Container cleaning robot

Abstract

The invention provides a container cleaning robot, and belongs to the technical field of container cleaning. The collecting and filtering system, the water supply system and the negative pressure generating system are arranged on the vehicle body and are all communicated with rotatable sweeping discs arranged on the two sides of the vehicle body, a plurality of groups of nozzles and suction nozzles are arranged on the sweeping discs, and a front rolling brush system used for cleaning blind areas of the sweeping discs is further arranged on the front side of the vehicle body. In the design, a cleaning disc is matched with a nozzle to atomize stains to achieve mechanical stripping, then the cleaning disc is matched with a suction nozzle to conduct instant negative pressure adsorption, then an air drying nozzle conducts air drying on water stains on the inner wall of a collecting box, cooperative treatment is conducted, and stripping-adsorption-collecting-air drying are synchronously completed for the two side walls; and cleaning blind areas of the cleaning discs on the two sides are filled through the front rolling brush system. And no dirt residue and no sewage deposition are realized in the whole process. On the other hand, all the systems are integrated in the vehicle body, external large-scale equipment is not needed, and narrow internal space of the container can be adapted.

Description

Technical Field

[0001] The present invention relates to the technical field of container cleaning, and in particular to a container cleaning robot. Background Art

[0002] As the core carrier of logistics transportation, containers are widely used for long-distance transportation and storage of goods. The cleanliness of their internal environment directly affects the safety of cargo storage and the service life of the container itself. However, after repeated loading and unloading of different goods, the inner walls, bottoms and corners of containers are prone to residues such as oil, caking residues, and dust. If not cleaned in time, they may not only contaminate subsequent cargo, but also cause the metal structure of the container to rust due to the long-term adhesion of water stains and corrosive residues, shortening its service life. At present, the main method of cleaning containers is still manual cleaning. Manual cleaning requires entering the narrow and enclosed interior of the container and manually cleaning with tools such as brooms, rags, and water guns. This is inefficient and has high cleaning costs. Summary of the Invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the present invention provides a container cleaning robot.

[0004] The technical solution to the technical problem solved by the present invention is as follows: a container cleaning robot is proposed, comprising a vehicle body and a protective shell connected to the vehicle body, wherein a collection and filtration system, a water supply system and a negative pressure generating system are arranged in the protective shell, the suction end of the negative pressure generating system is connected to the collection and filtration system, and the exhaust end of the negative pressure generating system is connected to the air drying nozzle arranged on the protective shell and the bottom of the vehicle body; a rotatable cleaning disc is respectively arranged on both sides of the vehicle body for cleaning the inner walls on both sides of the container, and a plurality of groups of nozzles are arranged on the cleaning disc, and the nozzles are connected to the bottom of the vehicle body. The water supply system is connected, and a suction nozzle is also provided on the cleaning disc. The suction nozzle is connected to the collection and filtration system, and assists in cleaning the inner walls on both sides of the container through the negative pressure suction in the collection and filtration system; the front roller brush system is arranged on the front side of the vehicle body with the help of the frame on the vehicle body, including a bottom roller brush assembly located at the bottom of the frame, and a negative pressure suction nozzle is provided in the bottom roller brush assembly. The negative pressure suction nozzle is connected to the collection and filtration system, and also includes a front end roller brush assembly arranged on the front side of the frame, and the front end roller brush system is constructed as a structure that can move up and down and left and right at the front end of the frame.

[0005] Preferably, a mechanical arm assembly is commonly connected between the cleaning disc and the vehicle body, and the mechanical arm assembly includes a rotating motor, the output end of the rotating motor is connected to an extension arm, the other end of the extension arm freely passes through the protective shell and is connected to a movable arm, the other end of the movable arm is connected to a support arm, the end of the support arm is connected to a rotatable cleaning disc, and a drive motor is connected at the hinge point between the extension arm, the movable arm and the support arm to achieve mutual rotation connection.

[0006] Preferably, the extension arm includes a first force arm and a second force arm which are slidably mounted on each other, a limit rack is fixed to the outer wall of the second force arm, an avoidance opening is opened on the first force arm, and the limit rack can move in the avoidance opening, a rotating motor is fixed to the outer wall of the first force arm, and the output shaft of the rotating motor is connected to a driving gear, and the driving gear is engaged with the limit rack, so that the first force arm and the second force arm cooperate to achieve extension and retraction.

