Movable cleaning device and cleaning method for dried beancurd stick conjunctival groove

Abstract

The invention discloses a movable cleaning device and a cleaning method for a dried beancurd stick conjunctival groove, and belongs to the field of cleaning equipment for agricultural and sideline product processing. The cleaning device comprises a main body frame, a controller installed on the main body frame, and a power assembly, an image acquisition assembly and a cleaning mechanism which are connected with the controller. The bean curd stick conjunctival groove can be fully cleaned through the cooperation of the components.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of cleaning equipment for processing agricultural and sideline products, and particularly relates to a mobile cleaning device and a cleaning method for a dried beancurd sheet forming tank. BACKGROUND

[0002] In the forming stage of the dried beancurd sheet production process, after processes such as material selection, peeling, soaking, pulping, and pulp residue separation, the separated and heated boiled pulp liquid is generally transported to multiple forming tanks by conveying equipment. After a period of heat preservation, a thin film, also known as an oil skin, forms on the surface of the pulp liquid. After the oil skin is peeled off, it is tied into strips, and then dried to form dried beancurd sheets.

[0003] The forming tank is a key component in the production process of dried beancurd sheets. Because the soybean milk liquid contained in the forming tank needs to be heated to form a film, the soybean milk skin formed on the surface of the soybean milk liquid is prone to adhere to the two side walls of the soybean milk tank. With the movement of the soybean milk skin, the soybean milk skin will inevitably be damaged and adhere to the inner wall of the forming tank. In addition, the bottom of the forming tank is prone to stick and paste. Therefore, it is required to clean the inner wall of the forming tank in time and efficiently after the forming tank is used.

[0004] The existing cleaning method for the forming tank is to use a scraper to clean manually. However, due to the size of the forming tank being between 12m*(0.65-1)m, the cleaning workload is large, which makes manual cleaning time-consuming and laborious, and the cleaning efficiency is low. Moreover, because the inner wall of the forming tank adheres to the pulp scale, the manual cleaning is uneven, which may result in incomplete cleaning or damage to the smoothness of the bottom of the forming tank. Therefore, the pulp scale adhered to the bottom will be more difficult to clean in the next use, and the cleaning difficulty will also increase with the increase of the cleaning times. SUMMARY

[0005] The examples of the present application provide a mobile cleaning device and a cleaning method for a dried beancurd sheet forming tank to overcome the problems of large manual cleaning difficulty and poor cleaning effect in the prior art.

[0006] The scheme of the examples of the present application is implemented by the following contents.

[0007] A mobile cleaning device for cleaning a forming tank after being treated by a peeling device includes a main frame, a controller installed on the main frame, a power assembly connected to the controller, an image acquisition assembly, and a cleaning mechanism. The image acquisition assembly is configured to acquire images of the forming tank. The controller is configured to independently operate the power assembly and the cleaning mechanism according to the received images of the forming tank, so that the main frame moves forward and reversely, and the cleaning mechanism moves synchronously or asynchronously relative to the main frame to perform the cleaning operation.

[0008] Optionally, the mobile cleaning device further comprises: a first displacement sensor connected to the controller, the controller being configured to accept signals fed by the first displacement sensor to calculate the displacement of the cleaning mechanism.

[0009] Optionally, the mobile cleaning device further comprises: a second displacement sensor connected to the controller, the controller being configured to accept signals fed by the second displacement sensor to calculate the distance between the cleaning device and the peeling device.

[0010] Optionally, the cleaning mechanism comprises a brush holder detachably connected to the main frame, the brush holder connecting the brush and the brush motor, and the brush being connected to the brush motor through a brush synchronous belt.

[0011] Optionally, the brush holder is provided with a nozzle hole opposite to the brush.

[0012] Optionally, the nozzle hole is connected to a water supply assembly, the water supply assembly comprising a nozzle mounted in the nozzle hole, a water inlet pipe connected to the nozzle in a through manner, a water outlet pipe connected to the water inlet pipe in a through manner, and a water tank connected to the water outlet pipe through a spray pump, the water tank being fixedly installed on the main frame.

[0013] Optionally, the water tank is further provided with a water inlet pump connected to an external water supply pipe, and the water tank is further provided with a water outlet opening connected to a hose, the other end of the hose being connected to the spray pump.

[0014] Optionally, the cleaning device further comprises a scraping assembly located on both sides of the main frame opposite to the cleaning mechanism. The scraping assembly comprises a hinge joint fixedly connected to the main frame, a scraper support reversibly connected to the hinge joint, a scraper fixedly clamped in the scraper support, a spring fixedly connected to the scraper, and a spring support fixedly connected to the other end of the spring, the other end of the spring support being fixed to the main frame. Optionally, the scraper is made of stainless steel.

[0015] Optionally, the controller is a PLC controller. Optionally, the cleaning device further comprises a power supply electrically connected to the controller.

[0016] Optionally, the power assembly comprises a wheel edge support fixedly connected to the bottom of the main frame, a power motor fixedly installed at the bottom of the wheel edge support, a driving shaft connected to the power motor through a coupling, two driven shafts connected to the driving shaft through two driven synchronous belts, and wheels fixedly connected to the two driven shafts. Optionally, one end of the driving shaft is connected with the power motor, and the other end is fixedly connected with the inner ring of the bearing, the bearing is fixedly installed on the wheel-side support, two pairs of bearings are also installed on the wheel-side support, and two driving shafts arranged in parallel with each other are installed between the two pairs of bearings.

