WO2017039304A1 - Dispositif de nettoyage - Google Patents

Dispositif de nettoyage Download PDF

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Publication number
WO2017039304A1
WO2017039304A1 PCT/KR2016/009705 KR2016009705W WO2017039304A1 WO 2017039304 A1 WO2017039304 A1 WO 2017039304A1 KR 2016009705 W KR2016009705 W KR 2016009705W WO 2017039304 A1 WO2017039304 A1 WO 2017039304A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
unit
pair
diatomaceous earth
vibration
Prior art date
Application number
PCT/KR2016/009705
Other languages
English (en)
Korean (ko)
Inventor
김종원
김태균
유성근
전영재
김재홍
김화수
Original Assignee
서울대학교 산학협력단
경기대학교 산학협력단
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
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Application filed by 서울대학교 산학협력단, 경기대학교 산학협력단 filed Critical 서울대학교 산학협력단
Publication of WO2017039304A1 publication Critical patent/WO2017039304A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings

Definitions

  • the present invention relates to a cleaning apparatus, and more particularly, to a cleaning apparatus for cleaning a building outer wall using diatomaceous earth.
  • Korean Patent Application No. 10-2000-0047600 (building outer wall and window glass cleaning robot) describes a cleaning robot for cleaning the building outer wall using a roller brush.
  • the background art described above is technical information that the inventors possess for the derivation of the present invention or acquired in the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention. .
  • One embodiment of the present invention is to provide a cleaning device.
  • a cleaning part including a vibration pad for cleaning the one surface in contact with one surface of the cleaning object, the cleaning part, the vibration pad It may include a diatomaceous earth supply unit for supplying diatomaceous earth to the vibration pad and a vibration unit for vibrating the diatomaceous earth supply.
  • one embodiment of the present invention can clean the fixed dust of the cleaning object by using the vibration of the diatomaceous earth and the vibration unit.
  • an embodiment of the present invention including the suction unit can recover the used diatomaceous earth and suck the dust.
  • one embodiment of the present invention can clean the entire outer wall of the building at a uniform pressure.
  • an embodiment of the present invention can detect and avoid obstacles present in the moving direction of the cleaning device using the distance sensor.
  • one embodiment of the present invention can clean the fixed dust of the cleaning object by using the vibration of the diatomaceous earth and the vibration unit.
  • an embodiment of the present invention including the suction unit can recover the used diatomaceous earth and suck the dust.
  • one embodiment of the present invention can clean the entire outer wall of the building at a uniform pressure.
  • an embodiment of the present invention can detect and avoid obstacles present in the moving direction of the cleaning device using the distance sensor.
  • FIG. 1 is a perspective view schematically showing a cleaning unit 100 of a cleaning apparatus 1000 according to an embodiment of the present invention
  • Figure 2 is a cleaning unit 100 of a cleaning apparatus 1000 according to an embodiment of the present invention.
  • front indicating a direction is used only for convenience of description to refer to a cleaning surface in contact with a cleaning object, and does not necessarily mean that the corresponding configuration in the actual cleaning device 1000 is the front.
  • the cleaning apparatus 1000 of the present invention may be a device for cleaning a cleaning object mounted on a robot platform that moves by itself, such as a climbing robot platform configured to climb an outer wall of a building. And the cleaning device 1000 of the present invention is to clean the cleaning object by using the vibration of the diatomaceous earth and the cleaning unit 100 instead of directly cleaning the cleaning object using water and detergent.
  • the cleaning apparatus 1000 may include a cleaning part 100.
  • the cleaning unit 100 fixes the vibrating pad 160, vibrates the vibrating pad 160 including diatomaceous earth, and means a component for cleaning one surface of the cleaning object.
  • diatomaceous earth is a material used to effectively remove dust when the dust is fixed on one surface of the object to be cleaned
  • one embodiment of the present invention can use diatomaceous earth to remove the fixed dust of the building exterior wall.
  • the vibration mechanism may be used to remove dust from the building exterior walls by using diatomaceous earth to cause friction with the object to be cleaned.
  • the cleaning apparatus 1000 may include at least one cleaning unit 100.
  • the cleaning unit 100 may be determined in consideration of the length or size of the distance adjusting unit 200 to be described later and the width of one surface to be cleaned, and the cleaning apparatus 1000 includes two or more cleaning units 100.
  • the cleaning unit 100 may be arranged in a line along the longitudinal direction of the cleaning apparatus 1000.
  • the cleaning unit 100 may include a vibrating unit 110 for vibrating the vibrating pad 160 and a diatomaceous earth supply unit 120 for supplying diatomaceous earth to the vibrating pad 160.
  • the vibration unit 110 of the present invention may include a vibration plate 111.
  • the shape of the front surface of the diaphragm 111 is easy to attach the vibration pad 160, it may be a rectangular plate shape that can increase the cleaning efficiency irrespective of the shape of the cleaning object.
  • the front surface of the diaphragm 111 may be provided with a vibration pad attachment means (not shown) for fixing the vibration pad 160.
  • the front of the diaphragm 111 and the rear surface of the vibration pad 160 may be formed in a shape corresponding to each other.
  • the vibrator 110 may include a vibrator 112.
