CN101028183A - Water powered cleaning machine and method of varying the strength and direction of the water jet - Google Patents

Abstract

The invention relates to a cleaning machine which is used for cleaning the plane part of an operable site and is driven by hydraulic jet, comprising a water pump, a directional drainage pipeline which is communicated and connected with a drainage outlet of the water pump, and a water flow control device, wherein the water flow control device is arranged between the drainage outlet of the water pump and the drainage pipeline, is operated between a first operation position and a second operation position, and can control the water to jet towards one of two directions, thereby driving the cleaning machine to move on the plane of the operable site. The invention also provides a method for changing the force and direction of the hydraulic jet of the pool cleaning machine, which is used as the power for driving the cleaning machine to control the advance of the cleaning machine and randomly changes the moving direction of the cleaning machine by using a method of temporarily interrupting the water flow. The cleaning machine of the present invention can clean the operable floor surface with different shapes and various obstacles thoroughly.

Description

Water powered cleaning machine and method of varying the strength and direction of the water jet

technical field

The present invention relates to a cleaning machine, in particular to a cleaning machine driven by water and affecting direction;

The invention also relates to a method of varying the force and direction of the water jets of the cleaning machine.

Background technique

The existing automatic cleaning machine uses an independent motor to transmit power through a set of gears to a set of wheels or wheel tracks mounted on the shaft to cruise on the surface to be cleaned in the pool. These wheels or tracks are aligned with the longitudinal axis of the cleaning machine Parallel, the direction of the longitudinal axis of the cleaning machine refers to the forward or reverse direction of the cleaning machine.

The cleaning machine disclosed in US Pat. No. 3,979,788 has a matrix composed of three wheels arranged on the triangular points of an isosceles triangle to drive the cleaning machine to completely patrol the bottom of the pool. One of the three wheels is at the apex of the isosceles triangle, and its wheel shaft can rotate according to a vertical axis to become a freely rotating cleaning machine.

Generally, a cleaning machine using wheels will be installed with two electric motors: one motor is used to drive the water pump, and the pumping water flows through the filter device of the cleaning machine; the other motor drives the cleaning machine to patrol the surface to be cleaned. The drive motor can transmit power through multiple sets of gears or a set of belt pulleys; the water pump can be externally pumped to pump high-pressure water, that is, spray water to the cleaning machine, use the reaction force to drive the cleaning machine or use a hydraulic turbine to connect wheels or tracks with gears or belt pulleys . The turbine used by the cleaning machine in the prior art can only be driven in a single direction, and this movement is random.

Control the movement of the cleaning machine in the forward and backward direction based on the direction of its longitudinal axis. It can use finer electronic circuit settings, and can use such as synchronous motors and DC brush motors. Some existing technologies require the cleaning machine to climb up when it reaches the wall. And return to the bottom of the pool after traveling across an unfixed distance, so as to achieve the purpose of randomly changing the patrol route at the bottom of the pool. Other prior art cleaning machines that use water power also need to rely on the cleaning machine to change its forward direction when it touches the side wall to achieve the purpose of randomly changing and patrolling the bottom of the entire pool. But in some specific cases, this method of using the wall to change the patrol route of the cleaning machine at the bottom of the pool is a waste of time and energy, so as to speed up the consumption of the cleaning machine.

The prior art cleaning machines sold in the market, some of which use high-pressure water to achieve random patrol routes, will install a 'reverse' valve towards the direction of the high-pressure water pipe, and this valve will be activated from time to time, making a The direction of the direction is inconsistent with the direction of the push, this way of changing the direction of the water hose, may also drive the cleaning machine to change the direction. The reversing valve can be activated by some means installed in the hose, but the random direction change caused by the activation of the reversing valve is unpredictable and may not help a cleaning machine trapped by an obstacle to get out.

A circular and floating cleaning machine disclosed in US Patent No. 4,348,192 is connected to the water supply hose, and has a water spray pipe in a constantly rotating direction to spray water, so that the cleaning machine can automatically reverse when it is blocked. In addition to the spray water hose installed on the cleaning machine, there are multiple spray ports in the rear direction on the water supply hose, which can make the cleaning machine maintain a random cruising route.

