KR20170090808A - Attachable Glass Contamination Measuring Module of Glass Cleaning Robot for Cleaning Outside Wall of High-rise Curtain Wall Building - Google Patents

Abstract

An object of the present invention is to provide a glass contamination measuring and discriminating module device for a cleaning robot for an outer wall glass surface of a high-rise curtain wall building capable of detachable attachment, and capable of measuring and judging the cleaning state and the contamination state of the glass surface while the cleaning robot moves .
To this end, the present invention comprises a body frame 10 detachably mounted on one side or the other side of a moving direction of a building glass (G) cleaning robot R; A sliding member (30) mounted on the body frame (10) and sliding in the direction of the glass (G); A first sliding means (40) for slidingly moving the sliding member (30) relative to the body frame (10); A module housing 60 mounted on a front side of the sliding member 30 so as to be slid in a direction perpendicular to the moving direction of the cleaning robot R to measure a degree of contamination of the glass G; And a second sliding means (70) for slidingly moving the module housing (60) in a direction perpendicular to the moving direction of the cleaning robot (R).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a glass contamination measuring module for a robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a glass contamination measuring and discriminating module for a high-rise curtain wall building outer glass surface cleaning robot capable of detachable and attachable to a cleaning robot for cleaning an outer wall glass of a high-rise curtain wall building, To a glass contamination measuring and discriminating module for a building exterior wall glass surface cleaning robot.

Generally, when cleaning a glass window on an outer wall of a high-rise building, an operator rides up and down the gondola installed on the roof of the building to manually clean it.

However, recently, some of the high-rise buildings to be built include the entire exterior wall of the building with windows.

Thus, when the entire outer wall of the building is closed with the glass window, the operator has difficulty in cleaning the glass window.

In order to solve such a problem, a cleaning robot for cleaning the outer wall glass surface of a high-rise building has been developed.

However, the above-mentioned conventional glass surface cleaning robots have a problem that it is only necessary to clean the glass surface of the outer wall of the building, and it is not possible to detect the contamination degree of the glass or to determine the cleaning state.

Published Patent Application No. 10-2010-0104994 Japanese Patent Application Laid-Open No. 10-2001-0050110 Patent Registration No. 10-0878880

SUMMARY OF THE INVENTION The present invention has been made in an effort to solve the problems of the prior art described above, and it is an object of the present invention to provide a cleaning method and a cleaning method for a cleaning robot which is detachably attached to one side of a robot for cleaning a glass surface of a building, And to provide a glass contamination measuring and discriminating module for cleaning a glass surface of an outer wall.

According to an aspect of the present invention, there is provided a building glass cleaning robot comprising: a body frame detachably mounted on one side or the other side of a moving direction of a building glass cleaning robot; A sliding member mounted on the body frame and slidable in the glass direction; First sliding means for slidably moving the sliding member with respect to the body frame; A module housing mounted on a front side of the sliding member so as to be slid in a direction orthogonal to the moving direction of the cleaning robot and measuring a degree of contamination of the glass; And second sliding means for slidingly moving the module housing in a direction orthogonal to the moving direction of the cleaning robot.

The sliding member may include a first case slidably mounted on the body frame so as to protrude in the glass direction; A second case slidably mounted on the body frame so as to protrude in the glass direction at a predetermined interval from the first case; A third case slidingly mounted in the body frame between the first case and the second case; And a connecting member for connecting the first case, the second case, and the third case to each other, wherein the first case, the second case, and the third case have a first guide hole formed in a sliding direction, And a first guide rod attached to the body frame and inserted into the first guide holes of the first case, the second case and the third case to guide the sliding movement.

The first sliding means includes a rack gear formed on one side of the third case in a sliding direction; A pinion gear mounted to be engaged with the rack gear; And a first motor mounted on the body frame for rotating the pinion gear.

In the module housing, a second guide hole is formed in the sliding direction of the module. The module housing is inserted into the second guide hole, one side of which is mounted in front of the first case and the other side is mounted in front of the second case, And a second guide rod guiding a sliding movement between the first case and the second case.

The second sliding means includes a belt pulley mounted on a side opposite to the first case and the second case, respectively; A timing belt rotatably mounted on the belt pulley and having a part of an outer circumferential surface fixedly mounted on a back surface of the module housing; And a second motor for rotating the belt pulley mounted on the first case or the second case.

A sensor unit mounted on the module housing for measuring an interval between the module housing and the glass; And a control unit for rotating the first motor by the signal of the sensor unit.

The module housing may further include: a light emitting unit for emitting infrared rays to the glass surface from the measurement module; A light receiving unit for receiving infrared rays emitted from the light emitting unit and reflected by the glass surface is mounted and the degree of contamination of the glass surface is measured by the amount of infrared rays received by the light receiving unit.

