A four-degree-of-freedom container inner wall cleaning device
By designing a four-degree-of-freedom container inner wall cleaning device, which employs a pitch adjustment mechanism, a linear motion module, and a telescopic arm, automated cleaning of the inner wall of large containers has been achieved. This solves the problems of cumbersome and inefficient cleaning in existing technologies and improves cleaning efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHENGDU IND VOCATIONAL TECHN COLLEGE
- Filing Date
- 2023-05-25
- Publication Date
- 2026-05-12
AI Technical Summary
Existing technologies for cleaning the inner walls of large containers are cumbersome, waste manpower and resources, and have low cleaning efficiency.
Design a four-degree-of-freedom container inner wall cleaning device, including a pitch adjustment mechanism, a linear motion module, a telescopic arm and a gimbal, equipped with a high-pressure nozzle and a camera to achieve automated cleaning, and adapted to different container shapes through servo motor drive and telescopic arm.
实现了容器内壁的自动化高效清洗，适应不同高度和直径的容器，提高了清洗效率，减少了人力物力浪费。
Smart Images
Figure CN116586392B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of container cleaning technology, specifically a four-degree-of-freedom container inner wall cleaning device. Background Technology
[0002] Whether or not storage tanks are cleaned directly affects production quality and safety. With increasingly stringent industrial production requirements and heightened awareness of workplace safety, storage tank cleaning technology is constantly being improved and refined. However, currently, most methods for cleaning the inner walls of large containers involve operators entering the container through manholes. This method is cumbersome and wastes significant manpower and resources. Summary of the Invention
[0003] The main objective of this invention is to provide a four-degree-of-freedom container inner wall cleaning device to solve the above-mentioned problems.
[0004] To achieve the above objectives, the present invention provides a four-degree-of-freedom container inner wall cleaning device, including a pitch adjustment mechanism, a linear motion module, a telescopic arm, and a gimbal; the pitch adjustment mechanism is installed on the front of the linear motion module, and the linear motion module drives the pitch adjustment mechanism to move up and down; the telescopic arm is installed at the end of the pitch adjustment mechanism and is used to adjust the extension length of the gimbal; a high-pressure nozzle is installed on the gimbal, and during cleaning, the gimbal can rotate 360° around the X-axis and can also pitch around the Y-axis within the range of -125° to +125°, thereby driving the high-pressure nozzle to clean a large area of the container inner wall.
[0005] Furthermore, it also includes a trolley, which is mounted on the back of the linear motion module.
[0006] Furthermore, a camera is also installed on the gimbal, which is used to observe the cleaning status of the inner wall of the container in real time.
[0007] Furthermore, it also includes horizontal support feet to balance the recoil force generated by the high-pressure water jet and prevent the device from tipping over.
[0008] Furthermore, the horizontal support foot includes a T-shaped foot and a self-locking hinge. One end of the self-locking hinge is connected to the T-shaped foot by a screw, and the other end of the self-locking hinge is connected to the back of the trolley by a screw.
[0009] Furthermore, the linear motion module includes a servo motor, a lead screw and nut mechanism, a slide table, and a module body. The servo motor is mounted on one end of the module body, the lead screw and nut mechanism is rotatably mounted on the module body, and the output end of the servo motor is connected to the lead screw and nut mechanism. The slide table is mounted on the lead screw and nut mechanism and can move up and down along the lead screw and nut mechanism under the drive of the servo motor.
[0010] Furthermore, the pitch adjustment mechanism includes a connecting handle, a mounting base, a rotating shaft, a bushing, a press-type ball-head locking pin, a stop pin, and a C-ring. The mounting base is fixed to the slide table, and the connecting handle is rotatably connected to the mounting base via the rotating shaft. A bushing is provided between the rotating shaft and the mounting base. The stop pin is installed on the mounting base and located below the rotating shaft. C-rings are provided at both ends of the rotating shaft that passes through the mounting base.