  • the vibrating body 112 may be designed to transmit vibrations to the diaphragm 111 and the vibrating pad 160.
  • the front surface of the vibration plate 111 and the rear surface of the vibration pad 160 should be in close contact with each other, and the vibration direction of the vibration body 112 should be parallel to the vibration pad 160, that is, parallel to one surface of the cleaning object. ) May be located in the rear direction of the diaphragm 111.
  • the vibrating body 112 may be installed at the center of the rear surface of the diaphragm 111 to evenly transmit vibration to the entire diaphragm 111.
  • the vibrating body 112 may be formed to supply sufficient vibration not only to the diaphragm 111 but also to the diatomaceous earth supply unit 120.
  • the vibrating body 112 may extend vertically between the power transmission shaft 140 and the vibration plate 111 from the power transmission shaft 140 to be described later.
  • the shape of the vibrating body 112 in order to vibrate in the widest possible range by receiving torque from the outside may have a shape in which the cross section becomes wider from the power transmission shaft 140 to the diaphragm 111.
  • the vibrator 112 may have a substantially triangular shape in which the width thereof becomes wider from the rear surface to the front surface, but is not limited thereto.
  • the vibrator 110 may include one or more ball rollers 113 on the rear surface of the diaphragm 111.
  • the shape of the ball roller 113 is a spherical shape and can be used to fix or pressurize the member in a specific direction.
  • the ball roller 113 may apply pressure toward the vibration pad 160 on the diaphragm 111.
  • the ball roller 113 may be installed at each of the rear edges of the diaphragm 111, and the vibrator 110 includes a vibrating frame 114 extending from the vibrator 112 toward the ball roller 113.
  • One end of the vibrating frame 114 connected to the ball roller 113 may be a direction perpendicular to one surface of the cleaning target.
  • the vibrating frame 114 extends from the vibrating body 112 toward the edge of the vibrating plate 111 and fixes the ball roller 113.
  • the cleaning unit 100 may include a diatomaceous earth supply unit 120.
  • Diatomaceous earth supply unit 120 is a configuration for supplying diatomaceous earth to the vibration pad 160 using the vibration of the vibration unit (110).
  • the diatomaceous earth supply unit 120 may include a diatomaceous earth supply container 121 for storing the diatomaceous earth and a supply line 122 for supplying the diatomaceous earth to the vibration pad 160.
  • the position of the diatomaceous earth supply cylinder 121 may be an upper portion in the gravity direction than the vibration pad 160 to supply diatomaceous earth using the vibration and gravity of the vibration unit 110.
  • Diatomaceous earth supply container 121 may include a predetermined storage space for storing the diatomaceous earth. Specifically, in order to supply stable diatomaceous earth regardless of the magnitude of the vibration, the diatomaceous earth supply cylinder 121 may have a shape in which the cross section is narrowed toward the outlet. At this time, the outlet is disposed below the gravity direction of the diatomaceous earth supply cylinder 121.
  • the diatomaceous earth supply cylinder 121 is fixed to the vibrating body 112 directly or indirectly through a separate frame, it may vibrate with the vibrating body (112).
  • the diatomaceous earth supply unit 120 may also include a supply line 122.
  • the supply line 122 may serve to supply diatomaceous earth, which exits from the diatomaceous earth supply container 121, through the outlet, to the vibration pad 160. To this end, the supply line 122 may extend from the outlet of the diatomaceous earth feed to the top of the gravity direction of the vibration pad 160.
  • Supply line 122 may use a flexible material to facilitate the supply of diatomaceous earth.
  • the supply line 122 may be formed to a length such that the diatomaceous earth supply cylinder 121 and the vibration pad 160 are not easily twisted.
  • the cleaning unit 100 may include a suction unit 130 for sucking dust and diatomaceous earth remaining on one surface of the cleaning object after the vibration pad 160 vibrates in contact with one surface of the cleaning object.
  • the suction unit 130 may include an impeller 131 for generating a suction force.
  • Impeller 131 is a component for generating a suction force to a predetermined member in the present invention to suck the diatomaceous earth supplied to the vibration pad 160, the dust dropped by the friction of the vibration pad 160 and one surface of the cleaning object. Can generate suction force.
  • the impeller 131 may be coupled to the power transmission shaft 140 to be described later to generate a suction force.
  • the vibrating body 112 may be arranged between the impeller 131 and the diaphragm 111.
  • the power transmitted to the power transmission shaft 140 to be described later in the motor 150 to be described later includes the power to rotate the power transmission shaft 140 and the power to vibrate the power transmission shaft 140
  • the power transmission shaft The force for vibrating 140 may be transmitted to the diaphragm 111, and the force for rotating the power transmission shaft 140 may be transmitted to the impeller 131.
  • the suction unit 130 may include a suction port 132 that sucks dust and diatomaceous earth using the suction force of the impeller 131.
  • the suction port 132 may be disposed under the gravity direction of the vibration plate 111, and the inlet direction of the suction port 132 may be cleaned. Can face the subject. In addition, the suction port 132 may extend over the entire width direction of the vibration pad 160.
  • the shape of the suction port 132 may be such that the cross-sectional area of the inlet is wider and the cross-sectional area is narrower toward the outlet.
