Framework cleaning control device and cleaning control method

Abstract

The invention discloses a framework cleaning control device and a cleaning control method, the device at least comprises an interaction module, a control module, a first positioning module and a first execution module, the interaction module is used for sending a cleaning control instruction; the control module is used for controlling the first positioning module to move to-be-cleaned equipment to a first preset position according to the cleaning control instruction; the first positioning module is used for moving to-be-cleaned equipment to a first preset position; the first execution module is used for cleaning the to-be-cleaned equipment under the condition that the to-be-cleaned equipment is located at the first preset position, in the embodiment of the invention, the cleaning control instruction is sent to the control module through the interaction module, and the first positioning module is controlled to move the to-be-cleaned equipment to the first preset position according to the cleaning control instruction; and liquid is obtained from the cleaning liquid box to clean the to-be-cleaned equipment, so that the cleaning effect and the cleaning efficiency of the workpiece are improved, the labor cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of automatic control technology, and in particular relates to a frame cleaning control device and a cleaning control method. Background Art

[0002] At present, the cleaning of large locomotive frame equipment such as railway system frames and bogies is mainly completed by manual cleaning. In the early stage, cleaning agents are sprayed on the frames manually to achieve the effect of eliminating oil stains, and then flushing and cleaning are completed with high-pressure liquid guns in the later stage. It takes 3 to 4 people to clean a frame equipment at the same time, which greatly increases the labor cost; secondly, it is inevitable that there will be the possibility of cross-repeated cleaning of an area during the cleaning process of multiple people, so this is bound to cause waste of liquid resources and low production efficiency. In addition, the turbid matter on the frame equipment and the sprayed agents will cause certain harm to the surrounding environment. It not only takes a long time, but also requires more manpower. How to improve the cleaning efficiency and save time and effort is an urgent problem to be solved. Summary of the invention

[0003] The present application intends to provide a framework cleaning control device and a cleaning control method to solve the deficiencies in the prior art. The technical problem to be solved by the present application is achieved through the following technical solutions.

[0004] In a first aspect, an embodiment of the present application provides a frame cleaning control device, the device

[0005] At least includes: an interaction module, a control module, a first positioning module and a first execution module, the interaction module is connected through the control module, the control module is connected to the first execution module through the first positioning module, wherein:

[0006] The interaction module is used to send cleaning control instructions;

[0007] The control module is used to control the first positioning module to move the device to be cleaned to a first preset position according to the cleaning control instruction;

[0008] The first positioning module is used to move the device to be cleaned to the first preset position;

[0009] The first execution module is used for cleaning the device to be cleaned when the device to be cleaned is located at the first preset position.

[0010] Optionally, the first execution module includes at least one or more first centrifugal pumps, and the first centrifugal pumps are used to obtain liquid from a cleaning liquid tank and clean the equipment to be cleaned through a pipeline at a preset pressure and a preset flow rate.

[0011] Optionally, the frame cleaning control device further comprises a liquid level detection module, which is connected to the control module and is used to detect the liquid level of the liquid after cleaning. If the liquid level is greater than a first preset value, a recycling instruction is sent to the control module.

[0012] Optionally, the liquid level detection module is used to filter the cleaned liquid and return the treated liquid to the cleaning liquid tank by controlling the first valve.

[0013] Optionally, the first positioning module is an incremental encoder.

[0014] Optionally, the frame cleaning control device further comprises a second positioning module and a second execution module, wherein the second positioning module is connected to the control module and the second execution module respectively;

[0015] The second positioning module is used to receive the re-cleaning control instruction sent by the control module, and move the cleaned device to be cleaned to a second preset position;

[0016] The second execution module is used for re-cleaning the device to be cleaned when the device to be cleaned is located at the second preset position.

[0017] Optionally, the second execution module is used to control the reciprocating movement of the equipment to be cleaned.

[0018] Optionally, the interaction module is further used to display a cleaning result, wherein the cleaning result at least includes cleaning completed or cleaning incomplete.

[0019] Optionally, the frame cleaning control device further comprises a detection module, wherein the detection module is connected to the control module, and the detection module is used to convert the acquired current value into a temperature value according to a preset conversion condition.