For cleaning machines that use gear sets to drive wheels or crawlers, it increases the development and production costs of the cleaning machine, especially to produce and assemble a large number of small parts that require higher accuracy; users or owners also need more More time and money to maintain the normal wear and tear of this kind of machinery.

Contents of the invention

It is an object of the present invention to provide an improved automated cleaning machine that utilizes a directional water jet as an effective and reliable driving force so that the cleaning machine can follow the longitudinal axis of the machine.

Another object of the present invention is to provide a method for changing the strength and direction of the water spray of the cleaning machine, so that the forward movement of the cleaning machine can be controlled, and the forward direction of the cleaning machine can be changed by temporarily interrupting the water flow.

Another object of the present invention is to provide a simple and durable cleaning machine that can change the direction of the water jet, and the external sensor installed in the cleaning machine can easily sense that the cleaning machine is in contact with obstacles or side walls, and then control the change. Hydrojet direction.

In order to achieve the above object, the present invention provides a cleaning machine for cleaning the plane part of the operable site, especially the inner surface of the pool or tank, the cleaning machine is driven by a water jet, and includes a A water pump that discharges high-pressure water from the water pump, a directional drainage pipe that communicates with the water pump's water outlet, and a water flow control device. It is characterized in that the axis of the water pump water outlet is approximately the The surface is at a vertical angle; the directional drainage pipeline includes at least one drainage pipeline, so that the sprayed water can be directed out of the cleaning machine, and the drainage pipeline is closer to the axis of the outlet pipeline and drains water from the pump The axis of the mouth is basically at a vertical angle; the water flow control device is arranged between the water pump outlet and the drainage pipe, the water flow control device operates between the first operating position and the second operating position, and can control The water flow is sprayed in one of two directions, and these two directions are basically opposite to each other, so that the high-pressure water flow from the pump is turned 90° and sprayed out of the cleaning machine, thereby driving the cleaning machine at the bottom of the pool or tank The direction of its injection is determined by the position of the water flow control device.

The above-mentioned cleaning machine is characterized in that the drainage pipe is provided with at least two water outlet pipes along the longitudinal axis of the cleaning machine, which are respectively arranged at both ends of the drainage pipe.

The above-mentioned cleaning machine is characterized in that the water flow control device includes at least one flap valve assembly, which is arranged in the drain pipe between the two water outlet pipes and communicated with the water outlet of the pump, and the flap valve The assembly will be operated between the first operating position and the second operating position due to the short interruption of the high-pressure water sprayed from the water outlet of the water pump, so that the water flow is sprayed out of the cleaning machine from one of the two water outlet pipes.

The above-mentioned cleaning machine is characterized in that the flap valve assembly includes a flap installed at the fulcrum of rotation and a plurality of flaps used as fixed flaps installed inside the two water outlet pipes in the drainage pipe and connected to the water outlet of the pump. A fixed group of flaps attached with a bias in flow communication, the position of the flap and the fixed group of flaps is to control the water flow of the pump to be discharged from the pipe of one of the two outlet pipes.

The above-mentioned cleaning machine is characterized in that the water flow control device is operated between the first operating position and the second operating position in response to the sudden interruption of the water pump to discharge water to the drain.

The above-mentioned cleaning machine is characterized in that the flap valve assembly includes a flap erected by a fulcrum and more than one flap positioning assembly is biased and installed in the drainage pipe, and flows through the flap valve in response to the water flow to apply pressure.

The above-mentioned pool cleaning machine is characterized in that the fulcrum of the flap is fixed in the drainage pipe at a position opposite to the installation fulcrum of the flap fixing group.

The above-mentioned cleaning machine is characterized in that the flap fixing group is installed on a fulcrum and is rotatable, and its arc rotation range is 180°.

The above-mentioned cleaning machine is characterized in that the flap fixing group is provided with a spring bias.

The above-mentioned cleaning machine is characterized in that a part of the rotation range of the free swing end of the flap fixing group overlaps with the rotation range of the flap.

The above cleaning machine is characterized in that the flap and the flap fixing group are installed on the inner wall of the drainage pipe.

The above-mentioned cleaning machine is characterized in that the cleaning machine includes a central pipeline connected to the drainage pipeline, the central pipeline is opposite to the flap valve assembly, and communicates with the water outlet of the water pump and the drainage pipeline.

