CN101028183A - Hydraulic-driven cleaner and method for changing hydraulic-jet dynamics and direction - Google Patents
Hydraulic-driven cleaner and method for changing hydraulic-jet dynamics and direction Download PDFInfo
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- CN101028183A CN101028183A CN 200610058244 CN200610058244A CN101028183A CN 101028183 A CN101028183 A CN 101028183A CN 200610058244 CN200610058244 CN 200610058244 CN 200610058244 A CN200610058244 A CN 200610058244A CN 101028183 A CN101028183 A CN 101028183A
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Abstract
A hydrulically driven cleaner for cleaning flat field has a water pump, a directional water draining pipe, and a water flow controller between the water outlet of water pump and said directional water draining pipe and with two working positions for controlling the direction of spraying water. A method for changing the strength and direction of sprayed water flow is also disclosed.
Description
Technical field
The present invention relates to a kind of cleaner, particularly relate to a kind of by hydro powered and influence the cleaner of direction;
The invention still further relates to the dynamics of change cleaner water-jet and the method for direction.
Background technology
Existing automatic cleaner, using an independent motors to transmit power by one group of gear needs to go the rounds on the clean Surface in the pond to one group of wheel or wheel crawler belt that is installed on the axle, these wheels or crawler belt are parallel with the longitudinal axis of cleaner, and the y direction of cleaner is meant the direction of advancing or moveing backward of cleaner.
United States Patent (USP) 3,979,788 disclosed cleaners have the synthetic matrix of three set of wheels, are arranged on the triangulation point of an isosceles triangle, go to drive the cleaner whole basin bottom of intactly go the rounds.These three wheels one of them on the summit of isosceles triangle, its axletree is to rotate according to a vertical axle center, become a cleaner that freely rotates.
The general cleaner that uses wheel, two electro-motors can be installed: a motor is twitched the filter of current through cleaner as driving water pumper; A motor drives cleaner and go the rounds in the needs clean Surface.CD-ROM drive motor can be by multiple sets of teeth wheel or one group of belt pulley transmission power; Water pumper can be pumped High-Pressure Water for external, and promptly injection water is utilized reaction force driving cleaner or used water turbine to connect wheel or crawler belt with gear or belt pulley to cleaner.The employed turbine of the cleaner of prior art, or directly promote or reaction force drives can only drive to single direction, and this to move be at random.
The control cleaner is the fore-and-aft direction motion at one's own department or unit with the direction of its longitudinal axis, can use meticulousr electronic circuit setting, and can use as synchronous motor and direct current brush motor, up climb when some prior art needs cleaner to arrive wall and walk crosswise one section unfixed distance after get back to basin bottom, to reach the go the rounds purpose of route of randomly changing basin bottom.The cleaner that other prior art uses waterpower to promote changes its direction of advance to reach the go the rounds purpose of whole basin bottom of random fluctuation in the time of also need relying on cleaner to touch abutment wall.But under some specific situation, this wall that utilizes changes the method for cleaner at the route of go the rounds of basin bottom, loses time and the energy, so that accelerates the loss of cleaner.
The cleaner of the prior art of on market, selling, the design that some use water under high pressures to remove to realize to go the rounds at random route, ' reversing ' valve towards high pressure diversion larynx direction can be installed, this valve can activate in not timing, making one promotes with the inconsistent direction of the direction of advancing, this power changes the mode of tap direction, also might drive cleaner and change direction.This reversing valve can utilize some to be installed in the device of tap and activates, but this random direction that produces because of the activation of reversing valve to change be uncertain, may not necessarily help one to leave because of the stranded cleaner of barrier.
United States Patent (USP) 4,348, the cleaner of a disclosed circle and the floating what water surface has the sparge pipe water spray of a continuous rotation direction in the position that is connected to the water supply larynx in 192, but automatic backing when cleaner is obstructed when advancing.Except the described injection tap that is installed in cleaner, the jet of a plurality of backward directions is arranged on the water supply larynx, can make cleaner keep the random route of go the rounds.
For using gear train to remove to drive the cleaner of wheel or crawler belt, it has increased the weight of the exploitation and the production cost of cleaner, particularly will produce and assemble large quantities of tiny and need the part of high accuracy; User or owner also need more time and money to go to safeguard the normal loss of this machinery.
Summary of the invention
An object of the present invention is to provide a kind of cleaner of automation of improvement, can utilize the water-jet mode of a tool directionality to go effectively to reach reliable driving force, make the cleaning function follow the y direction of cleaner to advance as one.
Another object of the present invention provides and a kind ofly changes the dynamics of cleaner water-jet and the method for direction, thereby can control advancing of cleaner, and utilizes the method for short interruption current to change the direction of advance of cleaner.
A further object of the present invention provides a kind of cleaner of simple and durable changed water-jet direction, and respond to cleaner easily and touch barrier or abutment wall by being arranged at external inductor in the cleaner, and then control break water-jet direction.
For achieving the above object, the invention provides a kind of cleaner, but planar section as the cleaning operation field, the inner surface in pond or the water tank particularly, described cleaner is driven by water-jet, comprise that an energy is by the water pumper of connected discharge outlet discharge High-Pressure Water, a directive drainage pipeline and a flow control apparatus for water that circulates mutually and connect with the discharge outlet of described water pumper, its characteristics are, the axle center of described water pumper discharge outlet roughly is vertical angle with the face of required cleaning; Described directive drainage pipeline includes a drainage pipeline at least, so that injection water has directionality ground to penetrate outside the cleaner, described drainage pipeline is vertical angle substantially near the axle center of outlet conduit and the axle center of described water pumper discharge outlet; Described flow control apparatus for water is arranged between described water pumper discharge outlet and the described drainage pipeline, described flow control apparatus for water operates between first operating position and second operating position, controllable flow is to one of them injection of both direction, and this both direction is mutually opposite substantially direction, after being rotated 90 °, feasible High-Pressure Water from water pumper ejects outside the cleaner, thereby drive cleaner in the pond or water tank bottom move, the direction of its injection is determined by the position of described flow control apparatus for water.