[0017] The cleaning method of the dried beancurd sheet forming trough disclosed in the application comprises the following steps: The scraping plate is operated to scrape the soybean milk liquid in the forming trough in the direction away from the dried beancurd sheet conveying belt to a preset distance, and the preset distance is limited by the length capable of accommodating the cleaning device; The cleaning device is placed in the area corresponding to the preset area of the forming trough; The controller controls the power assembly to make the cleaning device reciprocate, and simultaneously, the scraping plate, the brush and the nozzle are independently operated to clean the forming trough. The scraping plate is operated to perform the scraping operation, the brush is operated to perform the brushing operation, and the nozzle is operated to perform the flushing operation.

[0018] The cleaning device disclosed in the application has at least the following beneficial effects: 1. The image acquisition assembly can clean the soybean milk liquid remaining in the forming trough after the peeling work, and can monitor the state of the soybean milk liquid in the forming trough without cleaning, so that the cleaning device can be guided to complete the cleaning during movement.

[0019] 2. The controller controls the forward and reverse movements of the power assembly, thereby indirectly driving the scraping plate in the cleaning assembly to move forward and backward. Because the forming trough is very long, the scraping plate can scrape the soybean milk liquid to the liquid outlet hole at the front of the forming trough and discharge it from the liquid outlet hole. At this time, the scraping work of a large amount of soybean milk liquid is completed, and the subsequent cleaning work can be performed again.

[0020] 3. The brush motor controls the rotation of the brush in the forming trough, which can cooperate with the front scraping plate to realize continuous secondary cleaning of the forming trough, thereby increasing the cleaning effect and efficiency of the forming trough.

[0021] 4. The water supply assembly cooperates with the brush, so that the wet brush can quickly brush off the soybean milk liquid adhered in the forming trough.

[0022] In general, the cleaning device in the embodiment of the application can freely move in the forming trough, thereby conveniently and quickly cleaning the soybean milk liquid, saving manpower, reducing the long operation time of existing manual cleaning, improving the cleaning efficiency, and facilitating popularization and use. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate, the following will briefly introduce the drawings needed to be used in the description.

[0024] Figure 1 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the first perspective view disclosed by the embodiments of the present application; Figure 2 Projection axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the second perspective view disclosed by the embodiments of the present application; Figure 3 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 4 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 3 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 5 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 6 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 7 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 8 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 9 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 10 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 11 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 12 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application; Figure 13 Axonometric structure schematic diagram of the mobile cleaning device for dried beancurd sheet film tank in the third perspective view disclosed by the embodiments of the present application;

[0025] Explanation of reference signs: 1, main frame; 2, image sampler; 3, sampler mounting rod; 4, PLC controller; 5, displacement sensor; 6, water supply assembly; 7, power assembly; 8, cleaning assembly; 9, storage battery; 10, scraping assembly; 11, brush cover; 6-1, water inlet pump; 6-2, water outlet; 6-3, water tank; 6-4, spraying pump; 6-5, water outlet pipe; 6-6, nozzle; 6-7, water delivery pipe; 7-1, wheel support; 7-2, driven shaft; 7-3, driven synchronous belt; 7-4, power motor; 7-5, wheel; 7-6, driving shaft; 8-1, brush; 8-2, brush synchronous belt; 8-3, brush motor; 8-4, nozzle mounting hole; 8-5, brush holder; 10-1, scraper support; 10-2, scraper; 10-3, spring; 10-4, spring support; 10-5, hinge. DETAILED DESCRIPTION

[0026] Tofu skin, also known as dried bean curd, is a thin film (typical thickness 0.3mm) formed on the surface of boiled soybean milk during the cooling process. The film is peeled off and dried to have a light yellow luster, and the shape is like bamboo, hence the name tofu skin.

[0027] In the industrialized and mechanized production of tofu skin, the key is the film formation of soybean milk. From the film formation mechanism, the film formation of tofu skin is realized by a film forming machine, mainly in the film forming groove.

[0028] The mechanism of tofu skin film formation is: Under relatively static conditions, the protein inside the boiled soybean milk is denatured by heat, the molecule is stretched into a long chain from the curled shape, the hydrophobic group is transferred to the outside of the molecule, and the hydrophilic group is transferred to the inside of the molecule.

[0029] When the cooked soybean milk is kept at a high temperature, the water on the surface of the milk evaporates continuously, the surface protein concentration increases relatively, and the protein molecules obtain high internal energy, and the movement is intensified. This will increase the contact and collision opportunities between protein molecules, making it easy to form secondary bonds and coagulate into a film. During the formation of the film, other components are wrapped in the protein network structure. With the passage of time, the film becomes thicker and thicker, and can be peeled off when it reaches a certain mechanical strength.

[0030] After long-term use, the film forming groove will be left with soybean milk and film, so it needs to be cleaned regularly. The existing cleaning device cannot be used for cleaning different size film forming grooves, and the cleaning range is small (such as not considering the side of the film forming groove), which greatly increases the cleaning intensity of the film forming groove.

[0031] In this application, the applicant discloses a mobile cleaning device for cleaning the film forming groove treated by the skin peeling device, which can clean the film forming groove more thoroughly and has higher cleaning efficiency.

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments.

[0033] The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0034] The standard parts used in the embodiments of the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, and the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the mechanical parts and equipment adopt the conventional types in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.

[0035] Overall, the cleaning device comprises a main frame, and a controller, a power assembly, an image acquisition assembly and a cleaning mechanism mounted on the main frame.

[0036] The image acquisition assembly is configured to acquire conjunctival groove images; the controller is configured to independently operate the power assembly and the cleaning assembly according to the received conjunctival groove images, so that the main frame moves forward and reversely, and the cleaning mechanism moves synchronously or asynchronously relative to the main frame to perform the cleaning operation.