The glass contamination measuring and discriminating module for a building glass cleaning robot according to the present invention has the following effects.

First, by mounting the glass contamination measuring device on the glass surface cleaning robot, it is possible to easily grasp the cleaning state of the glass surface and the contamination state of the glass surface.

Second, since the first sliding means is composed of the rack gear, the pinion gear and the first motor, the sliding member can be moved in the forward and backward directions to easily adjust the gap between the module housing and the glass mounted in front of the sliding member .

Thirdly, since the second sliding means comprises the belt pulley, the timing belt, and the second motor, the transmission of the vibration of the motor by the timing belt is minimized, the vibration of the module housing is minimized, There is an effect that can be.

Fourthly, by providing a control unit that rotates the first motor by the sensor unit, there is an effect that the contamination degree of the glass surface can be accurately measured by adjusting the interval between the module housing and the glass to be constant.

1 is an exemplary view showing a state in which a glass surface cleaning robot moves along an outer wall of a building and is cleaned.
2 is a perspective view illustrating a structure of a glass contamination measuring apparatus for a building glass cleaning robot according to an embodiment of the present invention.
3 is a side view illustrating an operation state of a glass contamination measuring apparatus for a building glass cleaning robot according to an embodiment of the present invention.
4 is a side view showing an operation state of a glass contamination measuring apparatus for a building glass cleaning robot according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 to 4, the apparatus for measuring glass contamination of a building glass cleaning robot according to the present invention comprises a body frame 10, a first guide rod 20, a sliding member 30, A first housing 40, a second guide bar 50, a module housing 60, a second sliding unit 70, a sensor unit, and a control unit.

1 and 2, the body frame 10 is detachably mounted on one side or the other side of the moving direction of the building glass (G) cleaning robot R. As shown in FIG.

As shown in FIG. 2, the body frame 10 includes a plurality of frames, and a sliding member 30, which will be described later, is slidably mounted.

A rail groove 11 is formed at the upper and lower ends of the body frame 10 so as to be coupled to rails on which the cleaning robot R moves.

The body frame 10 is detachably mounted to the cleaning robot R by bolting or the like.

2, the first guide bar 20 is mounted on the body frame 10 so that the sliding member 30 to be described later is mounted on the body frame 10 in the glass G direction, As shown in Fig.

The sliding member 30 is mounted on the body frame 10 and slides in the direction of the glass G as shown in FIG.

A module housing 60, which will be described later, is mounted in the front of the sliding member 30, that is, in the direction of the glass G.

The sliding member 30 adjusts the distance between the glass G and the module housing 60 by moving the module housing 60 in the forward and backward directions.

The sliding member 30 includes a first case 31, a second case 32, a third case 33, and a connecting member 34, as shown in FIG.

The first case 31 has a rectangular shape and is slidably mounted on the body frame 10 so as to protrude in the glass G direction.

2 to 4, a first guide hole 35 into which the first guide bar 20 is inserted is formed in the sliding direction of the first case 31, And moves in the glass (G) direction.

The second case 32 has a rectangular shape and is slidably mounted on the body frame 10 so as to protrude in the glass G direction at a predetermined distance from the first case 31.

In the second case 32, a first guide hole 35 into which the first guide bar 20 is inserted is formed in the sliding direction in the same manner as the first case 31, (G) direction.

A module housing 60 to be described later is mounted in front of the first case 31 and the second case 32.

The third case 33 has a rectangular shape and is mounted between the first case 31 and the second case 32 so as to slide in the body frame 10.

Accordingly, the third case 33 is formed to be smaller than the first case 31 and the second case 32.

A first guide hole 35 into which the first guide bar 20 is inserted is formed in the sliding direction of the third case 33 as in the first case 31 and the second case 32. [ So as to slide in the forward and backward directions, that is, in the glass (G) direction.

A first sliding means 40, which will be described later, is mounted on the third case 33 to slide the sliding member 30 forward and backward.

2 to 4, the connecting member 34 is in the form of a rod and connects the first case 31, the second case 32, and the third case 33 to each other . .

That is, the connecting member 34 moves the first case 31, the second case 32, and the third case 33 together when sliding along the first guide bar 20 .

Since the sliding member 30 includes the first case 31, the second case 32, the third case 33, and the connecting member 34, the overall weight of the sliding member 30 can be reduced.

The first sliding means 40 slides the sliding member 30 relative to the body frame 10.

That is, the first sliding means 40 moves the module housing 60 mounted on the front along the first guide bar 20 in the direction of the glass G, Adjust the spacing of the module housing (60).

The first sliding means 40 includes a rack gear 41, a pinion gear 42 and a first motor 43, as shown in Figs.

