CLEANING ROBOT

Abstract

A cleaning robot comprising a vehicle (2) equipped with a translation system (4) and an articulated arm (3) mounted on said vehicle (2), characterized in that: - the articulated arm (3) comprises a support (6) attached to the vehicle and an extendable structure (7), said extendable structure (7) being attached to the support (6); - at least one spray shaft disposed at the free end of the extendable structure (7), moving integrally with it, said shaft (8) comprising an elongated trunk defining the longitudinal axis of the shaft and branches (11), being configured to rotate about said longitudinal axis and to move laterally with respect to the vehicle (2), further comprising cleaning fluid propulsion nozzles disposed on said branches and configured to emit a jet of said fluid; - the vehicle (2) comprises stabilizing means configured to compensate for the tipping moments generated during the extension of the articulated arm (3) and in that the system is configured to operate with symmetrical or asymmetrical configurations of the spray shaft (8) or shafts.

Description

CLEANING ROBOT The invention relates to a device capable of moving and performing cleaning tasks using pressurized water, being very versatile by combining its own movement with the movement of its articulated arms that allows it to reach hard-to-access places and corners. It comprises an extendable and elevating main arm that mounts one or two shafts at its end. Each shaft can move laterally and rotate, causing its branches to rotate as well. The spraying tools are located on the branches, and both their orientation and the spray pattern can be configured. The device also includes means of improving stability which allows it to extend the main arm both longitudinally and laterally, facilitating access to high and hidden places. The technical sector to which it belongs is that of cleaning robots. BACKGROUND OF THE INVENTION (excerpt) In the state of the art, cleaning robots are known that incorporate autonomous movement means and mobile arms for applying pressurized water to surfaces to be cleaned. In particular, the Spanish patent ES2891401 describes a cleaning robot with a set of arms with vertical and lateral movement, configured to carry cleaning tools and allow action on elements located at different heights, although with serious limitations in terms of configuration versatility and ability to access complex or hard-to-reach areas. Document JP2016-220655 describes a cleaning system comprising one or more arms with spray nozzles mounted on a robot, as well as robot guidance and sensors. The arms directly carry the spraying elements, which results in limited adaptability to complex geometries due to the lack of tool support structures with multiple levels of articulation or a more versatile spatial distribution of the cleaning elements. Document WO 2010 / 123456 relates to a cleaning system for livestock facilities comprising an arm with at least one spray nozzle. The arm can be moved and oriented relative to the vehicle, allowing the cleaning fluid jet to be directed towards different areas of the enclosure. Furthermore, the system allows for the adjustment of operating parameters such as pressure and flow rate, in order to adapt the cleaning process to different operating conditions. However, this patent only includes a single nozzle carrier, which restricts the system's ability to perform simultaneous cleaning operations or to more efficiently cover complex spatial configurations. US patent 6789755 describes a livestock enclosure washing system comprising a mobile cart on which is arranged a single adjustable articulated arm, configured to rotate around the cart and actuate a spray nozzle, which limits the versatility of the system in terms of the simultaneous distribution of multiple cleaning elements or adaptation to more complex spatial configurations. None of the documents found support a versatile and safe device like the one in the invention. DESCRIPTION OF THE INVENTION The invention relates to a versatile cleaning device, configured to move through narrow spaces and also to operate in wide areas. The device is adapted to perform cleaning tasks in both low and high areas by deploying an extendable arm and at least one shaft with rotational and lateral movement, on whose branches are arranged nozzles for propelling cleaning fluid. All of this is done while ensuring the stability of the assembly, in order to prevent damage to the device itself, to surrounding facilities, and to nearby people. The problems to be solved are: Having a cleaning device capable of reaching targets far from the device body or difficult to access, and being able to reach them with different fluid jet configurations and different nozzle orientations, from a transport vehicle capable of passing through narrow areas, all without compromising the stability of the assembly. The device comprises a main body, hereinafter referred to as the vehicle, configured to support and move an articulated arm and auxiliary elements. The vehicle comprises: - A motor configured to provide movement to the assembly. - A translation system operationally associated with the motor for the displacement of the assembly. - A control system whose means of operation may be located in the vehicle itself, be remote, or combine both modalities. - Stabilizing means. The articulated arm comprises: - An extendable structure, preferably oriented in the direction of the vehicle's forward movement, configured to perform vertical and longitudinal (front-to-back) movements. - At least one spray tree arranged at the end of said extendable structure, configured to support a plurality of branches in which the cleaning fluid outlet nozzles are located, said nozzles being fed through preferably flexible conduits. - This tree exhibits rotational movement and lateral displacement relative to the vehicle. - In a preferred embodiment, the articulated arm comprises two shafts, each provided with its corresponding branches and nozzles, each shaft being configured to move towards a respective side of the vehicle. - The nozzles, which are suitable for emitting a jet, are configured, either on their own or in conjunction with the geometry of the branches, to allow the regulation of their orientation, as well as to regulate the shape and pressure of the cleaning fluid jet. The vehicle is mounted on a tracked drive system configured to allow its movement. In a preferred embodiment, this system is a tracked vehicle. In a preferred