[0020] In a second aspect, an embodiment of the present application provides a cleaning control method, which is applied to the frame cleaning control device described in the first aspect, and the method includes:

[0021] Send cleaning control instructions;

[0022] According to the cleaning control instruction, controlling the first positioning module to move the device to be cleaned to a first preset position;

[0023] Moving the equipment to be cleaned to the first preset position;

[0024] When the device to be cleaned is located at the first preset position, the device to be cleaned is cleaned.

[0025] The embodiments of the present application include the following advantages:

[0026] The embodiment of the present application provides a cleaning control device and a cleaning control method, which at least includes: an interaction module, a control module, a first positioning module and a first execution module, wherein the interaction module is connected through the control module, and the control module is connected to the first execution module through the first positioning module, wherein: the interaction module is used to send a cleaning control instruction; the control module is used to control the first positioning module to move the device to be cleaned to a first preset position according to the cleaning control instruction; the first positioning module is used to move the device to be cleaned to the first preset position; the first execution module is used to clean the device to be cleaned when the device to be cleaned is located at the first preset position. In the embodiment of the present application, a cleaning control instruction is sent to the control module through the interaction module, and according to the cleaning control instruction, the first positioning module is controlled to move the device to be cleaned to the first preset position, and liquid is obtained from the cleaning liquid tank to clean the device to be cleaned, thereby improving the cleaning effect and cleaning efficiency of the workpiece, reducing labor costs, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the existing technical solutions, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 This is a schematic diagram of the structure of a frame cleaning control device in one embodiment of the present application;

[0029] Figure 2 This is a schematic structural diagram of yet another frame cleaning control device in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0031] Reference Figure 1, shows a schematic diagram of the structure of a frame cleaning control device in an embodiment of the present application, the device includes: an interaction module 101, a control module 102, a first positioning module 103 and a first execution module 104, the interaction module 101 is connected through the control module 102, and the control module 102 is connected to the first execution module 104 through the first positioning module 103, wherein:

[0032] The interaction module 101 is used to send cleaning control instructions;

[0033] The control module 102 is used to control the first positioning module to move the device to be cleaned to the first preset position according to the cleaning control instruction;

[0034] The first positioning module 103 is used to move the equipment to be cleaned to a first preset position;

[0035] The first execution module 104 is used for cleaning the device to be cleaned when the device to be cleaned is located at the first preset position.

[0036] Among them, the control module is a PLC (Programmable logic Controller), which uses a programmable memory to store instructions for performing logical operations, sequential operations, timing, counting and arithmetic operations, and can control various types of machinery or production processes through digital or analog input and output. PLC and its related peripherals should be easy to form an integral whole with the industrial control system.

[0037] PLC is highly reliable due to the use of modern large-scale integrated circuit technology, strict production process, and advanced anti-interference technology in the internal circuit. PLC has a hardware fault self-detection function, which can send out alarm information in time when a fault occurs. In the application software, the user can also program the fault self-diagnosis program of the peripheral device, so that the circuits and equipment other than PLC in the system can also obtain fault self-diagnosis protection.

[0038] PLC uses storage logic instead of wiring logic, which greatly reduces the external wiring of the control equipment, greatly shortens the design and construction cycle of the control system, and makes maintenance easier. More importantly, it makes it possible to change the production process of the same equipment by changing the program.

[0039] PLC can be used to control circular motion or linear motion. In terms of control mechanism configuration, it is directly used to connect position sensors and actuators with switch quantity I / O modules, and use dedicated motion control modules.

[0040] PLC is divided into two types: fixed type and combined (modular type). Fixed PLC includes CPU board, I / O board, display panel, memory block, power supply, etc. These elements are combined into an inseparable whole. Modular PLC includes CPU module, I / O module, memory, power supply module, base plate or rack, and these modules can be combined and configured according to certain rules. The CPU is mainly composed of an arithmetic unit, a controller, registers, and data, control and status buses that realize the connection between them. The CPU unit also includes peripheral chips, bus interfaces and related circuits. Memory is mainly used to store programs and data, and is an indispensable component of PLC.

