Reactor pool cleaning robot

Abstract

The utility model provides a reactor pool cleaning robot which comprises a vehicle body, a water suction mechanism movably arranged on the vehicle body and a mounting assembly connecting the vehicle body and the water suction mechanism, the mounting assembly comprises a first mounting piece, a second mounting piece and a third mounting piece, the second mounting piece and the third mounting piece are movably connected with the first mounting piece, and the second mounting piece is connected with the vehicle body. The third mounting part is connected with the water absorption mechanism, the first mounting part can move relative to the second mounting part so that the water absorption mechanism can move relative to the vehicle body in the first direction, and the third mounting part can move relative to the first mounting part so that the water absorption mechanism can move relative to the vehicle body in the second direction; the first direction and the second direction are parallel to a chassis of the vehicle body and perpendicular to the chassis respectively. The water absorption mechanism can move relative to the vehicle body in the first direction and the second direction, namely, the relative position of the water absorption mechanism and the vehicle body can be adjusted from the two directions, and therefore the flexibility of the water absorption mechanism can be improved.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment technology, and more specifically, relates to a reactor pool cleaning robot. Background Technology

[0002] The connection structure between the water suction mechanism and the vehicle body of existing reactor pool cleaning robots limits the range of motion of the water suction mechanism. When the reactor pool cleaning robot encounters areas that need to be cleaned along non-linear trajectories, such as moving along curved corners or working on inclined ground areas, the water suction mechanism cannot flexibly adjust its angle to conform to the contours of the ground and walls, resulting in incomplete cleaning and easy omission of stains or foreign objects, which greatly limits the cleaning effect of reactor pool cleaning robots. Utility Model Content

[0003] The purpose of this application is to provide a reactor pool cleaning robot to solve the technical problem in the prior art where the water suction mechanism is not flexible, resulting in poor cleaning effect of the reactor pool cleaning robot.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] A reactor pool cleaning robot is provided, comprising a vehicle body, a water-absorbing mechanism movably disposed on the vehicle body, and an installation assembly connecting the vehicle body and the water-absorbing mechanism. The installation assembly includes a first mounting member and a second mounting member and a third mounting member movably connected to the first mounting member. The second mounting member is connected to the vehicle body, and the third mounting member is connected to the water-absorbing mechanism. The first mounting member is movable relative to the second mounting member to allow the water-absorbing mechanism to move relative to the vehicle body along a first direction. The third mounting member is movable relative to the first mounting member to allow the water-absorbing mechanism to move relative to the vehicle body along a second direction. The first direction is parallel to the chassis of the vehicle body, and the second direction is perpendicular to the first direction.

[0006] In some embodiments, the second mounting member is provided with a plug shaft perpendicular to the first direction, and the first mounting member is provided with a first hole. The plug shaft is rotatably disposed in the first hole so that the first mounting member can drive the water absorption mechanism to rotate relative to the second mounting member about the central axis of the plug shaft.

[0007] In some embodiments, the second mounting member is provided with a support portion connected to the plug shaft, one side of the support portion is connected to the chassis, and the side of the support portion opposite to the chassis abuts against the first mounting member to support the first mounting member.

[0008] In some embodiments, the support portion is arranged in a ring around the central axis of the plug shaft, and a first support surface parallel to the chassis is provided on the side of the support portion away from the chassis. The first mounting member is provided with a second support surface parallel to the chassis, and the first support surface and the second support surface abut against each other to support the first mounting member.

[0009] In some embodiments, when the water-absorbing mechanism is in the initial position, the line connecting the center of the water-absorbing mechanism and the center of the vehicle body is parallel to the direction from the rear of the vehicle body to the front of the vehicle. The mounting assembly further includes an elastic element, which is connected to the first mounting member and the second mounting member respectively. When the water-absorbing mechanism rotates from the initial position to a non-initial position, the first mounting member squeezes or stretches the elastic element to cause the elastic element to elastically contract or elastically stretch. The first mounting member can rotate relative to the second mounting member under the elastic force of the elastic element to drive the water-absorbing mechanism to reset from the non-initial position to the initial position.

[0010] In some embodiments, the wall of the first hole is provided with a first partition, the first partition abutting against the insertion shaft, and the hardness of the first partition is less than the hardness of the insertion shaft; or,

[0011] The plug shaft has a second partition on its periphery, which abuts against the wall of the first hole. The hardness of the second partition is less than the hardness of the wall of the first hole; or,

[0012] The mounting assembly also includes a bearing, which is mounted between the plug shaft and the wall of the first hole.

[0013] In some embodiments, the third mounting member includes at least two rod-shaped first portions, each first portion being arranged in parallel, one end of each first portion facing the first mounting member being rotatably connected to the first mounting member, and the other end of each first portion being rotatably connected to the water absorption mechanism. When each first portion rotates relative to the first mounting member, it enables the water absorption mechanism to swing relative to the chassis.

