Flexible cleaning mechanism, method of controlling the same, and external self-cleaning device

Abstract

The application discloses a cleaning mechanism with toughness, a control method thereof and an external self-cleaning device, and relates to the field of cleaning devices. The cleaning mechanism is provided with a control system mainly composed of a flow detection sensor and a controller, so that the cleaning mechanism can detect the water flow of the nozzle in real time through the flow detection sensor, and the abnormal risk of the nozzle can be found in time. Meanwhile, the nozzle module further comprises a first locking mechanism, a redundant nozzle and an extension mechanism. When the flow detection sensor detects that the water flow of the nozzle is not within the threshold range, it is determined that the nozzle is blocked or damaged. The controller can control the extension mechanism to push the redundant nozzle to replace the blocked or damaged nozzle, so as to achieve the purpose of automatically replacing the nozzle. The cleaning mechanism has toughness, and can ensure that it can quickly return to the normal state after the nozzle is blocked or damaged.

Description

Technical Field

[0001] This invention belongs to the field of cleaning equipment, specifically relating to a resilient cleaning mechanism and its control method, as well as an external self-cleaning device. Background Technology

[0002] Cleaning equipment refers to mechanical devices used for cleaning, dust removal, and other similar purposes. It helps keep other machinery or the equipment itself clean, reducing malfunctions and maintenance, and improving work efficiency and safety. Automobiles, agricultural machinery, and construction machinery typically require cleaning equipment for their maintenance.

[0003] Agricultural machinery is short for agricultural equipment, which is an indispensable type of machinery in agriculture. Farmers usually need to carry out land preparation, planting, and harvesting. This requires the use of a tiller to prepare the land, turning hard soil into loose soil. After tilling, a seeder is used to plant crops such as wheat, corn, rice, and soybeans. After the crops mature, a harvester is needed to harvest them.

[0004] Currently, after farmers use agricultural machinery, the machinery often becomes covered in mud and other stains, requiring cleaning equipment. However, existing cleaning equipment is typically designed for cleaning specific working parts of the machinery, making it inconvenient to clean the machine body and other hard-to-clean areas. These areas still require manual cleaning, increasing labor intensity and reducing efficiency.

[0005] Furthermore, existing agricultural machinery cleaning equipment requires manual removal and replacement of nozzles when they become clogged or damaged. This results in low automation and insufficient redundant resources for replacement, reducing cleaning efficiency. Moreover, once a nozzle becomes clogged or damaged, immediate replacement and restoration of functionality cannot be guaranteed, leading to untimely maintenance. For example, the utility model patent CN215542048U discloses a nozzle with a rotating replacement structure for a water spray gun, requiring manual replacement of nozzle parts by rotation. Additionally, existing agricultural machinery cleaning equipment often relies on complex purification devices to clean the water, resulting in high costs. Moreover, the nozzles in existing agricultural machinery cleaning equipment are typically controlled only by increasing or decreasing water pressure, lacking flexibility and the ability to adjust the distance to the agricultural machinery or its orientation, leading to numerous cleaning dead zones and poor cleaning results. Summary of the Invention

[0006] This invention provides a resilient cleaning mechanism that can promptly detect and automatically replace clogged or damaged nozzles.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a tough cleaning mechanism, including a nozzle module, wherein the nozzle module includes a module housing and a nozzle; and a control system;

[0008] The nozzle module also includes a first locking mechanism, redundant nozzles, and a telescopic mechanism;

[0009] The inner cavity of the module housing includes a working nozzle space, a water inlet space, a redundant nozzle space, and a drive space that are connected in sequence.

[0010] The nozzle includes a nozzle body, one end of which is a nozzle end and the other end is a nozzle inlet end. A nozzle limiting part is provided on the side of the nozzle body.

[0011] The nozzle is disposed in the working nozzle space and is fixed by the first locking mechanism. The nozzle end is located outside the module housing, and the water inlet end of the nozzle is connected to the water inlet space.

[0012] The first locking mechanism includes a first clamping slider, on which a first locking part is provided. The first locking part can cooperate with the nozzle limiting part to limit and fix the nozzle, and allow the nozzle to be pushed out of the working nozzle space and out of the module housing by external force.

[0013] The side wall of the water inlet space is provided with a water inlet hole;

[0014] The structure of the redundant nozzle is the same as that of the nozzle, and at least one redundant nozzle is provided in the redundant nozzle space.

[0015] The telescopic mechanism is located in the drive space. It can push the redundant nozzles in the redundant nozzle space into the working nozzle space, push out the nozzles in the working nozzle space, and limit and fix the pushed-in redundant nozzles together with the first locking mechanism.

[0016] The control system includes a flow detection sensor for detecting the water flow rate of the nozzle, and a controller that is communicatively connected to the telescopic mechanism and the flow detection sensor respectively.

[0017] The controller can determine that the nozzle is blocked or damaged when the flow detection sensor detects that the water flow rate of the nozzle is not within the threshold range, and control the telescopic mechanism to push the redundant nozzle to replace the blocked or damaged nozzle.

[0018] Furthermore, the nozzle limiting part is an annular limiting groove, and its longitudinal cross-section has a wedge-shaped opening structure;

[0019] The first clamping slider is movably disposed in the working nozzle space via the first reset member, and its first locking part is a first locking tongue that is wedged into the nozzle limiting part;

[0020] During the process of the nozzle being pushed out by an external force, the nozzle limiting part can squeeze the first clamping slider to disengage the first locking tongue from the nozzle limiting part; the first reset member can drive the first clamping slider to reset when it is no longer squeezed.