[0041] The interface between PLC and electrical circuit is completed through the input and output part (I / O). The I / O module integrates the I / O circuit of PLC. Its input register reflects the input signal status, and the output point reflects the output latch status. The input module converts the electrical signal into a digital signal and enters the PLC system, while the output module does the opposite. I / O is divided into switch input (DI), switch output (DO), analog input (AI), analog output (AO) and other modules.

[0042] The I / O categories are as follows:

[0043] Switching quantity: divided by voltage, there are 220VAC, 110VAC, 24VDC; divided by isolation method, there are relay isolation and transistor isolation.

[0044] Analog quantity: According to the signal type, there are current type (4-20mA, 0-20mA), voltage type (0-10V, 0-5V, -10-10V), etc. According to the accuracy, there are 12bit, 14bit, 16bit, etc.

[0045] In addition to the above-mentioned general IO, there are also special IO modules, such as thermal resistors, thermocouples, pulses and other modules.

[0046] PLC power supply is used to provide working power for the integrated circuits of each PLC module. At the same time, some also provide 24V working power for the input circuit. The power input types are: AC power (220VAC or 110VAC), DC power (commonly used is 24VDC).

[0047] The module specifications and quantity are determined by the number of I / O points. The number of I / O modules can be more or less, but the maximum number is limited by the basic configuration capabilities that the CPU can manage, that is, the maximum number of baseboards or rack slots.

[0048] The programming language provided by PLC is the standard language ladder diagram language. The contacts in the ladder diagram are only normally open and normally closed. The contacts can be switches connected to the PLC input points, or they can be contacts of the PLC internal relays or the status of internal registers, counters, etc. The contacts in the ladder diagram can be connected in series or parallel, but the coils can only be connected in parallel and not in series. Internal relays, counters, registers, etc. cannot directly control external loads, but can only be used as intermediate results for internal use by the CPU. PLC scans events in a cycle and executes in sequence along the ladder diagram. The results in the same scan cycle are retained in the output status register, so the value of the output point can be used as a condition in the user program.

[0049] The interactive module may be a terminal device, which includes at least a tablet, a mobile phone or a computer. A touch control system is installed on the terminal device, and the user can input cleaning control instructions on the touch control system.

[0050] The first positioning module is an incremental encoder, which is used to position the cleaning trolley.

[0051] The first execution module includes at least a motor, a nozzle, etc.

[0052] Specifically, the equipment to be cleaned is placed on the cleaning trolley, and then the cleaning trolley is placed into the cleaning device, and the cleaning device is closed. The user can input the cleaning control instructions through the interactive module.

[0053] Another embodiment of the present application further supplements the structure cleaning control device provided in the above embodiment.

[0054] Optionally, the first execution module includes at least one or more first centrifugal pumps, and the first centrifugal pumps are used to obtain liquid from the cleaning liquid tank and clean the equipment to be cleaned through the pipeline at a preset pressure and a preset flow rate.

[0055] The liquid in the cleaning liquid tank may be water, or may include a cleaning agent and water.

[0056] Optionally, the frame cleaning control device further comprises a liquid level detection module, which is connected to the control module and is used to detect the liquid level of the liquid after cleaning. If the liquid level is greater than a first preset value, a recycling instruction is sent to the control module.

[0057] Optionally, the liquid level detection module is used to filter the cleaned liquid and return the treated liquid to the cleaning liquid tank by controlling the first valve.

[0058] Optionally, the first positioning module is an incremental encoder.

[0059] The incremental encoder converts displacement into a periodic electrical signal, and then converts the electrical signal into counting pulses, using the number of pulses to represent the size of the displacement. According to the working principle, encoders can be divided into two categories: incremental and absolute.

[0060] The incremental encoder converts displacement into a periodic electrical signal, and then converts this electrical signal into counting pulses, using the number of pulses to represent the size of the displacement.

[0061] An encoder is a device that converts angular displacement or linear displacement into an electrical signal. The former is called a code disk, and the latter is called a code ruler. According to the readout method, encoders can be divided into contact and non-contact types. The contact type uses a brush output, and the brush contacts the conductive area or the insulating area to indicate whether the code is "1" or "0"; the non-contact type uses a photosensitive element or a magnetic sensitive element as the receiving sensitive element. When a photosensitive element is used, the light-transmitting area and the opaque area are used to indicate whether the code is "1" or "0".