[0037] The conjunctival groove images acquired by the image acquisition assembly mainly refer to the area to be cleaned in the conjunctival groove; that is, the area in front of the cleaning device during the forward movement of the cleaning device; this area can be the area scraped by the scraper mentioned later in the cleaning device, and it can be understood that this area can also be brushed by the brush mentioned later in the cleaning device and washed by the nozzle.

[0038] According to different combinations of functions of the cleaning mechanism, the components can be moved in cooperation with the forward and backward movement of the main frame. For example, in the subsequent description, the cleaning mechanism comprises a cleaning assembly and a scraping assembly.

[0039] Overall, the scraping assembly and the cleaning assembly are connected to the main frame, and thus move synchronously with the main frame. In addition, based on the functions realized by the cleaning assembly and the scraping assembly respectively, the two assemblies can also be independent of the main frame, so that they can be controlled to move synchronously with the main frame, or can also move asynchronously or synchronously relative to the main frame.

[0040] The working action, for the cleaning assembly, can be the brushing action of the brush and the washing action of the water supply assembly matched therewith; for the scraping assembly, it can be the scraping action of the scraper.

[0041] The parts in the cleaning device will be described and explained in more detail below.

[0042] Please refer to Figures 1 to 12 .

[0043] For the convenience of description, the general positioning reference can be based on the main body frame.

[0044] The main body frame is generally a cuboid structure, one of the two opposite long sides is the front end, and the other is the rear end; that is, the width direction is front and back. The two ends of the length direction of one side can be described as left and right sides; that is, the length direction is left and right; the height direction is up and down.

[0045] The main body frame 1 is used to install, support and protect the entire cleaning device. Other components in the cleaning device are fixed and connected to the main body frame, and generally define the external structure of the cleaning device.

[0046] Referring to Figure 1 and Figure 2 , the PLC controller 4 and the battery 9 electrically connected to the PLC controller 4 are installed inside the frame of the main body frame 1. The battery 9 is used to power the PLC controller 4. The battery 9 also powers other electrical equipment in the cleaning device (such as various motors, etc.), which also serves as a power supply. The battery can ensure sufficient power during the cleaning device walking; at the same time, the battery 9 also replenishes the power through the charger / power adapter equipped by itself. The battery can avoid the trouble of directly connecting the power grid through the cable.

[0047] In the normal use posture, the image sampler 2 is fixedly arranged on the sampling mounting rod at the upper side of the main body frame 1. The image sampler 2 can select a German IDS USB3.1Gen.1 interface UI-3000SE-C-HQ color industrial COMS camera. When the image sampler 2 is assembled on the sampling mounting rod, the camera lens of the image sampler 2 can be fixed on the sampling mounting rod by screws, as shown in Figure 3 .

[0048] In some examples, the image sampler 2 can be vertically arranged. In such examples, a universal joint (not shown) can be fixedly installed between the sampling mounting rod and the image sampler 2, as shown in Figure 2 . The image sampler 2 is installed on the universal joint. Since the universal joint can freely adjust the angle, through the connection of the universal joint with the angle adjustment function, the required angle of the image sampler 2 can be freely adjusted.

[0049] Further, referring to Figure 7 Figure 8 , the use of the image collector in the examples of the present application can achieve cleaning and scraping of the soybean milk liquid remaining in the conjunctival groove after the soybean milk liquid in the conjunctival groove completes all the peeling work.

[0050] It can be understood that after long-term use, the soybean milk liquid remaining in the conjunctival groove is a thick layer, so multiple cleanings are required. Therefore, after the cleaning device performs one cleaning on the conjunctival groove, it is beneficial to continue using the cleaning device to perform secondary cleaning, three times of cleaning until clean.

[0051] In the cleaning process, the secondary cleaning in the present application is consecutive with the primary cleaning. For example, in the process of the cleaning device advancing by the driving of the power assembly, the scraper 10-2 in front of the main body frame is moved forward, and in this process, the cleaning assembly 8 behind the main body frame also moves forward. Therefore, the cleaning assembly 8 can realize secondary cleaning of the conjunctival groove, and when the cleaning device moves from one end to the other end of the conjunctival groove, it means that the primary and secondary cleanings of the conjunctival groove are completed, and then three and four times of simultaneous cleaning are required. The cleaning assembly 8 and the scraping assembly 10 can be collectively attributed to the cleaning mechanism for discussion and description.

[0052] In the above primary and secondary cleaning processes, the image sampler 2 can monitor the state of the soybean milk liquid in the conjunctival groove in front of the cleaning device (the area on the track in the direction of the cleaning device that has not been cleaned during the primary cleaning) to ensure that the cleaning assembly can be guided by the controller to complete the cleaning during the forward movement.

[0053] In the subsequent three and four times of cleaning processes, a large amount of soybean milk liquid has been removed in the first and second cleanings, but there may still be stubborn liquid adhering to the inner wall of the conjunctival groove. At this time, the image collector 2 can capture the position of the soybean milk liquid before the brush 8-1 moves to the position where the soybean milk liquid is stubbornly adhered to the conjunctival groove. The capture refers to detecting the size and shape of the soybean milk liquid, and the detected information is transmitted to the PLC controller 4. The controller selectively controls the motor in the cleaning assembly to clean the soybean milk liquid in some positions.

[0054] When the image detector detects the size: First, the image detector obtains a target image containing soybean milk liquid, and the image is transmitted to the PLC controller 4. The data processing module of the PLC pre-processes the obtained image, mainly image enhancement and edge detection.

[0055] Second, the feature extraction algorithm extracts the feature information of the target from the image—these features can be edges, textures, etc.

