A cleaning device and method

Abstract

This invention relates to a cleaning device and method, comprising: a supply unit for providing liquid and gas required for cleaning; a washing and care unit disposed at the lower part of the supply unit, with washing tentacles on both sides for cleaning items; and a discharge unit disposed at the lower part of the washing and care unit for discharging waste liquid generated by the washing and care unit. The washing tentacles comprise: shape memory alloy wires; an elastic fiber layer covering the shape memory alloy wires; and a medical-grade silicone layer covering the elastic fiber layer. The cleaning device of this invention allows the washing tentacles to adaptively bend and conform to the complex contours of the objects being cleaned, such as curved surfaces and irregular shapes, covering dead angles that are difficult to reach with conventional cleaning structures, significantly improving cleaning cleanliness and coverage. Furthermore, it can precisely control the washing posture and position of the tentacles to ensure alignment with the area to be cleaned, improving cleaning accuracy and efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning apparatus technology, and more particularly to a cleaning apparatus and method. Background Technology

[0002] Existing cleaning devices use cleaning rods made of a single rigid material such as plastic or metal. While these provide some support, they cannot adapt to the curved surfaces, irregular shapes, or narrow internal cavities of the objects being cleaned, making it difficult to reach complex, hard-to-reach areas. This results in low cleaning coverage and poor cleanliness. Furthermore, the rigid material can easily scratch sensitive workpieces such as precision components and medical instruments. Alternatively, [the following can be used]... Flexible cleaning components such as soft rubber and soft brushes, although flexible, lack internal support and posture constraints. During the cleaning process, they are prone to shaking and deforming randomly, making it impossible to achieve precise directional cleaning and resulting in poor targeting. At the same time, flexible bodies are prone to fatigue deformation after repeated deformation, have weak recovery ability, and short service life.

[0003] Therefore, how to solve the problem that rigid cleaning components in cleaning devices cannot clean complex dead corners and that flexible cleaning components cannot accurately target and clean has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This invention provides a cleaning device to solve the problems of rigid cleaning components being unable to clean complex dead corners and flexible cleaning components being unable to accurately and directionally clean.

[0005] This invention provides a cleaning device, comprising: The supply unit is used to provide the liquids and gases required for cleaning. The washing and care unit is located at the lower part of the supply unit, and has washing tentacles on both sides facing inward for washing items; A discharge unit is provided at the lower part of the washing and care unit for discharging the waste liquid generated by the washing and care unit during cleaning. The cabinet is fitted around the supply unit, the washing and care unit and the discharge unit, and provides rigid support for the power unit, the washing and care unit and the discharge unit; The cleaning tentacles include: Shape memory alloy wire; An elastic fiber layer covers the shape memory alloy wire; A medical-grade silicone layer covers the elastic fiber layer.

[0006] In one possible design, the medical silicone layer is provided with capillary pores and micron-sized bumps.

[0007] In one possible design, the shape memory alloy wire is a spirally coiled columnar structure. The shape memory alloy wire has multiple take-up and release lines along its axial direction. One end of each take-up and release line is connected to a motor, the other end is connected to the front end of the shape memory alloy wire, and the middle part is inserted into the shape memory alloy wire. By controlling the rotation of the motor, the take-up and release lines are extended and retracted, thereby realizing the bending deformation of the shape memory alloy wire.

[0008] In one possible design, the shape memory alloy wire is connected to a power source and temperature is controlled by current, which is used for shape matching of the item to be cleaned and mode switching for deep cleaning.

[0009] In one possible design, the front end of the cleaning tentacle is equipped with a scanning camera, and the side is equipped with a dirt sensor.

[0010] In one possible design, the supply unit includes: A clean water tank is used to store clean water. Cleaning fluid tank, used to store cleaning fluid; A spray pipe connects the outlet of the clean water tank to the outlet of the cleaning solution tank; An air compressor, the air outlet of which is connected to the clean water tank and the cleaning fluid tank; A tentacle fan is used to provide airflow for the cleaning tentacles; Drying fans are used to provide airflow for drying cleaned items.

[0011] In one possible design, the cabinet includes a nested inner layer and an outer layer, with a receiving cavity formed between the inner and outer layers for the air ducts of the touch fan to supply air to the cleaning touches and the air ducts of the drying fan to supply air into the washing and care unit.

[0012] In one possible design, the emission unit includes: sieve; A receiving cavity is located at the bottom of the screen; The bottom of the storage cavity is provided with a discharge port, which is connected to a discharge pipe.

[0013] In one possible design, it also includes a control unit electrically connected to the air compressor, the solenoid valve, the touch fan, and the drying fan.