Above-mentioned cleaner, its characteristics are, at least two delivery port pipelines along the cleaner longitudinal axis of described drainage pipeline setting are arranged at the two ends of described drainage pipeline respectively.
Above-mentioned cleaner, its characteristics are, described flow control apparatus for water comprises at least one flap valve assembly, be arranged in the drainage pipeline that communicates with water pumper discharge outlet liquid stream between described two delivery port pipelines, described flap valve assembly can operate between first operating position and second operating position because of the water under high pressure short interruption of described water pumper discharge outlet ejection, makes current eject outside the cleaner from one of them of two delivery port pipelines.
Above-mentioned cleaner, its characteristics are, described flap valve assembly comprises the fix fixing group of turnover panel of the attached bias voltage that is installed in two delivery port pipe interiors in the drainage pipeline and communicates with water pumper discharge outlet liquid stream of turnover panel of a turnover panel of installing in pivot point and a plurality of usefulness, and the position of the fixing group of described turnover panel and turnover panel is that one of them pipeline of described two the delivery port pipelines of control water pumper current direction is discharged.
Above-mentioned cleaner, its characteristics are that described flow control apparatus for water interrupts draining suddenly in response to water pumper and operates between first operating position and second operating position to discharge outlet.
Above-mentioned cleaner, its characteristics be, described flap valve assembly comprises that a turnover panel that is set up by fulcrum and turnover panel positioning component of many whats are bias voltage is arranged and to be installed in the drainage pipeline, and bestows pressure in response to current flow through the pressure of flap valve.
Above-mentioned cleaning machine for water tank, its characteristics are that the fulcrum of described turnover panel is fixed on the installation fulcrum opposite location of fixing group in the drainage pipeline with turnover panel.
Above-mentioned cleaner, its characteristics are that the fixing group of described turnover panel is mounted on the fulcrum also rotatable, and its arc rotating range is 180 °.
Above-mentioned cleaner, its characteristics are that the fixing group of described turnover panel is with the spring bias voltage.
Above-mentioned cleaner, its characteristics are that the part in the rotating range of the fixing group of described turnover panel free pendulum moved end and the rotating range of described turnover panel are overlapping.
Above-mentioned cleaner, its characteristics are that the fixing group of described turnover panel and described turnover panel is mounted in the drainage pipeline inwall.
Above-mentioned cleaner, its characteristics are that described cleaner comprises a pipeline placed in the middle, are connected with drainage pipeline, and pipeline placed in the middle is relative with the flap valve assembly, and communicate with water pumper discharge outlet and drainage pipeline liquid stream.
Above-mentioned cleaner, its characteristics are that described cleaner comprises at least one vertical row mouth of a river, and the described vertical row mouth of a river is positioned near the turnover panel fixed pivot.
Above-mentioned cleaner, its characteristics are that described cleaner is provided with two vertical row mouths of a river, lay respectively at the both sides of turnover panel fixed pivot.
Above-mentioned cleaner, its characteristics are that the described vertical row mouth of a river is provided with capping, and when the drainage pipeline internal pressure reached a pre-determined factor, described capping was opened and allowed the current vertical row mouth of a river of flowing through.
Above-mentioned cleaning machine for water tank, its characteristics are that described drainage pipeline comprises at least one vertical row mouth of a river, and the described vertical row mouth of a river is positioned at the part of the non-end of drainage pipeline.
Above-mentioned cleaning machine for water tank, its characteristics are that the discharge at the described vertical row of the circulation mouth of a river is controlled with vertical throttling arrangement in the described vertical row mouth of a river.
Above-mentioned cleaner, its characteristics are that described vertical throttling arrangement comprises at least one removable capping, the openings of sizes at the control vertical row mouth of a river.
Above-mentioned cleaning machine for water tank, its characteristics are that described vertical throttling arrangement capping is manually-operated removable capping.
Above-mentioned cleaner, its characteristics are that described capping is attached bias capping, in response to pressure that the water in the drainage pipeline produced and change the discharge outlet size of attached bias capping.
Above-mentioned cleaner, its characteristics are, described delivery port pipe end further is provided with an elbow turn of tidal stream device, and the axle center of the outlet of described elbow turn of tidal stream device and the longitudinal axis of cleaner have angle, make current when elbow turn of tidal stream device flows out and the plane of motion of cleaner at angle.
Above-mentioned cleaner, its characteristics are that described delivery port pipeline and described elbow turn of tidal stream device are wholely set.
In order to control the motion of above-mentioned cleaner, the present invention also provides and has changed the dynamics of cleaner water-jet and the method for direction, its characteristics are, described cleaner comprises: electric supply installation, time delay switch, transformer device, water pumper, drainpipe and flow control apparatus for water comprise the steps:
1) electric supply installation power supply starts cleaner, water pumper work, and flow control apparatus for water is positioned at first operating position, go the rounds towards a direction through the High-Pressure Water driving cleaner of flow control apparatus for water and drainpipe injection;
2) transformer device induction outer signals sends control signal interruptive current, and water pumper quits work, and postpones switch start-up time;
3) flow control apparatus for water changes position to the second operating position by first operating position;
4) after a time delay of being scheduled to, time delay switch sends the signal turn-on current, restarts water pumper, and flow control apparatus for water is positioned at second operating position, go the rounds to other direction through the High-Pressure Water driving cleaner of flow control apparatus for water and drainpipe injection;
5) repeating step 2)～4).
Above-mentioned method, its characteristics are that described transformer device is the one or more combination of magnetic force induction device, infrared inductor, air inductor or position sensor.
Above-mentioned method, its characteristics are step 2) described outer signals comprises that cleaner strandedly can not advance, cleaner arrives at wall, cleaner arrives at the water surface and the longitudinal axis of cleaner changes between vertical and horizontal level.
