Intelligent consumable cleaning robot with circulating high-pressure unit and method

Abstract

The application relates to the technical field of industrial cleaning equipment, in particular to an intelligent consumable cleaning robot with a circulating high-pressure unit and a method, which comprises a base, the top of the base is provided with a Cartesian coordinate type mechanical arm, the tail end of the mechanical arm is provided with a moving table, the moving table is provided with a cleaning spray head, a backwater groove is arranged in the base, the circulating high-pressure unit comprises a high-pressure plunger pump, a liquid inlet main pipe and a plurality of plunger liquid suction pipes, the displacement adjusting unit comprises a plurality of high-speed electromagnetic switch valves, each high-speed electromagnetic switch valve is connected in series in each plunger liquid suction pipe and is connected in parallel between the liquid inlet main pipe and the corresponding plunger cavity of the high-pressure plunger pump, the circulating filtering unit comprises a backwater tank, a filter cartridge and a lifting water pump, the bottom of the backwater tank is communicated with the bottom of the backwater groove through a backwater pipe, and the filter cartridge is rotationally connected to the inside of the backwater tank; the driving mechanism comprises at least one pressure plate and a rotating assembly, and one side of the pressure plate is rotationally connected to the inner wall of the base.

Description

Technical Field

[0001] This invention relates to the field of industrial cleaning equipment technology, specifically to an intelligent consumables cleaning robot and method with a circulating high-pressure unit. Background Technology

[0002] In industrial production, various consumable materials (such as trays, material boxes, mold inserts, filter screens, etc.) will have oil stains, residues, debris and other contaminants attached to their surfaces after use, and need to be cleaned regularly to restore their performance.

[0003] Currently, common cleaning methods mainly include manual handheld high-pressure water gun rinsing and stationary high-pressure washer. Manual rinsing is labor-intensive, results in inconsistent cleaning, and wastes a significant amount of water. While stationary high-pressure washer has achieved a degree of automation, it still has the following shortcomings: Traditional high-pressure plunger pumps typically use mechanical variable displacement mechanisms to change displacement, which are complex in structure, slow in response, and have limited adjustment accuracy. Although some equipment has frequency converters, the motor still operates in an inefficient range under low displacement conditions, resulting in high energy consumption. More importantly, traditional variable displacement methods cannot achieve independent shut-off control at the plunger level—when only a portion of the displacement is needed, all plungers are still pumping liquid throughout their full stroke, and excess flow can only flow back through the relief valve, causing energy waste and oil overheating.

[0004] Most existing high-pressure cleaning equipment uses a single-pass water method, with the cleaning water being directly discharged into the sewer system. This not only wastes water resources but also results in high costs for treating wastewater containing pollutants. The few equipment units with circulating filtration functions suffer from filters that are prone to clogging and require frequent manual cleaning, leading to poor continuous operation capabilities.

[0005] Therefore, this application proposes an intelligent consumables cleaning robot and method with a circulating high-pressure unit. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent consumables cleaning robot and method with a circulating high-pressure unit to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intelligent consumable cleaning robot with a circulating high-pressure unit, comprising a base, a Cartesian coordinate-type robotic arm mounted on the top of the base, a transfer platform mounted at the end of the robotic arm, a cleaning nozzle mounted on the transfer platform, and a return water trough formed inside the base, and further comprising: The high-pressure liquid supply unit includes a high-pressure plunger pump, a main inlet pipe, and multiple plunger suction pipes; The displacement regulating unit includes multiple high-speed electromagnetic switching valves, each of which is connected in series in each of the plunger suction pipes and in parallel between the main inlet pipe and the corresponding plunger chamber of the high-pressure plunger pump. The circulating filtration unit includes a return water tank, a filter cartridge, and a lift pump. The bottom of the return water tank is connected to the bottom of the return water trough through a return water pipe, and the filter cartridge is rotatably connected to the inside of the return water tank. The drive mechanism includes at least one pressure plate and a rotating assembly, wherein one side of the pressure plate is rotatably connected to the inner wall of the base; The pressure plate rotates from an inclined state to a horizontal state under the residual impact force after being sprayed by the cleaning nozzle. The rotating assembly includes a pneumatic piston mechanism driven by the rotation of the pressure plate, and a transmission mechanism that converts the reciprocating linear motion of the pneumatic piston mechanism into the unidirectional rotation of the filter cartridge.

[0008] Preferably, the Cartesian coordinate robotic arm includes: a first guide frame fixed to one side of the top of the base, the sliding end of the first guide frame moving longitudinally; a second guide frame, the fixed end of which is slidably connected to the sliding end of the first guide frame, the sliding end of the second guide frame moving laterally; a third guide frame, the fixed end of which is slidably connected to the sliding end of the second guide frame, the sliding end of the third guide frame moving vertically; a moving stage fixed to the sliding end of the third guide frame, the cleaning nozzle penetrating and fixed within the moving stage, so as to achieve three-axis linkage fixed-point scanning cleaning in the Cartesian coordinate system.

[0009] Preferably, it also includes a water storage tank, one end of the main inlet pipe is connected to the water storage tank; each plunger chamber of the high-pressure plunger pump is connected to a plurality of plunger outlet pipes, the output ends of each plunger outlet pipe are connected to the input end of a telescopic connecting pipe, and the output end of the telescopic connecting pipe is connected to the cleaning nozzle.

[0010] Preferably, the telescopic connecting pipe is equipped with a pressure regulating valve assembly, which includes a proportional relief valve, a pilot-operated check valve, and an electro-hydraulic proportional flow valve connected in series. The proportional relief valve is used to set the maximum working pressure of the system to achieve overpressure protection. The pilot-operated check valve is located downstream of the proportional relief valve to prevent high-pressure liquid in the pipeline from back impacting the high-pressure plunger pump. The electro-hydraulic proportional flow valve is located downstream of the pilot-operated check valve to adjust the output flow to the cleaning nozzle in real time according to control commands.