[0021] Furthermore, the two first clamping sliders arranged opposite each other form a group, and the first locking mechanism includes at least one group of first clamping sliders;

[0022] The first reset component is a reset spring disposed between the first clamping slider and the side wall of the working nozzle space;

[0023] The nozzle module also includes a second locking mechanism with the same structure as the first locking mechanism;

[0024] The redundant nozzles set in the redundant nozzle space are fixed in place by a second locking mechanism.

[0025] Furthermore, the nozzle also includes a flow rate and water pressure regulating mechanism that is communicatively connected to the controller;

[0026] The nozzle body has at least two evenly distributed water spray holes at the nozzle end;

[0027] The flow rate and water pressure regulating mechanism includes a baffle plate driving assembly disposed on the nozzle body, and a baffle plate movably disposed on the nozzle end via the baffle plate driving assembly.

[0028] The baffle plate driving assembly can drive the baffle plate to a position that blocks at least one water spray hole.

[0029] Furthermore, the baffle plate is movably disposed along the radial direction of the nozzle body;

[0030] There are at least two baffle plates, which are evenly distributed around the axis of the nozzle body;

[0031] The orifice plate drive assembly includes an orifice plate drive motor mounted on the nozzle body, an orifice plate drive gear ring rotatably mounted on the nozzle end and driven by the orifice plate drive motor, and a crank-slider mechanism that drives the orifice plate to the orifice plate drive gear ring.

[0032] The number of crank-slider mechanisms is equal to the number of baffle plates, and they are arranged in a one-to-one correspondence.

[0033] Furthermore, the cleaning mechanism also includes a vehicle body with a walking mechanism and a cleaning device mounted on the vehicle body via a position adjustment mechanism;

[0034] The cleaning device has at least two nozzle modules on its front side, and a water supply channel is provided inside the cleaning device. The water supply channel is connected to the water inlet hole on each nozzle module.

[0035] Furthermore, the position adjustment mechanism is communicatively connected to the controller;

[0036] The position adjustment mechanism includes a height adjustment motor, a telescopic support rod, and an orientation adjustment component;

[0037] The height adjustment motor is mounted on the equipment vehicle body;

[0038] The telescopic support rod is inclined, with its lower end hinged to the equipment vehicle body and connected to the power output end of the height adjustment motor, and its upper end movably connected to the cleaning device through the orientation adjustment component.

[0039] Furthermore, the back of the cleaning device is provided with an adjustment groove, in which an adjustment slider is slidably disposed. The adjustment groove is also provided with an adjustment reset member connected to the adjustment slider, which can drive the adjustment slider to reset to the initial position when no external force is applied to the adjustment slider.

[0040] The orientation adjustment assembly includes a movable support component and an orientation adjustment component;

[0041] The movable support component includes a first support rod connected to the end of the cleaning device via a first ball joint, a second support rod connected to the upper end of the telescopic support rod via a second ball joint, and a first universal joint connecting the first support rod and the second support rod.

[0042] The orientation adjustment component includes an orientation adjustment motor, a reel mounted on the power output end of the orientation adjustment motor, a first adjustment rope with one end connected to the reel and the other end movably connected to the adjustment slider via a second universal joint, and a second adjustment rope with one end connected to the reel and the other end movably connected to the upper end of the telescopic support rod via a third universal joint.

[0043] Furthermore, the cleaning facility also includes a water supply system;

[0044] The water supply device includes a settling tank, a booster pump, and a water delivery pipeline;

[0045] The inner bottom surface of the settling tank has a stepped structure;

[0046] Both the settling tank and the booster pump are mounted on the equipment vehicle.

[0047] The water supply pipeline includes a suction pipe and an outlet pipe; the inlet end of the suction pipe is installed in the settling tank through a trumpet-shaped suction element, and corresponds to the lowest point of the bottom surface of the settling tank; the outlet end of the suction pipe is connected to the inlet of the booster pump; the inlet end of the outlet pipe is connected to the outlet of the booster pump, and its outlet end is connected to the inlet of the water delivery channel.

[0048] The control system also includes an alarm and a water level monitoring sensor installed in the settling tank; the alarm and the water level monitoring sensor are respectively connected to the controller.

[0049] The present invention also provides a control method for a resilient cleaning mechanism, for controlling the aforementioned resilient cleaning mechanism;

[0050] The method includes a nozzle replacement step: when the flow detection sensor detects that the water flow rate of the nozzle is not within the threshold range, it is determined that the nozzle is blocked or damaged, and the controller controls the telescopic mechanism to push the redundant nozzle to replace the blocked or damaged nozzle.

[0051] The present invention also provides an external self-cleaning device, which includes the above-described resilient cleaning mechanism.