  • the inlet of the inlet 132 should have the length of both ends in the longitudinal direction equal to the length of the entire cleaning unit 100 in order to suck all the diatomaceous earth and dust remaining in the cleaning object.
  • the suction part 130 may be installed, or several suction parts 130 may be installed, but when the suction part 130 is one, the suction part ( The longitudinal length of 130 must be equal to the length of the entire cleaning part 100, and if there are several suction parts 130, the sum of the total lengths of the suction parts 130 must be equal to the sum of the total length of the cleaning parts 100. .
  • the brush 133 may be attached to the inlet of the suction port 132 toward the cleaning target.
  • the suction unit 130 may include a joint pipe 134 which is a path through which dust and diatomaceous earth sucked into the suction port 132 move to the impeller 131.
  • the fitting pipe 134 may be designed using an elastic material.
  • the fitting pipe 134 may be formed to a length such that it is not easily twisted in consideration of the positions of the suction port 132 and the impeller 131.
  • the cleaning device 1000 may include a power transmission shaft 140 for transmitting power to the cleaning unit 100.
  • the power transmission shaft 140 may be coupled to the impeller 131 and the motor 150 to be described later, and may serve to transmit the rotational force of the motor 150 to the impeller 131 while rotating in a direction opposite to the rotation direction of the motor.
  • the power transmission shaft 140 may be configured in the shape of a cylinder.
  • the impeller 131 may be configured in plural. For example, when three diaphragms 111 are configured in a line as shown in the drawing, the impeller 131 may be disposed to be vertically spaced vertically from an approximately center of the rear surface of each diaphragm 111. .
  • the power transmission shaft 140 may extend in close proximity to each impeller 131 in parallel with the diaphragm 111 so as to transmit power to all the impellers 131 spaced a predetermined distance from the diaphragm 111, respectively.
  • the vibrating body 112 may be provided in plural so as to have a predetermined height vertically from an approximately center of the rear surface of each diaphragm 111, and thus the tip extending from the rear surface of the diaphragm 111 of the vibrating body 112 Is spaced apart from the diaphragm 111 by a predetermined distance. Therefore, the power transmission shaft 140 may be arranged to extend close to the tip of each vibrating body 112.
  • each vibrating body 112 or each impeller 131 from the power transmission shaft 140, each gear connected to the front end of the power transmission shaft 140 and the vibrating body 112, the rotary shaft of the impeller 131, respectively. (Not shown) can be engaged to receive power.
  • the cleaning unit 100 may include a motor 150.
  • the motor 150 is a component that converts electrical energy into mechanical energy.
  • the motor 150 may convert the electrical energy into a rotational force at the time of supplying the electrical energy and transmit the electrical energy to the power transmission shaft 140.
  • one end of the motor 150 in the longitudinal direction may include an eccentric member (not shown) in which the center of rotation of the motor 150 is the same and the center of gravity does not coincide with the center of rotation.
  • the eccentric member included in one end of the motor 150 also rotates.
  • the center of gravity does not coincide with the center of rotation so that the motor 150 vibrates as a whole. do. Through this, the motor 150 may also generate vibration at the same time as the rotation.
  • One motor 150 may be attached to the entire cleaning apparatus 1000. Simultaneous implementation of the vibration and suction mechanism in one motor 150 can maximize the efficiency of the cleaning device.
  • the cleaning device 1000 may raise and lower one surface of the cleaning object.
  • the cleaning device 1000 is less efficient as the weight of the cleaning device 1000 is heavier. Therefore, in the present invention, by simultaneously implementing the supply mechanism of the vibration and suction, and also diatomaceous earth with one motor 150 can minimize the weight of the cleaning device 1000 can increase the efficiency of the entire cleaning device.
  • the front surface of the vibration pad 160 includes a movement passage 161 through which diatomaceous earth can move.
  • the movement passage 161 is recessed from the front surface of the vibration pad 160 and has a predetermined angle in parallel with the first movement passage 161a and a predetermined angle extending in the upper left direction to the lower right direction in parallel. At least one second movement path 161b extending from the upper right side to the lower left direction may be included, and the first movement path 161a and the second movement path 161b may cross each other.
  • the movement passage 161 may include an inlet 162 at the top of the gravity direction of the vibration pad 160.
  • the inlet 162 may be a passage for introducing diatomaceous earth from the supply line 122 into the vibration pad 160 as a component of the vibration pad 160 connected to the supply line 122.
  • the movement passage 161 allows diatomaceous earth to move slowly and uniformly from the top of the vibration pad 160 toward the bottom when the vibrator 110 vibrates.
  • the cleaning unit 100 may include a damping unit 170 to damp the vibration so that the vibration of the vibration unit 110 is not transmitted to the distance adjusting unit 200 or the coupling unit 300.
  • the damping unit 170 may be disposed at both ends of the vibration unit 110 to attenuate the vibration transmitted to the distance controller.
  • the damping unit 170 may be made of a material capable of damping vibration, and for example, may use high elastic rubber.
  • FIG 3 is a perspective view schematically showing a cleaning device 1000 according to an embodiment of the present invention
  • Figure 4 is a schematic view of the distance control unit 200 of the cleaning device 1000 according to an embodiment of the present invention.