[0056] According to the extracted feature information, the position of the target in the image is determined. Then through template matching, feature matching, edge detection and other methods, according to the position information of the target in the image, combined with the camera parameters and geometric relationship, the size of the target is calculated. The actual size can be obtained by measuring the pixel length of the target on the image and converting it combined with the calibration parameters of the camera.

[0057] The measured target image of the soybean milk liquid is compared with the template image size uploaded in the data module.

[0058] If the size of the target image is less than or equal to the size of the template image, the brush 8-1 will directly walk forward to remove the soybean milk liquid.

[0059] If the size of the target image is greater than the size of the template image, the cleaning device will control the power assembly 7 to walk forward to drive the brush 8-1 to remove the soybean milk liquid detected in front once. Moreover, the power assembly 7 is controlled to move reversely, and the brush 8-1 is used to clean the soybean milk liquid twice. Then the power assembly 7 is controlled to move forward again. Here, the brush 8-1 will be cleaned by the soybean milk liquid for three times. The power assembly 7 will continue to walk forward until the next soybean milk liquid is detected. The above-mentioned operation is repeated to remove all the soybean milk liquid adhered in the trough.

[0060] Referring to Figure 3 As shown in the figure, one side of the image sampler 2 is provided with two displacement sensors 5 electrically connected with the PLC controller 4. The positions of the two displacement sensors 5 are shown in the figure.

[0061] The two displacement sensors 5 are both controlled by the PLC controller 4, and the two displacement sensors 5 are selected to be different in type. The difference mainly lies in that the displacement sensors obtain displacement in different principles and ways, and different displacement information can be obtained.

[0062] One of the displacement sensors 5 is selected to be a potentiometer type displacement sensor. The potentiometer type displacement sensor converts mechanical displacement into resistance or voltage output in linear or arbitrary function relationship through a potentiometer element. The movable brush of the potentiometer is connected with the measured object. The displacement of the object causes the resistance change of the moving end of the potentiometer. Usually, the power voltage is input on the potentiometer to convert the resistance change into voltage output.

[0063] The movable brush of the potentiometer type displacement sensor in the present application is connected with the scraper 10-2, and the displacement of the scraper 10-2 can be detected. During the movement of the scraper 10-2 driven by the cleaning device, the PLC controller 4 will receive the electric signal transmitted by the potentiometer type displacement sensor, so as to calculate the moving distance of the scraper 10-2.

[0064] The "moving distance of the scraper 10-2" refers to that after the scraper 10-2 is moved forward by the cleaning device for a certain distance, the scraper 10-2 will move backward for a certain distance. During the cleaning process, the soybean milk liquid in the conjunctival groove is repeatedly scraped and cleaned.

[0065] The advantages of the forward and reverse movements can be highlighted and explained by a counterexample of only one-way movement: according to the situation of the residual soybean milk liquid in the conjunctival groove, if the scraper 10-2 always moves in one direction, the scraped soybean milk liquid will accumulate and overflow through the two sides of the conjunctival groove.

[0066] Based on the above understanding, the scraper 10-2 is designed and implemented to move back and forth. During the backward movement of the scraper 10-2, the time for the soybean milk liquid to flow forward is given, so that when the scraper 10-2 moves forward again, the accumulation of soybean milk liquid is avoided, and the cleaning effect of the soybean milk liquid is ensured.

[0067] Another displacement sensor 5 in the application can be a capacitive displacement sensor. The capacitive displacement sensor is a structure realized based on the principle of flat plate capacitance. The two poles of the capacitor are the sensor and the measured object opposite to it. If there is a stable alternating current passing through the sensor, the voltage of the output alternating current will be proportional to the distance between the sensor and the measured object, so that the distance information can be obtained by measuring the change of the voltage.

[0068] The capacitive displacement sensor in the application detects the distance between the cleaning device and the transmission belt in front of the peeling device. When the cleaning device moves in the direction of the transmission belt, the capacitive displacement sensor can detect the distance between the two.

[0069] When the detected distance is less than 70 cm, the PLC controller 4 receives the detected distance signal and will control the cleaning device in the application to stop moving, because the transmission belt is arranged in an inclined manner at one end of the conjunctival groove. Therefore, the cleaning device cannot move forward at this time.

[0070] At this time, the residual soybean milk liquid in the space between the scraper 10-2 and the front soybean milk liquid discharge port can be scraped to the discharge port by the manual handheld scraper 10-2, so as to realize the mutual assistance of the cleaning device and the manual handheld scraper 10-2, and complete the first and second cleaning of the soybean milk liquid in the conjunctival groove.

[0071] Meanwhile, it needs to be explained that when the conjunctival groove is cleaned, the cleaning work is started from the side of the conjunctival groove away from the inclined conveying belt, and before using the cleaning device in the application, the initial part of the soybean milk liquid can be scraped to one side by using the manual scraping plate 10-2, so as to provide a place for the placement of the cleaning device. By such operation, it can be avoided to directly place the cleaning device in the conjunctival groove full of soybean milk liquid, so as to prevent the adhesion of the soybean milk liquid at the bottom of the cleaning device, and further ensure the subsequent cleaning effect.

[0072] Referring to Figure 9 Figure 10 Figure 11 and Figure 12 As shown in the figure, the bottom of the main body frame 1 is provided with two power assemblies 7 which are distributed on both sides and symmetrically arranged.

[0073] The power assembly 7 can play a role of supporting the main body frame, and also be used to drive the main body frame and various other components connected to the main body frame.

[0074] The power assembly 7 includes a wheel edge support 7-1 fixedly connected with the bottom of the main body frame 1, a power motor 7-4 fixed on the bottom of the wheel edge support 7-1, a driving shaft 7-6 connected with the power motor 7-4 through a shaft coupling, two driven shafts 7-2 connected with the driving shaft 7-6 through two driven synchronous belts 7-3, and wheels 7-5 fixedly connected with the two driven shafts 7-2.

