Cleaning device suitable for chassis robot to automatically clean bucket and cleaning method of cleaning device

Abstract

The invention discloses a cleaning device and a cleaning method suitable for a chassis robot to automatically clean a bucket, the cleaning device comprises a cleaning platform and a transmission belt for the chassis robot to walk, and the transmission belt is rotatably engaged with wheels or tracks of the chassis robot, so that the chassis robot can walk to a to-be-cleaned position along the transmission belt; and the to-be-cleaned position comprises a bucket spray-washing position and a rolling brush cleaning position. And high-pressure water nozzles for washing wet materials adhered to the bucket and the rolling brush respectively are arranged at the bucket spray-washing position. And a rolling brush for cleaning the bucket is arranged at the rolling brush cleaning position. The rolling brush is in shaft connection with an output wheel of the transmission wheel set, and under rotation of the transmission belt 3, the transmission wheel set drives the rolling brush to rotate so as to conduct rolling brush cleaning on the bucket. A transmission belt band-type brake is arranged below a transmission wheel of the transmission wheel set and used for limiting rotation of a transmission belt. According to the invention, the whole process of cleaning the fallen materials in the conveying process can be efficiently and intelligently completed.

Description

Technical Field

[0001] The present invention relates to an automatic cleaning device and a cleaning method thereof, and in particular, to a cleaning device and a cleaning method thereof suitable for automatically cleaning a bucket of a chassis robot. The cleaning device and the cleaning method thereof are used for automatically cleaning the bucket of the chassis robot when performing heavy cleaning operations in links such as raw material transportation in industries such as metallurgy. Background Art

[0002] In the metallurgical process of the steel plant, raw materials usually arrive via docks or railways, are transported to the stockpiling point by conveyors such as belt conveyors, and then transported to various production sites. During this transportation process, a large amount of falling, scattered and accumulated materials will be generated. At the same time, due to open air and site conditions, a large amount of falling, scattered and accumulated materials will show viscous cement properties when they come into contact with water, which makes normal cleaning work difficult.

[0003] In addition, some steel plants are currently exploring the use of chassis robots with buckets to transport materials, which will generate a large amount of falling, scattered and accumulated materials, which will be automatically shoveled to the collection point for fixed-point processing. However, in this process, some materials will stick to the bucket due to static electricity or excessive viscosity of wet materials, making it impossible to separate some materials from the bucket by dumping, and manual intervention is required to clean them in order to carry out the cleaning work normally.

[0004] In order to efficiently and intelligently complete the entire process of cleaning fallen materials during transportation, there is an urgent need for a cleaning device suitable for a chassis robot to automatically clean its loading bucket.

[0005] Patent document "CN106040626A" "An automatic cleaning device" discloses a cleaning device that uses a motor-driven telescopic rod to move the spray head to the air above the object to be cleaned for cleaning. However, the cleaning device has only one degree of freedom in one direction, and the cleaning device switches between the cleaning, cleaning and air-drying modes by rotating the shaft. Therefore, when the cleaning device cleans large-volume objects to be cleaned such as buckets, its form and efficiency cannot match, and the cleaning effect cannot be guaranteed.

[0006] According to the patent document "CN105966367A" "A Multifunctional Cleaning Device for Engineering Vehicles", the cleaning device is used to clean the entire exterior of an engineering vehicle, but the overall exterior volume of the engineering vehicle is large and inconvenient to clean. Even if the multifunctional cleaning device for engineering vehicles is reduced to a size that matches the size of a chassis robot, it cannot be guaranteed to have the ability to remove wet materials adhering to the inner wall of the bucket. Summary of the invention

[0007] The purpose of the present invention is to provide a cleaning device and a cleaning method suitable for automatically cleaning the bucket of a chassis robot. According to the cleaning device and the cleaning method of the present invention, the chassis robot can use its own power to drive the roller brush to clean the bucket. At the same time, according to the device and the cleaning method of the present invention, the maintenance points can be reduced and the cleaning efficiency can be improved.

