Barrier-free cleaning machine and control method thereof

Abstract

The barrier-free cleaning machine comprises a cleaning chamber and a drying chamber, one end of the cleaning chamber is used as an inlet, one end of the drying chamber is used as an outlet, and the opposite ends of the cleaning chamber and the drying chamber are used as transfer ports for transferring a hopper from the cleaning chamber to the drying chamber after the hopper is cleaned. AGV automatic guide vehicles used for containing the hopper trucks and assisting the hopper trucks in moving indoors are arranged in the cleaning chamber and the drying chamber correspondingly, lifting units are arranged at an inlet of the cleaning chamber and an outlet of the drying chamber correspondingly, and the final positions of the hopper trucks on the lifting units can be rapidly limited when the hopper trucks are arranged on the lifting units; the hopper truck can be prevented from continuously moving under manual driving, and the lifting unit is allowed to lift the hopper truck from the ground to the height position where the wheels of the hopper truck are higher than the lower edge of the door frame before the hopper truck enters the cleaning chamber or to descend the hopper truck until the wheels of the hopper truck are in contact with the ground after the hopper truck leaves the drying chamber.

Description

Technical Field

[0001] The invention relates to the technical field of pharmaceutical equipment, in particular to a barrier-free cleaning machine and a control method thereof. Background Art

[0002] The cleaning machine is used to clean the hopper. The simplest operation is: the operator directly pushes the hopper into the cleaning machine. However, cleaning machines have feet, and there is a height difference between the threshold and the ground. At present, the existing solutions are: 1. Generally, a pit is dug and the cleaning machine is placed in it so that the threshold is flush with the ground; 2. The hopper is lifted up and placed in by a lifting forklift. Both methods will increase the workload and cost a lot. For example, the first method needs to be considered when the factory building is built. If it is changed later, the floor slab needs to be knocked down and the pit needs to be built; the second method requires a forklift, which needs to be driven by someone with a special driver's license. Summary of the invention

[0003] The present invention aims to solve the above-mentioned shortcomings of the prior art and provide a barrier-free cleaning machine and a control method thereof to solve the above-mentioned problems.

[0004] The present invention adopts a technical solution to solve its technical problems: this barrier-free cleaning machine includes a cleaning chamber and a drying chamber, one end of the cleaning chamber is used as an entrance, one end of the drying chamber is used as an exit, and the opposite end between the two is used as a transfer port for transferring from the cleaning chamber to the drying chamber after the hopper is cleaned. Both the cleaning chamber and the drying chamber are provided with AGV automatic guided vehicles for placing hopper carts and assisting the hopper carts to move indoors. Lifting units are provided at the entrance of the cleaning chamber and the exit of the drying chamber. When the hopper cart is placed on the lifting unit, the lifting unit can quickly limit the final position of the hopper cart on the lifting unit, and can prevent the hopper cart from continuing to move under manual drive, and allow the lifting unit to lift the hopper cart from the ground to a height position where its wheels are higher than the lower edge of the door frame before entering the cleaning chamber, or to lower the hopper cart to the point where its wheels are in contact with the ground after the hopper cart leaves the drying chamber.

[0005] To be further improved, the lifting unit includes two columns, two hopper trolley supports, and two AGV supports. The columns, hopper trolley supports, and AGV supports on the same side constitute a single-sided lifting structure. The columns are fixed to the ground by bolts, the hopper trolley supports are arranged on the columns and can move along the height direction of the columns, and the AGV supports are arranged on the hopper trolley supports to follow the movement when the hopper trolley supports move or to move independently when matching the use height of the AGV.

[0006] To be further improved, the supporting part of the hopper cart includes a moving frame driven by a motor, a connecting plate, a connecting frame, a first connecting rod, and two supporting plates. The moving frame is placed in the column and moves along the height direction of the column. A slide groove is provided on the inner side surface of the column. One part of the connecting plate moves in the slide groove and the other part is exposed outside the slide groove and is used to connect the connecting frame and the first connecting rod. The first connecting rod is arranged at the lower end of the connecting frame and its inner side surface is used to set the supporting plate. The two supporting plates are symmetrically distributed on both sides and have a first supporting base surface for the hopper cart to be placed on.

