A reciprocating automatic cleaning system

Abstract

The present invention discloses a reciprocating automatic cleaning system, comprising: a trench, which is formed concavely on the ground, and a step portion is formed on the opposite side of the trench; a traction assembly; a robot, which is towed by the traction assembly and reciprocates along the step portion in the trench; the robot comprises: a first frame; a pitch drive assembly; a second frame, which is arranged on the first frame and driven to pitch by the pitch drive assembly; a swing drive assembly; at least one switchable double nozzle, which is arranged on the second frame and driven and swingable by the swing drive assembly, the switchable nozzle comprises a switcher, a high-pressure water nozzle and a spray nozzle, the switcher is connected to a water supply pipeline, and is used to switch the connection between the high-pressure water nozzle or the spray nozzle and the water supply pipeline. The present invention is used to intelligently and efficiently realize the automatic cleaning operation of the vehicle chassis.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic cleaning, and in particular relates to a reciprocating automatic cleaning system. Background Art

[0002] As people's living standards improve, animal husbandry is becoming more and more prosperous. At the same time, with the advancement of science and technology, there are more and more large-scale intensive farms, and the resulting biosafety risks are also getting higher and higher. Therefore, the demand for cleaning and disinfection of transport vehicles in the animal husbandry industry is also increasing.

[0003] According to relevant surveys, about 49.8% of African swine fever outbreaks were caused by live pig transport vehicles, about 45.6% were caused by feeding swill, about 4.1% were caused by contact with wild boars, and 0.5% were caused by poor internal management. Therefore, live pig and feed transport vehicles have become an important way of disease transmission between pig farms.

[0004] During the vehicle disinfection work, it was found that cleaning the chassis of the transport vehicle is a difficult point.

[0005] Traditionally, there are two main ways to clean the chassis of transport vehicles: the first is to manually wet and rinse the cleaning area with a high-pressure water pipe, then manually spray foam cleaning agent to react and soften the dirt on the surface area, and then repeatedly rinse it with a high-pressure water pipe. After the rinse is completed, it is repeatedly sprayed and disinfected with a handheld disinfector; the second is to use a ground spray to clean the vehicle chassis at the entrance of the transport vehicle. These two cleaning processes are labor-intensive, low in cleaning efficiency, and there are also problems with cleaning dead corners. Different cleaning and disinfection methods need to be manually replaced, and the ground spray requires the use of a large number of nozzles, which requires a high-pressure and high-flow water pump to cooperate with it. These will undoubtedly bring operational difficulties to the cleaning personnel, thereby greatly reducing the cleaning efficiency. In addition, the harsh cleaning and disinfection working environment poses a hidden danger to the safety and health of the operators.

[0006] Therefore, there is an urgent need for an automatic chassis cleaning operation method that can replace manual operations, so as to realize automatic cleaning operations intelligently and efficiently and meet different cleaning methods. Summary of the invention

[0007] The purpose of the present invention is to provide a reciprocating automatic cleaning system for solving the problems of high labor intensity, low cleaning efficiency and poor applicability caused by traditional manual cleaning of vehicle chassis, and to realize automatic cleaning operation intelligently and efficiently.

[0008] In order to solve the above technical problems, the present invention proposes the following technical solutions:

[0009] A reciprocating automatic cleaning system, characterized in that it includes: a ditch, which is recessed and formed on the ground, and steps are formed on the opposite sides of the ditch; a traction assembly; a robot, which is pulled by the traction assembly and reciprocates in the ditch along the step; the robot includes: a first frame; a pitch drive assembly; a second frame, which is arranged on the first frame and is driven to pitch by the pitch drive assembly; a swing drive assembly; at least one switchable double nozzle, which is arranged on the second frame and is driven and swingable by the swing drive assembly, the switchable nozzle includes a switch, a high-pressure water nozzle and a spray nozzle, the switch is connected to a water supply pipeline, and is used to switch the connection between the high-pressure water nozzle or the spray nozzle and the water supply pipeline; an electrical control box, used to at least control the movement of the robot.

