An automatic arm cleaning system and a cleaning equipment

Abstract

This invention discloses an automatic boom cleaning system and cabin cleaning equipment. The automatic boom cleaning system includes a slewing mechanism, a boom assembly, a cleaning device, a sensing module, and a communication controller. The communication controller is communicatively connected to an external operating terminal. The slewing mechanism is mounted on the main frame, the boom assembly is connected to the slewing mechanism, and the cleaning device is mounted on the boom assembly. The communication controller is electrically connected to the main frame, the slewing mechanism, and the cleaning device. The sensing module acquires real-time boom position data. The automatic boom cleaning system and cabin cleaning equipment of this invention can receive boom position setting data input by the operator through the communication controller, and automatically control the slewing mechanism, the boom assembly, and the cleaning device to move to the set target position to perform cleaning actions based on the boom position setting data and real-time boom position data. This improves cabin cleaning efficiency and enhances the ease of operation for the operator.

Description

Technical Field

[0001] This invention relates to the field of cabin cleaning equipment design technology, and in particular to an automatic boom cleaning system and cabin cleaning equipment. Background Technology

[0002] Currently, the cleaning equipment used in tank cleaning operations requires remote control by operators. In actual operation, the constant need to press buttons and monitor the cleaning device's status easily leads to operator fatigue and accidental button presses, resulting in low efficiency in the tank cleaning operation.

[0003] Therefore, how to improve the low efficiency of the cleaning operation and how to make the cleaning equipment easier for operators to use have become urgent problems to be solved. Summary of the Invention

[0004] This invention discloses an automatic boom cleaning system that can improve the efficiency of cabin cleaning operations and enhance the ease of operation for operators.

[0005] To achieve the above objectives, the present invention discloses an automatic boom cleaning system, the automatic boom cleaning system comprising: The slewing mechanism is mounted on the main frame of the external construction machinery; A boom assembly, which is connected to the slewing mechanism; A sweeping device, which is connected to the boom assembly; A sensing module is installed on the boom device and is used to acquire real-time boom position data of the boom device. A communication controller is provided, which is connected to an external operating terminal and is electrically connected to the sensing module, the boom device, the sweeping device, and the rotary mechanism. The operation terminal is used to send boom position setting data, and the communication controller is used to control the boom device, the sweeping device and the slewing mechanism to perform boom position adjustment actions according to the real-time boom position data and the boom position setting data.

[0006] As an optional implementation, in an embodiment of the first aspect of the present invention, the boom device includes: A boom base, which is mounted on the slewing mechanism; The first auxiliary arm, one end of which is connected to the arm base; The second auxiliary arm has one end rotatably connected to the other end of the first auxiliary arm, and a first driving device is provided between the second auxiliary arm and the first auxiliary arm. The main arm has one end rotatably connected to the other end of the second auxiliary arm, and the other end of the main arm is rotatably connected to the cleaning device. A second drive device is provided between the main arm and the second auxiliary arm. A telescopic drive device is provided on the main arm. A third drive device is provided between the main arm and the cleaning device. The relative rotation axes between the first auxiliary arm and the second auxiliary arm, the relative rotation axes between the main arm and the second auxiliary arm, and the relative rotation axes between the main arm and the cleaning device are parallel to each other. The first drive device, the second drive device, the third drive device, and the telescopic drive device are all electrically connected to the communication controller. The first drive device is used to control the angle between the first auxiliary arm and the second auxiliary arm. The second drive device is used to control the angle between the main arm and the second auxiliary arm. The third drive device is used to control the angle between the main arm and the cleaning device. The telescopic drive device is used to control the telescopic length of the main arm.

[0007] As an optional implementation, in an embodiment of the first aspect of the present invention, the real-time boom position data includes: a first real-time boom-to-boom angle, a second real-time boom-to-boom angle, and a real-time cleaning vertical angle; the boom position setting data includes: a first target boom-to-boom angle, a second target boom-to-boom angle, and a target cleaning vertical angle; the sensing module includes: A first angular displacement sensor is disposed at the connection node between the first auxiliary arm and the second auxiliary arm, and the first angular displacement sensor is used to detect the first real-time arm-to-arm angle between the first auxiliary arm and the second auxiliary arm. The second angular displacement sensor is disposed at the connection node between the main arm and the second auxiliary arm, and the second angular displacement sensor is used to detect the second real-time arm-to-arm angle between the main arm and the second auxiliary arm. A third angular displacement sensor is disposed at the connection node between the main arm and the cleaning device. The third angular displacement sensor is used to detect the real-time cleaning vertical angle between the main arm and the cleaning device. The first angular displacement sensor, the second angular displacement sensor, and the third angular displacement sensor are all electrically connected to the communication controller. The communication controller is used to control the first drive device to adjust the included angle between the first auxiliary arm and the second auxiliary arm according to the first real-time arm angle and the first target arm angle. The communication controller is used to control the second drive device to adjust the included angle between the main arm and the second auxiliary arm according to the second real-time arm angle and the second target arm angle. The communication controller is used to control the third drive device to adjust the included angle between the main arm and the cleaning device according to the real-time cleaning vertical angle and the target cleaning vertical angle.