[0007] For further improvement, the movable frame is configured as a sheet-like component, which is bent to form a connecting part and two mounting parts. The connecting part is connected to the part of the connecting plate that moves in the slide groove. The outer surface of the mounting part is provided with roller groups symmetrically distributed on both sides. Each roller group has two rollers distributed up and down, and the rollers are in contact with the inner wall of the column.

[0008] For further improvement, a curtain is arranged on the column of the slide to cover the open end of the slide, and two winding rollers symmetrically distributed up and down are arranged on the part of the connecting plate exposed outside the slide, and the winding rollers are used to wind the curtain.

[0009] For further improvement, the support plate also has an installation base surface opposite to the first supporting base surface, and a cylinder mounting member is arranged on the installation base surface, and the cylinder mounting member is used to set the first cylinder. A locking block is arranged on the output shaft of the first cylinder, and the locking block is inserted into the locking hole of the hopper cart when the hopper cart is placed on the first supporting base surface.

[0010] For further improvement, a through hole is formed on the installation base surface and penetrates the first supporting base surface at the same time. When the locking block is not inserted into the locking hole, it is placed in the through hole. The locking block has a disc configuration with a larger bottom and a smaller top.

[0011] To be further improved, the AGV supporting part includes a second connecting rod, a support rod, and a plurality of extension rods. The second connecting rod is provided with guide columns symmetrically distributed on both sides, the first connecting rod is provided with a movable sleeve that moves on the guide columns, the first connecting rod is provided with a second cylinder at a position located in the connecting frame, the piston rod of the second cylinder is connected to a connecting block provided on the second connecting rod, so that when the piston rod of the second cylinder moves, the second connecting rod moves accordingly, one end of the extension rod is provided on the inner side surface of the second connecting rod, and the other end is provided on the inner side surface of the support rod, and the support rod has a second supporting base surface for the AGV to be placed on.

[0012] For further improvement, the motor, the first cylinder and the second cylinder are connected to a control system, which includes a command input device, a controller, a driver, an encoder and four distance measuring sensors. The command input device is electrically connected to the controller, the controller is electrically connected to the driver, the driver is electrically connected to the encoder and the four distance measuring sensors, and the controller is electrically connected to the motor, the first cylinder and the second cylinder.

[0013] A control method for a barrier-free cleaning machine, comprising the following steps:

[0014] S1. Push the hopper car onto the hopper car support manually and place it on the support plate;

[0015] S2. When the hopper car is placed on the support plate, the first cylinder is started, that is, the locking block is pushed into the locking hole of the hopper car, so that the locking block exists in the moving path of the hopper car to prevent the hopper car from moving;

[0016] S3. After the position of the hopper car is locked, the motor starts, that is, the hopper car support part is driven to move upward, and the hopper car support part stops when it moves to the required working position. At this time, the wheels of the hopper car are higher than the height position of the lower edge of the door frame, and an AGV distance is reserved between the wheels and the lower edge of the door frame;

[0017] S4. When the adjustment of the use position of the hopper cart is completed, the second cylinder is started, that is, the AGV supporting part is driven to move downward, and the AGV supporting part stops when the horizontal position of the second supporting base surface of the AGV supporting part is kept at the same horizontal position as the wheels of the AGV. In this way, the AGV can move to the AGV supporting part when leaving the cleaning room or drying room. When the hopper cart is transported to the cleaning room, the AGV supporting part stays under the wheels of the hopper cart. At this time, the motor, the first cylinder, and the second cylinder are started again, so that the locking block disengages from the locking hole, the hopper cart supporting part moves downward, and the AGV supporting part moves upward, so that the hopper cart falls completely on the AGV supporting part while also keeping the AGV supporting part unchanged in position. Then the AGV supporting part transports the hopper cart into the cleaning room. Similarly, when the AGV transports the hopper cart out of the drying room, the motor is started so that the hopper cart supporting part replaces the AGV to provide support for the hopper cart, thereby driving the hopper cart to move down to the ground.

