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WO2013069986A1 - Appareil de nettoyage de fenêtre pouvant être manipulé par attraction magnétique et son procédé de commande - Google Patents

Appareil de nettoyage de fenêtre pouvant être manipulé par attraction magnétique et son procédé de commande Download PDF

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Publication number
WO2013069986A1
WO2013069986A1 PCT/KR2012/009402 KR2012009402W WO2013069986A1 WO 2013069986 A1 WO2013069986 A1 WO 2013069986A1 KR 2012009402 W KR2012009402 W KR 2012009402W WO 2013069986 A1 WO2013069986 A1 WO 2013069986A1
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WO
WIPO (PCT)
Prior art keywords
window
magnetic
module
cleaning
unit
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2012/009402
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English (en)
Korean (ko)
Inventor
백윤수
최종현
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Academic Cooperation Foundation of Yonsei University
Original Assignee
Industry Academic Cooperation Foundation of Yonsei University
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 Industry Academic Cooperation Foundation of Yonsei University filed Critical Industry Academic Cooperation Foundation of Yonsei University
Priority to US14/357,013 priority Critical patent/US20150027493A1/en
Publication of WO2013069986A1 publication Critical patent/WO2013069986A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
    • 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
    • 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
    • A47L1/06—Hand implements
    • A47L1/12—Hand implements for cleaning both sides simultaneously
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • a pair of cleaning units with a built-in magnet or the like are attached to both sides of a window by magnetic attraction to move along the surface of the window while simultaneously wiping both the outdoor and both sides of the window.
  • a self-adhesive window cleaning apparatus by moving the window cleaning device as installed in close contact with the window surface in the state to be able to actively adjust the magnetic force according to the thickness of the window by always cleaning in a constant force corresponding to various window thickness
  • the present invention relates to an improved window cleaning apparatus capable of preventing an accident in which the cleaning unit is separated from the window due to an unexpected external shock when using the room of the window cleaning apparatus.
  • the glass windows installed on the wall of the building are easily contaminated and dirty due to external dust, pollution, rainwater, etc., if left for a long time. You can keep it at the level.
  • cleaning the window it is relatively easy to clean it with a mop on the inner surface where the human hand touches, but the outer surface that is hard to reach the human hand is very troublesome and difficult to clean.
  • the window is left as it is.
  • a balcony window of a high-rise apartment in order to clean the outer surface of a window, a person has to stick out and look outward to clean the window. Therefore, various window scrubbing devices have been developed to clean windows more conveniently and safely.
  • the most convenient ones currently used as such window wiping devices are the so-called magnetic double-sided glass cleaners that allow magnets to clean both sides of the window from the inside of the building.
  • the specific configuration is slightly different depending on each product, but basically, a pair of cleaning holes with a built-in magnet is placed on the inside and the outside of the window respectively, If the user grabs the glass cleaning device on the indoor side and wipes it while moving along the window surface while keeping the attachment to each other by magnetic force, the glass cleaning device on the outdoor surface moves along the cleaning hole on the indoor surface by the magnetic force of the magnet. By doing so, the interior and exterior surfaces of the window can be cleaned at the same time.
  • a window cleaning tool for cleaning the inside or both sides of a window at the same time by using a magnet is currently developed in various forms.
  • a magnetic glass window cleaner is, for example, registered in Korean Patent No. 550279 and Patent Publication No. 10-2006. -0085274, Utility Model Registration No.0305524, can be easily found in a number of documents.
  • the conventional magnetic glass cleaning device as described above has the advantage that it is possible to clean the outdoor side of the window without going out, but it is inconvenient in use because it is designed to be moved by a person holding the handle by hand and moving the body.
  • the cleaning is performed only by passing through the window once, so it is difficult to clean the old days stuck to the window.
  • ladders or chairs in the case of high-level windows that are out of reach of people There was also the inconvenience of having to go up and clean up.
  • the present inventors have developed an automatic window wiping robot that can perform cleaning while automatically moving on a window, which is registered in Korean Patent Nos. 10-1003486 and 10. It was registered through -0987121.
  • the window-cleaning robot according to the pre-registered invention by employing a drive wheel with a magnet or magnetic material in each of the indoor and outdoor robot units, and by utilizing the magnetic attraction between the drive wheel as a normal force required for friction driving It is characterized in that the window cleaning work can be performed automatically while moving in close contact with the surface above the window.