2 to 4, the rack gear 41 is formed on one side of the third case 33 in the sliding direction, and the pinion gear 42 is mounted to be engaged with the rack gear 41 .

The first motor 43 is mounted on the body frame 10 to rotate the pinion gear 42.

With the above structure, when the first motor 43 rotates, the pinion gear 42 rotates and the rack gear 41 moves in the front-rear direction.

The first case 31 and the second case 32 connected to each other by the third case 33 and the connecting member 34 are moved together in the forward and backward directions And moves along the first guide bar 20.

The first sliding means 40 includes the rack gear 41, the pinion gear 42 and the first motor 43 to move the sliding member 30 in the forward and backward direction, The gap between the module housing 60 and the glass G mounted in front of the module housing 60 can be easily adjusted.

The first sliding means 40 is mounted on a third case 33 mounted between the first case 31 and the second case 32 so that the first case 31 and the second case 32 32 are slidably moved by the third case 33 in a balanced manner.

However, the present invention is not limited thereto, and the first sliding means 40 may be mounted on the first case 31 or the second case 32 interlocked with the third case 33.

2 and 3, one end of the second guide rod 50 is mounted on the front side of the first case 31 and the other side is mounted on the front side of the second case 32 do.

A module housing 60 to be described later is mounted on the second guide bar 50 so as to slide in a direction orthogonal to the moving direction of the cleaning robot R from the front of the sliding member 30. [

2 to 3, the module housing 60 is slidably mounted on the front of the sliding member 30 in a direction perpendicular to the moving direction of the cleaning robot R. As shown in FIG.

A measurement module (not shown) for measuring the degree of contamination of the glass G is mounted on the module housing 60 and a second guide hole 61 into which the second guide bar 50 is inserted is formed in a sliding direction So as to be slid in a direction perpendicular to the moving direction of the cleaning robot R along the second guide bar 50.

The module housing 60 includes a light emitting part 62 for emitting infrared rays to the surface of the glass G and a light emitting part 62 for emitting infrared light from the surface of the glass G, A light receiving portion 63 for receiving infrared rays is formed.

Thus, the contamination degree of the surface of the glass (G) is measured by the amount of infrared rays received by the light receiving unit (63).

The module housing 60 is slidably guided along the second guide rod 50 between the first case 31 and the second case 32 so that the module housing 60 can be moved to the cleaning robot R, It is possible to measure the degree of contamination of the entire surface of the glass G which is cleaned by the cleaning robot R while sliding in a direction perpendicular to the moving direction of the glass G. [

The second sliding means 70 slides the module housing 60 in a direction perpendicular to the moving direction of the cleaning robot R, as shown in FIGS.

The second sliding means 70 includes a belt pulley 71 and a timing belt 72 and a second motor 73 so that the module housing 60 is moved along the second guide bar 50 To be slidably moved.

The belt pulley 71 is mounted on the side where the first case 31 and the second case 32 face each other.

Here, since the timing belt 72, which will be described later, is mounted on the rear surface of the module housing 60, the belt pulley 71 is disposed in the first case 31 and the second And is mounted to the rear of the case 32. [

The timing belt 72 is rotatably mounted on the belt pulley 71 and a part of the outer circumferential surface on the front side of the timing belt 72 is fixedly mounted on the back surface of the module housing 60.

With the above structure, the timing belt 72 is rotated by the belt pulley 71 to allow the module housing 60 to move along the second guide bar 50.

The second motor 73 rotates the belt pulley 71 mounted on the first case 31 or the second case 32.

The timing belt 72 rotates while the belt pulley 71 rotates and the module housing 60 fixed to the timing belt 72 slides along the second guide bar 50 .

The second sliding means 70 includes the belt pulley 71, the timing belt 72 and the second motor 73 so that the vibration of the motor is transmitted by the timing belt 72 So that the degree of contamination can be precisely measured by minimizing vibration of the module housing 60.

A sensor unit (not shown) is mounted on the module housing 60 to measure an interval between the module housing 60 and the glass.

In the present embodiment, the distance between the module housing 60 and the glass G is measured using infrared rays emitted from the light emitting unit, but other sensor means may be used.

The control unit (not shown) rotates the first motor 43 in accordance with the signal from the sensor unit so that the gap between the module housing 60 and the glass G is maintained constant.

By providing the control unit that rotates the first motor 43 by the sensor unit as described above, the distance between the module housing 60 and the glass G can be adjusted to be constant, and the surface of the glass G can be accurately measured I can do it.

The control unit may be configured to store the degree of contamination measured by the measurement module or to control whether the cleaning robot R is operated or not. .