[0018] The beneficial effects of the present invention are:

[0019] 1. The hopper car to be cleaned and dried in the present invention enters the cleaning room, goes from the cleaning room to the drying room, and leaves the drying room through the AGV. The lifting unit is used to lift the hopper car from the ground to a height position where its wheels are higher than the lower edge of the door frame before the hopper car enters the cleaning room, or to lower the hopper car to a height position where its wheels are in contact with the ground after the hopper car leaves the drying room. This method is more labor-saving and convenient than digging a pit and using a lifting forklift, and can also save the costs increased by these two methods. Moreover, the manual intervention is only the action of pushing the hopper car to the lifting unit or pulling it away from the lifting unit;

[0020] 2. The lifting unit of the present invention is provided with a locking block combined with the hopper car, so as to quickly limit the final position of the hopper car on the hopper car support part, and at the same time, it can also have a blocking effect on the hopper car, that is, the hopper car is stably present on the support plate, and the hopper car will not leave the hopper car support part when rising, so as to avoid the occurrence of some accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is a side structural schematic diagram of the lifting unit of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the lifting unit and the front of the hopper car of the present invention;

[0024] Figure 4 For the present invention Figure 3 A partial enlarged schematic diagram of part A;

[0025] Figure 5 It is a structural schematic diagram of the lifting unit and the front of the hopper car of the present invention, which is used to show the state where the hopper car and the AGV exist in the lifting unit at the same time;

[0026] Figure 6 Schematic diagram of the principle of the control system of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings:

[0028] Referring to the accompanying drawings: This barrier-free cleaning machine includes a cleaning chamber 1 and a drying chamber 2. One end of the cleaning chamber 1 is used as an entrance, and one end of the drying chamber 2 is used as an exit, and the opposite end between the two is used as a transit port for transferring from the cleaning chamber 1 to the drying chamber 2 after the hopper is cleaned. Both the cleaning chamber 1 and the drying chamber 2 are provided with AGV automatic guided vehicles for placing hopper carts and assisting the hopper carts to move indoors. Lifting units 3 are provided at the entrance of the cleaning chamber 1 and the exit of the drying chamber 2. When the hopper cart is placed on the lifting unit 3, the lifting unit 3 can quickly limit the final position of the hopper cart on the lifting unit 3, and can prevent the hopper cart from continuing to move under manual drive, and allow the hopper cart to be lifted from the ground to a height position where its wheels are higher than the lower edge of the door frame before entering the cleaning chamber 1, or to be lowered to a height position where its wheels are in contact with the ground after the hopper cart leaves the drying chamber 2. The principle of the present invention is that the cleaning chamber 1 is used to clean the hopper, and the drying chamber 2 is used to dry the cleaned hopper, and the hopper cart used to load the hopper can realize the position change of entering the cleaning chamber 1, from the cleaning chamber 1 to the drying chamber 2, and leaving the drying chamber 2 through the AGV, and the lifting unit 3 is used to lift the hopper cart from the ground to a height position where its wheels are higher than the lower edge of the door frame before the hopper cart enters the cleaning chamber 1 or to lower the hopper cart to a height position where its wheels are in contact with the ground after the hopper cart leaves the drying chamber 2. Compared with digging a pit and using a lifting forklift, this method is more labor-saving and convenient, and can also save the increased costs of these two methods, and the manual intervention is only the action of pushing the hopper cart to the lifting unit 3 or pulling it away from the lifting unit 3, and the rest of the actions are completed by the lifting unit 3 and the AGV. At the same time, the final position of the hopper cart in the lifting unit 3 can be quickly limited, which can avoid the tedious adjustment time in the middle.