[0010] In the reciprocating automatic cleaning system as described above, a rotating drive shaft is fixedly disposed on the second frame, and the pitch drive assembly comprises: a pitch motor; and a first power transmission assembly, which is respectively connected to the pitch motor and the rotating drive shaft.

[0011] In the reciprocating automatic cleaning system as described above, the first power transmission assembly is a first sprocket chain assembly, and the pitch motor transmits the torque to the rotating drive shaft through the first sprocket chain assembly.

[0012] In the reciprocating automatic cleaning system as described above, the rotating drive shaft is a water-passing shaft, which is connected to the water supply pipeline and each switchable double nozzle.

[0013] In the reciprocating automatic cleaning system as described above, the swing drive assembly includes: a swing motor; and a second power transmission assembly, which is respectively connected to the swing motor and each switchable double nozzle.

[0014] In the reciprocating automatic cleaning system as described above, at least one switchable double nozzle includes a first switchable double nozzle and a second switchable double nozzle arranged side by side; the second frame is provided with a swinging drive shaft through a bearing, for receiving the power output by the swinging motor; the second power transmission assembly includes: a first bevel gear assembly, which includes a first bevel gear and a second bevel gear meshing with the first bevel gear, the first bevel gear is arranged on the swinging drive shaft, and the second bevel gear is arranged on the first switchable double nozzle; a transmission shaft, on which a third bevel gear and a fourth bevel gear are arranged, the third bevel gear is meshed with the second bevel gear; a second bevel gear assembly, which includes a fifth bevel gear, the fifth bevel gear is arranged on the second switchable double nozzle and meshed with the fourth bevel gear.

[0015] In the reciprocating automatic cleaning system as described above, the first switchable double nozzle and the second switchable double nozzle swing alternately.

[0016] The reciprocating automatic cleaning system as described above comprises: a foam spray head, which is arranged on the first frame and is used to receive a mixture of gas and liquid medicine and spray foam.

[0017] The reciprocating automatic cleaning system as described above further includes: a drag chain support frame, which is arranged in the trench; and a drag chain, which is used to transmit signals to the robot and is carried by the drag chain support frame.

[0018] The reciprocating automatic cleaning system as described above comprises: a walking part, which is arranged at the bottom of the robot.

[0019] Compared with the prior art, the advantages and beneficial effects of the present invention are: the movement of the cleaning robot is automatically controlled by the electric control box, and the traction assembly is controlled to pull the robot to reciprocate along the step portion, so as to realize the automatic control walking of the robot; and by adjusting the pitch of the second frame and the swing of the switchable dual nozzles, multi-angle high-pressure water and spray washing of the vehicle chassis can be realized, so that the nozzle is suitable for various different scenes, and the use scope of the robot is expanded; the robot has a high degree of automation, reduces the amount of manual tasks, has high cleaning efficiency, avoids the harm of harsh cleaning environment to physical health, and has a high user experience.

[0020] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is an overall structural diagram of an embodiment of a reciprocating automatic cleaning system proposed by the present invention;

[0023] Figure 2 for Figure 1 A magnified view of part A;

[0024] Figure 3 for Figure 1 The structure diagram of the robot in the embodiment of the reciprocating automatic cleaning system is shown in FIG, wherein a part of the outer shell forming the appearance is removed;

[0025] Figure 4 for Figure 3 A front view of the robot is shown in FIG.

[0026] Figure 5 for Figure 3A partial structural diagram of the robot is shown in FIG.

[0027] Figure 6 for Figure 5 A front view of the partial structure diagram shown in FIG.

[0028] Figure 7 for Figure 4 The structure diagram of the switchable dual nozzles in the robot is shown in FIG.

[0029] Figure 8 for Figure 7 A cross-sectional view of the switchable dual nozzle is shown in FIG.