[0062] There are equal angle slits on the edge of a code disk (divided into transparent and opaque parts), and light sources and photosensitive elements are installed on both sides of the slit code disk. When the code disk rotates with the working shaft, each time a slit is turned, a change in light brightness is generated. After shaping and amplification, an electrical pulse output signal with a certain amplitude and power can be obtained. The number of pulses is equal to the number of slits turned. The pulse signal is sent to the counter for counting, and the angle of the code disk rotation can be known from the measured digital number.

[0063] Optionally, the frame cleaning control device further comprises a second positioning module and a second execution module, wherein the second positioning module is connected to the control module and the second execution module respectively;

[0064] The second positioning module is used to receive the re-cleaning control instruction sent by the control module, and move the cleaned equipment to be cleaned to the second preset position;

[0065] The second execution module is used for re-cleaning the device to be cleaned when the device to be cleaned is located at the second preset position.

[0066] Optionally, the second execution module is used to control the reciprocating movement of the equipment to be cleaned.

[0067] The second positioning module is also an incremental encoder.

[0068] Optionally, the interaction module is further used to display the cleaning result, wherein the cleaning result at least includes cleaning completed or cleaning incomplete.

[0069] Optionally, the frame cleaning control device further includes a detection module, which is connected to the control module and is used to convert the acquired current value into a temperature value according to a preset conversion condition.

[0070] The thermal resistor transmitter is connected to the analog input terminal of the controller, and the thermal signal collected by the thermal resistor on site is converted into an electrical signal through the transmitter, and then transmitted to the controller. The operation process from the thermal signal to the actual temperature signal is completed through the program writing and proportional conversion in the controller. The specific conversion process is as follows: If the thermal signal collected by the thermal resistor is converted into an electrical signal and input into the controller, the sampling value (i.e., computer value) is: AIW; the temperature measurement range of the thermal resistor itself is: Vl~Vh degrees; then the fixed system computer value corresponding to the temperature range of the external thermal resistor in the controller is: AIW1~AIW2; at this time, the actual temperature value can be set to: VX degrees. Then, according to the logical relationship that the controller sampling value is proportional to the actual temperature, the following relationship can be obtained: VX×(AIW2-AIW1)=(Vh-Vl)×AIW, and the correct actual temperature value can be obtained through this relationship.

[0071] An incremental encoder is used to move and position the transport trolley and the gantry trolley; the proximity switches used in the cleaning room before can only be installed in the cleaning room, but the water environment in the cleaning room, the corrosive environment of the cleaning agent, and the high temperature of the cleaning room caused by the high water temperature, all of which cause the proximity switches to be damaged erratically, seriously affecting the reliability and stability of the equipment operation; using incremental encoders to replace these proximity switches not only solves the problem that the detection components can be installed outside the cleaning room, but also ultimately solves the problem that the equipment cannot operate normally due to frequent damage to the proximity switches. In addition to the above-mentioned key issues, the frame cleaning machine can also display temperature in the embodiment of the present application. The thermal resistor can only output a current signal of 4 to 20ma to the controller, which needs to be converted into a recognizable decimal Arabic numeral temperature value through mathematical logic conversion in the program, and the logic formula is obtained through the positive proportional relationship to obtain the correct temperature value.

[0072] like Figure 2 As shown, the frame cleaning control device at least includes a touch control system 201, a programmable logic controller 202, other peripheral devices 203, each water pump contactor 204, each water pump motor 205, a trolley contactor 206, a trolley motor 207, a gantry inverter 208, a gantry motor 209, a trolley motor encoder 210, a gantry motor encoder 211 and other sensors 212, wherein the programmable logic controller is respectively connected to the water pump contactor, the trolley contactor and the gantry inverter, the programmable logic controller is also connected to the trolley motor encoder, the gantry motor encoder and other sensors, each water pump contactor is connected to each water pump motor, the trolley contactor is connected to the trolley motor, and the gantry inverter is connected to the gantry motor.