[0011] Preferably, a high-voltage accumulator is also connected in parallel on the telescopic connecting pipe, and the access interface of the high-voltage accumulator is connected to the pipeline section between the proportional relief valve and the pilot-operated check valve.

[0012] Preferably, the circulating filtration unit further includes: a connecting hose, one end of which is connected to the water storage tank and the other end of which is connected to the top of the return water tank, with the output end of the lift pump connected to the connecting hose; a one-way valve connected in series with the connecting hose to prevent the cleaning fluid in the water storage tank from flowing back to the return water tank via the connecting hose; a pumping hose, one end of which is connected to the input end of the lift pump and the other end of which extends to the area below the lower liquid level inside the return water tank to ensure that the pumped liquid is the supernatant after being fully filtered by the filter cartridge; and a sludge tank, fixedly installed on the side of the return water tank to collect impurities removed from the filter surface of the filter cartridge.

[0013] Preferably, a screen for holding the material to be cleaned is fixedly installed inside the machine base; there are multiple pressure plates, which are arranged in a rectangular array between the bottom of the screen and the top of the return water trough; one side of each pressure plate is independently hinged to the inner wall of the machine base.

[0014] Preferably, the pneumatic piston mechanism includes: multiple pressure chambers, all fixedly disposed inside the base, with each pressure chamber corresponding to the space below each pressure plate; multiple pressure pistons, each pressure piston slidingly connected vertically within its corresponding pressure chamber, with the top end of its piston rod extending upwards beyond the upper wall of the pressure chamber and fixedly fitted with a ball bearing, the ball bearing rolling against the bottom surface of the pressure plate above it; multiple return springs, each return spring correspondingly housed within its respective pressure chamber, one end fixedly connected to the inner wall of the pressure chamber, and the other end fixedly connected to the piston surface of the corresponding pressure piston, used to drive the pressure piston upwards to return to its original position after the impact force on the pressure plate weakens; a passive chamber fixed to one side of the outer wall of the return water tank, with each pressure chamber connected to the passive chamber's air passage through a corresponding pressure supply hole; and a push plug slidably connected within the passive chamber, the end of the push plug away from its piston end passing through the side wall of the return water tank and extending into the interior of the return water tank.

[0015] Preferably, the transmission mechanism includes: a plurality of inclined teeth, uniformly fixedly connected to the outer surface of the filter cartridge in the circumferential direction, each of the inclined teeth having an inclined surface inclined in the same circumferential direction of the filter cartridge; a torsion spring cam, hinged to the protruding end of the push plug extending into the return water tank by a torsion spring, the torsion spring cam having a semi-circular surface and a cam surface; when the push plug moves in the reset direction, the torsion spring cam flips in the opposite direction under the reset force of the torsion spring, its cam surface again abuts against and pushes the inclined surface of the same inclined tooth, driving the filter cartridge to continue rotating, and introducing the torsion spring cam into the transmission path of the next inclined tooth, thereby converting the reciprocating linear motion of the push plug into the unidirectional intermittent rotation of the filter cartridge; a scraper is fixedly connected inside the return water tank, the scraper is constructed as an inclined scraper blade, and its scraping edge abuts against the outer filter surface of the filter cartridge.

[0016] This invention also provides a smart consumable cleaning method with a circulating high-pressure unit, comprising the following steps: S1. Control the Cartesian coordinate type robotic arm to drive the cleaning nozzle to move in three-dimensional space, so that the cleaning nozzle is aligned with the material to be cleaned; start the high-pressure plunger pump, control multiple high-speed electromagnetic switch valves to independently open and close with a set duty cycle, adjust the liquid inlet into each plunger chamber of the high-pressure plunger pump, so that the cleaning nozzle sprays out a high-pressure water jet with a set pressure and flow rate to flush the material. S2. After being reflected and penetrated by the material, the high-pressure water jet carries residual impact force and is sprayed onto the pressure plate, driving the pressure plate to rotate from an inclined state to a horizontal state; the downward pressing action of the pressure plate drives the rotating component to run. S3. The rotating component drives the filter cartridge to rotate, thus cleaning the filter cartridge.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. By connecting a high-speed electromagnetic switching valve in series in each plunger suction tube, independent on / off control of the suction passage of each plunger chamber is achieved. When low displacement is required, only some of the high-speed electromagnetic switching valves need to be de-energized and closed, and the corresponding plunger will run unloaded under swashplate drive (only compressing / expanding residual gas), consuming no hydraulic power; while the remaining plungers maintain normal operating mode, contributing their full rated displacement. Compared to traditional mechanical variable displacement mechanisms or frequency converters, this invention achieves stepless or stepped adjustment of the effective total displacement of the plunger pump without changing the swashplate angle or motor speed, with a fast response speed (the response time of electromagnetic valves is typically in the millisecond range), and the plungers not working under partial displacement conditions consume almost no energy, significantly reducing system energy consumption.

[0018] 2. Through the complete closed-loop circuit design of the return water tank, return water pipe, return water box, filter cartridge, lift water pump, connecting hose, water storage tank, liquid inlet main pipe, high-pressure plunger pump, telescopic connecting pipe, cleaning nozzle, storage screen, and return water tank, the cleaning fluid is circulated within the system. Only a small amount of liquid lost due to splashing, evaporation, etc., needs to be replenished periodically, which greatly reduces water consumption and wastewater discharge.