[0008] As an optional implementation, in an embodiment of the first aspect of the present invention, the real-time boom position data further includes: real-time telescopic length; the boom position setting data further includes: target telescopic length; the sensing module further includes: A long angle sensor is disposed on the main arm and is used to detect the real-time extension length of the main arm. The long angle sensor is electrically connected to the communication controller, which is used to control the extension drive device to adjust the extension length of the main arm according to the real-time extension length and the target extension length.

[0009] As an optional implementation, in an embodiment of the first aspect of the present invention, the cleaning device includes: A connecting part is rotatably connected to the main arm, and the third drive device is connected to both the connecting part and the main arm. The cleaning body and the connecting part are rotatably connected. The relative rotation axis between the connecting part and the main arm is perpendicular to the relative rotation axis between the cleaning body and the connecting part. A rotation drive device is provided between the cleaning body and the connecting part. The rotation drive device is electrically connected to the communication controller and is used to control the relative rotation between the cleaning body and the connecting part.

[0010] As an optional implementation, in an embodiment of the first aspect of the present invention, the real-time boom position data further includes: a real-time sweeping rotation angle; the boom position setting data further includes: a target sweeping rotation angle; the sensing module further includes: A cleaning angle sensor is provided, which is disposed at the connection node between the cleaning body and the connecting part. The cleaning angle sensor is used to detect the real-time cleaning rotation angle between the cleaning body and the connecting part. The cleaning angle sensor is electrically connected to the communication controller. The communication controller is used to control the rotation drive device to adjust the relative rotation angle between the cleaning body and the connecting part according to the real-time cleaning rotation angle and the target cleaning rotation angle.

[0011] As an optional implementation, in an embodiment of the first aspect of the present invention, the rotary mechanism includes: A slewing bearing, wherein the outer ring of the slewing bearing is fixedly connected to the main frame, and the inner ring of the slewing bearing is fixedly connected to the boom base; A slewing drive device is connected to the slewing bearing and electrically connected to the communication controller. The slewing drive device is used to control the slewing bearing to drive the boom device to rotate coaxially with the rotation axis of the slewing bearing according to the slewing control signal.

[0012] As an optional implementation, in an embodiment of the first aspect of the present invention, the real-time boom position data further includes: a real-time slewing angle; the boom position setting data further includes: a target slewing angle; the sensing module further includes: A slewing angle sensor is disposed at the connection node between the slewing bearing and the boom base. The slewing angle sensor is used to detect the real-time slewing angle between the slewing bearing and the main frame. The slewing angle sensor is electrically connected to the communication controller. The communication controller is used to control the slewing drive device to adjust the relative rotation angle between the slewing bearing and the boom base according to the real-time slewing angle and the target slewing angle.

[0013] As an optional implementation, in an embodiment of the first aspect of the present invention, the operating terminal is used to send a reset signal, and the communication controller is used to control the boom device, the sweeping device and the slewing mechanism to perform a reset action according to the reset signal and preset boom reset data.

[0014] Secondly, the present invention discloses a tank cleaning device, comprising: Main frame; The automatic boom cleaning system as described in the first aspect of the present invention is mounted on the main frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The automatic boom cleaning system provided by this invention allows operators to input boom position setting data via a remote operating terminal. After receiving the boom position setting data, the communication controller automatically controls the slewing mechanism, boom device, and cleaning device to move to the set target position to perform the cleaning action based on the boom position setting data and real-time boom position data. Operators do not need to constantly operate buttons, thus avoiding operator fatigue and accidental button presses during remote operation. This improves the efficiency of cabin cleaning operations and also enhances the ease of operation for operators.

[0016] The cleaning equipment provided by this invention adopts the aforementioned automatic boom cleaning system. The operator inputs boom position setting data through a remote operating terminal. After receiving the boom position setting data, the communication controller automatically controls the slewing mechanism, boom device, and cleaning device to move to the set target position to perform the cleaning action based on the boom position setting data and real-time boom position data. The operator does not need to keep pressing buttons, thereby avoiding operator fatigue and accidental button touches during remote operation. This improves the efficiency of the cleaning operation and also enhances the ease of operation for the operator. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a specific embodiment of the automatic boom cleaning system of the present invention; Figure 2 This is a structural schematic diagram of a specific embodiment of the boom device and the sweeping device in an automatic boom sweeping system.

[0018] The meanings of the reference numerals in the attached figures are as follows: Main frame 01, slewing mechanism 100, boom assembly 200, first drive unit 201, second drive unit 202, third drive unit 203, boom base 210, first auxiliary boom 220, second auxiliary boom 230, main boom 240, main boom body 241, telescopic boom 242, sweeping device 300, rotary drive unit 301, connecting part 310, sweeping body 320, first angular displacement sensor 410, second angular displacement sensor 420, third angular displacement sensor 430, long angle sensor 440, sweeping angle sensor 450, slewing angle sensor 460. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0022] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0023] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0024] The technical solution of the present invention will be further described below with reference to the embodiments and accompanying drawings.