[0007] Preferably, the cleaning disc includes a central cleaning disc, along the circumference of which are connected several groups of cleaning struts, the outer ends of several groups of cleaning struts are connected with flexible sweeping brushes, several groups of nozzles are connected in the cleaning struts, and the suction nozzle is provided on the side of the cleaning struts.

[0008] Preferably, a transmission motor and a rotary joint are provided inside the support arm, the output shaft of the transmission motor is connected to the rotating end of the rotary joint, and the other end of the rotating end is connected to the inner wall of the central sweeping disk; two independent negative pressure guide channels and water supply diversion channels are opened inside the central sweeping disk, the negative pressure guide channel is connected to the suction nozzle, and the water supply diversion channel is connected to several groups of nozzles; the collection and filtration system and the water supply system are respectively connected with a negative pressure pipe and a water supply pipe, the other ends of the negative pressure pipe and the water supply pipe are connected with the two inlets of the rotary joint, and the two outlets of the rotary joint are respectively connected with the negative pressure guide channel and the water supply diversion channel.

[0009] Preferably, the collection and filtration system includes a collection box arranged on the vehicle body, and the negative pressure pipes connected to the two cleaning discs are connected to the main pipe at the bottom of the collection box, and a shielding cover is arranged at intervals above the main pipe; a hydrophobic filter element is provided on the top of the collection box, and is connected to a negative pressure guide pipe, and the negative pressure guide pipe is connected to the suction end of the negative pressure generating system.

[0010] Preferably, the bottom roller brush assembly includes a first screw motion unit and a support shell connected to the front bottom surface of the vehicle body, and the first screw motion unit drives the support shell to move linearly along the X-axis; two groups of rotatable first cleaning rollers are connected under the support shell, and the negative pressure suction nozzle is connected between the two first cleaning rollers.

[0011] Preferably, the front roller brush assembly includes a second screw motion unit arranged on both sides of the bracket, and a gear motion unit is commonly connected between the two second screw motion units, driving the gear motion unit to move linearly along the Y axis. The front end of the gear motion unit is connected to a protective shell, and a rotatable second cleaning roller is connected to the protective shell, driving the second cleaning roller to move linearly along the X axis.

[0012] Preferably, the first screw motion unit and the second screw motion unit adopt the same structure, both including a base, the base is connected to the first servo motor, the output shaft of the first servo motor is connected to a ball screw, the ball screw is provided with a screw nut, and the screw nut drives the screw nut along a guide member provided on the base to connect with the support shell or the gear motion unit.

[0013] Preferably, the gear motion unit includes a support base commonly connected to the two second screw motion units, a guide rack is fixed on the support base, a second servo motor is provided on the protective shell, and the second servo output shaft is connected to a rotating gear; a guide member is commonly connected between the support base and the protective shell, and the rotating gear is engaged with the guide rack, driving the protective shell to move linearly along the guide member route along the X-axis.

[0014] Compared with the existing technology, the above technical solution has the following advantages or beneficial effects: 1. This invention utilizes a vehicle body as a carrier, integrating a collection and filtration system, a water supply system, a negative pressure generation system, and a cleaning module. These systems provide water, negative pressure suction, air drying, and dirt storage support for the cleaning process. A cleaning disc, coupled with a nozzle, atomizes dirt for mechanical removal, which is then immediately absorbed by a suction nozzle under negative pressure. The air drying nozzle then air-dries the water stains from the inner wall of the collection box. This coordinated process achieves a simultaneous "stripping-adsorption-collection-air-drying" process for both sides. A front roller brush system is installed on the front of the vehicle body, covering the area between the bottom and the two side walls of the container, filling the blind spots of the cleaning discs on both sides. This ensures a complete cleaning process with no residual dirt or sewage accumulation, resolving the pain point of traditional cleaning, where "the more you clean, the dirtier it gets." Furthermore, the integration of these systems into the vehicle body eliminates the need for large external equipment and allows for easy adaptation to the confined interior of the container.