[0052] The beneficial effects of this invention are:

[0053] 1) By setting up a control system mainly composed of flow detection sensors and controllers, the cleaning mechanism can detect the water flow rate of the nozzles in real time through the flow detection sensors, which is conducive to timely detection of abnormal risks of the nozzles. At the same time, the nozzle module also includes a first locking mechanism, redundant nozzles, and a telescopic mechanism. When the flow detection sensor detects that the water flow rate of the nozzle is not within the threshold range, and determines that the nozzle is blocked or damaged, the controller can control the telescopic mechanism to push the redundant nozzles to replace the blocked or damaged nozzles, thereby achieving the purpose of automatic nozzle replacement. This makes the cleaning mechanism resilient and ensures that it can quickly return to normal after the nozzles are blocked or damaged. Since no manual replacement of nozzles is required, the efficiency of repair and cleaning is guaranteed, and the intensity of manual labor and labor costs are reduced.

[0054] 2) By setting up a flow and pressure adjustment mechanism, when it is necessary to adjust the flow and pressure of the cleaning water, the baffle plate drive motor can drive the baffle plate drive gear ring to rotate, and then the baffle plate drive gear ring can drive the crank slider mechanism to move the baffle plate at the nozzle end, so as to change the number of water spray holes blocked, thereby achieving the purpose of adjusting the flow and pressure of the cleaning water, which is very convenient. Moreover, the cleaning device is movably connected to the upper end of the telescopic support rod by the orientation adjustment component, which is mainly composed of movable support components and orientation adjustment components. During the cleaning of agricultural machinery, it is convenient to adjust the orientation and position of the cleaning device, and convenient to adjust the distance and orientation between it and the agricultural machinery. It can meet the cleaning needs of different parts of the agricultural machinery body, and facilitate the removal of hard-to-clean stains, improve the cleaning effect and efficiency, and solve the problems of the previous self-cleaning of the entire agricultural machinery body.

[0055] 3) By setting the sedimentation tank with a stepped inner bottom, the natural sedimentation of the cleaning water is facilitated, thereby improving the cleanliness of the cleaning water; the water inlet end of the suction pipe is set in the sedimentation tank through a funnel-shaped suction device, which helps to ensure water suction efficiency and reduce water suction noise. Attached Figure Description

[0056] Figure 1 This is a three-dimensional structural diagram of the resilient cleaning mechanism in this invention. Figure 1 ;

[0057] Figure 2 This is a three-dimensional structural diagram of the resilient cleaning mechanism in this invention. Figure 2 ;

[0058] Figure 3 This is a top view of the resilient cleaning mechanism in this invention.

[0059] Figure 4 It is along Figure 3 Sectional view of line AA in the middle;

[0060] Figure 5 This is a three-dimensional structural diagram of a partially cut-out section of the nozzle module in this invention;

[0061] Figure 6 This is a schematic diagram of the arrangement of internal parts of the nozzle module in this invention;

[0062] Figure 7 This is a three-dimensional structural diagram of the nozzle in this invention, viewed from below.

[0063] Figure 8 This is a bottom view of the nozzle in the first working state of the present invention.

[0064] Figure 9 This is a bottom view of the nozzle in the second working state of the present invention.

[0065] The components in the diagram are labeled as follows: nozzle module 100, module housing 110, working nozzle space 111, water inlet space 112, redundant nozzle space 113, drive space 114, water inlet hole 115, nozzle 120, nozzle body 121, nozzle limiting part 122, baffle plate 123, baffle plate drive gear ring 124, water spray hole 125, toothed crank 126, slide rod 127, rocker arm 128, first locking mechanism 130, first clamping slider 131, first reset part 132, first locking tongue 133, redundant nozzle 140, telescopic mechanism 150, second locking mechanism 160, equipment vehicle body 20. 0. Mountain tire 211. Cleaning device 300. Water supply channel 310. Adjustable slide 320. Adjustable slider 330. Telescopic support rod 410. Movable support component 420. First ball joint 421. First support rod 422. Second ball joint 423. Second support rod 424. First universal joint 425. Orientation adjustment component 430. Orientation adjustment motor 431. Rope reel 432. First adjustment rope 434. Third universal joint 435. Second adjustment rope 436. Settling tank 510. Overflow hole 511. Booster pump 520. Suction pipe 531. Outlet pipe 532. Water level monitoring sensor 610. Detailed Implementation

[0066] The invention will now be further described with reference to the accompanying drawings.

[0067] In the description of this invention, it should be noted that the terms "left," "right," "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for ease of description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention; the term "multiple" refers to three or more; the expression "mainly composed of or constituted by" is interpreted as also including structural components not mentioned in the sentence; the term "and / or" is merely a descriptive term. The relationship between related objects can be categorized into three types, such as A and / or B, which can represent: A alone, A and B simultaneously, or B alone. The term "resilience" refers to the ability of equipment or components to recover after failure or damage; for example, automatic recovery by replacing a clogged or damaged nozzle with a redundant one. The term "communication connection" refers to communication between connected devices through signal transmission and interaction, which can be wired or wireless. Wired connections typically include cables and fiber optics; wireless connections typically include radio communication, Bluetooth, infrared, and NFC. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] Combination Figure 1 , Figure 5 and Figure 6 As shown, a resilient cleaning mechanism includes a nozzle module 100 and a control system;

[0069] The nozzle module 100 includes a module housing 110, a nozzle 120, a first locking mechanism 130, a redundant nozzle 140, and a telescopic mechanism 150.

[0070] The module housing 110 is the outer shell of the nozzle module 100, mainly used for the installation and setting of other components of the nozzle module 100, and has a protective function; the inner cavity of the module housing 110 includes a working nozzle space 111, a water inlet space 112, a redundant nozzle space 113 and a drive space 114 connected in sequence.