[0025] Currently, the cleaning equipment used in tank cleaning operations requires remote control by operators. In actual operation, the constant need to press buttons and monitor the cleaning device's status easily leads to operator fatigue and accidental button presses, resulting in low efficiency in the tank cleaning operation.

[0026] Therefore, how to improve the low efficiency of the cleaning operation and how to make the cleaning equipment easier for operators to use have become urgent problems to be solved.

[0027] In response, this invention discloses an automatic boom cleaning system and a cabin cleaning device, which can improve the low efficiency of cabin cleaning operations and increase the ease of operation for operators.

[0028] like Figure 1 and Figure 2 As shown, this invention discloses an automatic boom cleaning system, which includes: a slewing mechanism 100, a boom assembly 200, a cleaning device 300, a sensing module, and a communication controller. The slewing mechanism 100 is mounted on the main frame 01 of an external construction machine; the boom assembly 200 is connected to the slewing mechanism 100; the cleaning device 300 is connected to the boom assembly 200; the sensing module is mounted on the boom assembly 200 and is used to acquire real-time boom position data; the communication controller is communicatively connected to an external operating terminal and is electrically connected to the sensing module, boom assembly 200, cleaning device 300, and slewing mechanism 100 respectively; the operating terminal is used to send boom position setting data, and the communication controller is used to control the boom assembly 200, cleaning device 300, and slewing mechanism 100 to perform boom position adjustment actions based on the real-time boom position data and the boom position setting data.

[0029] In this embodiment, refer to Figure 1 and Figure 2 The slewing mechanism 100 is installed in the main frame 01 of the cleaning equipment. The top of the slewing mechanism 100 extends from the top surface of the main frame 01, and the bottom of the boom assembly 200 is connected to the top of the slewing mechanism 100. The rotation axis of the slewing mechanism 100 is perpendicular to the top surface of the main frame 01. A sweeping device 300 is installed at the upper end of the boom assembly 200. The sweeping device 300 can be adaptively configured according to the specific cleaning work performed by the current boom automatic sweeping system. For example, the sweeping device 300 can be selected from any one of a high-pressure jet gun, a high-pressure water gun, a hydraulic auger sweeper, or a hydraulic breaker. The main frame 01 adopts an integral frame structure, and the main frame 01 can be a chassis similar to that of a loader.

[0030] The slewing mechanism 100, boom assembly 200, and sweeping device 300 are all electrically connected to the communication controller. A remote operating terminal can communicate with the communication controller wirelessly, enabling remote transmission of control signals and data between the operating terminal and the communication controller to remotely control the corresponding devices in the boom automatic sweeping system. A sensing module is installed in the boom assembly 200, which can detect the real-time boom position data of the boom assembly 200 itself and its connections to the slewing mechanism 100 and the sweeping device 300.

[0031] The operator inputs the boom position setting data from the operating terminal and transmits it wirelessly to the communication controller in the automatic boom cleaning system. Based on the received boom position setting data, the communication controller adjusts the boom position of the boom device 200 itself and its relationships with the slewing mechanism 100 and the cleaning device 300. It compares the real-time boom position data with the set boom position data, stopping the adjustment when the real-time boom position data reaches the set boom position data, indicating that the cleaning device 300 has reached the required cleaning position. It is understood that the communication controller can also send the real-time boom position data detected by the sensor module to the operating terminal, where it is displayed on the terminal's instrument panel, allowing the operator to obtain real-time boom position data from the terminal's instrument panel.

[0032] As can be seen, in the automatic boom cleaning system of the present invention, the operator inputs boom position setting data through a remote operating terminal. After receiving the boom position setting data, the communication controller automatically controls the slewing mechanism 100, boom device 200, and cleaning device 300 to move to the set target position to perform the cleaning action based on the boom position setting data and real-time boom position data. The operator does not need to keep pressing buttons. After setting the boom position setting data, when encountering the same working conditions, the operator can directly start the cleaning work with one button using the set boom position setting data. This avoids operator fatigue and accidental button touches during remote operation, thereby improving the work efficiency of the cleaning operation and also improving the operator's ease of operation of the cleaning equipment.

