Reactor pool cleaning robot

Abstract

The utility model provides a reactor pool cleaning robot which comprises a vehicle body and a cleaning mechanism arranged on the vehicle body, the cleaning mechanism comprises strip-shaped wiping cloth, a first storage roller shaft, a tensioning assembly and a second storage roller shaft, and the first storage roller shaft, the tensioning assembly and the second storage roller shaft are sequentially arranged in the wiping cloth conveying direction. The two ends of the wiping cloth are wound around the first storage roller shaft and the second storage roller shaft correspondingly, the first storage roller shaft and the second storage roller shaft are rotationally connected with the vehicle body correspondingly, so that the second storage roller shaft can wind the wiping cloth released by the first storage roller shaft, and the wiping cloth located in the cleaning area is used for wiping the surface to be cleaned. The tensioning assembly can move relative to the vehicle body to push the wiping cloth located in the cleaning area to abut against the surface to be cleaned. The tensioning assembly can move independently relative to the vehicle body, the reactor pool cleaning robot only needs to reserve a corresponding space for movement of the tensioning assembly, the space occupied by the cleaning mechanism for the reactor pool cleaning robot can be reduced, and reduction of the overall size of the reactor pool cleaning robot is facilitated.

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] In the field of modern cleaning technology, wiping robots are increasingly widely used. They can perform cleaning tasks on various surfaces such as glass and floors. They are mainly composed of a vehicle body and a cleaning mechanism set on the vehicle body. The vehicle body can drive the cleaning mechanism to move to carry out wiping operations.

[0003] In related technologies, cleaning mechanisms are typically designed to move flexibly relative to the vehicle body, thereby changing their relative positional relationship with the surface to be cleaned and achieving the goal of ensuring the wiping cloth closely conforms to the contours of the surface. However, this design requires reactor pool cleaning robots to reserve a considerable amount of space for the cleaning mechanism to ensure it has sufficient room to move during operation, which is detrimental to the miniaturization of reactor pool cleaning robots. Utility Model Content

[0004] The purpose of this application is to provide a reactor pool cleaning robot to solve the technical problem that the large space required for the cleaning mechanism in the prior art is not conducive to the miniaturization of reactor pool cleaning robots.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] A reactor pool cleaning robot is provided, comprising a vehicle body and a cleaning mechanism disposed on the vehicle body. The cleaning mechanism includes a strip-shaped wiping cloth and a first receiving roller, a tensioning assembly, and a second receiving roller arranged sequentially along the conveying direction of the wiping cloth. The two ends of the wiping cloth are respectively wound onto the first receiving roller and the second receiving roller. The first receiving roller and the second receiving roller are rotatably connected to the vehicle body. The first receiving roller is used to release the wiping cloth when rotating relative to the vehicle body. The second receiving roller can reel in the wiping cloth released by the first receiving roller. A cleaning zone is also provided between the first receiving roller and the second receiving roller along the conveying direction of the wiping cloth. The wiping cloth located in the cleaning zone is used to wipe the surface to be cleaned in the reactor pool. The cleaning mechanism also includes a mounting assembly. The tensioning assembly is movably connected to the vehicle body through the mounting assembly. The tensioning assembly can move relative to the vehicle body to push the wiping cloth located in the cleaning zone against the surface to be cleaned.

[0007] In some embodiments, the mounting assembly includes a first mounting member and a second mounting member movably connected to the first mounting member, the first mounting member being connected to the vehicle body, the second mounting member being connected to the tensioning assembly, and the second mounting member being oscillating relative to the first mounting member to drive the tensioning assembly to oscillate relative to the vehicle body, so that the tensioning assembly can move toward the wiping cloth located in the cleaning area and push the wiping cloth located in the cleaning area.

[0008] In some embodiments, the second mounting member includes a rod-shaped first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion being arranged in parallel, one end of the first mounting portion and the second mounting portion being rotatably connected to the first mounting member, and the other end of the first mounting portion and the second mounting portion being rotatably connected to the tensioning assembly. When the first mounting portion and the second mounting portion in the second mounting member rotate relative to the first mounting member, they can drive the tensioning assembly to swing relative to the vehicle body.

[0009] In some embodiments, the second mounting member further includes a third mounting portion, which is rotatably connected to the end of the first mounting portion opposite to the first mounting member via a rotating shaft. The third mounting portion is provided with a first sliding groove, the length direction of which is arranged around the central axis of the rotating shaft. The end of the second mounting portion opposite to the first mounting portion is provided with a first slider that is slidably adapted to the first sliding groove. The third mounting portion is connected to the tensioning assembly, and the first slider slides along the first sliding groove so that the tensioning assembly can rotate around the central axis of the rotating shaft.

[0010] In some embodiments, the reactor pool cleaning robot further includes a first drive member disposed on the vehicle body or the first mounting member, the first drive member being connected to the second mounting member, and the first drive member being used to drive the second mounting member to swing relative to the first mounting member.

[0011] In some embodiments, the reactor pool cleaning robot further includes a sensing component disposed on the vehicle body and connected to the first drive member. The sensing component is used to detect environmental information around the reactor pool cleaning robot and send control commands to the first drive member so that the first drive member drives the second mounting member to swing relative to the first mounting member.