[0071] The nozzle 120 is a component used to spray cleaning water at a certain flow rate and angle. The nozzle 120 includes a nozzle body 121, one end of which is a nozzle end and the other end is a water inlet end. A nozzle limiting part 122 is provided on the side of the nozzle body 121. The nozzle limiting part 122 is mainly used to cooperate with a locking or limiting mechanism to fix the nozzle 120. The nozzle limiting part 122 can have various structural forms, such as a limiting groove, a limiting protrusion, a limiting structure combining a groove and a protrusion, etc.

[0072] The nozzle 120 is set in the working nozzle space 111 and is fixed by the first locking mechanism 130. The nozzle end is located outside the module housing 110, and the water inlet end of the nozzle is connected to the water inlet space 112.

[0073] The first locking mechanism 130 includes a first clamping slider 131, on which a first locking part is provided. The first locking part can cooperate with the nozzle limiting part 122 to limit and fix the nozzle 120, and allow the nozzle 120 to be pushed out of the working nozzle space 111 and out of the module housing 110 under the action of external force. The structure formed by the cooperation of the first locking part and the nozzle limiting part 122 at least allows the nozzle 120 to move in one direction under the action of external force. It can be a magnetic limiting mechanism, a ratchet limiting mechanism, a locking tongue limiting mechanism, a telescopic limiting mechanism, etc.

[0074] The water inlet space 112 is mainly used to supply water to the nozzle 120; water inlet holes 115 are provided on the side wall of the water inlet space 112; there are usually two or more water inlet holes 115, which are evenly distributed around the circumference of the module housing 110.

[0075] The redundant nozzle 140 has the same structure as the nozzle 120. At least one redundant nozzle 140 is provided in the redundant nozzle space 113 as a spare part of the nozzle 120.

[0076] The telescopic mechanism 150 is disposed in the drive space 114. It can push the redundant nozzle 140 in the redundant nozzle space 113 into the working nozzle space 111, push out the nozzle 120 in the working nozzle space 111, and limit and fix the pushed-in redundant nozzle 140 together with the first locking mechanism 130. The telescopic mechanism 150 can be a pneumatic telescopic mechanism, a hydraulic telescopic mechanism, an electric push rod, etc.

[0077] The control system includes a flow detection sensor for detecting the water flow rate of the nozzle 120, and a controller that is communicatively connected to the telescopic mechanism 150 and the flow detection sensor, respectively.

[0078] When the flow detection sensor detects that the water flow rate of the nozzle 120 is not within the threshold range, the controller can determine that the nozzle 120 is blocked or damaged, and control the telescopic mechanism 150 to push the redundant nozzle 140 to replace the blocked or damaged nozzle 120, so as to achieve the purpose of automatic nozzle replacement. This makes the cleaning mechanism resilient and ensures that it can quickly return to normal after the nozzle 120 is blocked or damaged.

[0079] The threshold range can be set according to usage experience or test results. Generally, if the water flow rate of the sprinkler head 120 is detected to be higher than the upper limit of the threshold range, it indicates that the sprinkler head 120 is damaged; if the water flow rate of the sprinkler head 120 is detected to be lower than the lower limit of the threshold range, it indicates that the sprinkler head 120 is blocked.

[0080] Combined Figure 5 and Figure 6 As shown, in some preferred embodiments of the present invention, the nozzle limiting part 122 is an annular limiting groove with a wedge-shaped structure in its longitudinal section; the first clamping slider 131 is movably disposed in the working nozzle space 111 through the first reset member 132, and its first locking part is a first locking tongue 133 wedge-in the nozzle limiting part 122; during the process of the nozzle 120 being pushed out by external force, the nozzle limiting part 122 can squeeze the first clamping slider 131 to disengage the first locking tongue 133 from the nozzle limiting part 122; the first reset member 132 can drive the first clamping slider 131 to reset when it is not squeezed. The annular limiting groove with a wedge-shaped structure in its longitudinal section cooperates with the first locking tongue 133 to provide stable limiting and guiding functions, ensuring the stability of the nozzle 120 during operation and the positional accuracy during the pushing process. The first clamping slider 131 and the first reset member 132 cooperate to effectively fix the nozzle 120 when it is intact, and at the same time ensure that it can be released under external force when the nozzle 120 is blocked or damaged. It is flexible and safe to use.

[0081] Combined Figure 5 and Figure 6As shown, in some preferred embodiments of the present invention, two opposing first clamping sliders 131 form a group, and the first locking mechanism 130 includes at least one group of first clamping sliders 131; the first reset member 132 is a reset spring disposed between the first clamping sliders 131 and the side wall of the working nozzle space 111; the nozzle module 100 also includes a second locking mechanism 160 with the same structure as the first locking mechanism 130; the redundant nozzle 140 disposed in the redundant nozzle space 113 is limited and fixed by the second locking mechanism 160. By setting at least one group of first clamping sliders 131 to limit and fix the nozzle 120, the stability of the nozzle 120 installation is further improved, ensuring that it can maintain normal operation even under the action of a large water flow. By fixing the redundant nozzle 140 in the redundant nozzle space 113 by the second locking mechanism 160, it is beneficial to ensure the stability of the redundant nozzle 140 storage and avoid shaking.