[0029] The lifting unit 3 includes two columns 31, two hopper car supports 32, and two AGV supports 33. The columns 31, hopper car supports 32, and AGV supports 33 on the same side constitute a single-side lifting structure. The columns 31 are fixed to the ground by bolts, the hopper car supports 32 are arranged on the columns 31 and can move along the height direction of the columns 31, and the AGV supports 33 are arranged on the hopper car supports 32 to follow the movement of the hopper car supports 32 or to move independently when matching the use height of the AGV. The columns 31 are used to provide movement guides for the hopper car supports 32 and the AGV supports 33, the hopper car supports 32 are used to provide lower support for the hopper car, and the AGV supports 33 are used to provide the AGV The lower support, that is, the hopper car supporting part 32 provides lower support for the hopper car when it moves to its position, so that the hopper car can be lifted when the hopper car supporting part 32 moves upward, and the AGV supporting part 33 can also move upward with it. The AGV supporting part 33 can move independently, and its independent movement occurs when the hopper car needs to be brought into the cleaning chamber 1 by the AGV or the hopper car leaves the drying chamber 2, that is, the AGV supporting part 33 keeps itself and the AGV at the same level by adjusting the use height, so that the AGV can be placed on the AGV supporting part 33 after coming out of the cleaning chamber 1, which is also located just below the hopper car, so that the hopper car can be directly placed on the AGV, and then the hopper car is sent into the cleaning chamber 1 by the AGV.

[0030] The hopper car supporting part 32 includes a moving frame 32-2, a connecting plate 32-3, a connecting frame 32-4, a first connecting rod 32-5, and two supporting plates 32-6 driven by a motor 32-1. The moving frame 32-2 is placed in the column 31 and moves along the height direction of the column 31. A slide groove 31-1 is provided on the inner side surface of the column 31. A part of the connecting plate 32-3 moves in the slide groove 31-1 and the other part is exposed outside the slide groove 31-1 and is used to connect the connecting frame 32-4 and the first connecting rod 32-5. The first connecting rod 32-5 is arranged at the lower end of the connecting frame 32-4 and its inner side surface is used to set the supporting plate 32-6. The two supporting plates 32-6 are symmetrically distributed on both sides and have a first supporting base surface 32-61 for the hopper car to be placed on. The motor 32-1, the moving frame 32-2, and the connecting plate 32-3 constitute the driving part. The connecting frame 32-4, the first connecting rod 32-5, and the two supporting plates The support plates 32-6 are combined into a part for supporting the hopper cart. The motor 32-1 is arranged at the uppermost end of the column 31, and a screw rod is connected to its driving shaft. A screw rod sleeve cooperating with the screw rod is arranged on the moving frame 32-2, so that the moving frame 32-2 is driven to move up and down when the screw rod rotates. The moving frame 32-2 is connected to the part for supporting the hopper cart by the connecting plate 32-3, and the connecting plate 32-3 is in a convex configuration, and its narrow part is connected to the moving frame 32-2 and slides in the 31-1 slide groove, so that the connection requirements can be met while also ensuring the movement stability. The connecting frame 32-4 and the first connecting rod 32-5 form a whole, so that the whole formed can be connected to the connecting plate 32-3 and can provide a length that meets the size of the hopper cart, that is, the spacing between the two support plates 32-6 meets the size of the hopper cart, thereby providing lower support for the hopper cart.

[0031] The movable frame 32-2 is configured as a sheet-like component, which is bent to form a connecting portion 32-21 and two mounting portions 32-22. The connecting portion 32-21 is connected to the portion of the connecting plate 32-3 that moves in the slide groove 31-1. The outer surface of the mounting portion 32-22 is provided with roller groups 4 symmetrically distributed on both sides. Each group of roller groups 4 has two rollers 41 distributed up and down. The rollers 41 are in contact with the inner wall of the column 31. Such a configuration makes it easy to shape the movable frame 32-2, and it has both a partial connecting portion 32-21 connected to the connecting plate 32-3 and a partial mounting portion 32-22 for setting the roller group 4. The movable frame 32-2 is provided with the roller group 4 so that the portion that contacts the inner wall of the column 31 is not the movable frame 32-2 itself, but the rollers 41. In this way, when the movable frame 32-2 moves, the rollers 41 can rotate accordingly, thereby increasing the moving smoothness and stability of the movable frame 32-2 when moving.