[0030] Reference numerals:

[0031] 100-ditch; 110-step part; 120-first travel switch; 200-wire rope driving end; 210-servo motor; 220-reduction motor; 230-first wire rope winding wheel; 240-second wire rope winding wheel; 250-first wire rope guide wheel; 300-robot; 310-first frame; 320-second frame; 321-rotation drive shaft; 330-pitch drive assembly; 331-pitch motor Machine; 332-first sprocket chain assembly; 340'-water supply pipeline; 341'-first water supply pipeline; 342'-second water supply pipeline; 343'-third water supply pipeline; 344'-first water-through rotating shaft; 345'-second water-through rotating shaft; 346'-three-way valve; 340-swing drive assembly; 341-swing motor; 342-second sprocket chain assembly; 343-swing drive shaft; 344-first bevel gear assembly ; 3441-first bevel gear; 3442-second bevel gear; 345-transmission shaft; 3451-third bevel gear; 3452-fourth bevel gear; 346-second bevel gear assembly; 3461-fifth bevel gear; 350-first switchable double nozzle; 351-switcher; 3511-inlet; 3512-first outlet; 3513-second outlet; 3514-steel ball; 352-first nozzle; 353-second Nozzle; 350'-second switchable double nozzle; 360-origin proximity switch; 370-foam nozzle; 371-gas input port; 372-drug input port; 380-travel wheel; 390-guide wheel; 400-drag chain support frame; 410-first support frame; 411-support member; 412-first stainless steel pipe; 413-second stainless steel pipe; 500-drag chain; B / C / D-swivel joint; E-90° elbow. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0033] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0034] In order to realize automatic cleaning of the chassis of the livestock transport vehicle, reduce the amount of manual tasks, improve the cleaning efficiency and be applicable to a variety of different occasions, this embodiment relates to a reciprocating automatic cleaning system, which includes a trench 100, a traction component, a robot 300 and an electric control box. The following will describe the various parts of the reciprocating automatic cleaning system in detail in conjunction with the accompanying drawings. In this embodiment, the electric control box is used for power signals, communication signals, control signals, etc. of the reciprocating automatic cleaning system to realize automatic walking and various actions (such as pitching and swinging) of the robot.

[0035] Embodiment 1

[0036] In order to facilitate the cleaning of the vehicle chassis of the livestock transport vehicle, a trench 100 is formed in the ground. The width of the trench 100 remains basically unchanged, and its length is designed according to the longest length of the vehicle to be cleaned (provided by the customer), so that it can also meet the cleaning needs of short-length vehicles.

[0037] In this embodiment, if Figure 1 and Figure 2 As shown, the trench 100 is a rectangular groove, and steps 110 are formed on the opposite left and right sides of the trench 100 along its length. The robot 300 walks on the step 110 through the traction assembly. The traction assembly of this embodiment includes a driving end and a driven end, specifically a wire rope driving end 200 and a wire rope driven end (not shown). The wire rope driving end 200 includes a servo motor 210, a reducer 220, a first wire rope winding wheel 230, a second wire rope winding wheel 240 and a first wire rope guide wheel 250. The wire rope driven end includes a wire rope winding wheel and a wire rope guide wheel. The wire rope is wound to the first wire rope guide wheel. After the first wire rope winding wheel 230 and the second wire rope upper winding wheel 240 are guided by the first wire rope guide wheel 250 to connect with the robot 300, the wire rope is wound by the third wire rope winding wheel and guided by the second wire rope guide wheel, and the servo motor 210 rotates and drives the reducer 220, which is driven by the shaft to the first wire rope winding wheel 230, thereby controlling the wire rope driving end 200 and the wire rope driven end to pull the robot 300 to reciprocate along the step portion 110. Of course, the traction component can also use other means to pull the robot 300.