  • the mechanism that can be moved automatically by the drive wheel even in the window surface perpendicular to the ground eliminates the inconvenience that the user had to clean the window while holding the cleaning tool and moving directly. There was an advantage that the cleaning can be done effectively.
  • the magnetic cleaning device that maintains the attachment force to the window by the magnetic attraction of the magnet as described above, if the magnetic force is weak, it may fall off the window surface and fall, which may lead to product damage as well as accidents. In consideration of safety, a strong enough magnet should be used.
  • the glass thickness used for the window is very large deviation depending on the structure (whether single or double window, the thickness of the glass used, etc.), the existing window cleaners correspond to a variety of thicknesses between the magnets The disadvantage was that it was impossible to maintain the power properly.
  • the window cleaning tool using a conventional magnet when the window thickness is thin, the cleaning unit is too close to the window, the driving force is too hard to smoothly operate, and sudden compression and pressing in the process of attaching the cleaning unit to both sides of the window. There is a concern that the glass may be broken by the impact, and when the thickness of the window is thick, the magnetic force and adhesion between the cleaning units are weak, so that the fall may occur due to the impossibility of attaching or running to the window or a slight impact.
  • the window cleaning tool using a conventional magnet because it is attached by the self-dependently depends on the magnetic attraction between the cleaning units without using a separate device for fixing the cleaning unit to the window, due to external factors
  • the cleaning units could lose their adhesion and fall off and fall. That is, when the window cleaner is in use, there is an unexpected impact (wind, contact with a pedestrian, etc.) from the outside, or the magnetic attraction between the two cleaning units during operation due to the protrusion of the window surface (eg when a sticker is attached).
  • the existing window cleaning device using a magnet has supplemented the fall prevention safety device in various ways.
  • fall prevention devices include those described in Korean Utility Model Registration No. 20-0305524.
  • a safety strap loop is provided on the outdoor cleaner, and it is fixed to a window frame so that it can be suspended without falling to the ground during a fall, or a vacuum pump and a suction plate are provided, and a method of reinforcing the adhesive force of the magnet through the suction pressure of the suction plate is applied. It was.
  • the present invention was developed in view of the above problems, and in particular, the present invention actively controls the spacing between magnets according to the thickness of various windows to maintain the magnetic attraction force to an appropriate size
  • the problem to be solved is to provide an improved window cleaning device that can be moved smoothly and can always clean the window with a constant force can be smoothly cleaned.
  • the present invention can prevent the safety accident in advance by increasing the strength of the magnetic force through the distance between the magnets when the risk of falling off the cleaning unit by the unexpected impact from the outside during the use during the use,
  • the window cleaning device and its control method can be predicted by the combination of the force sensor and the hall sensor to predict the risk of departure of the cleaning unit before the distance between the cleaning units becomes far and start an immediate safety process. It is another technical problem to provide.
  • a first cleaning unit is disposed on one side of the window and includes a first magnetic module including a magnet or a magnetic material;
  • a second cleaning unit disposed on an opposite side of the window on which the first cleaning unit is disposed, and having a second magnetic module including a magnet or a magnetic material to generate magnetic attraction with the first magnetic module of the first cleaning unit;
  • the first and the second cleaning unit is attached to both sides of the window by the magnetic attraction, respectively, consisting of a window cleaning device for wiping one or both sides of the window while moving together, the first
  • the cleaning unit includes a magnet moving module for moving the first magnetic module in a direction approaching or away from the second magnetic module;
  • a sensor module comprising one or more sensors and providing information detected from the sensors;
  • Control module for controlling the driving of the magnet moving module using the information provided from the sensor module; provides a window cleaning device implemented as a characteristic configuration capable of adjusting the magnetic attraction by including.
  • the sensor module includes a first sensor unit including a force sensor or a pressure sensor to detect the strength of the force acting from the outside; And a second sensor unit including a magnetic sensor to detect the strength of the magnetic force from the first magnetic module of the first cleaning unit, which is also one of the main structural features provided by the present invention.
  • the first sensor unit may include a load cell
  • the second sensor unit may include a hall sensor.
