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KR960037004A - Robot for cleaning glass exterior wall of building - Google Patents

Robot for cleaning glass exterior wall of building Download PDF

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Publication number
KR960037004A
KR960037004A KR1019950008889A KR19950008889A KR960037004A KR 960037004 A KR960037004 A KR 960037004A KR 1019950008889 A KR1019950008889 A KR 1019950008889A KR 19950008889 A KR19950008889 A KR 19950008889A KR 960037004 A KR960037004 A KR 960037004A
Authority
KR
South Korea
Prior art keywords
robot
glass
cleaning
building
wall
Prior art date
Application number
KR1019950008889A
Other languages
Korean (ko)
Other versions
KR970003564B1 (en
Inventor
홍예선
Original Assignee
김은영
한국과학기술연구원
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.)
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Publication date
Application filed by 김은영, 한국과학기술연구원 filed Critical 김은영
Priority to KR1019950008889A priority Critical patent/KR970003564B1/en
Publication of KR960037004A publication Critical patent/KR960037004A/en
Application granted granted Critical
Publication of KR970003564B1 publication Critical patent/KR970003564B1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • 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
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/30—Rope, cable, or chain drums or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

본 발명은 기구를 사용하여 유리로 된 건물외벽을 자동으로 세척할 수 있는 세척용 로봇에 관한 것으로, 건물(1) 옥상(1a) 좌우 모서리에 설치되는 2대의 와이어 로프 윈치(2)(3)와, 상기 와이어 로프 윈치(2)(3)에 감겨져 풀리거나 되감기는 와이어 로프(4)(5)와, 상기 와이어 로프(4)(5)의 하단부에 설치되어 유리외벽(1b)을 세척하는 세척로봇(6)과, 상기 세척로봇(6)을 수평방향 및 수직방향으로 이동해야 하는 거리, 세척경로를 입력시켜 로봇이 자동으로 입력된 경로를 따라서 이동하며 유리를 세척하도록 제어하는 세척로봇 제어기(7)로 구성되어 있다.The present invention relates to a cleaning robot capable of automatically cleaning a building exterior wall made of glass using a device, comprising: two wire rope winches (2) (3) installed at the left and right corners of a building (1) rooftop (1a) And wire ropes (4) (5) wound around the wire rope winch (2) (3), unwinded or rewound, and installed on the lower end of the wire ropes (4) (5) to clean the glass outer wall (1b). The washing robot controller controls the washing robot 6 to move along the input path and to clean the glass by inputting the washing robot 6, the distance to move the washing robot 6 in the horizontal and vertical directions, and the washing path. It consists of (7).

이와 같은 구성으로 건물의 상측에서부터 지그재그식으로 세척로봇이 자동으로 이동하며 유리벽을 세척함으로써 안전사고의 위험을 배제함과 아울러 고임금을 요하는 숙련된 작업자가 필요치 않아 비용을 절감할 수 있도록 한 것이다.With this configuration, the cleaning robot moves automatically from the top of the building in a zigzag manner, eliminating the risk of safety accidents by cleaning the glass walls, and reducing the cost by eliminating the need for skilled workers who require high wages. .

