CN106805854B - A kind of cleaning robot system - Google Patents
A kind of cleaning robot system Download PDFInfo
- Publication number
- CN106805854B CN106805854B CN201710029316.7A CN201710029316A CN106805854B CN 106805854 B CN106805854 B CN 106805854B CN 201710029316 A CN201710029316 A CN 201710029316A CN 106805854 B CN106805854 B CN 106805854B
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- Prior art keywords
- cleaning
- water
- spray boom
- cleaning robot
- nozzle
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Classifications
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The present invention relates to a kind of cleaning robot system, including cleaning robot, water tank, water supply pump station and traction device, water tank conveys water to cleaning robot by water supply pump station；Traction device drives cleaning robot to move in space；Cleaning robot includes cleaning body, spray boom and nozzle, the front for cleaning body is equipped with shaft, the centre of spray boom is connected with shaft, and clean the water filling port that promising spray boom water filling is opened up on body, the both ends of spray boom are provided with nozzle, nozzle is connected to spray boom, and the nozzle of spray boom both ends setting constitutes the torque of spray boom to the deboost of spray boom.The invention has the benefit that high pressure water flow is ejected by nozzle, the high pressure water flow ejected produces the deboost for driving spray boom rotation, to constitute the torque of spray boom, spray boom is driven to move in a circle, the high pressure water flow that the spray boom of rotation drives nozzle to eject forms circular cleaning surface, the area for expanding cleaning, improves cleaning efficiency.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of cleaning robot system, the robot system are main
Washing and cleaning operation for building.
Background technique
With the development of science and technology high-rise is more and more, hanging operation is mostly used for the cleaning of high-rise
Mode, cleaning personnel are suspended on, artificial washing and cleaning operation are carried out to external surface of buildings in the air, need to spend a large amount of people
Power, material resources complete washing and cleaning operation, and not only cleaning efficiency is low, clean at high cost, and security performance is poor, and safety easily occurs
Accident.Moreover, the outer surface of high-rise usually speckles with many tough stains, it is difficult to be washed using normal-temperature water, increases
Add cleaning difficulty, the cleaning efficiency of cleaning personnel low.In consideration of it, it is necessary to propose that a kind of cleaning speed is fast, security performance is high
Cleaning robot and it is a kind of can provide the water supply pump station that water heats to hot water to cleaning robot, so as to quickly,
It is efficiently completed washing and cleaning operation.
Summary of the invention
The present invention provides a kind of cleaning robot systems, are ejected high pressure water flow by nozzle, the high pressure ejected
Water flow produces the deboost for driving spray boom rotation, to constitute the torque of spray boom, spray boom is driven to move in a circle, rotation
The high pressure water flow that spray boom drives nozzle to eject forms circular cleaning surface, and the surface of high pressure washing building expands cleaning
Area improves cleaning efficiency, does not need manually to clean.
The technical solution of the present invention is as follows:
A kind of cleaning robot system, including cleaning robot, water tank, water supply pump station and traction device, the water storage
Tank conveys water to the cleaning robot by the water supply pump station；The traction device drives the cleaning robot in space
Interior movement；
The cleaning robot includes cleaning body, spray boom and nozzle, and the front of the cleaning body is equipped with shaft, described
The centre of spray boom is connected with the shaft, and the water filling port of the promising spray boom water filling, the spray are opened up on the cleaning body
The both ends of bar are provided with the nozzle, and the nozzle is connected to the spray boom, and the nozzle of the spray boom both ends setting is anti-
The torque of the spray boom is constituted to the deboost that the spray boom is formed to water spray.
The water in water tank is delivered to spray boom by water supply pump station, and is ejected by nozzle, the high pressure water ejected
Stream produces the deboost for driving spray boom rotation, to constitute the torque of the spray boom, spray boom is driven to move in a circle, rotated
Spray boom drive the high pressure water flow that ejects of nozzle to form circular cleaning surface, the surface of high pressure washing building expands cleaning
Area, improve cleaning efficiency, do not need manually to clean.
Further, the shaft is located at the positive center of the cleaning body, and the midpoint of the spray boom and institute
State shaft connection.
Further, the nozzle includes first jet and second nozzle, and the first jet and the second nozzle divide
The both ends of the spray boom are not set, the first jet and the second nozzle are contrary in the component of vertical direction, and two
The injection direction of a nozzle is different, so that the water flow that two nozzle at high speeds spray will drive spray boom and quickly rotate, the spray boom of rotation
The high pressure water for driving two nozzles to eject forms a circular cleaning surface, improves cleaning efficiency.