[0015] 2. In the present invention, the telescopic adjustment of the extension arm and the multi-dimensional movement function of the front roller brush can adapt to containers of different specifications. For different stains such as oil, dust, and agglomerated residues, precise cleaning of one area can be achieved by adjusting the water volume of the nozzle and the speed of the cleaning disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0018] Figure 2 It is a left side view in the present invention.

[0019] Figure 3 It is a schematic diagram of the structure inside the outer shell of the present invention.

[0020] Figure 4 It is a schematic diagram of the internal structure of the collection box in the present invention.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the cleaning brush and the front side of the mechanical arm assembly in the present invention.

[0022] Figure 6 Schematic diagram of the three-dimensional structure of the cleaning brush and the rear side of the robotic arm assembly in the present invention.

[0023] Figure 7 yes Figure 6 Schematic diagram of the internal structure of part A.

[0024] Figure 8 It is a schematic diagram of the three-dimensional structure of the front roller brush system of the present invention.

[0025] Figure 9 It is a left view of the front roller brush system of the present invention.

[0026] Description of the marks in the figure: 1. Vehicle body; 2. Collection and filtration system; 21. Collection box; 22. Main pipeline; 23. Shielding cover; 24. Hydrophobic filter element; 25. Negative pressure diversion pipe; 3. Water supply system; 4. Negative pressure generating system; 5. Air drying nozzle; 6. Cleaning disc; 61. Center cleaning disc; 62. Cleaning support rod; 63. Nozzle; 64. Negative pressure guide channel; 65. Water supply diversion channel; 66. Flexible sweeping brush; 7. Suction nozzle; 8. Bottom roller brush assembly; 81. First screw motion unit; 82. Support shell; 83. First cleaning roller; 83. Negative pressure nozzle; 9. Front roller brush assembly; 91. Second screw motion unit; 92. Protective shell; 93. Second cleaning roller; 94. Guide rack; 95. Transmission gear; 10. Robotic arm assembly; 101. Rotating motor; 102. Extension arm; 103. Movable arm; 104. Support arm; 105. First lever arm; 106. Second lever arm; 107. Position-limiting rack; 108. Rotating motor; 109. Driving gear; 11. Rotary joint; 12. Negative pressure pipe; 13. Water supply pipe; 14. Guide member; 15. Transmission motor. DETAILED DESCRIPTION

[0027] In order to make the purposes, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0029] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0031] like Figures 1 to 9As shown, this embodiment proposes a container cleaning robot, which includes a movable body 1 and a protective shell connected to the body 1. The protective shell is provided with a collection and filtration system, a water supply system 3, and a negative pressure generating system 4. The suction end of the negative pressure generating system 4 is connected to the collection and filtration system to provide negative pressure suction for the filtration and collection system. It also includes a rotatable cleaning disc 6, which is respectively provided on both sides of the body 1 and is used to clean the inner walls of the container on both sides. The cleaning disc 6 is provided with several groups of nozzles 63, which are connected to the water supply system 3. The water mist sprayed by the nozzles 63 softens stubborn stains and breaks their adhesion to the inner wall of the container. In combination with the cleaning disc 6, the stains can be removed more efficiently. The cleaning disc 6 is also provided with a suction nozzle 7, which is connected to the collection and filtration system and assists in cleaning the inner walls of the container on both sides through the negative pressure suction of the filtration and collection system. When the cleaning disc 6 and the nozzle 63 work synchronously, the dirt can be effectively peeled off. During the peeling process, the dirt may be in a splashing or flowing state. In this state, the dirt and sewage in the range can be cleaned up as soon as possible through the suction nozzle 7, which can prevent them from contaminating other areas to a certain extent. Because the dirt and sewage are in a loose, suspended or semi-fluid state when they are just peeled off, the adhesion base with the inner wall can easily absorb them and store them in the collection and filtration system. The exhaust end of the negative pressure generating system 4 is connected to the protective shell and the air-drying nozzle 5 at the bottom of the vehicle body 1. After the cleaning disc 6 cooperates with the nozzle 63 to complete the preliminary cleaning of the interior of the container, air can be blown to the cleaned area through the air-drying nozzle 5 to achieve rapid drying, effectively avoiding problems such as rust inside the container caused by water stains. The container also includes a front roller brush system, which is located on the front side of the container body 1 via a frame connected to the container body 1. The front roller brush system includes a bottom roller brush assembly 8 at the bottom of the frame. The bottom roller brush assembly 8 is equipped with a negative pressure suction nozzle 83, which is connected to the collection and filtration system to centrally absorb dirt and sewage at the bottom of the container. The front roller brush assembly 9 is also located on the front side of the frame. The front roller brush assembly 9 is configured to move up and down and left and right at the front of the frame. The front roller brush structure cleans the area between the two side walls. The structure that can move up and down and left and right can provide a more comprehensive cleaning effect for this area. The bottom roller brush assembly 8 located at the bottom cleans the bottom of the container and centrally collects dirt and sewage at the bottom through the negative pressure suction nozzle 83.