embodiment, the drive system is width-adjustable, configured to vary the distance between its ground contact points. In the case of an embodiment where the translation system comprises a tracked carriage, this width variation is achieved by increasing or decreasing the spacing between the tracks. To this end, the system includes width adjustment means, which may be, but are not limited to, hydraulic, mechanical, or any other equivalent means known in the prior art, such as, among others, linear electric actuators, screw and nut systems, telescopic mechanisms, locking sliding guides, pneumatic cylinders, rack and pinion systems, articulated connecting rod mechanisms, or deformable parallelogram-type extendable structures. The control systems allow for both driving the vehicle, either manually or autonomously through navigation systems, and the operation of the articulated arm, the shafts, and the cleaning fluid jets. The stabilizing means include, in addition to the option of varying the width of the translation system, longitudinal extenders that are movable between an extended position, in which they increase the support base of the vehicle, and a retracted position. These longitudinal extenders, positioned at least at the front and preferably also at the rear of the vehicle, ideally feature a wheel at their end and are suitable for widening the vehicle's base of support, improving its front stability and, where applicable, its rear stability as well. When not in use, the extenders are stored within the vehicle and can be folded, retracted, telescopic, or utilize any other extension and retraction mechanism. The articulated arm comprises a support that connects it to the vehicle and an extendable structure attached at one end to the support. In a preferred embodiment, this first end of the extendable structure attached to the support defines an articulation point that allows the extendable structure to pivot about the support. We will define as support any element or piece suitable for joining the extendable structure and the vehicle. In a preferred embodiment, the articulated arm comprises an extendable structure, preferably of a telescopic type, which incorporates or is associated with an articulated parallelogram mechanism, configured to maintain substantially constant orientation of the element located at its free end during movement of the assembly, preventing unwanted rotation thereof. However, alternatively, the extension or lifting of the arm can be achieved by other equivalent means, such as screw and nut mechanisms, electric linear actuators, hydraulic or pneumatic cylinder systems, sliding mechanisms or sliding guides, rack and pinion systems, articulated link configurations or scissor-type extendable structures, among others. At the free end of the extendable structure, on the part that extends, at least one spray tree is mounted, although in a preferred embodiment there are two spray trees mounted on the end of the extendable structure. Each shaft exhibits independent rotational and lateral translational movement, so in the case of one shaft as well as two, these displacements can cause asymmetries in the lateral load distribution of the device. In a preferred execution where there are two trees, each of them will be configured to move to a different side. In a preferred embodiment, the lateral displacement of the shafts occurs along a guide arranged on a bar comprising a mechanism such as, among others, a spindle mechanism, electric linear actuator, hydraulic or pneumatic cylinder systems, sliding mechanisms or sliding guides, rack and pinion systems, articulated link configurations or scissor-type extendable structures or any other. In a preferred embodiment, the rotational movement of each shaft is obtained by means of a motor, preferably a servomotor. However, this rotation can also be obtained by other equivalent drive means, such as an electric geared motor, a hydraulic motor, a pneumatic motor, or a rotary actuator, or by means of mechanical transmission systems, such as belt and pulley drives, chain and sprockets, gears, ring and pinion, worm and wheel, drive shafts, connecting rod and crank mechanisms, cams, friction rollers, or any other suitable solution for imparting a rotary motion to the shaft. Each shaft has a series of branches that move in unison with the shaft. In a preferred embodiment, these branches are located at the top and bottom of the shaft. The nozzles are supported on these branches and are adjustable. During operation, the articulated arm pivots relative to the vehicle and can be extended longitudinally via its extendable structure, allowing the shaft(s) at its free end to be positioned at different distances and heights relative to the vehicle. The articulated parallelogram mechanism associated with the arm ensures that, during these lifting, lowering, and extension movements, the orientation of the arm remains substantially constant, allowing for controlled application of the cleaning fluid. Additionally, the shaft(s) at its end are configured to move laterally independently; this movement does not need to be symmetrical, and a single shaft structure can even be used. This independent lateral movement capability introduces variations in the mass distribution and the forces applied to the vehicle. As a result of the arm extension and the lateral displacement of the axles, the center of gravity of the assembly shifts, increasing the rollover moments both longitudinally and laterally. Furthermore, the application of pressurized cleaning fluid generates reaction forces on the arm, which can translate into additional stresses that increase the risk of instability. To compensate for these effects, the vehicle includes a stabilization system configured to operate on both axles. By widening the translation system, lateral stability is increased. Furthermore, the front and / or rear extension elements increase the longitudinal support base. This configuration allows the vehicle to maintain stability during arm deployment and operation, even in asymmetrical working configurations and under high-pressure fluid application conditions, enabling the use of high pressures without recoil forces compromising the device's safety or operability. Consistent with the above, the means of control include: - Controls to increase or decrease the pressure of the cleaning fluid jet with maximum and minimum pressure limiters. These controls can be operated simultaneously for all nozzles or individually for each one. - Controls for extending and