Multiple spray orifices are equipped on the first jet and the second nozzle, high pressure water ejects spray water by spray orifice
Stream, expands the area of cleaning, improves cleaning efficiency.
Further, the cleaning robot further includes promoting connection buckle, traction frame and multiple guide pads；The promotion
Connection buckle and the traction frame are arranged on the cleaning body；All guide pads are arranged at the traction frame
Frame is detachably fixed with the traction frame and connect, own away from the side of the cleaning body, all guide pads
The guide pad towards it is described traction frame side be equipped with groove, the groove run through the guide pad two sides；It is described
Promotion connection buckle, the guide pad are connect with the traction device, drive the cleaning body to move in space, and prevent institute
Cleaning body falling from high altitude is stated, the generation of safety accident is avoided.
Further, the cleaning robot further includes balancing pole and two balanced balls, and the balancing pole is horizontally set on
On the traction frame, and substantially symmetrical about its central axis setting of the both ends of the balancing pole about the cleaning body, it is described two flat
Weighing apparatus ball is symmetricly set on the both ends of the balancing pole, so that robot is able to maintain balance in the sky.
Further, the cleaning robot further includes THR REV and the first controller, the THR REV and described
First controller is arranged on the traction frame, the THR REV and first controller electrical connection, described counter to push away
Device acts on the active force of the cleaning body in the horizontal direction and the nozzle acts on the cleaning machine in the horizontal direction
The active force of body it is contrary.
When nozzle ejects high pressure water, one and injection direction opposite effect power can be generated, so that cleaning body is remote
It has been more than effective clean range from building, has reduced effective cleaning efficiency of cleaning body；By THR REV to cleaning machine
Body provides identical with the injection direction of nozzle active force, with offset generated when nozzle ejects high pressure water with injection direction phase
Anti- active force, so that cleaning body remains in effective clean range.
Further, the water supply pump station includes water supply body, conveying device, heating device and fuel tank；The conveying
Device, the heating device and the fuel tank are all set on the water supply body；The water tank is filled by the conveying
It sets and is connect with the water inlet of the heating device, the water filling that the water outlet of the heating device passes through pipeline and the cleaning body
Mouth connection；The fuel tank conveys fuel to the heating device.
Water is heated by heating device, then delivery is used to cleaning robot, quick convenient for cleaning robot,
It is efficiently completed washing and cleaning operation, improves cleaning efficiency；And monitor the discharge pressure of conveying device in time by pressure sensor,
And give pressure signal transmission to the first controller, the output power of THR REV is adjusted by the first controller, so that instead
Active force of the pushing device for offer matches with injection apparatus active force in the horizontal direction, so that cleaning robot begins
It is maintained in effective clean range eventually.
Further, the heating device includes ontology, conveying coil pipe, burner and blower；There is heating in the ontology
Chamber, the conveying coil pipe are arranged in the heating chamber, and the water inlet of the conveying coil pipe is as the heating device
Water inlet is connected with the conveying device, and the water outlet of the conveying coil pipe passes through pipeline as the water outlet of the heating device
It is connect with the water filling port of the cleaning body, the water inlet of the conveying coil pipe is located under the water outlet of the conveying coil pipe
Side；The bottom of the heating chamber is arranged in the burner, and the burner is connect with the fuel tank；The blower is set to institute
State the bottom of ontology, the blower is by the air port of the body bottom portion to the delivered inside air of the ontology.
Water is delivered in conveying coil pipe by conveying device, water is produced by conveying coil pipe and heating chamber fuel combustion
Raw heat carries out heat exchange, to heat the water in coil pipe is conveyed.Fuel burns at port, and passes through Fan Regulation
The prosperous degree of fire.
Further, pressure sensor, the pressure sensor and first control are additionally provided on the water supply pump station
Device electrical connection.
Further, softening hydrotreater is additionally provided between the water tank and the conveying device, for reducing described
The hardness of water in water tank.The water in water tank is filtered by softening hydrotreater, the hardness of water is reduced to
Within 0.6mmol/L, the glass that such soft water is cleaned does not have the marking.