[0008] To achieve the above object, the technical solution of the present invention is as follows:

[0009] A cleaning device suitable for automatically cleaning a bucket of a chassis robot, characterized in that the device comprises:

[0010] The cleaning platform has a transmission belt for the chassis robot to travel from the platform entrance to the end of the position to be cleaned, and the transmission belt is rotatably engaged with the wheels or tracks of the chassis robot, so that the chassis robot carrying the bucket to be cleaned at the front end can travel along the transmission belt to the position to be cleaned;

[0011] The order of the positions to be cleaned includes: bucket spraying position and roller brush cleaning position,

[0012] At the roller brush cleaning position, a roller brush is set at a height matching the bucket to be cleaned and can be used to clean the bucket;

[0013] When the chassis robot is walking, the cleaning device 20 for automatically cleaning the bucket is in a standby state, and the transmission belt brake 15 is in a locked state. At this time, the transmission belt 3 is in a state where it cannot rotate even when subjected to external force;

[0014] The rotating shaft of the cleaning end of the transmission belt 3 is connected to a transmission wheel set. A transmission belt brake is arranged under a transmission wheel of the transmission wheel set to limit the rotation of the transmission belt. The last wheel of the transmission wheel set, that is, the output wheel, is connected to the roller brush shaft.

[0015] When the cleaning device 20 is in the on state, the transmission belt brake 15 is released, and the rotation of the transmission belt 3 can drive the roller brush to rotate through the transmission wheel group to clean the bucket with the roller brush.

[0016] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0017] At the bucket spraying position, high-pressure water nozzles are arranged above the bucket and the roller brush for washing the wet materials adhered to the bucket and the roller brush respectively.

[0018] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0019] There are three transmission wheels, and the transmission wheels of the transmission wheel set are connected by chains and can rotate synchronously with the transmission belt.

[0020] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0021] An air nozzle is also provided at the cleaning position for starting after the bucket is cleaned to dry the water marks remaining on the bucket surface after cleaning.

[0022] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0023] A plurality of in-position detection units are arranged beside the transmission belt. The in-position detection units are composed of a plurality of photoelectric sensors for detecting and judging the current position of the chassis robot on the transmission belt.

[0024] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0025] The in-place detection unit 12 includes: the first to fourth in-place detection units 12A, 12B, 12C and 12D arranged in sequence from the chassis robot entering the platform to the direction of the position to be cleaned. When the chassis robot automatically walks, the in-place detection unit is started to detect the position of the chassis robot and feedback data;

[0026] If the detection feedback of the 1st and 3rd in-place detection units 12A and 12C is none, and the chassis robot position detection feedback of the 2nd and 4th in-place detection units 12B and 12D is a calibrated value, it means that the chassis robot 1 has reached the bucket spraying position (at this time, the drive belt brake 15 is closed).

[0027] illustrate:

[0028] First, the 1st to 4th in-place detection units 12A, 12B, 12C and 12D are four distance sensors. When the chassis robot reaches the bucket spraying position, the position of 12C is the middle position between the bucket and the front of the track, the position of 12A is the rear position of the track, and the positions of 12B and 12D can respectively illuminate the side guard plates of the chassis robot. At this time, the data feedback of 12A and 12C is none or a very large value, indicating that there is no obstruction (no object) in front of the current sensor. The data feedback of 12B and 12D is the straight-line distance between the current 12B and 12D sensors and the side guard plates of the chassis robot and is a fixed value. Since the gap between the bucket and the front of the track is limited, and sensor 12A can be arranged as close to the rear of the track as possible after the chassis robot reaches the bucket spraying position, the position of the chassis robot reaching the bucket spraying position can be judged more accurately.