[0038] In order to facilitate the signal transmission of the robot 300, Figure 1 and Figure 2 As shown, a drag chain support frame 400 is detachably arranged (for example, fixed by screws) on the step portion 110. The drag chain support frame 400 of this embodiment includes a first support frame 410 and a second support frame symmetrically arranged on the opposite left and right walls of the step portion 110. The structure of the first support frame 410 is used as an example for description. The first support frame 410 includes a plurality of support members 411, a first stainless steel pipe 412 and a second stainless steel pipe 413. The first stainless steel pipe 412 and the second stainless steel pipe 413 are supported by a plurality of support members 411 fixedly installed on the inner wall of the step portion 110, so that the first support frame 410, the second support frame 420 and the plurality of support frames 411 carry the drag chain 500 together.

[0039] In this embodiment, in order to facilitate the movement of the robot 300, as shown in FIG. Figure 3 and Figure 4 As shown, four running wheels 380 are arranged at the bottom of the robot 300. When the robot 300 reciprocates along the step portion 110, the four running wheels 380 contact the upper surface of the step portion 110, that is, the wheel axles of the running wheels 380 are parallel to the upper surface of the step portion 110. In addition, in order to better guide the walking of the robot 300, two guide wheels 390 are arranged on each of the left and right sides of the robot 300. When the robot 300 reciprocates along the step portion 110, the left guide wheel contacts the left side wall of the trench 100 above the left step portion 110, and the right guide wheel contacts the right side wall of the trench 100 above the right step portion 110, that is, the wheel axles of the guide wheels 390 are perpendicular to the wheel axles of the running wheels 380.

[0040] like Figure 2 As shown, in order to limit the movement range of the robot 300 in the trench 100, a first travel switch 120 and a second travel switch (not shown) are respectively installed at both ends of the trench 100. For example, the first travel switch 120 is installed at a position close to the wire rope driving end 200, and the second travel switch is installed at a position close to the wire rope driven end. Figure 3 and Figure 4 As shown, an origin proximity switch 360 is provided on the robot 300 for determining the initial position of the robot. The first travel switch 120 of this embodiment serves as a protection switch to prevent damage to the machine after the origin proximity switch 360 is damaged. After the robot 300 starts working, it moves from the initial position along the step portion 110 toward the driven end of the wire rope. When the second travel switch detects the robot 300, the robot 300 moves away from the driven end of the wire rope toward the driving end of the wire rope, thereby realizing automatic reciprocating motion.

[0041] See also Figures 3 to 8 , the structure of the robot 300 is introduced.

[0042] When cleaning the chassis of the vehicle, the chassis of the livestock transport vehicle is located above the ditch 100 , and the robot 300 cleans the chassis at multiple angles by adjusting the switchable dual nozzles 350 / 350 ′ to different angles.

[0043] Specifically, the robot 300 of this embodiment includes a first frame 310, a second frame 320, a pitch drive assembly 330, a swing drive assembly 340 and at least one switchable dual nozzle.

[0044] The first frame 310 serves as a main frame of the robot 300 and is used to carry various components of the robot 300 .

[0045] The second frame 320 is rotatably set on the first frame 310, and is driven by the pitch driving assembly 330 to achieve the adjustment of its pitch angle, and at least one switchable dual nozzle is set on the second frame 320, so that when the second frame 320 is pitched, each switchable dual nozzle can also be pitched accordingly.

[0046] The pitch drive assembly 330 includes a pitch motor 331, which is used to transmit power to the second frame 320. The first power transmission assembly is a first sprocket chain assembly 332. Specifically, a first sprocket (not marked) is fixedly provided on the output shaft of the pitch motor 331, and a rotating drive shaft 321 is fixedly provided on the second frame 320, a second sprocket (not marked) is fixedly provided on the rotating drive shaft 321, and a chain is sleeved on the first sprocket and the second sprocket. In this embodiment, the positions of the first sprocket and the second sprocket are arranged obliquely, and the output power of the pitch motor 331 is transmitted to the rotating drive shaft 321 through the first sprocket chain assembly 332, so that the pitch motor 331 drives the second frame 320 to achieve pitch.