It further, further include the first protector and the second protector, the top of the cleaning body and/or the cleaning
The bottom of body is equipped with first protector, avoids cleaning robot in the process of moving, directly directly touches with foreign object
It hits, plays the role of protecting cleaning robot.
Second protector is located on the water supply body, has not only acted as the purpose of protection water supply pump station, and
The noise that water supply pump station can be generated is isolated, and noise pollution is reduced, and improves working environment, convenient for filling combustion to fuel tank
Material.
The invention has the benefit that
The water in water tank is delivered to spray boom by water supply pump station, and is ejected by nozzle, the high pressure water ejected
Stream produces the deboost for driving spray boom rotation, to constitute the torque of the spray boom, spray boom is driven to move in a circle, rotated
Spray boom drive the high pressure water flow that ejects of nozzle to form circular cleaning surface, the surface of high pressure washing building expands cleaning
Area, improve cleaning efficiency, do not need manually to clean.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the use state diagram of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of one embodiment of cleaning robot of the present invention；
Fig. 3 is the front view of one embodiment of cleaning robot of the present invention；
Fig. 4 is the side view of one embodiment of cleaning robot of the present invention；
Fig. 5 is the structural schematic diagram of one embodiment of guide pad of the present invention；
Fig. 6 is the first state structural schematic diagram of one embodiment of water supply pump station of the present invention；
Fig. 7 is the second status architecture schematic diagram of one embodiment of water supply pump station of the present invention；
Fig. 8 is the third state structural schematic diagram of one embodiment of water supply pump station of the present invention；
Fig. 9 is the cross-sectional view of one embodiment of heating device of the present invention.
1- cleaning robot in figure；11- cleans body；111- water filling port；112- support rod；12- spray boom；13- nozzle；
131- first jet；132- second nozzle；14- promotes connection buckle；15- draws frame；151- guide pad；152- groove；16- is flat
Weigh bar；17- balanced ball；18- THR REV；The first controller of 19-；2- water tank；3- water supply pump station；31- water supply body；311-
Universal wheel；312- handle；32- conveying device；321- delivery pump；322- motor；33- heating device；331- ontology；3311-
Shell；3312- cap；332- conveys coil pipe；333- burner；334- blower；The air port 335-；34- fuel tank；35- pressure sensing
Device；36- centrifugal pump；37- control valve；38- second controller；The first tractor of 41-；The second tractor of 42-；43- safety line；
The first ropes of 44-；The second ropes of 45-；46- first protects rope；47- second protects rope；5- softens water process
Device；The first protector of 6-；The second protector of 7-；8- building.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Referring to Fig. 1 to Fig. 9, a kind of cleaning robot system, including cleaning robot 1, water tank 2, water supply pump station 3 and lead
Leading-in device, water tank 2 convey water to cleaning robot 1 by water supply pump station 3；Traction device drives cleaning robot 1 in space
Interior movement.
The water in water tank 2 is delivered to cleaning robot 1 by water supply pump station 3, cleaning robot 1 sprays water, punching
The surface for washing building improves cleaning efficiency instead of manually cleaning.
Embodiment one:
Referring to fig. 2 to Fig. 5, cleaning robot 1 includes cleaning body 11, injection apparatus, attachment device, balancing device, anti-
Pushing device 18, the first protector 6 and support device, injection apparatus, attachment device, balancing device, THR REV 18, protective device
It is arranged on cleaning body 11 with support device.
A kind of preferable embodiment, injection apparatus include spray boom 12 and nozzle 13；The front for cleaning body 11, which is equipped with, to be turned
The centre of axis, spray boom 12 is connected with shaft, and is cleaned and opened up the water filling port 111 that promising spray boom 12 fills the water on body 11, spray boom 12
Both ends be provided with nozzle 13, nozzle 13 is connected to spray boom 12,12 both ends of spray boom setting nozzle 13 reversely water spray to spray boom
12 deboosts formed constitute the torque of spray boom 12, as shown in Figure 2.Preferably, shaft be located at cleaning body 11 it is positive in
Heart position, and the midpoint of spray boom 12 is connect with shaft.The front for cleaning body 11 is cleaning robot 1 in washing and cleaning operation, clearly
One side of the washing machine body 11 towards the outer surface of building.