[0014] The present invention also provides a cleaning method using the above-mentioned cleaning apparatus, the cleaning method comprising the following steps: S1: Place the items to be cleaned into the washing and care unit; S2: The supply unit sprays cleaning fluid onto the surface of the items to be cleaned; S3: The supply unit ventilates the cleaning tentacles to straighten them. The cleaning tentacles then adjust themselves according to the shape of the items to be cleaned, insert themselves into the items, and rub against them to clean them. S4: The supply unit sprays clean water onto the surface of the items to be cleaned, rinsing the items clean, and the wastewater generated during rinsing is discharged through the discharge unit. S5: The supply unit sends air to the items to be cleaned, drying the items to be cleaned.

[0015] The beneficial effects of this invention are as follows: The cleaning device of this invention employs a three-layer composite structure for the cleaning tentacles. The inner layer, a shape memory alloy wire, achieves precise straightening and positioning under airflow, accurately controlling the cleaning posture and application position of the tentacles to ensure alignment with the area to be cleaned, thus improving cleaning accuracy and efficiency. The middle layer, made of elastic fibers, possesses excellent elastic deformation capabilities, allowing the tentacles to adaptively bend and conform to the complex contours of the objects being cleaned, such as curved surfaces and irregular shapes, covering blind spots that are difficult to reach with conventional cleaning structures, significantly improving cleaning cleanliness and coverage. The outer layer is made of medical-grade silicone, which is soft, chemically stable, and free from scratches, corrosion, and contamination, making it safe for cleaning sensitive objects such as precision components and medical instruments. The three-layer composite structure has complementary mechanical properties: the shape memory alloy wire provides shape support, the elastic fibers ensure deformation recovery, and the outer silicone layer provides wear-resistant protection. The tentacles are not prone to fatigue breakage after repeated bending and deformation, extending their service life. Furthermore, positioning of the shape memory alloy wires is achieved solely through airflow, combined with the adaptive deformation of the elastic fibers, eliminating the need for complex transmission components, reducing the structural complexity and failure risk of the device, and improving the stability of the cleaning operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a cleaning device; Figure 2 This is a schematic diagram of the supply unit in a cleaning device; Figure 3 This is a schematic diagram of the washing and care unit in a cleaning device; Figure 4 This is a schematic diagram of the structure of an arc plate in a cleaning device; Figure 5 This is a schematic diagram of the discharge unit in a cleaning device; Figure 6 This is a schematic diagram of a cleaning device for cleaning tentacles. Figure 7 This is a partially enlarged schematic diagram of a cleaning device used for cleaning tentacles; Figure 8 This is a schematic diagram of the overall structure of a cleaning device where the conveying unit is located inside a cabinet. Figure 9This is a schematic diagram of another motion state of a cleaning device where the conveying unit is located inside the cabinet. Figure 10 yes Figure 9 A diagram from another perspective; Figure 11 This is a schematic diagram of another motion state of the conveying unit in a cleaning device; Figure 12 This is a schematic diagram of another motion state of the conveying unit in a cleaning device; Figure 13 This is a schematic diagram of another motion state of the conveying unit in a cleaning device; Figure 14 This is a partially enlarged schematic diagram of another motion state of the conveying unit in a cleaning device; Figure 15 This is a schematic diagram of a cleaning device in which the front panel is in a retracted state. Figure 16 This is a schematic diagram of a cleaning device with the front panel in a raised state. Figure 17 This is a schematic diagram of the front panel in a cleaning device; Figure 18 This is a schematic diagram of the assembly of the front panel in a cleaning device.

[0017] In the attached diagram: 1. Supply unit; 11. Clean water tank; 12. Cleaning fluid tank; 13. Spray pipe; 14. Air compressor; 15. Hand-held fan; 16. Drying fan; 17. Solenoid valve; 18. Check valve; 2. Washing and care unit; 21. Arc plate; 22. Spray nozzle; 3. Discharge unit; 31. Screen; 32. Discharge port; 33. Discharge pipe; 4. Cabinet; 41. First side wall; 42. Second side wall; 43. Third side wall; 44. Fourth side wall; 45. Air outlet; 46. Cabinet door; 5. 51. Cleaning tentacles; 53. Scanning camera; 54. Memory alloy wire; 55. Elastic fiber layer; 56. Medical silicone layer; 57. Capillary through-hole; 58. Micron-level protrusions; 59. Take-up and untake-down cable; 6. Motor; 70. Control unit; 71. Conveying unit; 72. Conveying plate; 73. Transmission shaft; 74. Arc rod; 75. Support rod; 76. Electric cylinder; 77. Level; 78. First side plate; 79. Second side plate; 80. Tail plate; 81. Front plate; 82. Cam; 83. Limiting rod; 84. Pin hole. Detailed Implementation