In another embodiment provided by the invention, a kind of cleaner is provided, but planar section as the cleaning operation field, described cleaner is driven by water-jet, comprise that an energy is by the water pumper of connected discharge outlet discharge High-Pressure Water, a directive drainage pipeline and a flow control apparatus for water that circulates mutually and connect with the discharge outlet of described water pumper, its characteristics are that it further comprises an external inductor, are connected with described flow control apparatus for water; The axle center of described water pumper discharge outlet roughly becomes vertical angle with the face of required cleaning; Described directive drainage pipeline includes a drainage pipeline at least, so that injection water has directionality ground to penetrate outside the cleaner, described drainage pipeline is vertical angle substantially near the axle center of the pipeline that exports and the axle center of described water pumper discharge outlet; Described flow control apparatus for water is arranged between described water pumper discharge outlet and the described drainage pipeline, described flow control apparatus for water operates between first operating position and second operating position, controllable flow is to one of them injection of both direction, and this both direction is mutually opposite substantially direction, after being rotated 90 °, feasible High-Pressure Water from water pumper ejects outside the cleaner, thereby drive cleaner in the pond or water tank bottom move, the direction of its injection is determined by the position of described flow control apparatus for water; Described external inductor sends signal at cleaner during near wall makes described flow control apparatus for water change between first operating position and second operating position.
Above-mentioned cleaner, its characteristics are, described flow control apparatus for water comprises a flap valve assembly that is arranged in the drainage pipeline that communicates with water pumper discharge outlet liquid stream, described flap valve assembly comprises the fix fixing group of turnover panel of the attached bias voltage that is installed in drainage pipeline inside of turnover panel of a turnover panel of installing in pivot point and a plurality of usefulness, and the position of described turnover panel is to react in response to moving of described external inductor.
Above-mentioned cleaner, its characteristics are, described external inductor is the external inductor of mechanical type, at least one of the external inductor of described mechanical type slided on a plane parallel with the cleaner chassis, wherein an end extends outside the housing of direction of advance of cleaner, makes the external inductor of described mechanical type touch pool wall during near pool wall when cleaner.
Above-mentioned cleaner, its characteristics are that the external inductor of described mechanical type comprises:
At least one net form supports, and is arranged in the described drainage pipeline; One is parallel with the longitudinal axis of cleaner and be installed in slide bar in the drainage pipeline, and described slide bar supports and described turnover panel and at least one end extend outside the housing of cleaner through described net form; One bounce-back contact point is arranged at described slide bar and extends a end outside the cleaner housing; Two contacts are arranged on the described slide bar and lay respectively at described turnover panel both sides, make described bounce-back contact point sliding motion of slide bar when touching wall be transformed into and promote rotatablely moving of turnover panel, to change the direction of current in the drainage pipeline.
Above-mentioned cleaner, its characteristics are that described flow control apparatus for water comprises: a turnover panel is installed in the drainage pipeline that communicates with water pumper discharge outlet liquid stream with its pivot point; One shaft rotating device, its axle center overlap with the fulcrum of described turnover panel and make described turnover panel rotate with its axle center; One magnetic relay is controlled the position of described turnover panel by described shaft rotating device, makes described turnover panel change between first operating position and second operating position when described external inductor sends signal near wall.
In the present invention, the cleaner running gear is by wheel, cylinder or roll band institute continuously and formed, and when cleaner during with straight ahead, is that the y direction according to cleaner advances.For the present invention is described, the transverse axis of indication and the longitudinal axis are definition so in embodiments of the invention: the center with whole cleaner is a central point, make two axis that pass central point respectively, these two axis are orthogonal and parallel with a side of cleaner separately, the longitudinal axis is roughly parallel with the cleaning place with the plane that transverse axis is become, wherein the longitudinal axis of cleaner is meant that axis substantially parallel with the running direction of cleaner, axle shown in institute's drawings attached is the longitudinal axis of cleaner, and the transverse axis of cleaner is meant the axis perpendicular with its longitudinal axis.The front or rear notion of cleaner is relative, is the advancing direction of cleaner relatively at that time.
In a specific embodiments of the present invention, the device that drives cleaner is made up of a directive hydraulic jeting device, Chi Shui is from the bottom of cleaner, suck cleaner inside by a water pumper, flow through at least one filtration media and remove rubbish in the filtered water, be pushed to a directive drainage pipeline then, and this drainage pipeline is substantially parallel with the longitudinal axis of cleaner near the axle center of the pipeline that exports.Because the impulse force of current and reaction force, cleaner can advance to the rightabout of water-jet.Can the current that spray be changed direction or be diverted to two or more directions with various flow control apparatus for water, make this one or above reaction force can control cleaner to different directions and position motion.
In embodiment, flow control apparatus for water is a flap valve assembly that is installed between water pumper discharge outlet and the drainage pipeline therein, two opposite directions of control current direction.The direction of advance of cleaner is being controlled in the position of flap valve assembly, can arrive a wherein sidewalls in pond or has climbed the wall top and change because of cleaner.Thereby the change of hydraulic pressure and the position of changing flow control apparatus for water changes the water outlet direction in the drainage pipeline when control of flow control apparatus for water can be based on short interruption water pumper electric current.Strengthen accuracy when changing the position, correction and positioner that can the additional mechanical formula on flow control apparatus for water for flow control apparatus for water.
The control of flow control apparatus for water also can be controlled with mechanical type, for example with the structure that comprises a lever or portable slide bar as external inductor, when cleaner touches wall, thus external inductor induction and drive lever or slide bar transmits direction that power changes the delivery port current in the flow control apparatus for water directly or indirectly and changed the cleaner direction of motion with away from wall.
Water-jet delivery port direction can be set with downward power in response to needs, the power of level, or form the direction of advance that the power vector is controlled cleaner.For example, by a turn of tidal stream apparatus is set at delivery port, make current when this turn of tidal stream apparatus flows out with the plane of motion of cleaner at angle, thereby control the direction of cleaner.
For the cleaner by short interruption water pumper electric current mode, the present invention further comprises a kind of dynamics of water-jet and method of direction controlled, and makes current to spray to first party and second direction respectively, promotes cleaner and advances to two opposite directions.When needs guiding water-jet direction when primary importance changes to the rightabout second place, be supplied to the electric power of water pumper short interruption to make current temporarily interrupt, or utilize one or several delivery ports discharging current, the machine that also keeps clean stable.