Nozzle 13 includes first jet 131 and second nozzle 132, and first jet 131 and second nozzle 132 are separately positioned on
The both ends of spray boom 12, first jet 131 and second nozzle 132 are contrary in the component of vertical direction, the midpoint of spray boom 12 with
Shaft connection.First jet 131 is different with the injection direction of second nozzle 132, and the angle of nozzle 13 and spray boom 12 is α, 0 ° of < α
≤ 90 °, it is preferable that angle is 45 °, as shown in Figure 3.
Wherein, multiple spray orifices are equipped on first jet 131 and second nozzle 132, all spray orifices are uniformly arranged.
First jet 131 and second nozzle 132 are using relative eccentric, diverging design, so that first jet 131 and the second spray
The water flow of 132 high speed ejection of mouth will drive spray boom 12 and quickly rotate, the height that the spray boom 12 of rotation drives two nozzles 13 to eject
Water is pressed to form a circular cleaning surface, high pressure water ejects misty water flow by spray orifice, expands the area of cleaning, improve
Cleaning efficiency.
It should be further noted that the quantity for the nozzle 13 that the both ends of spray boom 12 are arranged is multiple, 12 both ends of spray boom
All nozzles 13 being arranged constitute the torque of spray boom 12 to the deboost of spray boom 12.The nozzle of 12 any end of spray boom setting
13 injection direction is identical.
The quantity of spray boom 12 be it is multiple, the center of all spray booms 12 pass through shaft and clean body 11 front rotate
Connection, all spray booms 12 and shaft are array center's annular spread.
Multiple round brush are additionally provided on cleaning body 11, are cleaned by wall of all round brush to building, into one
Step improves the cleanliness of the cleaning of robot.
A kind of preferable embodiment, attachment device include promoting connection buckle 14, traction frame 15 and multiple guide pads
151；It promotes connection buckle 14 and traction frame 15 is arranged on cleaning body 11, it is preferable that promote connection buckle 14 and traction frame
Frame 15 is arranged at the back side of cleaning body 11, and draws frame 15 and be located at the lower section for promoting connection buckle 14；All guide pads
151 are arranged at traction frame 15 away from the side of cleaning body 11, and all guide pads 151 are detachable with traction frame 15
It is fixedly connected, the side of all guide pads 151 towards traction frame 15 is equipped with groove 152, and groove 152 runs through guide pad 151
Two sides, groove 152 is horizontally disposed, promotes connection buckle 14, guide pad 151 is connect with traction device.As shown in Figure 4 and Figure 5.
Wherein, it is promoted on connection buckle 14 and offers connecting hole.
Traction frame 15 is set away from the top of the side of cleaning body 11 there are two guide pad 151, and traction frame 15 deviates from
The lower part for cleaning the side of body 11 is set there are two guide pad 151, and traction frame 15 is cuboid.
A kind of preferable embodiment, balancing device include balancing pole 16 and two balanced balls 17；16 level of balancing pole is set
It sets on traction frame 15, and substantially symmetrical about its central axis setting of the both ends of balancing pole 16 about cleaning body 11, two balanced balls 17
The both ends of balancing pole 16 are symmetricly set on, so that robot is able to maintain balance in the sky, as shown in Figures 2 to 4.
A kind of preferable embodiment, further includes the first controller 19, and THR REV 18 and the first controller 19 are respectively provided with
On traction frame 15, THR REV 18 and the electrical connection of the first controller 19, THR REV 18 act on cleaning in the horizontal direction
The active force of body 11 acts on the contrary of the active force of cleaning body 11 with nozzle 13 in the horizontal direction.THR REV 18
For blower, as shown in Figure 4.
When nozzle 13 ejects high pressure water, one and injection direction opposite effect power can be generated, so that cleaning body
11 far from building, has been more than effective clean range, reduces effective cleaning efficiency of cleaning body 11；Pass through THR REV 18
Active force identical with the injection direction of nozzle 13 is provided to cleaning body 11, to offset generation when nozzle 13 ejects high pressure water
With injection direction opposite effect power so that cleaning body 11 remain in effective clean range.
A kind of preferable embodiment, the quantity of the first protector 6 be it is multiple, the top of cleaning body 11 sets that there are two the
The bottom of one protector 6, cleaning body 11 is set there are two the first protector 6, avoids cleaning body 11 in the process of moving,
Directly with foreign object direct collision, play the role of protection cleaning body 11, the first protector 6 is triangle, such as Fig. 2 to Fig. 4
It is shown.