[0018] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figure 1-18 This invention provides a cleaning device, comprising: a supply unit 1, a washing and care unit 2, a discharge unit 3, and a cabinet 4. The supply unit 1 provides the washing and care unit 2 with the liquid and gas required for cleaning. The washing and care unit 2 is located at the lower part of the supply unit 1, with cleaning tentacles 5 on both sides for cleaning items. Preferably, there are 126 cleaning tentacles 5 evenly distributed on both sides, each deep cleaning tentacle consisting of a hollow rubber hose with a diameter of 3mm and 50 air vents with a diameter of 0.1mm. The discharge unit 3 is located at the lower part of the washing and care unit 2 and is used to discharge the waste liquid generated during cleaning by the washing and care unit 2. The cabinet 4 is fitted around the supply unit 1, the washing and care unit 2, and the discharge unit 3, and provides rigid support for the power unit 1, the washing and care unit 2, and the discharge unit 3.

[0020] In practice, when no air pressure passes through the cleaning tentacle 5, it will droop due to gravity, making it easy for users to put in or take out items. When air pressure passes through the cleaning tentacle 5, it will straighten and vibrate strongly, allowing the tentacle to enter the item to be cleaned, such as a car engine or pet hair, for a deep clean. For pets, in addition to deep cleaning, the cleaning tentacle 5 can also massage them. Because the cleaning tentacle 5 is made of soft rubber, it will not cause harm to items or pets.

[0021] Specifically, the supply unit 1 includes: a clean water tank 11, a cleaning liquid tank 12, a spray pipe 13, and an air compressor 14. The clean water tank 11 is used to store clean water; the cleaning liquid tank 12 is used to store cleaning liquid; the spray pipe 13 connects the outlets of the clean water tank 11 and the cleaning liquid tank 12; the air outlet of the air compressor 14 is connected to the clean water tank 11 and the cleaning liquid tank 12 to provide compressed air, thereby generating pressure in the clean water tank 11 and the cleaning liquid tank 12, thereby forcing the liquid to spray, forming a high-pressure spray, and forming mist-like water droplets sprayed onto the surface of the item to be cleaned, which can evenly wet the surface of the item to be cleaned.

[0022] Specifically, the supply unit 1 further includes a spare tank, which can be used to store clean water or cleaning fluid. The type of cleaning fluid stored in the spare tank can be different from the cleaning fluid in the cleaning fluid tank 12, used for cleaning different types of items, or used to distinguish between different cleaning media used for preliminary cleaning and secondary cleaning. The spare tank can be connected to the air outlet of the air compressor.

[0023] Specifically, the supply unit 1 further includes: a touch fan 15, a drying fan 16, a solenoid valve 17, and a one-way valve 18. The touch fan 15 provides airflow to the cleaning tentacles 5, straightening them. The drying fan 16 provides drying airflow to the cleaned items. Preferably, there are two touch fans 15 and two drying fans 16. The solenoid valve 17 is located at the outlet and inlet of the clean water tank 11, the cleaning liquid tank 12, and the spare tank, as well as the outlet of the air compressor 14, to control the entry and exit of liquid or gas and to stop the entry and exit. The one-way valve 18 is located at the outlet of the clean water tank 11 and the cleaning liquid tank 12 to prevent liquid in the washing and care unit 2 from flowing back into the clean water tank 11 and the cleaning liquid tank 12.

[0024] Specifically, the cabinet 4 includes an inner layer and an outer layer that are nested together. A receiving cavity is formed between the inner layer and the outer layer to form an air duct for the touch fan 15 to supply air to the cleaning touch 5, and an air duct for the drying fan 16 to supply air to the washing and care unit 2.

[0025] Specifically, the inner layer includes a first sidewall 41, a second sidewall 42, a third sidewall 43, and a fourth sidewall 44 connected in sequence. The first sidewall 41 and the third sidewall 43 are each provided with an air inlet for sending the drying airflow from the drying fan 16 into the washing and care unit 2. The second sidewall 42 and the fourth sidewall 44 of the inner layer are each provided with a cleaning handle 5. An air outlet 45 is provided between adjacent sidewalls of the inner layer. Preferably, if the cabinet 4 has a rectangular structure, then the number of air outlets 45 is 4.