In sum, technique effect of the present invention is:
Cleaner provided by the invention can utilize the water-jet mode of a tool directionality effectively to reach reliable driving method as one, makes the cleaning function follow the before and after direction of the longitudinal axis of cleaner to advance; The present invention and the dynamics and the direction that provide a kind of method to go to control water-jet are controlled advancing of cleaner as the power that drives cleaner, and utilize the method for short interruption current to go to change the direction of motion of cleaner; Cleaner of the present invention can clean difformity up hill and dale and have the bottom in pond of various barriers and the wall on next door.
Further describe specific embodiments of the invention below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is the side view of cleaner, and part is a cross-sectional view, shows wherein a kind of embodiment of water-jet driving of tool directionality;
Fig. 2 is a side view, and part is a cross-sectional view, is the structure chart of the water spray valve arrangement in Fig. 1 cleaner, turnover panel is shown is positioned at primary importance;
Fig. 3 is a side view, and part is a cross-sectional view, is the structure chart of the water spray valve arrangement in Fig. 1 cleaner, and the crossover position of turnover panel between the primary importance and the second place is shown;
Fig. 4 illustrates the vertical row mouth of a river and the capping that is arranged on the drainage pipeline;
Fig. 5 illustrates the capping group of the attached bias voltage that is arranged on the drainage pipeline;
Fig. 6 is the vertical view of turnover panel, and this turnover panel is that the designing institute that is fit to Fig. 1 is used;
Fig. 7 is the vertical view of the fixing group of turnover panel, and this fixing group has a bar of bolting the door as the lock turnover panel;
Fig. 8 is the side view after the water spray valve arrangement adds elbow turn of tidal stream device, and part is a cross-sectional view;
Fig. 9 is the concrete device of Fig. 8, shows the whole relation with cleaner, and the part of cleaner is shown with dotted line;
Figure 10 is the flow chart of one of them embodiment of the present invention;
Figure 11 is the block diagram of control short interruption water pumper electric current method;
Figure 12 is the side view of cleaner, and part is a cross-sectional view, is the embodiment of the water-jet driving of another kind of tool directionality;
Figure 13 is the side view of cleaner, and part is a cross-sectional view, is the embodiment of the water-jet driving of another kind of tool directionality.
The specific embodiment
In the following description, cleaner 10 comprises shell or cover frame 12 and cover wall 16, built-in water pumper and CD-ROM drive motor 60, foreign material enter in the cleaner through the breach 61 of cleaner bottom in water pumper suction pit water and the water, and this breach is to use filter to surround.
Represented embodiment in Fig. 1～11, employed is that a motor is as drawing water and type of drive.Drive unit is provided with simple mechanical type direction control.In this embodiment, when electric current is made short interruption, make cleaner change the direction of advancing.Can use intelligent current-controlled switch or mechanical type contact deexcitation current interruptions.
Fig. 1 shows with part cross section form, a cleaner 10, comprise a water spray valve arrangement 40, be installed on the water pumper 60 that drives by motor, use flabellum 58 to promote current ' W ' and enter water spray valve arrangement 40 through the guiding tube 17 of shell from the bottom to top.Water spray valve arrangement 40 comprises about ' T ' shape valve shell 42 and pipeline placed in the middle 43 connection cleaner top cover 18 and the drainage pipeline 44R and the 44L that can flow for liquid and link to each other to fix, and the axle center of the outlet conduit 45 of drainage pipeline is vertical with the axle center of the discharge outlet of water pumper.In valve shell 42 centre positions, be provided with flow control apparatus for water, promptly the flap valve assembly 41, and what show in the drawings is one of them transitional position.More clearly illustrate among Fig. 6 and 7, flap valve assembly 41 comprises turnover panel 46 and is used as the pillar 47 of the usefulness of installation and rotation, with bolt the door the bar 48R and the 48L that add springlock 50 of two ' T ' types on the frame axle that is installed in frame shaddock pillar 49, the both sides that are mounted in turnover panel 46 as the 48R and the 48L of turnover panel positioning component.Springlock 50 is pressurized to the bar 48 feasible bars of bolting the door of bolting the door and touches one of turnover panel 46.The tangent plane of drainage pipeline 44R and 44L can be circular, rectangular or other shape that is fit to.Wherein design is to use rectangular tangent plane preferably.
Fig. 2 shows the mechanical activity order of flap valve assembly 41 in valve shell 42: when water pumper 60 starts and promotion current process valve shell 42, pressurised stream ' W ' enter valve shell 42 and plus-pressure to turnover panel 46 and promote turnover panel close drainage pipeline 44L to the left side and exert pressure make bolt the door bar 48R be retracted to turnover panel 46 away from and open water channel by flow direction drainage pipeline 44R, water is flowed out from the drainage pipeline 44R on the right.
Fig. 3 shows when the power supply device and stops power supply motor 60 or current ' W ' when making short interruption, the next mechanical activity order of flap valve assembly 41 in valve shell 42: when current ' W ' short interruption enters valve shell 42, in shell 42, under the situation of hydraulic pressure attenuating or temporary transient vacuum, make turnover panel 46 swing to the drainage pipeline 44R on the right.After turnover panel 46 swings one segment distance, the bar 48L that bolts the door pin flap 46 fixes on the position on the right to pin.When power supply restarted for water pumper 60, current were directed into the drainage pipeline 44L on the left side.In fact flap valve assembly 41 is not necessarily to need to use bolt the door bar 48R and 48L; But this just needs a correct time to get back to before the position before the current short interruption in turnover panel 46 swings, goes control to activate motor and startup water pumper 60 again.
Fig. 4 shows a better implement scheme, and the too high hydraulic pressure in the delivery port that can lower drainage pipeline 44R and 44L 45 is provided.In order to control the hydraulic pressure in the pipeline, both sides at turnover panel 46 are increased vertical row mouth of a river 52R and 52L respectively, and enclose vertical choke valve, for example be installed in slip capping 53R and 53L on vertical row mouth of a river 52R and the 52L, go to control the discharge that flows through vertical row mouth of a river 52R and 52L, as more water when the vertical row mouth of a river flows out, even thereby water upwards the ejection plus-pressure make cleaner 10 downwards near the planes, place of clean, make steady more the reaching of cleaner motion more effectively clean basin bottom.
