CN101491424B - Cleaner robot pumping, driving and cleaning method using water jet theory - Google Patents
Cleaner robot pumping, driving and cleaning method using water jet theory Download PDFInfo
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- CN101491424B CN101491424B CN2009100958787A CN200910095878A CN101491424B CN 101491424 B CN101491424 B CN 101491424B CN 2009100958787 A CN2009100958787 A CN 2009100958787A CN 200910095878 A CN200910095878 A CN 200910095878A CN 101491424 B CN101491424 B CN 101491424B
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- cleaning
- water jet
- cleaning robot
- suction element
- water
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Abstract
The invention discloses a method for achieving air suction, drive and cleaning of a cleaning robot by using a water flow jet theory. On the basis of the hydromechanical characteristics of inlet increased pressure and necking subpressure generated when water flow passes through a water flow jet and air suction element, the necking subpressure is utilized as the suction air of a vacuum suction disc of the cleaning robot so as to achieve the adsorption on the cleaned wall surface of the cleaning robot. High pressure at an inlet of the water flow jet and air suction element is introduced into a hydraulic driving mechanism so as to provide power for the walking on the cleaned wall surface of the cleaning robot. The water flow which flows through the water flow jet and air suction element and is used for sucking air and the water flow which is introduced into the hydraulic driving mechanism flows into a cleaning mechanism together after finishing respective functions so as to provide water for wall surface cleaning. The water flow is used as a unique external power source so as to achieve three functions of sucking the air, driving and cleaning of the cleaning robot. Compared with background technology, the structure is more simple and stable, and the manufacturing cost of the cleaning robot and the dependence on auxiliary facilities are reduced.
Description
Technical field
The present invention relates to the high-wall cleaning robot, relate in particular to a kind of method that realizes cleaning robot robot pumping, driving and cleaning with principle of water-jet.
Background technology
Modern city, high buildings and large mansions stand in great numbers, and increasing mansion adopts large windows to improve light transmission or decorative exterior wall, so the cleanliness factor of glass all has a significant impact the printing opacity function and the city look and feel of window, must regularly clean windowpane.The cleaning of mansion exterior wall glass at present, still based on manual work, street cleaner's work high above the ground not only labour intensity is big, but also has certain danger, the fall down from the building report of casualty accident of street cleaner is also often arranged in recent years, and therefore need developing safely and efficiently, cleaning robot replaces manual work.
At present existing several vacuum suction cleaning robots can be realized the function of creeping automatically, supplying water and wiping window, but nearly all there is common problem in they: water, electricity and gas is controlled along separate routes.Supply water to clean, creep drive and three systems of vacuum suction separate: need water pump to supply with water for cleaning, air pump produces the required vacuum of absorption, and cylinder or motor-driven robot creep.Whole mechanism of robot complexity has increased the affiliated facility and the manufacturing cost of cleaning robot.
Summary of the invention
The object of the present invention is to provide a kind of method that realizes cleaning robot robot pumping, driving and cleaning with principle of water-jet.
The technical solution adopted for the present invention to solve the technical problems is:
The inlet plenum that is produced when utilizing current to pass through the water jet suction element, the hydrodynamic characteristic of reducing negative pressure as external power supply, are realized the bleeding of cleaning robot, driving and cleaning function with current.
The water jet suction element is made up of nozzle and Venturi tube two parts, current pass through nozzle, flow velocity is improved, become high-speed water jet, high-speed water jet is by the Venturi tube reducing, produce negative pressure in Venturi tube reducing place, utilize this negative pressure to bleed, realize the absorption of cleaning robot at the cleaning wall for the vacuum cup of cleaning robot.
When current pass through the water jet suction element, because the throttling action of water jet suction element interior detail small nozzle, water jet suction element import department fluid pressure raises, and at this place High-Pressure Water is introduced hydraulic drive mechanism, for cleaning robot provides power in the walking of cleaning wall.
The current that the water jet suction element is used to bleed with introduce the hydraulic drive mechanism current, after finishing separately function, flow into wiper mechanism together, provide water for wall cleans.
The present invention compares with background technology, and the beneficial effect that has is:
As unique external power supply, that realizes cleaning robot bleeds, drives, cleans three big functions with current, than background technology, structure is more simple, reliably, has reduced the cleaning robot manufacturing cost and has reached dependence to affiliated facility.
Description of drawings
Fig. 1 is the schematic diagram of the inventive method.
Fig. 2 is a water jet suction element internal structure schematic diagram.
Among the figure: 1, water inlet, 2, the water jet suction element, 3, wiper mechanism, 4, delivery port, 5, magnetic valve, 6, vacuum cup, 7, hydraulic drive mechanism, 8, water jet suction element water inlet, 9, nozzle, 10, the Venturi tube reducing, 11, Venturi tube, 12, water jet suction element delivery port, 13, water jet suction element bleeding point.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in Figure 2, water jet suction element 2 is made up of nozzle 9 and Venturi tube 11 two parts.One current flow into water jet element 2 by water jet suction element water inlet 8, by fine nozzle 9, flow velocity is improved, become high-speed water jet, high-speed water jet according to fluid mechanics principle, produces negative pressure by Venturi tube reducing 10 at Venturi tube reducing 10 places, utilize this negative pressure to bleed (as shown in Figure 1) for the vacuum cup 6 of cleaning robot, realize the absorption of cleaning robot at the cleaning wall by water jet suction element bleeding point 13.The current of finishing after the function of bleeding are flowed out by water jet suction element delivery port 12.