[0032] The container robot in the present invention is designed with all-round coverage and closed-loop collaborative cleaning as the core concept, and achieves efficient cleaning of the inner wall of the container through system integration. In this design, a movable body 1 is used as a carrier, integrating a collection and filtration system, a water supply system 3, a negative pressure generating system 4 and a cleaning module to provide water, negative pressure suction and dirt storage support for the cleaning action; a rotatable cleaning disc 6 is set on both sides of the body 1, which cooperates with the nozzle 63 to atomize the stains to achieve mechanical stripping, and then cooperates with the suction nozzle 7 to instantly apply negative pressure. The three work together to achieve "stripping-adsorption-collection" on both sides of the wall simultaneously; and a front roller brush system is set on the front side of the body 1 to cover and clean the area between the bottom and the two side walls of the container, filling the cleaning blind spots of the cleaning discs 6 on both sides.

[0033] The coordinated operation of the cleaning disc 6, nozzle 63, and suction nozzle 7 effectively reduces the difficulty of removing dirt during the cleaning process. After the nozzle 63 softens and removes the dirt, the suction nozzle 7 simultaneously uses negative pressure to absorb the dirt while it's still splashing and flowing, cutting off the pollution's spread at the source. The bottom suction nozzle of the front roller brush system immediately removes the bottom sewage and dirt, preventing it from being crushed and spread by the movement of the vehicle body 1. This ensures a complete cleanup process with no residual dirt or sewage accumulation, resolving the pain point of traditional cleaning, which often results in more dirt. Furthermore, each system is integrated into the vehicle body 1, eliminating the need for large external equipment and adapting to the confined interior space of a container.

[0034] Considering the obvious limitations of the traditional large cleaning disc 6: not only does it occupy a large space and have a bloated structure, it also requires a more powerful drive device, resulting in high equipment load and energy consumption, and is prone to leaving blind spots due to lack of flexibility. To this end, in some embodiments, a more optimal solution is formed by connecting a robotic arm assembly 10 between the cleaning disc 6 and the vehicle body 1, and using a relatively compact cleaning disc 6. This design can significantly reduce the driving load required to rotate the cleaning disc 6, while also allowing for flexible adjustment of the cleaning area, achieving precise cleaning of local key areas and significantly improving cleaning efficiency.

[0035] Its specific structure can be referred to Figure 1 or Figure 2 The robot arm assembly 10 is connected to the cleaning disc 6 after passing through the hole opened in the protective shell. It uses a rotating motor 101 as the power source, and its output end is connected to the extension arm 102. The other end of the extension arm 102 passes through the protective shell and is connected to the movable arm 103. The other end of the movable arm 103 is connected to the support arm 104, and the end of the support arm 104 is connected to the rotatable cleaning disc 6; the hinge points of the extension arm 102, the movable arm 103, and the support arm 104 are all equipped with drive motors, and the flexible rotation of each arm segment is achieved through motor drive.