[0026] In practice, the cleaning liquid tank 12 sprays cleaning liquid into the washing and care unit 2 through the spray pipe 13, so that the surface of the item to be cleaned is evenly covered with cleaning liquid. Two tentacle fans 15 enter the cleaning tentacles 5 through the air ducts formed by the second side wall 42 and the outer layer, and the fourth side wall 44 and the outer layer, respectively. The cleaning tentacles 5 straighten under the action of airflow and generate strong vibrations, making full frictional contact with the surface of the item to be cleaned, thereby achieving surface cleaning. Furthermore, the cleaning tentacles 5 can also extend into the interior of the item to be cleaned, thereby cleaning the interior. After cleaning, the tentacle fans 15 stop blowing air, and the cleaning tentacles 5 flexibly bend and hang down under the action of gravity. The clean water tank 11 sprays clean water into the washing and care unit 2 through the spray pipe 13, rinsing the surface of the item to be cleaned. Turn on the drying fan 16. The airflow generated by the two drying fans 16 enters the air duct formed by the first side wall 41 and the outer layer, and the third side wall 43 and the outer layer. Then it enters the washing and care unit 2 through the air inlet to dry the cleaned items. The dried airflow is discharged through the air outlet 45.

[0027] Specifically, the front of the cabinet 4 is equipped with a cabinet door 46, which has a viewing window, a handle, and an operating hole. The handle facilitates opening the cabinet door 46, and the viewing window allows for observation of the status of the items to be cleaned inside the washing unit 2, as well as the cleaning process and whether the items are clean. When cleaning a pet, the pet can be soothed through the operating hole, and the pet can also stick its head out through the operating hole to prevent it from being frightened.

[0028] Specifically, the top of the washing and care unit 2 is an arc-shaped plate 21, on which linearly arranged spray nozzles 22 are provided, and the spray nozzles 22 are connected to the spray pipe 13. Preferably, the spray nozzles 22 are distributed in a straight line along the arc curvature of the arc plate 21. With this design, the liquid sprayed from the spray nozzles 22 is evenly sprayed inward along the arc, which is more concentrated on the surface of the item to be cleaned, improving the utilization efficiency of the cleaning liquid and water, and can evenly wet the surface of the item to be cleaned, avoiding spraying from a position far away from the item to be cleaned, thus avoiding liquid waste.

[0029] Specifically, the discharge unit 3 includes a screen 31 and a receiving cavity located at the bottom of the screen 31. The bottom of the receiving cavity is provided with a discharge port 32, which is connected to a discharge pipe 33. The cleaning liquid and water sprayed during cleaning eventually pass through the screen 31 into the receiving cavity, and then through the discharge port into the discharge pipe 33, from which they are discharged.

[0030] Specifically, the cleaning device also includes a control unit 6, which is electrically connected to the air compressor 14, the solenoid valve 17, the touch fan 15, and the drying fan 16. The control unit 6 is used to control the opening and closing of the air compressor 14, the solenoid valve 17, the touch fan 15, and the drying fan 16.

[0031] Specifically, the cleaning device also includes a conveying unit 7, which comprises a conveying plate 71, a conveying shaft 72, and two arc-shaped rods 73. The two arc-shaped rods 73 are located on both sides of the conveying plate 71, with one end of each rod 73 rotatably connected to the conveying plate 71 and the other end fixedly connected to the conveying shaft 72. A support rod 74 is fixedly connected between the two arc-shaped rods 73. Two ends of an electric cylinder 75 are rotatably connected to the support rod 74 and the conveying plate 71, respectively. Preferably, the electric cylinder 75 includes a cylinder barrel and a push rod. The end of the cylinder barrel is rotatably connected to the support rod 74, and the push rod is rotatably connected to one end of the conveying plate 71 via a connector. A level 76 is mounted on the conveying plate 71, and the control unit 6 is electrically connected to the level 76, the motor, and the electric cylinder 75. The conveying plate 71 is used to place items to be cleaned. The rotation of the conveying shaft 72 drives the arc-shaped rods 73 on both sides to move, enabling the conveying plate 71 to send the items to be cleaned into the washing and care unit 2 and to send the cleaned and dried items to the outside of the washing and care unit 2. Preferably, the transmission shaft 72 is rotatably connected to the cabinet body 4, and one end is connected to a motor. The two ends of the transmission shaft 72 are rotatably connected to the second side wall 42 and the fourth side wall 44, respectively, and the transmission shaft 72 is installed inside the cabinet body near the cabinet door 46.