[0029] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0030] If the chassis robot position detection feedback of the second and third in-place detection units 12B and 12C is a calibration value, and the chassis robot position detection feedback of the first and fourth in-place detection units 12A and 12D is none, then the chassis robot 1 has reached the roller brush cleaning position, and the roller brush 9 has entered the bucket 2 and contacted the bucket (at this time, the drive belt brake 15 is released). In addition, the purpose of releasing the brake is to allow the crawler of the chassis robot to directly drive the drive belt, thereby driving the roller brush to rotate and clean the bucket.

[0031] Apart from this, the brakes are in the locked state.

[0032] Note: When the chassis robot reaches the bucket cleaning position, 12A and 12D are far behind the crawler of the chassis robot, 12C can illuminate the side guard plate of the chassis robot, and 12B can illuminate the axle plane of the rear drive wheel of the chassis robot. At this time, the data feedback of 12A and 12D is none or a very large value, indicating that there is no obstruction (no object) in front of the current sensor. The data feedback of 12C is the straight-line distance from the current sensor to the side guard plate of the chassis robot and is a fixed value. The data feedback of 12B is the axle plane of the rear drive wheel of the chassis robot, which is also a fixed value, so it is judged that this position is an arrival signal.

[0033] According to the present invention, a cleaning device suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0034] A movement limit 13 is provided near the roller brush of the transmission belt 3 to control the minimum distance between the chassis robot and the roller brush after the chassis robot 1 reaches the cleaning position of the roller brush 9 to prevent collision between the chassis robot and the device.

[0035] A cleaning method suitable for automatically cleaning a bucket of a chassis robot, characterized in that:

[0036] Using the above-mentioned cleaning device suitable for automatically cleaning a bucket of a chassis robot, the method comprises:

[0037] 1) The cleaning device 20 for automatically cleaning the bucket is in a standby state, the drive belt brake 15 is locked, and the chassis robot carrying the bucket to be cleaned drives onto the cleaning platform and moves along the drive belt on the cleaning platform to the position to be cleaned;

[0038] 2) At the bucket spraying position, start the high-pressure water nozzle to wash the wet materials adhering to the bucket and the roller brush with high-pressure water, and then move to the roller brush cleaning position;

[0039] 3) In the roller brush cleaning position, the output wheel of the transmission wheel group is connected to the roller brush shaft, driving the roller brush to rotate and clean the bucket with the roller brush;

[0040] 4) An air nozzle is also provided at the cleaning position for starting after the bucket is cleaned to dry the residual water marks on the bucket surface after cleaning.

[0041] According to the present invention, a cleaning method suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0042] There are three transmission wheels which rotate synchronously with the transmission belt, and the transmission wheels of the transmission wheel set are connected by chains.

[0043] According to the present invention, a cleaning method suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0044] A plurality of in-place detection units are arranged beside the transmission belt. The in-place detection units are composed of photoelectric sensors for detecting and judging the current position of the chassis robot on the transmission belt.

[0045] According to the present invention, a cleaning method suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0046] The in-place detection unit 12 includes: the first to fourth in-place detection units 12A, 12B, 12C and 12D arranged in sequence from the chassis robot entering the platform to the direction of the position to be cleaned. When the chassis robot automatically walks, the in-place detection unit is started to detect the position of the chassis robot and feedback data;

[0047] If the chassis robot position detection feedback of the 1st and 3rd in-place detection units 12A and 12C is none, and the chassis robot position detection feedback of the 2nd and 4th in-place detection units 12B and 12D is a calibration value, it means that the chassis robot 1 has reached the bucket spraying position. At this time, the drive belt brake 15 is closed, and the high-pressure water nozzle is started to perform high-pressure water washing on the wet materials adhered to the bucket and the roller brush, and then advance to the roller brush cleaning position.

[0048] According to the present invention, a cleaning method suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0049] If the chassis robot position detection feedback of the second and third in-place detection units 12B and 12C is a calibration value, and the chassis robot position detection feedback of the first and fourth in-place detection units 12A and 12D is none, then at this time the chassis robot 1 has reached the roller brush cleaning position, and the roller brush 9 has entered the bucket 2 and made contact. At this time, the transmission belt brake 15 is released, and the roller brush 9 performs cleaning work as the output wheel 8 of the transmission wheel group rotates.