[0047] In this embodiment, the rotary drive shaft 321 is used to supply water to the switchable dual nozzles disposed on the second frame 320. The rotary drive shaft 321 is a water-passing shaft, one end of which is connected to the inlet of each switchable dual nozzle, and the other end is connected to the water supply pipeline 340'.

[0048] In this embodiment, two switchable dual nozzles are taken as an example for description.

[0049] The two switchable double nozzles include a first switchable double nozzle 350 and a second switchable double nozzle 350'. Two U-shaped slots (not marked) are arranged side by side on the second frame 320. The first switchable double nozzle 350 and the second switchable double nozzle 350' are respectively stuck in the corresponding U-shaped slots. Therefore, when the second frame 320 pitches, the switchable double nozzles 350 and 350' can be driven to pitch at the same time.

[0050] The water supply pipeline 340' includes a first water supply pipeline 341', a second water supply pipeline 342' and a third water supply pipeline 343'. Figure 7 As shown, the first water supply pipeline 341' is connected to one end of the rotating drive shaft 321 through a rotating joint D, and the other end of the rotating drive shaft 321 is connected to one end of the second water supply pipeline 342' through a 90° elbow E, wherein the second water supply pipeline 342' is located below the second frame 320, and the other end of the second water supply pipeline 342' is diverted to the third water supply pipeline 343' through a three-way valve 346', the third water supply pipeline 343' is located in the second frame 320, and one end is connected to the inlet of the first switchable double nozzle 350 through a rotating joint B, and the other end is connected to the inlet of the second switchable double nozzle 350' through a rotating joint C.

[0051] A first water-passing rotating shaft 344' is provided at the inlet of the first switchable double nozzle 350, and the first water-passing rotating shaft 344' is connected to the third water supply pipeline 343' through a rotating joint B; a second water-passing rotating shaft 345' is provided at the inlet of the second switchable double nozzle 350', and the second water-passing rotating shaft 345' is connected to the third water supply pipeline 343' through a rotating joint C.

[0052] In order to realize the swing of the switchable dual nozzles, the swing drive assembly 340 is used. The swing drive assembly 340 of this embodiment includes a swing motor 341 and a second power transmission assembly, which receives the power output by the swing motor 341 and is used to drive the switchable dual nozzles to be swung.

[0053] When there is a switchable double nozzle, for example, there is a first switchable double nozzle 350, the transmission between the swing motor 341 and the first water-passing shaft 344' of the first switchable double nozzle 350 can be in the form of gear-gear, synchronous belt, chain, coupling, worm-worm gear or a combination thereof, wherein the gear can be a spur gear, a helical gear or a bevel gear, etc., without limitation here, as long as the output torque of the swing motor 341 can be transmitted.

[0054] When there are two switchable dual nozzles, in order to achieve the swing synchronization of the two switchable dual nozzles, in this embodiment, a gear-gear method is used to transmit the torque of the swing motor 341.

[0055] like Figures 3 to 6As shown, the second power transmission assembly of this embodiment includes a second sprocket chain assembly 342 and a gear transmission assembly. Specifically, a third sprocket (not marked) is fixedly provided on the output shaft of the swing motor 341, a hollow shaft (not marked) is fixedly provided on the second frame 320, a swing drive shaft 343 is passed through the hollow shaft through a bearing (not shown), and extends into the second frame 320 to achieve concentric rotation with the second frame 320, a fourth sprocket (not marked) is fixedly provided on the swing drive shaft 343, a chain is sleeved on the third sprocket and the fourth sprocket, and the output power of the swing motor 341 is transmitted to the swing drive shaft 343 through the second sprocket chain assembly 342.