[0011] Furthermore, the telescopic arm includes a rear mounting plate, a stepper motor, a ball screw, a telescopic arm body, a front guide mounting plate, a guide shaft, and a threaded sleeve; wherein, the rear mounting plate is fixed to the connecting handle, the telescopic arm body is mounted on the rear mounting plate, the stepper motor is mounted on the telescopic arm body, one end of the ball screw is connected to the output end of the stepper motor, and the other end extends into the threaded sleeve and is threadedly connected to the threaded sleeve, and guide shafts are provided on both sides of the ball screw, the guide shafts and the threaded sleeve are slidably disposed on the telescopic arm body and connected to the front guide mounting plate.
[0012] The beneficial effects of this invention are as follows:
[0013] This invention features a high-pressure nozzle mounted on a gimbal, which, in conjunction with a high-pressure water generator, enables automatic cleaning of the container's inner wall. Driven by a linear motion module, the gimbal moves up and down to adjust the device's working height, accommodating manholes of varying heights. The telescopic arm, in operation, can extend and retract along the X-axis, meeting the cleaning requirements of containers of different diameters and allowing for close-range cleaning of stubborn stains. Attached Figure Description
[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;
[0015] Figure 2 This is a schematic diagram of the linear motion module of the present invention;
[0016] Figure 3 This is a front view of the pitch adjustment mechanism of the present invention;
[0017] Figure 4 This is a cross-sectional view of the pitch adjustment mechanism of the present invention;
[0018] Figure 5 This is a schematic diagram of the telescopic arm of the present invention;
[0019] Figure 6 This is a front view of the horizontal support foot of the present invention;
[0020] Figure 7This is a side view of the horizontal support foot of the present invention.
[0021] In the figure:
[0022] 1. Camera; 2. Pan-tilt unit; 3. Linear motion module; 4. Trolley; 5. Telescopic arm; 6. Horizontal support foot; 7. Pitch adjustment mechanism; 8. Connecting handle; 9. Mounting base; 10. Rotating shaft; 11. Bushing; 12. Press-type ball joint locking pin; 13. Stop pin; 14. C-ring; 15. Rear mounting plate; 16. Stepper motor; 17. Ball screw; 18. Telescopic arm body; 19. Front guide mounting plate; 20. Threaded sleeve; 21. T-shaped foot; 22. Self-locking hinge; 23. Servo motor; 24. Screw and nut mechanism; 25. Slide table; 26. Module body. Detailed Implementation
[0023] To achieve the above objectives and effects, the technical means and structure adopted by the present invention will be described in detail with reference to the accompanying drawings, focusing on the features and functions of the preferred embodiments of the present invention.
[0024] like Figure 1-7 As shown, this invention provides a four-degree-of-freedom container inner wall cleaning device, including a pitch adjustment mechanism 7, a linear motion module 3, a telescopic arm 5, and a gimbal 2. The pitch adjustment mechanism 7 is installed on the front of the linear motion module 3, and the linear motion module 3 drives the pitch adjustment mechanism 7 to move up and down. The telescopic arm 5 is installed at the end of the pitch adjustment mechanism 7 and is used to adjust the extension length of the gimbal 2. A high-pressure nozzle is installed on the gimbal 2. During cleaning, the gimbal 2 can rotate 360° around the X-axis and can also pitch around the Y-axis within the range of -125° to +125°, driving the high-pressure nozzle to clean a large area of the container inner wall.
[0025] The invention also includes a trolley 4, which is mounted on the back of the linear motion module 3. The entire device is mounted on the trolley 4, which allows for convenient and rapid transfer between containers. The trolley 4 has a fixing plate at its base, which can easily secure the entire device.
[0026] In this embodiment, a camera 1 is also installed on the gimbal 2. The camera 1 also follows the movement of the gimbal 2 to observe the cleaning status of the inner wall of the container in real time.