  • Figure 5 is a perspective view
  • Figure 5 is a perspective view schematically showing the coupling portion 300 of the cleaning apparatus 1000 according to an embodiment of the present invention.
  • the cleaning apparatus 1000 may include a coupling part 300 and a coupling part 300 which are detachably coupled to a moving robot platform moving along one surface of a cleaning object as well as the cleaning part 100.
  • the distance adjusting part 200 may be coupled to the cleaning part 100 to adjust the relative distance and angle of the coupling part 300 and the cleaning part 100.
  • the distance adjusting part 200 may be disposed between the cleaning part 100 and the coupling part 300 to be described later.
  • the distance adjusting part 200 adjusts the relative distance and angle of the cleaning part 100 and the coupling part 300 to enable cleaning even if there are irregularities and inclinations on the cleaning object.
  • the distance adjusting unit 200 may include a pair of fixed frames 210 and 211 facing each other and each having a rectangular frame shape perpendicular to the longitudinal direction of the distance adjusting unit 200.
  • the lengths of the fixing frames 210 and 211 may approximately correspond to the overall width of the cleaning part 100, and the heights of the fixing frames 210 and 211 may correspond substantially to the overall height of the cleaning part 100.
  • the pair of fixed frames 210 and 211 including the first fixed frame 210 and the second fixed frame 211 may be fixed at both ends of the distance adjusting part 200 in the longitudinal direction, respectively. Both ends of the cleaning unit 100 may be coupled to and supported by the pair of fixed frames 210 and 211, respectively, and the actuators 272 and 273 which will be described below may be coupled and supported, and a pair of guide rods to be described later ( 220, 230 may be combined.
  • the pair of fixing frames 210 and 211 including the first fixing frame 210 and the second fixing frame 211 serves to support the entire cleaning apparatus 1000 so as not to be twisted, and also the first connection part to be described later.
  • the 240 and the second connector 241 restrain the degree of freedom so as not to move beyond the respective fixed frames 210 and 211.
  • the distance adjusting unit 200 includes at least a pair of guide rods (220, 230).
  • the pair of guide rods 220 and 230 including the first guide rod 220 and the second guide rod 230 may be disposed between the pair of fixing frames 210 and 211.
  • the cleaning apparatus 1000 may include a first guide rod 220 extending from one end of the first fixing frame 210 to one end of the second fixing frame 211 and the other end of the first fixing frame 210. It may include a second guide rod 230 extending to the other end of the second fixing frame 211.
  • the first guide rod 220 and the second guide rod 230 may be guided through a pair of connecting portions 240 and 241 through which the connecting portions 240 and 241 move.
  • the first guide rod 220 and the second guide rod 230 may include two components each divided based on the center frame 260.
  • the first guide rod 220 is fixed between the first left guide rod 220a and the second fixed frame 211 to the center frame 260 between the first fixing frame 210 and the center frame 260. It may include a first right guide rod 220b.
  • the second guide rod 230 is fixed between the second left guide rod 230a and the second fixing frame 211 and the center frame 260 fixed between the first fixing frame 210 and the center frame 260. It may include a second right guide rod 230b.
  • the expressions 'left' and 'right' indicating directions are merely used for convenience of description by illustrating a case in which the distance adjusting units are arranged in the state shown in FIG. 4, and the corresponding configuration in the actual cleaning device 1000 is used. It does not necessarily mean that it is arranged left and right.
  • the first left guide rod 220a may guide the way that one end of the first connecting portion 240 moves, and the first right guide rod 220b guides the way that one end of the second connecting portion 241 moves. can do.
  • the second left guide rod 230a may guide the way that the other end of the first connector 240 moves, and the second right guide rod 230b may move the other end of the second connector 241. Can guide.
  • the distance adjusting unit 200 includes a pair of connecting parts 240 and 241 including a first connecting part 240 and a second connecting part 241, and a first distance adjusting rod 250 and a second distance adjusting rod ( 251), the third distance adjusting rod 252 and the fourth distance adjusting rod 253 including two pairs of distance adjusting rods (250, 251, 252, 253).
  • the first connector 240 extends perpendicularly to the first left guide rod 220a and the second left guide rod 230a, and both ends of the first connection guide rod 220a and the second left guide rod 230a.
  • the first left guide rod 220a and the second left guide rod 230a may be coupled to be movable.
  • first connector 240 may be coupled to the first distance control rod 250 and the third distance control rod 252.
  • first distance adjusting rod 250 and the third distance adjusting rod 252 may be rotatably coupled to the first connection portion 240.
  • the first connection part 240 may adjust the relative distances and angles of the coupling part 300 and the cleaning part 100 to be described later while moving on the first left guide rod 220a and the second left guide rod 230a.
  • the second connecting portion 241 extends perpendicularly to the first right guide rod 220b and the second right guide rod 230b, and both ends thereof are connected to the first right guide rod 220b and the second right guide rod 230b.
  • the first right guide rod 220b and the second right guide rod 230b may be coupled to be movable.
  • the second connector 241 may be coupled to the second distance control rod 251 and the fourth distance control rod 253.
