In-situ cleaning robot nozzle system

Abstract

The present invention relates to an in-situ cleaning nozzle system (1) for cleaning surfaces of complex shapes, the in-situ cleaning nozzle system comprising: a first body part (21) including a dry section (22) and a fluid section (23); a second body part (25) arranged coaxially in the first body part; a nozzle part (26) having a nozzle axis (NA); a fluid inlet (24) arranged in the first or second body part; and a fluid outlet (27) arranged in the nozzle part, wherein the nozzle system is operatively connected to an intelligent control unit (28) for controlling the rotational movement of the nozzle part and / or the body part. The present invention also relates to a method for cleaning a container using the in-situ cleaning nozzle unit.

Description

Technical Field

[0001] The present invention relates to an in-situ cleaning robot nozzle system for cleaning surfaces of complex shapes, comprising: a first body part including a dry section and a fluid section; a second body part coaxially arranged in the first body part; a nozzle part having a nozzle axis; a fluid inlet arranged in the first or second body part; and a fluid outlet arranged in the nozzle part. Background Art

[0002] In-situ cleaning (CIP) is a method of cleaning the inner surfaces of pipes, tubes, vessels, containers, process equipment, filters, and associated fittings without the need to disassemble the equipment to access the surfaces. Typically, before CIP, the equipment is manually disassembled and cleaned. Thus, CIP is an important step forward for industries that rely heavily on efficient cleaning and high levels of hygiene. This may be relevant to industries such as dairy, beverages, brewing, processed foods, pharmaceuticals, large kitchens, cosmetics, etc.

[0003] The benefits of industries using CIP are faster cleaning speed, lower labor intensity, greater reliability and repeatability. In addition, CIP helps reduce the risk of chemical exposure to relevant personnel and also helps reduce the amount of cleaning agent mixed with the items to be processed. Depending on the dirt load and process geometry, CIP design principles typically fall into one of the following:

[0004] · Provide a cleaning solution with high turbulence and high flow rate to achieve good cleaning effects (e.g., applicable to pipe loops and some filling equipment).

[0005] · Provide the solution in the form of a low-energy spray to completely wet the surface (applicable to slightly dirty / stained vessels where static spray ball nozzles can be used).

[0006] · Provide a high-energy impact jet fluid (applicable to highly dirty / stained or large-diameter vessels where movable nozzles can be used).

[0007] However, all of the above principles rely on fully mechanical nozzles driven by water pressure itself. This results in inefficient and random cleaning because the cleaning is indiscriminate with respect to the surface to be cleaned and relies on measuring the waste water and visual inspection. If such measurement or inspection returns a negative response, the entire CIP system may be restarted, i.e., cleaning a large area that has already been cleaned initially.

[0008] The cleaning quality is measured based on the most demanding part of the area to be cleaned, i.e., effectively similar to letting the lowest common denominator determine the required cleaning. However, the growth of microorganisms only requires a small dirty area, or a more difficult-to-clean area to breed microorganisms, so all surfaces must be equally clean.

[0009] There is a growing need for better and safer facility cleaning, especially due to increasing regulations and more sophisticated substances to be treated. Summary of the Invention

[0010] An object of the present invention is to overcome the above-mentioned drawbacks and deficiencies of the prior art, either fully or partially. More specifically, an object is to provide an improved in-situ cleaning robot nozzle system that is faster and more effective than existing nozzle systems by providing specific cleaning of local areas.

[0011] The above object, along with numerous other objects, advantages, and features that will become apparent from the following description, is achieved by a solution according to the present invention by an in-situ cleaning nozzle system for cleaning complex-shaped surfaces, the in-situ cleaning nozzle system comprising: a first body portion (21) that includes a dry section and a fluid section; a second body portion (25) coaxially arranged in the first body portion; a nozzle portion having a nozzle axis (NA), wherein the nozzle portion is arranged in the second body portion; a fluid inlet arranged in the first or second body portion; a fluid outlet arranged in the nozzle portion, wherein in the closed position, the second body portion retracts into the first body portion and the nozzle portion retracts into the second body portion, and in the open position, the second body portion projects out of the first body portion and the nozzle portion projects outward from the second body portion, and wherein the robot nozzle system is operatively connected to a control unit (28) for controlling the rotational movement of the nozzle portion and / or the first body portion and / or the second body portion.

