KR20030025662A - Cleaning apparatus using model helicopter - Google Patents

Abstract

The present invention relates to a cleaning apparatus using a small unmanned helicopter, including a cylindrical hollow worktable connected to the helical base and the helical base to perform a cleaning operation and a remote controller for operating the helical base and the workbench, An engine for helicopter flight is installed in the upper space inside the main body of the helicopter, and a water tank equipped with a water level sensor is installed at the front bottom inside the main body of the helicopter. An injection nozzle is installed at an end of the externally extending injection pipe, and the workbench extends outward longer than the rotation range of the rotor of the helicopter, and a motor is mounted therein, and a flexible brush is provided at the end of the workbench. A cleaning device is provided with a brush assembly.

Description

CLEANING APPARATUS USING MODEL HELICOPTER}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for cleaning using a model helicopter equipped with a cleaning device for cleaning a wall of a building such as a building or a tunnel, and in particular, a glass or a wall of a high-rise building or a high-rise apartment porch covering a glass of the building's outer wall It relates to a device used to clean the.

In modern society, the construction of high-rise buildings is prevalent due to lack of land due to the increase in population, and recently, many buildings have improved the aesthetic characteristics of the building by using glass for the exterior walls of the building. However, the disadvantage of these buildings is that they are easily stained with snow or rain, and recently, air pollution has caused a lot of dust to adhere to the exterior walls of buildings, especially glass, which can damage the exterior. It is widely practiced to clean the glass and exterior walls of buildings as people come down and ride these ropes. However, when the forest is cleaned by riding the outer wall, there is a risk that the worker will fall, and due to the risk, the cost of the work is increasing. It has a height that cannot be cleaned directly, and in the design of the building, not only a vertical exterior wall but also a lot of buildings in which the exterior wall is inclined is being constructed. .

As described above, in order to correct the problem of the task of cleaning the outer wall or the glass window of a high-rise building in a line, there has been an attempt to improve some of the worker's convenience and stability by using a gondola. While working in a gondola is more stable than working on a single line, even in this case, the problem of having to work directly from the ground up high cannot be solved. In addition, there is a problem that it is quite difficult to install a facility that can be climbed directly in order to clean statues or towers of considerable height.

Furthermore, the building exterior wall cleaning device disclosed in US 4,797,969 can be said to be advanced in that the building wall can be cleaned with a mechanical device attached to the exterior wall of the building without human cleaning. In the case of cleaning, the outer wall of the building should have a smooth and simple structure with few protrusions, and since the direction of movement in the state attached to the wall must follow a predetermined path, there is a disadvantage in that the cleaning path is not free.

The present invention has been made to solve the above problems, the object of the present invention is to prevent the safety accidents that can occur when the person directly cleaning the machine to clean the outer wall or glass of the building without the person directly cleaning. In addition, a small unmanned helicopter is equipped with a cleaning device for cleaning the outer wall of the building so that the work can be performed even if the structure of the outer wall of the building is not simply flat. It is to provide a cleaning device that can perform delicate work according to the change of situation like the real person working by performing cleaning work while monitoring.

1 is a perspective view of a cleaning apparatus according to the present invention,

2 is an enlarged perspective view of the brush assembly of FIG. 1;

3 is a side view of the brush assembly,

4 is a cross-sectional view for showing an internal power transmission device of the work bench connected with the brush assembly of FIG.

5 is a perspective view of another embodiment of a brush assembly,

6 is a partially enlarged perspective view of the worktable rotating device.

FIG. 7 is an enlarged cross-sectional view of the parachute of FIG. 1.

Explanation of symbols for the main parts of the drawings

2: Helical base 5: Work table

13, 13`: Brush assembly 14: Bracket

15: connecting shaft 17: rotation support

31: rotation support shaft 33: support

34, 38: end shaft 36: center support shaft

35, 39: end sprocket 40: timing belt

50: groove 60: motor

82: fixed shaft 111: parachute

118: spring 122: cylindrical groove

In order to achieve the above object, the present invention consists of a small unmanned helicopter and a remote control device mounted on the workbench by a connecting shaft beneath it, and a remote control device for controlling such a helicopter, and the helicopter generally available on the market. As a model helicopter being used, the apparatus relating to the flight of the helicopter is omitted here. In addition, display devices, such as sensors, motors, and the like mounted on the present invention are electrically connected to each other for power and signal transmission.