The above-mentioned cleaning machine is characterized in that the cleaning machine includes at least one vertical drain, and the vertical drain is located near the fixed fulcrum of the flap.

The above-mentioned cleaning machine is characterized in that the cleaning machine is provided with two vertical drain outlets, which are respectively located on both sides of the fixed fulcrum of the flap.

The above-mentioned cleaning machine is characterized in that the vertical drain is provided with a cover, and when the pressure in the drain pipe reaches a predetermined coefficient, the cover is opened to allow water to flow through the vertical drain.

The above-mentioned pool cleaning machine is characterized in that the drainage pipeline includes at least one vertical drainage outlet, and the vertical drainage outlet is located at a non-terminal part of the drainage pipeline.

The above-mentioned pool cleaning machine is characterized in that the vertical drain is provided with a vertical throttling device to control the flow of water flowing through the vertical drain.

The above-mentioned cleaning machine is characterized in that the vertical throttling device includes at least one movable cover to control the opening size of the vertical drain.

The above-mentioned pool cleaning machine is characterized in that the cover of the vertical throttling device is a manually operated movable cover.

The above-mentioned cleaning machine is characterized in that the cover is a cover with a bias, and the size of the outlet of the cover with a bias can be changed in response to the pressure generated by the water in the drainage pipe.

The above-mentioned cleaning machine is characterized in that an elbow-shaped diverter is further arranged at the end of the water outlet pipe, and the axis of the outlet of the elbow-shaped diverter forms an included angle with the longitudinal axis of the cleaner so that water flows through the elbow. The flow out of the shaped diverter is at an angle to the plane of movement of the cleaning machine.

The above-mentioned cleaning machine is characterized in that the water outlet pipe is integrated with the elbow diverter.

In order to control the movement of the above-mentioned cleaning machine, the present invention also provides a method for changing the force and direction of the water jet of the cleaning machine, which is characterized in that the cleaning machine includes: power supply device, time delay switch, sensor device, water pump, drain pipe And a water flow control device, comprising the steps of:

1) The power supply device supplies power, starts the cleaning machine, the pump works, the water flow control device is located at the first operating position, and the high-pressure water jetted through the water flow control device and the drain pipe drives the cleaning machine to patrol in one direction;

2) The sensor device senses the external signal, sends a control signal to interrupt the current, the pump stops working, and starts the time delay switch;

3) The water flow control device changes position from the first operating position to the second operating position;

4) After a predetermined delay time, the time delay switch sends a signal to turn on the current, restart the pump, the water flow control device is in the second operating position, and the high-pressure water jetted through the water flow control device and the drain pipe drives the cleaning machine to the other direction parade;

5) Repeat steps 2) to 4).

The above method is characterized in that the sensor device is one or a combination of a magnetic sensor, an infrared sensor, an air sensor or a position sensor.

The above method is characterized in that the external signals described in step 2) include the cleaning machine being trapped and unable to move forward, the cleaning machine reaching the wall, the cleaning machine reaching the water surface, and the longitudinal axis of the cleaning machine changing between vertical and horizontal positions.

In another embodiment provided by the present invention, a cleaning machine is provided for cleaning the plane part of the operable site, the cleaning machine is driven by water jet, and includes a high-pressure water jet that can discharge a high-pressure water flow through a drain connected to it. A water pump, a directional drainage pipe and a water flow control device that are fluidly connected to the water outlet of the water pump, are characterized in that it further includes an external sensor connected to the water flow control device; The axis of the drain outlet of the water pump is roughly at a perpendicular angle to the surface to be cleaned; the directional drain pipe includes at least one drain pipe so that the sprayed water is directed out of the cleaning machine, and the drain pipe The axis of the pipeline closer to the outlet is basically at a vertical angle to the axis of the water pump outlet; the water flow control device is arranged between the water pump outlet and the drainage pipe, and the water flow control device operates on the first Between the first operating position and the second operating position, the water flow can be controlled to spray in one of two directions, and these two directions are basically opposite to each other, so that the high-pressure water flow from the water pump is rotated 90° and sprayed out to clean outside the machine, so as to drive the cleaning machine to move at the bottom of the pool or tank, and the spray direction is determined by the position of the water flow control device; the external sensor sends a signal when the cleaning machine is close to the wall so that the water flow control device Switch between a first operating position and a second operating position.

