removing the cleaning material remaining on the glass window.
  • the prior art is composed of a plurality of rails, conveying members, circular rails, reference axes, conveying plates and motors, the design is very complicated and difficult to manufacture, the manufacturing due to the complex configuration There is a problem that the unit price is very expensive.
  • the present invention has been made to solve the problems as described above, by allowing a self-moving through a simple structure design, to reduce the manufacturing cost, to minimize the occurrence of failures, the main body is provided with a cleaning roller, and A vertically swinging movement and the conveying unit through a lifting unit configured to move up and down through a lifting cylinder provided in the transporting member and a lifting unit configured to slide up and down, and axially coupled to the main body to move up and down the lifting unit.
  • An object of the present invention is to provide a window cleaning robot including a leg composed of moving legs having an adsorption member that is capable of simultaneously performing a forward and backward swing movement through the forward and backward movement of the window.
  • the present invention is coupled to the plurality of moving legs provided on the left and right sides of the main body to be coupled to each other in the first frame and the second frame to be coupled to each other so that the stable self movement through the cross-movement of the moving legs
  • An object of the present invention is to provide a glass cleaning robot provided with a height of the uppermost end of each lifting plunger drawn in and out of the first lifting cylinder and the second lifting cylinder being different from each other.
  • the present invention enables the swing leg movement in the direction orthogonal to each other through one axis, that is, the vertical swing movement and the horizontal swing movement, making the window cleaning robot easy, fast, and cost-effective It is an object of the present invention to provide a window cleaning robot formed with a free space along a longitudinal direction of a shaft coupling hole of a moving leg axially coupled to a shaft coupling portion of a main body through a rotating shaft bolt so as to allow a stable movement of the robot. .
  • the present invention is to enhance the adsorption force of the glass window through the adsorption member of the moving legs and at the same time the adsorption cylinder embedded in the cap coupled to the mobile leg to facilitate the separation of the adsorption member from the glass window when the mobile legs are driven, the adsorption cylinder
  • An object of the present invention is to provide a window cleaning robot having an adsorption plunger which is pulled in and out and a adsorption member consisting of adsorption pads which are adsorbed and separated on the glass window by lifting and lowering the adsorption plunger.
  • the window cleaning robot includes a main body provided with a cleaning roller operated by a motor;
  • a conveying unit including a first conveying member and a second conveying member which slide back and forth according to the operation of the cylinder in the main body;
  • An elevating unit comprising a first frame and a second frame coupled to the elevating unit by the first elevating cylinder and the second elevating cylinder provided in each of the conveying members of the conveying unit; And one side is connected to the first frame or the second frame, the other side is provided with an adsorption member provided to be able to be adsorbed on the glass window, the lifting section of the lifting unit with the shaft coupled portion shaft coupled to both sides of the main body axis It consists of a plurality of moving legs to perform a vertical swing movement according to the longitudinal movement and the forward and backward swing movement according to the forward and backward movement of the transfer portion, the movement legs coupled to both side walls of the main body along the longitudinal direction of the main body And a leg portion coupled to
  • the lifting body drawn in and out of the first lifting cylinder and the second lifting cylinder in the glass cleaning robot according to the present invention is characterized in that the height of the uppermost end is provided to be different from each other.
  • the cleaning roller in the glass cleaning robot comprises the shaft coupling part formed through the moving leg and the shaft coupling hole and the rotating shaft bolt coupled to both sides of the main body through the shaft coupling hole.
  • the axial coupling hole is characterized in that it comprises a free space extending along the longitudinal direction of the moving leg.
  • the adsorption member includes a cap coupled to the moving leg, an adsorption cylinder embedded in the cap, an adsorption plunger that is pulled up and down while being drawn in and out of the adsorption cylinder, and the adsorption plunger. Coupled to the lower end is characterized in that it comprises an adsorption pad that is adsorbed and separated on the glass window as the descent.
  • the present invention it is easy to manufacture a window cleaning robot that can smoothly move through the moving legs provided with the adsorption member, it is possible to reduce the manufacturing cost, there is an effect of suppressing the occurrence of failure through the simplification of the structural design.