According to Figures 1 and 2, the cleaning device of the present invention is divided into three parts, a cylindrical hollow worktable connected to the helical main body 2 and the helical main body for the flight to perform the cleaning work (5) And the ground remote controller 100 for manipulating the helical base and the workbench. An engine for helicopter flight is installed in the upper space inside the main body of the helicopter, and in consideration of the position of the engine, a water tank 23 having a water level sensor is installed at the front bottom of the inside of the main body of the water, thereby providing water from the water tank. The injection nozzle 26 is installed at the end of the injection pipe 25 in which the injection pipe extends forwardly outside the helical base via the injection propulsion device 24, and the worktable is provided with a range of rotation of the rotor 6 of the helicopter. It extends to the outside for a long time is mounted inside the motor for operating the brush assembly to prevent the rotor of the helicopter from colliding with the cleaning object during the cleaning operation, the brush assembly having a flexible plastic brush at the end of the workbench (13, 13`) are installed.

Although not shown in detail in the drawings, the end of the injection pipe 25 is provided with a circular hole with a circular hole spaced apart in the center, each of the holes are provided with a circular ball, the inside of the ball and the direction of movement of the pipe Correspondingly, it has a structure of a jet nozzle 26 in which a small hole is provided to inject water therein.

Remote control of the helical base and the work bench combination may be performed in a wired or wireless manner through the remote controller 100. In addition to the fuel required for the engine rotation of the helicopter body, the wired control method has the advantage that a considerable power source and control unit can be installed on the ground without installing the helicopter, thereby significantly reducing the weight of the helicopter. Specifically, the helicopter main body includes a battery for supplying power to various parts of the helicopter, a cleaning operation control device for processing a signal for controlling the cleaning operation, and a helicopter without watering the helicopter, although not shown in the drawing. With a device capable of continuously supplying the power supply, a power cable for transferring electricity from the ground power source to the helicopter is connected between the power source and the main body of the helicopter, and transmits a control signal for controlling various devices inside the helicopter connected to the main body of the helicopter and the remote controller. The hose and the hose that draws the water from the ground pump to the helicopter are long and integrally connected to each other and extend from the helicopter base through the workbench to the ground so as not to interfere with the flight of the helicopter.

In the case of the wireless control method, as shown in Figure 1, the right side of the helicopter tail portion is provided with a signal transmission and reception unit 28 as a communication device for transmitting and receiving a control signal with the remote controller 100, the remote inside the helicopter Receiving control signals from the regulator, a central control unit (not shown) is installed to control the devices connected to the helical base and the workbench, and the signal transmitter and receiver are installed in the remote controller to exchange signals with the helicopter. Helicopters can fly and clean helicopters.

In a more preferred embodiment, in performing the cleaning operation, the helicopter may fly at a height that can be observed with the naked eye, but it may be difficult to observe with the naked eye. The upper part of the front is equipped with a video camera (11) is shown on the remote controller display so that the operator can see the image of the work area, and when the helicopter stops working temporarily and lands on the ground and flies back to the work area, On the left side of the tail of the helicopter so that the position can be easily found, a sensor 27 for detecting the height of the helicopter is mounted, and the detected height is displayed on the remote controller. On the other hand, since the rotor 6 of the helicopter rotates at a high speed, if the camera does not recognize the distance between the work section and the helicopter period properly, the helicopter and the wall may be seriously damaged. The front nose portion (nose: 9) is also equipped with a sensor 10 for detecting the distance to the work section. In this case, the sensor attachment position and the working position can vary considerably depending on the height of the workbench and the size of the helicopter body, so the sensor detects the distance from the wall relative to the end of the brush assembly rather than horizontally. It is preferable. In addition, the sensor to detect the water level inside the water tank to detect the level of the remaining amount of water in the water tank. The signals sensed by the sensors are also transmitted to the remote controller of the ground operator by wire or wireless method as mentioned above. When the working distance signal reaches the proper distance, the operator buzzes the buzzer installed on the remote controller. Proper control of the forward movement of the helicopter, and a signal regarding the water tank level, is also received by the remote control so that the water level is displayed, allowing the operator to select when to replenish the water.