[0012] In this way, the movement of the second body portion and the nozzle portion can be intelligently controlled. In addition, the exact position of the body portion and / or the nozzle portion relative to the equipment to be cleaned can always be known, i.e., the zero point / reference point where the body portion and / or the nozzle portion may be forced to retract can be determined. In this way, a non-random situation is achieved, i.e., a completely controlled path for the nozzle portion and thus the fluid outlet. In this way, the robot nozzle system can clean local areas for the required duration without increasing the time spent in other areas. This significantly reduces the time required for complete cleaning. For example, the smooth surface inside a large stainless steel utensil only requires a short cleaning cycle, while the areas around the inlet, outlet, and inspection ports require a longer cleaning cycle or higher cleaning intensity. With the present invention, such cleaning processes can be adjusted and regulated according to the conditions of the local areas.

[0013] By providing a nozzle system where the system can telescopically enter and leave the volume to be cleaned, and where the nozzle portion projects from a second body portion and the second body portion projects from a first body portion, a system can be provided that can be fully retracted from the volume while still having maneuverability within the volume to direct the nozzle axis in multiple directions to clean most of the surfaces within the volume. In its closed position, the second body portion and the nozzle portion are located within the first body portion such that the nozzle portion is outside the volume to be cleaned. However, when the volume is to be cleaned, the nozzle system can be transitioned from its closed position to its open position where the second body portion projects from the first body portion and the nozzle portion projects from the second body portion, thereby allowing the nozzle portion to enter the volume to be cleaned.

[0014] In one embodiment, the second body portion can rotate along a longitudinal axis, where the second body portion can rotate relative to the first body portion. The first body portion can be, for example, the housing of the nozzle system, where the first body portion can be fixed relative to the item to be cleaned and the second body portion can rotate relative to the first body portion to change the position of the nozzle portion relative to the first body portion and / or the surface to be cleaned by rotating the second body portion.

[0015] In one embodiment, the second body portion can have an outer boundary, where when the nozzle system is in its closed position, the nozzle portion can be located within the outer boundary of the second body portion. Thus, when the second body portion is retracted into the first body portion, the nozzle portion is within the outer boundary of the second body portion and the nozzle portion does not interfere with the retraction and / or extension of the second body portion relative to the first body portion.

[0016] In one embodiment, the second body portion can have an outer boundary, where when the nozzle system is in its open position, the nozzle portion can be at least partially outside the outer boundary of the second body portion. Thus, when the second body portion has projected from the first body portion, the nozzle portion can project from the second body portion, allowing the nozzle portion to extend beyond the boundary of the first body portion.

[0017] In one embodiment, the second body portion can have an outer boundary, where when the nozzle system is in its open position, the fluid outlet of the second nozzle portion can be outside the outer boundary of the second body portion. Thus, when the nozzle portion projects from the second body portion, the fluid outlet can be positioned outside the second body portion.

[0018] In one embodiment, the second body portion can have an outer boundary, where when the nozzle system is in its closed position, the fluid outlet of the second nozzle portion can be within the outer boundary of the second body portion. Thus, when the nozzle portion projects from the second body portion, the fluid outlet can be within the second body portion, allowing the second body portion to retract into the first body portion.

[0019] In one embodiment, the first body portion may have an outer boundary, wherein when the nozzle system is in its closed position, the fluid outlet of the nozzle portion may be located within the outer boundary of the first body portion and / or the outer boundary of the second body portion.

[0020] In the context of the present disclosure, the term "outer boundary" may refer to a volume that can be defined as the external dimensions of an article or component.

[0021] In one embodiment, the second body portion may extend from the first body portion along the longitudinal axis of the first and / or second body portion, and wherein the nozzle portion may extend from the second body portion in a nozzle direction that is at an angle to the longitudinal axis of the first and / or second body portion. Optionally, the nozzle direction is at a right angle to the longitudinal axis of the first and second body portions. By providing the nozzle axis in a direction that is at an angle to the longitudinal axis of the first body portion and / or the second body portion, the nozzle portion can be extended such that the fluid outlet moves in a direction away from the longitudinal axis of the first and / or second nozzle portions. Thus, when the second body portion rotates relative to the first body portion, the rotation simultaneously moves the nozzle portion. Additionally, by rotating the nozzle portion relative to the second body portion, it allows the fluid outlet to rotate along two rotational axes and thereby provides degrees of freedom of movement along two rotational axes, allowing the fluid outlet to point in multiple directions - beyond the case of using only one rotational axis.