Fig. 5 is the described a kind of automation equipment of Fig. 4, and the capping 54R and the 54L of attached bias voltage add upper spring 56, and reducing pressure when hydraulic pressure in the pipeline is too high makes cleaner keep suitable speed.When for example cleaner has just started, do not have rubbish in the filter bag, thus at this moment in the pipeline higher and capping 54R or 54L of hydraulic pressure will open and allow water lower hydraulic pressure in the pipeline from spilling out a part here.Capping 54R or 54L install and utilize spring 56 to make the normal position of capping 54R or 54L for closing with hinge 55.Constantly collect remains, fragment, dirt etc. when the breach 61 of cleaner bottom, filter bag begins to block, and hydraulic pressure lowers partly or entirely closes capping 54R or 54L.
Fig. 6 show 46 1 preferable concrete devices of turnover panel and Fig. 7 show the bar 48 of bolting the door concrete device and with the relation of springlock 50.Other device comprises the setting of departing from property, for example electronics and electrodynamic mechanical type setting.
Fig. 8 shows that the water spray valve arrangement 40 that Fig. 1 to 3 shows adds elbow turn of tidal stream device 120R and 120L, and these two elbow turn of tidal stream device 120R and 120L are fixed on the two ends of drainage pipeline 44R and 44L.Current become ' α ' angle with the plane of motion of cleaner 10 when elbow turn of tidal stream device 120 flows out, the power vector (vector) that this reaction force forms comprises that a plane of downward vector sum of pressing to wheel 30 promotes the vector that cleaner advances, and advances reposefully thereby make cleaner closely to contact basin bottom.Whole water spray valve arrangement 40 is to be wholely set with elbow turn of tidal stream device, can be made with the sizing material of injection moulding or aluminium material or other suitable material.
Fig. 9 shows a better design as Fig. 8, and water spray valve arrangement 40 is installed in cleaner 10 position and the direction of (showing with dotted line).In this concrete device, drainage pipeline 44 connects elbow turn of tidal stream device 120, extends cleaner shell 12.In a better implement scheme, elbow turn of tidal stream device 120 and valve shell 42 are injection molded into one with cleaner shell 12, for example use measuring body condensate (polymer).In response to the direction of elbow turn of tidal stream device 120, power vector ' VR ' promotes cleaner, and it is very important that ' α ' angle of vector can be go the rounds rightly for cleaner 10, particularly when cleaner is go the rounds in climbing on the wall or on the slope in pond.With shown in Figure 9, power vector ' VR ' and basin bottom horizontal plane crosspoint are between former and later two axletrees 32, and more preferably near preceding wheel location, the indication front-wheel is to decide with the cleaner direction of advance.Power vector ' VR ' and horizontal plane crosspoint are between the axletree 32, can guarantee that cleaner stably advances.
Wherein several embodiment of the present invention, need be when changing the direction of advance of cleaner the short interruption electric current, the short interruption current circuit can start according to a signal or a power that is formed by field variation.Therein in preferable design, a moveable part of installing, forming by magnetite or magnetic bodies, for example a non-wheel as the driving cleaner.Wherein a kind of concrete device is that a reed switch (reed switch) is installed on a reserve wheel, when cleaner when advancing, this wheel and the magnetite enclosed can constantly rotate and arrive on a certain speed (a certain revolutions per minute) to keep magnetic switch is short circuit, when cleaner arrives abutment wall or stranded and can not advance the time, it is open circuit that magnetite in this rotation can be ended to rotate and cause magnetic switch, thereby interrupts the electric current of water pumper.In preferable design, circuit arrangement comprises a car-backing function therein, and when needing reversing, magnetic switch is short circuit, makes whole supply of electric power last till that magnetic switch was open circuit once more when cleaner paused next time when cleaner is stranded.
In the preferable design of another kind, install one on the cleaner and promote flabellum, when advancing in the pond, cleaner rotates because of flowing of water, and magnetite is being installed on one or more pieces fan leafs or on the flabellum axle or is being used magnetic material made.A near magnetic force induction device that is installed in this magnetic field object that moves is formed a magnetic force induction formula switch, makes this flabellum rotation or send different signals when stopping operating.Therein in embodiment, this magnetic force induction switch is formed the integrated circuit control device part of cleaner, when cleaner runs into abutment wall or barrier and when halting, flabellum rotates and also stops simultaneously, the magnetic force induction switch can send signal with interruptive current to water pumper.After a specific time delay, water pumper can activate again, maybe may continue to advance along existing direction, also may move backward outward along existing direction, away from wall.The also available principle of uniformity of this integrated circuit control device goes control to use chain to bring transmission power to remove head roll, crawler belt or wheel.
The workflow of cleaner is go the rounds towards a direction after the cleaner startup as shown in figure 10 in the above-mentioned embodiment, and at this moment flow control apparatus for water is positioned at first operating position.When cleaner runs into barrier or wall, inductor sends signal and interrupts the electric current of water pumper and postpone switch simultaneously start-up time, and the interior hydraulic pressure of drainage pipeline this moment lowers owing to water pumper quits work makes flow control apparatus for water be transformed into second operating position by first operating position.The time delay switch computing relay time, when to time delay, time delay switch is connected the water pumper electric current, and water pumper is started working and made cleaner go the rounds towards other direction.When cleaner is go the rounds to the another side wall, promptly repeat above operation.