[0056] The gear transmission assembly includes a first bevel gear assembly 344, a transmission shaft 345, and a second bevel gear assembly 346. The first bevel gear assembly 344 includes a first bevel gear 3441 and a second bevel gear 3442 that cooperate with each other. The transmission shaft 345 is provided with a third bevel gear 3451 and a fourth bevel gear 3452 that cooperate with the second bevel gear 3442, respectively. The second bevel gear assembly 346 includes a fifth bevel gear 3461 that cooperates with the fourth bevel gear 3452. The first bevel gear 3441 is mounted on one end of the swing drive shaft 343, the second bevel gear 3442 is mounted on the first water-passing rotating shaft 344' of the first switchable double nozzle 350, the third bevel gear 3451 and the fourth bevel gear 3452 are mounted on both ends of the transmission shaft 345, and the fifth bevel gear 3461 is mounted on the second water-passing rotating shaft 345' of the second switchable double nozzle 350'. After the swing drive shaft 343 obtains power from the swing motor 341, it drives the first bevel gear 3441 to rotate and transmit power, and the first bevel gear 3441 is meshed with the second bevel gear 3442. When the first switchable double nozzle 350 swings on a plane perpendicular to the plane where the second frame 320 is located, the second bevel gear 3442 is meshed with the third bevel gear 3451, and the power is transmitted to the fifth bevel gear 3461 meshed with the fourth bevel gear 3452 through the transmission shaft 345, and then the second switchable double nozzle 350' also swings on a plane perpendicular to the plane where the second frame 320 is located, so that when the swing motor 341 outputs power, the two switchable double nozzles 350 and 350' swing alternately on a plane perpendicular to the plane where the second frame 320 is located, so as to achieve washing of the vehicle chassis at various angles.

[0057] Of course, the second power transmission component can also be just the gear transmission component as described above. In this case, the power output by the swing motor 341 can be directly output to the swing drive shaft 343, and the swing drive shaft 343 transmits the power to the water-passing shafts of each switchable double nozzle through the gear transmission component as described above, thereby realizing the synchronous staggered swinging of each switchable double nozzle.

[0058] If there are more than two switchable dual nozzles, the second power transmission assembly as described above is used for power transmission, and the power of the swing drive shaft 343 is transmitted to each water-passing shaft of each switchable dual nozzle, so as to realize synchronous staggered swinging of each nozzle.

[0059] In order to facilitate the switching of dual nozzles, Figure 7 and Figure 8 As shown, the structure of the first switchable double nozzle 350 is taken as an example for explanation. The first switchable double nozzle 350 includes a switch 351, a first nozzle 352 and a second nozzle 353. The switch 351 has an inlet 3511, a first outlet 3512, a second outlet 3513 and a steel ball 3514. The steel ball 3554 blocks the first flow path (i.e., Figure 8 The second flow path between the inlet 3511 and the second outlet 3513 (shown by the solid arrow) or Figure 8 The first nozzle 352 is inserted at the first outlet 3512; the second nozzle 353 is inserted at the second outlet 3513.

[0060] In this embodiment, the switchable first nozzle 352 and the second nozzle 353 need to be able to spray high-pressure water or spray (such as liquid medicine), so the first nozzle 352 is selected as a high-pressure water nozzle and the second nozzle 353 is selected as a spray nozzle.

[0061] Before using the robot, first adjust the first switchable double nozzle 350 and the second switchable double nozzle 350' to the initial position, such as Figure 5 The first switchable double nozzle 350 and the second switchable double nozzle 350' are shown in a relative horizontal position, at which the first nozzle of the two switchable double nozzles is on top and the second nozzle is on the bottom, which can be recorded as 0°. When the first switchable double nozzle 350 is switched, the first nozzle 352 and the second nozzle 353 are switched.