[0022] In one embodiment, the second body portion may rotate relative to the first body portion along the longitudinal axis of the first body portion and / or the second body portion.

[0023] In one embodiment, the nozzle portion may rotate relative to the second body portion along the nozzle axis.

[0024] The robotic nozzle system may further include an intelligent control unit, arranged internally and / or externally, for controlling the rotational movement of the nozzle portion and / or the body portion.

[0025] Moreover, the intelligent control unit may be an external PC, PLC, or other microcontroller.

[0026] Furthermore, the nozzle axis may be different from the case where it is 180° to the longitudinal axis of the first and / or second body portion.

[0027] Additionally, the nozzle axis may be arranged at an angle between 45° and 90° relative to the longitudinal axis of the first and / or second body portion.

[0028] Moreover, the nozzle axis may be arranged at an angle greater than 30° relative to the longitudinal axis of the first and / or second body portion, or preferably, the angle may be greater than 45°.

[0029] Moreover, an actuator for controlling the rotational movement of the nozzle part and the second main body part can be arranged in the dry section of the first main body part.

[0030] The actuator can be driven by electric power, air pressure or fluid pressure.

[0031] Furthermore, an intelligent control mechanism, such as a microcontroller, a PC or a PLC, can be arranged in the dry section of the first main body part.

[0032] In addition, the end of the dry section of the first main body part can include a transparent or translucent cover.

[0033] Moreover, the cover can be made of polycarbonate.

[0034] In addition, the fluid outlet can be arranged to discharge the fluid at an angle between 45° and 90° with respect to the nozzle axis. In this way, the cleaning direction of the fluid can be adjusted directly below the CIP robot. Alternatively, the fluid outlet can be arranged to discharge the fluid at an angle between 20 and 170 degrees with respect to the nozzle axis.

[0035] The robotic nozzle unit can further include a vision system. In this way, areas that require further cleaning can be detected based on direct real-time measurement.

[0036] In addition, the fluid section of the first main body part can include a first annular wall and a second annular wall, with the diameter of one wall being smaller than that of the other wall, so that one wall can slide inside the other wall. In this way, a delay system can be realized for allowing the fluid from the fluid inlet to press the second main body part away from the first main body part. In the first position, i.e., the closed position, the annular walls cover each other, and the fluid does not flow into the interior of the annular walls. In the second position, i.e., the open flow position, the two annular walls no longer cover each other along the longitudinal axis of the wall, the fluid can enter the interior of the wall, and the fluid inlet will be in fluid communication with the nozzle part via the interior volume of the second annular wall.

[0037] In yet another embodiment, the robotic nozzle system can include a valve for facilitating the flow of fluid from one main body part to another main body part and / or from one main body part to the nozzle part. In one embodiment, the valve can be a piston that allows the fluid to pass through when there is a critical pressure.

[0038] In addition, the nozzle part can be slidably arranged along the nozzle axis.

[0039] Moreover, the fluid pressure can move the nozzle part to the second position, i.e., the open position where the fluid can be discharged from the nozzle. In this way, it is realized that the fluid pressure automatically moves the nozzle.

[0040] In addition, the nozzle part can be forced to move along the nozzle axis by the pressure of the water entering the fluid inlet.

[0041] In addition, the nozzle part can be moved along the nozzle axis by a fluid pressure between 0.1 bar and 300 bar, more preferably between 0.1 bar and 250 bar or between 0.2 bar and 10 bar, more preferably between 0.35 - 8 bar, and most preferably between 0.5 bar - 6 bar at the fluid inlet. In this way, it is achieved that the pressure directly from the fluid supply, such as a water supply, is sufficient to activate the nozzle part. The fluid pressure at the fluid inlet can be higher than 10 bar, more specifically higher than 100 bar, more specifically higher than 150 bar, more specifically higher than 200 bar, and more specifically higher than 300 bar.

[0042] The nozzle part may further include a return spring. In this way, when the fluid pressure is cut off, the nozzle part can be automatically returned to its retracted position, i.e., its first position.

[0043] Moreover, the first main body part may include a return spring. In this way, when the fluid pressure is cut off, the second main body part can be automatically returned to its retracted position, i.e., its first position.

[0044] Furthermore, a first actuator (such as a stepper motor) can drive the rotational movement of the second main body part.

[0045] In addition, a second actuator (such as a stepper motor) can drive the rotational movement of the nozzle part.

[0046] Moreover, the first shaft connected to the first actuator to rotate the second main body part can be hollow, and the second shaft connected to the second actuator to rotate the nozzle part can be positioned within the first hollow shaft.