Specifically comprise the steps:
Step 101 starts cleaner and go the rounds towards a direction, and at this moment flow control apparatus for water is positioned at first operating position;
Step 104 judges whether to arrive predetermined time delay, is execution in step 105 then, otherwise execution in step 103;
Step 105 is connected the water pumper electric current;
In Figure 11, electric supply installation 700 supplies power to water pumper 703 and other subsystem.Supply power in the water pumper and link to each other with two switches: magnetic switch 701 is in parallel with time delay switch 702.Magnetic switch 701 can be installed its inductor on the reserve wheel or on the promotion flabellum, and when its rotation was lower than a certain predetermined number of revolutions with respect to another fixed magnetic field, magnetic switch was open circuit.When cleaner at first activated, magnetic switch 701 was short circuit for open circuit time delay switch 702, postponed to transfer open circuit to after switch 702 is kept scheduled time of short circuit.Because cleaner has been operated a scheduled time, magnetic switch 701 is kept short circuit because of the rotation of inductor, and water pumper 703 is given in power supply.When cleaner because barrier or arrived at wall and during stop motion, the magnetic force induction device rotates and to slow down and magnetic switch 701 changes open circuit into and transmit message gives and postpone switch, and at this moment two switches 701,702 are all open circuit and make the water pumper short interruption not have supply of electric power.Postpone switch 702 after required time delay, can change into short circuit and continue power supply to water pumper.
In another embodiment, cleaner is established infrared facility, comprises the infrared light emission device and fixture is known from experience infrared inductor and the interlock circuit device that signal is sent in reaction.Representing the place ahead when the infrared ray that reflects has fixed object, that is during wall, inductor can be sent out signal and make the cleaner reversing to control device.
In the circuit block diagram of Figure 11, magnetic switch 701 also can be replaced by infrared switch, and infrared switch is short circuit when cleaner is kept off wall; When cleaner is open circuit during near wall or other barrier, concurrent signal is to postponing switch 702, and at this moment two switches 701,702 are all open circuit and make the water pumper short interruption not have supply of electric power.Postpone switch 702 after required time delay, can change into short circuit and continue power supply to water pumper.
Figure 12 shows another preferred version of the present invention, and when cleaner touched pool wall or other barrier, the external inductor of mechanical type can be controlled turnover panel 46.Figure 12 shows a cleaner 10, with the structure similar of Fig. 1, water spray valve arrangement 40 ' is installed on it.One slide bar 240 with the axis parallel of drainage pipeline 44 and be installed within the pipeline, supports 250 and by the slit 248 in the turnover panel 46 ' through net form.Contact 244 and 246 is installed on the slide bar 240, and respectively on the both sides of turnover panel 46 ', the direction of current ' W ' is gone to control in the position that makes turnover panel be fixed to the left side or the right.One bounce-back contact point 242, be arranged at slide bar 240 and extend a end outside the cleaner housing, when practical operation, when cleaner 10 during near pool wall, the left side that slide bar 240 can slide into Figure 12 when bounce-back contact point 242 touched wall touches turnover panel 46 ' and pushes turnover panel to the left side until contact 246.When left side wheel 30 arrived at wall, slide bar 240 stopped to slide and turnover panel 46 ' also arrives at the pipeline location of one of them face.When current ' W ' flowed to drainage pipeline 44L, cleaner moved apart wall and slide bar 240 extends outside the housing of cleaner, and removed to contact the another side wall in that the direction of advancing is outstanding, made whole process repeat.
In another better implement scheme, turnover panel 46 can be controlled by electric device, for example a straight line or circular relay.Shown with Figure 13, the magnetic relay 260 of a circle is connected to the outside of valve shell 42 with a supply lines 261.The axle rotary setting 262 control turnover panels 46 of relay 260.In one was better designed, the integrated circuit controller of cleaner sent signal and removes to control turnover panel 46 to rightabout position to relay.In fact current ' W ' are can promote turnover panel 46 to rightabout position.
Above narration be preferred embodiment of the present invention only, is not to be used for limiting practical range of the present invention, everyly change and modification according to the equivalence that the present invention did, all by claim of the present invention by being contained.
Claims (30)
1, a kind of cleaner, but as cleaning operation field planar section, described cleaner is driven by water-jet, comprises
A water pumper can be discharged High-Pressure Water by connected discharge outlet;
A directive drainage pipeline is with the connection of circulating mutually of the discharge outlet of described water pumper; With
A flow control apparatus for water; It is characterized in that,
The axle center of described water pumper discharge outlet roughly is vertical angle with the face of required cleaning;
Described directive drainage pipeline includes a drainage pipeline at least, so that injection water has directionality ground to penetrate outside the cleaner, described drainage pipeline is vertical angle substantially near the axle center of outlet conduit and the axle center of described water pumper discharge outlet;
Described flow control apparatus for water is arranged between described water pumper discharge outlet and the described drainage pipeline, described flow control apparatus for water operates between first operating position and second operating position, controllable flow is to one of them injection of both direction, and this both direction is mutually opposite substantially direction, after being rotated 90 °, feasible High-Pressure Water from water pumper ejects outside the cleaner, but move on the operation field plane thereby drive cleaner, the direction of its injection is determined by the position of described flow control apparatus for water.
2, cleaner according to claim 1 is characterized in that, at least two delivery port pipelines along the cleaner longitudinal axis of described drainage pipeline setting are arranged at the two ends of described drainage pipeline respectively.
3, cleaner according to claim 2, it is characterized in that, described flow control apparatus for water comprises at least one flap valve assembly, be arranged in the drainage pipeline that communicates with water pumper discharge outlet liquid stream between described two delivery port pipelines, described flap valve assembly can operate between first operating position and second operating position because of the water under high pressure short interruption of described water pumper discharge outlet ejection, makes current eject outside the cleaner from one of them of two delivery port pipelines.
4, according to the described cleaner of claim 3, it is characterized in that, described flap valve assembly comprises the fix fixing group of turnover panel of the attached bias voltage that is installed in two delivery port pipe interiors in the drainage pipeline and communicates with water pumper discharge outlet liquid stream of turnover panel of a turnover panel of installing in pivot point and a plurality of usefulness, and one of them pipeline of at least two delivery port pipelines of Position Control water pumper current direction of the fixing group of described turnover panel and turnover panel is discharged.
According to the described cleaner of claim 1, it is characterized in that 5, described flow control apparatus for water interrupts suddenly to the draining of discharge outlet in response to water pumper and operates between first operating position and second operating position.