[0062] Specifically, when it is necessary to spray high-pressure water, the high-pressure water pipeline that circulates high-pressure water is first disconnected, and the first switchable dual nozzle 350 is swung clockwise from the initial position to 10°-15° set by the program, so that the steel ball 3514 falls into the second outlet 3513 to block the spray nozzle. At this time, the high-pressure water pipeline is opened, and the water pressure presses the steel ball 3514 to keep it motionless and continue to block the spray nozzle. At this time, high-pressure water is sprayed out from the high-pressure water nozzle, that is, Figure 8 The solid arrow in the figure shows the flow direction. During the subsequent opening of the high-pressure water pipeline, due to the water pressure, no matter how the first switchable dual nozzle 350 is swung, high-pressure water is still sprayed out from the high-pressure water nozzle.

[0063] Similarly, when spraying is required, the spray pipeline is first disconnected, and the first switchable dual nozzle 350 is swung counterclockwise from the initial position to 190°-195° set by the program, so that the steel ball 3514 falls into the first outlet 3512 to block the high-pressure water nozzle, and the spray pipeline is opened. The water pressure presses the steel ball 3514 to keep it still and continue to block the high-pressure water nozzle. At this time, the spray is sprayed out from the spray nozzle, that is, Figure 8 The dotted arrow in the figure shows the flow direction. During the subsequent opening of the spray pipeline, due to the water pressure, no matter how the first switchable double nozzle 350 is swung, spray is still sprayed from the spray nozzle.

[0064] The above-mentioned method of realizing the rotation of the first switchable dual nozzle 350 can be realized automatically or manually, and is not limited here.

[0065] By rotating the first switchable double nozzle 350, the position of the steel ball 3514 is changed so that it is located in the first flow path or the second flow path, and in conjunction with the opening or disconnection of the water path, high-pressure water injection or spray injection of the first switchable double nozzle 350 is achieved. It is easy to use and easy to switch, which reduces the workload and shortens the switching time of the staff, thereby improving the efficiency of the cleaning operation.

[0066] In order to meet the various needs of vehicle chassis cleaning, such as Figure 3 and Figure 4 As shown, a foam nozzle 370 is also provided on the first frame 310. The foam nozzle 370 is used to spray foam, and the dirt on the vehicle chassis is softened by covering the foam for a period of time, and then washed with high-pressure water. Therefore, for the convenience of cleaning, the two switchable dual nozzles 350 and 350' of this embodiment are located at the front end of the robot 300, and the foam nozzle 370 is located at the rear end of the robot 300.

[0067] The foam nozzle 370 receives gas from the gas input port 371 and liquid medicine from the medicine input port 372, and sprays foam through proportional mixing.

[0068] When the robot 300 is not in use, the second frame 320, the switchable dual nozzles 350 and 350', and the entire robot 300 should be in their initial positions, and when they are controlled, they are all controlled from the initial positions. Therefore, before the robot 300 starts working, the electric control box will detect the pitch initial position of the second frame 320 of the robot 300, the swing initial position of the switchable dual nozzles 350 and 350', and the initial position of the robot 300, so as to ensure control reliability.

[0069] The reciprocating automatic cleaning system proposed in the present invention can realize automatic control of the robot 300 through the electrical control box, which is convenient for operators to stay away from harsh cleaning environments and provide good user experience; the switchable dual nozzles can realize dual nozzle switching, high-pressure water column and spray switching, pitch angle adjustment and swing angle adjustment, enriching the functions of the robot 300, meeting the use in different scenarios, and expanding the use scope of the robot 300; the robot 300 has a high degree of automation, reduces manual operation, reduces safety risks, and improves cleaning efficiency and effects.

[0070] Embodiment 2

[0071] In this embodiment, the output power of the swing motor 341 can also be transmitted to the two switchable double nozzles by means of helical gear transmission, so that the switchable double nozzles can swing alternately.

[0072] Specifically, a hollow shaft is fixedly provided on the second frame 320, and the swing drive shaft 343 is inserted into the hollow shaft (not shown) through a bearing (not shown) and extends into the second frame 320 to achieve concentric rotation with the second frame 320. A first left-handed bevel gear (not shown) and a first right-handed bevel gear (not shown) are installed on the swing drive shaft 343 at intervals. Correspondingly, a second right-handed bevel gear (not shown) that cooperates with the first left-handed bevel gear is installed on the first water-passing rotating shaft 344' of the first switchable double nozzle 350, and a second left-handed bevel gear (not shown) that cooperates with the first right-handed bevel gear is installed on the second water-passing rotating shaft 345' of the second switchable double nozzle 350'.