As a more preferred embodiment, in addition to the above embodiment, the workbench fixed to the helicopter main body is provided so that two brush assemblies installed on the workbench are different in size and / or shape from each other so that they can be properly used according to the conditions of the work section. In order to rotate, the rear bottom 120 inside the helical base is provided with a motor 21 for rotating the connecting shaft, the motor is provided with a shaft 22 extending toward the center toward the front of the helicopter, the connecting shaft The upper end of the (15) penetrates through the center bottom 121 of the helical base body and protrudes into the helical base body, and the protrusion 20 of the connecting shaft and the end of the shaft 22 are combined to form a worm gear, and an end of the workbench on which the brush is installed. The brush assembly and the motor 60 are also installed at opposite ends opposite to the workbench, and two brush assemblies are installed at the workbench.

By forming the worm gear, the work table can be rotated by the rotation of the motor, but the work table can be prevented from being rotated with respect to the helical body by the load applied to the work table. In this case, since the motor 21 is installed at the bottom of the helicopter, the water tank should be disposed appropriately to avoid the motor so as not to affect the position of the motor. Compared to the case where the water supply is made of a wired hose, the wireless flight control method has the inconvenience that the helicopter should land on the ground for water supply whenever the water in the water tank is below a certain level. It would be desirable to use a large capacity water tank to the extent it is not given.

The brush assembly has to be designed according to the shape of the working size and shape to suit the purpose, as one embodiment, as shown in Figures 2 to 4, the brush assembly 13 is a hollow rectangular parallelepiped support ( 33), the projections 42 having holes are provided at both ends of the upper and lower surfaces of the support 33, and the central support shaft 36 is disposed at the center of the left and right sides of the support. A hole for the insertion of the support is provided, the center of the back surface 33a of the support is provided with a rectangular groove 50, through the hole of the projection 42, the intermediate portion is a hexagonal or octagonal rotating shaft support shaft The end shafts 34 and 38 of the 31 are rotatably installed on the upper and lower surfaces, respectively, so that the end shafts 34 and 38 protrude outward from the protrusions 42 at both ends of the rotation support shaft 31. Four end sprockets 35 and 39 are installed and the support The central support shaft 36 is passed through the left and right central holes, and two central sprockets 37 are installed at both ends thereof. The central sprocket has a larger diameter than the end sprocket, and the end sprockets are provided on the left and right sides of the support. A timing belt is provided with a groove for engaging the sprocket therein so as to be guided along the central sprocket, and a gear 51 having a diameter larger than that of the central sprocket is disposed outside the groove 50 at the center of the central support shaft 36. It is installed to protrude, and two brush fixing belt 32 is installed between the rotating support shaft 31, the brush (not shown) is installed, although not shown in the drawing when the brush fixing belt 32 is rotated Jaws are installed to prevent deviations from the path.

In order to transmit power to move the rotating belt of the brush assembly mounted as described above, as shown in Figure 4, the motor 60 is mounted in the interior of the workbench 5 so that the power shaft 61 extends therefrom, Bevel gear 62 is mounted at the end thereof, and the other bevel gear 63 is fixed to spindle 64, and pulley 65 is installed at spindle 64, and spindle 67 at the outlet end of work bench. The pulley 68 is installed so that the pulley 65 and the pulley 68 are connected to the belt 66, and the gear 69 is also installed on the spindle 67 so that the pulled gear 51 of FIG. The gear 69 of FIG. 4 is a structure for transmitting power by engaging with each other. The internal gear arrangement can be changed as appropriate to adjust the gear rotation ratio. On the other hand, as shown in FIG. 2, the flange 41 at its end is firmly coupled to the back surface 33a of the support. When the motor in the work table is rotated by the assembled brush assembly, power is transmitted from the gear 69 to the gear 51 along the gear arrangement, and the central support shaft 36 is rotated so that the central sprocket ( 37) to drive the timing belt 40 to rotate the rotation support shaft 31 through the end sprockets 35 and 39, and to rotate the brush fixing belt 32 so that the brush is moved from top to bottom or vice versa. Carry out cleaning while rotating.