[0032] In practice, the cabinet door 46 is opened, and the conveying unit 7 is adjusted to its initial state, i.e., the conveying plate 71 extends out of the cabinet door 46. The items to be cleaned are placed on the conveying plate 71, and the motor is turned on. The motor drives the transmission shaft 72 to rotate clockwise. The transmission shaft 72 simultaneously drives the two arc rods 73 to rotate clockwise. The arc rods 73 drive the conveying plate 71 to move upward and closer to the cabinet door 46. At the same time, the level instrument 76 detects the levelness of the conveying plate 71 and transmits it to the control unit 6. The control unit 6 controls the extension length of the push rod of the electric cylinder 75 to ensure that the conveying plate 71 remains level during its movement.

[0033] It should be noted that the electric cylinder 75 and the motor are waterproofed. On the one hand, during the cleaning process, the extension length of the push rod of the electric cylinder 75 can be adjusted. Preferably, the push rod is extended first and then shortened, and the conveyor plate 71 is in an arc-shaped oscillating motion. All surfaces, corners, and crevices of the items to be cleaned are alternately facing the spray or hot air, ensuring thorough cleaning, more even drying, and significantly improved cleanliness and dryness. On the other hand, during the drying process, the items to be cleaned are subjected to slight centrifugal force and inertial force during the arc-shaped oscillation, making it easier for surface water droplets and impurities to detach. The drying stage is faster, shortening the drying time, improving efficiency, and reducing energy consumption.

[0034] It should be noted that when the conveyor plate 71 is located outside the cabinet, i.e., when the items to be cleaned are placed on it, the curved rod 73 bends downwards and protrudes upwards in the middle. This design raises the bottom of the cabinet door 46, meaning the bottom of the cabinet door 46 is higher than the horizontal height of the conveyor shaft 72 and both ends of the curved rod 73. Moreover, the conveyor plate 71 moves in an arc upwards and then downwards. The linkage between the curved rod 73 and the electric cylinder 75 allows for the raising of the bottom of the cabinet door 46, ensuring that the conveyor plate 71 does not scrape, bump, or jam the cabinet door 46 throughout its swing. The design of raising the bottom of the cabinet door 46 shifts the actual sealing area of ​​the cabinet door 46 upwards, resulting in a shorter and more regular sealing surface. This effectively prevents water from the inside of the cabinet 4 from being carried out of the cabinet 4. Drainage naturally forms below the outlet of the cabinet 4, preventing cleaning water, debris, and impurities from accumulating on the cabinet door 46. Furthermore, when the conveyor plate 71 is in the state of placing items to be cleaned, the entire conveyor plate 71 extends outside the cabinet door 46, and the front end can be completely open and unobstructed, making it convenient to pick up and put down items. The arc-shaped rod 73 and the electric cylinder 75 are located close to the cabinet door 46. Only half of the arc-shaped rod 73 extends out of the cabinet door 46. That is to say, the arc-shaped rod 73 and the electric cylinder 75 are concentrated on the inner side of the conveyor plate 71. There are no connecting rods, cylinders, or rotating shafts on the outer side of the conveyor plate 71, making loading and unloading smoother, providing a larger operating space, and adapting to automated loading and unloading. The structure is safer and cleaner, preventing hand pinching, dust, and water splashing.

[0035] The conveying unit 7 is equipped with a first side plate 77, a second side plate 78, a tail plate 79, and a front plate 80. The first side plate 77 and the second side plate 78 each include a hinged horizontal bar and a vertical bar. The horizontal bar is rotatably connected to the tail plate 79, and the tail plate 79 is rotatably connected to the rear side of the conveying plate 71. The end of the arc-shaped rod 73 away from the conveying shaft 72 is provided with a cam 81, and the lower part of the vertical bar is provided with a limiting rod 82. As the arc-shaped rod 73 drives the conveying plate 71 to move outward from inside the cabinet door 46, at the same time, the arc-shaped rod 73 drives the cam 81 to push the limiting rod 82 to move counterclockwise, and the vertical bar changes from a horizontal state to a vertical state. The first side plate 77 and the second side plate 78 rise, which in turn drives the tail plate 79 to rise, thereby limiting the items to be cleaned, especially preventing pets from escaping from around the conveying plate 71. Since the tail plate 79 is still in an inclined state at the end of its stroke, as the arc-shaped rod 73 drives the conveyor plate 71 to move from the outside of the cabinet door 46 inward, the cam 81 releases its limiting effect on the limiting rod 82. Under the gravity of the tail plate 79, the first side plate 77, the second side plate 78, and the tail plate 79 change from a raised state to a horizontally retracted state, avoiding interference with the cleaning handle 5. Preferably, the outer periphery of the cam 81 is provided with an arc-shaped groove, and the limiting rod 82 is embedded in the groove. With this design, when the cam 81 rotates, the limiting rod 82 can rotate along the groove, thereby driving the first side plate 77, the second side plate 78, and the tail plate 79 to rise or fall. The front plate 80 has two straight pins on its bottom sides, and the front end of the conveyor plate 71 has pin holes 83. The pin holes 83 are connected circular and straight. In use, first insert the pins of the front plate 80 into the circular pin holes 83 to release the restriction. Place the front plate 80 horizontally on the conveyor plate 71, place the item to be cleaned or the pet on the conveyor plate 71, and then insert the pins of the front plate 80 into the straight pin holes 83. Since the straight pins are vertical, the front plate 80 can be made to stand up, thus limiting the front side of the item to be cleaned or the pet. The front plate 80 includes multiple parallel rods and connecting rods. The connecting rods are located on both sides of the parallel rods, and the connecting rods between two adjacent parallel rods are all arc-shaped. With this design, when the front plate 80 is placed horizontally on the conveyor plate 71, the parallel rods of the front plate 80 are exactly located in the gap between two adjacent rods in the conveyor plate 71, so that the upper surface of the conveyor plate 71 remains flat. By setting a first side plate 77, a second side plate 78, a tail plate 79 and a front plate 80 on the conveyor unit 7, it is possible to effectively prevent the items to be cleaned from falling from the sides of the conveyor plate 71 during the process of transporting the items to be cleaned into the cabinet 4, especially preventing pets from escaping from the sides.