[0033] like Figure 1 and Figure 2As shown, in an optional embodiment, the boom assembly 200 includes: a boom base 210, a first auxiliary boom 220, a second auxiliary boom 230, and a main boom 240. The boom base 210 is mounted on the slewing mechanism 100; one end of the first auxiliary boom 220 is connected to the boom base 210; one end of the second auxiliary boom 230 is rotatably connected to the other end of the first auxiliary boom 220, and a first drive device 201 is provided between the second auxiliary boom 230 and the first auxiliary boom 220; one end of the main boom 240 is rotatably connected to the other end of the second auxiliary boom 230, and the other end of the main boom 240 is rotatably connected to the sweeping device 300, a second drive device 202 is provided between the main boom 240 and the second auxiliary boom 230, a telescopic drive device is provided on the main boom 240, and a third drive device 203 is provided between the main boom 240 and the sweeping device 300. The relative rotation axes between the auxiliary arms 230, between the main arm 240 and the second auxiliary arm 230, and between the main arm 240 and the sweeping device 300 are parallel to each other; the first drive device 201, the second drive device 202, the third drive device 203, and the telescopic drive device are all electrically connected to the communication controller. The first drive device 201 is used to control the included angle between the first auxiliary arm 220 and the second auxiliary arm 230, the second drive device 202 is used to control the included angle between the main arm 240 and the second auxiliary arm 230, the third drive device 203 is used to control the included angle between the main arm 240 and the sweeping device 300, and the telescopic drive device is used to control the telescopic length of the main arm 240.

[0034] In this optional embodiment, refer to Figure 2 The boom assembly 200 consists of a boom base 210, a first auxiliary boom 220, a second auxiliary boom 230, and a main boom 240. (Refer to...) Figure 1 The bottom of the boom base 210 is connected to the slewing mechanism 100. When the slewing mechanism 100 performs a slewing action, it can drive the boom base 210 to rotate together.

[0035] Reference Figure 2The top of the boom base 210 is connected to one end of the first auxiliary boom 220. The first auxiliary boom 220, the second auxiliary boom 230, the main boom 240, and the sweeping device 300 are connected end to end in sequence. The connections between adjacent booms, and between the main boom 240 and the sweeping device 300, are all rotatable. The relative rotation axes between the first auxiliary boom 220 and the second auxiliary boom 230, between the main boom 240 and the second auxiliary boom 230, and between the main boom 240 and the sweeping device 300 are all parallel to the horizontal plane. That is, when the first auxiliary boom 220 and the second auxiliary boom 230 rotate relative to each other, the second auxiliary boom 230 can be raised or lowered. Similarly, when the main boom 240 and the second auxiliary boom 230 rotate relative to each other, the main boom 240 can be raised or lowered. Similarly, when the main boom 240 and the sweeping device 300 rotate relative to each other, the sweeping device 300 can be raised or lowered.

[0036] The first drive unit 201 is connected to the first auxiliary arm 220 and the second auxiliary arm 230, the second drive unit 202 is connected to the second auxiliary arm 230 and the main arm 240, and the third drive unit 203 is connected to the main arm 240 and the sweeping device 300. It is understood that the first drive unit 201, the second drive unit 202, and the third drive unit 203 can be hydraulic cylinders to drive the rotational motion, and the communication controller can control the extension and retraction of the hydraulic cylinders through the hydraulic pressure signal generated by controlling the oil circuit of the hydraulic system.

[0037] As can be seen, this optional embodiment also uses the first drive device 201, the second drive device 202 and the third drive device 203 to realize the lifting control of the first auxiliary boom 220, the second auxiliary boom 230, the main boom 240 and the cleaning device 300, so as to carry out the cleaning operation more conveniently and further improve the efficiency of the cleaning operation.

[0038] like Figure 1 and Figure 2As shown, in an optional embodiment, the real-time boom position data includes: a first real-time boom angle, a second real-time boom angle, and a real-time cleaning vertical angle; the boom position setting data includes: a first target boom angle, a second target boom angle, and a target cleaning vertical angle; and the sensing module includes: a first angular displacement sensor 410, a second angular displacement sensor 420, and a third angular displacement sensor 430. A first angular displacement sensor 410 is disposed at the connection node between the first auxiliary arm 220 and the second auxiliary arm 230, and is used to detect a first real-time inter-arm angle between the first auxiliary arm 220 and the second auxiliary arm 230; a second angular displacement sensor 420 is disposed at the connection node between the main arm 240 and the second auxiliary arm 230, and is used to detect a second real-time inter-arm angle between the main arm 240 and the second auxiliary arm 230; a third angular displacement sensor 430 is disposed at the connection node between the main arm 240 and the cleaning device 300, and is used to detect a real-time cleaning vertical angle between the main arm 240 and the cleaning device 300. The first angular displacement sensor 410, the second angular displacement sensor 420, and the third angular displacement sensor 430 are all electrically connected to the communication controller. The communication controller is used to control the first drive device 201 to adjust the included angle between the first auxiliary arm 220 and the second auxiliary arm 230 according to the first real-time arm angle and the first target arm angle. The communication controller is used to control the second drive device 202 to adjust the included angle between the main arm 240 and the second auxiliary arm 230 according to the second real-time arm angle and the second target arm angle. The communication controller is used to control the third drive device 203 to adjust the included angle between the main arm 240 and the cleaning device 300 according to the real-time cleaning vertical angle and the target cleaning vertical angle.