[0073] The automatic cleaning process provided by the embodiment of the present application is divided into two logical steps:

[0074] The first step: cleaning. The workpiece trolley is manually sent into the cleaning room before automatic cleaning. When automatic cleaning starts, the door of the cleaning room is closed in advance before water spraying. Three multi-stage suction centrifugal pumps are erected next to the cleaning water tank outside the cleaning room. After the lifting door of the cleaning room is closed, the three centrifugal pumps are opened in sequence and absorb water from the cleaning water tank and spray it onto the workpiece body in the cleaning room through the pipe at a certain pressure and flow rate. The water flowing into the cleaning room will naturally flow into the cleaning pit outside the cleaning room according to the height of the terrain in the room. The liquid level sensor sends a command to the control center to start the cleaning sewage pump of the cleaning pit to pump out the filtered water in the pit and send it back to the cleaning water tank to achieve effective recycling of water resources.

[0075] The second step: rinsing. The rinsing steps are similar to the cleaning steps, except that the rinsing water tank is slightly smaller, there are only two rinsing pumps and their power is also smaller than that of the cleaning pump. In addition, there is a trolley transport track on the side of the lifting door of the washing room that directly connects the inside and outside of the washing room, which is convenient for the trolley to carry the frame in and out of the washing room; at the same time, a frequency-controlled gantry pipeline trolley is set inside the washing room, and a nozzle is installed on the pipeline. Water is pumped into the gantry pipeline by an external high-pressure water pump and sprayed onto the frame workpiece in the washing room through the nozzle. While spraying water to flush the workpiece, the gantry pipeline trolley will reciprocate in the washing room to ensure that the workpiece is fully cleaned without leaving any dead corners.

[0076] The water entering the cleaning room, regardless of the cleaning process or the rinsing process, flows back into the corresponding cleaning pit or rinsing pit. This step is ensured by the automatic switching of the corresponding electric valves of the two sewage pits. Finally, the sewage entering the pit is fully filtered by the filtration system, and then the respective pit sewage pumps automatically pump out the filtered water in the pit and send it back to their respective water tanks according to the liquid level setting requirements. Water resources are fully recycled and the waste of water resources is greatly reduced. After the cleaning is completed, there is a cleaning completion prompt on the touch screen control interface. After opening the lifting door, the frame can be withdrawn from the cleaning room together with the transport cart so that the next frame can be replaced to continue the cleaning operation.

[0077] The cleaning control device provided in the embodiment of the present application comprises at least: an interaction module, a control module, a first positioning module and a first execution module, wherein the interaction module is connected via the control module, and the control module is connected to the first execution module via the first positioning module, wherein: the interaction module is used to send a cleaning control instruction; the control module is used to control the first positioning module to move the device to be cleaned to the first preset position according to the cleaning control instruction; the first positioning module is used to move the device to be cleaned to the first preset position; the first execution module is used to clean the device to be cleaned when the device to be cleaned is located at the first preset position. In the embodiment of the present application, a cleaning control instruction is sent to the control module via the interaction module, and according to the cleaning control instruction, the first positioning module is controlled to move the device to be cleaned to the first preset position, and liquid is obtained from the cleaning liquid tank to clean the device to be cleaned, thereby improving the cleaning effect and efficiency of the workpiece, reducing labor costs, and improving production efficiency.

[0078] The embodiment of the present application provides a cleaning control method, which is applied to the above-mentioned frame cleaning control device. The cleaning control method includes:

[0079] Step 1: Send cleaning control instructions;

[0080] Step 2: According to the cleaning control instruction, control the first positioning module to move the device to be cleaned to a first preset position;

[0081] Step 3: moving the device to be cleaned to the first preset position;

[0082] Step 4: When the device to be cleaned is located at the first preset position, clean the device to be cleaned.

[0083] The frame cleaning control device and cleaning control method provided in the embodiments of the present application complete the cleaning of the frame through the two-step logic of cleaning and rinsing. The system dissolves the cleaning agent into the cleaning water tank in advance. During the cleaning process, the two-phase assistance of the heating system and the high-pressure water pump is used to make the frame cleaning effect better. Finally, the agent on the surface of the frame is washed away by rinsing, which greatly improves the cleaning effect and cleaning efficiency of the workpiece, reduces labor costs, and improves production efficiency.