[0014] In some embodiments, the reactor pool cleaning robot further includes a drive assembly mounted on the mounting assembly and a sensing assembly mounted on the vehicle body. The drive assembly is connected to the first mounting member and the third mounting member respectively. The sensing assembly is communicatively connected to the drive assembly. The sensing assembly is used to detect environmental information around the vehicle body and send control commands to the drive assembly so that the drive assembly can drive each of the first parts to rotate relative to the first mounting member.

[0015] In some embodiments, the third mounting member further includes a second part and at least two rod-shaped first parts, the second part being connected to the water absorption mechanism, each of the first parts being arranged in parallel, one end of each of the first parts being rotatably connected to the first mounting member, and one end of each of the first parts facing away from the first mounting member being rotatably connected to the second part, the driving assembly being connected to the second part to drive each of the first parts to rotate relative to the first mounting member.

[0016] In some embodiments, the drive assembly includes a drive member disposed on the first mounting member and a connecting rope having one end connected to the output shaft of the drive member, the end of the connecting rope opposite to the drive member being connected to the third mounting member, the first mounting member being provided with a steering member, the steering member abutting against the non-end region of the connecting rope to bend the connecting rope.

[0017] The beneficial effects of the reactor pool cleaning robot provided in this application are as follows: By connecting the water suction mechanism to the vehicle body through the mounting assembly, when the first and second mounting parts of the mounting assembly move relative to each other, the water suction mechanism can move relative to the vehicle body in the first direction, thus adjusting the relative position between the water suction mechanism and the vehicle body in the first direction. When the first and third mounting parts move relative to each other, the water suction mechanism can move relative to the vehicle body in the second direction, thus adjusting the relative position between the water suction mechanism and the vehicle body in the second direction. In other words, the relative position between the water suction mechanism and the vehicle body can be adjusted from both directions, thereby improving the suction efficiency. The water suction mechanism offers flexibility. During operation, the chassis of the reactor pool cleaning robot is typically parallel to the ground or at a slight angle. When the water suction mechanism moves relative to the vehicle body in a direction perpendicular to the chassis, its height can be raised or lowered. This allows the water suction mechanism to adapt to different road conditions. When the water suction mechanism moves relative to the vehicle body in a direction parallel to the chassis, its position can be adjusted laterally to conform to the contours of the wall. This improves the cleaning effect of the water suction mechanism on stains and water, thus enhancing the overall cleaning efficiency of the reactor pool cleaning robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of a reactor pool cleaning robot provided in an embodiment of this application;

[0020] Figure 2 for Figure 1 A cross-sectional schematic diagram of the reactor pool cleaning robot shown;

[0021] Figure 3 A schematic diagram of the installation components provided in an embodiment of this application;

[0022] Figure 4 for Figure 3 A cross-sectional view of the mounting components shown;

[0023] Figure 5 for Figure 1 A schematic diagram of a reactor pool cleaning robot (without housing shown);

[0024] Figure 6 A schematic diagram of the water absorption mechanism provided in the embodiments of this application;

[0025] Figure 7 for Figure 6 The diagram shows a cross-sectional view of the water absorption mechanism.

[0026] The following are the labeling elements in the figure:

[0027] 1. Mounting component; 11. First mounting component; 111. Sleeve; 1111. Limiting part; 112. First partition; 1121. Second support surface; 113. Bracket; 114. Turning component; 12. Second mounting component; 121. Insertion shaft; 122. Support part; 1221. First support surface; 13. Third mounting component; 131. First part; 132. Second part; 14. Drive assembly; 141. Drive component; 142. Connecting rope;

[0028] 2. Water absorption mechanism; 20. Water absorption chamber; 21. Water suction squeegee; 211. Third hole; 22. First rubber strip; 221. Notch; 23. Second rubber strip; 24. Support roller; 25. Anti-collision wheel;

[0029] 3. Vehicle body; 31. Chassis; 32. Sensing components; 321. Vision sensor; 322. Ultrasonic sensor; 323. Laser sensor; 33. Liquid storage tank; 34. Housing; 35. Drive wheel; 36. Filter assembly;

[0030] 4. Wiping mechanism;

[0031] 5. Dosimeter. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0033] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, "multiple sets" means two or more sets, "multiple pieces" means two or more pieces, and "several" means one or more, unless otherwise explicitly specified.

[0036] With the continuous development of technology, reactor pool cleaning robots are increasingly widely used in daily life and industrial cleaning. Among them, reactor pool cleaning robots with water suction mechanisms are mainly used for wet cleaning operations on the ground, such as cleaning water stains and dirt on the ground.