[0019] 3. The residual impact force of the high-pressure cleaning fluid penetrating the material drives the filter cartridge's rotation. This energy is absorbed by a pressure plate array and converted into the reciprocating motion of a pneumatic piston. The reciprocating motion is then converted into unidirectional intermittent rotation of the filter cartridge through the interaction of a torsion spring cam and inclined gears. This energy recovery path is entirely based on mechanical structure and pneumatic principles, requiring no additional electrical input. It transforms the previously wasted impact kinetic energy into effective mechanical work to maintain the self-cleaning of the filtration system, realizing the energy-saving design concept of "using the power of cleaning to drive the cleanliness of filtration." Simultaneously, the pressure plates also act as a buffer, preventing erosion damage caused by high-speed water flow directly impacting the bottom of the base. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention; Figure 3 This is an exploded structural diagram of the screen and base in this invention; Figure 4 This is a schematic diagram of the structure of the return water trough and return water tank in this invention; Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A; Figure 6 For the present invention Figure 4 Enlarged structural diagram at point B; Figure 7 This is a schematic diagram of the structure of the water storage tank and the return water tank in this invention; Figure 8 This is a schematic diagram showing the connection relationship between the high-pressure plunger pump and the cleaning nozzle in this invention; Figure 9 This is a schematic diagram of the return water tank in this invention; Figure 10 This is a schematic diagram of the filter cartridge in this invention; Figure 11 For the present invention Figure 10 Enlarged schematic diagram of the structure at point C.

[0021] In the diagram: 100, base; 101, first guide frame; 102, second guide frame; 103, third guide frame; 104, moving platform; 105, storage screen; 106, return water tank; 200, cleaning nozzle; 201, telescopic connecting pipe; 202, high-pressure plunger pump; 203, plunger suction pipe; 204, main inlet pipe; 205, high-speed electromagnetic switch valve; 206, plunger outlet pipe; 207, proportional relief valve; 208, high-pressure accumulator; 209, pilot-operated check valve; 210, electro-hydraulic... 211. Proportional flow valve; 300. Water storage tank; 301. Return water tank; 302. Booster pump; 303. Water suction hose; 304. Check valve; 305. Return water pipe; 306. Filter cartridge; 307. Waste tank; 308. Scraper; 400. Pressure plate; 401. Pressure chamber; 402. Pressure piston; 403. Return spring; 404. Pressure outlet; 405. Ball bearing; 406. Passive chamber; 407. Push plug; 408. Torsion spring cam; 409. Inclined gear. Detailed Implementation

[0022] 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.

[0023] Example 1: Please refer to Figure 1 - Figure 11 This invention provides a technical solution: an intelligent consumable cleaning robot with a circulating high-pressure unit, comprising a base 100, and a Cartesian coordinate-type robotic arm disposed on one side of the top of the base 100. A transfer platform 104 is mounted at the end of the robotic arm, and a cleaning nozzle 200 is mounted through and fixedly installed on the transfer platform 104. A storage screen 105 for holding the materials to be cleaned is fixedly disposed on the base 100 and directly below the cleaning nozzle 200. A return water tank 106 for recycling cleaning fluid is provided inside the base 100 and below the storage screen 105.

[0024] See Figure 1 - Figure 3The Cartesian coordinate type robotic arm consists of a first guide 101, a second guide 102, and a third guide 103. The first guide 101 is fixed to one side of the top of the base 100, defined as the longitudinal Y-axis direction. The sliding end of the first guide 101 moves linearly longitudinally under the drive of a lead screw driven by a servo motor. The fixed end of the second guide 102 is slidably connected to the sliding end of the first guide 101, defined as the transverse X-axis direction. The sliding end of the second guide 102 moves linearly transversely under the drive of a lead screw driven by a servo motor. The fixed end of the third guide 103 is slidably connected to the sliding end of the second guide 102, defined as the vertical Z-axis direction. The sliding end of the third guide 103 moves linearly vertically under the drive of a lead screw driven by a servo motor.

[0025] The moving platform 104 is fixedly installed on the sliding end of the third guide frame 103, and the cleaning nozzle 200 is vertically inserted and fixed inside the moving platform 104. Thus, the cleaning nozzle 200 can achieve three-axis linkage in the longitudinal, transverse and vertical directions in the Cartesian coordinate system to perform fixed-point scanning high-pressure cleaning on the material placed on the screen 105.

[0026] Furthermore, the high-pressure liquid supply unit includes a high-pressure plunger pump 202, a main inlet pipe 204, and multiple plunger suction pipes 203. In this embodiment, the high-pressure plunger pump 202 is a swashplate plunger pump, fixedly installed above the third guide frame 103, and moves together with the third guide frame 103. The input ends of each plunger suction pipe 203 are connected in parallel to the main inlet pipe 204, and one end of the main inlet pipe 204 is connected to the bottom outlet of the water storage tank 211. The output ends of each plunger suction pipe 203 are respectively connected to each plunger cavity inside the high-pressure plunger pump 202. The outlet of each plunger cavity of the high-pressure plunger pump 202 is respectively connected to multiple plunger outlet pipes 206, and the output ends of each plunger outlet pipe 206 are collectively connected to the input end of a telescopic connecting pipe 201, and the output end of the telescopic connecting pipe 201 is connected to the inlet of the cleaning nozzle 200. The telescopic connecting pipe 201 can extend, retract, or bend with the movement of the robotic arm to maintain the continuity of the liquid supply line.