6, according to the described cleaner of claim 4, it is characterized in that, described flap valve assembly comprises a turnover panel that is set up by fulcrum and the fixing group of a plurality of turnover panel, and the fixing group of described turnover panel is bias voltage is arranged and to be installed in the drainage pipeline, and bestows pressure in response to current flow through the pressure of flap valve.
According to the described cleaner of claim 6, it is characterized in that 7, the fulcrum of described turnover panel is fixed on the installation fulcrum opposite location of fixing group in the drainage pipeline with turnover panel.
According to the described cleaner of claim 7, it is characterized in that 8, the fixing group of described turnover panel is mounted on the fulcrum also rotatable, its arc rotating range is 180 °.
According to the described cleaner of claim 6, it is characterized in that 9, the fixing group of described turnover panel is with the spring bias voltage.
According to the described cleaner of claim 9, it is characterized in that 10, the part in the rotating range of the fixing group of described turnover panel free pendulum moved end and the rotating range of described turnover panel are overlapping.
According to the described cleaner of claim 9, it is characterized in that 11, the fixing group of described turnover panel and described turnover panel is mounted in the drainage pipeline inwall.
According to the described cleaner of claim 6, it is characterized in that 12, described cleaner comprises a pipeline placed in the middle, be connected that pipeline placed in the middle is relative with the flap valve assembly, and communicate with water pumper discharge outlet and drainage pipeline liquid stream with drainage pipeline.
According to the described cleaner of claim 12, it is characterized in that 13, described cleaner comprises at least one vertical row mouth of a river, the described vertical row mouth of a river is positioned near the turnover panel fixed pivot.
According to the described cleaner of claim 13, it is characterized in that 14, described cleaner is provided with two vertical row mouths of a river, lay respectively at the both sides of turnover panel fixed pivot.
According to the described cleaner of claim 14, it is characterized in that 15, the described vertical row mouth of a river is provided with capping, when longitudinal axis drainage pipeline internal pressure reached a pre-determined factor, described capping was opened and is allowed the current vertical row mouth of a river of flowing through.
According to the described cleaner of claim 2, it is characterized in that 16, described drainage pipeline comprises at least one vertical row mouth of a river, the described vertical row mouth of a river is positioned at the part of the non-end of drainage pipeline.
According to the described cleaner of claim 16, it is characterized in that 17, the described vertical row mouth of a river is with vertical throttling arrangement, the discharge at the described vertical row mouth of a river is flow through in control.
According to the described cleaner of claim 17, it is characterized in that 18, described vertical throttling arrangement comprises at least one removable capping, the openings of sizes at the control vertical row mouth of a river.
According to the described cleaner of claim 18, it is characterized in that 19, described vertical throttling arrangement capping is manually-operated removable capping.
According to the described cleaner of claim 18, it is characterized in that 20, described capping is attached bias capping, change the discharge outlet size of paying bias capping in response to pressure that the water in the drainage pipeline produced.
21, according to the described cleaner of one of claim 2～20, it is characterized in that, described delivery port pipe end further is provided with an elbow turn of tidal stream device, the axle center of the outlet of described elbow turn of tidal stream device and the longitudinal axis of cleaner have angle, make current when elbow turn of tidal stream device flows out and the plane of motion of cleaner at angle.
According to the described cleaner of claim 21, it is characterized in that 22, described delivery port pipeline and described elbow turn of tidal stream device are wholely set.
23, change the dynamics of cleaner water-jet and the method for direction, it is characterized in that described cleaner comprises:
Electric supply installation, time delay switch, transformer device, water pumper, drainpipe and flow control apparatus for water; Comprise the steps:
1) electric supply installation power supply starts cleaner, water pumper work, and flow control apparatus for water is positioned at first operating position, go the rounds towards a direction through the High-Pressure Water driving cleaner of flow control apparatus for water and drainpipe injection;
2) transformer device induction outer signals sends control signal interruptive current, and water pumper quits work, and postpones switch start-up time;
3) flow control apparatus for water changes position to the second operating position by first operating position;
4) after a time delay of being scheduled to, time delay switch sends the signal turn-on current, restarts water pumper, and flow control apparatus for water is positioned at second operating position, go the rounds to other direction through the High-Pressure Water driving cleaner of flow control apparatus for water and drainpipe injection;
5) repeating step 2)～4).
24, in accordance with the method for claim 23, it is characterized in that described transformer device is the one or more combination of magnetic force induction device, infrared inductor, air inductor or position sensor.
25, in accordance with the method for claim 23, it is characterized in that step 2) described outer signals comprises that cleaner strandedly can not advance, cleaner arrives at wall, cleaner arrives at the water surface and the longitudinal axis of cleaner changes between vertical and horizontal level.
26, a kind of cleaner, as the inner surface portion in cleaning pond or the water tank, described cleaner is driven by water-jet, comprises
A water pumper can be discharged High-Pressure Water by connected discharge outlet;
A directive drainage pipeline is with the connection of circulating mutually of the discharge outlet of described water pumper;
A flow control apparatus for water; It is characterized in that,
It further comprises an external inductor, is connected with described flow control apparatus for water;
The axle center of described water pumper discharge outlet roughly is vertical angle with the face of required cleaning;
Described directive drainage pipeline includes a drainage pipeline at least, so that injection water has directionality ground to penetrate outside the cleaner, described drainage pipeline is vertical angle substantially near the axle center of outlet conduit and the axle center of described water pumper discharge outlet;
Described flow control apparatus for water is arranged between described water pumper discharge outlet and the described drainage pipeline, described flow control apparatus for water operates between first operating position and second operating position, controllable flow is to one of them injection of both direction, and this both direction is mutually opposite substantially direction, after being rotated 90 °, feasible High-Pressure Water from water pumper ejects outside the cleaner, thereby drive cleaner in the pond or water tank bottom move, the direction of its injection is determined by the position of described flow control apparatus for water;
Described external inductor sends signal at cleaner during near wall makes described flow control apparatus for water change between first operating position and second operating position.