[0036] Among them, the extension arm 102 can rotate as a whole under the drive of the rotating motor 101, providing basic adjustment for the cleaning range; the movable arm 103 serves as an intermediate connecting structure, which can accurately control the upper and lower distances between the extension arm 102 and the cleaning disc 6 by adjusting the swing angle. The cooperation between the two can effectively expand the operating coverage of the cleaning disc 6 and flexibly adjust the position; the support arm 104 assumes the function of direct connection with the cleaning disc 6. This design can ensure that during the overall adjustment process of the robotic arm assembly 10, the cleaning disc 6 always remains parallel to the inner wall of the container, thereby ensuring efficient cleaning effect.

[0037] Continue to refer Figures 5 to 7 In some embodiments, the extension arm 102 includes a first arm 105 and a second arm 106 that are slidably mounted on each other. A limit rack 107 is fixed to the outer wall of the second arm 106. The first arm 105 has a clearance opening within which the limit rack 107 can move. A rotary motor 108 is fixed to the outer wall of the first arm 105. The output shaft of the rotary motor 108 is connected to a drive gear 109, which meshes with the limit rack 107. This design allows the first arm 105 and the second arm 106 to be flexibly extended and retracted, providing dynamic adjustment of the length of the extension arm 102. On the one hand, this design can accurately adjust the distance between the cleaning disc 6 and the protective shell, thereby adapting to containers of different widths and greatly broadening the scope of application of the equipment; on the other hand, the contact strength between the cleaning disc 6 and the inner wall of the container can be adjusted by subtle control of the telescopic length. When facing lightly polluted areas, the pressure can be reduced to avoid excessive wear on the inner wall; for heavily stained areas, the pressure can be increased to enhance the cleaning effect, realizing "on-demand adjustment" of refined cleaning.

[0038] It's worth noting that to accommodate the cleaning needs of some small containers, the device employs a flexible size adjustment scheme: the overall width of the vehicle body 1 is designed to be relatively small, while the extension arm 102 can be extended by increasing its width and length to allow for more adjustment space for the extension arm 102. This design not only meets the needs of container cleaning operations but also allows the cleaning disc 6 to be retracted to the side or inside the protective shell 92 during storage, thereby storing and protecting the cleaning disc 6 and reducing space usage and environmental damage to components when idle.

[0039] Referring to Figure 5, in some embodiments, the structural design of the cleaning disc 6 is centered on the central cleaning disc 61, and several groups of cleaning struts 62 are connected circumferentially along the central cleaning disc 61. Flexible sweeping brushes 66 are installed at the outer ends of the cleaning struts 62, and several groups of nozzles 63 are evenly distributed on the cleaning surface of the cleaning struts 62. The above-mentioned suction nozzle 7 is provided on the side of the cleaning struts 62. This design structure allows the sweeping pole to achieve a lightweight design while expanding the cleaning range, greatly reducing the load required for driving; the flexible sweeping brush 66 can penetrate into the dead corners that are difficult for the hard pole to reach, which can not only avoid hard collisions with the inner wall of the container, but also fill the cleaning blind spots and solve problems such as vertical dead corners; the evenly distributed design of the nozzle 63 can soften stains in more areas and enhance the cleaning effect; and the suction nozzle 7 close to the cleaning pole 62 can quickly suck up dirt and sewage as soon as the stains are peeled off, effectively reducing secondary pollution caused by splashing.

[0040] For further reference, Figure 7 The interior of the support arm 104 is a hollow structure, and a bearing is commonly connected between the support arm 104 and the cleaning disc 6 for auxiliary support. A transmission motor 15 and a rotary joint 11 are arranged inside the support arm 104 as main driving components. The rotary joint 11 includes a stationary end with a cylindrical structure, and a rotatable rotating end with a cylindrical structure is arranged inside the stationary end. A support and a sealing ring are commonly connected between the stationary end and the rotating end. Two annular grooves are provided on the rotating end, two inlets are provided on the stationary end, and two outlets are provided in the rotating end. The two inlets are vertically connected to the annular groove, and the two outlets are horizontally connected to the annular groove, forming two independent open passages.