[0082] In some preferred embodiments of the present invention, the telescopic mechanism 150 includes a telescopic drive motor, a telescopic transmission screw, and a push slider; the telescopic drive motor is disposed in the drive space 114; the telescopic transmission screw is disposed in the drive space 114 and is connected to the power output end of the telescopic drive motor; the push slider is slidably disposed in the drive space 114 and is threadedly connected to the telescopic transmission screw 152; the telescopic drive motor can drive the telescopic transmission screw to rotate, and through the telescopic transmission screw, drive the push slider to slide in the drive space 114, and can allow the push slider to partially slide into the redundant nozzle space 113, so as to push the redundant nozzle 140 into the working nozzle space 111. This telescopic mechanism 150 can precisely control the speed and angle of rotation of the telescopic transmission screw through the telescopic drive motor, thereby precisely controlling the sliding distance of the push slider and ensuring sufficient pushing force, ensuring that the redundant nozzle 140 can be accurately and stably pushed, realizing the replacement of the nozzle 120.

[0083] Combination Figure 7 and Figure 8As shown, in some preferred embodiments of the present invention, the nozzle 120 further includes a flow rate and water pressure regulating mechanism communicatively connected to a controller; the nozzle end of the nozzle body 121 is provided with at least two evenly distributed spray holes 125; the flow rate and water pressure regulating mechanism includes a baffle plate driving assembly disposed on the nozzle body 121, and a baffle plate 123 movably disposed on the nozzle end via the baffle plate driving assembly; the baffle plate driving assembly can drive the baffle plate 123 to a position that blocks at least one spray hole 125. When it is necessary to adjust the flow rate and water pressure of the cleaning water, the baffle plate 123 is driven to move by the baffle plate driving assembly, changing the number of spray holes 125 it blocks. Since the water supply flow rate remains constant, the water pressure is lower when there are more exposed spray holes 125, and higher when there are fewer exposed spray holes 125, thus achieving the purpose of adjusting the flow rate and water pressure of the cleaning water, which is very convenient. The structure of the baffle plate 123 can be various, such as circular, rectangular, fan-shaped, etc.

[0084] Combined Figure 7 and Figure 8 As shown, in some preferred embodiments of the present invention, the baffle plates 123 are movably arranged radially along the nozzle body 121; there are at least two baffle plates 123, which are evenly distributed around the axis of the nozzle body 121; the baffle plate drive assembly includes a baffle plate drive motor mounted on the nozzle body 121, a baffle plate drive gear ring 124 rotatably mounted on the nozzle end and driven by the baffle plate drive motor, and a crank-slider mechanism drivingly connecting the baffle plates 123 and the baffle plate drive gear ring 124; the number of crank-slider mechanisms is equal to the number of baffle plates 123, and they are arranged in a one-to-one correspondence. By setting two or more baffle plates 123, it is beneficial to achieve more precise control of cleaning water; by driving the baffle plate drive gear ring 124 to rotate through the baffle plate drive motor, and then driving each crank-slider mechanism to move the baffle plates 123 at the nozzle end through the baffle plate drive gear ring 124, it is beneficial to ensure the synchronicity of the movement of each baffle plate 123, and further facilitate control.

[0085] Combination Figure 7 , Figure 8 and Figure 9As shown, in some preferred embodiments of the present invention, the crank-slider mechanism includes a toothed crank 126 rotatably mounted on the nozzle end and meshing with the orifice plate drive gear ring 124, a slide rod 127 movably mounted radially along the nozzle body 121 and connected to the orifice plate 123, and a rocker arm 128 hinged at both ends to the slide rod 127 and the toothed crank 126 respectively. During operation, driven by the orifice plate drive gear ring 124, the toothed crank 126 drives the rocker arm 128 to sway, thereby allowing the slide rod 127 to slide radially along the nozzle body 121, pulling outward or pushing inward towards the orifice plate 123, thus effectively controlling the flow rate and water pressure of the cleaning water. Preferably, the orifice plate 123 is fan-shaped. Figure 8 and Figure 9 In this embodiment, the baffle plate 123 consists of four pieces, which can be spliced ​​together to form a ring. The slide rod 127 is preferably a smooth rod, which is generally slidably disposed at the nozzle end via a guide member.

[0086] Specifically, in combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the cleaning mechanism also includes a vehicle body 200 with a walking mechanism and a cleaning device 300 mounted on the vehicle body 200 via a position adjustment mechanism; at least two nozzle modules 100 are provided on the front of the cleaning device 300, and a water supply channel 310 is provided inside the cleaning device 300, which is connected to the water inlet 115 on each nozzle module 100.

[0087] The equipment vehicle body 200 serves as the carrier for the cleaning mechanism and is mainly used to install other components of the cleaning mechanism. The traveling mechanism is mainly used for the movement of the cleaning mechanism, and it can be a wheeled traveling mechanism, a tracked traveling mechanism, a mechanical leg traveling mechanism, or other types.

[0088] Combination Figure 1 and Figure 2 As shown, in some preferred embodiments of the present invention, the walking mechanism includes four mountain tires 211, which are rotatably disposed at the bottom of the equipment body 200 and arranged in a rectangular array; the walking mechanism also includes a wheel drive motor, which is drivenly connected to at least one of the mountain tires 211.