[0032] The slide 31-1 is provided with a curtain 31-11 on the column 31 for covering the open end of the slide 31-1, and the portion of the connecting plate 32-3 exposed outside the slide 31-1 is provided with two winding rollers 32-31 symmetrically distributed up and down, and the winding rollers 32-31 are used to wind the curtain 31-11. Such a setting can prevent dust from entering the interior of the column 31 and contaminating the screw rod. The winding rollers 32-31 are set to prevent the curtain 31-11 from interfering with the movement of the hopper car support part 32, that is, the curtain 31-11 located at the hopper car support part 32 is located on the front side of the hopper car support part 32.

[0033] The support plate 32-6 also has a mounting base surface 32-62 opposite to the first supporting base surface 32-61, and a cylinder mounting member 5 is arranged on the mounting base surface 32-62, and the cylinder mounting member 5 is used to set the first cylinder 51, and a locking block 51-1 is arranged on the output shaft of the first cylinder 51. The locking block 51-1 is inserted into the locking hole 6 of the hopper car when the hopper car is placed on the first supporting base surface 32-61. Such an arrangement enables the hopper car to be stably present on the hopper car support portion 32, that is, When the hopper car is placed on the support plate 32-6, the cylinder 51 drives the locking block 51-1 to move upward and enter into the locking hole 6 of the hopper car, thereby quickly limiting the final position of the hopper car on the hopper car support portion 32, and at the same time, it can also have a blocking effect on the hopper car, that is, the hopper car is stably present on the support plate 32-6, and the hopper car will not leave the hopper car support portion 32 when rising, thereby avoiding the occurrence of some accidents. The cylinder mounting part 5 is provided for the convenience of setting the cylinder 51.

[0034] A through hole 32-621 is formed on the mounting base 32-62 and penetrates the first supporting base 32-61. The locking block 51-1 is placed in the through hole 32-621 when it is not inserted into the locking hole 6. The locking block 51-1 is in the shape of a disk with a larger bottom and a smaller top. When the locking block 51-1 has no effect on the hopper cart, the through hole 32-621 places the locking block 51-1 in the through hole 32-621. In this way, the locking block 51-1 does not exist on the moving trajectory of the hopper cart, thereby not interfering with the movement of the hopper cart. In addition, the configuration of the locking block 51-1 enables it to be quickly inserted into the locking hole 6.

[0035] The AGV supporting part 33 includes a second connecting rod 33-1, a support rod 33-2, and a plurality of extension rods 33-3. The second connecting rod 33-1 is provided with guide columns 33-11 symmetrically distributed on both sides. The first connecting rod 32-5 is provided with a movable sleeve 32-51 that moves on the guide column 33-11. The first connecting rod 32-5 is provided with a second cylinder 32-52 at a position located in the connecting frame 32-4. The piston rod of the second cylinder 32-52 is connected to a connecting block 32-521 arranged on the second connecting rod 33-1, so that when the piston rod of the second cylinder 32-52 moves, the second connecting rod 33-1 moves accordingly. One end of the extension rod 33-3 is arranged on the inner side surface of the second connecting rod 33-1, and the other end is arranged on the inner side surface of the support rod 33-2. The support rod 33-2 has a second supporting base surface 33-21 for the AGV to be placed on. Such an arrangement enables the AGV supporting part to have independent movement. The ability to move, that is, the moving sleeve 32-51 arranged on the first connecting rod 32-5 moves to the guide column 33-11 arranged on the second connecting rod 33-1 so that the AGV support part 33 is arranged on the hopper car support part 32 as a whole, and also relies on the moving sleeve 32-51 and the guide column 33-11 to realize the independent movement of the AGV support part 33, and the maximum moving distance of the AGV support part 33 is limited by the height of the guide column 33-11 itself. The moving kinetic energy of the AGV support part 33 is realized by the second cylinder 32-52 arranged on the first connecting rod 32-5, and the piston rod of the second cylinder 32-52 is connected to the connecting block 32-521 arranged on the second connecting rod 33-1, so that the second cylinder 32-52 can push the second connecting rod 33-1 to move when it is started, and the extension rod 33-3 makes the use position of the support rod 33-2 close to the inside, so that the distance between the two support rods 33-2 meets the width of the AGV.