[0037] Existing reactor pool cleaning robots generally suffer from structural limitations in their suction mechanisms, typically only possessing a vertical oscillation function. In actual cleaning processes, ground conditions are complex and varied, including elevation differences, irregular shapes, and obstacle distribution. When reactor pool cleaning robots encounter areas requiring cleaning along non-linear paths, such as moving along curved corners or operating on sloping ground, the suction mechanism cannot flexibly adjust its angle to conform to the ground and walls, resulting in incomplete cleaning, easily missing stains or foreign objects, and significantly limiting the robot's cleaning range and effectiveness. Furthermore, this inflexible movement increases the robot's energy consumption during cleaning, as it requires more complex overall body movement to compensate for the lack of lateral angle adjustment in the suction mechanism, reducing the robot's work efficiency and energy utilization, making it difficult to meet increasingly demanding cleaning requirements.

[0038] Based on this, embodiments of this application provide a reactor pool cleaning robot to solve the above-mentioned problems.

[0039] Reference Figures 1 to 3 The reactor pool cleaning robot provided in this application includes a vehicle body 3, a water suction mechanism 2 movably disposed on the vehicle body 3, and an installation assembly 1 connecting the vehicle body 3 and the water suction mechanism 2. The installation assembly 1 includes a first mounting member 11 and a second mounting member 12 and a third mounting member 13 movably connected to the first mounting member 11. The second mounting member 12 is connected to the vehicle body 3, and the third mounting member 13 is connected to the water suction mechanism 2. The first mounting member 11 can move relative to the second mounting member 12 to make the water suction mechanism 2 move relative to the vehicle body 3 in a first direction. The third mounting member 13 can move relative to the first mounting member 11 to make the water suction mechanism 2 move relative to the vehicle body 3 in a second direction. The first direction is parallel to the chassis 31 of the vehicle body 3, and the second direction is perpendicular to the first direction.

[0040] It should be noted that when the first mounting member 11 moves relative to the second mounting member 12, the water absorption mechanism 2 can move relative to the vehicle body 3 in a direction parallel to the chassis 31 of the vehicle body 3. When the third mounting member 13 moves relative to the first mounting member 11, the water absorption mechanism 2 can move relative to the vehicle body 3 in a direction perpendicular to the chassis 31 of the vehicle body 3. In addition, when the first mounting member 11 moves simultaneously relative to the second mounting member 12 and the third mounting member 13, the water absorption mechanism 2 has motion components in both the first and second directions. At this time, the direction of movement of the water absorption mechanism 2 can be a direction located between the angle between the first and second directions. The water absorption mechanism 2 has relative positional changes with the vehicle body 3 in both the first and second directions.

[0041] It should be noted that during the operation of the reactor pool cleaning robot, the chassis 31 of the vehicle body 3 is usually parallel to the ground. When the water suction mechanism 2 moves relative to the vehicle body 3 in a direction perpendicular to the chassis 31, the height of the water suction mechanism 2 can be increased.

[0042] It should be noted that the X-axis and Z-axis in the figure are parallel to the chassis 31 of the vehicle body 3. The first direction can be the direction parallel to the plane formed by the X-axis and Z-axis in the figure, and the second direction can be the direction parallel to the Y-axis in the figure.

[0043] By setting the mounting component 1 to connect the water absorption mechanism 2 to the vehicle body 3, when the first mounting part 11 and the second mounting part 12 of the mounting component 1 move relative to each other, the water absorption mechanism 2 can move relative to the vehicle body 3 in the first direction. In this way, the relative position between the water absorption mechanism 2 and the vehicle body 3 in the first direction can be adjusted. When the first mounting part 11 and the third mounting part 13 move relative to each other, the water absorption mechanism 2 can move relative to the vehicle body 3 in the second direction. In this way, the relative position between the water absorption mechanism 2 and the vehicle body 3 in the second direction can be adjusted. That is, the relative position between the water absorption mechanism 2 and the vehicle body 3 can be adjusted from two directions respectively, which can improve the flexibility of the water absorption mechanism 2. During operation, the chassis 31 of the reactor pool cleaning robot is usually parallel to the ground or at a small angle to the ground. When the water suction mechanism 2 moves relative to the vehicle body 3 in a direction perpendicular to the chassis 31, the height of the water suction mechanism 2 can be raised or lowered. This allows the water suction mechanism 2 to adapt to different road conditions. When the water suction mechanism 2 moves relative to the vehicle body 3 in a direction parallel to the chassis 31, the water suction mechanism 2 can adjust its position laterally so that it can conform to the contour of the wall. This can improve the cleaning effect of the water suction mechanism 2 on stains and water stains, that is, improve the cleaning effect of the reactor pool cleaning robot.