[0089] Combined Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in some preferred embodiments of the present invention, the position adjustment mechanism is communicatively connected to the controller; the position adjustment mechanism includes a height adjustment motor, a telescopic support rod 410, and an orientation adjustment component; the height adjustment motor is mounted on the equipment vehicle body 200; the telescopic support rod 410 is inclined, its lower end is hinged to the equipment vehicle body 200 and drivenly connected to the power output end of the height adjustment motor, and its upper end is movably connected to the cleaning device 300 through the orientation adjustment component. By driving the lower end of the telescopic support rod 410 to rotate by the height adjustment motor, the tilt angle of the telescopic support rod 410 can be adjusted, thereby adjusting the height position of the cleaning device 300 connected to the upper end of the telescopic support rod 410. There are usually two telescopic support rods 410, which are respectively set on the left and right sides of the equipment body 200. The telescopic support rods 410 can be various types such as cylinders, hydraulic cylinders, and electric push rods. The telescopic support rods 410 themselves are telescopic, which can adjust the distance between the cleaning device 300 and the agricultural machinery to be cleaned. The orientation adjustment component is mainly used to adjust the water spray direction of the cleaning device 300, so as to meet the cleaning needs of different parts of the agricultural machinery and facilitate the removal of stubborn stains.

[0090] Combined Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some preferred embodiments of the present invention, an adjustment groove 320 is provided on the back of the cleaning device 300, and an adjustment slider 330 is slidably disposed in the adjustment groove 320. An adjustment reset member connected to the adjustment slider 330 is also provided in the adjustment groove 320. The adjustment reset member can drive the adjustment slider 330 to reset to its initial position when no external force is applied to the adjustment slider 330. The orientation adjustment assembly includes a movable support member 420 and an orientation adjustment member 430. The movable support member 420 includes a first support rod 422 connected to the end of the cleaning device 300 through a first ball joint 421, and a second ball joint 422 connected to the end of the cleaning device 300 through a second ball joint 421. The hinge 423 connects to the upper end of the telescopic support rod 410, forming a second support rod 424, and a first universal joint 425 connects the first support rod 422 and the second support rod 424. The orientation adjustment component 430 includes an orientation adjustment motor 431, a cable reel 432 mounted on the power output end of the orientation adjustment motor 431, a first adjustment rope 434 with one end connected to the cable reel 432 and the other end movably connected to the adjustment slider 330 via a second universal joint 433, and a second adjustment rope 436 with one end connected to the cable reel 432 and the other end movably connected to the upper end of the telescopic support rod 410 via a third universal joint 435. The third universal joint 435 can be movably connected to the upper end of the telescopic support rod 410 in various ways, such as a sliding connection, a rotatable connection, etc.

[0091] When the spray direction of the cleaning device 300 needs to be adjusted, the tilt and angle of the cleaning device 300 can be adjusted by driving the reel 432 to wind or unwind the first adjusting rope 434 and / or the second adjusting rope 436 via the orientation adjustment motor 431. When there are two telescopic support rods 410 arranged on the left and right, the left and right orientation and angle of the cleaning device 300 can be adjusted by adjusting the telescopic support rod 410 connected to one side and its connected orientation adjustment component 430. In this way, effective cleaning of hard-to-reach areas and stubborn dirt stains on the agricultural machinery body can be ensured.

[0092] Combined Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some preferred embodiments of the present invention, the cleaning mechanism further includes a water supply device; the water supply device includes a settling tank 510, a booster pump 520, and a water delivery pipeline; the inner bottom surface of the settling tank 510 has a stepped structure; both the settling tank 510 and the booster pump 520 are mounted on the equipment vehicle body 200; the water delivery pipeline includes a suction pipe 531 and an outlet pipe 532; the inlet end of the suction pipe 531 is mounted in the settling tank 510 through a trumpet-shaped suction element and corresponds to the lowest point of the inner bottom surface of the settling tank 510; the outlet end of the suction pipe 531 is connected to the inlet of the booster pump 520; the inlet end of the outlet pipe 532 is connected to the outlet of the booster pump 520, and its outlet end is connected to the inlet of the water delivery channel 310.

[0093] The aforementioned sedimentation tank 510 with its stepped inner bottom surface offers superior water settling compared to traditional vehicle water tanks. This design facilitates the accumulation of impurities in the water at the lower inner bottom surface, ensuring the cleanliness of the cleaning water and making it particularly suitable for the water cleanliness requirements of this cleaning organization. Typically, a plugged drain hole is located at the lower inner bottom surface of the sedimentation tank 510, allowing for easy removal of the plug after cleaning to drain the impurities deposited at the bottom of the sedimentation tank 510.

[0094] Compared to traditional straight-mouth suction devices, the advantages of horn-shaped suction devices are that they can improve suction efficiency, reduce vibration and noise during the suction process, and ensure a more stable suction flow rate.

[0095] A check valve is usually installed on the suction pipe 531 to prevent water backflow. A suction stop hole is usually installed on the section of the suction pipe 531 near the water inlet. When the water level in the settling tank 510 is higher than the suction stop hole, it can ensure normal water intake. When the water level in the settling tank 510 is lower than the suction stop hole, the principle of atmospheric pressure balance can be used to stop the suction pipe 531 from taking in water. This can ensure water output efficiency and effectively prevent impurities deposited on the bottom surface of the settling tank 510 from being sucked in and clogging the pipe or nozzle 120.