[0036] The motor 32-1, the first cylinder 51, and the second cylinder 33-12 are connected to a control system, which includes a command input device 71, a controller 72, a driver 73, an encoder 74, and four distance measuring sensors 75. The command input device 71 is electrically connected to the controller 72. By setting a preset value in the command input device 71, the preset value is the final height distance of the hopper car support part 32 receiving the AGV, the final height distance after receiving the AGV, the final height distance of the AGV support part 33, and the final height distance of the locking block 51-1, and the preset value is sent to the controller 72 through RS232 communication; the controller 72 is electrically connected to the driver 73, and the preset value is sent to the driver 73; the driver 73 communicates with the encoder 74 and the four distance measuring sensors 75. Electrically connected, receiving the preset data obtained by the encoder 74 and the distance signals collected by the four distance measuring sensors 75 for comparison, and generating control signals for controlling the number of revolutions of the motor 32-1 and the execution distances of the first cylinder 51 and the second cylinder 33-12 according to the difference generated by the comparison result, and changing them in real time according to the working conditions. The controller 72 is electrically connected to the motor 32-1, the first cylinder 51, and the second cylinder 33-12 to send the control signals to be executed to the motor 32-1, the first cylinder 51, and the second cylinder 33-12, so that the motor 32-1, the first cylinder 51, and the second cylinder 33-12 perform corresponding execution actions, that is, the execution order is that the first cylinder 51 executes first, the motor 32-1 executes second, and finally the second cylinder 33-12 executes.

[0037] A control method for a barrier-free cleaning machine, comprising the following steps:

[0038] S1. Push the hopper car onto the hopper car support 32 manually and place it on the support plate 32-6;

[0039] S2. When the hopper car is placed on the support plate 32-6, the first cylinder 51 is started, that is, the locking block 51-1 is pushed into the locking hole 6 of the hopper car, so that the locking block 51-1 exists in the moving path of the hopper car to prevent the hopper car from moving;

[0040] S3, after the position of the hopper car is locked, the motor 32-1 is started, that is, the hopper car support part 32 is driven to move upward, and the hopper car support part 32 stops when it moves to the required working position. At this time, the wheels of the hopper car are higher than the height position of the lower edge of the door frame, and an AGV distance is reserved between the wheels and the lower edge of the door frame;

[0041] S4. When the use position adjustment of the hopper car is completed, the second cylinder 33-12 is started, that is, the AGV support part 33 is driven to move downward, and the AGV support part 33 stops when the horizontal position of the second support base 33-21 of the AGV support part 33 is kept at the same horizontal position as the wheels of the AGV. In this way, the AGV can move to the AGV support part 33 when leaving the cleaning room 1 or the drying room 2. When the hopper car is transported to the cleaning room 1, the AGV support part 33 stays under the wheels of the hopper car. At this time, the motor 32-1 and the first cylinder 51 , the second cylinder 33-12 is restarted, so that the locking block 51-1 is disengaged from the locking hole 6, the hopper car support part 32 moves down, and the AGV support part 33 moves up, so that the hopper car completely falls on the AGV support part 33 while also keeping the AGV support part 33 unchanged, and then the AGV support part 33 transports the hopper car to the cleaning room 1. Similarly, when the AGV transports the hopper car out of the drying room 2, the motor 32-1 is started so that the hopper car support part 32 replaces the AGV to provide support for the hopper car, thereby driving the hopper car to move down to the ground.