  • each of the lifting plunger to be drawn in and out of the lifting cylinder provided in each of the transfer member is provided so that the height of the upper end is different from each other in the frame coupled to each lifting cylinder Since the moving legs arranged in a row can be coupled to the frame in the opposite direction without interfering with each other, the left and right balanced moving legs can be driven, thereby ensuring stability when the glass cleaning robot moves.
  • the axial coupling hole constituting the axial coupling portion of the movable leg coupled to the side wall of the main body includes a free space extending along the longitudinal direction of the movable leg, whereby the movable leg is one Swing movement is possible in both vertical and horizontal directions orthogonal to each other through the shaft, making the driving of the cleaning robot easy and stable.
  • the window cleaning robot uses the adsorption plunger to draw in and out of the adsorption cylinder, so that the adsorption pad contracts and relaxes, thereby enhancing the adsorption force of the adsorption member so that the robot falls off the window and falls.
  • the adsorption member can be easily separated from the glass window to ensure stable self-movement of the window cleaning robot.
  • FIG. 1 is a perspective view showing a window cleaning robot according to the present invention.
  • Figure 2 is an exploded perspective view showing a window cleaning robot according to the present invention.
  • 3A and 3B are perspective views for explaining the operation of the window cleaning robot according to the present invention.
  • 4 and 5 are a plan view and a front view for explaining the operation of the glass cleaning robot according to the present invention.
  • FIG. 6 is a cross-sectional view for explaining the adsorption member of the glass cleaning robot according to the present invention.
  • the same reference numerals in particular, the tens and ones digits, or the same digits, tens, ones, and alphabets refer to members having the same or similar functions, and unless otherwise specified, each member in the figures The member referred to by the reference numeral may be regarded as a member conforming to these criteria.
  • the term 'comprises' or 'consists of' is intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof.
  • first or “second”, etc. will be referred to to distinguish between different components, and are not limited to the order of manufacture, and their names are used in the description and the claims. May not match.
  • the non-strict approximate direction reference is specified with reference to FIGS. 4B and 5B, and the direction in which gravity acts downward. , Decide up, down, left and right as you see.
  • Fig. 4A and Fig. 5B the direction in which the motor 130 is located is set to the rear, and the opposite direction is set to the front, and the front and the rear are determined, and in Figs. 4B and 5, In [B], the left, right, or inside and the outside of the center will be described as being mixed, and in the detailed description and claims of the invention related to the other drawings, the direction will be specified according to this standard unless otherwise specified.
  • the windshield cleaning sobot according to the present invention transmits the driving force of the main body 10 and the front and rear swing movement of the moving legs 410 with the cleaning roller 110 largely.
  • the moving unit 20 and the lifting unit 30 to transfer the driving force of the vertical swing movement of the moving legs 410 and the movement to drive by the transfer unit 20 and the lifting unit 30 to move itself It comprises a leg 40 consisting of legs (410).
  • the main body 10 is a plate-like form of the side wall 140 for the mobile legs 410 to be described later axially coupled to protrude upward from the left and right ends in the longitudinal direction It is provided.
  • the main body 10 is provided with a cleaning roller 100 at the front or rear or both, and in order to increase the effectiveness of the window cleaning, a pair of cleaning rollers 110, 120 are provided at both the front and the rear. More preferred.
  • a cleaning member (not shown) made of a material such as cloth or silicon for wiping the glass window is coupled to the outer circumferential surface of the cleaning roller 100 so as to be detachable.
  • the central shafts 111 and 121 of the cleaning roller 100 are rotated along the front and rear sides of the main body 10 so that the cleaning roller 100 rotates in accordance with the front and rear movement of the main body 10.
  • the axially coupled connecting brackets 114 and 124 are provided.
  • a motor 130 for driving the cleaning roller 100 is mounted on the front or rear upper surface of the main body 10, and in the present specification, the motor 130 is located behind the main body 10 for convenience of description. ) Will be described.
  • the first sprocket 112 and the second sprocket 113 are arranged side by side around the outer peripheral surface of the central axis 111 of the rear cleaning roller 110 of the pair of cleaning rollers 100,
  • the drive shaft 131 of the motor 130 is provided with a drive sprocket for connecting to the first sprocket 112 and the first chain belt 113, the central shaft 121 of the front cleaning roller 120 is Interlocking sprockets 122 are provided to be connected to the second sprocket 113 and the second chain belt 115.
  • the window cleaning robot of the present invention is cleaning the outside of the glass window while rotating all the front, rear cleaning rollers 100 through one motor 130 interlock.
  • connection method using a timing belt for example, a connection method using a timing belt, a connection method using a conveyor belt, shaft gear
  • the connection method used may be further considered.