[0075] One end of the driving shaft 7-6 is connected with the power motor 7-4, and the other end is fixedly connected with the inner ring of the bearing. The bearing is fixedly installed on the wheel edge support 7-1, and two pairs of bearings are also installed on the wheel edge support 7-1, and two driven shafts 7-2 which are arranged in parallel with each other are respectively installed between the two pairs of bearings. The two power assemblies 7 are the same in structure, and the two power motors 7-4 are both electrically connected with the PLC controller 4 and the storage battery 9.

[0076] The cooperation mode of the power assembly and the controller is as follows: For example, the start and stop of the power assembly 7 is controlled by the PLC controller 4, that is, the start and stop of the power motor 7-4 is controlled. After the power motor 7-4 is started, it will drive the driving shaft 7-6 fixedly connected therewith to rotate. Since the driving shaft 7-6 and the two driven shafts 7-2 on both sides thereof are connected through the driven synchronous belts 7-3, the driving shaft 7-6 will also drive the two driven synchronous belts 7-3 to rotate when it rotates.

[0077] Furthermore, the two driven synchronous belts 7-3 simultaneously drive the rotation of the driven shafts 7-2 connected to them. The two ends of the driven shafts 7-2 are respectively connected to wheels 7-5, and the rotation of the driven shafts 7-2 ultimately drives the rotation of the wheels 7-5. Therefore, one power motor 7-4 indirectly controls the movement of two wheels 7-5. When the power motors 7-4, distributed on both sides, operate simultaneously under the control of the PLC controller 4, they will drive all four wheels 7-5 to rotate simultaneously in the same direction, thereby enabling the entire cleaning device to achieve linear motion within the film-forming tank.

[0078] When the PLC controller 4 needs to control the power motor 7-4 to reverse, it will indirectly drive the four wheels 7-5 to move in the opposite direction simultaneously. Because the power motor 7-4 and the wheels 7-5 rotate in opposite directions, the cleaning requirements can be met. At the same time, the PLC controller 4 will also control the cleaning motor included in the cleaning assembly 8 to rotate in the opposite direction, thereby driving the brush 8-1 to rotate in the opposite direction, ensuring that the soy milk can be brushed off conveniently and safely.

[0079] When the cleaning device needs to move the scraper 10-2 back and forth within a set distance, the PLC controller 4 can also control the forward and reverse movement of the power component 7, thereby indirectly driving the scraper 10-2 to move back and forth.

[0080] The cleaning components will be discussed next.

[0081] Reference Figure 1 Figure 2 Figure 5 and Figure 8 As shown, the front end of the main frame 1 is equipped with a cleaning component 8 through two mounting plates that are fixedly connected to the main frame 1.

[0082] like Figure 6 As shown, the cleaning assembly 8 includes a brush holder 8-5 detachably connected to the main frame 1. Inside the brush holder 8-5, a brush 8-1 driven by a brush motor 8-3 is horizontally mounted under bearing connection. A brush synchronization belt 8-2 connects the brush 8-1 and the brush motor 8-3. Nozzle holes are evenly arranged on the brush holder 8-5. The nozzle holes are located diagonally above the brush 8-1.

[0083] Reference Figure 9 As shown, a brush cover 11 is fitted onto the outside of the brush holder 8-5. The brush cover 11 can prevent water from splashing when the brush 8-1 rotates.

[0084] The cleaning components and controller work together as follows: When the brush motor 8-3 is started under the control of the PLC controller, the brush motor 8-3 will drive the brush synchronous belt 8-2 fixedly connected thereto to rotate (the brush synchronous belt 8-2 is sleeved with a brush pulley, and the brush pulley is fixedly connected to the output shaft of the brush motor 8-3). Correspondingly, the other end of the brush synchronous belt 8-2 is sleeved with a brush pulley, the inner hole of the brush pulley is fixedly inserted with the brush 8-1, and the two ends of the brush rod of the brush 8-1 are fixedly connected in bearings which are fixedly installed in the mounting holes of the brush holder 8-5.

[0085] When the cleaning device is placed in the conjunctival groove as a whole, the bristles of the brush 8-1 can directly contact the inner wall of the conjunctival groove. For example, the groove depth of the conjunctival groove is 6 cm, and the groove width of different specifications of the conjunctival groove ranges from 65 cm to 100 cm. When the brush 8-1 is placed in the conjunctival groove, if the two ends of the brush 8-1 do not directly contact the inner walls of the two ends of the conjunctival groove (the size of the brush is smaller than the width of the conjunctival groove), the detachable brush head can be screwed to the two ends of the brush rod of the brush 8-1 to increase the overall length of the brush 8-1 and improve the cleaning range and effect on the conjunctival groove. Conversely, when the brush head is not screwed to the two ends of the brush 8-1, cleaning can also be achieved by only the brush 8-1.

[0086] Referring to Figure 3 Figure 5 Figure 7 As shown, the nozzle hole is connected to the water supply assembly 6. For example, the water supply assembly 6 includes a nozzle 6-6 installed in the nozzle hole, a water delivery pipe 6-7 connected through the nozzle 6-6, and a water outlet pipe 6-5 connected through the water delivery pipe 6-7, a water tank 6-3 connected to the water outlet pipe 6-5 through a spray pump 6-4.

[0087] The water tank 6-3 is fixedly installed on the main frame 1. An inlet water pump 6-1 is further installed above the water tank 6-3, the inlet water pump 6-1 is connected to an external water supply pipe, and a water outlet 6-2 is further formed on one side of the water tank 6-3, the water outlet 6-2 is connected to a hose, and the other end of the hose is connected to the spray pump 6-4.