Description

건물 유리벽 세척용 로봇Building glass wall cleaning robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명 건물 유리외벽 세척용 로봇장치가 설치된 상태를 개략적으로 보인 건물의 부분적인 외관사시도, 제2도는 본 발명 장치의 세척로봇의 구성을 보인 정면도, 제3도 내지 제5도는 본 발명 장치에 의한 세척로봇의 구성 및 동작상태를 보이기 위한 것으로, 각 도면의 (가)는 이동전 상태단면도이고, (나)는 이 동시의 상태단면도로서, 제3도는 제2도의 A-A′선 단면도, 제4도는 제2도의 B-B′선 단면도, 제5도는 제2도의 C-C′선 단면도, 제6도는 본 발명에 의한 와이어 로프 윈치의 구성도, 제7도는 본 발명에 의해 와이어 로프가 고정대에 고정된 상태를 보인 것으로, (가)는 고정대의 상측에서 바라본 평면도, (나)는 (가)도의 D-D′선 단면도, 제8도는 본 발명에 의한 세척로봇제어기의 구성도, 제9도는 본 발명에 의한 세척로봇의 이동평면 상에서의 좌표계 설명도, 제10도는 본 발명에 의한 윈치 모터 회전각 제어부의 구성도, 제11도는 본 발명에 의한 자동 작동 제어부의 제어 흐름도, 제12도는 본 발명 장치의 공압 및 전기 구동 회로의 구성도, 제13도는 본 발명장치의 벽면 간 이동방식 설명도.1 is a partial external perspective view of a building schematically showing a state in which a robot device for cleaning a glass outer wall of the present invention is installed, and FIG. 2 is a front view showing the configuration of the cleaning robot of the present invention, and FIGS. In order to show the construction and operating state of the cleaning robot according to the present invention, (A) of each figure is a state cross-sectional view before movement, (B) is a state cross-sectional view of this simultaneous state, and FIG. 3 is a cross-sectional view taken along line AA 'of FIG. 4 is a cross-sectional view taken along line BB ′ of FIG. 2, FIG. 5 is a cross-sectional view taken along line CC ′ of FIG. 2, and FIG. 6 is a configuration diagram of the wire rope winch according to the present invention, and FIG. 7 is a wire rope fixed to the fixing base according to the present invention. (A) is a plan view seen from the upper side of the fixing stand, (b) is a sectional view taken along the line DD ′ of (a), FIG. 8 is a configuration diagram of the washing robot controller according to the present invention, and FIG. On the moving plane of the cleaning robot 10 is a configuration diagram of a winch motor rotation angle control unit according to the present invention, FIG. 11 is a control flowchart of an automatic operation control unit according to the present invention, and FIG. 12 is a configuration diagram of a pneumatic and electric drive circuit of the device according to the present invention. Figure 13 is an explanatory diagram of the movement between the walls of the device of the present invention.

Claims (5)

건물(1) 옥상(1a) 좌우 모서리에 설치되는 2대의 와이어 로프 윈치(2)(3)와, 상기 와이어 로프 윈치(2)(3)에 감겨져 풀리거나 되감기는 와이어 로프(4)(5)와, 상기 와이어 로프(4)(5)의 하단부에 설치되어 유리외벽(1b)을 세척하는 세척로봇(6)과, 상기 세척로봇(6)을 수평방향 및 수직방향으로 이동해야 하는 거리 및 세척 경로를 입력시켜 로봇이 자동으로 입력된 경로를 따라서 이동하며 유리를 세척하도록 제어하는 세척로봇 제어기(7)로 구성함을 특징으로 하는 건물 유리외벽 세척용 로봇.Two wire rope winches (2) (3) installed at the left and right corners of the roof (1a) of the building (1), and wire ropes (4) (5) wound and unwound or rewound by the wire rope winches (2) (3). And a washing robot 6 installed at the lower end of the wire rope 4 and 5 to wash the glass outer wall 1b, and a distance and washing in which the washing robot 6 should be moved in the horizontal and vertical directions. A robot for cleaning a building's outer glass wall, characterized in that it comprises a washing robot controller (7) that controls the robot to automatically move along the input path to clean the glass by inputting a path. 제1항에 있어서, 상기 세척로봇(6)은 상기 와이어 로프가 고정되는 고정대(11)와, 상기 고정대(11)가 중앙에 형성되는 수평지지대912)와, 상기 수평지지대912)의 양단부에 설치되어 수평지지대(12)를 유리벽(1b)에 고정시키는 진공패드(13)(14)와 이들 진공패드(13)(14)를 유리벽(1b)에 밀착 또는 이탈시켜 주는 전,후진용 공압실린더(15)(16)와, 상기 수평지지대(12)에 수직방향으로 설치되는 로드레스 공압실린더(17)와, 이 로드레스 공압실린더(17)에 장착되어 상하구동하는 운반대(18)와 상기 운반대(18)에 설치되는 브라켓(19)에 고정되어 운반대(18)의 상하구동에 의해 유리벽(1b)을 세척하는 세척용 와이퍼(20)와, 상기 브라켓(19)과 세척용 와이퍼(20) 사이에 설치되어 와이퍼(20)를 유리벽 (1b)으로 밀착 또는 이탈시키는 와이퍼 전,후진용 공압실린더(21)(22)와, 이 와이퍼 전,후진용 공압실린더(21)(22)에 설치되어 유리벽 세척시에 물을 분사하는 물분사노즐(23)(24)로 구성됨을 특징으로 하는 건물 유리외벽 세척용 로봇.According to claim 1, The cleaning robot 6 is fixed to the wire rope is fixed to the support 11, the support 11 is formed in the center of the horizontal support 912 and the horizontal support 912 are installed at both ends of the horizontal support 912 Vacuum pads 13 and 14 to fix the horizontal support 12 to the glass wall 1b, and pneumatic pressure for back and forth to close or detach the vacuum pads 13 and 14 to the glass wall 1b. A cylinder 15, 16, a rodless pneumatic cylinder 17 installed in the vertical direction on the horizontal support 12, a carriage 18 mounted on the rodless pneumatic cylinder 17, and driven up and down; The wiper 20 is fixed to the bracket 19 installed on the carrier 18 to clean the glass wall 1b by the vertical movement of the carrier 18, and the bracket 19 and the cleaner. And a pneumatic cylinder 21 and 22 for wiping and wiping, which are installed between the wipers 20 and close or detach the wiper 20 to the glass wall 1b. Seismic pneumatic cylinder 21 the building, characterized by consisting of a water injection nozzle 23, 24 which is installed in the 22 spray water at the time of cleaning glass glass outer wall cleaning robot. 제2항에 있어서, 상기 세척로봇(6)의 하단부에는 진공패드(13)(14) 및 와이퍼(20)의 작동을 위한 공기컴프레서(28) 및 공기탱크(29)와 물분사 노즐(23)(24)에 물공급을 위한 세척용 물탱트 및 물펌프(30)가 설치된 것을 특징으로 하는 건물 유리외벽 세척용 로봇.The air compressor 28 and the air tank 29 and the water spray nozzle 23 for operating the vacuum pads 13 and 14 and the wiper 20 are disposed at the lower end of the cleaning robot 6. 24, the robot for cleaning the building glass outer wall, characterized in that the water tank and the water pump 30 for the water supply is installed. 제2항에 또는 제3항에 있어서, 상기 수평지지대(12) 및 공기컴프레서(28)의 하면에는 세척로봇(6)이 유리벽면과 부딪히지 않으면서 유리벽면상에서 원활하게 이동가능하도록 하기 위한 캐스터(25)(26)(27)가 구비된 것을 특징으로 하는 건물 유리외벽 세척용 로봇.The caster of claim 2 or 3, wherein the lower surface of the horizontal support 12 and the air compressor 28 allow the cleaning robot 6 to move smoothly on the glass wall without hitting the glass wall. 25) (26) (27) robot for cleaning the outer wall of a building, characterized in that provided. 제1항에 있어서, 상기 한 쌍의 와이어 로프 윈치(2)(3)가 마주보는 건물 옥상의 모서리부에 설치됨을 특징으로 하는 건물 유리외벽 세척용 로봇.The robot for cleaning the outer wall of a building according to claim 1, wherein the pair of wire rope winches (2) are installed at corners of the roof of the building facing each other. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950008889A 1995-04-15 1995-04-15 Robot for cleaning glass exterior wall of building KR970003564B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950008889A KR970003564B1 (en) 1995-04-15 1995-04-15 Robot for cleaning glass exterior wall of building