[0036] It should be noted that the conveyor unit 7 is used to send the items to be cleaned into the washing and care unit 2. On the one hand, the conveyor plate 71 remains horizontal throughout the entire conveying process, which can smoothly convey the items to be cleaned and effectively prevent the items to be cleaned from tilting and falling. On the other hand, by simply controlling the motor, the conveyor shaft 72 can be rotated to transport the items to be cleaned from the outside of the cabinet door 46 into the washing and care unit 2. The operation is simple and convenient and has a high degree of automation.

[0037] Specifically, the front end of the cleaning tentacle 5 is equipped with a scanning camera 51, and the side is equipped with a dirt sensor. The front scanning camera 51 can move into the area to be cleaned with the tentacle, collect images in real time, and intuitively locate the position and distribution of dirt, accurately locking onto hidden dirt areas such as blind corners and crevices, avoiding missed cleaning and inadequate cleaning caused by the lack of visual guidance and blind operation in traditional cleaning. The side dirt sensor can detect the degree of dirt and the amount of residue online in real time, and feed the signal back to the control unit 6, so that the device can adaptively adjust the cleaning intensity, time and trajectory according to the actual dirt state, avoiding both insufficient cleaning and over-cleaning that could damage objects. Furthermore, the scanning camera 51 is responsible for spatial positioning and shape recognition, while the dirt sensor is responsible for quantifying the degree of dirt. The two complement each other and cross-verify, greatly improving the accuracy and stability of dirt recognition and reducing the error caused by environmental or occlusion interference from a single detection method. Through the closed-loop control of the entire process of scanning positioning - directional cleaning - real-time re-inspection - confirmation of cleanliness, the cleaning quality verification is automatically completed without the need for secondary manual inspection, significantly improving the automation, intelligence level and final cleanliness of the cleaning device. The scanning camera 51 and the dirt sensor are directly integrated into the cleaning tentacles 5. They extend into complex internal cavities and irregular curved surfaces in sync with the cleaning tentacles 5, without adding extra volume or interfering with the cleaning action. They are especially suitable for delicate cleaning scenarios such as narrow spaces, precision components, and medical instruments.

[0038] Specifically, the cleaning hand 5 comprises, from the inside out: a shape memory alloy wire 53, an elastic fiber layer 54, and a medical silicone layer 55. That is, the elastic fiber layer 54 covers the shape memory alloy wire 53, and the medical silicone layer 55 covers the elastic fiber layer 54.

[0039] The medical-grade silicone layer 55 is provided with capillary pores 56 and micron-sized protrusions 57. This design allows the micron-sized protrusions 57 to increase the microscopic contact area between the medical-grade silicone layer 55 and the surface to be cleaned, forming a multi-point micro-friction structure. This structure can efficiently remove stubborn stains, biofilms, and fine impurities adhering to the object's surface, improving cleaning power without scratching the substrate. The capillary pores 56 utilize capillary action to quickly adsorb and guide cleaning fluid or water, allowing the cleaning medium to evenly penetrate between the silicone layer and the cleaning surface, avoiding localized liquid accumulation or dry friction. Simultaneously, it can quickly discharge waste liquid and detached dirt, reducing secondary adhesion. The micron-sized protrusions 57 can slightly embed into tiny gaps, grooves, and other dead-angle areas, working in conjunction with the guiding effect of the capillary pores to achieve rapid dirt removal and timely liquid discharge, solving the problems of traditional smooth silicone layers being prone to slippage and unable to remove deep dirt.