[0044] Reference Figure 3 and Figure 4 In some embodiments, the second mounting member 12 is provided with a plug shaft 121 perpendicular to the first direction, and the first mounting member 11 is provided with a first hole. The plug shaft 121 is rotatably disposed in the first hole, so that the first mounting member 11 can drive the water absorption mechanism 2 to rotate relative to the second mounting member 12 around the central axis of the plug shaft 121. By rotatably inserting the plug shaft 121 of the second mounting member 12 into the first hole of the first mounting member 11, that is, by sleeve of the first mounting member 11 on the outer periphery of the plug shaft 121 of the second mounting member 12, the third mounting member 13 will not obstruct the second mounting member 12, and the third mounting member 13 will not affect the relative movement between the first mounting member 11 and the second mounting member 12. This allows the water absorption mechanism 2 to have a larger range of rotation and improves the flexibility of the water absorption mechanism 2. Conversely, the second mounting member 12 will not affect the relative movement between the third mounting member 13 and the first mounting member 11. This allows the water absorption mechanism 2 to have a larger swing range and further improves the flexibility of the water absorption mechanism 2.

[0045] In some embodiments, the second mounting member 12 is provided with a support portion 122 connected to the insertion shaft 121. One side of the support portion 122 is connected to the chassis 31, and the side of the support portion 122 facing away from the chassis 31 abuts against the first mounting member 11 to support the first mounting member 11. Both sides of the support portion 122 are connected to the chassis 31 and the second mounting member 12, respectively. The support portion 122 can serve as a support structure for the second mounting member 12, so that the chassis 31 can provide support for the mounting assembly 1, and thus provide support for the water suction mechanism 2, which helps to improve the stability of the water suction mechanism 2 during operation.

[0046] In some embodiments, the support portion 122 is arranged in a ring around the central axis of the insertion shaft 121. A first support surface 1221 parallel to the chassis 31 is provided on the side of the support portion 122 facing away from the chassis 31. The first mounting member 11 is provided with a second support surface 1121 parallel to the chassis 31. The first support surface 1221 and the second support surface 1121 abut against each other to support the first mounting member 11. By setting the first support surface 1221 and the second support surface 1121 to abut against each other, the supporting force of the vehicle body 3 on the second mounting member 12 can be transmitted through the first support surface 1221 to the second support surface 1121, thereby supporting the first mounting member 11 and, consequently, the water absorption mechanism 2, thus improving the stability of the water absorption mechanism 2.

[0047] In some embodiments, the plug shaft 121 of the second mounting member 12 and the support portion 122 disposed on the outer periphery of the plug shaft 121 are two separate components. The plug shaft 121 and the support portion 122 can be processed separately and then combined to form the second mounting member 12. This can reduce the processing difficulty of the second mounting member 12 and help reduce costs.

[0048] In some embodiments, the chassis 31 may be provided with a second hole, and a part of the plug shaft 121 may be plugged into the second hole. In this case, the plug shaft 121 and the second hole can serve as positioning structures for the mounting assembly 1 and the vehicle body 3, reducing the installation difficulty of the mounting assembly 1 and the vehicle body 3.

[0049] Continue to refer to Figure 4 In some embodiments, a first partition 112 is provided on the wall of the first hole, and the first partition 112 abuts against the insertion shaft 121. The hardness of the first partition 112 is less than that of the insertion shaft 121. By providing the first partition 112 on the wall of the first hole, when the first mounting member 11 and the second mounting member 12 rotate relative to each other, the first partition 112 can rotate with the first mounting member 11. At this time, friction will be generated between the first partition 112 and the insertion shaft 121 of the second mounting member 12. Since the hardness of the first partition 112 is less than that of the insertion shaft 121, the wear on the insertion shaft 121 can be reduced, which helps to extend the service life of the second mounting member 12.

[0050] For example, the material of the first separator 112 can be a polymer wear-resistant material, such as polyurethane (PU), polytetrafluoroethylene (PTFE), ultra-high molecular weight polyethylene (UHMWPE), etc., or it can be a ceramic wear-resistant material, such as alumina ceramic, silicon nitride ceramic, silicon carbide ceramic, etc.

[0051] In some embodiments, the first partition 112 may be part of the first mounting member 11. The first mounting member 11 may also include a sleeve 111 with a first hole. The hole wall at the end of the first hole away from the support portion 122 extends toward the center of the first hole to form a limiting portion 1111. The upper end surface of the first partition 112 may abut against the limiting portion 1111. The lower end surface of the first partition 112 may be a second support surface 1121.

[0052] In some embodiments, the third mounting member 13 can be rotatably connected to the sleeve 111 of the first mounting member 11 via a pivot.