[0050] According to the present invention, a cleaning method suitable for automatically cleaning a bucket of a chassis robot is characterized in that:

[0051] A movement limit 13 is provided near the roller brush of the transmission belt 3 to control the minimum distance between the chassis robot and the roller brush after the chassis robot 1 reaches the cleaning position of the roller brush 9 to prevent collision between the chassis robot and the device.

[0052] As a result, the use of motors is reduced, and the reliability of the device can be improved at the tape conveyor site with a dusty environment.

[0053] According to the present invention, a cleaning device suitable for automatically cleaning the bucket of a chassis robot can enable the chassis robot operating on a belt conveyor site to clean the bucket autonomously, reducing the frequency of manual intervention. At the same time, since the invention mainly achieves the design purpose through mechanical means, the operation failure rate and maintenance rate are greatly reduced, making the operation process more controllable and reliable, and can efficiently and intelligently complete the whole process of cleaning the fallen materials during the conveying process. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is an overall schematic diagram of the present invention;

[0055] Figure 2 is a side view of the present invention;

[0056] Figure 3 is a front view of the present invention;

[0057] Figure 4 is a top view of the present invention;

[0058] Figure 5 It is a schematic diagram of the chassis robot arriving at the bucket spraying and washing position;

[0059] Figure 6 It is a schematic diagram of the chassis robot arriving at the roller brush cleaning position. DETAILED DESCRIPTION

[0060] Example

[0061] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0062] like Figures 1 to 6 As shown, a cleaning device 20 suitable for automatically cleaning buckets of chassis robots is provided, wherein a platform is provided, and a ring-shaped transmission belt 3 for the movement of the chassis robot is provided on one side of the platform, and the transmission belt is rotatably engaged with the crawler track of the chassis robot so that the chassis robot carrying the bucket to be cleaned at its front end can move along the transmission belt to the position to be cleaned.

[0063] The sequence of the positions to be cleaned includes: a bucket spraying position and a roller brush cleaning position.

[0064] At the bucket spray washing position, a high-pressure water nozzle is arranged above it for washing the wet materials adhered to the bucket and the roller brush respectively;

[0065] At the roller brush cleaning position, a roller brush is set at a height matching the bucket to be cleaned and can be used to clean the bucket.

[0066] When the chassis robot is walking, the cleaning device 20 for automatically cleaning the bucket is in a standby state, and the transmission belt brake 15 is in a locked state. At this time, the transmission belt 3 is in a state where it cannot rotate even when subjected to external force.

[0067] The left end rotating shaft of the transmission belt 3 is connected to a transmission wheel set, and a transmission belt brake is arranged below a transmission wheel of the transmission wheel set to limit the rotation of the transmission belt. The output wheel of the transmission wheel set is connected to the roller brush shaft.

[0068] Release the transmission belt brake 15, the chassis robot drives the annular transmission belt 3 to operate, and the annular transmission belt 3 drives the transmission wheel set to operate. The third transmission wheel of the transmission wheel set, that is, the last wheel or output wheel 8, drives the roller brush to rotate to clean the bucket.

[0069] The transmission wheel group includes: three transmission wheels 4, 6, 8, and the transmission wheels 4, 6, 8 form a transmission wheel group that cooperates in series through the chain 5, the chain 7 and the transmission wheel 8, so that the rotation of the transmission belt 3 can form the rotation of the third transmission wheel of the transmission wheel group, that is, the output wheel 8.

[0070] The roller brush 9 is mounted on the roller brush support rod 19 and is installed in cooperation with the driving wheel 8 so as to rotate with the rotation of the driving wheel 8 .

[0071] High-pressure water nozzles 10 and 14 are mounted on the support rod 16. The high-pressure water nozzle 10 is used to wash the bucket 2.

[0072] The high-pressure water nozzle 14 is used to rinse the roller brush 9 .

