WO2019059744A1 - Robot de nettoyage de fenêtre en verre ayant des moyens de réglage de nettoyage de fenêtre en verre - Google Patents

Robot de nettoyage de fenêtre en verre ayant des moyens de réglage de nettoyage de fenêtre en verre Download PDF

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Publication number
WO2019059744A1
WO2019059744A1 PCT/KR2018/011464 KR2018011464W WO2019059744A1 WO 2019059744 A1 WO2019059744 A1 WO 2019059744A1 KR 2018011464 W KR2018011464 W KR 2018011464W WO 2019059744 A1 WO2019059744 A1 WO 2019059744A1
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WO
WIPO (PCT)
Prior art keywords
robot
cleaning
window
window cleaning
glass window
Prior art date
Application number
PCT/KR2018/011464
Other languages
English (en)
Korean (ko)
Inventor
이순복
김동규
김현윤
Original Assignee
(주)알에프
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 (주)알에프 filed Critical (주)알에프
Publication of WO2019059744A1 publication Critical patent/WO2019059744A1/fr

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Classifications

    • 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
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • 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
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Definitions

  • the present invention relates to a windshield cleaning robot having a windshield cleaning regulating means, and more particularly, to a windshield cleaning robot that minimizes a blind spot when cleaning a windshield while traveling on a windshield wall,
  • the present invention relates to a window cleaning robot having a means for cleaning a glass window.
  • window cleaning devices the most convenient ones currently available are so-called magnetic double-sided window cleaners that allow the sides of the window to be cleaned from the inside of the building using magnets.
  • a conventional double-sided window cleaning apparatus as described above is viewed, a detailed configuration is different according to each product. Basically, a pair of cleaning tools having magnets are placed on the inner and outer surfaces of the window, When the user holds the glass cleaner on the indoor surface and wipes it while moving along the window surface, the glass cleaner on the outdoor side moves together with the cleaner on the indoor surface by the magnetic force of the magnet, .
  • the cleaning robot has been developed in various forms at present, and the cleaning robot is classified into a cleaning robot unit and a control method (Patent Application No. 2010-0071066) and a window cleaning robot (Patent Publication No. 2009-0071066) 0128110). ≪ / RTI >
  • the cleaning robot unit and the control method are only capable of external cleaning, have many blind spots, and have difficulty in treating contaminated water.
  • the window cleaning robot (Patent Publication No. 2009-0128110) is also slow in speed, has a large number of blind spots, has a second pollution due to contamination of the cleaning pad, and has a problem in treating contaminated water.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide a cleaning device for cleaning a glass window, This is to provide a robot.
  • the present invention provides a robot cleaner comprising: a first robot unit having a magnet and a window cleaning unit inside; And a second robot unit that travels by synchronizing the first robot unit with a magnetic force, the first robot unit comprising: a robot body having a block structure in which internal devices are located; An outer case installed to be assembled to the upper side of the robot body; A magnetic body provided inside the robot body; And a windshield cleaning pad attaching portion provided at the bottom of the robot body and installed as a windshield cleaning means.
  • the windshield cleaning pad attaching portion is provided inside the robot body so as to minimize the corner blindness due to the cleaning of the windshield
  • the control means controls the driving of the glass window by the window glass cleaning adjusting means.
  • the window cleaning control means is provided inside the robot body and is installed to be connected to the central portion of the window cleaning pad attaching portion so as to be connected to the window cleaning pad attachment portion so as to be movable left and right.
  • a movement guide unit provided on the inner side of the robot main body so as to be connected to the center and left / right sides of the one side of the window cleaning pad attaching portion so as to be assembled in a pin connection manner and guided along the left / right movement of the window cleaning pad attaching portion
  • the operation control unit and the movement guide unit may further include upper / lower buffering means for attaching a window to the window cleaning pad.
  • the operation control unit includes a fixed body fixedly assembled inside the robot body; A movable body assembled inside the fixed body and attached to the center of the window cleaning pad attaching part in a pin connection manner; And a pair of right and left elastic springs installed on the left and right sides of the moving body to provide an elastic force according to the movement of the moving body.
  • the moving body may be formed to have a fixing protrusion protruding from left and right to fix the elastic spring.
  • the movement guide unit includes a fixed body fixedly assembled to the inside of the robot body; A guide pin fixing part movably mounted on the inside of the fixing body, the guide pin fixing part being installed in a center of the other side of the glass window cleaning pad attaching part and on the left / And an elastic spring provided on the lower side of the guide pin fixing part to provide an elastic force according to the movement of the guide pin fixing part, wherein the upper / And is configured to receive an elastic force by the elastic spring.
  • the movement guide unit may include at least two assembling modules provided at inner left and right sides of the robot main body and installed to be assembled by pin connection to the left and right sides of the center of one side of the window cleaning pad attaching part .
  • the glass window cleaning pad attaching unit may include an upper plate connected to the window cleaning and adjusting unit on the upper side; And a lower plate coupled to a lower portion of the upper plate and having a Velcro for attaching a cleaning pad to a floor surface.
  • the upper plate includes a plurality of axial connection pins protruding from the upper plate. have.
  • the present invention can provide a window cleaning robot having a window cleaning control means for minimizing a blind spot when cleaning a window while traveling along a windshield wall to clean the window.
  • the present invention can provide a window cleaning robot having a window cleaning control means for enhancing the adhesion of the cleaning pad to the window cleaning surface to allow smooth cleaning according to the window cleaning.
  • the present invention has the effect of enhancing the adhesion of the cleaning pad attached to the cleaning surface of the window glass, and cleaning the window glass smoothly.
  • FIG. 1 to 8 show a window cleaning robot having a window cleaning control means according to the present invention
  • FIG. 1 is a general schematic view showing a window cleaning robot having a window cleaning adjusting means according to the present invention
  • FIG. 2 is a perspective view of a window cleaning robot having a window cleaning control unit according to the present invention
  • FIG. 3 is an exploded perspective view showing a window cleaning robot having a window cleaning adjusting unit according to the present invention
  • FIG. 4 is a perspective exploded perspective view showing a window cleaning robot having a window cleaning control means according to the present invention
  • FIG. 5 is an exploded bottom perspective view of a bottom portion showing a window cleaning robot having a window cleaning adjusting means according to the present invention
  • FIG. 6 is a perspective view of an exploded state of a recess according to a windscreen cleaning robot having a windscreen cleaning adjusting means according to the present invention