  • the present invention relates to a method for controlling the window cleaning apparatus of the present invention as described above, (a) comparing the value of the force sensor or the pressure sensor detected by the first sensor unit with the reference value is out of the set value A first emergency driving step of operating the magnet moving module to move the first magnetic unit in a direction approaching the second magnetic unit; (b) after the first emergency driving step, the magnet moving module is operated such that the magnetic sensor value detected by the second sensor unit is within a set value so that the first magnetic unit approaches or is spaced apart from the second magnetic unit; It provides a second method for controlling the window cleaning device comprising a; a second control driving step of moving to.
  • the window cleaning apparatus and the control method of the present invention as described above, by actively adjusting the distance between the magnets according to the thickness of the various windows to maintain the magnetic attraction to the appropriate size, the stable movement of the cleaning unit is possible and always constant force As it can clean the window, there is an advantage that can be smoothly cleaned.
  • the risk of leaving the cleaning unit can be prevented in advance, and the combination of the force sensor and the hall sensor can be predicted and responded immediately before the distance between the cleaning units becomes far, thereby ensuring a very good safety.
  • FIG. 1 is a view showing the overall use state as a preferred embodiment of the window cleaning apparatus of the present invention.
  • FIG. 2 and 3 are views showing in detail the first cleaning unit of the window cleaning apparatus of the present invention shown in FIG.
  • FIG. 4 is a view showing in detail the second cleaning unit of the window cleaning apparatus of the present invention shown in FIG.
  • FIG. 5 is a cross-sectional view taken along the line A-A of FIG. 2, showing the main components of the present invention to adjust the magnetic attraction by moving the magnetic module in the window cleaning apparatus of the present invention.
  • FIG. 6 is a view showing another embodiment of the main components of the present invention to adjust the magnetic attraction by moving the magnetic module in the window cleaning apparatus of the present invention.
  • FIG. 7 is a view showing the operation of the magnetic module and the magnetic coupling of the magnetic module when the magnetic module is coupled to the wiper in the window cleaning apparatus according to the present invention.
  • FIG. 8 is a view showing the operation of the magnetic module and the magnetic coupling of the magnetic module when the magnetic module is coupled to the drive wheel in the window cleaning apparatus according to the present invention.
  • Figure 9 is a simplified block diagram of the overall system configuration of the present invention.
  • first cleaning unit 200 second cleaning unit
  • first body frame 112 housing
  • first wiper 135 wiper drive motor
  • control module 150 first magnetic module
  • cam drive motor 165 cam rotation plate
  • cam post 167 screw moving motor
  • FIG. 1 to 4 show a preferred embodiment of the window cleaning apparatus according to the present invention
  • Figure 1 is a view showing the overall use of the window cleaning apparatus of the present invention
  • Figures 2 and 3 4 is a view showing a first cleaning unit of the window cleaning apparatus of the present invention
  • Figure 4 is a view showing a second cleaning unit of the window cleaning apparatus of the present invention.
  • the window cleaning device provided in the present invention is attached to each of the two independent cleaning unit without falling on both sides of the window using the force of the magnet without a separate support device built-in
  • the window cleaning apparatus according to the present invention is disposed on the opposite side of the window and the first cleaning unit 100 disposed on one side of the window. It can be seen that two units, including the second cleaning unit 200, are constituted by one set.
  • the first cleaning unit 100 is disposed on an indoor side of both sides of the glass window
  • the second cleaning unit 200 is disposed on an outdoor side of the glass window
  • the first cleaning unit ( 100 and the second cleaning unit 200 is provided with a magnetic module that generates a magnetic force therein, respectively, and is attached to face each other on both sides of the glass window by magnetic attraction between the magnetic modules.
  • the first cleaning unit 100 is a main unit disposed on one side of a window, for example, an inner surface of a window installed in a building such as an apartment.
  • the first cleaning unit 100 is provided.
  • the inside of the wheel drive motor 125 for rotating the first drive wheel 120 is provided to be configured to be able to move itself by an external or internal power source.
  • the cleaning unit disposed outside moves along with the magnetic attraction.
  • the driving wheel is adhered to the window surface by the magnetic attraction between the magnets to generate the ground force necessary to move the wheel. Therefore, the cleaning unit moves automatically while maintaining the state attached to the window surface. It is designed to increase user convenience.