folding the extendable structure which, optionally, may include means of stability control limiting the travel of the articulated arm in case of risk of tipping over. - Controls for rotating the trees that can be operated together for both or individually. - Controls for raising and lowering the extendable structure which, optionally, may include stability control means limiting the lifting stroke of the articulated arm in case the stability of the device is compromised. - Controls for guided operation of the device, which may be manual or include automatic navigation elements. This control system prevents instability by automatically limiting arm movements based on the assembly's configuration. To achieve this, the control devices can be linked to sensors configured to determine stability parameters such as tilt, acceleration, center of gravity position, and applied forces. In a possible implementation, the control means can automatically adjust stability parameters, making it possible for the base of the device to be configured automatically, with the separation of the elements of the translation train or the use of the extenders depending on the possible instability during its use, all in accordance with established parameters or through the use of artificial intelligence. On the other hand, the fluid intake can be from a tank that travels with the vehicle, from a tank located nearby, or from a fluid distribution network. The device may include a cleaning product reservoir to mix them with the cleaning fluid in a controlled manner. BRIEF DESCRIPTION OF THE FIGURES Figure 1 depicts the device (1), showing the vehicle (2) and the articulated arm (3). The vehicle includes the translation system (4), in this case a tracked vehicle, and the control area (5), which is integrated into the vehicle. The articulated arm (3) includes the support (6) that holds the extendable structure (7), which in this case comprises an articulated parallelogram mechanism. At the free end of the extendable structure, in its extendable section, two shafts (8) with branches (11) are visible. Each shaft is associated with a pivot element (9) and a lateral displacement bar (10). A longitudinal extender (12) is also visible; in this case, the aforementioned one is in its operating position. DESCRIPTION OF A WAY OF CARRYING OUT THE INVENTION The following describes one embodiment of the invention with reference to the accompanying figures, without implying any limitation of its scope. In a preferred embodiment, the cleaning device comprises a vehicle (2) equipped with a translation system (4), in this case configured as a tracked vehicle, which allows the assembly to move across the work surface. The vehicle also incorporates a control area (5), which may be located on the vehicle itself or operated remotely. An articulated arm (3) is mounted on the vehicle (2), comprising a support (6) structurally attached to the vehicle, and an extendable structure (7) coupled to said support by means of an articulation point that allows the assembly to pivot. In this embodiment, the extendable structure (7) is of the telescopic type and incorporates an articulated parallelogram mechanism, configured to maintain substantially constant orientation of the element located at its free end during lifting, lowering, and extension movements. In this embodiment, two spray shafts (8) are arranged at the free end of the extendable structure (7), although a different number could be arranged in other embodiments. Each shaft (8) is associated with a pivot element (9) that allows it to rotate around its longitudinal axis, and with a bar (10) that includes a lateral displacement mechanism that allows its lateral translation relative to the vehicle. This lateral displacement is independent for each shaft, so that symmetrical or asymmetrical configurations can be adopted depending on the cleaning requirements. Each shaft (8) comprises a plurality of branches distributed along its length, said branches being configured to support one or more cleaning fluid delivery nozzles. The nozzles are preferably adjustable and are fed through fluid conduits, allowing adjustment of both the direction and characteristics of the cleaning jet. During operation, the vehicle (2) moves to the work area and positions itself in a suitable location. The nozzles are configured according to the required angle and the desired spray pattern. The articulated arm (3) is then actuated by the corresponding control means, causing it to rise and extend via the extendable structure (7). The articulated parallelogram mechanism ensures that, during these movements, the orientation of the shafts (8) and the nozzles remains substantially constant. Once the arm is deployed, the arbors (8) can rotate and move laterally independently, allowing the nozzles to be positioned in hard-to-reach areas or the system configuration to be adapted to the surrounding geometry. This independent movement capability allows operation in both symmetrical and asymmetrical configurations. As a result of the extension of the articulated arm (3), the lateral displacement of the shafts (8), and the action of the pressurized cleaning fluid, stresses and moments are generated that tend to destabilize the assembly. In particular, a displacement of the center of gravity occurs, along with the appearance of overturning moments in both the longitudinal and lateral directions, as well as reaction forces from the fluid jet. To compensate for these effects, the vehicle (2) comprises stabilizing means. In this embodiment, these means include, on the one hand, the ability to vary the width of the drive system (4) by increasing the spacing between the tracks, thereby increasing the lateral stability of the assembly, and, on the other hand, extenders arranged at least at the front and, preferably, also at the rear of the vehicle. These extenders are deployed during operation to increase the vehicle's longitudinal footprint and may include ground contact elements such as wheels or supports. Thanks to this configuration, the device can operate with the arm extended, even in asymmetrical configurations and under high-pressure fluid application conditions, without the jet reaction forces compromising the stability of the assembly. Once the cleaning operation is completed, the trees (8) retract laterally, the articulated arm (3) folds back by contracting the extendable structure (7), and the stabilizing means return to their resting position, allowing the vehicle to move to a new work area.