  • the second distance adjusting rod 251 and the fourth distance adjusting rod 253 may be rotatably coupled to the second connecting portion 240.
  • the second connector 241 may adjust the relative distance and angle of the coupling part 300 and the cleaning part 100 to be described later while moving on the first right guide rod 230b and the second right guide rod 231b.
  • connection parts 240 and 241 in order for the connection parts 240 and 241 to be movably coupled to the guide rods 220 and 230, a pair of connection parts 240 and 241 including a first connection part 240 and a second connection part 241. Each may include a pair of bushes 242 and 243.
  • the bushes 242 and 243 refer to a thin cylinder that fits into the inner surface of the hole. In general, the bushes 242 and 243 are used to fix a predetermined member and another member penetrating the predetermined member.
  • the bushes 242 and 243 are formed through one end of the first connector 240 and the second connector 241, and the first bush 242 and the first connector 240 through which the first guide rods 220 and 221 pass. And a second bush 243 formed through the other end of the second connector 241 and through which the second guide rods 230 and 231 pass.
  • the first bush 242 includes a first left bush 242a through which one end of the first connector 240 is formed and through which the first left guide rod 220a passes.
  • the first left bush 242a allows the first left guide rod 220a to penetrate and be fixed to one end of the first connector 240.
  • first bush 242 includes a first right bush 242b formed through one end of the second connecting portion 241 and through which the first right guide rod 220b passes.
  • the first right side bush 242b allows the first right side guide rod 220b to pass through and be fixed to one end of the second connecting portion 241.
  • the second bush 243 includes a second left bush 243a formed through the other end of the first connecting portion 240 and passing through the second left guide rod 230a.
  • the second left bush 243a allows the second left guide rod 230a to penetrate and be fixed to the other end of the first connector 240.
  • the second bush 243 includes a second right bush 243b formed through the other end of the second connector 241 and passing through the second right guide rod 230b.
  • the second right side bush 243b allows the second right side guide rod 230b to pass through and be fixed to the other end of the second connecting portion 241.
  • the inner diameters of the bushes 242 and 243 are larger than the outer diameters of the guide rods 220 and 230 so that the connecting portions 240 and 241 including the bushes 242 and 243 can move along the outer circumferential surfaces of the guide rods 220 and 230. .
  • connection parts 240 and 241 may have through holes 246 and 247 formed between the pair of bushes 242 and 243 included in the connection parts 240 and 241, respectively.
  • the first connector 240 may have a first through hole 246 formed between the first left bush 242a and the second left bush 243a.
  • the second connection part 241 may have a second pipe v hole 247 formed between the first right bush 242b and the second right bush 243b.
  • the through holes 246 and 247 pass through corresponding ball screws 270 and 271, respectively, and the inner circumferential surface thereof has a shape corresponding to a screw thread formed on the outer circumferential surface of the penetrating ball screws 270 and 271.
  • the ballscrews 270 and 271 may transmit a force to the connecting portions 246 and 247.
  • the first ball screw 270 passes through the first through hole 246, and the inner circumferential surface of the first through hole 246 has a shape corresponding to a screw thread formed on the outer circumferential surface of the first ball screw 270. Through this, the first ball screw 270 may transmit a force to the first through hole 246.
  • the second ball screw 271 passes through the second through hole 247, and the inner circumferential surface of the second through hole 247 has a shape corresponding to a screw thread formed on the outer circumferential surface of the second ball screw 271. Through this, the second ball screw 271 may transmit a force to the second through hole 247.
  • Lower ends of the first distance adjusting rod 250 and the third distance adjusting rod 252 may be coupled to both ends of the first connecting portion 240, respectively, and the upper end thereof may be coupled to the coupling portion 300. Both the upper and lower ends may be rotatably coupled, and the relative distances and angles of the coupling part 300 and the cleaning part 100 are moved and rotated by the first distance adjusting rod 251 and the third distance adjusting rod 252. Can be changed.
  • the expressions 'lower' and 'upper' indicating the direction illustrate the case in which the components of the distance adjusting unit are arranged in the state shown in FIG. 4, and are used for convenience of description, and correspond to the actual cleaning device 1000. This does not mean that the arrangement is necessarily arranged on the left and right axes.
  • the lower ends of the second distance adjusting rod 251 and the fourth distance adjusting rod 253 may be coupled to both ends of the second connecting portion 241, respectively, and the upper end thereof may be coupled to the coupling portion 300. Both the upper and lower ends may be rotatably coupled, and the relative distances and angles of the coupling part 300 and the cleaning part 100 are moved and rotated by the second distance adjusting rod 251 and the fourth distance adjusting rod 253. Can be changed.
  • connection parts 240 and 241 move along the guide rods 220 and 230, respectively, such that the lower ends of the distance adjusting rods 250, 251, 252 and 253 of the connection parts 240 and 241 connect the connection parts 240 and 241. Move along. In this case, both ends of the distance adjusting rods 250, 251, 252, and 253 are free to rotate, and thus, the distance adjusting rods 250, 251, 252, and 253 are moved by the bottom of the distance adjusting rods 250, 251, 252, and 253. The angle between the coupling parts 240 and 241 and the distance adjusting rods 250, 251, 252 and 253 and the guide rods 220, 221, 222 and 223 is also changed.