  • FIG. 7 is a state diagram showing the movement of the cleaning robot in a blind spot according to a windscreen cleaning robot having a windscreen cleaning control unit according to the present invention.
  • FIG. 8A is a state view showing a state before and after the operation of the window cleaning pad attaching portion according to the window cleaning robot having the window cleaning adjusting means according to the present invention.
  • FIG. 8B is a view illustrating a state after use of the cleaning window attaching unit according to the present invention.
  • FIG. 1 to 8 show a window cleaning robot having a window cleaning adjusting means according to the present invention.
  • a windshield cleaning robot having a windshield cleaning adjusting unit includes a first robot unit 100 having a magnetic body and a windshield cleaning unit inside thereof; And a second robot unit (200) for synchronizing and traveling the first robot unit (100) by a magnetic force.
  • the second robot unit (200) is attached by a magnetic force so as to correspond to each other on the inner and outer sides of the windshield Cleaning is done so that.
  • the first robot unit 100 and the second robot unit 200 are attached to the front and back of the windshield by magnets with the windshield 1 interposed therebetween, As shown in FIG.
  • the second robot unit 200 is composed of an operating device and a magnetic body that are the same as those of the first robot unit 100 corresponding to each other, and a detailed description thereof will be omitted.
  • the first robot unit 100 includes a robot main body 110 having a block structure in which internal devices are located; An outer case 120 installed to be assembled on the upper side of the robot body 110; A magnetic body 130 installed inside the robot body 110; And a window cleaning pad attaching portion 140 provided at the bottom of the robot body 110 and installed as a window cleaning means.
  • the windshield cleaning pad attaching portion 140 is installed inside the robot body 110 so as to be driven by a windshield cleaning adjusting means installed to minimize corner blindness due to cleaning of the windshield can do.
  • the robot main body 110 is composed of an upper cover 111 assembled on the upper side and a lower cover 112 assembled on the lower side where various electronic devices and a magnetic body for driving the cleaning robot are assembled, And each device may be configured to have a block structure in which the devices are seated and fixed.
  • the outer case 120 is installed to cover the upper side of the robot body 110 and protects the inner devices.
  • the outer case 120 includes an LED substrate 121 for diffusing light by an LED (not shown)
  • the magnetic body 130 installed in the robot main body 110 may be at least two to four or more circular magnets of neodymium.
  • the windshield cleaning pad attaching portion 140 may be provided at the bottom of the robot body 110 and may be installed as a windshield cleaning means.
  • the window cleaning pad attaching portion 140 includes an upper plate 141 connected to the window cleaning control means at an upper side thereof; And a lower plate 142 connected to the lower portion of the upper plate and having a Velcro 142a for attaching a cleaning pad to the bottom surface of the upper plate 141.
  • the top plate 141 is provided with pin connection shafts A plurality of protrusions 143 are formed to protrude.
  • the windscreen cleaning adjusting means is provided inside the robot body 110 to minimize corner blindness caused by the cleaning of the windscreen 1,
  • An operation control unit 150 installed inside the window cleaning pad attaching unit 140 to be connected to the center of the window cleaning pad attaching unit 140 and installed to be able to move the window cleaning pad attaching unit 140 to the left or right; And is installed inside the robot main body 110 to be connected to the center and the left / right of one side of the window cleaning pad attaching part 140 so as to be assembled to the left and right sides of the window cleaning pad attaching part 140 And a movement guide unit 160 installed to guide the user.
  • the operation control unit 150 includes a fixed body 151 fixedly assembled inside the robot body 110; A movable body 152 mounted on the inner side of the fixed body 151 and attached to the central portion of the window cleaning pad attaching portion 40 in a pin connection manner; And a pair of right and left resilient springs 153 installed on the left and right sides of the moving body 152 to provide an elastic force according to the movement of the moving body.
  • the moving body 152 is formed to have fixing protrusions 152a and 152b protruding from left and right to fix the elastic spring to be fixed.
  • the movement guide unit 160 includes a fixed body 161 fixed to the inside of the robot body 110; A guide pin fixing part 162 movably mounted on the inside of the fixing body 161 and installed so as to be connected to the center and the left / right side of the other side of the window cleaning pad attaching part 140; And an elastic spring 163 provided below the guide pin fixing portion 162 and provided to provide an elastic force according to the movement of the guide pin fixing portion 162.
  • the up / down buffer means according to the attachment of the windshield of the window cleaning pad attaching portion 140, it is possible to receive the elastic force by the elastic spring 163.
  • the movement guide unit 160 is provided on the left and right sides of the robot main body 110 and is installed so as to be connected to the left and right sides of the center of one side of the window cleaning pad attaching unit 140, It is preferable that it is composed of two or more assembling modules.
  • FIG. 7 is an explanatory view showing the movement of the cleaning robot in the blind spot according to the window cleaning robot having the glass window cleaning adjusting means according to the present invention
  • FIG. 8a is a view showing the window cleaning robot having the window cleaning controlling means according to the present invention
  • FIG. 8B is a view showing a state after use of the cleaning window attaching portion of the window cleaning robot having the window cleaning adjusting means according to the present invention after the upper and lower operation of the window cleaning button is completed .
  • edge of the window cleaning pad attaching part 140 of the cleaning robot 100 is formed in a square shape, it may be difficult to operate the cleaning robot that moves away from the edge of the cleaning robot frame.
  • At least an angle of 8 ° or more must be maintained through the window cleaning control means of the glass window cleaning pad attaching portion in the corner section of the frame, so that the escape is easy. If the angle is small, the escape angle may be long.
  • the glass window cleaning adjusting means includes a glass window cleaning pad attaching portion 140 assembled with a moving body 152 that is moved and assembled in response to the elastic force of the elastic spring 153 in the fixed body 151 of the operation control portion 150, It is possible to assemble the connection shaft 143.
  • the window cleaning pad attaching part 140 is operable by the pin engagement with the operation control part 150, so that the entire other pin connecting shaft 143 is guided by the guide pin fixing part 140 of the movement guide part 160,
  • the window cleaning pad attaching portion 140 can be freely moved in the left / right direction by being coupled to the guide groove 162 and guided at the same time.
  • the movement guide unit 160 may serve as an up / down buffering means for attaching the windshield of the windshield cleaning pad attaching unit 140 to the windshield.
  • the windshield cleaning robot having the windshield cleaning adjusting means according to the present invention minimizes the dead zone of the windshield cleaning through the windshield cleaning adjusting means when cleaning the windshield while traveling the windshield wall,
  • the structure of the resilient spring to be installed It is possible to improve the adhesion of the cleaning pad to the cleaning surface of the window glass by providing the upper / lower buffering means according to the attachment.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