A kind of preferable embodiment, support device include multiple support rods 112, and all support rods 112 are vertically arranged
In cleaning body 11, and all support rods 112 are spaced setting, so that cleaning body 11 is not stronger, solid, variable
Shape, as shown in Figures 2 and 3.
The water in water tank 2 is delivered to spray boom 12 by water supply pump station 3, and is ejected by nozzle 13, is ejected
High pressure water flow produces the deboost for driving spray boom 12 to rotate, to constitute the torque of spray boom 12, spray boom 12 is driven to do circumference
Movement, the high pressure water flow that the spray boom 12 of rotation drives nozzle 13 to eject form circular cleaning surface, the table of high pressure washing building
Face expands the area of cleaning, improves cleaning efficiency, does not need manually to clean.
Embodiment two:
Referring to Fig. 1, traction device includes the first tractor 41, the second tractor 42, safety line 43, the first ropes
44, the second ropes 45, first protection rope 46 and the second protection rope 47.
First tractor 41 and the second tractor 42 include turntable and the motor for driving turntable rotation.First tractor 41
It is mounted on the top of building 8, the second tractor 42 is mounted on ground.The operator of first tractor 41 and the second tractor 42
To opposite.When the first lifting cleaning robot 1 upwards of tractor 41, safety line 43, the first ropes 44 and second are mentioned
Rope 45 is risen gradually to be wrapped on the turntable of the first tractor 41；First protection rope 46 and second protection rope 47 by
Gradually pulled out from the turntable of the second tractor 42.Common work of the cleaning robot 1 in the first tractor 41 and the second tractor 42
With lower holding relative equilibrium.First tractor is winch, and the second tractor 42 is hoist engine.
One end of safety line 43 is connect with the connecting hole promoted on connection buckle 14, the other end of safety line 43 and first
The turntable of tractor 41 connects, and cleaning robot 1 is held, cleaning robot 1 is avoided and inadvertently falls off to ground.First is promoted
One end of rope 44 is connect with the groove 152 on the corresponding guide pad 151 that traction 15 top of frame is arranged in, and first mentions
It rises the other end of rope 44 and is connect with the turntable of the first tractor 41.One end of second ropes 45 and setting are in traction frame
Groove 152 on the corresponding guide pad 151 on 15 top of frame connects, and the other end of the second ropes 45 and leads with first
The turntable of lead device 41 connects.Safety line 43, the first ropes 44 and the second ropes 45 constitute leading for a triangle
Draw mode, so that 1 stress of cleaning robot more balances.
First protection rope 46 one end be arranged in draw 15 lower part of frame corresponding guide pad 151 on it is recessed
Slot 152 connects, and first protects the other end of rope 46 and connect with the turntable of the second tractor 42.The one of second protection rope 47
The groove 152 held and be arranged on the corresponding guide pad 151 of traction 15 lower part of frame connects, the second protection rope 47
It the other end and is connect with the turntable of the second tractor 42.By the effect of the first protection rope 46 and the second protection rope 47, have
Effect prevents cleaning robot 1 to drift about in operation process, improves the fixed stability of cleaning robot 1.
Rope is connect by groove 152 or connecting hole with cleaning body 11, so that rope keeps opposite with cleaning body 11
Position relationship can guarantee to clean body 11 during pulling rope to drive cleaning machine body 11 mobile in space
Stress balance, improve stability of the cleaning body 11 in operation process.
Embodiment three:
Referring to Fig. 6 to Fig. 9, water supply pump station 3 includes water supply body 31, conveying device 32, heating device 33 and fuel tank 34；
Conveying device 32, heating device 33 and fuel tank 34 are all set on water supply body 31.
A kind of preferable embodiment, heating device 33 include that heating device 33 includes ontology 331, conveying coil pipe 332, furnace
First 333 and blower 334；There is heating chamber, conveying coil pipe 332 is arranged in heating chamber, conveys coil pipe 332 in ontology 331
Water inlet as heating device 33 water inlet and conveying device 32 connect, conveying coil pipe 332 water outlet as heating dress
It sets 33 water outlet and is connect by pipeline with the water filling port 111 for cleaning body 11, the water inlet for conveying coil pipe 332 is located at transfer dish
The lower section of the water outlet of pipe 332；The bottom of heating chamber is arranged in burner 333, and burner 333 is connect with fuel tank 34；Blower 334
It is set to the bottom of ontology 331, blower 334 passes through the air port 335 of 331 bottom of ontology to the delivered inside air of ontology 331, such as
Shown in Fig. 9.