[0053] In other embodiments, a second partition is provided around the periphery of the insertion shaft 121. The second partition abuts against the wall of the first hole, and the hardness of the second partition is less than that of the wall of the first hole. By providing the second partition around the periphery of the insertion shaft 121, when the first mounting member 11 and the second mounting member 12 rotate relative to each other, the second partition can rotate with the second mounting member 12. At this time, friction will occur between the second partition and the wall of the first hole of the first mounting member 11. Since the hardness of the second partition is less than that of the wall of the first hole, wear on the wall of the first hole can be reduced, thus helping to extend the service life of the first mounting member 11.

[0054] For example, the material of the second separator can be a polymer wear-resistant material, such as polyurethane, polytetrafluoroethylene, ultra-high molecular weight polyethylene, etc., or a ceramic wear-resistant material, such as alumina ceramic, silicon nitride ceramic, silicon carbide ceramic, etc.

[0055] In some embodiments, the mounting assembly 1 further includes a bearing mounted between the plug shaft 121 and the wall of the first hole. Providing a bearing between the plug shaft 121 and the wall of the first hole reduces friction caused by the rotation of the plug shaft 121 and the wall of the first hole, thereby reducing wear on both and extending the service life of the mounting assembly 1.

[0056] In some embodiments, when the water absorption mechanism 2 is in the initial position, the line connecting the center of the water absorption mechanism 2 and the center of the vehicle body 3 is parallel to the direction from the rear of the vehicle body 3 to the front of the vehicle. The mounting assembly 1 also includes an elastic element (not shown in the figure), which is connected to the first mounting member 11 and the second mounting member 12 respectively. When the water absorption mechanism 2 rotates from the initial position to a non-initial position, the first mounting member 11 squeezes or stretches the elastic element to make the elastic element elastically contract or elastically stretch. The first mounting member 11 can rotate relative to the second mounting member 12 under the elastic force of the elastic element to drive the water absorption mechanism 2 to reset from the non-initial position to the initial position.

[0057] When the water suction mechanism 2 is squeezed or collides with objects such as walls, the external force on the water suction mechanism 2 can drive the first mounting member 11 relative to the second mounting member 12, so that the water suction mechanism 2 can rotate to adjust the angle, thereby enabling the reactor pool cleaning robot to adapt to the contour of objects such as walls. During this process, the elastic member can generate elastic deformation to store elastic potential energy. When the external force disappears, the elastic member can release the stored elastic potential energy, so that the first mounting member 11 can rotate in the opposite direction relative to the second mounting member 12, thereby enabling the water suction mechanism 2 to reset, so as to ensure that the cleaning range of the reactor pool cleaning robot is small or does not deviate from the forward direction of the reactor pool cleaning robot.

[0058] For example, the elastic element can be a torsion spring, spring or other elastic structural component.

[0059] Continue to refer to Figure 3 and Figure 4 In some embodiments, the third mounting member 13 includes at least two rod-shaped first parts 131. All the first parts 131 are arranged in parallel. One end of each of the first parts 131 facing the first mounting member 11 is rotatably connected to the first mounting member 11, and the other end of each of the first parts 131 is rotatably connected to the water absorption mechanism 2. When all the first parts 131 rotate relative to the first mounting member 11, the water absorption mechanism 2 can swing relative to the chassis 31. Taking the example of having two first parts 131: the first mounting member 11, the water absorption mechanism 2, and the two first parts 131 can form a parallelogram-like structure. In this way, the angle deflection of the water absorption mechanism 2 relative to the vehicle body 3 can be reduced when the first part 131 rotates relative to the first mounting member 11, which is beneficial to maintaining the water absorption effect of the water absorption mechanism 2. Correspondingly, with three or more first parts 131, the first mounting member 11, the water absorption mechanism 2, and any two first parts 131 can also form a parallelogram-like structure.

[0060] Reference Figures 2 to 4The reactor pool cleaning robot also includes a drive assembly 14 installed on the mounting assembly 1 and a sensing assembly 32 installed on the vehicle body 3. The drive assembly 14 is connected to the first mounting member 11 and the third mounting member 13 respectively. The sensing assembly 32 is communicatively connected to the drive assembly 14. The sensing assembly 32 is used to detect environmental information around the vehicle body 3 and send control commands to the drive assembly 14 so that the drive assembly 14 can drive the third mounting member 13 to rotate relative to the first mounting member 11.