[0040] The shape memory alloy wire 53 is a spirally coiled columnar structure. Multiple take-up and release lines 58 are arranged along the axial direction of the shape memory alloy wire 53. One end of each take-up and release line 58 is connected to a motor 59, and the other end is connected to the front end of the shape memory alloy wire 53. The middle part is inserted into the shape memory alloy wire 53. By controlling the rotation of the motor 59, the take-up and release lines 58 are extended or retracted, thereby achieving the bending deformation of the shape memory alloy wire 53. For example, there are four take-up and release lines 58, arranged circumferentially along the shape memory alloy wire 53. Each take-up and release line 58 is arranged axially along the shape memory alloy wire 53. By controlling the retraction of one of the take-up and release lines 58 by the motor 59, the shape memory alloy wire 53 can be bent in the direction of that take-up and release line 58. The motor 59 is waterproofed and can be covered with a waterproof membrane.

[0041] It should be noted that the cleaning tentacle 5 has an air inlet on the side near the motor 59 for introducing compressed air. The spirally wound cylindrical shape memory alloy wire 53 retains both shape memory and supporting rigidity, while also possessing circumferential uniform deformation capability. It bends smoothly without rigid sharp bends, preventing damage to the wire due to excessive bending and scratching of the outer medical silicone layer 55, significantly improving service life and structural stability. Multiple take-up and release lines 58 arranged along the axial direction can pull the shape memory alloy wire 53 in different directions and stages, precisely controlling the bending of the cleaning tentacle 5 in different directions and with different curvatures. It can actively adapt to complex structures such as complex internal cavities, irregular curved surfaces, and multi-corner pipelines, achieving directional, fixed-point, and controllable deep cleaning, completely solving the problem of inaccurate positioning caused by passive deformation. The forward and reverse rotation of the motor drives the take-up and release lines 58 to extend and retract, achieving active bending deformation. The tentacle posture can be adjusted in real time based on feedback signals from the scanning camera 51 and the dirt sensor, forming a closed-loop control of detection-posture adjustment-cleaning. This significantly enhances intelligence and adaptability compared to traditional purely passive flexible structures. The take-up / delivery wire 58 is inserted into the middle of the shape memory alloy wire, and the tension is evenly distributed along the axis of the cleaning contact 5, avoiding local stress concentration that could lead to wire breakage or deformation failure. It features fast transmission response, low hysteresis, and maintains stable accuracy even after repeated bending operations. The take-up / delivery wire 58 controls the bending of the cleaning contact 5, forming a dual-mode control system with airflow straightening positioning, adapting to the cleaning needs of more complex medical and precision devices. Both the take-up / delivery wire 58 and the shape memory alloy wire 53 are built into the three-layer structure of the cleaning contact 5, without increasing the outer diameter of the contact or protruding from the surface, allowing them to easily enter confined spaces such as narrow and deep cavities. The high degree of structural integration does not interfere with cleaning and inspection operations.

[0042] The shape memory alloy wire 53 is connected to a power source, and its temperature is controlled by current to achieve shape matching with the object to be cleaned and switching between deep cleaning modes. This design allows for precise control of the temperature and phase change of the shape memory alloy wire by adjusting the current, enabling the cleaning probe to adaptively and flexibly conform to the curved surfaces, cavities, corners, and irregular structures of the object to be cleaned, achieving full-contour coverage and completely eliminating cleaning blind spots. Utilizing the temperature-controlled phase change characteristics of the shape memory alloy wire, seamless switching between flexible contour fitting mode and rigid deep cleaning mode can be quickly achieved by switching on and off the power and adjusting the current. Balancing object protection with powerful cleaning, this device adapts to cleaning needs of different materials and levels of dirt. The shape memory alloy wire 53 features rapid temperature-controlled phase change response, continuously adjusting its stiffness. At low temperatures, it maintains flexibility, preventing scratches on the surface of items being cleaned; at high temperatures, it restores its supporting stiffness, working in conjunction with the outer structure to achieve deep cleaning, balancing safety and cleaning power. Current-controlled temperature management facilitates integration with control units, scanning cameras, and dirt sensors, automatically adjusting temperature and deformation based on object shape and dirt levels, achieving fully automated control of the entire cleaning process—from contour matching to mode switching to cleaning operation. The shape memory alloy wire 53 exhibits strong reversibility in phase deformation, maintaining stable deformation accuracy even after repeated temperature control cycles, exhibiting no mechanical wear or fatigue failure, significantly extending the overall lifespan of the cleaning device.