Ontology 331 includes shell 3311 and cap 3312, and shell 3311 and cap 3312 are detachably fixed connection, preferably
Ground, shell 3311 and cap 3312 are threadedly coupled, convenient for the demolition, repair, replacement of heating device 33.It opens the lower part of shell 3311
Equipped with import corresponding with the conveying import of coil pipe 332, the top of shell 3311 offers corresponding with the conveying outlet of coil pipe 332
Outlet.
Convey coil pipe 332 in the shape of a spiral, the import of conveying coil pipe 332 is located at the lower section of the outlet of conveying coil pipe 332.Conveying
Coil pipe 332 is standby using copper.Copper is a kind of transition metal, and ductility is good, and electric conductivity and thermal conductivity are high, helps to improve heat exchange effect
Rate；Copper is also durable metal, can repeatedly be recycled and its lossless mechanical performance, and the service life of conveying coil pipe 332 is extended.
The built-in fuel of fuel tank 34 is butane, is additionally provided with flow adjustment knob in fuel tank 34.
Water source is stored using water tank 2, the water in water tank 2 is delivered to transfer dish by delivery pump 321 by water supply pump station 3
It in pipe 332, is gradually increasing in the shape of a spiral from the bottom to top into the water in conveying coil pipe 332, extends water in conveying coil pipe 332
Residence time；During rising, water is carried out by the heat that conveying coil pipe 332 and heating chamber fuel combustion generate
Heat exchange will convey the water in coil pipe 332 and heat, takes full advantage of the heat of fuel combustion generation, improve heating efficiency；Quilt
The hot water of heating is used by pipeline to cleaning robot 1, convenient for the dirt removal that will be difficult to clean off, improves cleaning effect
Rate.Pipeline is hose.
For burner 333 by fuel combustion, blower 334 is defeated by the inside of air port 335 to the ontology 331 of the bottom of ontology 331
Air is sent, the prosperous degree of fire is adjusted.
And monitor the discharge pressure of delivery pump 321 in time by pressure sensor 35, and give first for pressure signal transmission
Controller 19 adjusts the output power of THR REV 18 by the first controller 19, so that THR REV 18 is for providing
Active force match with injection apparatus active force in the horizontal direction so that cleaning robot 1 remain at it is effective clear
It washes in range.
It should be further noted that when the pressure for conveying the hot water of the outlet of coil pipe 332 out is lower, it is difficult to will be hot
When water is delivered to positioned at the cleaning operation personnel in high-altitude or cleaning robot 1, it can also be arranged in the outlet of conveying coil pipe 332
The hot water conveyed in coil pipe 332 is delivered to the cleaning in high-altitude by centrifugal pump 36 and control valve 37, centrifugal pump 36 by conveyance conduit
Operating personnel or cleaning robot 1, the hot water to come out from the outlet of conveying coil pipe 332 provide enough pressure or raise
Journey, it is ensured that the normal operation of cleaning operation, as shown in Figure 7.
A kind of preferable embodiment, conveying device 32 include the motor of delivery pump 321, the driving rotation of delivery pump 321
322 and second controller 38, motor 322 is connect by shaft coupling with delivery pump 321, the outlet of delivery pump 321 and transfer dish
The import of pipe 332 connects；Second controller 38 is mounted on water supply body 31, and motor 322 and second controller 38 are electrically connected,
As shown in Figure 6 and Figure 7.
Wherein, delivery pump 321 is high-pressure plunger pump, and the use pressure of high-pressure plunger pump generally should be in 10MPa~100MPa
Between, not only there is good intake performance, but also there are also good self-priming performance, machine efficiency is high, energy saving.Delivery pump 321
Silent pump can be used, noise pollution is reduced, improves working environment.
Motor 322 is adjustable frequency motor 322, ensure that output flow can need according to system and change, more supernumerary segment
Energy.
It should be further noted that second controller 38 can also be connected with motor 322 with signal, long-range control is realized
The mode of system, signal connection is GPRS, and GPRS is the abbreviation of general packet radio service technology, belongs to data transmission technology.
A kind of preferable embodiment, further includes the second protector 7, and the second protector 7 is located on water supply body 31.Tool
For body, the second protector 7 is shield, and conveying device 32 and heating device 33 are respectively positioned on the top of fuel tank 34, and convey
Device 32 and heating device 33 are respectively positioned in shield, have not only acted as the purpose of protection conveying device 32 and heating device 33,
And the noise that conveying device 32 and heating device 33 generate can be isolated, noise pollution is reduced, improves working environment, just
In filling fuel to fuel tank 34, as shown in Figure 8.