  • the first cylinder 230 and the second cylinder 240 are provided on both sides of the first transfer member 210 and the second transfer member 22 for the front and rear sliding movement of the transfer portion 20 material.
  • the first and second cylinders 230 and 240 may be implemented in various ways such as using pneumatic or hydraulic pressure, but it is more preferable to employ a pneumatic cylinder to prevent contamination due to oil leakage when cleaning the glass window. The same applies to all cylinders described later.
  • the transfer members 210 and 220 are formed in a rod shape having a predetermined length along the forward and backward direction of the main body 10, and the upper surfaces of the main body 10 may be formed on the upper surfaces of the transfer members 210 and 220.
  • Guide member 250 for guiding forward and backward is provided.
  • the first and second transfer members 210 and 220 are first and second transfers drawn out from the first and second cylinders 230 and 240 in the horizontal direction through the connecting pieces 232 and 242.
  • the transfer members 210 and 220 are moved back and forth in connection with the plungers 231 and 241 in accordance with the withdrawal of the transfer plungers 231 and 241.
  • the guide member 250 has a similar 'b' shaped restraint guide having a connecting portion 251a connected to both upper surfaces of the main body 10 and a restricting portion 251b bent inwardly of the main body 10 at the upper end of the connecting portion. 251 and a similar 'T' shaped restraint guide 252 having a restraining portion 252b connected in a direction opposite to each other, that is, the connecting portion 252a connected to the central upper surface of the main body 10.
  • the inner space formed by the constraining portions is provided at the front and the rear of the main body 10 and the similar 'a' shaped restraint guide 251 and the similar 't' shaped restraint guide 252, respectively.
  • the transfer member 210 is used as a guide space to be coupled to guide.
  • Each of the conveying members 210 and 220 may include a plurality of moving legs 410 and a plurality of moving legs 410 through elevating units 30 including elevating cylinders 330 and 340 and frames 310 and 320 which will be described later. Coupled to enable the driving of the forward and backward swing movement of the moving legs 410 in accordance with the forward and backward movement of the transfer member (210) (220).
  • the elevating unit 30 includes a first elevating cylinder 330 and a second elevating cylinder 340 coupled to the center of the upper surface of each of the transfer members 210 and 220, and the elevating cylinder 330 ( The first frame 310 and the second frame 320 are coupled to be moved up and down by the 340.
  • Frames 310 and 320 formed in the longitudinal direction are coupled to upper ends of the elevating plungers 331 and 341 which are drawn out in and out of the elevating cylinders 330 and 340 in the vertical direction.
  • the lifting plungers 331 and 341 further include a connection bracket (not shown) for preventing the frames 310 and 320 from inclining in one of the front and rear directions of the main body 10, thereby providing a frame 310 ( 320 is preferably bolted together.
  • the frames 310 and 320 are formed in a rod shape corresponding to the conveying members 210 and 220, and a plurality of rotating holes are formed in a line along the length direction so that the plurality of moving legs 410 are coupled while being rotated. have.
  • the leg portion 40 is composed of a plurality of moving legs 410, one end of the moving leg 410 is the frame 310, 320 Rotating in the pivoting hole of the connecting portion 410a coupled to allow the vertical and front and rear swing movement through the rotating shaft bolt 141 coupled to the side wall 140 and the other side, the one side is the connecting portion ( It is composed of a support portion 410b is bent downward at the other end of the 410a and provided with an adsorption member 420 to be fixed to the glass window on the other side, the connecting portion 410a and the support portion 410b is integrally manufactured It is preferable.
  • the other side of the connecting portion 410a of the movable leg 410 is provided with a shaft coupling hole 414 penetrated in the vertical direction and is axially coupled to the side wall 140 of the main body 10 through the pivot shaft bolt 141.
  • the shaft coupling hole 414 constituting the shaft coupling portion 419 of the movable leg 410 is a vertical swing according to the forward and backward swing movement according to the forward and backward movement of the transfer portion 20 and the lifting and lowering of the lifting portion 30. It is formed to have a free space extended along the longitudinal direction of the moving leg to enable movement at the same time.
  • the movable leg 410 swings forward and backward about the shaft coupling portion 419 in conjunction with the forward and backward movement of the transfer members 210 and 220.
  • the movement is possible, but in order to separate the adsorption member 420 from the glass window, it is necessary to raise and lower the adsorption member 420 of the moving leg 410.
  • 410 rotates the shaft during vertical swing movement of the moving leg 410 by forming a clearance in one side of the upper and lower ends of the shaft coupling hole 414 to enable the vertical swing movement about the shaft coupling portion 419
  • the interference by the bolt 141 does not occur.