[0027] The displacement regulating unit includes multiple high-speed electromagnetic switching valves 205. In this embodiment, they are two-position, two-normally closed high-speed electromagnetic valves. Each high-speed electromagnetic switching valve 205 is connected in series in each plunger suction pipe 203 and in parallel between the main inlet pipe 204 and the corresponding plunger chamber of the high-pressure plunger pump 202. Specifically, the inlet of each high-speed electromagnetic switching valve 205 is connected to the main inlet pipe 204, and its outlet is connected to the suction port of one plunger chamber of the high-pressure plunger pump 202 through a corresponding section of the plunger suction pipe 203.

[0028] It is worth mentioning that each high-speed solenoid switching valve 205 has two operating modes: Normal operating mode: When the electromagnetic coil of the high-speed electromagnetic switch valve 205 is energized, the valve core opens under the action of electromagnetic force, overcoming the spring force. The corresponding plunger chamber is connected to the inlet manifold 204 through the valve. When the plunger reciprocates under the drive of the swashplate, it normally draws in liquid from the inlet manifold 204 and discharges it, contributing 100% of its rated discharge capacity. Displacement shutdown mode: The solenoid coil of the high-speed solenoid switch valve 205 is de-energized, and the valve core closes under the action of the spring return force, cutting off the liquid suction passage of the corresponding plunger chamber. At this time, although the plunger in the plunger chamber is still reciprocating under the drive of the swashplate, since there is no liquid intake, the residual gas is only compressed and expanded in the cylinder bore, and the effective liquid pumped is zero, which is equivalent to no-load operation.

[0029] By selectively de-energizing some high-speed solenoid valves 205 to the discharge shut-off mode while keeping the remaining high-speed solenoid valves 205 energized in normal operating mode, the effective total discharge of the high-pressure plunger pump 202 can be adjusted. For example, in a high-pressure plunger pump with 6 plunger chambers, when 3 high-speed solenoid valves are in the discharge shut-off mode, the effective total discharge is 50% of the rated total discharge. The granularity of discharge adjustment depends on the number of plungers; the more plungers, the finer the discharge adjustment.

[0030] Furthermore, a pressure regulating valve assembly is provided on the telescopic connecting pipe 201. The pressure regulating valve assembly includes a proportional relief valve 207, a pilot-operated check valve 209, and an electro-hydraulic proportional flow valve 210 connected in series from upstream to downstream. The three are connected in series on the telescopic connecting pipe 201 through a high-pressure pipeline.

[0031] The proportional relief valve 207 is an electro-hydraulic proportional control relief valve, whose set pressure can be remotely adjusted by the intelligent control unit via electrical signals. During normal operation, the proportional relief valve 207 is closed; when the system pressure exceeds its set pressure threshold, the proportional relief valve 207 automatically opens to overflow, releasing some liquid back to the water tank 211, protecting the system from overpressure damage. The pilot-operated check valve 209 is located downstream of the proportional relief valve 207, allowing free flow in the forward direction and shutting off in the reverse direction. When the high-pressure plunger pump 202 suddenly stops or pressure fluctuations occur in the pipeline, the pilot-operated check valve 209 quickly shuts off, preventing high-pressure liquid in the pipeline on the cleaning nozzle side from back-impacting the high-pressure plunger pump 202, protecting the pump body from reverse hydraulic shock. The electro-hydraulic proportional flow valve 210 is located downstream of the pilot-operated check valve 209, and its valve opening is continuously proportionally adjusted by the intelligent control unit via electrical signals, thereby controlling the output flow to the cleaning nozzle 200 in real time. A high-voltage accumulator 208 is also connected in parallel to the telescopic connecting pipe 201. The access interface of the high-voltage accumulator 208 is connected to the pipeline section between the proportional relief valve 207 and the pilot-operated check valve 209. The high-voltage accumulator 208 is a bladder-type or piston-type accumulator, which is pre-filled with nitrogen.

[0032] In this system, the high-voltage accumulator 208 plays a triple role: First, it smooths out pressure pulsations—the inherent flow pulsation characteristics of the plunger pump cause periodic fluctuations in output pressure. The high-pressure accumulator 208 uses the compressibility of gas to store the peak energy of the pulsation and releases it at the trough of the pulsation, so that the pressure in the telescopic connecting pipe 201 tends to be stable. Second, instantaneous flow replenishment - when the pump output flow is momentarily insufficient due to partial plunger shutdown or changes in operating conditions, the high-pressure accumulator 208 releases the stored high-pressure liquid into the telescopic connecting pipe 201 to replenish the flow gap and ensure the continuity of nozzle output pressure. Third, absorbing water hammer impact – when the electro-hydraulic proportional flow valve 210 adjusts rapidly or the spray state of the cleaning nozzle 200 changes abruptly, such as starting or stopping, water hammer pressure waves will be generated in the pipeline. The high-pressure accumulator 208 absorbs the water hammer impact energy through the buffering effect of gas, thus preventing damage to the pipeline and valve assembly.

[0033] Furthermore, the circulating filtration unit includes a return water tank 300, a filter cartridge 306, a lift pump 301, a connecting hose 302, a suction hose 303, a one-way valve 304, a return water pipe 305, and a wastewater tank 307. The return water tank 300 is located on the side of the base 100, and its bottom is connected to the bottom of the return water trough 106 inside the base 100 via the return water pipe 305. The cleaning wastewater flows by gravity through the return water pipe 305 into the bottom of the return water tank 300. The filter cartridge 306 is cylindrical, and its outer surface is covered with a cylindrical filter screen. The filter cartridge 306 is rotatably connected to the inside of the return water tank 300 via a central shaft and bearings. After the cleaning wastewater enters from the bottom of the return water tank 300, it permeates inward through the outer filter surface of the filter cartridge 306. Impurities are intercepted on the outer filter surface of the filter cartridge 306, and the clean filtered liquid enters the interior of the filter cartridge 306 and the upper area of ​​the return water tank 300.