As another embodiment of the brush assembly, as shown in Figure 5, the motor 60 is mounted inside the workbench to extend the power shaft 61 for power transmission, and the brush assembly at the end of the power shaft 61 It is installed to be replaced with a screw, etc., the conical brush fixing portion 163 is connected to the power shaft 61, the bottom of the fixing portion 163 is installed a flexible brush 164 of plastic ash to rotate the motor Thus, the brush assembly rotates when it is circular with respect to the cleaning surface.

On the other hand, when the plane to be cleaned is not a vertical surface on the ground it is necessary to incline the workbench, for this purpose is a device for inclining the workbench, of the connecting shaft 15 connected from the lower part of the helical base (2) The lower end portion is connected to the bracket 14 having a wing portion bent at both ends vertically as shown in Figure 6, and between the two wing portions a fixed shaft 82 surrounded by the rotary support 17 is rivet 16 and washer ( 80 is fixedly connected, and a connecting rod 18 extending from the worktable 5 is fixed to a horizontal surface corresponding to the side surface of the cylinder of the rotary support 17, and more preferably, a screw along the thread to be replaceable. It is coupled, the screw groove is installed on the lower side of the horizontal support of the rotary support 17, the handle portion is butterfly-shaped or convenient butterfly bolt 19 is easy to turn by hand is mounted in the groove. Therefore, when the angle adjustment is necessary, by loosening the butterfly bolt 19 from the ground so that the rotary support 17 coupled with the worktable can rotate about 20 degrees or less clockwise or counterclockwise with respect to the fixed shaft 82 After the proper angle is set, the rotating bolt 17 and the worktable 5 connected thereto are fixed at an angle by tightening the butterfly bolt again.

In addition, when working in the air using a small unmanned helicopter, in case of emergency, the rotor of the helicopter stops its operation, it is necessary to prepare for the case where the helicopter falls. To this end, in the present invention, a parachute firing apparatus is installed at the center 8 of the rotor 6 of FIG. 1. Referring to FIG. 7, a cylindrical groove 122 is installed inside the center 8, and a spring 118 is fixedly installed to the fixing pin 117 of the bottom surface 116 inside the groove, and above the spring. A propulsion plate 113 having a groove is mounted in the center, and a parachute 111 is accommodated on the propulsion plate, and a cover 110 having an electromagnet 112 to open and close an entrance using a principle of an electromagnet is hinged. 119, and the parachute rope 114 is fixed to the rope fixing pin 115 of the bottom surface 116 through the groove of the propulsion plate. If the rotor stops during flight, the remote controller's buzzer sounds and the operator presses the remote controller's switch to send a signal to the helicopter, and the force that covers the cover by the force of the electromagnet loses the electromagnet's power due to the power cut off. As the spring is opened by the force rising upward, the cover is opened to push the parachute out of the cylindrical groove to launch the parachute and prevent the rapid fall of the helicopter to protect the pedestrian or worker on the ground. The cover opening and closing device of the parachute may use an electronic control device instead of an electromagnet.

According to the present invention having the above-described configuration, it is possible to prevent safety accidents caused by people directly cleaning the outer wall or glass wall of a high-rise building, and in the case of a helicopter, the movement path is freely selected, and thus the structure of the building outer wall It is not simple and can be easily, quickly and safely performed in a place where a protrusion, a recess, or an inclined outer wall is inclined more than 90 degrees.

In addition, the cleaning device according to the present invention is not limited to the cleaning of the outer wall of the building or the glass window, it can be used also in the vertical basement, such as the height that is difficult for a person to clean directly, or the ceiling wall inside the tunnel.

The apparatus according to the invention is also useful for cleaning tall statues or towers which are extremely difficult to install equipment for cleaning operations.

The configuration and effects of the present invention are not limited to the above-described embodiments, and various embodiments may be considered without departing from the scope of the present invention.

Claims (9)