  • the moving legs 410 are arranged in a line in the front and rear direction in a plurality of left and right sides of the main body 10, the inner end is coupled to each of the frame 310, 320, the shaft coupling portion 419 In the axis of the vertical swing in accordance with the lifting and lowering of the lifting unit 30 and the forward and backward swing movement according to the forward and backward movement of the transfer unit 20 to perform the window cleaning robot through the moving leg 410 at the same time. Enable self movement.
  • the moving legs 410 arranged on the left or right side of the main body 10 are coupled to the same frame 310 or 320, respectively, the same direction when the lifting unit 30 and the transfer unit 20 are operated. Only the moving legs of 410 are driven at the same time, so that the adsorption fixation through the adsorption member 420 may cause a left and right imbalance of the main body 10 to ensure a stable self-movement.
  • the left and right moving legs 410 constituting the leg part 40 are connected to the first frame 310 and the second frame 320. Combined to cross-align to ensure a sense of stability of movement.
  • the moving legs 410 on the left side are coupled to each other in order from the front to the first frame 310 and the second frame 320, respectively,
  • the moving legs 410 on the right side are alternately arranged in order from the front to the second frame 320 and the first frame 310, respectively.
  • first moving legs 410A and the second frame 320 are referred to as the first moving legs 410A and the second frame 320. Will be described by dividing the moving leg 410 coupled to the second moving leg 410B.
  • the first frame 310 and the second frame 320 of the present invention are provided such that their respective forming heights are different from each other.
  • each of the elevating plungers 331 and 341 drawn in and out of the first elevating cylinder 330 and the second elevating cylinder 340 of the present invention is provided so that the heights of the uppermost ends thereof are different from each other.
  • the completed state or a state in which a pair of lifting plungers 331 and 341 are inserted into the lifting cylinders 330 and 340, that is, a pair of frames 310 and 320 descend to the frame 310 ( All of the adsorption members 420 of the moving legs 410 coupled to 320 are lifted and plunger 331 drawn in and out of the first lift cylinder 330 in a state in which the swing swing movement is completed about the shaft coupling portion 419.
  • the height of the uppermost end of the) and the height of the uppermost end of the lifting plunger 341 drawn in and out of the second lifting cylinder 340 are different from each other.
  • the first frame 310 when the first frame 310 is moved up and down, the first moving legs 410A swing around the shaft coupling portion 419, and both the lifting cylinders 330 and 340 are pulled out.
  • the second frame 320 is located in the direction (the right direction of the main body 10 in the drawing) is coupled to the first frame 310
  • the clearance height at which the connecting portions 410a of the first moving legs 410A are displaced is not secured, so the vertical swing movement may not be performed.
  • the height of the uppermost end of the elevating plunger 331 (341) in which the position of 320 is determined is different to secure the clearance height for the swing movement.
  • the concept that the heights of the uppermost ends of the elevating plungers 331 and 341 are different is that a pair of elevating cylinders 330 and 340 having the same elevating height of the elevating plungers 331 and 341 are transferred. Is coupled to each of the members (210, 220) to have a different height, or a pair of lifting cylinders (330, 340) to be coupled to the same height to each of the conveying members (210, 220)
  • the elevating cylinders 330, 340 or elevating plungers 331, 341 or both of them have different lengths and are thus coupled so that the heights of the uppermost ends of the elevating plungers 331, 341 are different from each other. It is a comprehensive concept.
  • the height of the first lifting cylinder 330 is higher than the height of the second lifting cylinder 340 to represent that the vertical swing movement of the moving legs 410 intersecting with each other is provided so as not to interfere. It is shown.
  • each of the moving legs 410 of the present invention is provided with an adsorption member 420 at the distal end of the support portion (410b), the moving legs 410 are fixed to the glass window in the non-driven state To be possible.
  • the adsorption member 420 of the moving leg 410 swings down the shaft coupling portion 419 to the shaft, the adsorption member 420 is adsorbed to the glass window, thereby ensuring a strong adsorption force.
  • Each of the adsorption members 420 is moved up and down while being drawn in and out of the cap 421 coupled to the moving leg 410, the adsorption cylinder 422 embedded in the cap 421, and the adsorption cylinder 422.
  • the adsorption plunger 424 is coupled to the lower end of the adsorption plunger 424 is configured to include an adsorption pad 425 is adsorbed and separated on the Yu-Ring window as the ascending and descending of the adsorption plunger 424.
  • the adsorption cylinder 422 is also preferably driven through a pneumatic method, for this purpose, the cap 421 is provided with a through hole 423 through which the pneumatic supply hose 426 can pass.
  • the adsorption cylinder 422 may be connected with two pneumatic supply hoses 426 for drawing in and out of the corresponding plunger, but is connected to one pneumatic supply hose 426 to secure manufacturing ease and reduce the manufacturing cost through pneumatic
  • the adsorption plunger 424 is raised or lowered, and an elastic body is provided inside the adsorption cylinder 422 to provide elastic force to the adsorption plunger 424 in the opposite direction to when the pneumatic pressure is not supplied.