[0039] In this optional embodiment, refer to Figure 2 A first angular displacement sensor 410 is provided at the connection node between the first auxiliary arm 220 and the second auxiliary arm 230; a second angular displacement sensor 420 is provided at the connection node between the main arm 240 and the second auxiliary arm 230; and a third angular displacement sensor 430 is provided at the connection node between the main arm 240 and the cleaning device 300. A communication controller is connected to the first angular displacement sensor 410, the second angular displacement sensor 420, and the third angular displacement sensor 430. Specifically, the first angular displacement sensor 410 can detect the first real-time arm-to-arm angle between the first auxiliary arm 220 and the second auxiliary arm 230; the second angular displacement sensor 420 can detect the second real-time arm-to-arm angle between the main arm 240 and the second auxiliary arm 230; and the third angular displacement sensor 430 can detect the third real-time arm-to-arm angle between the main arm 240 and the cleaning device 300.

[0040] After the operator remotely sends the first target arm-to-arm angle, the second target arm-to-arm angle, and the target cleaning vertical angle to the communication controller via the operating terminal, the communication controller can control the first drive device 201 to adjust the included angle between the first auxiliary arm 220 and the second auxiliary arm 230 based on the received first target arm-to-arm angle, and compare the first real-time arm-to-arm angle with the first target arm-to-arm angle to adjust the included angle between the first auxiliary arm 220 and the second auxiliary arm 230 to the first target arm-to-arm angle; the communication controller can also control the second drive device based on the received second target arm-to-arm angle. 202 adjusts the included angle between the main arm 240 and the second auxiliary arm 230, and compares the second real-time arm angle with the second target arm angle to adjust the included angle between the main arm 240 and the second auxiliary arm 230 to the second target arm angle; the communication controller can also control the third drive device 203 to adjust the included angle between the main arm 240 and the cleaning device 300 based on the received third target arm angle, and compare the third real-time arm angle with the third target arm angle to adjust the included angle between the main arm 240 and the cleaning device 300 to the third target arm angle.

[0041] As can be seen, this optional embodiment also uses an operating terminal and a communication controller to adjust the included angle between each adjacent component in the first auxiliary boom 220, the second auxiliary boom 230, the main boom 240 and the cleaning device 300 to the target boom angle set by the operator, thereby realizing remote control of boom lifting and lowering, which further improves the convenience of operation and the efficiency of cabin cleaning operation.

[0042] like Figure 1 and Figure 2 As shown, in an optional embodiment, the real-time boom position data further includes: real-time telescopic length; the boom position setting data further includes: target telescopic length; and the sensing module further includes: a long angle sensor 440. The long angle sensor 440 is disposed on the main boom 240 and is used to detect the real-time telescopic length of the main boom 240. The long angle sensor 440 is electrically connected to a communication controller, which is used to control the telescopic drive device to adjust the telescopic length of the main boom 240 based on the real-time telescopic length and the target telescopic length.

[0043] In this optional embodiment, refer to Figure 2The main boom 240 includes a main boom body 241 and a telescopic boom 242. When not extended, the telescopic boom 242 is housed inside the main boom body 241. A telescopic drive device is connected to both the main boom body 241 and the telescopic boom 242. A long angle sensor 440 is disposed between the main boom body 241 and the telescopic boom 242. The communication controller is electrically connected to the long angle sensor 440, which detects the real-time extension / retraction length of the telescopic boom 242 relative to the main boom body 241. It is understood that the telescopic drive device can be a hydraulic cylinder, and the communication controller can control the extension / retraction of the hydraulic cylinder through hydraulic pressure signals generated by controlling the hydraulic system's oil circuits.

[0044] After the operator remotely sends the target telescopic length input through the operating terminal to the communication controller, the communication controller can control the telescopic drive device to adjust the telescopic length of the telescopic arm 242 relative to the main arm body 241 based on the received target telescopic length, and compare the real-time telescopic length with the target telescopic length to adjust the telescopic length of the telescopic arm 242 relative to the main arm body 241 to the target telescopic length.

[0045] As can be seen, this optional embodiment can also adjust the telescopic length of the main boom 240 to the target telescopic length set by the operator through the operating terminal and communication controller, thereby realizing remote control of the boom telescopic length, which further improves the convenience of operation and the efficiency of cabin cleaning operations.

[0046] like Figure 2 As shown, in an optional embodiment, the cleaning device 300 includes a connecting portion 310 and a cleaning body 320. The connecting portion 310 is rotatably connected to the main arm 240, and a third drive device 203 is connected to both the connecting portion 310 and the main arm 240. The cleaning body 320 and the connecting portion 310 are rotatably connected to each other, and the relative rotation axis between the connecting portion 310 and the main arm 240 and the relative rotation axis between the cleaning body 320 and the connecting portion 310 are perpendicular to each other. A rotation drive device 301 is provided between the cleaning body 320 and the connecting portion 310. The rotation drive device 301 is electrically connected to a communication controller and is used to control the relative rotation between the cleaning body 320 and the connecting portion 310.