[0088] The water supply assembly 6 cooperates with the controller in the following manner: For example, during the operation of the cleaning device, the PLC controller 4 controls the start of the spray pump 6-4. One end of the spray pump 6-4 is connected to an inlet water hose, and one end of the inlet water hose is connected to the water tank 6-3. The water in the water tank 6-3 is pumped out, and the water flows through the inlet water hose to the spray pump 6-4, and then flows through the spray pump 6-4 to the outlet water hose connected to the other end of the spray pump 6-4.

[0089] The one end of the water outlet hose is connected with the water outlet pipe 6-5 in a penetrating manner, water will be delivered to the water outlet pipe 6-5 through the water outlet hose, and then flow to the water delivery pipe 6-7, and then sprayed through the nozzle 6-6. Because the nozzle 6-6 is arranged in an inclined manner above the brush 8-1, the water sprayed by the nozzle 6-6 will be directly sprayed on the brush 8-1, and the brush 8-1 will be wetted. After the wetted brush 8-1 is used to clean the conjunctival trough, the cleaning effect and efficiency will be greatly improved.

[0090] Referring to Figure 2 Figure 3 Figure 4 and Figure 7 As shown in the figure, the scraping assembly 10 is arranged on the side of the rear end of the main frame 1 opposite to the cleaning assembly 8.

[0091] The scraping assembly 10 comprises: The hinge joint 10-5 fixedly connected with the main frame 1, the scraper support 10-1 reversely connected with the hinge joint 10-5, the scraper 10-2 fixedly clamped in the scraper support 10-1, the spring 10-3 fixedly connected with the scraper 10-2, and the spring support 10-4 fixedly connected with the other end of the spring 10-3, the other end of the spring support 10-4 is fixedly arranged on the side wall of the main frame 1.

[0092] The material of the scraper 10-2 can be selected as stainless steel. Stainless steel has strong corrosion resistance and wear resistance, and will not rust or deform after long-term use, has high safety and reliability, and is suitable for product cleaning in the food industry, so it is very suitable for cleaning the conjunctival trough in the present application. In particular, because the scraper is transversely inserted and clamped in the scraper support, the scraper can be easily disassembled, and the length of the scraper can be replaced according to the inner diameter width of the conjunctival trough, so as to meet the cleaning requirements of conjunctival troughs of different specifications, and when the length of the scraper is adapted in the conjunctival trough, the scraper can perform one-time scraping and cleaning of the soybean milk liquid during the advancing process, thereby improving the cleaning efficiency.

[0093] And because the scraper 10-2 is transversely inserted and clamped in the scraper 10-2, the scraper 10-2 can be easily disassembled, and the length of the scraper 10-2 can be replaced according to the inner diameter width of the conjunctival trough, so as to meet the cleaning requirements of conjunctival troughs of different specifications. When the length of the scraper 10-2 is adapted in the conjunctival trough, the scraper 10-2 can perform one-time scraping and cleaning of the soybean milk liquid during the advancing process, thereby improving the cleaning efficiency.

[0094] In the example, during the operation of the cleaning device, the scraping assembly 10 will also move.

[0095] The scraping plate 10-2 in the scraping assembly 10 is connected with a spring 10-3 on one side, and a hinge joint 10-5 is connected with the spring 10-3 on the same side on the scraping plate 10-2. The hinge joint 10-5 can be flexibly flipped, and the spring 10-3 has a free expansion elastic force, so that the bottom of the scraping plate 10-2 is directly attached to the inner wall of the conjunctival groove. The bottom of the scraping plate 10-2 and the bottom of the brush 8-1 contact the same inner wall of the conjunctival groove.

[0096] During the forward movement of the scraping plate 10-2 driven by the cleaning device, the forward scraping of the soybean milk liquid can be realized. Since the conjunctival groove is very long, the continuous forward reciprocating movement of the scraping plate 10-2 driven by the cleaning device can scrape the soybean milk liquid to the liquid outlet hole at the front of the conjunctival groove, and the soybean milk liquid will be discharged from the liquid outlet hole. At this time, the scraping work of a large amount of soybean milk liquid is completed, and the subsequent cleaning work can be carried out again.

[0097] The above describes the structure and construction method of the cleaning device in the example of the present application. The use process will be described below.

[0098] Based on the above disclosed mobile cleaning device, a conjunctival groove cleaning method using the mobile cleaning device is also disclosed in the embodiments of the present application.

[0099] Figure 13 The process flow diagram of the mobile cleaning device disclosed in the embodiments of the present application for cleaning the conjunctival groove is shown in Figure 13 Briefly, the cleaning method of the yuba conjunctival groove disclosed in the present application comprises: Scraping the soybean milk liquid from the end of the conjunctival groove away from the yuba conveying belt to the direction adjacent to the conveying belt by a preset distance, the preset distance being limited by the length capable of accommodating the cleaning device; Placing the cleaning device in the area corresponding to the preset area of the conjunctival groove; And, controlling the power assembly to make the cleaning device reciprocate by the controller, and simultaneously independently operating the scraping plate, the brush and the nozzle to clean the conjunctival groove; Wherein the scraping plate is operated to perform the scraping operation, the brush is operated to perform the brushing operation, and the nozzle is operated to perform the flushing operation.

[0100] In order to facilitate the cleaning operation for those skilled in the art, the following gives a more specific and detailed method flow.

[0101] The use and operation process of the cleaning device is as follows.