  • the lifting and lowering of the lifting plungers 331 and 341 may be performed.
  • the elastic body is composed of a coil spring 427 and the adsorption plunger 424 is provided to be elastically supported in the downward direction so that the moving leg 410 when the swinging motion of the shaft coupling portion 419 to the shaft down
  • the suction plunger 424 is pulled out of the adsorption cylinder 422 by the elastic force of the coil spring 427 in the state where the supply of the coil spring 427 is not performed, and the adsorption pad 425 is pressed downward to the adsorption space of the adsorption pad 425.
  • the air is discharged to create a vacuum state so as to secure a strong adsorption force, and when the moving leg 410 ascends a swinging motion around the shaft coupling portion 419, a supply of pneumatic pressure is applied to the adsorption plunger 424.
  • the suction pad 425 is pushed upward while being introduced into the cylinder 422 so that the suction pad 425 is easily separated from the glass window.
  • the main body is further equipped with pneumatic supply means for operating the cylinders.
  • the main body 10 further includes a control unit (not shown) for controlling the driving of the window cleaning robot, and the control unit inputs the coordinate information input by inputting the information on the outer wall glass window of the building to be cleaned in advance.
  • the cleaning may be performed while moving on its own, and in some cases, the controller may be connected to the controller 100 in a wired or wireless manner so that an operator directly controls the robot.
  • the front, rear, left and right of the main body 10 is further provided with a sensor (not shown) to move when the obstacle is detected in the moving direction, or if the adsorption member 420 is detected as an empty space without a glass window that can be fixed by adsorption. Can be stopped and avoided drive.
  • the main body 10 may be further provided with a cleaning agent and a water spray device for increasing the cleaning power of the cleaning roller 100, in which case the main body 10 is connected to a separate hose is constantly It is desirable to be supplied.
  • the adsorption members 420 are adsorbed onto the glass window in a state where all the moving legs 410 have completed the downward swing movement, thereby fixing the robot. do.
  • the lifting plungers 331 and 341 of the lifting cylinders 330 and 340 are all lifted and lifted.
  • Frames 310 and 320 coupled with the plungers 331 and 341 are also raised so that all the moving legs 410 are descending on the shaft coupling portion 419, and the swinging motion is completed.
  • the pneumatic pressure is not introduced into the suction cylinder 422 of the 420 and the suction plunger 424 is lowered by the coil spring 427 to be fixed to the window while pressing the suction pad 425 downward.
  • the adsorption plunger 424 is raised to separate the adsorption pad 425 from the glass window, Simultaneously with the separation operation of the suction pad 425, as shown in [B] of FIG. 3A and [B] of FIG. 5, when the first elevating cylinder 330 is operated to lower the elevating plunger 331, the first elevating plunger 331 is lowered. As the frame 310 is lowered, the first moving legs 410A coupled to the first frame 310 are completely separated from the glass window by the upward swing movement of the shaft coupling portion 419.
  • the first cylinder 330 operates to operate the first transfer member 210.
  • the first lifting cylinder 330 and the first frame 310 which are operated backward and thus operate in conjunction with the first transfer member 210, are moved backward and coupled to the first frame 310 so as to be rotatable.
  • the first moving legs 410A move forward along the shaft coupling portion 419 in the forward direction, and the suction members 420 provided on the support parts 410b of the first moving legs 410A are simultaneously moved forward. .
  • the second lift cylinder 340 operates to lower the second frame 320 so that the second transport bridge connected thereto.
  • the first cylinder 230 is operated again to advance the first transfer member 210 so as to interlock with the first frame 310.
  • the main body 10 moves forward by the moving distance of the first transfer member 210. .
  • the second moving legs 410B drive the same as the above-described first moving legs 410A, and the same operation is repeated, and the main body (the distance of the adsorption member 420 of the moving legs 410 is advanced). 10) is advanced.
  • the motor 130 continues to operate to rotate the front and rear cleaning rollers 100 to clean the glass windows of the building exterior wall.
  • the main body 10 is provided with a powder coupled to the components of the transfer unit 20, the lifting unit 30 and the leg portion 40 on the upper surface, the powder is a rotating shaft in the center of the body When it is combined to rotate left and right about the direction of the window cleaning robot needs to change the direction can be moved by switching the direction through the above-mentioned drive after the powder is rotated in one direction.
  • the window cleaning robot according to the present invention facilitates the manufacture of the window cleaning robot, in which the self-moving movement is performed smoothly through the moving legs having the adsorption member, can reduce the manufacturing cost, and suppress the occurrence of failure through the simplification of the structural design. There is therefore industrial applicability.