[0042] Although the present invention has been shown and described with reference to preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein within the scope of the claims.

Claims

1. A barrier-free cleaning machine, comprising a cleaning chamber (1) and a drying chamber (2), wherein one end of the cleaning chamber (1) is used as an entrance, one end of the drying chamber (2) is used as an exit, and the opposite end between the two is used as a transfer port for transferring from the cleaning chamber (1) to the drying chamber (2) after the hopper is cleaned, and an AGV (automatic guided vehicle) is arranged in both the cleaning chamber (1) and the drying chamber (2) for placing a hopper car and assisting the hopper car to move in the room, characterized in that: A lifting unit (3) is provided at the entrance of the cleaning chamber (1) and the exit of the drying chamber (2). When a hopper truck is placed on the lifting unit (3), the lifting unit (3) can quickly limit the final position of the hopper truck on the lifting unit (3), and can prevent the hopper truck from continuing to move under manual drive. The lifting unit (3) allows the hopper truck to be lifted from the ground to a height position where its wheels are higher than the lower edge of the door frame before entering the cleaning chamber (1), or to be lowered to a height position where its wheels are in contact with the ground after leaving the drying chamber (2).

2. The barrier-free cleaning machine according to claim 1, characterized in that: The lifting unit (3) comprises two columns (31), two hopper car supporting parts (32), and two AGV supporting parts (33); the columns (31), the hopper car supporting parts (32), and the AGV supporting parts (33) located on the same side constitute a single-side lifting structure; the columns (31) are fixed on the ground by bolts; the hopper car supporting parts (32) are arranged on the columns (31) and can move along the height direction of the columns (31); the AGV supporting parts (33) are arranged on the hopper car supporting parts (32) to follow the movement of the hopper car supporting parts (32) or to move independently when matching the use height of the AGV.

3. The barrier-free cleaning machine according to claim 2, characterized in that: The hopper car supporting part (32) comprises a moving frame (32-2) driven by a motor (32-1), a connecting plate (32-3), a connecting frame (32-4), a first connecting rod (32-5), and two supporting plates (32-6); the moving frame (32-2) is placed in the column (31) and moves along the height direction of the column (31); a slide groove (31-1) is arranged on the inner side surface of the column (31); a part of the connecting plate (32-3) moves in the slide groove (31-1) and the other part is exposed outside the slide groove (31-1) and is used to connect the connecting frame (32-4) and the first connecting rod (32-5); the first connecting rod (32-5) is arranged at the lower end of the connecting frame (32-4) and the inner side surface thereof is used to arrange the supporting plate (32-6); the two supporting plates (32-6) are symmetrically distributed on both sides and have a first supporting base surface (32-61) for the hopper car to be placed on.

4. The barrier-free cleaning machine according to claim 3, characterized in that: The movable frame (32-2) is configured as a sheet-like component, which is bent to form a connecting portion (32-21) and two mounting portions (32-22), wherein the connecting portion (32-21) is connected to the portion of the connecting plate (32-3) that moves in the slide groove (31-1), and roller groups (4) symmetrically distributed on both sides are provided on the outer side surface of the mounting portion (32-22), and each group of the roller groups (4) has two rollers (41) distributed up and down, and the rollers (41) are in contact with the inner wall of the column (31).

5. The barrier-free cleaning machine according to claim 4, characterized in that: The slide groove (31-1) is provided with a curtain (31-11) on the column (31) for covering the open end of the slide groove (31-1), and the portion of the connecting plate (32-3) exposed outside the slide groove (31-1) is provided with two winding rollers (32-31) symmetrically distributed up and down, and the winding rollers (32-31) are used to wind the curtain (31-11).

6. The barrier-free cleaning machine according to claim 5, characterized in that: The support plate (32-6) further comprises a mounting base surface (32-62) opposite to the first supporting base surface (32-61); a cylinder mounting member (5) is arranged on the mounting base surface (32-62); the cylinder mounting member (5) is used to arrange a first cylinder (51); a locking block (51-1) is arranged on the output shaft of the first cylinder (51); the locking block (51-1) is inserted into a locking hole (6) of the hopper car when the hopper car is placed on the first supporting base surface (32-61).