[0061] It should be noted that the sensing component 32 can be used to detect the environment around the reactor pool cleaning robot to determine the presence of obstacles. The sensing component 32 may include one or more of the following: ultrasonic sensor 322, laser sensor 323, vision sensor 321, infrared sensor, and radar. The ultrasonic sensor 322 detects obstacles by emitting ultrasonic waves and receiving reflected waves. Ultrasonic waves are emitted at a certain frequency and reflected back when they encounter obstacles. The ultrasonic sensor calculates the distance to the obstacle by calculating the time difference between the emitted and received ultrasonic waves and combining this with the speed of sound in the medium. The infrared sensor includes active and passive infrared sensors. An active infrared sensor consists of an infrared emitter and a receiver. The emitter emits infrared light, which is reflected back and received by the receiver when it encounters an obstacle, thus detecting the obstacle. A passive infrared sensor... External sensors detect infrared radiation emitted by objects themselves, identifying obstacles by sensing changes in infrared radiation intensity. Visual sensors 321 acquire images of the surrounding environment through optical lenses and then use image processing technology to identify obstacles. These can be monocular, binocular, or multi-view cameras. Binocular cameras calculate the depth information of objects using the parallax principle, similar to the human binocular vision system. When laser sensors 323 are working, a laser emitting diode first emits a laser pulse at the target. After being reflected by the target, the laser scatters in all directions, and some of the scattered light returns to the sensor receiver. After being received by the optical system, it is imaged onto an avalanche photodiode. The avalanche photodiode can detect extremely weak light signals and convert them into corresponding electrical signals. Common laser rangefinders can determine the target distance by recording and processing the time elapsed from the emission of the light pulse to its return and reception.

[0062] A sensing component 32 is installed on the vehicle body 3 to detect the environment around the reactor pool cleaning robot, thereby obtaining environmental information around the reactor pool cleaning robot. When the sensing component 32 detects that the road surface is tilted, the drive component 14 can drive the third mounting component 13 to rotate relative to the first mounting component 11 in time, thereby causing the water suction mechanism 2 to swing in a direction perpendicular to the chassis 31 of the vehicle body 3, thereby adjusting the height of the water suction mechanism 2 so that the water suction mechanism 2 can adapt to changes in terrain and improve the cleaning effect of the reactor pool cleaning robot.

[0063] In some embodiments, the sensing component 32 can also be used to scan and map the work area before the cleaning operation, thereby enabling the reactor pool cleaning robot to move automatically during the cleaning operation.

[0064] In some embodiments, the third mounting component 13 further includes a second part 132 and at least two rod-shaped first parts 131. The second part 132 is connected to the water suction mechanism 2. All the first parts 131 are arranged in parallel. One end of each of the first parts 131 is rotatably connected to the first mounting component 11, and the end of each of the first parts 131 facing away from the first mounting component 11 is rotatably connected to the second part 132. The drive assembly 14 is connected to the second part 132 to drive all the first parts 131 to rotate relative to the first mounting component 11. By rotatably connecting the end of each of the first parts 131 facing away from the first mounting component 11 to the second part 132, the second part 132 effectively integrates the ends of all the first parts 131 facing away from the first mounting component 11. This facilitates the installation and connection of the third mounting component 13 to the water suction mechanism 2. In addition, it also facilitates the connection between the drive assembly 14 and the third mounting component 13, reducing the assembly difficulty of the reactor pool cleaning robot.

[0065] In some embodiments, the drive assembly 14 includes a drive member 141 disposed on a first mounting member 11 and a connecting rope 142 with one end connected to the output shaft of the drive member 141. The end of the connecting rope 142 facing away from the drive member 141 is connected to a third mounting member 13. The first mounting member 11 is provided with a steering member 114, which abuts against the non-end region of the connecting rope 142 to bend the connecting rope 142. By abutting the steering member 114 against the connecting rope 142 and bending the connecting rope 142, the power direction of the drive member 141 can be changed. This allows for flexible adjustment of the installation position of the drive member 141 to facilitate the assembly of the mounting assembly 1.

[0066] In some embodiments, the first mounting member 11 includes a sleeve 111, a first partition 112 disposed on the sleeve 111, and a bracket 113, wherein the driving member 141 and the steering member 114 may be disposed on the bracket 113 respectively.

[0067] In some embodiments, the steering component 114 is a reversing wheel rotatably mounted on the first mounting component 11. During the process of the driving component 141 driving the third mounting component 13 to rotate relative to the first mounting component 11, the frictional force of the connecting rope 142 acting on the reversing wheel will cause the reversing wheel to rotate relative to the first mounting component 11. In this way, the friction between the connecting rope 142 and the reversing wheel can be reduced, and the wear on the connecting rope 142 can be reduced, thereby improving the service life of the mounting component 1.

[0068] In some embodiments, the connecting rope 142 may be a steel wire rope, nylon rope, etc.

[0069] In some embodiments, the output shaft of the drive element 141 can perform linear motion, and the drive element 141 can be an electric push rod, a cylinder, etc.