The above-mentioned cleaning machine is characterized in that the water flow control device includes a flap valve assembly arranged in a drainage pipe that communicates with the water outlet of the pump, and the flap valve assembly includes a flap installed at the fulcrum of rotation And a plurality of biased flap fixing groups installed inside the drain pipe as fixed flaps, the position of the flaps responds in response to the movement of the external sensor.

The above-mentioned cleaning machine is characterized in that the external sensor is a mechanical external sensor, at least one of the mechanical external sensors slides on a plane parallel to the chassis of the cleaning machine, and one end extends out The cleaning machine is outside the housing in the forward direction, so that the mechanical external sensor touches the pool wall when the cleaning machine approaches the pool wall.

The above-mentioned cleaning machine is characterized in that the mechanical external sensor includes:

At least one net-shaped support is arranged in the drainage pipe; a sliding rod parallel to the longitudinal axis of the cleaning machine and installed in the drainage pipe, the sliding rod runs through the net-shaped support and the flap and at least One end extends out of the housing of the cleaning machine; a rebound contact point is arranged on the end of the sliding rod extending out of the housing of the cleaning machine; two contact bodies are arranged on the sliding rod and are respectively located on the On both sides of the flap, when the rebound contact point touches the wall, the sliding motion of the slide bar is transformed into the rotational motion of pushing the flap, so as to change the direction of the water flow in the drainage pipe.

The above-mentioned cleaning machine is characterized in that the water flow control device includes: a turning plate, which is installed in the drainage pipe connected with the water outlet of the water pump with its rotating fulcrum; The fulcrums of the boards overlap to make the flipper rotate on its axis; a magnetic relay controls the position of the flipper through the shaft rotation device, and when the external sensor is close to the wall to send a signal, the flipper Switch between a first operating position and a second operating position.

In the present invention, the traveling device of the cleaning machine is composed of wheels, rollers or continuous rolling belts. When the cleaning machine advances in a straight line, it advances in the direction of the longitudinal axis of the cleaning machine. In order to illustrate the present invention, the horizontal axis and the longitudinal axis indicated in the embodiments of the present invention are defined as follows: take the center of the whole cleaning machine as a center point, and make two axes passing through the center point respectively, these two The axes are perpendicular to each other and parallel to one side of the cleaning machine. The plane formed by the longitudinal axis and the horizontal axis is roughly parallel to the site to be cleaned. The longitudinal axis of the cleaning machine refers to the axis that is basically parallel to the traveling direction of the cleaning machine. , the axis shown in all the drawings is the longitudinal axis of the cleaning machine, while the horizontal axis of the cleaning machine refers to the axis perpendicular to its longitudinal axis. The concept of front or back of the cleaning machine is relative, and it is relative to the direction in which the cleaning machine is advancing at that time.

In a specific embodiment of the present invention, the device driving the cleaning machine is composed of a directional water jet device, and the pool water is sucked into the cleaning machine from the bottom of the cleaning machine by a water pump, and flows through at least one filter medium to filter the water. The garbage is then pushed to a directional drain pipe, and the axis of the pipe closer to the outlet of this drain pipe is substantially parallel to the longitudinal axis of the cleaning machine. Because of the impulsive and reactive force of the water flow, the cleaner moves in the opposite direction of the water jet. Various water flow control devices can be used to change the direction of the sprayed water flow or divert it to two or more directions, so that one or more reaction forces can control the cleaning machine to move to different directions and positions.

In one embodiment, the water flow control device is a flap valve assembly installed between the water pump outlet and the drain pipe to control water flow in two opposite directions. The position of the flap valve assembly, which controls the forward direction of the cleaning machine, can be changed because the cleaning machine has reached one of the walls of the pool or has climbed to the top of the wall. The control of the water flow control device can change the position of the water flow control device based on the change of the water pressure in the drainage pipe when the electric current of the water pump is temporarily interrupted, so as to change the water outlet direction. In order to enhance the accuracy when the water flow control device changes its position, a mechanical correction and positioning device can be added to the water flow control device.