[0043] The present invention also provides a cleaning method using the above-mentioned cleaning apparatus, the cleaning method comprising the following steps: S1: Place the items to be cleaned into the washing and care unit; S2: The supply unit sprays cleaning fluid onto the surface of the items to be cleaned; S3: The supply unit ventilates the cleaning tentacles to straighten them. The cleaning tentacles then adjust themselves according to the shape of the items to be cleaned, insert themselves into the items, and rub against them to clean them. S4: The supply unit sprays clean water onto the surface of the items to be cleaned, rinsing the items clean, and the wastewater generated during rinsing is discharged through the discharge unit. S5: The supply unit sends air to the items to be cleaned, drying the items to be cleaned.

[0044] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to 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 invention.

[0045] 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A cleaning device, characterized in that, include: The supply unit is used to provide the liquids and gases required for cleaning. The washing and care unit is located at the lower part of the supply unit, and has washing tentacles on both sides facing inward for washing items; A discharge unit is provided at the lower part of the washing and care unit for discharging the waste liquid generated by the washing and care unit during cleaning. The cabinet is fitted around the supply unit, the washing and care unit and the discharge unit, and provides rigid support for the power unit, the washing and care unit and the discharge unit; The cleaning tentacles include: Shape memory alloy wire; An elastic fiber layer covers the shape memory alloy wire; A medical-grade silicone layer covers the elastic fiber layer.

2. The cleaning device according to claim 1, characterized in that, The medical silicone layer has capillary pores and micron-sized protrusions.

3. The cleaning device according to claim 1, characterized in that, The shape memory alloy wire is a spirally coiled columnar structure. Multiple take-up and release lines are provided along the axial direction of the shape memory alloy wire. One end of the take-up and release line is connected to a motor, the other end is connected to the front end of the shape memory alloy wire, and the middle part is inserted into the shape memory alloy wire. By controlling the rotation of the motor, the take-up and release lines are driven to extend and retract, thereby realizing the bending deformation of the shape memory alloy wire.

4. The cleaning device according to claim 1, characterized in that, The shape memory alloy wire is connected to a power source and its temperature is controlled by current. It is used for shape matching of the items to be cleaned and for switching between deep cleaning modes.

5. The cleaning device according to claim 1, characterized in that, The front end of the cleaning tentacles is equipped with a scanning camera, and the side is equipped with a dirt sensor.

6. The cleaning apparatus according to any one of claims 1-5, characterized in that, The supply unit includes: A clean water tank is used to store clean water. Cleaning fluid tank, used to store cleaning fluid; A spray pipe connects the outlet of the clean water tank to the outlet of the cleaning solution tank; An air compressor, the air outlet of which is connected to the clean water tank and the cleaning fluid tank; A tentacle fan is used to provide airflow for the cleaning tentacles; Drying fans are used to provide airflow for drying cleaned items.

7. The cleaning apparatus according to any one of claims 1-5, characterized in that, The cabinet includes an inner layer and an outer layer that are nested together, with a cavity formed between the inner layer and the outer layer for the air duct for the touch fan to deliver air to the cleaning touch and the air duct for the drying fan to deliver air into the washing and care unit.

8. The cleaning apparatus according to any one of claims 1-5, characterized in that, The emission unit includes: sieve; A receiving cavity is located at the bottom of the screen; The bottom of the storage cavity is provided with a discharge port, which is connected to a discharge pipe.

9. The cleaning apparatus according to any one of claims 1-5, characterized in that, Also includes: The control unit is electrically connected to the air compressor, the solenoid valve, the hand-held fan, and the drying fan.

10. A cleaning method, employing the cleaning apparatus according to any one of claims 1 to 9, characterized in that, The cleaning method includes the following steps: S1: Place the items to be cleaned into the washing and care unit; S2: The supply unit sprays cleaning fluid onto the surface of the items to be cleaned; S3: The supply unit ventilates the cleaning tentacles to straighten them. The cleaning tentacles then adjust themselves according to the shape of the items to be cleaned, insert themselves into the items, and rub against them to clean them. S4: The supply unit sprays clean water onto the surface of the items to be cleaned, rinsing the items clean, and the wastewater generated during rinsing is discharged through the discharge unit. S5: The supply unit sends air to the items to be cleaned, drying the items to be cleaned.

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