[0047] In this optional embodiment, refer to Figure 2 The cleaning device 300 consists of a connecting part 310 and a cleaning body 320. The connecting part 310 is rotatably connected to the end of the main arm 240. The connecting part 310 is hinged to the cleaning body 320. The cleaning body 320 can rotate relative to the connecting part 310 based on the hinge node. The relative rotation axis between the cleaning body 320 and the connecting part 310 is perpendicular to the horizontal plane. That is, when the relative rotation occurs between the cleaning body 320 and the connecting part 310, the cleaning body 320 can swing to the left or right.

[0048] The rotary drive unit 301 is located at the hinge between the connecting part 310 and the cleaning body 320. It is understood that the rotary drive unit 301 can be a hydraulic motor to drive the rotational motion, and the communication controller can control the rotation of the hydraulic motor through the hydraulic pressure signal generated by controlling the oil circuit of the hydraulic system.

[0049] As can be seen, this optional embodiment also uses a rotary drive device 301 to control the left and right swing of the cleaning body 320 in the horizontal direction, which makes it easier to carry out the cleaning operation and further improves the efficiency of the cleaning operation.

[0050] like Figure 1 and Figure 2 As shown, in an optional embodiment, the real-time boom position data further includes: a real-time cleaning rotation angle; the boom position setting data further includes: a target cleaning rotation angle; and the sensing module further includes: a cleaning angle sensor 450. The cleaning angle sensor 450 is disposed at the connection node between the cleaning body 320 and the connecting part 310. The cleaning angle sensor 450 is used to detect the real-time cleaning rotation angle between the cleaning body 320 and the connecting part 310. The cleaning angle sensor 450 is electrically connected to a communication controller, which is used to control the rotation drive device 301 to adjust the relative rotation angle between the cleaning body 320 and the connecting part 310 based on the real-time cleaning rotation angle and the target cleaning rotation angle.

[0051] In this optional embodiment, refer to Figure 2 The cleaning angle sensor 450 is disposed between the cleaning body 320 and the connecting part 310. The communication controller is electrically connected to the cleaning angle sensor 450. The cleaning angle sensor 450 can detect the real-time cleaning rotation angle of the cleaning body 320 relative to the connecting part 310.

[0052] After the operator remotely sends the target cleaning rotation angle input through the operation terminal to the communication controller, the communication controller can control the rotation drive device 301 to adjust the rotation angle of the cleaning body 320 relative to the connecting part 310 based on the received target cleaning rotation angle, and compare the real-time cleaning rotation angle with the target cleaning rotation angle to adjust the rotation angle of the cleaning body 320 relative to the connecting part 310 to the target cleaning rotation angle.

[0053] As can be seen, this optional embodiment can also adjust the left and right rotation angle of the cleaning body 320 to the target cleaning rotation angle set by the operator through the operation terminal and communication controller, thereby realizing remote control of the rotation of the cleaning body 320, which further improves the convenience of operation and the efficiency of cleaning operation.

[0054] In an optional embodiment, the slewing mechanism 100 includes a slewing bearing and a slewing drive device. The outer ring of the slewing bearing is fixedly connected to the main frame 01, and the inner ring of the slewing bearing is fixedly connected to the boom base 210. The slewing drive device is connected to the slewing bearing and electrically connected to a communication controller. The slewing drive device is used to control the slewing bearing to drive the boom device 200 to rotate coaxially with the rotation axis of the slewing bearing according to the slewing control signal.

[0055] In this optional embodiment, the main frame 01 has a slewing mounting portion for mounting a slewing bearing. The outer ring of the slewing bearing is fixedly connected to the main frame 01 through the slewing mounting portion, and the inner ring of the slewing bearing is fixedly connected to the boom base 210 on the top side. The rotation axis of the slewing bearing is perpendicular to the top surface of the main frame 01.

[0056] The slewing drive unit is connected to the rotating part of the slewing bearing and is electrically connected to the communication controller. The slewing drive unit can control the slewing bearing to rotate at a corresponding angle, thereby driving the boom base 210 to rotate as well, and thus adjusting the overall slewing angle of the boom assembly 200 and the sweeping device 300. It is understood that the slewing drive unit can use a hydraulic motor to drive the rotational motion, and the communication controller can control the rotation of the hydraulic motor through the hydraulic pressure signal generated by controlling the oil circuit of the hydraulic system.

[0057] like Figure 1 and Figure 2 As shown, in an optional embodiment, the real-time boom position data further includes: a real-time slewing angle; the boom position setting data further includes: a target slewing angle; and the sensing module further includes: a slewing angle sensor 460. The slewing angle sensor 460 is disposed at the connection node between the slewing bearing and the boom base 210. The slewing angle sensor 460 is used to detect the real-time slewing angle between the slewing bearing and the main frame 01. The slewing angle sensor 460 is electrically connected to a communication controller, which is used to control the slewing drive device to adjust the relative rotation angle between the slewing bearing and the boom base 210 based on the real-time slewing angle and the target slewing angle.

[0058] In this optional embodiment, refer to Figure 1 and Figure 2 , refer to Figure 2 The slewing angle sensor 460 is located between the slewing bearing and the boom base 210. The communication controller is electrically connected to the slewing angle sensor 460. The slewing angle sensor 460 can detect the real-time slewing angle of the boom base 210 relative to the main frame 01.