As shown in Figure 2, when current pass through water jet suction element 2, water jet suction element 2 interior detail small nozzles 9 are equivalent to a restriction, according to fluid mechanics principle, because the throttling action of nozzle 9, water jet suction element water inlet 8 place's fluid pressures raise, and at this place High-Pressure Water are introduced hydraulic drive mechanism 7 (as shown in Figure 1), drive cleaning robot and are cleaning the wall walking.
As shown in Figure 1, solid arrow is represented water (flow) direction among the figure, current flow into from water inlet 1,8 places are divided into two strands to current at water jet suction element water inlet, and one is passed into water jet suction element 2 and is used to produce negative pressure, for vacuum cup 6 is bled, gas flow is shown in empty arrow in the pumping process: the magnetic valve 5 of flowing through of the air in the vacuum cup 6 enters into the water jet suction element bleeding point 13 of water jet suction element 2, open when magnetic valve 5, gas circuit is connected, vacuum cup 6 absorption of bleeding; When magnetic valve 5 cuts out, gas circuit is cut off, and vacuum cup 6 venting are unclamped.Another strand current are passed into hydraulic drive mechanism 7, and hydraulic drive mechanism 7 is connected with vacuum cup 6, the suction of the action of hydraulic drive mechanism 7 and vacuum cup 6, put action and combine, and realize that wall is up to be walked cleaning robot cleaning.Being passed into water jet suction element 2 is used to produce the current of negative pressure and is passed into the current that hydraulic drive mechanism 7 is used to drive cleaning robot, also become one to flow into wiper mechanism 3 together at water jet suction element delivery port 12 places again after the function finishing separately, for cleaning, wall provides water, wiper mechanism 3 can adopt frame for movement realization cleaning functions such as roller brush, discharges by delivery port 4 at last through the current of wiper mechanism 3.
Claims (2)
1. realize the cleaning robot robot pumping, drive the method with cleaning with principle of water-jet for one kind, it is characterized in that: the inlet plenum that is produced when utilizing current to pass through the water jet suction element, the hydrodynamic characteristic of reducing negative pressure, as external power supply, realize the bleeding of cleaning robot, driving and cleaning function with current;
The water jet suction element is made up of nozzle and Venturi tube two parts, current pass through nozzle, flow velocity is improved, become high-speed water jet, high-speed water jet is by the Venturi tube reducing, produce negative pressure in Venturi tube reducing place, utilize this negative pressure to bleed, realize the absorption of cleaning robot at the cleaning wall for the vacuum cup of cleaning robot;
When current pass through the water jet suction element, because the throttling action of water jet suction element interior detail small nozzle, water jet suction element import department fluid pressure raises, and at this place High-Pressure Water is introduced hydraulic drive mechanism, for cleaning robot provides power in the walking of cleaning wall.
2. a kind of method that realizes cleaning robot robot pumping, driving and cleaning with principle of water-jet according to claim 1, it is characterized in that: current that the water jet suction element is used to bleed and introducing hydraulic drive mechanism current, after finishing separately function, flow into wiper mechanism together, provide water for wall cleans.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100958787A CN101491424B (en) | 2009-02-16 | 2009-02-16 | Cleaner robot pumping, driving and cleaning method using water jet theory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100958787A CN101491424B (en) | 2009-02-16 | 2009-02-16 | Cleaner robot pumping, driving and cleaning method using water jet theory |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101491424A CN101491424A (en) | 2009-07-29 |
| CN101491424B true CN101491424B (en) | 2011-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100958787A Expired - Fee Related CN101491424B (en) | 2009-02-16 | 2009-02-16 | Cleaner robot pumping, driving and cleaning method using water jet theory |
Country Status (1)
| Country | Link |
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| CN (1) | CN101491424B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167702B (en) * | 2015-09-22 | 2019-04-09 | 河北工业大学 | A kind of window clean robot |
| CN109276181A (en) * | 2018-12-10 | 2019-01-29 | 上海兴怡基础工程有限公司 | A kind of central dust extractor |
| CN109675851A (en) * | 2018-12-20 | 2019-04-26 | 天津福禄机电设备有限公司 | A kind of high pressure water surface washer for realizing the recycling of waste water automatic vacuum |
| CN116060387A (en) * | 2023-04-06 | 2023-05-05 | 山东华灿机械有限公司 | Cleaning device for pipe welding part |
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2009
- 2009-02-16 CN CN2009100958787A patent/CN101491424B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN101491424A (en) | 2009-07-29 |
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Granted publication date: 20110413 Termination date: 20140216 |