The control of the water flow control device can also be controlled mechanically, for example, with a structure including a lever or a movable slide bar as an external sensor, when the cleaning machine touches the wall, the external sensor senses and drives the lever or slide bar Directly or indirectly transmit power to the water flow control device to change the direction of water flow at the water outlet, thereby changing the direction of movement of the cleaning machine away from the wall.

The direction of the water jet outlet can be set with downward power, horizontal power, or form a power vector to control the forward direction of the cleaning machine according to the needs. For example, the direction of the cleaning machine can be controlled by setting a diverter device at the water outlet so that the water flows out through the diverter device at an angle to the moving plane of the cleaning machine.

For the cleaning machine by temporarily interrupting the current of the pump, the present invention further includes a method of controlling the strength and direction of the water jet, so that the water flow can be sprayed in the first direction and the second direction respectively, and push the cleaning machine in two opposite directions go ahead. When it is necessary to guide the direction of the water jet to change from the first position to the second position in the opposite direction, the power supplied to the pump will be temporarily interrupted to temporarily interrupt the water flow, or one or several water outlets will be used to discharge the water flow, and the stability of the cleaning machine will also be maintained. .

In summary, the technical effects of the present invention are:

The cleaning machine provided by the present invention can use a directional water jet as an effective and reliable driving method, so that the cleaning machine can follow the front and rear directions of the longitudinal axis of the cleaning machine; the present invention also provides a method to Control the strength and direction of the water jet, as the power to drive the cleaning machine to control the progress of the cleaning machine, and use the method of temporarily interrupting the water flow to change the direction of movement of the cleaning machine; the cleaning machine of the present invention can thoroughly clean different shapes and possible objects. The bottom of the pool and the walls next to various obstacles.

Specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Description of drawings

Figure 1 is a side view, partly in cross section, of a cleaning machine showing one embodiment of a directional hydrojet drive;

Fig. 2 is a side view, part of which is a cross-sectional view, which is a structural diagram of the water spray valve device in the cleaning machine of Fig. 1, showing that the flap is in the first position;

Fig. 3 is a side view, part of which is a cross-sectional view, which is a structural diagram of the water spray valve device in the cleaning machine of Fig. 1, showing the transitional position of the flap between the first position and the second position;

Fig. 4 shows the vertical drain and the cover arranged on the drain pipe;

Figure 5 shows a biased cover set disposed on a drain pipe;

Figure 6 is a top view of the flap, which is suitable for the design of Figure 1;

Figure 7 is a top view of the flap fixing group, which has a latch lever used as a lock flap;

Figure 8 is a side view, partially in cross-section, of the sprinkler valve assembly with an elbow diverter;

Fig. 9 is the specific device of Fig. 8, showing the overall relationship with the cleaning machine, showing the parts of the cleaning machine with dotted lines;

Figure 10 is a flow chart of one embodiment of the present invention;

Fig. 11 is a block diagram of a method for controlling the short-term interruption of the pump current;

Figure 12 is a side view, partly in cross section, of the cleaning machine, another embodiment of a directional water jet drive;

Figure 13 is a side view, partly in cross-section, of a cleaning machine of an alternate directional hydrojet driven embodiment.

Detailed ways

In the following description, the cleaning machine 10 includes a shell or cover frame 12 and a top cover wall 16, a built-in water pump and a drive motor 60, the water pump sucks pool water and debris in the water enters the cleaning machine through the gap 61 at the bottom of the cleaning machine, and this The notch is surrounded by filter means.

In the embodiment shown in Figures 1-11, a single motor is used as the pumping and driving means. The drive unit has simple mechanical directional control. In this embodiment, a brief interruption of the electrical current causes the cleaning machine to change direction. Current interruption can be activated using a smart current control switch or a mechanical contact.