[0073] In addition, air nozzles 11 are respectively arranged above both sides of the driving belt 3 to blow dry the bucket 2 after cleaning.

[0074] Four in-position detection units consisting of a number of photoelectric sensors are arranged beside the transmission belt to detect and determine the current position of the chassis robot on the device.

[0075] The in-place detection unit 12 includes: the first to fourth in-place detection units 12A, 12B, 12C and 12D arranged in sequence from the chassis robot entering the platform to the direction of the position to be cleaned. When the chassis robot automatically walks, the in-place detection unit is started to detect the position of the chassis robot and feedback data;

[0076] If the detection feedback of the first and third in-place detection units 12A and 12C is none, and the chassis robot position detection feedback of the second and fourth in-place detection units 12B and 12D is a calibrated value, it means that the chassis robot 1 has reached the bucket spraying position.

[0077] If the detection feedback of the second and third in-place detection units 12B and 12C are calibrated values, and the detection feedback of the first and fourth in-place detection units 12A and 12D are none, then at this time the chassis robot 1 has reached the roller brush cleaning position, and the roller brush 9 has entered the bucket 2 and made contact. At this time, releasing the transmission belt brake 15 can allow the rotation of the transmission belt 3 to form the third transmission wheel of the transmission wheel group, that is, the rotation of the output wheel 8.

[0078] A movable limit 13 is fixed in front of the chassis robot 1 after it reaches the cleaning position of the roller brush 9 to control the minimum distance between the chassis robot and the roller brush to prevent collision between the chassis robot and the device.

[0079] A camera 21 is also installed on the support rod 16 to detect and determine whether the current cleaning state of the bucket meets the operating requirements.

[0080] A sewage tank 17 is provided below the roller brush 9 , and the wet materials cleaned by the high-pressure water nozzles 10 and 14 and the roller brush 9 are collected therein and discharged through a sewage pipe 18 .

[0081] See also Figure 5 and Figure 6 , a cleaning operation of a cleaning device suitable for automatically cleaning a bucket of a chassis robot comprises the following steps:

[0082] 1) When the cleaning device 20 for automatically cleaning the bucket is in a standby state, the transmission belt brake 15 is in a locked state, and the transmission belt 3 is in a state where it cannot rotate even when subjected to external force.

[0083] 2) The chassis robot 1 equipped with the bucket 2 drives from a slope into the entrance of the cleaning platform of the automatic bucket cleaning device 20 until it stops at the bucket spraying position. At this time, the arrival detection unit 12 will start and detect the running status of the chassis robot 1 and feedback data. If the arrival detection units 12A and 12C feedback is no, and the arrival detection units 12B and 12D feedback is a calibration value, it means that the chassis robot 1 has reached the bucket spraying position.

[0084] 3) The high-pressure water nozzle 10 is started to flush the bucket 2 for a process time.

[0085] 4) After flushing is completed, the high-pressure water nozzle 10 is closed, the chassis robot 1 is started, and after stopping at the roller brush cleaning position, the photoelectric detection unit 12 continues to detect the movement status of the chassis robot 1 and feedback data. If at this time the in-place detection units 12B and 12C feedback is a calibration value, and the in-place detection units 12A and 12D feedback is none, then at this time the chassis robot 1 has reached the roller brush cleaning position, and the roller brush 9 has entered the bucket 2 and made contact.

[0086] 5) At this time, release the transmission belt brake 15, and the chassis robot 1 starts on the transmission belt 3. The transmission belt 3 drives the transmission wheel 4 to rotate accordingly. Through the series cooperation between the chain 5, the transmission wheel 6, the chain 7 and the transmission wheel 8, the rotation of the roller brush 9 is finally transmitted, thereby forming a cleaning action of the roller brush 9 on the bucket 2.

[0087] See also Figure 2 At this time, the transmission belt 3 rotates clockwise, causing the roller brush 9 to also rotate clockwise; in this process, the movement limit 13 will limit the minimum distance between the chassis robot 1 and the roller brush 9 to prevent collision.