[0070] Reference Figures 5 to 7 In some embodiments, the water absorption mechanism 2 includes a water suction squeegee 21, a first adhesive strip 22 and a second adhesive strip 23 connected to the water suction squeegee 21, wherein the first adhesive strip 22 and the second adhesive strip 23 are spaced apart on the side of the water suction squeegee 21 facing the ground, and the first adhesive strip 22, the second adhesive strip 23 and the water suction squeegee 21 together form a water absorption chamber 20. The water suction squeegee 21 is also provided with a third hole 211, which is connected to the liquid storage tank 33 of the vehicle body 3 through a connecting pipe. The liquid storage tank 33 may be provided with a pump body. Under the action of the pump body, a negative pressure environment is formed inside the liquid storage tank 33. The sewage that enters the water absorption chamber 20 from the gap between the adhesive strip and the ground enters the interior of the liquid storage tank 33 for collection under the action of air pressure through the third hole 211 and the connecting pipe.

[0071] In some embodiments, the squeegee 21 is arc-shaped, and the third hole 211 can be located in the middle region of the squeegee 21.

[0072] In some embodiments, the vehicle body 3 may also be equipped with a filter assembly 36. The water suction chamber 20 can be connected to the liquid storage tank 33 through the filter assembly 36. That is, the sewage in the water suction chamber 20 first enters the filter assembly 36 under the action of pressure difference. After being filtered by the filter assembly 36, it enters the liquid storage tank 33 for storage. This can separate impurities in the sewage and facilitate subsequent cleaning operations.

[0073] In some embodiments, the filter assembly 36 can be replaced after prolonged use, thereby improving the filtration effect on wastewater.

[0074] In some embodiments, the storage tank 33 may be provided with a drain outlet, so that when there is a large amount of sewage in the storage tank 33, the sewage can be drained through the drain outlet.

[0075] In some embodiments, the water suction mechanism 2 is disposed on one side of the vehicle body 3, and the first adhesive strip 22 is disposed on the side of the second adhesive strip 23 away from the vehicle body 3. The first adhesive strip 22 is provided with a notch 221, so that sewage in the forward direction of the reactor pool cleaning robot can enter the water suction chamber 20 through the notch 221.

[0076] In some embodiments, the second part 132 of the third mounting member 13 may be provided with a fourth hole, and the squeegee 21 may be provided with a bolt, which can pass through the fourth hole and be screwed with a nut to fix the water suction mechanism 2 to the mounting assembly 1.

[0077] In some embodiments, the water absorption mechanism 2 further includes a support roller 24, which is rotatably mounted on the squeegee 21. The support roller 24 is used to roll on the ground and can serve as a support structure for the water absorption mechanism 2, thereby reducing the squeezing of the first rubber strip 22 and the second rubber strip 23 by the squeegee 21, so that the sewage on the ground can enter the water absorption chamber 20 through the gap between the rubber strip and the ground.

[0078] In some embodiments, the end of the squeegee 21 is also provided with a rotatable anti-collision wheel 25. The rotation axis of the anti-collision wheel 25 is perpendicular to the chassis 31 of the vehicle body 3, and the edge of the anti-collision wheel 25 protrudes from the edge of the squeegee 21 in a direction parallel to the chassis 31 of the vehicle body 3. When the water suction mechanism 2 collides with an obstacle located around it, the anti-collision wheel 25 can abut against the obstacle to reduce the probability of the squeegee 21 directly colliding with the obstacle, thus reducing damage to the squeegee 21. In addition, when the anti-collision wheel 25 collides with an obstacle, the anti-collision wheel 25 can rotate relative to the squeegee 21, thus reducing friction between it and the obstacle, thereby reducing the obstruction of the obstacle to the reactor pool cleaning robot.

[0079] In some embodiments, the vehicle body 3 also includes a housing 34 and a drive wheel 35. The drive wheel 35 is movably connected to the chassis 31. The housing 34 is connected to the chassis 31 and encloses the chassis 31 to form a receiving cavity. The liquid storage tank 33 and the filter assembly 36 can be disposed in the receiving cavity.

[0080] In some embodiments, the reactor pool cleaning robot also includes a wiping mechanism 4, which is connected to the vehicle body 3. The water absorption mechanism 2 can be located at the front of the vehicle body 3, and the wiping mechanism 4 can be located at the rear of the vehicle body 3. The wiping mechanism 4 can wipe away the water remaining on the ground.

[0081] The reactor pool cleaning robot in any of the above embodiments is a reactor pool cleaning robot, which can be used for cleaning operations of reactors in nuclear power plants.

[0082] In some embodiments, the reactor pool cleaning robot also includes a dosimeter 5, which can be installed on the vehicle body 3. The dosimeter 5 can detect and record the amount of radiation received by the reactor pool cleaning robot, which facilitates the maintenance of the reactor pool cleaning robot by the staff after the cleaning operation.