  • the first cleaning unit 100 includes a main frame 110 forming a body as a support structure, and a first wiper attached to one side of the main frame 110 so as to rub the surface of the window 10. 130 and a first drive wheel 120 as a wheel member that moves in contact with the surface of the window 10 and a first magnetic module 150 as a magnetic force generating means.
  • the first cleaning unit 100 further includes a wiper drive motor 135 that rotates the first wiper 130 and a wheel drive motor 125 that provides rotational driving force for the first drive wheel 120.
  • a control module (not shown) may be further provided to control various operations such as automatic movement of the window cleaning device, wiper driving, and driving of a magnetic module to be described later.
  • the first driving wheel 120 is mounted on the inner surface of the first body frame 110 so as to make a rolling contact with the surface of the window 10 to move the first cleaning unit 100 along the surface of the window 10. do.
  • the first drive wheel 120 is a cylindrical permanent magnet center is built in the center so as to be coupled to the second drive wheel 220 to be described later by magnetic (magnetic) attraction, around the window It may have a structure covered with a friction cover of rubber material to prevent the slip when moving in contact with the surface of the cloud 10 to transmit a smooth driving force.
  • the friction cover surrounding the outer circumferential surface of the first drive wheel 120 is not limited to the rubber material may be provided of a variety of materials having an appropriate friction coefficient to prevent sliding.
  • the first wiper 130 is configured to wipe the contact surface of the window when the first cleaning unit 100 moves on the window 10, the first wiper 130 as shown in the illustrated embodiment
  • the inner surface of the first body frame 110 is rotatably mounted on the inner surface of the first body frame 110 so as to rotate and contact the surface of the window 10.
  • Four first wiper 130 is provided in the form of a disk that rotates around the rotating shaft 132 formed perpendicular to the window as a preferred example of the present invention, in various forms and number according to the choice of those skilled in the art It may be provided, it is also possible to change the direction of the rotation axis.
  • a brush may be attached or a fiber cover made of microfiber may be further attached to effectively clean the surface of the window 10.
  • the first cleaning unit 100 and the second cleaning unit 200 to be described later, the first magnetic module 150 and the second magnetic module in which a magnet or a magnetic material is embedded as a means for generating a magnetic force 250 are provided, respectively.
  • the first magnetic module 150 and the second magnetic module 250 preferably include a permanent magnet so that the first cleaning unit 100 and the second cleaning unit 200 may be attached to both sides of the glass window. It functions to generate magnetic force between each other, so that the first and second cleaning units 100 and 200 respectively disposed on both sides of the glass window are attracted to each other by magnetic attraction and close to the glass window so that they can be moved simultaneously without falling off. It becomes possible.
  • the second magnetic module of the second cleaning unit 200 may be disposed in a position adjacent to the window in the first cleaning unit 100. 250 and magnetic coupling is desirable to occur smoothly. 1 to 3, in the configuration of the first magnetic module 150 as described above, the shape of the disk conforming to the shape of the first wiper 130 is fixed to the first wiper 130. An example is given as a preferred example of the present invention, and correspondingly, the second magnetic module 250 is also coupled to the second wiper 230.
  • the first wiper 130 and the second wiper 230 are formed by the magnetic attraction between the magnetic modules. Since it can be in close contact with a suitable force, there is an advantage that more efficient cleaning can be made in removing the contamination attached to the window surface. More preferably.
  • the magnet included in the first magnetic module 130 rotates along a central axis of rotation to divide radially constant regions so that the polarity is changed, that is, the region having the N pole and the S pole as shown in FIG. 6. It is preferable to configure so that repeated areas are alternately repeated.
  • the second wiper 230 of the second cleaning unit 200 may also be interlocked by a magnetic coupling when the first wiper 130 rotates, the rotation may be performed together.
  • 2 cleaning unit 200 has the advantage that does not need to be provided with a separate drive motor.
  • first magnetic module 150 may be coupled to the first driving wheel 120 instead of being coupled to the first wiper 130 as described above.
  • first driving wheel 120 of the first cleaning unit 100 and the second driving wheel of the second cleaning unit 200 are combined.
  • Each driving wheel is in close contact with the window surface by the pulling force between the 220 to generate a ground friction force, there is an advantage that the driving is more smooth.