[0102] Step one: Before using the cleaning device in the application, the initial part of the soybean milk liquid can be scraped to one side manually by holding the scraper 10-2, thereby leaving a place for the placement of the cleaning device. The scraping distance is greater than the length of the cleaning device, and then the cleaning device in the application is placed in the conjunctival groove where the soybean milk liquid has been scraped off in the previous step. Then, the cleaning device is started, and a switch directly controlled by the starting device is installed on the cleaning device. The switch is electrically connected to the PLC controller 4. After the cleaning device is started, the PLC controller 4 controls the starting of the power assembly 7, that is, controls the simultaneous starting of the two power motors 7-4 electrically connected thereto. The power motor 7-4 after starting will drive the rotation of the driving shaft 7-6, thereby driving the rotation of the wheels 7-5 under the transmission effect of the connection between the driven synchronous belt 7-3 and the driven shaft 7-2.

[0103] At this time, the four wheels 7-5 rotate in the same direction, driving the entire cleaning device to move forward, and driving the forward movement of the scraper 10-2, because the bottom of the scraper 10-2 contacts the bottom inner wall of the conjunctival groove by its own gravity. And the scraper 10-2 is in full contact with the bottom inner wall of the conjunctival groove under the elastic effect of the spring 10-3, so during the forward movement of the cleaning device, the scraper 10-2 will scrape the soybean milk liquid in front forward.

[0104] At the same time, the PLC controller 4 controls the starting of the cleaning assembly 8, that is, controls the starting of the brush motor 8-3. The brush motor 8-3 drives the rotation of the brush 8-1 under the connection of the brush synchronous belt 8-2, and the rotation of the brush 8-1 can rotate and clean the soybean milk liquid still remaining on the inner wall of the conjunctival groove after being scraped by the scraper 10-2, and the bristles can brush away the soybean milk liquid attached to the conjunctival groove, achieving the effect of secondary cleaning; At this time, the cleaning device can continuously clean in the conjunctival groove, and the forward and backward movement of the scraper 10-2 (at this time, the speed of the power motor 7-4 should not be too high, to ensure that the scraper 10-2 can stably and safely scrape the soybean milk liquid) and the forward and backward movement of the brush 8-1 can be realized during the cleaning process, and the two are matched with each other to realize the cleaning of the conjunctival groove.

[0105] Step two: On the basis of implementing step one, the PLC controller 4 controls the opening of the spray pump 6-4 to pump out the water in the water tank 6-3, and then through the water inlet hose, the water outlet hose of the spray pump 6-4, the water outlet pipe 6-5, and finally through the nozzle 6-6, the water will be sprayed directly on the brush 8-1 below, to wet the brush 8-1, and the wet brush 8-1 is more easy to brush off the soybean milk liquid in the conjunctival groove.

[0106] Step three: On the basis of implementing step one, after the cleaning device moves forward and realizes the first and second cleaning of the conjunctival groove, the PLC controller 4 controls the power assembly 7 of the cleaning device to move reversely, controls the rotating speed of the motor to move quickly to the position where the cleaning device initially starts cleaning, and controls the cleaning device to perform the third and fourth cleaning.

[0107] At this time, the rotating speed of the power motor 7-4 can be higher than that during the first and second cleaning, because a large amount of soybean milk liquid has been removed, and step two can be added during the second and fourth cleaning, so as to increase the removal efficiency of the soybean milk liquid.

[0108] Step four: On the basis of implementing step one, after the cleaning device moves forward and realizes the first and second cleaning of the conjunctival groove, the PLC controller 4 controls the power assembly 7 of the cleaning device to move reversely, controls the rotating speed of the motor to move quickly to the position where the cleaning device initially starts cleaning, and controls the cleaning device to perform the third and fourth cleaning.

[0109] Meanwhile, at the initial end of the cleaning, a water supply pipe 6-5 is installed. The water supply pipe 6-5 is used for water supply during the cleaning of the conjunctival groove.

[0110] The cleaning device in the application can use the water supply pipe 6-5 when the self water supply assembly 6 is not used. The water discharged from the water supply pipe 6-5 can be directly injected into the conjunctival groove. Since the conjunctival groove has a 5° inclination angle from the initial end to the terminal end, the water can flow from the initial end to the terminal end. At this time, the flowing water can play a role in assisting the brush 8-1 and the scraper 10-2 to remove and clean the soybean milk liquid.

[0111] Finally, after the cleaning device is used to complete the cleaning, a high-pressure water gun connected with the water pipe can be manually held to spray and wash the conjunctival groove, so that the last residual soybean milk liquid in the conjunctival groove is completely removed, and the cleanliness and hygiene of the conjunctival groove after cleaning are ensured, thereby fully preparing for the subsequent production of bean curd stick using the conjunctival groove.

[0112] In short, the cleaning device in the application example can freely move in the conjunctival groove, realize convenient and quick cleaning of the soybean milk liquid, thereby saving manpower, reducing the time of the existing manual cleaning operation, and further improving the cleaning efficiency and facilitating the popularization and use.

[0113] Moreover, the cleaning device of the application also has the advantages of being able to adapt to different sizes of the width of the conjunctival groove, and being able to reciprocate, so as to ensure sufficient cleaning effect and high cleaning efficiency.

[0114] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0115] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0116] The above is only the preferred specific embodiment of the application, but the protection scope of the application is not limited thereto, and any skilled person in the art can make equivalent replacement or change within the technical range disclosed by the application according to the technical scheme and inventive concept of the application, which should be covered within the protection scope of the application.

[0117] The above embodiments described by reference to the drawings are exemplary and are only used to explain the application, and cannot be interpreted as a limitation of the application.