[0047] In yet another embodiment, the robotic nozzle system may include one or more transmission systems for transferring rotational movement from one component of the robotic nozzle system to a second component of the robotic nozzle system.

[0048] In one embodiment, the transmission system may include a plurality of gears, where one or more gears may be made of a metallic material and / or one or more gears may be made of a polymeric material. Optionally, the metal gears interact with the plastic gears and vice versa. By providing alternating metal and plastic gears, the generation of metal waste and / or metal fragments can be prevented because the plastic gears reduce the wear of the metal gears.

[0049] In addition, the second shaft can be connected to the nozzle part via a pinion. In this way, a simple conversion from a first rotational direction to a second rotational direction is achieved.

[0050] The present invention also relates to a method for cleaning a container using an in - place cleaning robotic nozzle unit.

[0051] The path for discharging the fluid can be adapted to be cleaned in different paths near the local end of the container. In this way, since the dirtiest area, i.e., the dirty local area, is cleaned more than other areas, faster cleaning can be ensured, so that cleaning to the required cleanliness level can be achieved without additionally cleaning the entire container, but only the local area needs to be additionally cleaned. In this way, the total time required to completely clean the container is minimized.

[0052] Finally, the present invention relates to the use of an in-situ cleaning robot nozzle unit for food industry equipment such as utensils, containers or internal volume equipment.

[0053] The retraction of the second body part can be carried out sequentially after the retraction of the nozzle part. In this way, it is achieved that the nozzle part does not obstruct the retraction of the second body part.

[0054] Furthermore, the in-situ cleaning robot nozzle unit can be pop-up. The pop-up function can be enabled by water pressure, one or more actuators, air pressure or mechanically. In this way, during the use of the equipment equipped with the robot nozzle system, the nozzle part can be fully retracted and turbulence can be minimized.

[0055] The present invention may also relate to a plurality of nozzle systems operatively connected to a control unit for controlling the rotational movement of the nozzle part and / or the first body part and / or the second body part of each nozzle system, wherein the control unit can provide control signals to independently control the jets from each fluid outlet. Therefore, one, two or more nozzle systems can be used to clean the surface, and the control signals can be used, for example, to systematically move the dirt to be cleaned away in a predetermined direction, such as towards the bottom of the volume to be cleaned. This is advantageous because the dirt cleaned from one surface is not sent to the already cleaned surface. Two or more nozzle systems can be operated independently.

[0056] The system may include a closing plate that can be connected to the first part, the second part and / or the nozzle part, so that when the system is in its closed state / position, the closing plate provides a hygienic interface between the system and the water tank. The closing plate can be planar or slightly curved, and a seal can be provided between the plate and the first part and / or the second part, so that any residual liquid in the cleaning device does not leave the system when the system is attached to, for example, the water tank. The closing plate can have an outer surface that is easy to clean.

[0057] The system can provide a rotational movement to the fluid outlet, wherein the rotational axis of the second part provides 360-degree rotation and the rotational axis of the nozzle part provides 360-degree rotation, and the rotational axis of the second part and the rotational axis of the nozzle part are at an angle to each other, and preferably perpendicular to each other, thereby allowing three-dimensional rotation of the fluid outlet. Description of the Drawings

[0058] The present invention will now be described in more detail with reference to the accompanying schematic drawings, which show, for illustrative purposes, some non-limiting embodiments, and in which:

[0059] Figure 1 A container with an internal partial area that requires more attention for cleaning is shown.

[0060] Figure 2 A perspective view of an embodiment of an in-situ cleaning robot nozzle system according to the present invention is shown.

[0061] Figure 3 Shows Figure 2 A cross-sectional view of the in-situ cleaning robot nozzle system shown.

[0062] Figure 4A And 4B Shows the closed state and the ejected (open) state of the system according to the present invention.

[0063] Figures 5A - 5C A cross-sectional view of the ejection phase is shown.

[0064] Figures 6A - 6C The ejection of the system according to the present invention when water pressure is applied is shown in cross-section. Figure 7 The discharge of fluid from the nozzle portion is shown in an enlarged view, and

[0065] Figure 8A , 8B And 8C show different stages of another embodiment of the internal valve system.