  • the N pole and the S pole alternately appear while rotating along the outer circumferential surface. It is more preferable to allow the second driving wheel 220 to receive the rotational torque of the first driving wheel 120 to rotate by magnetic coupling.
  • the first magnetic module 150 is not provided in a completely fixed state at a predetermined position of the first cleaning unit 100, it is mounted in a state capable of movement and displacement. Specifically, according to the present invention, the first magnetic module 150 is configured to move in a direction close to or away from the second magnetic module 250 of the second cleaning unit 200 within a predetermined range. 1 As a means for the movement of the magnetic module 150, the magnet moving module 160 is further provided.
  • the magnet moving module 160 may be implemented by including a power generating means for generating a driving force, such as a motor, and a mechanical element for converting and transmitting a linear motion using the rotational force of the motor, an example of the specific embodiment 4 is illustrated as the preferred embodiment in FIGS.
  • a control module is included as a device for controlling the driving of the magnet moving module 160 as described above, and a sensor module including one or more sensors as means for providing information necessary for controlling the control module. This is further included. The control drive of the magnet moving module by the sensor module and the control module and the effects thereof will be described later in more detail.
  • the second cleaning unit 200 is a unit for cleaning while moving the opposite surface of the window in pairs with the first cleaning unit 100
  • the second cleaning unit 200 is the first cleaning unit It is installed on the opposite side of the window surface 100 is installed is carried out by the magnetic attraction by the movement of the first cleaning unit 100 to move along with the cleaning work.
  • the second cleaning unit 200 has a configuration substantially the same as that of the first cleaning unit 100 described above, and includes a second body frame 210 and a plurality of second driving wheels ( 220, a plurality of second wipers 230, and a second magnetic module 250 by generating magnetic force.
  • the second body frame 210 forms a body of the second cleaning unit 200
  • the second driving wheel 220 and the second body frame 210 are formed on the second body frame 210.
  • the wiper 230 and the like are combined and fixed.
  • the second cleaning unit 200 is not provided with a wheel driving motor, and the second driving wheel 220 is led by the first cleaning unit 100 to the second cleaning unit. When the 200 moves together, it is provided in a state fixed to the second body frame 210 to rotate naturally.
  • the second magnetic module 250 is preferably implemented by being coupled to the second wiper 230 as the first magnetic module 150 in the above-described first cleaning unit 100, but in addition to the above-described first magnetic module Corresponding to the installation position of the module 150 may be coupled to the second driving wheel 220 or mounted on other parts of the second cleaning unit 200.
  • first cleaning unit 100 and the second cleaning unit 200 may be further provided with a cleaning liquid tank (not shown) for storing the cleaning liquid to more effectively clean the window.
  • the wash liquid tank is connected to the pump 185 (not shown in FIG. 3) via a hose, and the pump 185 sprays an appropriate amount of the wash liquid on the surface of the window 10.
  • the pump preferably sprays the cleaning solution around the wipers 130 and 230 so that the first wiper 130 and the second wiper 230 can effectively clean the window 10.
  • the members constituting the rotating shafts 132 and 232 of the first wiper 130 and the second wiper 230 are provided by a pipe member in the form of a hollow tube, and the pump When the cleaning solution is configured to spray the window 10 through the rotating shaft 132 of the first wiper 130, more effective cleaning may be achieved.
  • At least one shock absorbing bumper 186 or 286 may be further mounted on the outer circumferential surfaces of the first and second body frames 110 and 210.
  • the bumpers 186 and 286 absorb shocks when the body frames 110 and 210 collide with the window frames (not shown) provided at the edges of the windows 10, thereby providing a window frame or cleaning unit. This is to prevent breakage.
  • the bumpers 186 and 286 may be provided with a contact sensor (not shown) to detect the contact when contacting with an external object such as a window frame as a preferred embodiment of the present invention.
  • a contact sensor may be provided as a pressure sensor, for example, to sense a pressure generated when the bumper comes into contact with an external object.
  • the contact sensor is not limited thereto and may be provided by various known sensors that detect contact or proximity to an object such as a photo sensor. Of course. As such, the signal generated by the contact sensor may be transmitted to the control module 140 and used to control the wheel driving motor 125.