[0083] In some embodiments, the shell 34 of the vehicle body 3 can be made of materials such as stainless steel or lead-containing metals. In this way, the shell 34 has a certain radiation protection performance, which can reduce the impact of environmental radiation on the overall reactor pool cleaning robot.

[0084] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A reactor pool cleaning robot, characterized in that, The device includes a vehicle body, a water-absorbing mechanism movably disposed on the vehicle body, and a mounting assembly connecting the vehicle body and the water-absorbing mechanism. The mounting assembly includes a first mounting member and a second and a third mounting member movably connected to the first mounting member. The second mounting member is connected to the vehicle body, and the third mounting member is connected to the water-absorbing mechanism. The first mounting member is movable relative to the second mounting member to allow the water-absorbing mechanism to move relative to the vehicle body in a first direction. The third mounting member is movable relative to the first mounting member to allow the water-absorbing mechanism to move relative to the vehicle body in a second direction. The first direction is parallel to the chassis of the vehicle body, and the second direction is perpendicular to the first direction.

2. The reactor pool cleaning robot as described in claim 1, characterized in that, The second mounting component is provided with a plug shaft perpendicular to the first direction, and the first mounting component is provided with a first hole. The plug shaft is rotatably disposed in the first hole so that the first mounting component can drive the water absorption mechanism to rotate relative to the second mounting component around the central axis of the plug shaft.

3. The reactor pool cleaning robot as described in claim 2, characterized in that, The second mounting component is provided with a support portion connected to the plug shaft. One side of the support portion is connected to the chassis, and the side of the support portion away from the chassis abuts against the first mounting component to support the first mounting component.

4. The reactor pool cleaning robot as described in claim 3, characterized in that, The support portion is arranged in a ring around the central axis of the plug shaft. The side of the support portion away from the chassis is provided with a first support surface parallel to the chassis. The first mounting member is provided with a second support surface parallel to the chassis. The first support surface and the second support surface abut against each other to support the first mounting member.

5. The reactor pool cleaning robot as described in claim 2, characterized in that, When the water-absorbing mechanism is in its initial position, the line connecting the center of the water-absorbing mechanism and the center of the vehicle body is parallel to the direction from the rear of the vehicle body to the front. The mounting assembly also includes an elastic element, which is connected to the first mounting member and the second mounting member respectively. When the water-absorbing mechanism rotates from the initial position to a non-initial position, the first mounting member squeezes or stretches the elastic element to cause the elastic element to elastically contract or elastically stretch. The first mounting member can rotate relative to the second mounting member under the elastic force of the elastic element to drive the water-absorbing mechanism to reset from the non-initial position to the initial position.

6. The reactor pool cleaning robot as described in claim 2, characterized in that, The first hole has a first partition on its wall, which abuts against the insertion shaft. The hardness of the first partition is less than that of the insertion shaft; or, The plug shaft has a second partition on its periphery, which abuts against the wall of the first hole. The hardness of the second partition is less than the hardness of the wall of the first hole; or, The mounting assembly also includes a bearing, which is mounted between the plug shaft and the wall of the first hole.

7. The reactor pool cleaning robot as described in any one of claims 1-6, characterized in that, The third mounting component includes at least two rod-shaped first parts, each first part being arranged in parallel. One end of each first part facing the first mounting component is rotatably connected to the first mounting component, and the other end of each first part is rotatably connected to the water absorption mechanism. When each first part rotates relative to the first mounting component, it enables the water absorption mechanism to swing relative to the chassis.

8. The reactor pool cleaning robot as described in any one of claims 1-6, characterized in that, The reactor pool cleaning robot also includes a drive assembly mounted on the mounting assembly and a sensing assembly mounted on the vehicle body. The drive assembly is connected to the first mounting member and the third mounting member respectively. The sensing assembly is communicatively connected to the drive assembly. The sensing assembly is used to detect environmental information around the vehicle body and send control commands to the drive assembly so that the drive assembly can drive the third mounting member to rotate relative to the first mounting member.

9. The reactor pool cleaning robot as described in claim 8, characterized in that, The third mounting component further includes a second part and at least two rod-shaped first parts. The second part is connected to the water absorption mechanism. Each of the first parts is arranged in parallel. One end of each of the first parts is rotatably connected to the first mounting component. The end of each of the first parts facing away from the first mounting component is rotatably connected to the second part. The driving assembly is connected to the second part to drive each of the first parts to rotate relative to the first mounting component.

10. The reactor pool cleaning robot as described in claim 8, characterized in that, The drive assembly includes a drive member disposed on the first mounting member and a connecting rope with one end connected to the output shaft of the drive member. The end of the connecting rope opposite to the drive member is connected to the third mounting member. The first mounting member is provided with a steering member, which abuts against the non-end region of the connecting rope to bend the connecting rope.

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