  • connection parts 240 and 241 may be distance adjusting units ( When moving toward the longitudinal center of the 200, the distance adjustment bar (250, 251, 252, 253) and the angle formed by the guide rods (220, 221, 222, 223) is increased, the distance control unit 200 is coupled to ( 240, 241).
  • the connecting parts 240 and 241 move outward in the longitudinal direction of the distance adjusting part 200, the angle formed by the distance adjusting rods 250, 251, 252, and 253 and the guide bars 220, 221, 222, and 223 is The distance adjusting unit 200 becomes smaller and closer to the coupling unit 300.
  • connection parts 240 and 241 and the distance adjusting rods 250, 251, 252, and 253 are independently configured on both sides of the distance control part 200 in the longitudinal direction, respectively, and the moving directions of the respective connection parts 240 and 241.
  • the relative angle between the distance adjusting unit 200 and the coupling unit 240 and 241 may also change according to the distance change between each end of the distance adjusting unit 200 and the coupling units 240 and 241.
  • the distance adjusting unit 200 may include a central frame 260 formed in the center of the longitudinal direction of the distance adjusting unit 200.
  • the center frame 260 may have a rectangular frame shape arranged on the same plane as the plane including the guide rods 220 and 230.
  • One end of the ball screws 270 and 271 to be described later may be fixed to the center frame 260, and guide rods 220 and 230 may be fixed to each corner of the center frame 260, respectively.
  • the distance adjusting unit 200 may include a pair of ball screws (270, 271) for moving the connecting portion (240, 241).
  • Ball screws (270, 271) is a device for changing the torque of the rotational motion to a force that can be a linear motion of another object.
  • the first ball screw 270 extends vertically from the first fixing frame 210 and is fixed to the center frame 260 and arranged in parallel with the first left guide rod 220a and the second left guide rod 230a.
  • the thread may be formed on the outer circumferential surface.
  • the first ball screw 270 is arranged in parallel with the first left guide rod 220a and the second left guide rod 230a, and a thread is formed on an outer circumferential surface thereof so as to be coupled to the first through hole 246. Through this, it is possible to apply a force in parallel with the first left guide rod 220a and the second left guide rod 230a to the first connector 240, and move the first connector 240.
  • the second ball screw 271 extends vertically from the second fixing frame 211 and is fixed to the center frame 260 and arranged in parallel with the first right guide rod 220b and the second right guide rod 230b.
  • the thread may be formed on the outer circumferential surface.
  • the second ball screw 271 is arranged in parallel with the first right guide rod 220b and the second right guide rod 230b, and a thread is formed on the outer circumferential surface thereof so as to be coupled to the second through hole 247.
  • a force may be applied to the second connecting portion 241 in parallel with the first right guide rod 220a and the second right guide rod 230a, and the second connecting portion 241 may be moved.
  • the thread has a shape corresponding to the inner circumferential surface of the through holes 246 and 247 formed between the first bushing 242 and the second bushing 243 of the pair of coupling parts 240 and 241, respectively.
  • One of the screws 270 and 271 may penetrate one of the pair of connection parts 240 and 241.
  • the shape of the thread of the first ball screw 270 is a shape corresponding to the inner circumferential surface of the first through hole 246 formed in the first connecting portion 240. Accordingly, the first ball screw 270 may be coupled to the first connection part 240 by passing through the first through hole 246 formed in the first connection part 240, and when the first ball screw 270 rotates, The inner circumferential surface of the first through hole 246 of the first connection part 240 may move on the thread of the first ball screw 270.
  • the shape of the thread of the second ball screw 271 is a shape corresponding to the inner circumferential surface of the second through hole 247 formed in the second connecting portion 241. Accordingly, the second ball screw 271 may be coupled to the second connection part 241 by passing through the second through hole 247 formed in the second connection part 241, and when the second ball screw 271 rotates, The inner circumferential surface of the second through hole 247 of the second connection part 241 may move on the thread of the second ball screw 271.
  • One end of the first ball screw 270 and the second ball screw 271 may be rotatably fixed to the central frame 260.
  • the distance adjusting unit 200 includes a pair of actuators including a first actuator 272 for rotating the first ball screw 270 and a second actuator 273 for rotating the second ball screw 271 ( 272, 273).
  • the first actuator 272 when the first actuator 272 is driven, the first ball screw 270 rotates, and when the first ball screw 270 rotates, the first connector 240 follows the first ball screw 270. Can be moved.
  • first actuator 272 may be fixed to the first fixed frame 210
  • second actuator 273 may be fixed to the second fixed frame 211.
  • the distance adjusting unit 200 may include distance detecting sensors 280, 281, 282, and 283 at both ends of the length direction of the pair of fixed frames 210 and 211, respectively.
  • the first distance sensor 280 is attached to a lower portion of the first left guide rod 220a of the first fixing frame 210 to detect a distance from an obstacle located in a first direction of a moving robot platform.
  • the moving direction of the mobile robot platform is a direction perpendicular to the longitudinal direction of the vibration pad 160 in a plane formed by one surface of the cleaning object to which the vibration pad 160 contacts, that is, the width of the distance adjusting part 200 in FIG. 3.