[0066] All the drawings are highly schematic and not necessarily drawn to scale, and only show those parts necessary to illustrate the present invention, with other parts omitted or only implied. Detailed Description

[0067] Figure 1 An in-situ cleaning robot nozzle system 1 for cleaning a surface of a complex shape is shown. The robot nozzle system 1 is mounted on a container 2. The container 2 can be used in various industries, such as chemical, food, beverage, pharmaceutical, petroleum, power plant, water purification (generally water treatment) or direct food preparation in large kitchens and food production. The robot nozzle system includes a nozzle portion 26 for discharging a fluid 4 (see Figure 2)。The discharged fluid 4 has a contact point 5 with the surface 6 to be cleaned. The contact point 5 follows a controlled path 7, and in the illustrated cleaning scenario, the controlled path 7 follows first, second, and third path segments 8, 9, 10 that are adapted to local surface regions 11, 11', 11'' to be cleaned. Due to the fact that the local surface region 11 includes a maintenance opening 12 for maintaining the container 2, the first local surface region 11 benefits from the first path segment 8. In a similar manner, due to the presence of the sensor 13, the third path segment 10 is applicable to this particular local surface region 11''. Note that Figure 1 the scenario shown in

[0068] Figure 2 is just one scenario in which the robotic nozzle unit 1 can operate, and in other scenarios, the robotic nozzle unit can operate in pipes, tubes of various sizes, or entire rooms. Figure 2 In Figure 4A and 4B the lines between the intelligent control unit 28 and the actuators 29, 30 are not shown, but in

[0069] Figure 3 is shown as Figure 1 and Figure 2Cross-sectional view of the robotic nozzle system 1 shown. It shows the dry section 22 of the first body part 21 including the first and second actuators 29, 30. The first actuator 29 is connected via a first shaft 31 to a pinion 32 that rotates the nozzle part 26. The second actuator 30 is connected via a hollow shaft 33 to the second body part 25 to rotate the second body part 25. The first shaft 31 is located within the hollow shaft 33. The second body part 25 is slidably arranged relative to the first body part 21. In this embodiment, the second body part 25 is arranged to slide into the fluid section 23 of the first body part 21 (see Figure 2 ) along the main body longitudinal axis BA. In order for the second body part 25 to slide along the longitudinal main body axis BA, i.e., in the direction of the sliding arrow BASA of the main body axis, the actuators 29, 30 also need to be able to slide. Therefore, the first and second actuators 29, 30 are slidably arranged in the dry section 22 of the first body part 21. Two rods 34 ensure the precise sliding of the fixing devices 35 for the first and second actuators 29, 30. The fluid section 23 of the first body part 21 (see Figure 2 ) has a first annular wall 36 and a second annular wall 37. The robotic nozzle system 1 is shown in its fully extended position, typically referred to as the "pop-up" position. In this position, the first and second annular walls 36, 37 are in the position furthest apart from each other. In order to move the second body part 25 relative to the first body part, i.e., to retract the second body part 25 into the fluid section 23 of the first body part 21 (see Figure 2 ), a body return spring 38 that contacts the first body part 21 and the second body part 25 is provided. In addition, in order to retract the nozzle part 26 into the second body part 25, a nozzle retraction spring 39 that contacts the second body part 25 and the nozzle part 26 is arranged. A sealing ring 40 is arranged to achieve a fluid-tight connection when the nozzle part 26 is retracted into the second body part 25. In this embodiment, during retraction, the nozzle part 26 slides along the nozzle axis NA. Another sealing ring 41 ensures the fluid-tight connection between the first body part 21 and the second body part 25.

[0070] Figure 4A Shows the closed state of the robotic nozzle system 1, Figure 4B Shows the pop-up (open) state of the robotic nozzle system 1. In order to see the sliding movement of the first and second actuators 29, 30 (see Figure 3 ), Figure 4A and 4B are shown as partially transparent. In these figures, a line 42 is shown connecting the intelligent control unit 28. It should be understood that in other embodiments, the connection between the intelligent control unit 28 and the actuators 29, 30 (see Figure 3 ) can be different, for example, a wireless connection (Bluetooth, Wi-Fi, etc.) to achieve an effective connection. In Figure 4AIn [description], it is shown that the second main body portion 25 is retracted into the fluid section 23 of the first main body portion 21. The second main body portion 25 slides completely along the main body axis BA and is sealed with the first main body portion through a seal (not shown). In Figure 4B In [description], the second main body portion 25 is ejected, that is, it protrudes into the volume to be cleaned. In other words, the second main body portion 25 protrudes away from the first main body portion 21 in the direction along the main body axis BA, that is, in the direction of the main body axis sliding arrow BASA. In this state, the nozzle portion 26 protrudes along the nozzle axis NA, and the fluid outlet 27 can discharge fluid. In this state, it can be seen that the line 42 is stretched but still operably connected to the intelligent controller 28.