[0041] The output shaft of the transmission motor 15 is connected to the rotating end of the rotary joint 11, and the other end of the rotating end is connected to the inner wall of the central sweeping disk 61. Two independent negative pressure guide channels 64 and a diversion channel are provided inside the central sweeping disk 61. The negative pressure guide channel 64 is connected to the suction nozzle 7, and the water supply diversion channel 65 facilitates the connection of several groups of nozzles 63; the collection and filtration system and the water supply system 3 are respectively connected to the negative pressure pipe 12 and the water supply pipe 13, and the other ends of the negative pressure pipe 12 and the water supply pipe 13 are both connected to the rotary joint 11. The two outlets of the rotary joint 11 are respectively connected to the negative pressure guide channel 64 and the water supply channel, so as to transmit the external negative pressure suction and water body to the sweeping disk 6.

[0042] It is worth noting that the negative pressure guide channel 64 and the water supply guide channel 65 adopt the same structural design: both are connected to the central cavity by the main guide channel, and then several branch channels are connected through the central cavity, and finally the negative pressure suction and water body are accurately distributed to the suction nozzle 7 and nozzle 63 of each cleaning support rod 62. The core value of this design lies in resolving the interference problem between rotating components and stationary pipes. The cleaning disc 6 rotates during operation. If the negative pressure pipe 12 and the water supply pipe 13 are directly connected to the cleaning disc 6, the rotation can easily cause pipe entanglement and structural interference, leading to interrupted media transmission. However, the rotating joint 11, with its rotating end rotating synchronously with the cleaning disc 6 (connecting the drive motor 15 and the central cleaning disc 61) and its stationary end remaining fixed (connecting the negative pressure pipe 12 and the water supply pipe 13), ensures normal rotation of the cleaning disc 6 while keeping the two pipes stationary, thus preventing interference. Furthermore, the annular groove and the inlet and outlet passage design enable continuous transmission of negative pressure suction and water, ultimately providing a stable supply to the nozzle 63 and suction nozzle 7, ensuring that the coordinated "water spraying, stripping, and waste suction" operations of the cleaning disc 6 are not affected.

[0043] refer to Figure 4 In some embodiments, the filtration system includes a collection box 21 provided on the vehicle body 1, and the above-mentioned rotating motor 101 is connected to the outer wall of the collection box 21, with the outer wall of the collection box 21 as the fulcrum to realize the rotation and support of the two robotic arm assemblies 10, and the negative pressure pipes 12 connected to the two cleaning discs 6 are connected to the main pipe 22 at the bottom of the collection box 21, and a shielding cover 23 is arranged at intervals above the main pipe 22; a hydrophobic filter element 24 is provided at the top of the collection box 21, which is connected to a negative pressure guide pipe 25, and the negative pressure guide pipe 25 is connected to the suction end of the negative pressure generating system 4. Negative pressure is applied to the interior of the collection box 21 through the negative pressure guide tube 25 at the top, and dirt is sucked into the collection box 21 through the corresponding negative pressure pipe 12 and negative pressure suction nozzle 83. When the negative pressure gas carries the dirt into the main pipe 22, the shield 23 changes the direction of the airflow, slowing the airflow. The dirt and sewage are separated from the airflow by gravity and sink into the collection box 21. However, a small amount of dirt or sewage will still be absorbed by the negative pressure at the top, which is then intercepted by the hydrophobic filter element 24, allowing only the airflow to flow.

[0044] In some embodiments, the bottom roller brush assembly 8 includes a first screw motion unit 81 connected to the front bottom surface of the vehicle body 1 and a support shell 82. The first screw motion unit 81 drives the support shell 82 to move linearly along the X-axis. Two sets of rotatable first cleaning rollers 83 are connected below the support shell 82. A negative pressure suction nozzle 83 is connected between the two first cleaning rollers 83, and the negative pressure suction nozzle 83 is connected to the collection box 21. In this design, the first cleaning rollers 83 are responsible for mechanically stripping stains from the bottom of the container. Combined with the left and right translation function of the first screw motion unit 81, the cleaning range can be greatly widened to adapt to containers of different widths. The dirt and sewage stripped by the two cleaning rollers can be immediately and quickly sucked up by the negative pressure suction nozzle 83 in the middle and sent to the collection box 21, forming a continuous operation process from stripping to suction, effectively improving the bottom cleaning efficiency.