La présente invention concerne un robot de nettoyage de fenêtre en verre ayant un moyen de réglage de nettoyage de fenêtre en verre, dans lequel, lorsque le robot nettoie une fenêtre en verre tout en se déplaçant sur une surface de paroi de fenêtre en verre, l'angle mort est minimisé, et le degré d'adhésion d'un tampon de nettoyage à la surface de nettoyage de fenêtre en verre est augmenté. La présente invention concerne un robot de nettoyage de fenêtre en verre ayant un moyen de réglage de nettoyage de fenêtre en verre, le robot de nettoyage de fenêtre en verre comprenant: une première unité de robot ayant un corps magnétique et un moyen de nettoyage de fenêtre de verre disposé à l'intérieur de celle-ci; et une seconde unité de robot pour régler la première unité de robot par une force magnétique de telle sorte que celle-ci se déplace. La première unité de robot comprend: un corps de robot ayant une structure de bloc dans laquelle des dispositifs internes sont positionnés; un boîtier externe installé de telle sorte que celui-ci est assemblé/fini au-dessus du corps de robot; un corps magnétique installé à l'intérieur du corps de robot; et une partie de fixation de tampon de nettoyage de fenêtre en verre disposée sur le fond du corps de robot et installée en tant que moyen de nettoyage de fenêtre en verre. L'entraînement de la partie de fixation de tampon de nettoyage de fenêtre de verre est commandé par un moyen de réglage de nettoyage de fenêtre en verre disposé à l'intérieur du corps de robot et installé de telle sorte que l'angle mort de coin résultant du nettoyage de la fenêtre en verre peut être minimisé.
PCT/KR2018/011464 2017-09-25 2018-09-27 Robot de nettoyage de fenêtre en verre ayant des moyens de réglage de nettoyage de fenêtre en verre WO2019059744A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020170123711A KR20190035006A (ko) 2017-09-25 2017-09-25 유리창 청소 조절수단을 갖는 유리창 청소로봇
KR10-2017-0123711 2017-09-25