4, there is provided a return spring 80 having one side mounted on the rear side of the sliding member 30 and the other side mounted on the body frame 10, , It is desirable to make the return to the direction away from the surface of the glass (G) well.

Hereinafter, the operation of the glass contamination measuring apparatus for a building glass cleaning robot according to the present invention will be described.

First, the glass contamination measuring device is mounted on one side or the other side in the moving direction of the cleaning robot R.

Then, as shown in FIG. 1, the cleaning robot R is moved to measure the degree of contamination on the surface of the glass G.

At this time, the sliding member 30 slides in the body frame 10 while maintaining a constant gap between the module housing 60 and the glass G, as shown in FIG.

4, the module housing 60 measures the cleaning state of the glass G surface or the contamination state of the glass G surface while moving by the timing belt 72 in the vertical direction .

The module housing 60 may be provided with one or a plurality of module housings 60 depending on the cleaning area of the cleaning robot R. In this case, It can also be mounted.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention.

10: body frame 11: rail groove
20: first guide rod 30: sliding member
31: first case 32: second case
33: third case 34: connecting member
35: first guide hole 40: first sliding means
41: rack gear 42: pinion gear
43: first motor 50: second guide rod
60: Module housing 61: Second guide ball
62: light emitting portion 63: light receiving portion
70: second sliding means 71: belt pulley
72: timing belt 73: second motor
80: return spring G: glass
R: Cleaning robot

Claims (7)

A body frame (10) detachably mounted on one side or the other side of the moving direction of the building glass (G) cleaning robot (R);
A sliding member (30) mounted on the body frame (10) and sliding in the direction of the glass (G);
A first sliding means (40) for slidingly moving the sliding member (30) relative to the body frame (10);
A module housing 60 mounted on the front side of the sliding member 30 so as to be slid in a direction perpendicular to the moving direction of the cleaning robot R and equipped with a measurement module for measuring the degree of contamination of the glass G;
And a second sliding means (70) for slidingly moving the module housing (60) in a direction orthogonal to the moving direction of the cleaning robot (R). Glass contamination measurement and determination module equipment. The method according to claim 1,
The sliding member (30)
A first case 31 slidably mounted on the body frame 10 so as to protrude in a glass G direction;
A second case 32 spaced apart from the first case 31 by a predetermined distance and slidably mounted on the body frame 10 so as to protrude in the direction of the glass G;
A third case (33) slidably mounted in the body frame (10) between the first case (31) and the second case (32);
And a connecting member (34) for interconnecting the first case (31), the second case (32) and the third case (33)
A first guide hole (35) is formed in the first case (31), the second case (32), and the third case (33)
Is mounted to the body frame 10 and is inserted into the first guide holes 35 of the first case 31, the second case 32 and the third case 33 to guide the sliding movement And a first guide bar (20). The apparatus for measuring and discriminating glass contamination of a high-rise curtain wall building outer glass surface cleaning robot for detachable attachment. The method of claim 2,
The first sliding means (40)
A rack gear 41 formed at one side of the third case 33 in a sliding direction;
A pinion gear (42) mounted to be engaged with the rack gear (41);
And a first motor (43) mounted on the body frame (10) to rotate the pinion gear (42). The glass contamination degree measuring and discriminating module device. The method of claim 2,
A second guide hole (61) is formed in the module housing (60) in a sliding movement direction,
The module housing 60 is inserted into the second guide hole 61 so that one side is mounted on the front side of the first case 31 and the other side is mounted on the front side of the second case 32, And a second guide rod (50) for guiding a sliding movement between the case (31) and the second case (32). The high glass curtain wall building And a discriminating module device. The method of claim 4,
The second sliding means (70)
A belt pulley 71 mounted on a side where the first case 31 and the second case 32 face each other;
A timing belt 72 rotatably mounted on the belt pulley 71 and having a part of an outer circumferential surface fixedly mounted on a back surface of the module housing 60;
And a second motor (73) for rotating the first pulley (71) mounted on the first case (31) or the second case (32). Glass contamination measurement and identification module for cleaning robots. The method according to any one of claims 1 to 5,
A sensor unit mounted on the module housing 60 to measure an interval between the module housing 60 and the glass G;
And a control unit for rotating the first motor (43) by a signal from the sensor unit. The apparatus for measuring and discriminating glass contamination of a high-rise curtain wall building outer glass surface cleaning robot for detachable attachment. The method of claim 6,
In the module housing 60,
A light emitting part (62) for emitting the infrared rays to the surface of the glass (G) in the measurement module;
And a light receiving unit 63 for receiving infrared rays emitted from the light emitting unit 62 and reflected from the surface of the glass G,
And the degree of contamination on the surface of the glass (G) is measured by the amount of infrared rays received by the light receiving part (63).

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