[0118] In order to make the purpose, technical scheme and advantages of the embodiments of the application more clear, the foregoing describes one or more embodiments with reference to the drawings. Among them, similar reference signs are used to refer to similar components throughout the description. In the foregoing description, for the purpose of explanation, many specific details are set forth in order to provide a more thorough understanding of one or more embodiments. However, it is obvious that one or more embodiments can be practiced without these specific details in various cases, and each embodiment can be mutually combined and referred to each other without contradiction.

[0119] It should be noted that the terms "first", "second", and the like, herein do not necessarily have an ordinal or chronological significance. Rather, these terms are used to distinguish different layers, regions, patterns, or structures from one another. Terms such as "first", "second", and the like, are used to distinguish different layers, regions, patterns, or structures from one another, but not necessarily in an ordinal or chronological significance. It should be understood that the use of such terms is interchangeable under appropriate circumstances. Furthermore, the terms "comprise", "comprising", "include", "including", and the like, used in the detailed description and in the claims herein, are intended to be open-ended. That is, the description and claims herein are intended to encompass the inclusion of items that are not specifically recited in the detailed description and claims herein, but which are nonetheless included by the terms "comprise", "comprising", "include", "including", and the like.

[0120] In addition, it should be understood that when a layer (or film), region, pattern, or structure is referred to as being "on" another layer, region, pattern, or structure, it can be directly on the other layer or substrate, and / or there can also be one or more intervening layers. In addition, it should be understood that when a layer is referred to as being "under" another layer, it can be directly under the other layer, and / or there can also be one or more intervening layers. In addition, references in the various drawings to "on" and "under" are made based on the drawings as shown.

[0121] The above detailed description of the embodiments of the application is merely exemplary in accordance with the application concept. The application is not limited to the above-described embodiments, but can be modified in various ways. The scope of the application should be determined by the appended claims and equivalents thereof.

Claims

1. A mobile cleaning device for cleaning a dried bean curd film tank after the tank has been processed by a peeling device, characterized in that, The cleaning device comprises a main frame, a controller mounted on the main frame, a power assembly connected with the controller, an image acquisition assembly, and a cleaning mechanism; The image acquisition assembly is configured to acquire conjunctival groove images; The controller is configured to independently operate the power assembly and the cleaning mechanism according to the received conjunctival groove images, so as to make the main frame move forward and backward, and make the cleaning mechanism move synchronously or asynchronously relative to the main frame to perform cleaning operations.

2. The mobile washing apparatus of claim 1, wherein The mobile cleaning device further comprises: A first displacement sensor connected with the controller, and the controller is configured to receive signals fed by the first displacement sensor to calculate the displacement of the cleaning mechanism.

3. Mobile washing device according to claim 1 or 2, characterized in that The mobile cleaning device further comprises: A second displacement sensor connected with the controller, and the controller is configured to receive signals fed by the second displacement sensor to calculate the distance between the cleaning device and the peeling device.

4. The mobile washing apparatus of claim 1, wherein The cleaning mechanism comprises a brush holder detachably connected with the main frame, a brush and a brush motor connected with the brush holder, and the brush is connected with the brush motor through a brush synchronous belt.

5. The mobile washing apparatus of claim 4, wherein, The brush holder is provided with a nozzle hole opposite to the brush.

6. The mobile washing apparatus of claim 5, wherein, The nozzle hole is connected with a water supply assembly, which comprises a nozzle mounted in the nozzle hole, a water supply pipe connected with the nozzle, a water outlet pipe connected with the water supply pipe, and a water tank connected with the water outlet pipe through a spraying pump, and the water tank is fixedly mounted on the main frame.

7. The mobile washing apparatus of claim 6, wherein The water tank is further provided with a water inlet pump connected with an external water supply pipe, and one side of the water tank is further provided with a water outlet connected with a hose, and the other end of the hose is connected to the spraying pump.

8. The mobile washing apparatus of claim 1, wherein, The cleaning device further comprises a scraping assembly located on both sides of the main frame opposite to the cleaning mechanism. The scraping assembly comprises a hinge joint fixedly connected with the main frame, a scraper support reversibly connected with the hinge joint, a scraper fixedly clamped in the scraper support, a spring fixedly connected with the scraper, and a spring support fixedly connected with the other end of the spring, and the other end of the spring support is fixedly connected with the main frame. Optionally, the scraper is made of stainless steel.

9. The mobile washing apparatus of claim 1, wherein, The controller is a PLC controller. And / or, the cleaning device further comprises a power supply electrically connected with the controller. And / or, the power assembly comprises a wheel edge support fixedly connected with the bottom of the main frame, a power motor fixedly connected with the bottom of the wheel edge support, a driving shaft connected with the power motor through a coupling, two driven shafts connected with the driving shaft through two driven synchronous belts, and wheels fixedly connected with the two driven shafts. Optionally, one end of the driving shaft is connected with the power motor, and the other end is fixedly connected with the inner ring of a bearing, and the bearing is fixedly mounted on the wheel edge support, and two pairs of bearings are further mounted on the wheel edge support, and two mutually parallel driven shafts are further mounted between the two pairs of bearings.

10. A method for cleaning a film-forming tank for dried bean curd sticks, characterized in that, The cleaning method comprises: Scraping the soybean milk liquid in the direction from the end of the conjunctival groove away from the bean stick conveying belt to the direction adjacent to the conveying belt by a preset distance, and the preset distance is limited by the length capable of accommodating the cleaning device; Placing the cleaning device in the area corresponding to the preset area of the conjunctival groove; And, the power assembly is controlled by the controller to reciprocate the cleaning device, and the scraper, the brush and the nozzle are respectively and independently operated to clean the conjunctival groove. The scraper is operated to perform the scraping operation, the brush is operated to perform the brushing operation, and the nozzle is operated to perform the flushing operation.

Images