[0096] In some preferred embodiments of the present invention, an overflow hole 511 is provided on the settling tank 510, such as... Figure 1 and Figure 4 As shown. The overflow hole 511 ensures that water can be discharged through the overflow hole 511 when the water level in the settling tank 510 is too high. The discharged water generally flows to other water storage containers through pipes.

[0097] To facilitate monitoring of the water level in the settling tank 510, and in conjunction with Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some preferred embodiments of the present invention, the control system further includes an alarm and a water level monitoring sensor 610 disposed in the settling tank 510; the alarm and the water level monitoring sensor 610 are respectively communicatively connected to the controller. When the water level monitoring sensor 610 detects that the water level in the settling tank 510 is too high or too low, the controller controls the alarm to sound an alarm, reminding the staff to control the water level in time.

[0098] The present invention also provides a control method for a resilient cleaning mechanism, which is used to control the aforementioned resilient cleaning mechanism.

[0099] The above method includes a nozzle replacement step; the nozzle replacement step is as follows: when the flow detection sensor detects that the water flow rate of the nozzle 120 is not within the threshold range, it is determined that the nozzle 120 is blocked or damaged, and the controller controls the telescopic mechanism 150 to push the redundant nozzle 140 to replace the blocked or damaged nozzle 120.

[0100] The specific process is as follows: When any of the nozzles 120 becomes severely blocked or damaged, its water flow rate will change and be detected by the corresponding flow detection sensor. The flow detection sensor then feeds back the abnormality to the controller, which issues a control command to control the telescopic mechanism 150 corresponding to the blocked or damaged nozzle 120 to work. This pushes the redundant nozzle 140 in the redundant nozzle space 113 into the working nozzle space 111. The redundant nozzle 140 further presses down on the blocked or damaged nozzle 120, thereby causing the nozzle limiting part 122 to press the first clamping slider 131, causing the first locking tongue 133 to disengage from the nozzle limiting part 122 and release the lock. After the blocked or damaged nozzle 120 is pushed out of the working nozzle space 111 and out of the module housing 110, the first reset member 132 drives the first clamping slider 131 to reset and limit and fix the redundant nozzle 140, thus restoring normal operation.

[0101] The present invention also provides an external self-cleaning device, which includes the aforementioned resilient cleaning mechanism. This external self-cleaning device can be agricultural machinery such as seeders and harvesters, and the aforementioned resilient cleaning mechanism can be installed by means of mounting or external connection.

Claims

1. A cleaning mechanism with flexibility, comprising a spray head module (100), the spray head module (100) comprising a module housing (110) and a spray head (120); characterized in that: Also comprising a control system; The nozzle module (100) further comprises a first locking mechanism (130), a redundant nozzle (140) and a telescopic mechanism (150); The inner cavity of the module shell (110) comprises a working nozzle space (111), a water inlet space (112), a redundant nozzle space (113) and a driving space (114) in sequence; The nozzle (120) comprises a nozzle body (121), one end of which is a nozzle end and the other end is a nozzle water inlet end, and the side of the nozzle body (121) is provided with a nozzle limiting part (122); The nozzle (120) is arranged in the working nozzle space (111) and is fixed by the first locking mechanism (130), the nozzle end is outside the module shell (110), and the nozzle water inlet end is in communication with the water inlet space (112); The first locking mechanism (130) comprises a first clamping sliding block (131), and the first clamping sliding block (131) is provided with a first locking part, which can cooperate with the nozzle limiting part (122) to limit and fix the nozzle (120), and allow the nozzle (120) to be pushed out of the working nozzle space (111) to the outside of the module shell (110) under the action of external force; The side wall of the water inlet space (112) is provided with a water inlet hole (115); The structure of the redundant nozzle (140) is the same as that of the nozzle (120), and at least one redundant nozzle (140) is arranged in the redundant nozzle space (113); The telescopic mechanism (150) is arranged in the driving space (114), which can push the redundant nozzle (140) in the redundant nozzle space (113) into the working nozzle space (111), push the nozzle (120) in the working nozzle space (111) out, and make the pushed redundant nozzle (140) and the first locking mechanism (130) limit and fix together; The control system comprises a flow detection sensor for detecting the water outlet flow of the nozzle (120), and a controller in communication connection with the telescopic mechanism (150) and the flow detection sensor respectively; The controller can determine that the nozzle (120) is blocked or damaged when the flow detection sensor detects that the water outlet flow of the nozzle (120) is not within the threshold range, and control the telescopic mechanism (150) to push the redundant nozzle (140) to replace the blocked or damaged nozzle (120).

2. The cleaning mechanism with flexibility according to claim 1, wherein: The nozzle limiting part (122) is an annular limiting groove, and the longitudinal section is in the form of a wedge-shaped opening structure; The first clamping sliding block (131) is movably arranged in the working nozzle space (111) by a first reset member (132), and the first locking part is a first locking tongue (133) wedged in the nozzle limiting part (122); During the process of pushing out the nozzle (120) under the action of external force, the nozzle limiting part (122) can extrude the first clamping sliding block (131) to make the first locking tongue (133) come out of the nozzle limiting part (122); the first reset member (132) can drive the first clamping sliding block (131) to reset when it is not extruded.

3. The cleaning mechanism with flexibility according to claim 2, wherein: The two first clamping sliders (131) arranged oppositely form a group, and the first locking mechanism (130) comprises at least one group of first clamping sliders (131); The first reset member (132) is a reset spring arranged between the first clamping slider (131) and the side wall of the working nozzle space (111); The nozzle module (100) further comprises a second locking mechanism (160) identical in structure to the first locking mechanism (130); The redundant nozzle (140) arranged in the redundant nozzle space (113) is fixed by the second locking mechanism (160).