  • the two cleaning units are basically moved together while the two cleaning units are attached to the inside and the outside of the window by the magnetic attraction between the magnetic modules, thereby cleaning the window. It is easy to clean the outer surface.
  • the present invention is configured to actively control the magnetic attraction acting between the magnetic modules as described above with a uniform force while maintaining a constant adhesion in response to windows of various thicknesses The cleaning can be performed, and in particular, it is possible to expect a very good effect for safety by preventing the reduction of magnetic attraction due to unexpected external force and the risk of falling due to unexpected external force during the operation of the device.
  • Figure 5 is a preferred embodiment of the main configuration of the present invention for controlling the magnetic attraction by moving the magnetic module in the window cleaning apparatus of the present invention, the magnet drive module 160 to the cam drive motor 164 and the It is sectional drawing which shows the form comprised using the cam drive part which moves the 1st magnetic module 150 by changing the rotational force of the cam drive motor 164 to linear reciprocating motion.
  • the first magnetic module 150 is configured to include a permanent magnet in which the N pole and the S pole are alternately formed (see FIG. 7), and the first magnetic module 150 is provided. Is configured to be integrally coupled to the first wiper 130. As described above, the first wiper 130 to which the first magnetic module 150 is coupled is configured to rotate about the rotation axis 132 perpendicular to the window surface as shown, and the rotation axis of the first wiper 130. 132 is supported by the moving plate 162 is rotatably fixed. The moving plate 162 is not coupled to the first body plate and the outer housing 112 in a fixed form, but is installed in a state in which the moving plate 162 can move forward and backward. The moving plate 162 includes the first wiper ( 130 and the first magnetic module 150 and the wiper drive motor 135 are fixedly mounted.
  • the wiper drive motor 135 coupled to one side of the moving plate 162 is a motor for generating a driving force for rotating the first wiper 130, and the wiper drive motor 135 and the first wiper 130.
  • the rotating shaft 132 is connected through the gear 136 is adjusted to an appropriate rotational speed is configured to drive the first wiper 130 in rotation.
  • the first wiper 130, the first magnetic module 150, the wiper drive motor 135 and the gear 136 elements coupled to the moving plate 162 as described above are configured to move together as one assembly.
  • a cam driving motor 164 is provided as a configuration for moving the moving plate 162 and the first magnetic module 150 coupled thereto, and the cam driving motor 164.
  • Cam driving mechanism for moving the first magnetic module 150 by converting the rotational force of) into a linear reciprocating motion is provided.
  • the cam driving mechanism may include a cam rotating plate 165 connected to the cam driving motor 164 and rotating by the operation of the cam driving motor 164.
  • the cam rotation plate 165 is illustrated as having a shape of an inclined oblique surface whose height rises from the bottom surface as the top surface thereof is rotated from the central axis, and the first magnetic module 150 is coupled thereto.
  • the inner surface of the movable plate 162 is provided in the form of the cam post 166 protruding so that the tip portion thereof is in contact with the upper surface of the cam rotation plate 165.
  • the cam post 166 By the front and rear movement of the cam post 166, it becomes possible to move the moving plate 162 and the first magnetic module 150 connected thereto, and according to the present invention, such a cam drive motor 164 and a cam drive mechanism.
  • a cam drive motor 164 and a cam drive mechanism By controlling the distance between the first magnetic module 150 and the second magnetic module 250 by the interaction of the strength of the magnetic attraction acting between the first cleaning unit 100 and the second cleaning unit 200 It can be adjusted. That is, when the first magnetic module 150 is moved in the direction of approaching the second magnetic module 250 by the operation of the magnet moving module 160 as described above, the strength of the magnetic attraction force acting on each other becomes stronger. On the contrary, if it is moved in a distant direction, the strength of the magnetic attraction force can be adjusted so as to freely adjust the attachment force to the window of the window cleaning device according to the present invention.
  • the present invention in moving the window cleaning device with a built-in magnetic module in close contact with the window, it is always constant regardless of the glass thickness of the window by actively changing the distance between the magnetic modules according to the thickness of the window You can clean the windows by force.
  • the magnetic modules approach each other to increase the strength of the magnetic force to greatly improve the product safety. It is possible.
  • the operation control of the magnet moving module 160 as described above may be made by a separate control module, and the control module may be implemented in the form of a microcomputer with a program built therein as a preferred embodiment of the present invention. have.