[0034] A booster pump 301 is fixedly installed on the top of the return water tank 300. Its input end is connected to a suction hose 303, the end of which extends below the liquid level inside the return water tank 300 to ensure that the pumped liquid is the supernatant after thorough filtration by the filter cartridge 306. The output end of the booster pump 301 is connected to a connecting hose 302, the other end of which is connected to the top or side of the storage tank 211, thereby pumping the filtered clean cleaning solution back to the storage tank 211 for recycling. A one-way valve 304 is connected in series on the connecting hose 302. The one-way valve 304 is directed from the booster pump 301 to the storage tank 211, preventing the cleaning solution in the storage tank 211 from flowing back into the return water tank 300 via the connecting hose 302 when the booster pump 301 stops operating. The sludge tank 307 is fixedly installed on the side of the return water tank 300 by bolts or other detachable means. It is used to collect and temporarily store impurities removed from the filter surface of the filter cartridge 306 and can be disassembled and emptied periodically.

[0035] The drive mechanism recovers the residual impact energy of the high-pressure cleaning fluid after it penetrates the material and converts it into mechanical power to drive the filter cartridge 306 to rotate. Simultaneously, it drives the scraper to self-clean the filter cartridge. Inside the base 100, between the lower part of the storage screen 105 and the upper part of the return water tank 106, multiple pressure plates 400 are arranged in a rectangular array. Each pressure plate 400 is a rectangular metal plate or stainless steel plate, with one side near the inner wall of the base 100 independently hinged to the inner wall of the base 100 via a hinge shaft, and the other side being a free end.

[0036] Furthermore, in the initial state without impact, each pressure plate 400 naturally droops under its own weight, maintaining an inclined posture with the hinged side higher than the free side. In this state, there is a gap or slight overlap between the free ends of adjacent pressure plates 400, allowing the cleaning fluid to flow along the inclined surface. When the high-pressure cleaning fluid sprayed by the cleaning nozzle 200 penetrates the storage screen 105 and the material, its residual impact force acts on the upper surface of the pressure plate 400. Under the combined action of the residual impact force and the gravity of the cleaning fluid accumulated on its surface, the pressure plate 400 overcomes its own gravity and rotates downward around the hinge axis. The cleaning fluid then passes over the gap between the plates at the free end edge of the pressure plate 400 and falls into the return water tank 106 below. As the cleaning fluid continuously passes over the pressure plate 400, the amount of liquid accumulated on the upper surface of the pressure plate 400 decreases, and with the action of the spring restoring force, the pressure plate 400 returns to its initial inclined state after the impact force weakens.

[0037] Specifically, the pneumatic piston mechanism includes multiple pressure chambers 401, multiple pressure pistons 402, multiple balls 405, multiple return springs 403, multiple pressure delivery holes 404, a passive chamber 406, and a pusher 407. Each pressure chamber 401 is a vertically arranged cylindrical cavity, fixedly installed inside the base 100, and the position of each pressure chamber 401 corresponds one-to-one with the space directly below each pressure plate 400. A pressure piston 402 is slidably connected in the vertical direction within each pressure chamber 401. The piston rod of the pressure piston 402 extends upwards through a hole in the upper wall of the pressure chamber 401 for the piston rod to pass through. A sealing ring is installed in the hole to ensure airtightness, and a ball 405 is fixedly installed at the top of the piston rod. The upper surface of the ball 405 forms rolling contact with the bottom surface of the pressure plate 400 above it to reduce frictional resistance.

[0038] Each pressure chamber 401 also houses a return spring 403. One end of the return spring 403 is fixedly connected to the top wall of the inner cavity of the pressure chamber 401 or to the piston surface of the pressure piston, and the other end is fixedly connected to the piston surface of the pressure piston 402. When the pressure piston 402 is pressed down, the return spring 403 is compressed, storing elastic potential energy. When the impact force on the pressure plate 400 weakens, the return spring 403 releases its elastic potential energy, driving the pressure piston 402 to return to its original position, while the ball bearings 405 assist in pushing the pressure plate 400 back to its initial tilted position.

[0039] The passive chamber 406 is a horizontally arranged cylindrical cavity, fixedly installed on one side of the outer wall of the return water tank 300. The bottom wall of each pressure chamber 401 is connected to the chamber gas passage of the passive chamber 406 through a pressure transmission port 404 or a pressure transmission pipeline. The orifice diameter of the pressure transmission port 404 is designed as an appropriate throttling diameter to control the gas flow rate and the response characteristics of gas pressure transmission. The push plug 407 is slidably connected to the inside of the passive chamber 406, and its piston rod near the end of the return water tank 300 passes through the end wall of the passive chamber 406 and the side wall of the return water tank 300, extending into the inside of the return water tank 300. A sealing ring is installed where the piston rod passes through the tank wall to maintain the sealing of the liquid inside the return water tank 300.

[0040] Specifically, when any one or more pressure plates 400 rotate downwards due to the residual impact force of the cleaning fluid, the bottom surface of the pressure plate 400 presses down on the corresponding pressure piston 402 via the ball bearing 405. The pressure piston 402 moves downwards within the pressure chamber 401, compressing the gas within the chamber, and the return spring 403 is simultaneously compressed.

[0041] The compressed gas is forced into the passive chamber 406 through the corresponding pressure port 404. The gas pressure in the passive chamber 406 increases, pushing the push plug 407 to move linearly along the feed direction.