[0027] The invention also includes a horizontal support leg 6 for balancing the recoil force generated by the high-pressure water jet and preventing the device from tipping over. The horizontal support leg 6 includes a T-shaped leg 21 and a self-locking hinge 22. One end of the self-locking hinge 22 is connected to the T-shaped leg 21 by a screw, and the other end of the self-locking hinge 22 is connected to the back of the rotating trolley 4 by a screw. During operation, the horizontal support leg 6 can be extended to bring the T-shaped leg 21 into a horizontal position and into contact with the ground, thereby balancing the recoil force generated by the high-pressure water jet and preventing the device from tipping over.
[0028] The linear motion module 3 includes a servo motor 23, a lead screw and nut mechanism 24, a slide table 25, and a module body 26. The servo motor 23 is mounted at one end of the module body 26. The lead screw and nut mechanism 24 is rotatably mounted on the module body 26, and the output end of the servo motor 23 is connected to the lead screw and nut mechanism 24. The slide table 25 is mounted on the lead screw and nut mechanism 24 and can move up and down along the lead screw and nut mechanism 24 under the drive of the servo motor 23. The linear motion module 3 can drive the pitch adjustment mechanism 7 to move in the Z-axis direction to adjust the working height of the device to accommodate manholes of different heights.
[0029] The pitch adjustment mechanism 7 includes a connecting handle 8, a mounting base 9, a rotating shaft 10, a bushing 11, a press-type ball joint locking pin 12, a stop pin 13, and a C-ring 14. The mounting base 9 is fixed to the slide table 25. The connecting handle 8 is rotatably connected to the mounting base 9 via the rotating shaft 10, and a bushing 11 is provided between the rotating shaft 10 and the mounting base 9. The stop pin 13 is installed on the mounting base 9 and located below the rotating shaft 10. C-rings 14 are provided at both ends of the rotating shaft 10 that passes through the mounting base 9. The bushing 11 is installed between the rotating shaft 10 and the connecting base to prevent wear on the inner hole of the mounting base 9 during use. The press-type ball joint pin can be inserted into the horizontal pin hole of the connecting base, placing the connecting handle 8 in a horizontal position, or into the vertical pin hole of the connecting base, placing the connecting handle 8 in a vertical position. The mounting base 9 of the pitch adjustment mechanism 7 is connected to the slide 25 of the linear motion module 3, and the connecting handle 8 of the pitch mechanism is connected to the telescopic arm 5. In the working state, the telescopic arm 5 can be placed in a horizontal position by the pitch adjustment mechanism 7 and locked with the press-type ball head locking pin 12. During transportation, the telescopic arm 5 is placed in a vertical position and locked with the press-type ball head locking pin 12 for easy transport.
[0030] The telescopic arm 5 includes a rear mounting plate 15, a stepper motor 16, a ball screw 17, a telescopic arm body 18, a front guide mounting plate 19, a guide shaft, and a threaded sleeve 20. The rear mounting plate 15 is fixed to the connecting handle 8. The telescopic arm body 18 is mounted on the rear mounting plate 15. The stepper motor 16 is mounted on the telescopic arm body 18. One end of the ball screw 17 is connected to the output end of the stepper motor 16, and the other end extends into the threaded sleeve 20 and is threadedly connected to it. Guide shafts are provided on both sides of the ball screw 17. The guide shafts and the threaded sleeve 20 are slidably mounted on the telescopic arm body 18 and connected to the front guide mounting plate 19. The telescopic arm 5 is connected to the connecting handle 8 of the pitch adjustment mechanism 7 via the rear mounting plate 15 and to the gimbal 2 via the front guide mounting plate 19. When in operation, the telescopic arm 5 can extend and retract in the X-axis direction, which can meet the cleaning requirements of containers of different diameters and can also be used to clean stubborn stains.