In the cleaning device using a small unmanned helicopter, The cleaning device includes a hel base body (2); A cylindrical hollow worktable 5 connected to the helical base with a connecting shaft 15 to perform a cleaning operation; Including a remote controller 100 for manipulating the helical base and the workbench, An engine for helicopter flight is installed in the upper space inside the main body of the helicopter, and a water tank 23 having a water level sensor is installed on the front bottom of the inside of the main body of the helicopter via the water spray propulsion unit 24. The injection nozzle 26 is installed at the end of the injection pipe 25 in which the injection pipe extends forwardly outside the helical base body. The workbench 5 extends outward longer than the rotation range of the rotor 6 of the helicopter, the motor 60 is mounted therein, the brush assembly 13, 13` with a flexible brush at the end of the workbench Cleaning device with). According to claim 1, wherein the helical body (2) is connected to a power cable for transmitting power from the power source, the control signal cable connected to the helical body (2) and the remote controller 100, and water from the ground pump to the helicopter A cleaning device in which the elevating connector extends from the ground to the helical base (2). According to claim 1, wherein the right side of the tail portion of the helicon body 2 is provided with a signal transmission and reception unit 28 for transmitting and receiving a control signal with the remote controller 100, a cleaning operation control device is installed in the rear of the helicopter. And, the remote control is equipped with a signal transmission and reception unit is characterized in that the cleaning device for controlling the helicopter with a remote control. According to claim 2 or 3, wherein the front of the helical body (2) is equipped with a video camera 11, the front nose portion (9) of the helical body is equipped with a sensor (10) mounted to the working distance On the left side of the tail of the helicopter, a sensor 27 for detecting the working height is mounted, and the working height is displayed on the screen of the remote controller by exchanging the detected distance signal and the image signal with the remote controller 100, and the horizontal working distance. Is buzzer of the remote controller when it matches the position of the brush end, and the sensor of the water tank detects the water level and displays the water level on the remote controller. 5. The motor according to claim 4, wherein a motor 21 for rotating the connecting shaft is installed in the rear bottom 120 inside the helical base 2 so that the work table can be rotated and cleaned with another brush. A shaft 22 extending toward the end is installed, and one end of the connecting shaft 15 passes through the central bottom 121 of the helical body and protrudes into the helical body, so that the protrusion 20 of the connecting shaft 20 and the end of the shaft 22 are formed. Is combined to form a worm gear, the cleaning device, characterized in that the brush assembly and the motor (60) are respectively installed at both ends of the worktable combination. The brush assembly (13) is provided with a hollow rectangular parallelepiped support (33), and both ends of the upper and lower surfaces of the support are provided with protrusions (42) having holes, respectively, and left and right sides of the support (10). In the center is provided a hole, the center of the back surface 33a of the support is provided with a rectangular groove 50, the end shaft of the rotation support shaft 31 of each octagonal pillar through the holes of the projections (42) (34, 38) is passed through the end sprockets (35, 39) are provided at both ends of the rotary support shaft 31, the central support shaft 36 is passed through the hole in the center of the left and right sides of the support and both ends A central sprocket 37 is installed, and timing belts extending along the end sprocket and the central sprocket are installed at both sides of the support 33, and a gear 51 having a diameter larger than the central sprocket is formed at the center of the central support shaft 36. To project out of the groove (50) Value is, the cleaning apparatus which is characterized in that the rotation support shaft 31 between the brush is provided with a fixing belt 32, the brush is mounted, a power transmission gear assembly for the interior of the work surface (5) Install 6. The brush assembly (13 ') is installed interchangeably at the end of the power shaft (61) extending from the motor (60) and has a conical brush holder (163) and a conical bottom surface of the holder. Cleaning device, characterized in that the flexible brush 164 is installed. 7. The bracket (14) according to claim 6, wherein a lower end of the connecting shaft (15) for connecting the worktable (5) to the helical base (2) is provided with a bracket (14) having wings that are vertically bent at both ends, and between the two wings. The fixed shaft 82 surrounded by the 17 is firmly fixed by the rivet 16 and the washer 80, the connecting rod 18 extending from the worktable 5 is fixed to the horizontal surface of the rotary support 17 , The screw groove is installed in the lower horizontal surface of the rotary support 17, the cleaning device characterized in that the butterfly bolt 19 is mounted in the groove. 9. The hollow cylindrical groove 122 is installed in the center 8 of the rotor of the upper portion of the helical base 2, and a spring 118 is provided inside the groove, and a groove is formed in the center above the spring. The disk-shaped propulsion plate 113 is mounted, and the parachute 111 is stored on the propulsion plate and is covered with the cover 110 which is an electromagnet 112, so that the operation of the rotor 6 during flight stops the remote controller. When the buzzer sounds and the cover opening signal is received from the remote controller, the power is cut off by the cover which is the electromagnet, and the cover is opened, so that the spring pushes the parachute out of the cylindrical groove.