27, according to the described cleaner of claim 26, it is characterized in that, described flow control apparatus for water comprises a flap valve assembly that is arranged in the drainage pipeline that communicates with water pumper discharge outlet liquid stream, described flap valve assembly comprises the fix fixing group of turnover panel of the attached bias voltage that is installed in drainage pipeline inside of turnover panel of a turnover panel of installing in pivot point and a plurality of usefulness, and the position of described turnover panel is to react in response to moving of described external inductor.
28, according to the described cleaner of claim 26, it is characterized in that, described external inductor is the external inductor of mechanical type, at least one of the external inductor of described mechanical type slided on a plane parallel with the cleaner chassis, wherein an end extends outside the housing of direction of advance of cleaner, makes the external inductor of described mechanical type touch pool wall during near pool wall when cleaner.
According to the described cleaner of claim 28, it is characterized in that 29, the external inductor of described mechanical type comprises:
At least one net form supports, and is arranged in the described drainage pipeline; One is parallel with the longitudinal axis of cleaner and be installed in slide bar in the drainage pipeline, and described slide bar supports and described turnover panel and at least one end extend outside the housing of cleaner through described net form; One bounce-back contact point is arranged at described slide bar and extends a end outside the cleaner housing; Two contacts are arranged on the described slide bar and lay respectively at described turnover panel both sides, make described bounce-back contact point sliding motion of slide bar when touching wall be transformed into and promote rotatablely moving of turnover panel, to change the direction of current in the drainage pipeline.
According to the described cleaner of claim 26, it is characterized in that 30, described flow control apparatus for water comprises: a turnover panel is installed in the drainage pipeline that communicates with water pumper discharge outlet liquid stream with its pivot point; One shaft rotating device, its axle center overlap with the fulcrum of described turnover panel and make described turnover panel rotate with its axle center; One magnetic relay is controlled the position of described turnover panel by described shaft rotating device, makes described turnover panel change between first operating position and second operating position when described external inductor sends signal near wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006100582440A CN101028183B (en) | 2006-02-28 | 2006-02-28 | Hydraulic-driven cleaner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006100582440A CN101028183B (en) | 2006-02-28 | 2006-02-28 | Hydraulic-driven cleaner |
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| CN101028183A true CN101028183A (en) | 2007-09-05 |
| CN101028183B CN101028183B (en) | 2010-11-10 |
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| CN2006100582440A Active CN101028183B (en) | 2006-02-28 | 2006-02-28 | Hydraulic-driven cleaner |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105625761A (en) * | 2014-11-24 | 2016-06-01 | 升广有限公司 | Jet propelled pool cleaner |
| CN108227703A (en) * | 2016-12-22 | 2018-06-29 | 松下电器（美国）知识产权公司 | Information processing unit and method, the recording medium by operation vehicle and logging program |
| CN111759235A (en) * | 2020-06-12 | 2020-10-13 | 上海高仙自动化科技发展有限公司 | Control method, control device, intelligent robot and readable storage medium |
| CN112641378A (en) * | 2019-10-11 | 2021-04-13 | 宁波市普世达泳池用品有限公司 | Electric robot for cleaning pool |
| CN114412362A (en) * | 2022-03-28 | 2022-04-29 | 山东兆鑫石油工具有限公司 | Rotation type hydraulic ejector with filtering capability |
| CN114837476A (en) * | 2022-05-13 | 2022-08-02 | 浙江斯普智能科技股份有限公司 | Underwater cleaning robot |
| WO2024000109A1 (en) * | 2022-06-27 | 2024-01-04 | 深圳市乐嵩格科技有限公司 | Driving apparatus and pool cleaning device |
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| US3892282A (en) * | 1970-04-14 | 1975-07-01 | Total Enterprises Inc | Random motion suction cleaner |
| US3872533A (en) * | 1972-05-17 | 1975-03-25 | Lester M Proffit | Swimming pool cleaner with rotary scrubbing action |
| US5337433A (en) * | 1993-02-18 | 1994-08-16 | Jandy Industries | Pool cleaner |
| US5852841A (en) * | 1996-05-17 | 1998-12-29 | Galago Limited And Kenneth Dinner | Apparatus for automatic cleaning of a submerged surface |
| CN1244747C (en) * | 2003-04-14 | 2006-03-08 | 许永德 | Water pool cleaning machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105625761A (en) * | 2014-11-24 | 2016-06-01 | 升广有限公司 | Jet propelled pool cleaner |
| CN108227703A (en) * | 2016-12-22 | 2018-06-29 | 松下电器（美国）知识产权公司 | Information processing unit and method, the recording medium by operation vehicle and logging program |
| CN108227703B (en) * | 2016-12-22 | 2022-08-02 | 松下电器（美国）知识产权公司 | Information processing apparatus and method, operated vehicle, and recording medium having program recorded thereon |
| CN112641378A (en) * | 2019-10-11 | 2021-04-13 | 宁波市普世达泳池用品有限公司 | Electric robot for cleaning pool |
| CN112641378B (en) * | 2019-10-11 | 2023-10-24 | 宁波市普世达泳池用品有限公司 | Pool cleaning electric robot |
| CN111759235A (en) * | 2020-06-12 | 2020-10-13 | 上海高仙自动化科技发展有限公司 | Control method, control device, intelligent robot and readable storage medium |
| CN111759235B (en) * | 2020-06-12 | 2021-07-30 | 上海高仙自动化科技发展有限公司 | Control method, control device, intelligent robot and readable storage medium |
| CN114412362A (en) * | 2022-03-28 | 2022-04-29 | 山东兆鑫石油工具有限公司 | Rotation type hydraulic ejector with filtering capability |
| CN114412362B (en) * | 2022-03-28 | 2022-06-07 | 山东兆鑫石油工具有限公司 | Rotation type hydraulic ejector with filtering capability |
| CN114837476A (en) * | 2022-05-13 | 2022-08-02 | 浙江斯普智能科技股份有限公司 | Underwater cleaning robot |
| WO2024000109A1 (en) * | 2022-06-27 | 2024-01-04 | 深圳市乐嵩格科技有限公司 | Driving apparatus and pool cleaning device |
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| CN101028183B (en) | 2010-11-10 |
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