[0012] In some embodiments, the first storage roller shaft and the second storage roller shaft are respectively connected to the vehicle body through the first mounting member, and the first storage roller shaft and the second storage roller shaft are respectively rotatably connected to the first mounting member.

[0013] In some embodiments, the tensioning assembly includes a support frame and a first tensioning roller and a second tensioning roller disposed on the support frame. The support frame is connected to the mounting assembly. The first tensioning roller and the second tensioning roller are arranged at intervals along the conveying direction of the wiping cloth. The first tensioning roller and the second tensioning roller respectively abut against the wiping cloth located in the cleaning area to push the wiping cloth located in the cleaning area against the surface to be cleaned.

[0014] In some embodiments, the first tension roller is slidably connected to the support frame, and the sliding direction of the first tension roller is arranged along the arrangement direction of the first tension roller and the second tension roller. The tensioning assembly further includes a second driving member, which is connected to the support frame and the first tension roller respectively. The second driving member drives the first tension roller to move relative to the support frame to adjust the relative distance between the first tension roller and the second tension roller.

[0015] In some embodiments, the tensioning assembly further includes a tensioning belt, wherein the first tensioning roller and the second tensioning roller are disposed inside the annular region of the tensioning belt and respectively abut against the inner side of the tensioning belt to tension the tensioning belt, and one side of the tensioning belt opposite to the first tensioning roller and the second tensioning roller abuts against the wiping cloth located in the cleaning area to push the wiping cloth located in the cleaning area against the surface to be cleaned.

[0016] In some embodiments, the vehicle body includes a chassis and a housing connected to the chassis, the housing and the chassis forming a receiving cavity, the first receiving roller shaft being disposed within the receiving cavity, the second receiving roller shaft and the tensioning assembly being disposed outside the receiving cavity, and the housing having an opening communicating with the receiving cavity for the wiping cloth to pass through.

[0017] The beneficial effects of the reactor pool cleaning robot provided in this application are as follows: the tensioning component is movably connected to the vehicle body through the mounting component, and the tensioning component can move independently relative to the vehicle body. That is, during the process of the tensioning component moving to push the wiping cloth located in the cleaning area, the first and second collection rollers do not need to move with the tensioning component. In this way, the reactor pool cleaning robot only needs to reserve the corresponding space for the movement of the tensioning component, and does not need to reserve the space required for the movement of the first and second collection rollers. This reduces the space occupied by the cleaning mechanism on the reactor pool cleaning robot, helps to reduce the overall size of the reactor pool cleaning robot, realizes the miniaturization and compact design of the reactor pool cleaning robot, and helps to expand the application range 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 (wiping cloth hidden);

[0020] Figure 2 for Figure 1 The diagram shows a cross-sectional view of the reactor pool cleaning robot (with the wiping cloth hidden).

[0021] Figure 3 A schematic diagram of the cleaning mechanism provided in the embodiments of this application;

[0022] Figure 4 A cross-sectional view of the cleaning mechanism and chassis provided in the embodiments of this application (with the wiping cloth hidden);

[0023] Figure 5 for Figure 4 An enlarged view of point A in the diagram;

[0024] Figure 6 for Figure 4 The diagram shows the assembly of the cleaning mechanism and chassis (wiping cloth is hidden);

[0025] Figure 7 for Figure 6 Enlarged diagram of point B in the diagram;

[0026] Figure 8 A schematic diagram of a reactor pool cleaning robot provided in an embodiment of this application (cleaning mechanism hidden).

[0027] The following are the labeling elements in the figure:

[0028] 1. Vehicle body; 10. Receiving cavity; 101. Opening; 11. Chassis; 12. Sensing components; 121. Vision sensor; 122. Ultrasonic sensor; 123. Laser sensor; 13. Liquid storage tank; 14. Housing; 15. Drive wheel; 16. Dosing device;

[0029] 2. Cleaning mechanism; 20. Cleaning area; 21. Mounting assembly; 211. First mounting component; 212. Second mounting component; 2121. First mounting part; 2122. Second mounting part; 2123. Third mounting part; 2124. First slide groove; 2125. First slider; 2126. Rotating shaft; 22. Tensioning assembly; 221. First tensioning roller shaft; 2211. Second slider; 222. Second tensioning roller shaft; 223. Support frame; 2231. Second slide groove; 224. Tensioning belt; 23. First storage roller shaft; 24. Second storage roller shaft; 25. Wiping cloth; 26. First driving component; 261. First driving body; 262. Connecting rope; 271. First pressure roller shaft; 272. Second pressure roller shaft; 28. Steering component;

[0030] 3. Water absorption mechanism. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] In the field of modern cleaning technology, wiping robots are increasingly widely used. They can perform cleaning tasks on various surfaces such as glass and floors. Wiping robots are mainly composed of a vehicle body and a cleaning mechanism set on the vehicle body. When the vehicle body moves under the power drive, it can drive the cleaning mechanism to move synchronously, so that the wiping cloth equipped by the cleaning mechanism can make smooth contact with the surface to be cleaned and carry out wiping operations.