[0042] When the cleaning fluid on the pressure plate 400 falls into the return water tank 106 after passing over the free end, the impact force on the pressure plate 400 is reduced. At this time, the compressed return spring 403 releases its elastic potential energy, driving the pressure piston 402 to return upward. The volume of the pressure chamber 401 increases and the air pressure decreases. Under the action of the pressure difference, the gas in the passive chamber 406 flows back to each pressure chamber 401 through the pressure delivery hole 404. The air pressure in the passive chamber 406 decreases, and the push plug 407 moves linearly along the return direction as the air pressure decreases.

[0043] Thus, as the high-pressure cleaning process continues, multiple pressure plates 400 are impacted at discrete moments and rotate sequentially or simultaneously, causing the pusher 407 to generate continuous reciprocating linear motion.

[0044] Please see Figures 9 to 11 The transmission mechanism includes multiple inclined gears 409 and a torsion spring cam 408.

[0045] Each beveled tooth 409 is uniformly fixed to the outer surface of the filter cartridge 306 along the circumference, and each beveled tooth 409 has a beveled surface that is inclined in the same circumferential direction of the filter cartridge 306, for example, clockwise. In this embodiment, the cross-section of the beveled tooth 409 is a right-angled triangle or trapezoid. The torsion spring cam 408 is hinged to the protruding end of the push plug 407 extending into the return water tank 300 by a torsion spring. The profile of the torsion spring cam 408 includes a semi-circular surface and a cam surface. The radius of curvature of the semi-circular surface is greater than the maximum radius of the cam surface, and the two transition smoothly.

[0046] A scraper 308 is fixedly connected inside the return water tank 300. The scraper 308 is a long strip of stainless steel with a cross-sectional structure of oblique scraper shape, meaning that the scraper blade is at a certain angle to the outer filter surface of the filter cartridge rather than perpendicular to it. The length direction of the scraper 308 is parallel to the axial direction of the filter cartridge 306, and its scraper edge elastically or rigidly abuts against the outer filter surface of the filter cartridge 306. The oblique direction of the scraper 308 points towards the feed inlet of the sludge tank 307.

[0047] As the filter cartridge 306 rotates continuously under the drive of the transmission mechanism, its outer filtration surface passes sequentially over the scraper edge of the scraper 308. The scraper edge removes impurities such as debris and sludge adhering to the filtration surface. These removed impurities, under the pressure of the rotating filter cartridge 306 and subsequent impurities, are guided along the inclined surface of the scraper 308 into the sludge bin 307 for storage. Thus, filtration and self-cleaning of the filter cartridge 306 occur simultaneously, ensuring the continuous and stable operation of the circulating filtration system for extended periods without interruption due to filter cartridge clogging.

[0048] The water storage tank 211 is a closed or semi-closed tank with a certain volume, located beside or inside the base 100. The bottom of the water storage tank 211 has an outlet connected to the main inlet pipe 204 to supply cleaning fluid to the high-pressure plunger pump 202. The upper or top of the water storage tank 211 has a return port connected to the connecting hose 302 to receive filtered clean liquid from the circulating filtration unit. The top of the water storage tank 211 also has a replenishment port to replenish water lost due to splashing, evaporation, etc. Optionally, a level sensor, a heating device, and a temperature sensor can be installed inside the water storage tank 211 to monitor the liquid level and heat the cleaning fluid as needed.

[0049] This embodiment also includes an intelligent control unit, which can be a PLC programmable logic controller, an industrial PC, or an embedded controller. The signal input terminals of the intelligent control unit are respectively connected to: position sensors (encoders or grating rulers) for each axis, a system pressure sensor installed on the telescopic connecting pipe 201, a flow sensor installed in the upstream pipeline of the cleaning nozzle 200, a water tank level sensor, and a temperature sensor, etc.

[0050] The control signal output terminals of the intelligent control unit are respectively connected to: the Y-axis servo motor driver of the first guide frame 101, the X-axis servo motor driver of the second guide frame 102, the Z-axis servo motor driver of the third guide frame 103, the electromagnetic coil drive circuit of each high-speed electromagnetic switching valve 205, the proportional electromagnet drive circuit of the proportional overflow valve 207, the proportional electromagnet drive circuit of the electro-hydraulic proportional flow valve 210, the motor contactor or frequency converter of the lift pump 301, etc.

[0051] The intelligent control unit stores multiple preset cleaning programs corresponding to different materials, including parameters such as cleaning trajectory, cleaning pressure, cleaning flow rate, and cleaning time. During operation, the intelligent control unit operates according to the following logic: Based on the preset material cleaning trajectory program, the three-axis linkage motion command of the Cartesian coordinate robotic arm is generated to control the cleaning nozzle 200 to perform fixed-point high-pressure cleaning of the material according to the scanning path. Based on the target flow rate required by the current cleaning process, calculate the effective total displacement that the high-pressure plunger pump 202 should output, send a power-off command to the corresponding number of high-speed solenoid valves 205 to switch them to the displacement shut-off mode, and keep the remaining high-speed solenoid valves 205 in the normally open state to achieve precise adjustment of the effective total displacement of the plunger pump. The system collects feedback signals from the pressure and flow sensors in real time, compares them with the target pressure and target flow, and adjusts the opening of the electro-hydraulic proportional flow valve 210 and / or the set pressure of the proportional overflow valve 207 through PID and other control algorithms, so that the actual output flow and pressure of the cleaning nozzle 200 are stabilized near the target values.

[0052] Example 2: Please refer to Figure 1 — Figure 11 The present invention also provides a technical solution, which differs from the technical solution of Embodiment 1 as follows: an intelligent consumable cleaning robot with a circulating high-pressure unit, comprising the following steps: Step S1: Place the consumables to be cleaned on the storage screen 105. This can be done manually or automatically by a loading robot.