[0045] Furthermore, the front roller brush assembly 9 includes second screw motion units 91 disposed on either side of the bracket. A gear motion unit is connected between the two second screw motion units 91, driving the gear motion unit to move linearly along the Y (vertical) axis. A protective shell 92 is connected to the front end of the gear motion unit, to which a rotatable second cleaning roller 93 is attached, driving the second cleaning roller 93 to move linearly along the X (left-right) axis. The gear motion unit drives the second cleaning roller 93 to translate left and right, widening the cleaning range and specifically cleaning the inner wall area between the two side walls. The two sets of second screw motion units 91 drive the overall structure up and down to meet the cleaning needs of areas at different heights. The combination of the two provides more comprehensive cleaning of the front area.

[0046] Among them, the first screw motion unit 81 and the second screw motion unit 91 adopt the same structure, both including a base, the base is connected to a first servo motor, the output shaft of the first servo motor is connected to a ball screw, and the ball screw is provided with a matching sleeve with a screw nut. The screw nut drives the screw nut along the guide member 14 set on the base to connect with the support shell 82 or the gear motion unit, so as to realize smooth linear movement of the screw nut along the guide member 14.

[0047] In this embodiment, the gear motion unit includes a support base commonly connected to the two second screw motion units 91, a guide rack 94 is fixed on the support base, a second servo motor is provided on the protective shell 92, and the output shaft of the second servo motor is connected to a transmission gear 95. A guide member 14 is commonly connected between the support base and the protective shell 92, and the transmission gear 95 is engaged with the guide rack 94, driving the protective shell 92 to move linearly along the guide member 14 line on the X-axis, thereby realizing the left and right translation adjustment of the second cleaning roller 93.

[0048] Although the above describes the specific implementation methods of the invention in conjunction with the accompanying drawings, it does not limit the scope of protection of the invention. Based on the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present invention.

Claims

1. A container cleaning robot, characterized in that: include: A vehicle body (1) and a protective shell connected to the vehicle body (1), wherein a collection and filtration system (2), a water supply system (3) and a negative pressure generating system (4) are provided in the protective shell, wherein a suction end of the negative pressure generating system (4) is connected to the collection and filtration system (2), and an exhaust end of the negative pressure generating system (4) is connected to an air drying nozzle (5) provided at the bottom of the protective shell and the vehicle body (1); Rotatable cleaning discs (6) are respectively arranged on both sides of the vehicle body (1) and are used to clean the inner walls on both sides of the container. The cleaning discs (6) are provided with a plurality of groups of nozzles (63), and the nozzles (63) are connected to the water supply system (3). The cleaning discs (6) are also provided with suction nozzles (7), and the suction nozzles (7) are connected to the collection and filtration system (2). The suction nozzles (7) assist in cleaning the inner walls on both sides of the container through the negative pressure suction in the collection and filtration system (2); The front roller brush system is arranged on the front side of the vehicle body (1) by means of a frame on the vehicle body (1), and includes a bottom roller brush assembly (8) located at the bottom of the frame, a negative pressure suction nozzle (83) is provided in the bottom roller brush assembly (8), and the negative pressure suction nozzle (83) is connected to the collection and filtration system (2). The front roller brush system also includes a front end roller brush assembly (9) arranged on the front side of the frame, and the front end roller brush system is constructed to be able to move up and down and left and right at the front end of the frame.

2. A container cleaning robot according to claim 1, characterized in that: A mechanical arm assembly (10) is commonly connected between the cleaning disc (6) and the vehicle body (1), and the mechanical arm assembly (100) comprises a rotating motor (101), the output end of the rotating motor (101) is connected to an extension arm (102), the other end of the extension arm (102) freely passes through a protective shell and is connected to a movable arm (103), the other end of the movable arm (103) is connected to a support arm (104), the end of the support arm (104) is connected to a rotatable cleaning disc (6), and a driving motor is connected at a hinge point between the extension arm (102), the movable arm (103) and the support arm (104) to achieve mutual rotation connection.