[0036] In related technologies, to effectively reduce the frequency of cleaning the wiping cloth by the wiping robot during operation, while significantly improving the robot's coverage area, a common strategy is to use a long wiping cloth. In this design, the unused portion of the wiping cloth is neatly rolled up onto a first storage roller of the cleaning mechanism, while the used portion is rolled up onto a second storage roller. The portion of the wiping cloth between the first and second storage rollers is precisely tensioned by a tensioning component, ensuring close contact with the surface to be cleaned, thus achieving efficient wiping. Furthermore, throughout the wiping process, both the first and second storage rollers can rotate flexibly as needed. In this way, the used portion of the wiping cloth can be orderly rolled up in the second storage roller, while the first storage roller can release the unused portion of the wiping cloth in a timely manner to ensure that the wiping operation can be carried out continuously without interruption.

[0037] In addition, in order to further improve the wiping effect and quality of the wiping robot on the surface to be cleaned, the cleaning mechanism is usually designed to be able to move flexibly relative to the vehicle body. Through this dynamic adjustment of the relative position, the relative positional relationship between it and the surface to be cleaned can be changed, ultimately achieving the goal of making the wiping cloth closely fit the contour of the surface to be cleaned, thereby adapting to the surface to be cleaned with different shapes and undulations, and improving the uniformity and thoroughness of cleaning.

[0038] However, this traditional design also has significant drawbacks. Since the wiping cloth wound onto the first and second receiving rollers requires considerable space, the reactor pool cleaning robot must allocate ample space for its cleaning mechanism to ensure sufficient room for movement during operation. This space constraint significantly hinders the overall reduction in the size of the reactor pool cleaning robot, severely restricting its miniaturization and compact design. This limitation is particularly pronounced in relatively confined cleaning environments, limiting the widespread adoption and in-depth application of wiping robots.

[0039] Based on this, embodiments of this application provide a reactor pool cleaning robot to solve the above-mentioned problems.

[0040] Reference Figures 1 to 3 The reactor pool cleaning robot provided in this application includes a vehicle body 1 and a cleaning mechanism 2 disposed on the vehicle body 1. The cleaning mechanism 2 includes a strip-shaped wiping cloth 25 and a first receiving roller 23, a tensioning assembly 22, and a second receiving roller 24 arranged sequentially along the conveying direction of the wiping cloth 25. The two ends of the wiping cloth 25 are respectively wound onto the first receiving roller 23 and the second receiving roller 24. The first receiving roller 23 and the second receiving roller 24 are rotatably connected to the vehicle body 1. The first receiving roller 23 is used to release the wiping cloth 25 when rotating relative to the vehicle body 1. The second receiving roller 24 can retract the wiping cloth 25 released by the first receiving roller 23. Along the conveying direction of the wiping cloth 25, a cleaning zone 20 is also provided between the first receiving roller 23 and the second receiving roller 24. The wiping cloth 25 located in the cleaning zone 20 is used to wipe the surface to be cleaned in the reactor pool. The cleaning mechanism 2 also includes an installation component 21. The tensioning component 22 is movably connected to the vehicle body 1 through the installation component 21. The tensioning component 22 can move relative to the vehicle body 1 to push the wiping cloth 25 located in the cleaning zone 20 against the surface to be cleaned.

[0041] It should be noted that during the wiping operation, the first receiving roller 23 can be used to wind up the unused portion of the wiping cloth 25, while the used portion of the wiping cloth 25 can be wound onto the second receiving roller 24. In some embodiments, the first receiving roller 23 can continuously rotate to gradually release the wound wiping cloth 25, and the second receiving roller 24 can continuously rotate to continuously wind up the wiping cloth 25. Thus, the wiping cloth 25 is always being conveyed from the first receiving roller 23 to the second receiving roller 24. In some embodiments, the first collection roller 23 and the second collection roller 24 can rotate intermittently, so that during a certain period of time, the wiping cloth 25 is in a state of being conveyed from the first collection roller 23 to the second collection roller 24. At this time, the wiping cloth 25 located in the cleaning area 20 can be replaced. During other periods of time, the first collection roller 23 and the second collection roller 24 are both in a stationary state. At this time, the wiping cloth 25 can remain relatively stationary with respect to the first collection roller 23 and the second collection roller 24.

[0042] It should be noted that in some embodiments, the power for the first receiving roller 23 to release the wiping cloth 25 can come from the second receiving roller 24. For example, when the second receiving roller 24 rotates to pull the wiping cloth 25, the tension on the wiping cloth 25 acts on the first receiving roller 23, which can drive the first receiving roller 23 to rotate, so that the first receiving roller 23 can release the wiping cloth 25 it has wound up. In this embodiment, the first receiving roller 23 can be a damping shaft, that is, when the first receiving roller 23 rotates... There is a certain resistance, which can reduce the rotation of the first collection roller 23 when it is not driven by the wiping cloth 25. In other embodiments, the first collection roller 23 may include a first roller body and a first power member connected to the first roller body, which provides rotation to the first roller body to release the power of the wiping cloth 25. Alternatively, a second power member connected to the first collection roller 23 may be provided, which provides rotation to the first collection roller 23 to release the power of the wiping cloth 25.