[0031] This invention features a high-pressure nozzle mounted on a gimbal, which, in conjunction with a high-pressure water generator, enables automatic cleaning of the container's inner wall. Driven by a linear motion module, the gimbal moves up and down to adjust the device's working height, accommodating manholes of varying heights. The telescopic arm, in operation, can extend and retract along the X-axis, meeting the cleaning requirements of containers of different diameters and allowing for close-range cleaning of stubborn stains.
[0032] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.
Claims
1. A four-degree-of-freedom container inner wall cleaning device, characterized in that, The device includes a pitch adjustment mechanism, a linear motion module, a telescopic arm, and a gimbal. The pitch adjustment mechanism is mounted on the front of the linear motion module, which drives the pitch adjustment mechanism to move up and down. The telescopic arm is mounted at the end of the pitch adjustment mechanism and is used to adjust the extension length of the gimbal. A high-pressure nozzle is mounted on the gimbal. During cleaning, the gimbal can rotate 360° around the X-axis and pitch around the Y-axis within a range of -125° to +125°, driving the high-pressure nozzle to clean a large area of the container's inner wall. A camera is also mounted on the gimbal for real-time observation of the cleaning status of the container's inner wall. Driven by the linear motion module, the gimbal moves up and down to adjust the working height of the device to accommodate manholes of different heights. The linear motion module includes a servo motor, a lead screw and nut mechanism, a slide table, and a module body. The servo motor is mounted on one end of the module body, the lead screw and nut mechanism is rotatably mounted on the module body, and the output end of the servo motor is connected to the lead screw and nut mechanism. The slide table is mounted on the lead screw and nut mechanism and can move up and down along the lead screw and nut mechanism under the drive of the servo motor. The pitch adjustment mechanism includes a connecting handle, a mounting base, a rotating shaft, a bushing, a press-type ball-head locking pin, a stop pin, and a C-ring. The mounting base is fixed to the slide table. The connecting handle is rotatably connected to the mounting base via the rotating shaft, and a bushing is provided between the rotating shaft and the mounting base. The stop pin is mounted on the mounting base and located below the rotating shaft. C-rings are provided at both ends of the rotating shaft, which passes through the mounting base. The press-type ball-head locking pin can engage with pin holes in either the horizontal or vertical position of the connecting base, allowing the connecting handle to be in either a horizontal or vertical position. The mounting base is connected to the slide table, and the connecting handle is connected to the telescopic arm. In operation, the telescopic arm is placed in a horizontal position using the pitch adjustment mechanism and locked with the press-type ball-head locking pin. During transport, the telescopic arm is placed in a vertical position and locked with the press-type ball-head locking pin for easy transport.
2. The four-degree-of-freedom container inner wall cleaning device as described in claim 1, characterized in that, It also includes a trolley, which is mounted on the back of the linear motion module.
3. The four-degree-of-freedom container inner wall cleaning device as described in claim 2, characterized in that, It also includes horizontal support feet to balance the recoil force generated by the high-pressure water jet and prevent the device from tipping over.
4. The four-degree-of-freedom container inner wall cleaning device as described in claim 3, characterized in that, The horizontal support foot includes a T-shaped foot and a self-locking hinge. One end of the self-locking hinge is connected to the T-shaped foot by a screw, and the other end of the self-locking hinge is connected to the back of the trolley by a screw.
5. The four-degree-of-freedom container inner wall cleaning device as described in claim 4, characterized in that, The telescopic arm includes a rear mounting plate, a stepper motor, a ball screw, a telescopic arm body, a front guide mounting plate, a guide shaft, and a threaded sleeve. The rear mounting plate is fixed to the connecting handle, the telescopic arm body is mounted on the rear mounting plate, the stepper motor is mounted on the telescopic arm body, one end of the ball screw is connected to the output end of the stepper motor, and the other end extends into the threaded sleeve and is threadedly connected to the threaded sleeve. Guide shafts are provided on both sides of the ball screw, and both the guide shafts and the threaded sleeve are slidably mounted on the telescopic arm body and connected to the front guide mounting plate.