A kind of preferable embodiment, the bottom of water supply body 31 are additionally provided with multiple universal wheels 311, the number of universal wheel 311
Amount is a.It is furnished with brake gear on universal wheel 311, brake gear is service brake, ensure that the safety of water supply pump station 3 in motion.
Handle 312 is additionally provided on water supply body 31.As shown in Figure 6 to 8.
When in use, by universal wheel 311, handle 312 is grasped, water supply body 31 is pushed to control moving direction,
Water supply pump station 3 by universal wheel 311 can any direction it is mobile, save labour, improve work efficiency.
The equivalents of water supply pump station 3 are as follows: water tank 2 is connected by the water inlet of conveying device 32 and heating device 33
It connects, the water outlet of heating device 33 is connect by pipeline with the water filling port 111 for cleaning body 11；Conveying device 32 is equipped with and is used for
Detect the pressure sensor 35 of the discharge pressure of conveying device 32, pressure sensor 35 and the control being arranged on traction frame 15
Device electrical connection；Fuel tank 34 conveys fuel to heating device 33.
Example IV:
Referring to Fig. 1, softening hydrotreater 5 is additionally provided between water tank 2 and conveying device 32, for reducing in water tank 2
The hardness of water.By soften hydrotreater 5 water in water tank 2 is filtered, by the hardness of water be reduced to 0.6mmol/L with
Interior, the glass that such soft water is cleaned does not have the marking.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (9)
1. a kind of cleaning robot system, it is characterised in that: including cleaning robot (1), water tank (2), water supply pump station (3) and
Traction device, the water tank (2) convey water by the water supply pump station (3) Xiang Suoshu cleaning robot (1)；The traction dress
It sets and the cleaning robot (1) is driven to move in space；
The cleaning robot (1) includes cleaning body (11), spray boom (12) and nozzle (13), and the cleaning body (11) is just
Face is equipped with shaft, and the centre of the spray boom (12) is connected with the shaft, and opens up on the cleaning body (11) promising described
The water filling port (111) of spray boom (12) water filling, the both ends of the spray boom (12) are provided with the nozzle (13), the nozzle (13)
It is connected to the spray boom (12), the nozzle (13) of spray boom (12) the both ends setting is reversely sprayed water to the spray boom (12) shape
At deboost constitute the torque of the spray boom (12)；
The cleaning robot (1) further includes promoting connection buckle (14), traction frame (15) and multiple guide pads (151)；It is described
It promotes connection buckle (14) and the traction frame (15) is arranged on the cleaning body (11)；All guide pads
(151) traction frame (15) is arranged at away from the side of cleaning body (11), all guide pads (151)
It is detachably fixed and connect with the traction frame (15), all guide pads (151) are towards the traction frame (15)
Side be equipped with groove (152), the groove (152) run through the guide pad (151) two sides；The promotion connection buckle
(14), the guide pad (151) connect with the traction device；
The traction device includes the first tractor (41), the second tractor (42), safety line (43), the first ropes
(44), the second ropes (45), the first protection rope (46) and the second protection rope (47)；First tractor (41) and
Second tractor (42) includes turntable and the motor for driving turntable rotation, and first tractor (41) is mounted on building
The top of object, second tractor (42) are mounted on ground；First tractor (41) and second tractor (42)
Operating direction it is opposite；One end of the safety line (43) is connect with the connecting hole promoted on connection buckle (14), and described first
One end of ropes (44) and second ropes (45) is with setting in the right with it of described traction frame (15) top
The groove (152) connection on the guide pad answered, the safety line (43), first ropes (44), described the
The other end of two ropes (45) is connect with the turntable of the first tractor (41).
2. a kind of cleaning robot system according to claim 1, it is characterised in that: the nozzle (13) includes the first spray
Mouth (131) and second nozzle (132), the first jet (131) and the second nozzle (132) are separately positioned on the spray boom
(12) both ends, the first jet (131) and the second nozzle (132) are contrary in the component of vertical direction.