[0043] It should be noted that in some embodiments, the second collecting roller 24 may include a second roller body and a third power member connected to the second roller body, wherein the third power member provides power for the second roller body to rotate in order to wind up the wiping cloth 25. Alternatively, a fourth power member may be provided connected to the second collecting roller 24, wherein the fourth power member provides power for the second collecting roller 24 to rotate in order to wind up the wiping cloth 25.

[0044] It should be noted that the wiping cloth 25 is elongated, meaning its length is much greater than its width, allowing both ends to be wound onto the first and second receiving rollers 23 and 24, respectively. Furthermore, during the wiping process, the portion of the wiping cloth 25 within the cleaning zone 20 can be used to wipe the surface to be cleaned, while the portion outside the cleaning zone 20 can be spaced apart from the surface to be wiped. In other words, during the wiping process, only the portion of the wiping cloth 25 within the cleaning zone 20 is used to wipe the surface to be cleaned; the remaining portion is not used. When the first and second receiving rollers 23 and 24 rotate to adjust the wiping cloth 25 within the cleaning zone 20, the portion of the wiping cloth 25 newly entering the cleaning zone 20 can be used to wipe the surface to be cleaned, while the portion leaving the cleaning zone 20 can be wound up by the second receiving roller 24.

[0045] It should be noted that in some embodiments, the surface to be cleaned can be the ground, tabletop, ceiling, etc. In this case, the surface to be cleaned can be parallel to the chassis 11 of the vehicle body 1. In other embodiments, the surface to be cleaned can be a wall, window, etc. In this case, the surface to be cleaned can be perpendicular to or at an angle to the chassis 11 of the vehicle body 1.

[0046] It should be noted that the tensioning component 22 can push the wiping cloth 25 in the cleaning area 20 to abut against the surface to be cleaned. Therefore, the tensioning component 22 can be located on the side of the wiping cloth 25 away from the surface to be cleaned. When the tensioning component 22 moves toward the surface to be cleaned, the tensioning component 22 can push against the wiping cloth 25. After being squeezed by the tensioning component 22, the wiping cloth 25 can move toward the surface to be cleaned, thereby abutting against the surface to be cleaned.

[0047] In this application, the tensioning component 22 is movably connected to the vehicle body 1 via the mounting component 21. The tensioning component 22 can move independently relative to the vehicle body 1. That is, during the process of the tensioning component 22 moving to push the wiping cloth 25 located in the cleaning area 20, the first collection roller 23 and the second collection roller 24 do not need to move with the tensioning component 22. In this way, the reactor pool cleaning robot only needs to reserve the corresponding space for the movement of the tensioning component 22, without reserving the space required for the movement of the first collection roller 23 and the second collection roller 24. This can reduce the space occupied by the cleaning mechanism 2 on the reactor pool cleaning robot, help reduce the overall size of the reactor pool cleaning robot, realize the miniaturization and compact design of the reactor pool cleaning robot, and help expand the application range of the reactor pool cleaning robot.

[0048] Reference Figure 4 In some embodiments, the mounting assembly 21 includes a first mounting member 211 and a second mounting member 212 movably connected to the first mounting member 211. The first mounting member 211 is connected to the vehicle body 1, and the second mounting member 212 is connected to the tensioning assembly 22. The second mounting member 212 is oscillating relative to the first mounting member 211 to drive the tensioning assembly 22 to oscillate relative to the vehicle body 1, so that the tensioning assembly 22 can move toward and push the wiping cloth 25 located in the cleaning area 20.

[0049] By setting up a movable connection between the first mounting member 211 and the second mounting member 212, when the second mounting member 212 swings relative to the first mounting member 211, it can cause the tensioning component 22 to swing relative to the vehicle body 1. In this way, the relative position of the tensioning component 22 and the vehicle body 1 can be adjusted, thereby adjusting the relative position of the tensioning component 22 and the wiping cloth 25 located in the cleaning area 20. This allows the tensioning component 22 to push the wiping cloth 25 located in the cleaning area 20 to come into contact with the surface to be cleaned. In addition, setting the tensioning component 22 to swing relative to the vehicle body 1 can reduce the angular deflection of the tensioning component 22 during the position adjustment process. This helps to keep the contact range between the wiping cloth 25 and the surface to be cleaned constant or change only slightly, thus maintaining the wiping and cleaning effect of the wiping cloth 25.

[0050] Continue to refer to Figure 4In some embodiments, the second mounting member 212 includes at least a rod-shaped first mounting portion 2121 and a second mounting portion 2122, which are arranged in parallel. One end of the first mounting portion 2121 and the second mounting portion 2122 is rotatably connected to the first mounting member 211, and the other end of the first mounting portion 2121 and the second mounting portion 2122 in the second mounting member 212 is rotatably connected to the tensioning assembly 22. When the first mounting portion 2121 and the second mounting portion 2122 rotate relative to the first mounting member 211, they can drive the tensioning assembly 22 to swing relative to the vehicle body 1.