Figure 1 shows, in partial cross-section, a cleaning machine 10, including a water spray valve assembly 40, mounted on a motor-driven water pump 60, using blades 58 to propel a flow of water 'W' through the bottom of the housing from the bottom up. The guide pipe 17 enters the sprinkler valve arrangement 40 . The water spray valve device 40 comprises an approximately 'T' shaped valve housing 42 and a fixed center pipe 43 that connects the cleaning machine top cover 18 and the drain pipes 44R and 44L that can be connected to the liquid flow, and the outlet pipe 45 of the drain pipe The shaft center is perpendicular to the shaft center of the discharge port of the water pump. In the middle position of the valve housing 42, a water flow control device, that is, a flap valve assembly 41 is arranged, and one of the transitional positions is shown in the figure. More clearly shown in Figures 6 and 7, the flap valve assembly 41 includes a flap 46 and a post 47 for installation and rotation, and two 'T's mounted on the frame shaft of the frame pomelo post 49 The bolt bar 48R and 48L that adds spring lock 50 of type, is installed on the both sides of turnover plate 46 as 48R and 48L of turnover plate positioning assembly. The latch 50 presses against the snib lever 48 such that the snib lever contacts one of the flaps 46 . The section of the drain pipes 44R and 44L can be circular, rectangular or other suitable shapes. One of the better designs is to use rectangular cut surfaces.

Figure 2 shows the sequence of mechanical activities of the flap valve assembly 41 within the flap housing 42: When the pump 60 is activated and pushes water through the flap housing 42, the pressurized water flow 'W' enters the flap housing 42 and applies force to the flap 46 and pushes the flap The plate closes the drain pipe 44L to the left and applies pressure so that the latch lever 48R shrinks away from the flap 46 and opens the water channel to allow water flow to the drain pipe 44R, so that water flows out from the right drain pipe 44R.

Figure 3 shows the next sequence of mechanical activity of the flap valve assembly 41 within the valve housing 42 when the power supply device stops supplying power to the motor 60 or the water flow 'W' is briefly interrupted: when the water flow 'W' is briefly interrupted into the valve housing 42 , when the water pressure in the shell 42 is reduced or temporarily vacuumed, the flap 46 is swung to the drain pipe 44R on the right. After the turning plate 46 swings for a certain distance, the latch lever 48L pins the turning plate 46 to the position pinned on the right. When power is supplied to the pump 60 to restart, the water flow is directed to the left drain pipe 44L. In fact, the flap valve assembly 41 does not necessarily require the use of the latch levers 48R and 48L; but this requires an accurate timing to control the reactivation of the motor and before the flap 46 swings back to the position before the brief interruption of water flow. The water pump 60 is started.

Figure 4 shows a better embodiment which provides a means to reduce excess water pressure in the water outlet 45 of the drainage pipes 44R and 44L. In order to control the water pressure in the pipeline, vertical drains 52R and 52L are respectively added on both sides of the flap 46, and vertical throttling valves are attached, such as sliding covers 53R and 53L installed on the vertical drains 52R and 52L, To control the flow of water flowing through the vertical drains 52R and 52L, when more water flows out through the vertical drains, the water is sprayed upwards to pressurize the cleaning machine 10 downwards close to the plane of the cleaned site, so that the cleaning machine The motion is smoother and cleans the pool bottom more effectively.

Fig. 5 is an automated device as described in Fig. 4 with biased closures 54R and 54L plus spring 56 to reduce the pressure to maintain the cleaning machine at proper speed when the water pressure in the pipe is too high. For example, when the cleaning machine was just started, there was no rubbish in the filter bag. At this moment, the water pressure in the pipeline was higher and the cover 54R or 54L would be opened to allow water to flow out a part from here to reduce the water pressure in the pipeline. The cover 54R or 54L is mounted by hinge 55 and the normal position of the cover 54R or 54L is closed by means of a spring 56 . As the notches 61 in the bottom of the cleaner continue to collect debris, debris, dirt, etc., the filter bags begin to clog and the water pressure decreases to partially or fully close the closures 54R or 54L.

FIG. 6 shows a preferred embodiment of the flap 46 and FIG. 7 shows a embodiment of the snib lever 48 and its relationship to the latch 50 . Other devices include offset arrangements such as electronic and electromechanical arrangements.

FIG. 8 shows the sprinkler valve assembly 40 shown in FIGS. 1 to 3 plus elbows 120R and 120L secured at both ends of drain pipes 44R and 44L. When the water stream flows out from the elbow 120, it forms an angle 'α' with the moving plane of the cleaning machine 10, and the dynamic vector (vector) formed by this reaction force includes a downward vector pressing against the wheel 30 and a plane pushing the cleaning machine 10. The vector of machine advancement, so that the cleaning machine can move forward smoothly in close contact with the bottom of the pool. The whole water spray valve device 40 can be provided integrally with the elbow diverter, and can be made of injection-molded glue or aluminum or other suitable materials.