Landscapes

  • Manipulator (AREA)

Abstract

La présente invention concerne un robot de nettoyage de fenêtres et en particulier un robot de nettoyage de fenêtres pouvant nettoyer automatiquement une fenêtre disposée sur la paroi extérieure d'un bâtiment. Le robot de nettoyage de fenêtres comprend: une unité de transfert composée d'éléments de transfert qui se déplacent vers l'avant et vers l'arrière dans un corps principal; une unité de réglage en hauteur composée de châssis qui sont soulevés et abaissés au moyen de cylindres de réglage en hauteur disposés dans l'unité de transfert; et une unité de pieds composée de pieds mobiles qui sont raccordés aux châssis de manière à être agencés en alternance et qui sont accouplés par des arbres aux deux côtés du corps principal de sorte que les pieds mobiles puissent réaliser un mouvement d'oscillation vers le haut/vers le bas en fonction du soulèvement et de l'abaissement de l'unité de réglage en hauteur et un mouvement d'oscillation vers l'avant/vers l'arrière en fonction d'un mouvement vers l'avant et vers l'arrière de l'unité de transfert par rapport à une unité d'accouplement d'arbres. Par conséquent, le robot de nettoyage de fenêtres réalise le nettoyage à l'aide d'un rouleau de nettoyage tout en se déplaçant automatiquement par l'entraînement des pieds mobiles. La présente invention peut mettre en œuvre une conception structurale simple des pieds mobiles qui requièrent des opérations complexes, ce qui permet de réduire les coûts de fabrication ainsi que les défaillances du robot de nettoyage de fenêtres.
PCT/KR2014/009635 2013-10-18 2014-10-14 Robot de nettoyage de fenêtres WO2015056957A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2013-0124645 2013-10-18
KR1020130124645A KR101375216B1 (ko) 2013-10-18 2013-10-18 유리창 청소 로봇