[0084] The cleaning control method provided in the embodiment of the present application at least includes: an interaction module, a control module, a first positioning module and a first execution module, the interaction module is connected through the control module, and the control module is connected to the first execution module through the first positioning module, wherein: the interaction module is used to send a cleaning control instruction; the control module is used to control the first positioning module to move the device to be cleaned to the first preset position according to the cleaning control instruction; the first positioning module is used to move the device to be cleaned to the first preset position; the first execution module is used to clean the device to be cleaned when the device to be cleaned is located at the first preset position. In the embodiment of the present application, a cleaning control instruction is sent to the control module through the interaction module, and according to the cleaning control instruction, the first positioning module is controlled to move the device to be cleaned to the first preset position, and liquid is obtained from the cleaning liquid tank to clean the device to be cleaned, thereby improving the cleaning effect and cleaning efficiency of the workpiece, reducing labor costs, and improving production efficiency.

[0085] It should be noted that the above detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present application belongs.

[0086] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0087] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0088] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0089] For ease of description, spatially relative terms, such as "above", "above", "on the upper surface of", "above", etc., may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0090] In the above detailed description, reference is made to the accompanying drawings, which form a part of this document. In the accompanying drawings, similar symbols typically identify similar components unless the context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

[0091] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A frame cleaning control device, characterized in that: The device at least includes: an interaction module, a control module, a first positioning module and a first execution module, wherein the interaction module is connected via the control module, and the control module is connected to the first execution module via the first positioning module, wherein: The interaction module is used to send cleaning control instructions; The control module is used to control the first positioning module to move the device to be cleaned to a first preset position according to the cleaning control instruction; The first positioning module is used to move the device to be cleaned to the first preset position; The first execution module is used for cleaning the device to be cleaned when the device to be cleaned is located at the first preset position.

2. The frame cleaning control device according to claim 1, characterized in that: The first execution module at least includes one or more first centrifugal pumps, and the first centrifugal pumps are used to obtain liquid from the cleaning liquid tank and clean the equipment to be cleaned through a pipeline at a preset pressure and a preset flow rate.

3. The frame cleaning control device according to claim 2, characterized in that: The frame cleaning control device also includes a liquid level detection module, which is connected to the control module and is used to detect the liquid level of the liquid after cleaning. If the liquid level is greater than a first preset value, a recycling instruction is sent to the control module.

4. The frame cleaning control device according to claim 3, characterized in that: The liquid level detection module is used to filter the cleaned liquid and return the treated liquid to the cleaning liquid tank by controlling the first valve.

5. The frame cleaning control device according to claim 1, characterized in that: The first positioning module is an incremental encoder.

6. The frame cleaning control device according to claim 1, characterized in that: The frame cleaning control device further comprises a second positioning module and a second execution module, wherein the second positioning module is connected to the control module and the second execution module respectively; The second positioning module is used to receive the re-cleaning control instruction sent by the control module, and move the cleaned device to be cleaned to a second preset position; The second execution module is used for re-cleaning the device to be cleaned when the device to be cleaned is located at the second preset position.

7. The frame cleaning control device according to claim 6, characterized in that: The second execution module is used to control the reciprocating movement of the equipment to be cleaned.

8. The frame cleaning control device according to claim 7, characterized in that: The interaction module is further used to display the cleaning result, wherein the cleaning result at least includes whether the cleaning is completed or not completed.

9. The frame cleaning control device according to claim 1, characterized in that: The frame cleaning control device also includes a detection module, which is connected to the control module and is used to convert the acquired current value into a temperature value according to a preset conversion condition.

10. A cleaning control method, characterized in that: Applied to the frame cleaning control device according to any one of claims 1 to 9, the method comprises: Send cleaning control instructions; According to the cleaning control instruction, controlling the first positioning module to move the device to be cleaned to a first preset position; Moving the equipment to be cleaned to the first preset position; When the device to be cleaned is located at the first preset position, the device to be cleaned is cleaned.

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