Fig. 9 shows a better design as in Fig. 8, with the location and orientation of the spray valve assembly 40 mounted on the cleaning machine 10 (shown in phantom). In this particular arrangement, the drain line 44 is connected to the elbow 120 and extends out of the cleaner housing 12 . In a better embodiment, the elbow diverter 120 and the valve housing 42 are integrally injection-molded with the cleaning machine housing 12, for example, using a pressure-resistant polymer. The power vector 'VR' propels the cleaning machine in response to the orientation of the elbow 120, the 'α' angle of the vector is very important for the cleaning machine 10 to cruise properly, especially when the cleaning machine is climbing on walls or in When cruising the slopes of the pool. As shown in Figure 9, the intersection of the power vector 'VR' and the horizontal plane at the bottom of the pool is between the two front and rear wheel axles 32, preferably closer to the front wheel, and the front wheel refers to the forward direction of the cleaning machine. . The power vector 'VR' and the intersection point of the horizontal plane are between the wheel axles 32, which can ensure that the cleaning machine advances steadily.

Some of the embodiments of the present invention need to temporarily interrupt the current when changing the forward direction of the cleaning machine. The short-term current interruption circuit can be activated according to a signal or power formed by a magnetic field change. In one of the preferred designs, a movable part is mounted, consisting of a magnet or magnetic object, such as a wheel that is not used to drive the cleaning machine. One of the specific devices is to install a reed switch (reed switch) on a backup wheel. When the cleaning machine is moving forward, the wheel and the attached magnet will continue to rotate to a certain speed (a certain number of revolutions per minute) Above, keep the magnetic switch as a short circuit. When the cleaning machine reaches the side wall or is trapped and cannot move forward, the rotating magnet will stop the rotation and cause the magnetic switch to be open, thereby interrupting the current of the water pump. In one of the preferred designs, the circuit device includes a reversing function, when the cleaning machine is trapped and needs to be reversed, the magnetic switch is short-circuited, so that the entire power supply continues until the next time the cleaning machine stops, the magnetic switch is opened again.

In another preferred design, a push fan blade is installed on the cleaning machine, and when the cleaning machine advances in the pool, it is rotated due to the flow of water, and a magnet is installed on one or more fan blades or the fan blade shaft or used Made of magnetic material. A magnetic sensor installed near the moving magnetic field object forms a magnetic induction switch, so that different signals are sent out when the fan blade rotates or stops rotating. In one of the embodiments, the magnetic induction switch forms part of the integrated circuit control device of the cleaning machine. When the cleaning machine encounters a side wall or an obstacle and stops moving forward, the rotation of the fan blades also stops at the same time, and the magnetic induction switch will send a signal to interrupt. current to the water pump. After a specified delay time, the pump will reactivate and either continue in its current direction or reverse out in its current direction, away from the wall. This integrated circuit control device can also use the same principle to control the use of chain belts to transmit power to drive rollers, crawlers or wheels.

The working process of the cleaning machine in the above embodiment is shown in FIG. 10 . After the cleaning machine is started, it cruises in one direction, and the water flow control device is at the first operating position at this time. When the cleaning machine encounters an obstacle or a wall, the sensor sends a signal to interrupt the current of the water pump and at the same time activates the time delay switch. At this time, the water pressure in the drainage pipe is reduced due to the stop of the water pump, so that the water flow control device is switched from the first operating position to Second operating position. The time delay switch calculates the delay time, and when the delay time has arrived, the time delay switch connects the water pump current, and the water pump starts to work so that the cleaning machine cruises in the other direction. When the cleaning machine travels to another wall, repeat the above operation.

Specifically include the following steps:

Step 101, start the cleaning machine to patrol in one direction, at this time, the water flow control device is in the first operating position;

Step 102, when the cleaning machine encounters a wall or an obstacle, the sensor sends a signal to interrupt the current of the water pump and activate the time delay switch;

Step 103, the water pump stops working, and the water flow control device is switched to the second operating position;

Step 104, judging whether the predetermined delay time has arrived, if yes, execute step 105, otherwise execute step 103;

Step 105, connect the water pump current;

In step 106, the water pump starts to work, and the cleaning machine travels in the other direction, and the process goes to step 102.