[0051] The first mounting part 2121 and the second mounting part 2122, which are rod-shaped, are arranged in parallel. The first mounting part 211, the tensioning component 22, the first mounting part 2121 and the second mounting part 2122 can form a quadrilateral-like structure. This can enhance the stability of the tensioning component 22 during the swing process and reduce the angular deflection of the tensioning component 22 during the swing process, thus ensuring the cleaning effect of the wiping cloth 25.

[0052] Reference Figure 5 In some embodiments, the second mounting member 212 further includes a third mounting part 2123. The third mounting part 2123 is rotatably connected to the end of the first mounting part 2121 opposite to the first mounting member 211 via a rotating shaft 2126. The third mounting part 2123 is provided with a first sliding groove 2124. The length direction of the first sliding groove 2124 is arranged around the central axis of the rotating shaft 2126. The end of the second mounting part 2122 opposite to the first mounting part 2121 is provided with a first slider 2125 that is slidably adapted to the first sliding groove 2124. The third mounting part 2123 is connected to the tensioning assembly 22. The first slider 2125 slides along the first sliding groove 2124 so that the tensioning assembly 22 can rotate around the central axis of the rotating shaft 2126.

[0053] The first mounting part 2121 is rotatably connected to the third mounting part 2123 via the rotating shaft 2126, and the second mounting part 2122 is slidably connected to the third mounting part 2123 via the first slider 2125 and the first sliding groove 2124. The third mounting part 2123 can rotate around the central axis of the rotating shaft 2126, thereby allowing the tensioning component 22 to rotate around the central axis of the rotating shaft 2126. In this way, the tilt angle of the tensioning component 22 relative to the vehicle body 1 can be adjusted. When the surface to be cleaned is uneven, the tilt angle of the tensioning component 22 can be adjusted so that the wiping cloth 25 pushed by the tensioning component 22 can conform to the contour of the surface to be cleaned, thereby ensuring the wiping and cleaning effect of the wiping cloth 25.

[0054] Reference Figure 4In some embodiments, the reactor pool cleaning robot further includes a first drive member 26 disposed on the vehicle body 1 or the first mounting member 211. The first drive member 26 is also connected to the second mounting member 212. The first drive member 26 is used to drive the second mounting member 212 to swing relative to the first mounting member 211. The first driving member 26 can drive the second mounting member 212 to swing, thereby driving the tensioning component 22 to swing. This can change the pushing force of the tensioning component 22 on the wiping cloth 25 located in the cleaning area 20, and thus change the pressure of the wiping cloth 25 on the surface to be cleaned. For example, for some surfaces with weaker material properties, the first driving member 26 can drive the tensioning component 22 to move away from the wiping cloth 25 located in the cleaning area 20 to reduce the pressure of the tensioning component 22 on the wiping cloth 25, thereby reducing the pressure of the wiping cloth 25 on the surface to be cleaned and reducing the friction between it and the surface to be cleaned. For some surfaces with stronger material properties or more stubborn stains, the first driving member 26 can drive the tensioning component 22 to move towards the wiping cloth 25 located in the cleaning area 20 to increase the pressure of the tensioning component 22 on the wiping cloth 25, thereby increasing the pressure of the wiping cloth 25 on the surface to be cleaned and increasing the friction between it and the surface to be cleaned, thereby enhancing the wiping and cleaning effect of the wiping cloth 25.

[0055] In this embodiment, the surface to be cleaned is the ground. The first driving component 26 includes a first driving body 261 and a connecting rope 262 connected to the output shaft of the first driving body 261. The first driving body 261 can be mounted on the chassis 11 of the vehicle body 1. The end of the connecting rope 262 away from the first driving body 261 can be connected to the second mounting component 212. When the output shaft of the first driving body 261 pulls the connecting rope 262, the connecting rope 262 can drive the second mounting component 212 to swing, causing the tensioning component 22 to move in the direction away from the ground. In this way, the tension can be reduced. The compression of the wiping cloth 25 by component 22 reduces the pressure of the wiping cloth 25 on the ground. When the output shaft of the first drive body 261 releases the connecting rope 262, the second mounting member 212 can swing relative to the first mounting member 211 under the action of the gravity of the tensioning component 22, so that the tensioning component 22 can move towards the ground to increase the compression of the wiping cloth 25 by the tensioning component 22, thereby increasing the pressure of the wiping cloth 25 on the surface to be cleaned, increasing the friction between it and the surface to be cleaned, and thus enhancing the wiping and cleaning effect of the wiping cloth 25.

[0056] In some embodiments, the first drive body 261 may be an electric push rod, a cylinder, etc.; the connecting rope 262 may be a steel wire rope, a nylon rope, etc.

[0057] In some embodiments, the first mounting member 211 and the vehicle body 1 may also be provided with a steering member 28, which can abut against the connecting rope 262 to make the connecting rope 262 bend, thereby changing the direction of the tension of the connecting rope 262. This makes it easier to design the installation position of the first drive body 261 and helps to further reduce the size of the cleaning mechanism 2.

[0058] In some embodiments, the steering component 28 may be a reversing wheel, with one part of the reversing wheel rotatably mounted on the first mounting component 211 and the other part of the reversing wheel rotatably mounted on the vehicle body 1.