[0071] Figures 5A - 5C The ejection stage in the robotic nozzle system 1 is shown in cross-section without showing the fluid (the fluid will be shown in Figures 6A - 6C ). Figures 5A - 5C It is shown that when the first main body portion 21 and the second main body portion 25 move relative to each other, the first annular wall 36 and the second annular wall 37 move relative to each other. In Figure 5A In [description], the second annular wall 37 completely encloses the first annular wall 36. In Figure 5B In [description], the first and second annular walls 36, 37 are separated from each other, and an opening 50 is visible between the edges of the annular walls 36, 37, thereby allowing fluid communication between the first volume 52 outside the second annular wall 37 and the second volume 53 inside the annular walls 36, 37. In Figure 5C In [description], the second main body portion 25 slides further along the main body axis BA, and the opening 50 is larger. In this fully protruding, that is, ejected state of the second main body portion 25, the nozzle portion 26 protrudes.

[0072] Figures 6A - 6C It is shown similar to Figures 5A - 5C a cross-sectional view of the robotic nozzle system 1, but now it shows how the fluid 60 diffuses when water pressure is applied to the fluid inlet 24. In Figure 6A In [description], fluid pressure is applied to the fluid inlet 24 of the robotic nozzle system 1. The fluid 60 diffuses in the first volume 52 outside the annular walls 36, 37. The first volume 52 is defined by the first end wall 61 of the first main body portion 21 and the opposite second end wall 62 of the second main body portion 25. The first end wall 61 is fixed, but the second end wall 62 is slidably arranged as shown before. Due to the pressure from the fluid 60 acting on the second end wall 62, the second main body portion 25 will start to slide and the return spring 38 will be compressed, that is, the second main body portion 25 will start to slide in the direction of the main body axis sliding arrow BASA.

[0073] In Figure 6BIn [the situation], the second main body portion 25 has moved so much that there is an opening 50 between the first annular wall 36 and the second annular wall 37. This opening 50 allows fluid communication with the internal volume 53 of the annular walls 36, 37. In this way, the entire internal volume 53 of the fluid section 23 of the first main body portion 21 begins to be filled with fluid 60.

[0074] In Figure 6C [the situation], the entire volume of the fluid section 23 of the first main body portion 21 is filled with fluid 60. In addition, fluid communication is created from the fluid section 23 to the fluid outlet 27 via the internal pipes or volumes of the second main body portion 25 and the nozzle portion 26. The fluid pressure forces the nozzle portion 26 to protrude, and the fluid outlet 27 freely allows the fluid 60 to flow out to become the discharged fluid 4.

[0075] Figure 7 An enlarged view of the discharged fluid 4 being discharged from the fluid outlet 27 in the nozzle portion 26 is shown. In this embodiment, the fluid outlet 27 is arranged at a discharge angle EA with respect to the nozzle axis NA, and thus also at an angle ABA with respect to the main body axis BA. In this embodiment, the angle between the nozzle axis NA and the main body axis BA is approximately 90°. In such an embodiment, the fluid outlet 27 can be arranged to discharge the fluid at a discharge angle EA less than 90°, whereby it is achieved that the robotic nozzle system 1 can clean the surface directly below the robotic nozzle system 1. In another embodiment, the nozzle axis NA, i.e., the nozzle portion 26 itself, can be arranged at an angle different from 90° with respect to the main body axis BA. In this way, it is achieved that the fluid outlet 27 can discharge the fluid at an angle of 90° and still can clean the surface directly below the robotic nozzle system 1.

[0076] When the fluid pressure stops, due to the return spring 38, the protruding process is reversed. The return spring 38 retracts the nozzle portion 26 and the second main body portion 25. The small gap between the first main body portion 21 and the second main body portion 25 ensures that the fluid 60 in the fluid section 23 of the first main body portion 21 is pressed out from the fluid outlet 27 until the second main body portion 25 is completely retracted into the first main body portion 21 (see Figures 6A - 6C ).