7. The barrier-free cleaning machine according to claim 6, characterized in that: A through hole (32-621) is formed on the installation base surface (32-62) and penetrates the first support base surface (32-61) at the same time. When the locking block (51-1) is not inserted into the locking hole (6), it is placed in the through hole (32-621). The locking block (51-1) is in the shape of a disk with a larger bottom and a smaller top.

8. The barrier-free cleaning machine according to claim 7, characterized in that: The AGV support part (33) includes a second connecting rod (33-1), a support rod (33-2), and a plurality of extension rods (33-3); the second connecting rod (33-1) is provided with guide columns (33-11) symmetrically distributed on both sides; the first connecting rod (32-5) is provided with a moving sleeve (32-51) that moves on the guide column (33-11); the first connecting rod (32-5) is provided with a second cylinder (32-52) at a position located in the connecting frame (32-4); The piston rod of the cylinder (32-52) is connected to a connecting block (33-121) arranged on the second connecting rod (33-1), so that when the piston rod of the second cylinder (32-52) moves, the second connecting rod (33-1) moves accordingly. One end of the extension rod (33-3) is arranged on the inner side surface of the second connecting rod (33-1), and the other end is arranged on the inner side surface of the support rod (33-2). The support rod (33-2) has a second supporting base surface (33-21) for the AGV to be placed on.

9. The barrier-free cleaning machine according to claim 8, characterized in that: The motor (32-1), the first cylinder (51), and the second cylinder (33-12) are connected to a control system, which includes a command input device (71), a controller (72), a driver (73), an encoder (74), and four distance sensors (75). The command input device (71) is electrically connected to the controller (72), the controller (72) is electrically connected to the driver (73), the driver (73) is electrically connected to the encoder (74) and the four distance sensors (75), and the controller (72) is electrically connected to the motor (32-1), the first cylinder (51), and the second cylinder (33-12).

10. A control method for the barrier-free cleaning machine according to any one of claims 1 to 9, comprising the following steps: S1, manually pushing the hopper car onto the hopper car support (32) and placing it on the support plate (32-6); S2. When the hopper car is placed on the support plate (32-6), the first cylinder (51) is started, that is, the locking block (51-1) is pushed into the locking hole (6) of the hopper car, so that the locking block (51-1) exists in the moving path of the hopper car, thereby preventing the hopper car from moving; S3, after the position of the hopper car is locked, the motor (32-1) is started, that is, the hopper car support part (32) is driven to move upward, and the hopper car support part (32) stops when it moves to the required working position. At this time, the wheels of the hopper car are higher than the height position of the lower edge of the door frame, and an AGV distance is reserved between the wheels and the lower edge of the door frame; S4. When the use position adjustment of the hopper car is completed, the second cylinder (33-12) is started, that is, the AGV support part (33) is driven to move downward, and the AGV support part (33) stops when the horizontal position of the second support base surface (33-21) of the AGV is kept at the same horizontal position as the wheels of the AGV. In this way, the AGV can move to the AGV support part (33) when leaving the cleaning room (1) or the drying room (2). When the hopper car is transported to the cleaning room (1), the AGV support part (33) stays under the wheels of the hopper car. At this time, the motor (32-1), the first cylinder (51), The second cylinder (33-12) is restarted, so that the locking block (51-1) is disengaged from the locking hole (6), the hopper car support part (32) moves downward, and the AGV support part (33) moves upward, so that the hopper car completely falls on the AGV support part (33) and the AGV support part (33) also keeps the position unchanged, and then the AGV support part (33) transports the hopper car to the cleaning room (1). Similarly, when the AGV transports the hopper car out of the drying room (2), the motor (32-1) is started so that the hopper car support part (32) replaces the AGV to provide support for the hopper car, thereby driving the hopper car to move down to the ground.

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