Publications (1)

Publication Number Publication Date
WO2015056957A1 true WO2015056957A1 (fr) 2015-04-23

Family

ID=50648910

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2014/009635 WO2015056957A1 (fr) 2013-10-18 2014-10-14 Robot de nettoyage de fenêtres

Country Status (2)

Country Link
KR (1) KR101375216B1 (fr)
WO (1) WO2015056957A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105662266A (zh) * 2016-04-13 2016-06-15 京东方科技集团股份有限公司 一种擦玻璃机器人及其工作方法
CN106388689A (zh) * 2016-10-18 2017-02-15 河池学院 一种机器人自动化擦玻璃系统
WO2018220090A1 (fr) * 2017-06-02 2018-12-06 Veymont Technologie Robot autonome notamment destine a nettoyer une surface vitree
CN108937699A (zh) * 2018-06-05 2018-12-07 佛山市豪洋电子有限公司 智能擦玻璃机器人
WO2019024180A1 (fr) * 2017-08-01 2019-02-07 蓝兆彤 Robot de nettoyage de fenêtre à cycle de vapeur auto-propulsé pneumatique
CN111114721A (zh) * 2019-12-30 2020-05-08 广州航海学院 一种吸附式水下机器人
CN112716399A (zh) * 2021-01-15 2021-04-30 北京工业大学 一种光伏幕墙空腔清洁机器人的清洁吸附装置
CN113287989A (zh) * 2021-07-07 2021-08-24 北京工业职业技术学院 一种玻璃幕墙清洁机器人及其清洁步态规划方法
CN115104942A (zh) * 2022-06-28 2022-09-27 集美大学 一种擦玻璃机器人的清洁方法
CN118058644A (zh) * 2024-04-18 2024-05-24 河南欢徕科技有限公司 一种建筑幕墙清洁装置及其行走方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101699619B1 (ko) * 2015-08-26 2017-01-24 김영선 자동 창문 청소장치
CN106264310B (zh) * 2016-09-08 2019-03-12 肇庆市小凡人科技有限公司 一种滚筒式玻璃幕墙清洁机器人
CN114158991B (zh) * 2021-12-17 2022-09-23 杭州电子科技大学 一种墙面清洗机器人及其在墙面进行清洁与移动的方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0401120A1 (fr) * 1989-06-02 1990-12-05 Bouygues Robot mobile commandable à distance pour intervenir sur une surface, notamment pour le nettoyage d'une façade verrière.
US5959424A (en) * 1997-04-11 1999-09-28 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Drive device for moving a robot or vehicle on flat, inclined or curved surfaces, particularly of a glass construction and robot with drive device
WO2006083094A1 (fr) * 2005-02-02 2006-08-10 Joon Mo Yang Robot du type a absorption a deplacement tridimensionnel et procede de deplacement de ce dernier
KR100878880B1 (ko) * 2007-09-27 2009-01-15 한국산업기술대학교산학협력단 건물 외면의 유리창 청소로봇

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6092173A (ja) * 1983-10-26 1985-05-23 Toshiba Corp 移動体

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0401120A1 (fr) * 1989-06-02 1990-12-05 Bouygues Robot mobile commandable à distance pour intervenir sur une surface, notamment pour le nettoyage d'une façade verrière.
US5959424A (en) * 1997-04-11 1999-09-28 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. Drive device for moving a robot or vehicle on flat, inclined or curved surfaces, particularly of a glass construction and robot with drive device
WO2006083094A1 (fr) * 2005-02-02 2006-08-10 Joon Mo Yang Robot du type a absorption a deplacement tridimensionnel et procede de deplacement de ce dernier
KR100878880B1 (ko) * 2007-09-27 2009-01-15 한국산업기술대학교산학협력단 건물 외면의 유리창 청소로봇