[0077] In addition, when the fluid pressure stops, the fluid pressure inside the nozzle system can be gradually released, such that when the pressure inside the nozzle system drops below a predetermined level, the nozzle portion will retract into the second main body portion, and when the fluid pressure drops below a second predetermined level, the second main body portion will retract into the first main body portion until the second main body portion is completely retracted and the nozzle system is in its closed position, as Figure 4AAs shown. Thus, the system can be switched between its open and closed positions by providing a fluid pressure that forces the second body portion into and / or out of the first body portion and forces the nozzle portion into and / or out of the second body portion, with the second body portion protruding at least partially from the first body portion.

[0078] This can be done similarly using external air pressure or hydraulic pressure, where the pressure can be used to switch the system from the closed position to the open position and vice versa. The air pressure or hydraulic pressure can be applied through a separate input - namely, a pressure input - which is separate from and / or independent of the fluid input of the cleaning fluid. Thus, the system can be switched between its open and closed positions by providing an external pressure that forces the second body portion into and / or out of the first body portion and forces the nozzle portion into and / or out of the second body portion, with the second body portion protruding at least partially from the first body portion.

[0079] Thus, the nozzle portion can be provided with an elastic portion having a first predetermined elasticity, and the second body portion can be provided with a second elastic portion having a second predetermined elasticity, where the first predetermined elasticity is greater than the second predetermined elasticity. Thus, this allows the nozzle portion to fully retract into the second body portion before the second body portion retracts into the first body portion. If the nozzle portion does not fully retract when the second body portion retracts into the first body portion, the nozzle may impede the retraction of the second body portion into the first body portion. The elastic member can have a predetermined elasticity that is directed by the pressure exerted by the cleaning fluid and / or air pressure and / or hydraulic pressure, such that when the pressure drops below a predetermined value, the predetermined elastic portion will overcome the force exerted by the pressure and move the nozzle portion and / or the second body portion.

[0080] Those skilled in the art will understand that the robotic nozzle unit 1 can also be without an ejection function, i.e., the second body portion 25 is fixed relative to the first body portion 21 along the body axis BA. Similarly, the nozzle portion 26 can be fixed relative to the second body portion 25 along the nozzle axis NA.

[0081] Figures 8A - 8C Another embodiment of the ejection function of the robotic nozzle system 1 is shown. The function itself is the same as that described in Figures 6A - 6C , i.e., fluid pressure is applied to the fluid section 23 of the first body portion 21 through the fluid inlet 24 (the fluid is not shown, only the mechanical movement caused by the fluid pressure is shown). Figure 8A The valve stem knee 80 is shown in its fully bent position. The valve stem knee 80 is connected to the first body portion 21 at one end and to the valve 81 at the other end. In Figure 8A , no fluid pressure is applied, so neither the second body portion 25 nor the nozzle portion 26 ejects, i.e., protrudes from the first body portion 21 and the second body portion 25, respectively. In Figure 8BIn this case, fluid pressure is applied, i.e., the fluid is filled into the fluid section 23 of the first main body 21. The fluid pressure applies pressure on the valve 81, so the valve 81 is forced to move in a direction away from the dry section 22 of the first main body 21. During this movement caused by the fluid pressure, the valve stem knee 80 is stretched. In Figure 8B this case, the valve stem knee 80 is stretched almost maximally along the main body axis. The valve 81 still remains in full contact with the valve seat 82 of the second main body 25. When the valve 81 and the valve seat 82 are in full contact, the fluid cannot flow from the fluid section 23 of the first main body 21 through the orifice 83 into the internal volume of the second main body 25. Therefore, the fluid cannot flow to the nozzle section 26 via the second main body 25. Figure 8C It is shown that applying a continuous fluid pressure causes the second main body 25 to move further than the valve stem knee 80, so the valve 81 can reach the valve seat 82, i.e., come into contact with the valve seat 82, and thus the valve 81 is no longer in contact with the second main body 25. This is caused by the force applied by the fluid pressure on the seat edge 84 of the valve seat 82. Therefore, the fluid in the fluid section 23 of the first main body 21 starts to flow into the internal volume of the second main body 25. As the orifice 83 opens, the fluid now continues to flow towards the nozzle section 26 and applies a force on the end 85 of the nozzle section 26. The nozzle section 26 will be forced away from the second main body 25, i.e., move along the nozzle axis NA and start discharging the fluid from the fluid outlet 27. In this way, a complete fluid communication from the fluid inlet 24 to the fluid outlet 27 is established. Therefore, the robotic nozzle system 1 has a first position where there is no fluid communication from the fluid inlet 24 to the fluid outlet 27 and a second position of complete fluid communication.