[0088] 6) Then, the high-pressure water nozzle 14 is started, facing in the opposite direction of the roller brush 9, to wash away the wet materials etc. that the roller brush 9 has stained when cleaning the bucket.

[0089] 7) After completing the flushing process, the chassis robot 1 stops, the high-pressure water nozzle 14 is closed, and the drive belt brake 15 returns to the locked state. The chassis robot 1 retreats to the bucket spraying position, and the air nozzle 11 is started to blow away the remaining material and water in the bucket 2 after cleaning.

[0090] 8) After completing a process-long purge, the air nozzle 14 is closed, and the camera 21 determines the cleaning status in the current bucket. If it is determined that cleaning is still required, steps 3) to 7) are repeated. If it is determined that cleaning is completed, the chassis robot 1 retreats and drives away from the cleaning device 20 for automatically cleaning the bucket.

[0091] 9) In the above process, the cleaned water and wet materials will be collected in the sewage tank 17, and finally drained to the designated location on site through the sewage pipe 18. At this point, the operation is completed.

[0092] To sum up, according to a cleaning device for automatically cleaning the bucket of a chassis robot according to the present invention, the chassis robot can drive the roller brush to clean its bucket through its own power, and can efficiently and intelligently complete the whole process of cleaning the fallen materials during the conveying process. At the same time, it can reduce maintenance points and improve working efficiency.

Claims

1. A cleaning device suitable for automatically cleaning a bucket of a chassis robot, characterized in that: The device comprises: The cleaning platform has a transmission belt for the chassis robot to travel from the platform entrance to the end of the position to be cleaned, and the transmission belt is rotatably engaged with the wheels or tracks of the chassis robot, so that the chassis robot carrying the bucket to be cleaned at the front end can travel along the transmission belt to the position to be cleaned; The order of the positions to be cleaned includes: bucket spraying position and roller brush cleaning position, At the roller brush cleaning position, a roller brush is set at a height matching the bucket to be cleaned and can be used to clean the bucket; When the chassis robot is walking, the cleaning device 20 for automatically cleaning the bucket is in a standby state, and the transmission belt brake 15 is in a locked state. At this time, the transmission belt 3 is in a state where it cannot rotate even when subjected to external force; The rotating shaft of the cleaning end of the transmission belt 3 is connected to a transmission wheel set. A transmission belt brake is arranged under a transmission wheel of the transmission wheel set to limit the rotation of the transmission belt. The last wheel of the transmission wheel set, that is, the output wheel, is connected to the roller brush shaft. When the cleaning device 20 is in the on state, the transmission belt brake 15 is released, and the rotation of the transmission belt 3 can drive the roller brush to rotate through the transmission wheel group to clean the bucket with the roller brush.

2. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 1, characterized in that: At the bucket spraying position, high-pressure water nozzles are arranged above the bucket and the roller brush for washing the wet materials adhered to the bucket and the roller brush respectively.

3. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 1, characterized in that: There are three transmission wheels, and the transmission wheels of the transmission wheel set are connected by chains and can rotate synchronously with the transmission belt.

4. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 1, characterized in that: An air nozzle is also provided at the cleaning position for starting after the bucket is cleaned to dry the water marks remaining on the bucket surface after cleaning.

5. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 1, characterized in that: A plurality of in-position detection units are arranged beside the transmission belt. The in-position detection units are composed of a plurality of photoelectric sensors for detecting and judging the current position of the chassis robot on the transmission belt.

6. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 5, characterized in that: The in-place detection unit 12 includes: the first to fourth in-place detection units 12A, 12B, 12C and 12D arranged in sequence from the chassis robot entering the platform to the direction of the position to be cleaned. When the chassis robot automatically walks, the in-place detection unit is started to detect the position of the chassis robot and feedback data; If the detection feedback of the first and third in-place detection units 12A and 12C is none, and the chassis robot position detection feedback of the second and fourth in-place detection units 12B and 12D is a calibrated value, it means that the chassis robot 1 has reached the bucket spraying position.

7. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 5, characterized in that: If the chassis robot position detection feedback of the second and third in-place detection units 12B and 12C is a calibration value, and the chassis robot position detection feedback of the first and fourth in-place detection units 12A and 12D is none, then at this time the chassis robot 1 has reached the roller brush cleaning position, the roller brush 9 has entered the bucket 2 and is in contact with the bucket, and at this time, the drive belt brake 15 is released.

8. A cleaning device suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 1, characterized in that: A movement limit 13 is provided near the roller brush of the transmission belt 3 to control the minimum distance between the chassis robot and the roller brush after the chassis robot 1 reaches the cleaning position of the roller brush 9 to prevent collision between the chassis robot and the device.

9. A cleaning method suitable for automatically cleaning a bucket of a chassis robot, characterized in that: The cleaning device for automatically cleaning a bucket of a chassis robot according to claim 1 is used, wherein the method comprises: 1) The cleaning device 20 for automatically cleaning the bucket is in a standby state, the drive belt brake 15 is locked, and the chassis robot carrying the bucket to be cleaned drives onto the cleaning platform and moves along the drive belt on the cleaning platform to the position to be cleaned; 2) At the bucket spraying position, start the high-pressure water nozzle to wash the wet materials adhering to the bucket and the roller brush with high-pressure water, and then move to the roller brush cleaning position; 3) In the roller brush cleaning position, the output wheel of the transmission wheel group is connected to the roller brush shaft, driving the roller brush to rotate and clean the bucket with the roller brush; 4) An air nozzle is also provided at the cleaning position for starting after the bucket is cleaned to dry the residual water marks on the bucket surface after cleaning.

10. A cleaning method suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 9, characterized in that: There are three transmission wheels which rotate synchronously with the transmission belt, and the transmission wheels of the transmission wheel set are connected by chains.

11. A cleaning method suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 9, characterized in that: A plurality of in-place detection units are arranged beside the transmission belt. The in-place detection units are composed of photoelectric sensors for detecting and judging the current position of the chassis robot on the transmission belt.

12. A cleaning method suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 11, characterized in that: The in-place detection unit 12 includes: the first to fourth in-place detection units 12A, 12B, 12C and 12D arranged in sequence from the chassis robot entering the platform to the direction of the position to be cleaned. When the chassis robot automatically walks, the in-place detection unit is started to detect the position of the chassis robot and feedback data; If the chassis robot position detection feedback of the 1st and 3rd in-place detection units 12A and 12C is none, and the chassis robot position detection feedback of the 2nd and 4th in-place detection units 12B and 12D is a calibration value, it means that the chassis robot 1 has reached the bucket spraying position. At this time, the drive belt brake 15 is closed, and the high-pressure water nozzle is started to perform high-pressure water washing on the wet materials adhered to the bucket and the roller brush, and then advance to the roller brush cleaning position.

13. A cleaning method suitable for automatically cleaning a bucket of a chassis robot as claimed in claim 11, characterized in that: If the chassis robot position detection feedback of the second and third in-place detection units 12B and 12C is a calibration value, and the chassis robot position detection feedback of the first and fourth in-place detection units 12A and 12D is none, then at this time the chassis robot 1 has reached the roller brush cleaning position, and the roller brush 9 has entered the bucket 2 and made contact. At this time, the transmission belt brake 15 is released, and the roller brush 9 performs cleaning work as the output wheel 8 of the transmission wheel group rotates.

14. A cleaning method for automatically cleaning a bucket of a chassis robot as claimed in claim 9, characterized in that: A movement limit 13 is provided near the roller brush of the transmission belt 3 to control the minimum distance between the chassis robot and the roller brush after the chassis robot 1 reaches the cleaning position of the roller brush 9 to prevent collision between the chassis robot and the device.

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