[0059] After the operator remotely sends the target slewing angle input through the operating terminal to the communication controller, the communication controller can control the slewing drive device to adjust the rotation angle of the boom base 210 relative to the main frame 01 based on the received target slewing angle, and compare the real-time slewing angle with the target slewing angle to adjust the rotation angle of the boom base 210 relative to the main frame 01 to the target slewing angle.

[0060] As can be seen, this optional embodiment can also adjust the slewing angle of the boom base 210 to the target slewing angle set by the operator through the operating terminal and communication controller, thereby realizing remote control of the overall slewing of the boom device 200, which further improves the convenience of operation and the efficiency of the cabin cleaning operation.

[0061] In an optional embodiment, the operating terminal is used to send a reset signal, and the communication controller is used to control the boom device 200, the sweeping device 300 and the slewing mechanism 100 to perform a reset action according to the reset signal and preset boom reset data.

[0062] In this optional embodiment, the operator inputs a reset signal from the operating terminal and remotely sends it to the communication controller. Based on the received reset signal, the communication controller can adjust the first auxiliary arm 220, the second auxiliary arm 230, the main arm 240, the connecting part 310, the cleaning body 320, and the slewing bearing to a preset reset position via the first drive device 201, the second drive device 202, the third drive device 203, the telescopic drive device, the rotary drive device 301, and the slewing drive device, for example, referring to... Figure 1 This refers to the reset position of each of the aforementioned components.

[0063] In one specific embodiment, the operator inputs the boom position setting data (first target arm angle, second target arm angle, target cleaning vertical angle, target telescopic length, target cleaning rotation angle, and target slewing angle) via an operating terminal. Then, the operator sends this boom position setting data to the communication controller in the automatic boom cleaning system via a one-button cleaning switch on the operating terminal. The communication controller then adjusts the positions of various related components based on the boom position setting data and the real-time boom position data detected by the sensor module. The communication controller can adjust the positions according to a preset component control sequence. For example, after pressing the one-button cleaning switch, the communication controller first controls the first auxiliary arm 220 to rise, then controls the second auxiliary arm 230 to rise, then controls the telescopic arm 242 to extend from the main arm body 241, controls the connecting part 310 in the cleaning device 300 to rotate longitudinally, controls the cleaning body 320 to rotate laterally left and right, and then controls the cleaning body 320 to start cleaning. While the cleaning body 320 is performing cleaning, the slewing mechanism 100 is controlled to perform a slewing motion at the corresponding angle. After completing the above cleaning work, the operator presses the reset button on the operating terminal to send a reset signal to the communication controller, which then resets each of the above components to the preset reset position.

[0064] The present invention also discloses a cabin cleaning device, which includes a main frame 01 and an automatic boom cleaning system described in the above embodiments of the present invention, wherein the automatic boom cleaning system is installed on the main frame 01.

[0065] As can be seen, in this embodiment, the cleaning equipment adopts the aforementioned automatic boom cleaning system. The operator inputs the boom position setting data through a remote operating terminal. After receiving the boom position setting data, the communication controller automatically controls the slewing mechanism 100, boom device 200, and cleaning device 300 to move to the set target position to perform the cleaning action based on the boom position setting data and real-time boom position data. The operator does not need to keep pressing buttons, thereby avoiding operator fatigue and accidental button presses during remote operation. This improves the efficiency of the cleaning operation and also enhances the ease of operation for the operator.

[0066] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. An automatic sweeping system for a boom, characterized in that, The automatic boom cleaning system includes: The slewing mechanism is mounted on the main frame of the external construction machinery; A boom assembly, which is connected to the slewing mechanism; A sweeping device, which is connected to the boom assembly; A sensing module is installed on the boom device and is used to acquire real-time boom position data of the boom device. A communication controller is provided, which is connected to an external operating terminal and is electrically connected to the sensing module, the boom device, the sweeping device, and the rotary mechanism. The operation terminal is used to send boom position setting data, and the communication controller is used to control the boom device, the sweeping device and the slewing mechanism to perform boom position adjustment actions according to the real-time boom position data and the boom position setting data.

2. The automatic boom cleaning system according to claim 1, characterized in that, The boom assembly includes: A boom base, which is mounted on the slewing mechanism; The first auxiliary arm, one end of which is connected to the arm base; The second auxiliary arm has one end rotatably connected to the other end of the first auxiliary arm, and a first driving device is provided between the second auxiliary arm and the first auxiliary arm. The main arm has one end rotatably connected to the other end of the second auxiliary arm, and the other end of the main arm is rotatably connected to the cleaning device. A second drive device is provided between the main arm and the second auxiliary arm. A telescopic drive device is provided on the main arm. A third drive device is provided between the main arm and the cleaning device. The relative rotation axes between the first auxiliary arm and the second auxiliary arm, the relative rotation axes between the main arm and the second auxiliary arm, and the relative rotation axes between the main arm and the cleaning device are parallel to each other. The first drive device, the second drive device, the third drive device, and the telescopic drive device are all electrically connected to the communication controller. The first drive device is used to control the angle between the first auxiliary arm and the second auxiliary arm. The second drive device is used to control the angle between the main arm and the second auxiliary arm. The third drive device is used to control the angle between the main arm and the cleaning device. The telescopic drive device is used to control the telescopic length of the main arm.