  • the first direction indicates the direction in which the first guide rod 220 moves forward from the front
  • the second direction indicates the direction in which the second guide rod 230 moves forward.
  • the second distance sensor 281 is attached to a lower portion of the first right guide rod 220b of the second fixing frame 211 to detect a distance from an obstacle located in the first direction.
  • the third distance sensor 282 is attached to a lower portion of the first left guide rod 230a of the first fixing frame 210 to detect a distance from an obstacle located in the second direction.
  • the fourth distance sensor 283 is attached to a lower portion of the second left guide rod 230b of the second fixing frame 211 to detect a distance from an obstacle located in the second direction.
  • the distance sensors 280, 281, 282, and 283 may be selectively operated according to the embodiment.
  • the first and second distance sensors 280 When only 281 is driven and moves in the second direction, only the third and fourth distance detection sensors 282 and 283 may be driven. That is, the distance detection sensors 280, 281, 282, and 283 may detect only a distance from an obstacle in the moving direction of the cleaning apparatus 1000.
  • the cleaning device 1000 is the obstacle avoidance mechanism accordingly It can be set to.
  • the cleaning apparatus 1000 may slow down or stop the moving speed of the cleaning apparatus 1000, that is, the speed of the mobile robot platform when the distance from the obstacle becomes less than a preset value, and the coupling part 300 and the cleaning part ( By narrowing the distance between the 100 may be spaced apart from the cleaning object and the cleaning unit (100).
  • the controller of the cleaning apparatus 1000 may separate the cleaning unit 100 from the cleaning object until the distance detecting sensors 280, 281, 282, and 283 no longer detect an obstacle in the distance.
  • each of the distance detection sensors 280, 281, 282, and 283 may detect a distance from an obstacle in a moving direction of the mobile robot platform, and transmit and receive distance data from the obstacle to a controller to be described later.
  • the distance adjusting unit 200 may include a position limiting unit 261.
  • the position limiting part 261 may be connected to both ends of the longitudinal direction so as to be movable along the slide 330 which will be described later.
  • the longitudinal center of the position limiting unit 261 may be rotatably fixed to the center frame 260.
  • the cleaning part 100 and the coupling part 300 may have a high degree of freedom and may cause torsion.
  • the cleaning part 100 may be rotated with respect to the bearings 320, 321, 322, and 323.
  • the position limiting unit 261 may be coupled to the slide 330 and move only along the slide 330 to limit the degree of freedom.
  • the position limiting unit 261 is rotatably fixed to the center frame 260 so that the cleaning unit 100 is rotatable about an axis connecting centers of both ends in the width direction of the cleaning unit 100.
  • the distance adjusting unit 200 may include a pair of load cells 290 and 291.
  • the pair of load cells 290 and 291 including the first load cell 290 and the second load cell 291 may be formed on the pair of fixed frames 210 and 211.
  • the first load cell 290 may be formed in the longitudinal center of the first fixing frame 210 coupled to one end in the longitudinal direction of the cleaning part 100
  • the second load cell 291 is the cleaning part 100 It may be formed in the longitudinal center of the second fixing frame 211 coupled to the other end in the longitudinal direction.
  • the first load cell 290 may measure the reaction force of one end of the cleaning part 100
  • the second load cell 291 may measure the reaction force of the other end of the cleaning part 100.
  • the cleaning apparatus 1000 may include a coupling part 300.
  • the coupling part 300 is configured to be detachably coupled with the mobile robot platform, and moves along one surface of the cleaning object together with the mobile robot platform. This may allow the cleaning device 1000 to clean the building exterior wall while moving with the mobile robot platform.
  • the mobile robot frame may use any means capable of moving, for example, a circular wheel, a caterpillar, or the like. But it is not limited thereto.
  • the coupling part 300 may be formed to have a shape of a rectangular frame 301 as a whole.
  • a pair of clamps 310 and 311 including a first clamp 310 and a second clamp 311 for attaching and detaching the coupling part 300 to the mobile robot platform may be formed.
  • Clamps 310 and 311 are tools used to support instruments three-dimensionally.
  • the clamps 310 and 311 are used to fix the instruments to an object and to fold the bars included in the clamps 310 and 311 to pressurize the objects and the instruments, thereby supporting the instruments. Let's do it.
  • the cleaning device 1000 temporarily couples the mobile robot platform using the fixing pin 341 and then moves the mobile robot platform to the coupling part 300 by using the first clamp 310 and the second clamp 311.
  • the cleaning can be performed according to the moving direction of the robot.
  • two pairs of bearings 320 including a first bearing 320, a second bearing 321, a third bearing 322, and a fourth bearing 323, on both sides of the square frame 301 in the width direction. 321, 322, and 323 may be formed.
  • the first bearing 320 and the second bearing 321 is formed on one side of the square frame 301 in the width direction
  • the third bearing 322 and the fourth bearing 323 may be formed on the other side. .
  • the square frame 301 coupled to the moving robot platform is movable, and each bearing 320, 321, 322, and 323 can move only when the square frame 301 is moved. , 321, 322, 323 connected to the distance control unit 200 and the cleaning unit 100 can also move together.