Claims

1. Cleaning robot, comprising a vehicle (2) equipped with a translation system (4) and an articulated arm (3) mounted on said vehicle (2), characterized in that: - the articulated arm (3) comprises a support (6) attached to the vehicle and an extendable structure (7), said extendable structure (7) being attached to the support (6).- at least one spray shaft disposed at the free end of the extendable structure (7), moving integrally with it, said shaft (8) comprising an elongated trunk defining the longitudinal axis of the shaft and branches (11), being configured to rotate about said longitudinal axis and to move laterally with respect to the vehicle (2), further comprising cleaning fluid propulsion nozzles disposed in said branches and configured to emit a jet of said fluid; - the vehicle (2) comprises stabilizing means configured to compensate for the tipping moments generated during the extension of the articulated arm (3) and in that the system is configured to operate with symmetrical or asymmetrical configurations of the shaft (8) or spray shafts.

2. Cleaning robot according to claim 1, characterized in that the stabilizing means comprise mechanisms configured to increase or decrease the width of the translation system (4).

3. A cleaning robot according to claim 1 or 2, characterized in that the stabilizing means comprise longitudinal extenders (12) configured to adopt a deployed position, in which they increase the vehicle's support base, and a retracted position.

4. A cleaning robot according to any of the preceding claims, characterized in that it comprises two spray shafts (8).

5. A cleaning robot according to claim 4, characterized in that each shaft (8) is configured to move laterally independently toward a respective side of the vehicle (2).

6. A cleaning robot according to any of the preceding claims, characterized in that the nozzles are orientable.

7. A cleaning robot according to any of the preceding claims, characterized in that it comprises control means configured to control the articulated arm (3), the movement of the vehicle (2), and / or the operation of the nozzles. 8.A cleaning robot according to claim 7, characterized in that the control means comprise movement limiters for the articulated arm (3) based on the stability of the assembly.

9. A cleaning robot according to any of claims 7 and 8, characterized in that the control means are associated with sensors configured for determining stability parameters of the assembly.

10. A cleaning robot according to any of the preceding claims, characterized in that it comprises a tank for cleaning products and a system for mixing such products with the cleaning fluid.