3. The automatic boom cleaning system according to claim 2, characterized in that, The real-time boom position data includes: a first real-time boom-to-boom angle, a second real-time boom-to-boom angle, and a real-time cleaning vertical angle; the boom position setting data includes: a first target boom-to-boom angle, a second target boom-to-boom angle, and a target cleaning vertical angle; the sensing module includes: A first angular displacement sensor is disposed at the connection node between the first auxiliary arm and the second auxiliary arm, and the first angular displacement sensor is used to detect the first real-time arm-to-arm angle between the first auxiliary arm and the second auxiliary arm. The second angular displacement sensor is disposed at the connection node between the main arm and the second auxiliary arm, and the second angular displacement sensor is used to detect the second real-time arm-to-arm angle between the main arm and the second auxiliary arm. A third angular displacement sensor is disposed at the connection node between the main arm and the cleaning device. The third angular displacement sensor is used to detect the real-time cleaning vertical angle between the main arm and the cleaning device. The first angular displacement sensor, the second angular displacement sensor, and the third angular displacement sensor are all electrically connected to the communication controller. The communication controller is used to control the first drive device to adjust the included angle between the first auxiliary arm and the second auxiliary arm according to the first real-time arm angle and the first target arm angle. The communication controller is used to control the second drive device to adjust the included angle between the main arm and the second auxiliary arm according to the second real-time arm angle and the second target arm angle. The communication controller is used to control the third drive device to adjust the included angle between the main arm and the cleaning device according to the real-time cleaning vertical angle and the target cleaning vertical angle.

4. The automatic boom cleaning system according to claim 2, characterized in that, The real-time boom position data further includes: real-time extension length; the boom position setting data further includes: target extension length; the sensing module further includes: A long angle sensor is disposed on the main arm and is used to detect the real-time extension length of the main arm. The long angle sensor is electrically connected to the communication controller, which is used to control the extension drive device to adjust the extension length of the main arm according to the real-time extension length and the target extension length.

5. The automatic boom cleaning system according to claim 2, characterized in that, The cleaning device includes: A connecting part is rotatably connected to the main arm, and the third drive device is connected to both the connecting part and the main arm. The cleaning body and the connecting part are rotatably connected. The relative rotation axis between the connecting part and the main arm is perpendicular to the relative rotation axis between the cleaning body and the connecting part. A rotation drive device is provided between the cleaning body and the connecting part. The rotation drive device is electrically connected to the communication controller and is used to control the relative rotation between the cleaning body and the connecting part.

6. The automatic boom cleaning system according to claim 5, characterized in that, The real-time boom position data also includes: real-time sweeping rotation angle; the boom position setting data also includes: target sweeping rotation angle; the sensing module also includes: A cleaning angle sensor is provided, which is disposed at the connection node between the cleaning body and the connecting part. The cleaning angle sensor is used to detect the real-time cleaning rotation angle between the cleaning body and the connecting part. The cleaning angle sensor is electrically connected to the communication controller. The communication controller is used to control the rotation drive device to adjust the relative rotation angle between the cleaning body and the connecting part according to the real-time cleaning rotation angle and the target cleaning rotation angle.

7. The automatic boom cleaning system according to claim 2, characterized in that, The rotary mechanism includes: A slewing bearing, wherein the outer ring of the slewing bearing is fixedly connected to the main frame, and the inner ring of the slewing bearing is fixedly connected to the boom base; A slewing drive device is connected to the slewing bearing and electrically connected to the communication controller. The slewing drive device is used to control the slewing bearing to drive the boom device to rotate coaxially with the rotation axis of the slewing bearing according to the slewing control signal.

8. The automatic boom cleaning system according to claim 7, characterized in that, The real-time boom position data further includes: real-time slewing angle; the boom position setting data further includes: target slewing angle; the sensing module further includes: A slewing angle sensor is disposed at the connection node between the slewing bearing and the boom base. The slewing angle sensor is used to detect the real-time slewing angle between the slewing bearing and the main frame. The slewing angle sensor is electrically connected to the communication controller. The communication controller is used to control the slewing drive device to adjust the relative rotation angle between the slewing bearing and the boom base according to the real-time slewing angle and the target slewing angle.

9. The automatic boom cleaning system according to any one of claims 1 to 8, characterized in that, The operating terminal is used to send a reset signal, and the communication controller is used to control the boom device, the sweeping device and the slewing mechanism to perform a reset action according to the reset signal and the preset boom reset data.

10. A tank cleaning device, characterized in that, The tank cleaning equipment includes: Main frame; The automatic boom cleaning system as described in any one of claims 1 to 9, wherein the automatic boom cleaning system is mounted on the main frame.

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