[0082] Although the present invention has been described above in connection with the preferred embodiments of the present invention, it will be apparent to those skilled in the art that various modifications can be conceived without departing from the present invention as defined by the appended claims.

[0083] The reference numerals discussed with reference to some of the drawings can be found in other drawings of the present disclosure, and the elements shown in one drawing can be found in multiple drawings.

Claims

1. An in-situ cleaning nozzle system for cleaning surfaces of complex shapes, comprising: - A first body portion (21) having a body longitudinal axis (BA), the first body portion (21) including a dry section (22) and a fluid section (23), - A second body portion (25) coaxially arranged within the first body portion, - A nozzle portion (26) having a nozzle axis (NA), wherein the nozzle portion is arranged within the second body portion, - A fluid inlet (24) arranged within the first or second body portion, - A fluid outlet (27) arranged within the nozzle portion, wherein, in the closed position, the second body portion retracts into the first body portion and the nozzle portion retracts into the second body portion, and in the open position, the second body portion projects from the first body portion and the nozzle portion is configured to rotate along the nozzle axis (NA) and project from the second body portion, and wherein the nozzle system is operatively connected to a control unit (28) for intelligently controlling the rotational movement of the nozzle portion and / or the first body portion and / or the second body portion such that a fully controlled path of the nozzle portion and thus the fluid outlet can be achieved, wherein the nozzle axis is arranged at an angle between 45° and 90° relative to the body longitudinal axis (BA) of the first and / or second body portion.

2. The in-situ cleaning nozzle system according to claim 1, wherein, Actuators (29, 30) for controlling the rotational movement of the nozzle portion and the second body portion are arranged within the dry section of the first body portion.

3. The in-situ cleaning nozzle system according to claim 1 or 2, wherein, The second body portion has an outer boundary, and when the nozzle system is in its closed position, the nozzle portion can be located within the outer boundary of the second body portion.

4. The in-situ cleaning nozzle system according to claim 1 or 2, wherein, The second body portion has an outer boundary, and when the nozzle system is in its open position, the nozzle portion is at least partially located outside the outer boundary of the second body portion.

5. The in-situ cleaning nozzle system according to claim 3, wherein, The first body portion has an outer boundary, and when the nozzle system is in its closed position, the fluid outlet of the nozzle portion is located within the outer boundary of the first body portion and / or the outer boundary of the second body portion.

6. The in-situ cleaning nozzle system according to claim 1 or 2, wherein, The fluid outlet is arranged to discharge fluid at an angle between 45° and 90° with respect to the nozzle axis.

7. The in-situ cleaning nozzle system according to claim 1 or 2, wherein, The fluid section of the first body portion includes a first annular wall (36) and a second annular wall (37), wherein the diameter of one wall is smaller than the diameter of the other wall so that the one wall slides within the other wall.

8. The in-situ cleaning nozzle system according to claim 1 or 2, wherein, The nozzle portion is slidably arranged along the nozzle axis.

9. The in-situ cleaning nozzle system according to claim 1 or 2, Wherein, A first actuator (29) drives the rotational movement of the nozzle portion.

10. The in-situ cleaning nozzle system according to claim 9, Wherein, A second actuator (30) drives the rotational movement of the second body portion.

11. The in-situ cleaning nozzle system according to claim 10, Wherein, The second shaft connected to the second actuator to rotate the second body portion is hollow, and the first shaft connected to the first actuator to rotate the nozzle portion is located within the hollow second shaft.

12. The in-situ cleaning nozzle system according to claim 11, Wherein, The first shaft is connected to the nozzle portion via a pinion (32).

13. The in-situ cleaning nozzle system according to claim 9, Wherein, The first actuator (29) is a stepper motor.

14. The in-situ cleaning nozzle system according to claim 10, Wherein, The second actuator (30) is a stepper motor.

15. A method for cleaning a volume using the in-situ cleaning nozzle system according to any one of claims 1-14, Wherein, The discharged fluid (4) is adapted to be cleaned in different paths near the local end of the volume.

16. The method according to claim 15, Wherein, The volume is a container (2).

17. Use of the in-situ cleaning nozzle system according to any one of claims 1-14 for food industry equipment.

18. The use according to claim 17, Wherein, The food industry equipment is a utensil.

19. The use according to claim 17, Wherein, The food industry equipment is a container.

20. The use according to claim 17, Wherein, The food industry equipment is an internal volume equipment.

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