In FIG. 11, the power supply device 700 supplies power to the water pump 703 and other subsystems. Power is connected to the water pump with two switches: a magnetic switch 701 and a time delay switch 702 are connected in parallel. The magnetic switch 701 can be installed with its inductor on the backup wheel or on the impeller fan blade. When its rotation is lower than a predetermined number of revolutions relative to another fixed magnetic field, the magnetic switch is an open circuit. When the cleaning machine is first activated, the magnetic switch 701 is an open circuit and the time delay switch 702 is a short circuit, and the delay switch 702 maintains the short circuit for a predetermined time and then turns to an open circuit. Because the cleaning machine has been operated for a predetermined time, the magnetic switch 701 has maintained a short circuit due to the rotation of the inductor, and power is supplied to the water pump 703 . When the cleaning machine stops due to an obstacle or has reached the wall, the magnetic sensor rotates to slow down and the magnetic switch 701 is changed to an open circuit and sends a message to the delay switch. At this time, both switches 701 and 702 are open and the water pump is temporarily interrupted. There is no power supply. The delay switch 702 will change to short circuit and continue to supply power to the water pump after the required delay time.

In another embodiment, the cleaning machine is equipped with an infrared device, which includes an infrared light emitting device, an infrared sensor that responds to a fixed object and sends out a signal, and related circuit devices. When the reflected infrared rays indicate that there is a fixed object in front, that is, a wall, the sensor will send a signal to the control device to make the cleaning machine reverse.

In the circuit block diagram of Fig. 11, the magnetic switch 701 can also be replaced by an infrared switch, and the infrared switch is a short circuit when the cleaning machine is not close to the wall; it is an open circuit when the cleaning machine is close to the wall or other obstacles, and sends a signal to the delay switch 702, which At this time, the two switches 701 and 702 are all open circuits so that the water pump is temporarily interrupted without power supply. The delay switch 702 will change to short circuit and continue to supply power to the water pump after the required delay time.

FIG. 12 shows another preferred solution of the present invention. When the cleaning machine touches the pool wall or other obstacles, a mechanical external sensor can control the flap 46 . Figure 12 shows a cleaning machine 10, similar in construction to that of Figure 1, with a water spray valve assembly 40' mounted thereon. A slide bar 240, parallel to the axis of the drainage pipe 44 and installed in the pipe, runs through the mesh support 250 and passes through the slot 248 in the flap 46'. The contact bodies 244 and 246 are installed on the sliding rod 240, respectively on both sides of the flap 46', so that the flap is fixed to the left or right position to control the direction of the water flow 'W'. A rebound contact point 242 is arranged on the end of the sliding rod 240 extending out of the cleaning machine housing. In actual operation, when the cleaning machine 10 is close to the wall of the pool, the sliding rod 240 will slide to the wall when the rebound contact point 242 touches the wall. 12 until the contact body 246 touches the flap 46' and pushes the flap to the left. When the left side wheel 30 arrived at the wall, the slide bar 240 stopped sliding and the turnover plate 46' also arrived at the pipeline position on one side thereof. As the water 'W' flows towards the drain 44L, the cleaner moves away from the wall and the slide bar 240 extends out of the cleaner's housing and protrudes in the forward direction to contact the other wall, causing the whole process to repeat.

In another preferred embodiment, the flipper 46 can be controlled by electric means, such as a linear or circular relay. As shown in FIG. 13 , a circular magnetic relay 260 is connected to the outside of the shutter housing 42 with a power supply line 261 . A shaft rotation setting 262 of a relay 260 controls the flap 46 . In a better design, the cleaner's integrated circuit controller sends a signal to a relay to control the flap 46 to the opposite position. In fact the water flow 'W' will push the flap 46 to the opposite position.

The above descriptions are only preferred embodiments of the present invention, and are not used to limit the implementation scope of the present invention. All equivalent changes and modifications made according to the present invention are covered by the patent scope of the present invention.

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.

Images