4. The flexible cleaning mechanism of claim 1, wherein: The nozzle (120) further comprises a flow and water pressure adjusting mechanism in communication connection with the controller; The nozzle end of the nozzle body (121) is provided with at least two uniformly distributed water ejection holes (125); The flow and water pressure adjusting mechanism comprises a blocking hole plate driving assembly arranged on the nozzle body (121), and a blocking hole plate (123) movably arranged on the nozzle end through the blocking hole plate driving assembly; The blocking hole plate driving assembly can drive the blocking hole plate (123) to move to a position at least covering one water ejection hole (125).

5. The flexible cleaning mechanism of claim 4, wherein: The blocking hole plate (123) is movably arranged along the radial direction of the nozzle body (121); The blocking hole plate (123) is at least two and is uniformly distributed around the axial line of the nozzle body (121); The blocking hole plate driving assembly comprises a blocking hole plate driving motor arranged on the nozzle body (121), a blocking hole plate driving gear ring (124) rotatably arranged on the nozzle end and in transmission connection with the blocking hole plate driving motor, and a crank slider mechanism transmission connecting the blocking hole plate (123) and the blocking hole plate driving gear ring (124); The number of the crank slider mechanism is equal to the number of the blocking hole plate (123) and is arranged one by one.

6. The flexible cleaning mechanism of any one of claims 1 to 5, wherein: Further comprising a device vehicle body (200) having a walking mechanism and a cleaning device (300) arranged on the device vehicle body (200) through a position adjusting mechanism; The front surface of the cleaning device (300) is provided with at least two nozzle modules (100), and the cleaning device (300) is provided with a water conveying channel (310) therein, which is in communication with the water inlet hole (115) of each nozzle module (100); The position adjusting mechanism is in communication connection with the controller; The position adjusting mechanism comprises a height adjusting motor, an extension support rod (410) and a direction adjusting assembly; The height adjusting motor is arranged on the device vehicle body (200); The extension support rod (410) is arranged obliquely, the lower end thereof is hinged to the device vehicle body (200) and is in transmission connection with the power output end of the height adjusting motor, and the upper end thereof is movably connected to the cleaning device (300) through the direction adjusting assembly.

7. The cleaning mechanism having flexibility according to claim 6, characterized by: The back of the cleaning device (300) is provided with an adjusting sliding groove (320), an adjusting sliding block (330) is slidably arranged in the adjusting sliding groove (320), and an adjusting reset member connected with the adjusting sliding block (330) is arranged in the adjusting sliding groove (320), and the adjusting reset member can drive the adjusting sliding block (330) to reset to the initial position when no external force acts on the adjusting sliding block (330); The orientation adjusting assembly comprises a movable support component (420) and an orientation adjusting component (430); The movable support component (420) comprises a first support rod (422) connected with the end of the cleaning device (300) through a first spherical hinge (421), a second support rod (424) connected with the upper end of the telescopic support rod (410) through a second spherical hinge (423), and a first universal joint (425) connecting the first support rod (422) and the second support rod (424); The orientation adjusting component (430) comprises an orientation adjusting motor (431), a winding device (432) arranged on the power output end of the orientation adjusting motor (431), a first adjusting rope (434) having one end connected with the winding device (432) and the other end movably connected with the adjusting sliding block (330) through a second universal joint (433), and a second adjusting rope (436) having one end connected with the winding device (432) and the other end movably connected with the upper end of the telescopic support rod (410) through a third universal joint (435).

8. The flexible cleaning mechanism of claim 6, wherein: Further comprising a water supply device; The water supply device comprises a sedimentation water tank (510), a booster water pump (520) and a water supply pipeline; The inner bottom surface of the sedimentation water tank (510) is in a stepped structure; The sedimentation water tank (510) and the booster water pump (520) are arranged on the equipment vehicle body (200); The water supply pipeline comprises a water suction pipe (531) and a water outlet pipe (532); the water inlet end of the water suction pipe (531) is arranged in the sedimentation water tank (510) through a trumpet-shaped water suction member and corresponds to the lowest part of the inner bottom surface of the sedimentation water tank (510); the water outlet end of the water suction pipe (531) is connected with the water inlet of the booster water pump (520); the water inlet end of the water outlet pipe (532) is connected with the water outlet of the booster water pump (520), and the water outlet end thereof is connected with the water inlet of the water conveying channel (310); The control system further comprises an alarm and a water level monitoring sensor (610) arranged in the sedimentation water tank (510); the alarm and the water level monitoring sensor (610) are respectively in communication connection with the controller.

9. A control method of a cleaning mechanism having flexibility, characterized by: The method is used for controlling the cleaning mechanism with toughness according to any one of claims 1 to 8. The method comprises a nozzle replacement step: when the flow detection sensor detects that the water flow of the nozzle (120) is not within the threshold range, it is determined that the nozzle (120) is blocked or damaged, and the controller controls the telescopic mechanism (150) to push the redundant nozzle (140) to replace the blocked or damaged nozzle (120).

10. An external self-cleaning device, characterized by: The method comprises the cleaning mechanism with toughness according to any one of claims 1 to 8.

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