  • FIG. 9 which schematically illustrates the overall system configuration of the present invention in the form of a block diagram, the present invention provides information necessary for controlling the control module 140, and may detect information from the outside.
  • the sensor module 170 including a sensor is further provided.
  • the sensor module 170 may include one or more sensors, and basically measures the strength of the magnetic attraction force acting between the first magnetic module 150 and the second magnetic module 250. It may be implemented by including a magnetic sensor such as a Hall sensor. Accordingly, in the sensor module 170, the magnetic attraction strength between the first magnetic module 150 and the second magnetic module 250 is measured and provided to the control module 140 through a hall sensor, and the control module ( In 140, the first magnetic module 150 is transmitted by sending a control signal for controlling the operation of the magnet moving module 160 to move the first magnetic module 150 based on the information transmitted from the sensor module 170. Proper manpower can be maintained by adjusting the distance between the first and second magnetic modules 250.
  • a magnetic sensor such as a Hall sensor
  • the first sensor unit 171 and the second sensor including a force sensor or a pressure sensor to more preferably detect the strength of the force acting from the outside as the sensor module 170 as described above in the present invention
  • the sensor unit includes two sensor units including a second sensor unit 172 including a magnetic sensor so as to detect the intensity of the magnetic attraction force from the second magnetic module 250 of the cleaning unit.
  • the basic element may be implemented only by a magnetic sensor capable of measuring the magnetic attraction strength between the first magnetic module and the second magnetic module.
  • efficient cleaning may be performed by maintaining appropriate adhesion for various window thicknesses. While there is an advantage that it is possible, there is a problem that can not fully cope with the risk of falling due to external impacts.
  • the strength of the magnetic force acting on the sensor is detected.
  • the distance between the magnetic modules increases to some extent in the case of a sudden external force. It is only after the decrease that the risk of falling can be detected.
  • the distance between the magnetic modules is increased, it is practically impossible to recover the magnetic strength through the control of the above-described magnet moving module, and thus there is a disadvantage in that it is difficult to cope with the safety requirements of the magnetic sensor alone.
  • the control module is a first emergency driving step.
  • the cleaning unit predicts the risk of departure in advance before the departure from the window is started to close the magnetic module, thereby preventing the risk of falling due to external impact or the like. As a result, the safety of the product can be greatly improved.
  • control module is a secondary control driving step so that the magnetic sensor value detected by the second sensor unit 172 falls within a set value range.
  • the moving module 160 By operating the moving module 160 to feedback-adjust the distance between the magnetic modules, the strength of the magnetic attraction force is again adjusted to an appropriate range.
  • the force sensor in the present invention as described above may be preferably used a strain gauge load cell, in addition to the piezoelectric force sensor or inductance force sensor can be applied.
  • the force sensor may be replaced by a pressure sensor that can sense the pressure that the cleaning unit is pressed against the window surface.
  • the installation position of the first sensor unit 171 including the force sensor or the pressure sensor as described above may be installed in various positions according to the design of those skilled in the art, in particular, the case of the force sensor and the housing 112 forming an outer case and When the first magnetic module 150 is installed between the connected internal components, it is possible to predict in advance that the influence of the force applied from the outside will affect the first magnetic module 150 which is the magnetic force generating means.
  • the installation position of the force sensor 171 may be installed between the housing 112 of the first cleaning unit and the cam drive motor 164, for example, as shown in FIG. 5, but the first magnetic module is not shown. It is possible to install in various positions, such as being installed between the structure and the housing 112, such as the included moving plate 162.
  • the first sensor unit may be installed in such a manner that the cleaning unit detects a force or pressure pressed on the window surface, so that the fall risk may be sensed by decreasing the pressure immediately before the cleaning unit is separated.
  • the position of the sensor may be installed at a portion where the cleaning unit and the window are in close contact with each other, for example, the first wiper or the first driving wheel, and installed on the rotating shaft of the first driving wheel. It is also possible to implement in advance the risk of falling through the reduction in the traction of the drive wheels.
  • the first magnetic module 150 is movably installed.
  • the first magnetic module 150 is fixed and the second magnetic module 250 is movable.
  • the first magnetic module 150 and the second magnetic module 250 may be configured to move simultaneously.