3. a kind of cleaning robot system according to claim 1, it is characterised in that: the cleaning robot (1) is also wrapped
Balancing pole (16) and two balanced balls (17) are included, the balancing pole (16) is horizontally set on the traction frame (15), and institute
Substantially symmetrical about its central axis setting of the both ends of balancing pole (16) about cleaning body (11) is stated, described two balanced balls (17) are symmetrical
Both ends in the balancing pole (16) are set.
4. a kind of cleaning robot system according to claim 3, it is characterised in that: the cleaning robot (1) is also wrapped
THR REV (18) and the first controller (19) are included, the THR REV (18) and first controller (19) are arranged at institute
It states in traction frame (15), the THR REV (18) and first controller (19) electrical connection, the THR REV (18)
The active force and the nozzle (13) for acting on cleaning body (11) in the horizontal direction act on described clear in the horizontal direction
The active force of washing machine body (11) it is contrary.
5. a kind of cleaning robot system described in any one according to claim 1~4, it is characterised in that: the feed pump
Stand (3) include water supply body (31), conveying device (32), heating device (33) and fuel tank (34)；The conveying device (32),
The heating device (33) and the fuel tank (34) are all set on the water supply body (31)；The water tank (2) passes through
The conveying device (32) connect with the water inlet of the heating device (33), and the water outlet of the heating device (33) passes through pipe
Road is connect with the water filling port (111) of cleaning body (11)；Fuel tank (34) Xiang Suoshu heating device (33) the conveying combustion
Material.
6. a kind of cleaning robot system according to claim 5, it is characterised in that: the heating device (33) includes this
Body (331), conveying coil pipe (332), burner (333) and blower (334)；
There is heating chamber, the conveying coil pipe (332) is arranged in the heating chamber, described defeated in the ontology (331)
The water inlet of coil pipe (332) is sent to connect as the water inlet and the conveying device (32) of the heating device (33), it is described defeated
The note for sending the water outlet of coil pipe (332) to pass through pipeline and cleaning body (11) as the water outlet of the heating device (33)
The mouth of a river (111) connection, the water inlet of conveying coil pipe (332) are located at the lower section of the water outlet of conveying coil pipe (332)；
The bottom of the heating chamber is arranged in the burner (333), and the burner (333) connect with the fuel tank (34)；
The blower (334) is set to the bottom of the ontology (331), and the blower (334) passes through the ontology (331) bottom
Air port (335) Xiang Suoshu ontology (331) delivered inside air.
7. a kind of cleaning robot system according to claim 4, it is characterised in that: also set on the water supply pump station (3)
Have pressure sensor (35), the pressure sensor (35) and first controller (19) electrical connection.
8. a kind of cleaning robot system according to claim 5, it is characterised in that: the water tank (2) and described defeated
It send and is additionally provided with softening hydrotreater (5) between device (32), for reducing the hardness of the water tank (2) interior water.
9. a kind of cleaning robot system according to claim 5, it is characterised in that: further include the first protector (6) and
It is anti-that the bottom of second protector (7), the top of cleaning body (11) and/or cleaning body (11) is equipped with described first
Guard (6)；Second protector (7) is located on the water supply body (31).
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| CN201710029316.7A CN106805854B (en) | 2017-01-16 | 2017-01-16 | A kind of cleaning robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710029316.7A CN106805854B (en) | 2017-01-16 | 2017-01-16 | A kind of cleaning robot system |
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| CN106805854A CN106805854A (en) | 2017-06-09 |
| CN106805854B true CN106805854B (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710029316.7A Active CN106805854B (en) | 2017-01-16 | 2017-01-16 | A kind of cleaning robot system |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108403019A (en) * | 2018-02-13 | 2018-08-17 | 北京小米移动软件有限公司 | floor cleaning control method and device |
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| US7665173B2 (en) * | 2004-11-05 | 2010-02-23 | Simonette Dallas W | Automated cleaning system for structures |
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| CN2361745Y (en) * | 1997-12-23 | 2000-02-02 | 黄虎 | Cleaning machine for large building |
| CN101018620A (en) * | 2004-04-01 | 2007-08-15 | 罗伯特·奥特森 | Flat surface washing apparatus |
| DE102004029892A1 (en) * | 2004-06-17 | 2006-01-05 | Schmidt Innovative Technik Gmbh | Cleaning system for building facades comprises roller brush connected to hose supplying cleaning liquid, brush being lowered down building by cable attached to jib and pressed against facade by counterweight |
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| CN106805854A (en) | 2017-06-09 |
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