[0073] The power output by the swing motor 341 is realized through the cooperation of the first left-handed bevel gear and the second right-handed bevel gear and the cooperation of the first right-handed bevel gear and the second left-handed bevel gear, so that the first switchable double nozzle 350 and the second switchable double nozzle 350' can swing alternately on a plane perpendicular to the plane where the second frame 320 is located.

[0074] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A reciprocating automatic cleaning system, characterized in that: include: A trench, the trench being concavely formed on the ground, and having stepped portions formed on opposite sides thereof; Traction components; a robot, which is towed by the towing assembly and reciprocates along the step portion in the trench; The robot comprises: First frame; A pitch drive assembly, comprising a pitch motor and a first power transmission assembly drivingly connected to the pitch motor; A second frame is arranged on the first frame, and the first power transmission assembly receives the power output by the pitch motor and is used to drive the second frame to pitch; A swing drive assembly, comprising a swing motor and a second power transmission assembly, wherein the second power transmission assembly is respectively connected to the swing motor and each switchable double nozzle to be swung; At least one switchable double nozzle, which is arranged on the second frame and includes a first switchable double nozzle and a second switchable double nozzle arranged side by side, the second frame is provided with a swing drive shaft for receiving the power output by the swing motor through a bearing, the second power transmission assembly includes a first bevel gear assembly, a transmission shaft and a second bevel gear assembly, the first bevel gear assembly includes a first bevel gear and a second bevel gear meshing with the first bevel gear, the first bevel gear is arranged on the swing drive shaft, the second bevel gear is arranged on the first switchable double nozzle, a third bevel gear and a fourth bevel gear are arranged on the transmission shaft, the third bevel gear is meshed with the second bevel gear, the second bevel gear assembly includes a fifth bevel gear, the fifth bevel gear is arranged on the second switchable double nozzle and meshed with the fourth bevel gear, the switchable double nozzle includes a switcher, a high-pressure water nozzle and a spray nozzle, the switcher is connected to a water supply pipeline, and is used to switch the connection between the high-pressure water nozzle or the spray nozzle and the water supply pipeline; An electric control box is used to at least control the movement of the robot.

2. The reciprocating automatic cleaning system according to claim 1, characterized in that: The second frame is fixedly provided with a rotation driving shaft, and the first power transmission assembly is in transmission connection with the rotation driving shaft.

3. The reciprocating automatic cleaning system according to claim 2, characterized in that: The first power transmission assembly is a first sprocket chain assembly, and the pitch motor transmits torque to the rotation drive shaft through the first sprocket chain assembly.

4. The reciprocating automatic cleaning system according to claim 2, characterized in that: The rotating drive shaft is a water-passing rotating shaft, which is connected to the water supply pipeline and each switchable double nozzle.

5. The reciprocating automatic cleaning system according to claim 1, characterized in that: The first switchable double nozzle and the second switchable double nozzle swing alternately.

6. The reciprocating automatic cleaning system according to any one of claims 1 to 5, characterized in that: The reciprocating automatic cleaning system comprises: The foam spray head is arranged on the first frame and is used for receiving the mixture of gas and liquid medicine and spraying foam.

7. The reciprocating automatic cleaning system according to any one of claims 1 to 5, characterized in that: The reciprocating automatic cleaning system also includes: A drag chain support frame, which is arranged in the trench; The drag chain is used to transmit signals to the robot and is carried by the drag chain support frame.

8. The reciprocating automatic cleaning system according to any one of claims 1 to 5, characterized in that: The reciprocating automatic cleaning system comprises: The walking part is arranged at the bottom of the robot.

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