[0059] In some embodiments, the reactor pool cleaning robot further includes a sensing component 12, which is disposed on the vehicle body 1 and connected to the first drive component 26. The sensing component 12 is used to detect environmental information around the reactor pool cleaning robot and send control commands to the first drive component 26 so that the first drive component 26 drives the second mounting component 212 to swing relative to the first mounting component 211.

[0060] It should be noted that the sensing component 12 can be used to detect the environment around the reactor pool cleaning robot to determine the presence of obstacles. The sensing component 12 may include one or more of the following: ultrasonic sensor 122, laser sensor 123, vision sensor 121, infrared sensor, and radar. The ultrasonic sensor 122 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 121 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 123 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.

[0061] The sensor component 12 is installed on the vehicle body 1 to detect the environment around the reactor pool cleaning robot, thereby obtaining environmental information around the reactor pool cleaning robot. When the sensor component 12 detects that the ground is tilted, the sensor component 12 can send a command to the first drive component 26, so that the first drive component 26 can drive the second mounting component 212 to swing in time, thereby adjusting the position of the tension component 22 so that the wiping cloth 25 has a suitable friction force with the surface to be cleaned.

[0062] Reference Figure 4 and Figure 6 In some embodiments, the first storage roller 23 and the second storage roller 24 are respectively connected to the vehicle body 1 via the first mounting member 211, and the first storage roller 23 and the second storage roller 24 are rotatably connected to the first mounting member 211. Connecting the first storage roller 23 and the second storage roller 24 to the vehicle body 1 via the first mounting member 211 means that the mounting assembly 21 can be used to mount the first storage roller 23 and the second storage roller 24. Thus, the first storage roller 23, the second storage roller 24, and the tensioning assembly 22 can all be integrated into the mounting assembly 21, facilitating the connection of the cleaning mechanism 2 to the vehicle body 1.

[0063] In some embodiments, the mounting assembly 21 may be provided with two first mounting members 211, both of which are plate-shaped and arranged in parallel. The two ends of the first receiving roller shaft 23 and the second receiving roller shaft 24 are respectively mounted on the two first mounting members 211, so that the mounting assembly 21 can be supported from the two ends of the first receiving roller shaft 23 and the second receiving roller shaft 24.

[0064] Continue to refer to Figure 4 and Figure 3 The tensioning assembly 22 includes a support frame 223 and a first tensioning roller 221 and a second tensioning roller 222 disposed on the support frame 223. The support frame 223 is connected to the mounting assembly 21. The first tensioning roller 221 and the second tensioning roller 222 are arranged at intervals along the conveying direction of the wiping cloth 25. The first tensioning roller 221 and the second tensioning roller 222 respectively abut against the wiping cloth 25 located in the cleaning area 20 to push the wiping cloth 25 located in the cleaning area 20 against the surface to be cleaned.

[0065] By setting a first tension roller 221 and a second tension roller 222, with the first tension roller 221 and the second tension roller 222 spaced apart and abutting against the wiping cloth 25 located in the cleaning area 20, the wiping cloth 25 located in the cleaning area 20 can form a larger wiping surface, thereby increasing the wiping and cleaning range of the wiping cloth 25.

[0066] In some embodiments, the support frame 223 may be connected to the second mounting member 212 of the mounting assembly 21. For example, the support frame 223 may be connected to the third mounting portion 2123 of the second mounting member 212.

[0067] In some embodiments, the first tensioning roller 221 is slidably connected to the support frame 223. The sliding direction of the first tensioning roller 221 is arranged along the arrangement direction of the first tensioning roller 221 and the second tensioning roller 222. The tensioning assembly 22 also includes a second driving member, which is connected to the support frame 223 and the first tensioning roller 221 respectively. The second driving member drives the first tensioning roller 221 to move relative to the support frame 223 to adjust the relative distance between the first tensioning roller 221 and the second tensioning roller 222. When the second driving member drives the first tensioning roller 221 to slide relative to the support frame 223, it can change the relative distance between the first tensioning roller 221 and the second tensioning roller 222. This can change the area of ​​the wiping surface formed on the wiping cloth 25 when the first tensioning roller 221 and the second tensioning roller 222 abut against the wiping cloth 25 located in the cleaning area 20, so that the wiping surface of the wiping cloth 25 can adapt to different environmental conditions.

[0068] Reference Figure 7 In some embodiments, a second slide groove 2231 can be provided on the support frame 223. The length direction of the second slide groove 2231 can be arranged along the arrangement direction of the first tension roller shaft 221 and the second tension roller shaft 222. A second slider 2211 is provided on the first tension roller shaft 221 to slide and adapt to the second slide groove 2231. When the second slider 2211 slides along the second slide groove 2231, the relative distance between the first tension roller shaft 221 and the second tension roller shaft 222 can be changed.