[0053] Step S2: The intelligent control unit starts the drive motor of the high-pressure plunger pump 202, and the swashplate rotates to drive each plunger to reciprocate; at the same time, the lift pump 301 is started to put the circulating filtration system into standby mode.

[0054] Step S3: The intelligent control unit controls the coordinated movement of the first guide frame 101, the second guide frame 102 and the third guide frame 103 according to the preset cleaning program, and drives the moving stage 104 to drive the cleaning nozzle 200 to perform triaxial scanning high-pressure cleaning of the material along the preset trajectory in the Cartesian coordinate system.

[0055] Step S4: During the cleaning process, the intelligent control unit controls the on / off state of each high-speed electromagnetic switch valve 205 according to the preset target pressure and flow rate, and adjusts the effective total displacement of the high-pressure plunger pump 202; at the same time, it adjusts the opening degree of the electro-hydraulic proportional flow valve 210 and the set pressure of the proportional relief valve 207 to maintain the system output pressure and flow rate within the target range. During this process, the high-pressure accumulator 208 automatically smooths pressure pulsations, replenishes flow when the instantaneous flow is insufficient, and absorbs water hammer impact.

[0056] Step S5: The cleaning fluid is sprayed at high speed from the cleaning nozzle 200, impacting and cleaning the material before penetrating the storage screen 105. The residual impact force acts on the pressure plate 400 array. Under the impact force, the pressure plate 400 rotates from an inclined state to a horizontal state. Through the pneumatic transmission path of the ball bearing 405, pressure piston 402, pressure chamber 401, pressure delivery hole 404, passive chamber 406, and push plug 407, the mechanical rotation of the pressure plate 400 is converted into the reciprocating linear motion of the push plug 407. The reciprocating linear motion of the push plug 407 is then converted into unidirectional transmission by the torsion spring cam 408 and the inclined gear 409, driving the filter cartridge 306 to rotate intermittently in one direction. After passing over the pressure plate 400, the cleaning fluid falls into the return water tank 106.

[0057] Step S6: The cleaning wastewater in the return water tank 106 flows by gravity into the bottom of the return water tank 300 through the return water pipe 305. Inside the return water tank 300, the wastewater passes through the outer filter surface of the filter cartridge 306 from the outside in, and impurities are intercepted on the surface of the filter cartridge 306. The filtered clean liquid is pumped back to the storage tank 211 by the lift pump 301, connecting hose 302, and one-way valve 304 to enter the next cleaning cycle.

[0058] Step S7: Under the action of the drive mechanism in step S5, the filter cartridge 306 continues to rotate, and its outer filter surface passes sequentially over the scraper edge of the fixed scraper 308. The scraper 308 scrapes away the impurities covering the filter surface, and the impurities are guided into the sludge tank 307 for storage along the inclined direction of the scraper 308. The filter cartridge 306 keeps its filter surface clean throughout the entire cleaning process without requiring the machine to be stopped for cleaning.

[0059] Step S8: After the cleaning procedure is completed, the intelligent control unit sequentially shuts down the drive motor of the high-pressure plunger pump 202, each high-speed solenoid valve 205, and the lift water pump 301. The operator removes the cleaned material and periodically empties the sludge tank 307.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart consumable cleaning robot with a circulating high-pressure unit, comprising a base (100), a Cartesian coordinate-type robotic arm disposed on the top of the base (100), a transfer stage (104) mounted at the end of the robotic arm, a cleaning nozzle (200) mounted on the transfer stage (104), and a return water trough (106) provided inside the base (100), characterized in that, Also includes: The high-pressure liquid supply unit includes a high-pressure plunger pump (202), a main inlet pipe (204), and multiple plunger suction pipes (203). The displacement regulating unit includes multiple high-speed electromagnetic switching valves (205), each of which is connected in series in each of the plunger suction pipes (203) and in parallel between the main inlet pipe (204) and the corresponding plunger chamber of the high-pressure plunger pump (202). The circulating filtration unit includes a return water tank (300), a filter cartridge (306), and a lift pump (301). The bottom of the return water tank (300) is connected to the bottom of the return water trough (106) through a return water pipe (305). The filter cartridge (306) is rotatably connected to the inside of the return water tank (300). The drive mechanism includes at least one pressure plate (400) and a rotating assembly, one side of which is rotatably connected to the inner wall of the base (100); Under the residual impact force after being sprayed by the cleaning nozzle (200), the pressure plate (400) rotates from an inclined state to a horizontal state. The rotating assembly includes a pneumatic piston mechanism driven by the rotation of the pressure plate (400) and a transmission mechanism that converts the reciprocating linear motion of the pneumatic piston mechanism into the unidirectional rotation of the filter cartridge (306).

2. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 1, characterized in that, The Cartesian coordinate type robotic arm includes: The first guide (101) is fixed to one side of the top of the base (100), and the sliding end of the first guide (101) moves longitudinally. The second guide (102) has its fixed end slidably connected to the sliding end of the first guide (101), and the sliding end of the second guide (102) moves laterally. The third guide (103) has its fixed end slidably connected to the sliding end of the second guide (102), and the sliding end of the third guide (103) moves in the vertical direction; The moving stage (104) is fixed to the sliding end of the third guide frame (103), and the cleaning nozzle (200) passes through and is fixed inside the moving stage (104) to achieve three-axis linkage fixed-point scanning cleaning in the Cartesian coordinate system.

3. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 1, characterized in that, It also includes a water storage tank (211), one end of which is connected to the water storage tank (211); The high-pressure plunger pump (202) has multiple plunger outlets (206) connected to each plunger chamber outlet. The output ends of each plunger outlet (206) are connected to the input end of a telescopic connecting pipe (201). The output end of the telescopic connecting pipe (201) is connected to the cleaning nozzle (200).

4. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 3, characterized in that: The telescopic connecting pipe (201) is equipped with a pressure regulating valve group, which includes a proportional relief valve (207), a pilot-operated check valve (209) and an electro-hydraulic proportional flow valve (210) connected in series. The proportional relief valve (207) is used to set the maximum working pressure of the system to achieve overpressure protection; the pilot-operated check valve (209) is located downstream of the proportional relief valve (207) to prevent the high-pressure liquid in the pipeline from back impacting the high-pressure plunger pump (202); the electro-hydraulic proportional flow valve (210) is located downstream of the pilot-operated check valve (209) to adjust the output flow to the cleaning nozzle (200) in real time according to the control command.

5. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 4, characterized in that: A high-voltage accumulator (208) is also connected in parallel on the telescopic connecting pipe (201). The access interface of the high-voltage accumulator (208) is connected to the pipeline section between the proportional relief valve (207) and the pilot-operated check valve (209).

6. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 3, characterized in that, The circulating filtration unit further includes: A connecting hose (302) is connected at one end to the water storage tank (211) and at the other end to the top of the return water tank (300). The output end of the lifting water pump (301) is connected to the connecting hose (302). A one-way valve (304) is connected in series with the connecting hose (302) to prevent the cleaning fluid in the water storage tank (211) from flowing into the return water tank (300) through the connecting hose (302). The pumping hose (303) has one end connected to the input end of the lifting pump (301) and the other end extended to the area below the liquid level inside the return tank (300) to ensure that the pumped liquid is the supernatant after being fully filtered by the filter cartridge (306). The sludge tank (307) is fixedly installed on the side of the return water tank (300) and is used to collect impurities removed from the filter surface of the filter cartridge (306).

7. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 1, characterized in that: A storage screen (105) for holding the material to be cleaned is fixedly installed inside the base (100). The pressure plates (400) are multiple pieces, and the multiple pressure plates (400) are arranged in a rectangular array between the bottom of the storage screen (105) and the top of the return water tank (106); one side of each pressure plate (400) is independently hinged to the inner wall of the base (100).

8. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 7, characterized in that, The pneumatic piston mechanism includes: Multiple pressure chambers (401) are fixedly disposed inside the base (100), and the position of each pressure chamber (401) corresponds one-to-one with the space below each pressure plate (400); Multiple pressure pistons (402) are slidably connected in the vertical direction to the corresponding pressure chamber (401). The top end of the piston rod extends upward out of the upper wall of the pressure chamber (401) and is fixedly installed with a ball (405). The ball (405) forms a rolling contact with the bottom surface of the pressure plate (400) located above it. Multiple return springs (403) are respectively housed inside each pressure chamber (401). One end of each return spring (403) is fixedly connected to the inner wall of the pressure chamber (401), and the other end is fixedly connected to the piston surface of the corresponding pressure piston (402). They are used to drive the pressure piston (402) to return upward after the impact force on the pressure plate (400) is weakened. The passive chamber (406) is fixed to one side of the outer wall of the return water tank (300), and the pressure chamber (401) is connected to the passive chamber (406) through the corresponding pressure transmission hole (404); A pusher (407) is slidably connected in the passive cavity (406), with one end of the pusher (407) away from its piston end passing through the side wall of the return water tank (300) and extending into the interior of the return water tank (300).

9. The intelligent consumables cleaning robot with a circulating high-pressure unit according to claim 8, characterized in that, The transmission mechanism includes: Multiple inclined teeth (409) are uniformly fixedly connected to the outer surface of the filter cylinder (306) in the circumferential direction, and each of the inclined teeth (409) has an inclined surface that is inclined in the same circumferential direction along the filter cylinder (306); A torsion spring cam (408) is hinged to the push plug (407) at its extended end into the return water tank (300) by a torsion spring. The torsion spring cam (408) has a semi-circular surface and a cam surface. When the pusher (407) moves in the reset direction, the torsion spring cam (408) flips in the opposite direction under the torsion spring reset force, and its cam surface again abuts against and pushes the inclined surface of the same inclined tooth (409), driving the filter cartridge (306) to continue rotating, and introducing the torsion spring cam (408) into the transmission path of the next inclined tooth (409), thereby converting the reciprocating linear motion of the pusher (407) into the unidirectional intermittent rotation of the filter cartridge (306); The return water tank (300) is internally fixedly connected to a scraper (308), which is constructed as an oblique scraper blade with its scraping edge abutting against the outer filter surface of the filter cartridge (306).

10. A method for cleaning intelligent consumables with a circulating high-pressure unit, employing an intelligent consumables cleaning robot with a circulating high-pressure unit as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Control the Cartesian coordinate type robotic arm to drive the cleaning nozzle (200) to move in three-dimensional space so that the cleaning nozzle (200) is aligned with the material to be cleaned; start the high-pressure plunger pump (202), control multiple high-speed electromagnetic switch valves (205) to independently open and close with a set duty cycle, adjust the liquid inlet into each plunger chamber of the high-pressure plunger pump (202), so that the cleaning nozzle (200) sprays out a high-pressure water jet with a set pressure and flow rate to flush the material; S2. After being reflected and penetrated by the material, the high-pressure water column carries residual impact force and is sprayed onto the pressure plate (400), driving the pressure plate (400) to rotate from an inclined state to a horizontal state; the downward pressing action of the pressure plate (400) drives the rotating component to run. S3. The rotating component drives the filter cartridge (306) to rotate, thereby cleaning the filter cartridge (306).

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