  • the first bearing 320 may be rotatably coupled with the upper end of the first distance adjusting rod 250, and the second bearing 321 may be rotatably coupled with the upper end of the second distance adjusting rod 251.
  • the third bearing 322 may be rotatably coupled with the upper end of the third distance adjusting rod 252, and the fourth bearing 323 may be rotatably coupled with the upper end of the fourth distance adjusting rod 253.
  • the positions of the bearings 320, 321, 322, and 323 of the coupling unit 300 are not changed, and only upper ends of the first distance adjusting rod 250 and the second distance adjusting rod 251 connected to the bearings are changed.
  • the second connection part 241 connected to the moving part may move and rotate relative to adjust the relative distance and angle of the coupling part 300 and the cleaning part 100.
  • the coupling part 300 may further include a pair of slides 330.
  • the pair of slides 330 may extend toward the cleaning part 100 from the center of both sides of the square frame 301 in the width direction.
  • both ends of the longitudinal limit of the position limiting section 261 may be coupled to the pair of slides (330).
  • an accommodating part 340 having a predetermined accommodating space may be formed inside the rectangular frame 301.
  • the housing 340 may include a controller (not shown) for controlling the cleaning apparatus 1000.
  • the coupling unit 300 of the cleaning apparatus 1000 may include a control unit, the control unit is a sensing value of each of the distance sensor (280, 281, 282, 283), each load cell (290, 291) The relative distance and angle of the coupling part 300 and the cleaning part 100 may be adjusted using the measured value of.
  • the controller may control the pair of actuators 272 and 273 based on the distance from the obstacle detected by each of the distance sensors 280, 281, 282 and 283, or the pair of load cells 290. 291)
  • Each of the pair of actuators 272 and 273 may be driven based on the reaction force of each of both ends of the longitudinal direction of the cleaning unit 100 measured from each other.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

La présente invention concerne un dispositif de nettoyage. Selon un premier aspect de la présente invention, un dispositif de nettoyage comprend une unité de nettoyage comprenant un tampon vibrant qui entre en contact avec une surface d'un objet à nettoyer et nettoie la surface, l'unité de nettoyage pouvant comprendre une unité d'alimentation en terre de diatomées pour fournir de la terre de diatomées au tampon vibrant, et une unité de vibration pour faire vibrer le tampon vibrant et l'unité d'alimentation en terre de diatomées. Selon la présente invention, telle que décrite ci-dessus, la poussière qui est collée à l'objet à nettoyer peut être nettoyée à l'aide de terre de diatomées et d'une vibration générée par l'unité de vibration.
PCT/KR2016/009705 2015-08-31 2016-08-31 Dispositif de nettoyage WO2017039304A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0122898 2015-08-31
KR1020150122898A KR101709607B1 (ko) 2015-08-31 2015-08-31 청소장치

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WO2017039304A1 true WO2017039304A1 (fr) 2017-03-09

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KR (1) KR101709607B1 (fr)
WO (1) WO2017039304A1 (fr)

Cited By (1)

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CN113210310A (zh) * 2021-05-19 2021-08-06 河南泰厚建筑劳务分包有限公司 一种大型工字钢清扫装置

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KR19990005634A (ko) * 1997-06-30 1999-01-25 한민석 건물 외벽의 무인 자동세척장치
KR100511141B1 (ko) * 1997-08-29 2005-11-21 프리스케일 세미컨덕터, 인크. 입자오염을방지하기위하여물세정을사용하는화학기계적인평면화방법
JP2008099818A (ja) * 2006-10-18 2008-05-01 Nihon Bisoh Co Ltd 自動壁面清掃装置
KR20100005251A (ko) * 2008-07-07 2010-01-15 정용훈 스카이크리너 및 이에 의한 건물의 내벽 및 외벽 청소
KR101414503B1 (ko) * 2013-04-17 2014-08-06 주식회사 대화산기 건물외벽 세정장치

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KR100531471B1 (ko) * 2005-06-14 2005-11-29 신선경 손발톱 손질기구의 연마기능 손상 방지를 위한 인쇄방법

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990005634A (ko) * 1997-06-30 1999-01-25 한민석 건물 외벽의 무인 자동세척장치
KR100511141B1 (ko) * 1997-08-29 2005-11-21 프리스케일 세미컨덕터, 인크. 입자오염을방지하기위하여물세정을사용하는화학기계적인평면화방법
JP2008099818A (ja) * 2006-10-18 2008-05-01 Nihon Bisoh Co Ltd 自動壁面清掃装置
KR20100005251A (ko) * 2008-07-07 2010-01-15 정용훈 스카이크리너 및 이에 의한 건물의 내벽 및 외벽 청소
KR101414503B1 (ko) * 2013-04-17 2014-08-06 주식회사 대화산기 건물외벽 세정장치

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113210310A (zh) * 2021-05-19 2021-08-06 河南泰厚建筑劳务分包有限公司 一种大型工字钢清扫装置
CN113210310B (zh) * 2021-05-19 2022-03-01 河南泰厚建筑劳务分包有限公司 一种大型工字钢清扫装置

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