[0069] In some embodiments, the tensioning assembly 22 further includes a tensioning belt 224, with a first tensioning roller 221 and a second tensioning roller 222 disposed inside the annular region of the tensioning belt 224 and abutting against the inner side of the tensioning belt 224 to tension the tensioning belt 224. One side of the tensioning belt 224 away from the first tensioning roller 221 and the second tensioning roller 222 abuts against the wiping cloth 25 located in the cleaning area 20 to push the wiping cloth 25 located in the cleaning area 20 against the surface to be cleaned. Tensioning belts 224 are fitted around the outer periphery of the first tensioning roller 221 and the second tensioning roller 222, so that the first tensioning roller 221 and the second tensioning roller 222 abut against the wiping cloth 25 through the tensioning belts 224. The setting of tensioning belts 224 is equivalent to increasing the contact area between the tensioning assembly 22 and the wiping cloth 25, which helps to balance the external force on the wiping cloth 25, thereby helping to improve the flatness of the wiping cloth 25 located in the cleaning area 20.

[0070] Reference Figure 3In some embodiments, the cleaning mechanism 2 further includes a first pressing roller shaft 271 and a second pressing roller shaft 272. The first pressing roller shaft 271 and the second pressing roller shaft 272 are respectively rotatably disposed on the first mounting member 211. Along the conveying direction of the wiping cloth 25, the first pressing roller shaft 271 can abut against the wiping cloth 25 located between the first receiving roller shaft 23 and the tensioning assembly 22 to increase the contact area between the wiping cloth 25 and the tensioning assembly 22. The second pressing roller shaft 272 can abut against the wiping cloth 25 located between the second receiving roller shaft 24 and the tensioning assembly 22 to increase the contact area between the wiping cloth 25 and the tensioning assembly 22. A first pressing roller shaft 271 and a second pressing roller shaft 272 are provided. The first pressing roller shaft 271 and the second pressing roller shaft 272 can abut against the wiping cloth 25 so that the wiping cloth 25 can bend, thereby increasing the contact area between the wiping cloth 25 and the tensioning component 22. This can further disperse the force between the wiping cloth 25 and the tensioning component 22 and improve the flatness of the wiping cloth 25.

[0071] Reference Figure 1 , Figure 2 and Figure 8 In some embodiments, the vehicle body 1 includes a chassis 11 and a housing 14 connected to the chassis 11. The housing 14 and the chassis 11 enclose a receiving cavity 10. A first receiving roller shaft 23 is disposed inside the receiving cavity 10, and a second receiving roller shaft 24 and a tensioning assembly 22 are disposed outside the receiving cavity 10. The housing 14 is provided with an opening 101 that communicates with the receiving cavity 10 to allow the wiping cloth 25 to pass through. The first collecting roller 23 is placed inside the receiving cavity 10, which means that the unused wiping cloth 25 wound on the first collecting roller 23 can be placed inside the receiving cavity 10. This can reduce the contamination of this part of the wiping cloth 25 by the external environment. The second collecting roller 24 is placed outside the receiving cavity 10, which means that the used wiping cloth 25 wound on the second collecting roller 24 is placed outside the receiving cavity 10. This can reduce the contamination of the receiving cavity 10 by this part of the wiping cloth 25, thereby reducing the contamination of the wiping cloth 25 inside the receiving cavity 10, so as to ensure the wiping cleaning effect of the wiping cloth 25 on the surface to be cleaned.

[0072] In some embodiments, the reactor pool cleaning robot also includes a water suction mechanism 3 and a liquid storage tank 13 connected to the water suction mechanism 3. The water suction mechanism 3 can be set at the front of the vehicle body 1, the liquid storage tank 13 can be set at the vehicle body 1, and the cleaning mechanism 2 can be set at the rear of the vehicle body 1. During operation, when the reactor pool cleaning robot moves, the water suction mechanism 3 of the reactor pool cleaning robot can absorb the sewage on the surface to be cleaned into the liquid storage tank 13, and then the cleaning mechanism 2 wipes and cleans the surface to be cleaned.

[0073] In some embodiments, the vehicle body 1 may also be equipped with a filter assembly. The water suction mechanism 3 can be connected to the liquid storage tank 13 through the filter assembly. That is, the sewage absorbed by the water suction mechanism 3 can first enter the filter assembly, and after being filtered by the filter assembly, it can be stored in the liquid storage tank 13. This can separate impurities in the sewage and facilitate subsequent cleaning operations.

[0074] In some embodiments, the filter components can be replaced after prolonged use, thereby improving the filtration effect on wastewater.

[0075] In some embodiments, the storage tank 13 may be provided with a drain outlet, so that when there is a large amount of sewage in the storage tank 13, the sewage can be drained through the drain outlet.

[0076] In some embodiments, the vehicle body 1 also includes drive wheels 15, which are mounted on the chassis 11. When the drive wheels 15 rotate, the reactor pool cleaning robot can move as a whole.

[0077] 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.

[0078] In some embodiments, the reactor pool cleaning robot also includes a dosimeter 16, which can be installed on the vehicle body 1. The dosimeter 16 can detect and record the amount of radiation received by the reactor pool cleaning robot, thus facilitating the maintenance of the reactor pool cleaning robot by staff after the cleaning operation.

[0079] In some embodiments, the shell 14 of the vehicle body 1 can be made of materials such as stainless steel or lead-containing metals, so that the shell 14 has a certain radiation protection performance and can reduce the impact of environmental radiation on the overall reactor pool cleaning robot.