3. The container cleaning robot according to claim 2, characterized in that: The extension arm (102) includes a first lever arm (105) and a second lever arm (106) which are slidably sleeved with each other. A limit rack (107) is fixed to the outer wall of the second lever arm (106). A clearance opening is provided on the first lever arm (105), and the limit rack (107) can move within the clearance opening. A rotating motor (108) is fixed to the outer wall of the first lever arm (105). The output shaft of the rotating motor (108) is connected to a driving gear (109). The driving gear (109) is engaged with the limit rack (107) so that the first lever arm (105) and the second lever arm (106) cooperate to achieve telescopic movement.

4. The container cleaning robot according to claim 2, characterized in that: The cleaning disc (6) comprises a central cleaning disc (61), a plurality of cleaning support rods (62) are connected along the circumference of the central cleaning disc (61), the outer ends of the plurality of cleaning support rods (62) are connected to flexible cleaning brushes (66), the cleaning support rods (62) are connected to a plurality of nozzles (63), and the side of the cleaning support rods (62) is provided with the suction nozzle (7).

5. The container cleaning robot according to claim 4, characterized in that: A transmission motor (15) and a rotary joint (11) are provided inside the support arm (104), the output shaft of the transmission motor (15) is connected to the rotating end of the rotary joint (11), and the other end of the rotating end is connected to the inner wall of the central sweeping disc (61); two independent negative pressure guide channels (64) and a water supply guide channel (65) are provided inside the central sweeping disc (61), the negative pressure guide channel (64) is connected to the suction nozzle (7), and the water supply guide channel (65) is connected to a plurality of groups of nozzles (63); the collection and filtration system (2) and the water supply system (3) are respectively connected to a negative pressure pipe (12) and a water supply pipe (13), the other ends of the negative pressure pipe (12) and the water supply pipe (13) are both connected to the two inlets of the rotary joint (11), and the two outlets of the rotary joint (11) are respectively connected to the negative pressure guide channel (64) and the water supply guide channel (65).

6. The container cleaning robot according to claim 5, characterized in that: The collecting and filtering system (2) comprises a collecting box (21) arranged on the vehicle body (1); the negative pressure collecting pipes (12) connected to the two cleaning discs (6) are both connected to the main pipe (22) at the bottom of the collecting box (21); a shielding cover (23) is arranged above the main pipe (22); a hydrophobic filter element (24) is arranged on the top of the collecting box (21), and is connected to a negative pressure guide pipe (25); the negative pressure guide pipe (25) is connected to the suction end of the negative pressure generating system (4).

7. The container cleaning robot according to claim 1, characterized in that: The bottom roller brush assembly (8) comprises a first screw motion unit (81) and a support shell (82) connected to the front bottom surface of the vehicle body (1); the first screw motion unit (81) drives the support shell (82) to move linearly along the X-axis; two groups of rotatable first cleaning rollers (83) are connected below the support shell (82); the negative pressure suction nozzle (83) is connected between the two first cleaning rollers (83).

8. The container cleaning robot according to claim 7, characterized in that: The front roller brush assembly (9) comprises a second screw motion unit (91) arranged on both sides of the bracket, a gear motion unit is commonly connected between the two second screw motion units (91), and drives the gear motion unit to move linearly along the Y axis, and a protective shell (92) is connected to the front end of the gear motion unit, and a rotatable second cleaning roller (93) is connected to the protective shell (92), and drives the second cleaning roller (93) to move linearly along the X axis.

9. The container cleaning robot according to claim 8, characterized in that: The first screw motion unit (81) and the second screw motion unit (91) have the same structure and both include a base, a first servo motor is connected to the base, a ball screw is connected to the output shaft of the first servo motor, a screw nut is provided on the ball screw, and the screw nut drives the screw nut along a guide member (14) provided on the base to connect to the support shell (82) or the gear motion unit.

10. The container cleaning robot according to claim 8, characterized in that: The gear motion unit includes a support base commonly connected to the two second screw motion units (91), a guide rack (94) is fixed on the support base, a second servo motor is provided on the protective shell (92), and the second servo output shaft is connected to a rotating gear; a guide member (14) is commonly connected between the support base and the protective shell (92), the rotating gear is engaged with the guide rack (94), and drives the protective shell (92) to move linearly along the X-axis along the route of the guide member (14).

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