  • Figure 6 is another embodiment of the main configuration of the present invention for controlling the magnetic attraction by moving the magnetic module in the window cleaning apparatus of the present invention, the configuration of moving the first magnetic module using a motor and a lead screw Is a cross-sectional view showing.
  • the magnet moving module 160 may be implemented using a screw moving motor 167 and a lead screw 168 connected thereto. The basic operation and action thereof may be performed by the cam driving shown in FIG. 5. It's almost the same way.
  • the magnet moving module 160 may be implemented by using a linear motor or other methods.
  • the window cleaning apparatus and a control method thereof provided by the present invention have a magnetic module embedded therein and keep the state attached to the window surface by magnetic force while moving by magnetic force and cleaning the window. It can be applied to a cleaning robot.

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  • Cleaning In General (AREA)

Abstract

La présente invention concerne un appareil de nettoyage de fenêtres qui comprend : une première unité de nettoyage, positionnée sur un côté d'une fenêtre, qui possède un premier module magnétique intégré comprenant un aimant ou un matériau magnétique ; et une deuxième unité de nettoyage, positionnée sur le côté opposé de la fenêtre sur laquelle la première unité de nettoyage est disposée, qui possède un deuxième module magnétique intégré comprenant un aimant ou un matériau magnétique pour générer une attraction magnétique avec le premier module magnétique de la première unité de nettoyage. Les première et deuxième unités de nettoyage, chacune étant fixée aux deux côtés de la fenêtre, respectivement, assurent le nettoyage d'un ou des deux côtés de la fenêtre tout en se déplaçant l'une et l'autre, sous l'effet de l'attraction magnétique. Selon un aspect de la présente invention, la première unité de nettoyage comprend : un module de déplacement magnétique qui permet de déplacer le premier module magnétique soit en direction soit à l'opposé du deuxième module magnétique ; un module capteur qui comprend au moins un capteur, et qui fournit des informations détectées par le capteur ; et un module de commande pour commander le mouvement du module de mouvement magnétique au moyen des informations fournies par le module capteur. L'appareil de nettoyage de fenêtre selon la présente invention permet de déplacer de façon stable les unités de nettoyage par maintien de l'attraction magnétique à une force appropriée, la manipulation étant assurée par commande dynamique de la distance entre les aimants selon une variété de largeurs de fenêtre ; et a l'avantage d'assurer un nettoyage efficace par son action effectuée à force constante.
PCT/KR2012/009402 2011-11-08 2012-11-08 Appareil de nettoyage de fenêtre pouvant être manipulé par attraction magnétique et son procédé de commande Ceased WO2013069986A1 (fr)

Priority Applications (1)

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US14/357,013 US20150027493A1 (en) 2011-11-08 2012-11-08 Window cleaning apparatus capable of manipulation via magnetic attraction and control method thereof

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KR10-2011-0115686 2011-11-08
KR1020110115686A KR101320615B1 (ko) 2011-11-08 2011-11-08 자기 인력의 조정이 가능한 창문 청소 장치 및 그 제어 방법

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CN106510545A (zh) * 2015-12-11 2017-03-22 刘忠臣 超大磁力安全擦玻璃器
CN107569165A (zh) * 2017-07-28 2018-01-12 深圳市普森斯科技有限公司 带有磁力吸附结构的擦窗机器人及擦窗方法
CN109846412A (zh) * 2019-03-15 2019-06-07 廖祥菊 一种玻璃清洁机器人
USD1013991S1 (en) * 2021-07-26 2024-02-06 Tyroler Ltd. Window cleaning appliance

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WO2021134536A1 (fr) * 2019-12-31 2021-07-08 李庆远 Robot de nettoyage de fenêtre à adsorption magnétique interne et externe
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CN106510545A (zh) * 2015-12-11 2017-03-22 刘忠臣 超大磁力安全擦玻璃器
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CN107569165A (zh) * 2017-07-28 2018-01-12 深圳市普森斯科技有限公司 带有磁力吸附结构的擦窗机器人及擦窗方法
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USD1013991S1 (en) * 2021-07-26 2024-02-06 Tyroler Ltd. Window cleaning appliance

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US20150027493A1 (en) 2015-01-29
KR101320615B1 (ko) 2013-10-22

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