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WO2019059744A1 true WO2019059744A1 (fr) 2019-03-28

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112869626A (zh) * 2021-04-01 2021-06-01 广州利楠科技有限公司 一种绿色建筑平开式玻璃窗使用的擦拭设备
CN113558516A (zh) * 2021-07-26 2021-10-29 安徽大汉机器人集团有限公司 一种便于清理矩形玻璃边角的擦窗机
CN113799154A (zh) * 2021-11-18 2021-12-17 唐山冀东装备工程股份有限公司 清仓机器人

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102168080B1 (ko) 2019-06-14 2020-10-20 진호권 판유리의 청소장치
KR102162310B1 (ko) 2019-06-14 2020-10-06 진호권 판유리의 청소장치

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JP2000250452A (ja) * 1999-03-01 2000-09-14 Hitachi Ltd 窓ガラス清掃機能付表示器及びそれを用いた移動表示システム
CN102961081A (zh) * 2011-09-01 2013-03-13 泰怡凯电器(苏州)有限公司 擦玻璃装置
KR20130097020A (ko) * 2012-02-23 2013-09-02 인텔렉추얼디스커버리 주식회사 유리창 청소 장치 및 그의 제어 방법
JP2016030197A (ja) * 2014-07-29 2016-03-07 宏樹 本間 ガラス清掃ロボット
KR20160090713A (ko) * 2015-01-22 2016-08-01 인텔렉추얼디스커버리 주식회사 유리창 청소 로봇

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KR101811609B1 (ko) 2011-04-07 2017-12-26 엘지전자 주식회사 광고기능을 구비한 로봇

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2000250452A (ja) * 1999-03-01 2000-09-14 Hitachi Ltd 窓ガラス清掃機能付表示器及びそれを用いた移動表示システム
CN102961081A (zh) * 2011-09-01 2013-03-13 泰怡凯电器(苏州)有限公司 擦玻璃装置
KR20130097020A (ko) * 2012-02-23 2013-09-02 인텔렉추얼디스커버리 주식회사 유리창 청소 장치 및 그의 제어 방법
JP2016030197A (ja) * 2014-07-29 2016-03-07 宏樹 本間 ガラス清掃ロボット
KR20160090713A (ko) * 2015-01-22 2016-08-01 인텔렉추얼디스커버리 주식회사 유리창 청소 로봇

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112869626A (zh) * 2021-04-01 2021-06-01 广州利楠科技有限公司 一种绿色建筑平开式玻璃窗使用的擦拭设备
CN113558516A (zh) * 2021-07-26 2021-10-29 安徽大汉机器人集团有限公司 一种便于清理矩形玻璃边角的擦窗机
CN113558516B (zh) * 2021-07-26 2022-06-03 安徽大汉机器人集团有限公司 一种便于清理矩形玻璃边角的擦窗机
CN113799154A (zh) * 2021-11-18 2021-12-17 唐山冀东装备工程股份有限公司 清仓机器人

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