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105662266A (zh) * 2016-04-13 2016-06-15 京东方科技集团股份有限公司 一种擦玻璃机器人及其工作方法
CN105662266B (zh) * 2016-04-13 2018-01-26 京东方科技集团股份有限公司 一种擦玻璃机器人及其工作方法
CN106388689A (zh) * 2016-10-18 2017-02-15 河池学院 一种机器人自动化擦玻璃系统
WO2018220090A1 (fr) * 2017-06-02 2018-12-06 Veymont Technologie Robot autonome notamment destine a nettoyer une surface vitree
FR3066942A1 (fr) * 2017-06-02 2018-12-07 Veymont Technologie Robot autonome notamment destine a nettoyer une surface vitree
WO2019024180A1 (fr) * 2017-08-01 2019-02-07 蓝兆彤 Robot de nettoyage de fenêtre à cycle de vapeur auto-propulsé pneumatique
CN108937699A (zh) * 2018-06-05 2018-12-07 佛山市豪洋电子有限公司 智能擦玻璃机器人
CN111114721A (zh) * 2019-12-30 2020-05-08 广州航海学院 一种吸附式水下机器人
CN112716399A (zh) * 2021-01-15 2021-04-30 北京工业大学 一种光伏幕墙空腔清洁机器人的清洁吸附装置
CN113287989A (zh) * 2021-07-07 2021-08-24 北京工业职业技术学院 一种玻璃幕墙清洁机器人及其清洁步态规划方法
CN115104942A (zh) * 2022-06-28 2022-09-27 集美大学 一种擦玻璃机器人的清洁方法
CN115104942B (zh) * 2022-06-28 2023-12-05 集美大学 一种擦玻璃机器人的清洁方法
CN118058644A (zh) * 2024-04-18 2024-05-24 河南欢徕科技有限公司 一种建筑幕墙清洁装置及其行走方法

Also Published As

Publication number Publication date
KR101375216B1 (ko) 2014-03-18

Similar Documents

Publication Publication Date Title
WO2015056957A1 (fr) Robot de nettoyage de fenêtres
US10590667B2 (en) Automatic wall adhesion and cleaning system
CN111112256B (zh) 一种应用于冶炼炉内腔的清理装置
WO2011139123A2 (fr) Système de mur rideau
CN110615279A (zh) 一种用于瓷砖生产的上料装置及其使用方法
WO2015147388A1 (fr) Machine de nettoyage automatique
KR102448418B1 (ko) 고층빌딩 유리창 청소로봇
CN204917079U (zh) 一种物料盘自动输送装置
WO2011059161A1 (fr) Distributeur de pièces empilable
CN205107541U (zh) 立面清洁机
CN111236675A (zh) 一种外墙清洗机器人
CN112264236B (zh) 一种人防门自动喷涂设备
CN205379422U (zh) 一种便盆清洗烘干装置
CN205556016U (zh) 三维剪刀式工作台
CN108465654A (zh) 一种窑车自动清洗器
CN211130847U (zh) 一种可跨越多层障碍提供清洗玻璃幕墙的机器设备系统
CN211140813U (zh) 一种用于瓷砖生产的上料装置
CN217411961U (zh) 一种压辊升降组件
ITMI20060911A1 (it) Dispositivo per la movimentazione di autovetture in autosili con sistema di sollevamento perfezionato
CN110552515B (zh) 自动墙面清洗机构及墙面吸附装置
CN205556783U (zh) 一种搪瓷管裹瓷机
KR100536908B1 (ko) 건축물의 외벽청소장치
CN211548845U (zh) 一种装配式建筑高空操作平台
CN106491037A (zh) 一种立面清洁机
CN108725619A (zh) 一种自动吸附式爬壁机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 14854455

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 14854455

Country of ref document: EP

Kind code of ref document: A1