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950008889A KR970003564B1 (en) 1995-04-15 1995-04-15 Robot for cleaning glass exterior wall of building

Publications (2)

Publication Number Publication Date
KR960037004A true KR960037004A (en) 1996-11-19
KR970003564B1 KR970003564B1 (en) 1997-03-20

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Application Number Title Priority Date Filing Date
KR1019950008889A KR970003564B1 (en) 1995-04-15 1995-04-15 Robot for cleaning glass exterior wall of building

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100823006B1 (en) * 2007-02-09 2008-04-18 김용욱 Exterior wall cleaning robot and its method
KR20160001747A (en) 2014-06-26 2016-01-07 대우조선해양 주식회사 Device for cable robot
CN112847386A (en) * 2020-12-30 2021-05-28 美晟通科技(苏州)有限公司 Moving mechanism of glass curtain wall cleaning robot and working method thereof
KR20210118534A (en) * 2020-03-23 2021-10-01 정석민 Movable gondola omnidirectionally

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101359146B1 (en) * 2011-07-18 2014-02-06 김일호 Vacuum cleaner

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100823006B1 (en) * 2007-02-09 2008-04-18 김용욱 Exterior wall cleaning robot and its method
WO2008096974A1 (en) * 2007-02-09 2008-08-14 Yong Wook Kim Robot for cleaning outer wall
KR20160001747A (en) 2014-06-26 2016-01-07 대우조선해양 주식회사 Device for cable robot
KR20210118534A (en) * 2020-03-23 2021-10-01 정석민 Movable gondola omnidirectionally
CN112847386A (en) * 2020-12-30 2021-05-28 美晟通科技(苏州)有限公司 Moving mechanism of glass curtain wall cleaning robot and working method thereof

Also Published As

Publication number Publication date
KR970003564B1 (en) 1997-03-20

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