[0080] 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 system includes a vehicle body and a cleaning mechanism disposed on the vehicle body. The cleaning mechanism includes a strip-shaped wiping cloth and a first receiving roller, a tensioning assembly, and a second receiving roller arranged sequentially along the conveying direction of the wiping cloth. The two ends of the wiping cloth are respectively wound onto the first receiving roller and the second receiving roller. The first receiving roller and the second receiving roller are rotatably connected to the vehicle body. The first receiving roller is used to release the wiping cloth when rotating relative to the vehicle body. The second receiving roller can reel in the wiping cloth released by the first receiving roller. A cleaning zone is also provided between the first receiving roller and the second receiving roller along the conveying direction of the wiping cloth. The wiping cloth located in the cleaning zone is used to wipe the surface to be cleaned in the reactor pool. The cleaning mechanism also includes an installation assembly. The tensioning assembly is movably connected to the vehicle body through the installation assembly. The tensioning assembly can move relative to the vehicle body to push the wiping cloth located in the cleaning zone against the surface to be cleaned.

2. The reactor pool cleaning robot as described in claim 1, characterized in that, The mounting assembly includes a first mounting member and a second mounting member movably connected to the first mounting member. The first mounting member is connected to the vehicle body, and the second mounting member is connected to the tensioning assembly. The second mounting member is oscillating relative to the first mounting member to drive the tensioning assembly to oscillate relative to the vehicle body, so that the tensioning assembly can move toward the wiping cloth located in the cleaning area and push the wiping cloth located in the cleaning area.

3. The reactor pool cleaning robot as described in claim 2, characterized in that, The second mounting member includes a rod-shaped first mounting portion and a second mounting portion, which are arranged in parallel. One end of the first mounting portion and the second mounting portion is rotatably connected to the first mounting member, and the other end of the first mounting portion and the second mounting portion is rotatably connected to the tensioning assembly. When the first mounting portion and the second mounting portion in the second mounting member rotate relative to the first mounting member, they can drive the tensioning assembly to swing relative to the vehicle body.

4. The reactor pool cleaning robot as described in claim 3, characterized in that, The second mounting component further includes a third mounting part, which is rotatably connected to the end of the first mounting part opposite to the first mounting component via a rotating shaft. The third mounting part is provided with a first sliding groove, the length direction of which is arranged around the central axis of the rotating shaft. The end of the second mounting part opposite to the first mounting part is provided with a first slider that is slidably adapted to the first sliding groove. The third mounting part is connected to the tensioning component, and the first slider slides along the first sliding groove so that the tensioning component can rotate around the central axis of the rotating shaft.

5. The reactor pool cleaning robot as described in claim 2, characterized in that, The reactor pool cleaning robot also includes a first drive unit disposed on the vehicle body or the first mounting component. The first drive unit is also connected to the second mounting component, and the first drive unit is used to drive the second mounting component to swing relative to the first mounting component.

6. The reactor pool cleaning robot as described in claim 5, characterized in that, The reactor pool cleaning robot also includes a sensing component, which is disposed on the vehicle body and connected to the first drive component. The sensing component is used to detect environmental information around the reactor pool cleaning robot and send control commands to the first drive component so that the first drive component drives the second mounting component to swing relative to the first mounting component.

7. The reactor pool cleaning robot as described in claim 2, characterized in that, The first storage roller and the second storage roller are respectively connected to the vehicle body through the first mounting component, and the first storage roller and the second storage roller are respectively rotatably connected to the first mounting component.

8. The reactor pool cleaning robot as described in any one of claims 1-7, characterized in that, The tensioning assembly includes a support frame and a first tensioning roller and a second tensioning roller disposed on the support frame. The support frame is connected to the mounting assembly. The first tensioning roller and the second tensioning roller are arranged at intervals along the conveying direction of the wiping cloth. The first tensioning roller and the second tensioning roller respectively abut against the wiping cloth located in the cleaning area to push the wiping cloth located in the cleaning area against the surface to be cleaned.

9. The reactor pool cleaning robot as described in claim 8, characterized in that, The first tension roller is slidably connected to the support frame. The sliding direction of the first tension roller is arranged along the arrangement direction of the first tension roller and the second tension roller. The tensioning assembly also includes a second driving member. The second driving member is connected to the support frame and the first tension roller respectively. The second driving member drives the first tension roller to move relative to the support frame to adjust the relative distance between the first tension roller and the second tension roller.

10. The reactor pool cleaning robot as described in claim 8, characterized in that, The tensioning assembly further includes a tensioning belt. The first tensioning roller and the second tensioning roller are disposed inside the annular area of ​​the tensioning belt and abut against the inner side of the tensioning belt to tension the tensioning belt. The side of the tensioning belt opposite to the first tensioning roller and the second tensioning roller abut against the wiping cloth located in the cleaning area to push the wiping cloth located in the cleaning area against the surface to be cleaned.

11. The reactor pool cleaning robot as described in any one of claims 1-7, characterized in that, The vehicle body includes a chassis and a housing connected to the chassis. The housing and the chassis enclose a receiving cavity. The first receiving roller is disposed inside the receiving cavity, and the second receiving roller and the tensioning assembly are disposed outside the receiving cavity. The housing is provided with an opening communicating with the receiving cavity to allow the wiping cloth to pass through.

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