Full-automatic mechanical defrosting equipment

Abstract

The utility model discloses full-automatic mechanical defrosting equipment, which is used for defrosting a refrigeration storage calandria and comprises a recognition element, a control element, a defrosting element and a defrosting element, and is characterized in that the recognition element is used for recognizing the frosting thickness of the refrigeration storage calandria; the sweeping device comprises a sweeping mechanism, and the sweeping device sweeps frost on the refrigeration house calandria through the sweeping mechanism; and the control element is in signal connection with the identification element and the cleaning device, and the control element is used for controlling the cleaning device to defrost according to the condition that the frosting thickness of the refrigeration house calandria is higher than or equal to a first threshold value. In the application, the frosting thickness of the refrigeration house can be identified through the identification element, so that the control element can control the cleaning device to defrost at the initial stage of frosting, and initial defrosting and automatic defrosting are realized. In the early stage of frosting, the frosting thickness is small, defrosting is convenient, at the moment, defrosting is easier and more thorough, the defrosting effect can be improved, and energy consumption can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the defrosting technical field of the cold storage pipe, and particularly relates to a full-automatic mechanical defrosting device. BACKGROUND

[0002] In various cold storages, pipe frost is a very common problem. After frosting, the refrigeration effect is greatly reduced, and energy consumption is increased. Therefore, defrosting of the cold storage is a problem that needs to be handled frequently.

[0003] At present, the defrosting methods of the cold storage all need to consume a large amount of energy or cost manpower and material resources, are not economic and environmentally friendly, and the main reason is that the cycle is long, the defrosting is difficult, and when the cleaning is not in time, too much energy is easily consumed. CONTENT OF THE UTILITY MODEL

[0004] To solve the above technical problems, the present application provides a full-automatic mechanical defrosting device capable of defrosting at the initial stage of frosting of the cold storage pipe, and improving the defrosting effect.

[0005] The present application is implemented through the following technical solutions.

[0006] The present application provides a full-automatic mechanical defrosting device for defrosting the cold storage pipe, comprising: a recognition element for recognizing the frosting thickness of the cold storage pipe; a cleaning device comprising a cleaning mechanism, the cleaning device removes the frosting of the cold storage pipe through the cleaning mechanism; and a control element in signal connection with the recognition element and the cleaning device, the control element is used for controlling the cleaning device to defrost when the frosting thickness of the cold storage pipe is higher than or equal to a first threshold value.

[0007] In the present application, the recognition element can recognize the frosting thickness of the cold storage, so that the control element can control the cleaning device to defrost at the initial stage of frosting, and realize initial defrosting and automatic defrosting. At the initial stage of frosting, the thickness of the frosting is small, which is convenient for defrosting, and defrosting at this time is easier and more complete, which can improve the defrosting effect and reduce energy consumption.

[0008] In some embodiments of the present application, the full-automatic mechanical defrosting device further comprises: a walking device connected with the cleaning device, the walking device is movable along the cold storage pipe and drives the cleaning device to move.

[0009] The walking device can move along the cold storage pipe and drive the cleaning device to move, which is helpful for the cleaning device to defrost the pipes in a certain range as a whole, and in addition, for some positions of the pipes that are prone to frosting or frost quickly, the walking device can move the cleaning device to these positions for targeted defrosting.

[0010] In some embodiments of the present application, the cleaning device comprises a rotating mechanism, the cleaning mechanism is arranged on the rotating mechanism, the rotating mechanism drives the cleaning mechanism to rotate to switch the cleaning mechanism between the working position and the avoiding position, when the cleaning mechanism is in the working position, the cleaning mechanism contacts the cold storage pipe, and when the cleaning mechanism is in the avoiding position, there is a gap between the cleaning brush and the cold storage pipe, wherein the rotating mechanism is signal connected with the control element, and the rotating mechanism rotates according to the control of the control element; the cleaning mechanism is signal connected with the control element, and the cleaning mechanism cleans according to the control of the control element.

[0011] In the process of moving the walking device, the rotating mechanism can rotate to achieve obstacle avoidance.

[0012] In some embodiments of the present application, when the cleaning mechanism is in the avoiding position, the cleaning mechanism is arranged parallel to the cold storage pipe or at an angle. Arranging the cleaning mechanism parallel to the cold storage pipe or at an angle can achieve obstacle avoidance.

[0013] In some embodiments of the present application, the rotating mechanism comprises a base and a push rod assembly, one end of the push rod assembly is connected with the walking device, the cleaning mechanism is arranged on the base, the base is hinged with the walking device through a fixed shaft, the push rod of the push rod assembly is connected with the base, and the push rod of the push rod assembly is extended to drive the base and the cleaning mechanism to rotate around the fixed shaft to make the cleaning mechanism rotate and be in the avoiding position; the push rod of the push rod assembly is retracted to drive the base and the cleaning mechanism to rotate around the fixed shaft to make the cleaning mechanism return to the working position.

[0014] The push rod assembly can move in and out, and when moving, it drives the base and the cleaning mechanism to rotate, so as to achieve obstacle avoidance.

[0015] In some embodiments of the present application, the cleaning device comprises a cleaning brush, a first driving device and a second driving device, the first driving device is signal connected with the control element, the first driving device drives the push rod assembly to extend or retract to drive the cleaning mechanism to rotate according to the control of the control element; the second driving device is signal connected with the control element, and the second driving device drives the cleaning brush to rotate to defrost according to the control of the control element.

[0016] The control element can control the rotating mechanism to rotate to achieve obstacle avoidance according to the situation of the obstacle. The first driving device can drive the cleaning mechanism to rotate to achieve obstacle avoidance, and the second driving device can drive the cleaning mechanism to rotate to defrost.

[0017] In some embodiments of the present application, the cold storage pipe is arranged in multiple, the cleaning device is arranged in multiple, the multiple cleaning devices are arranged side by side, the multiple cleaning devices correspond to the multiple cold storage pipes, and the multiple cleaning devices can remove the frost on the cold storage pipes by cleaning.

[0018] The plurality of cleaning devices can simultaneously defrost the plurality of pipes synchronously, improving defrosting efficiency.

[0019] In some embodiments of the present application, the identification element comprises a camera for acquiring the frost thickness of the cold storage pipe; and / or, the identification element comprises an optical sensor arranged on the surface of the cold storage pipe to sense the thickness of the frost on the cold storage pipe; and / or, the identification element comprises an ultrasonic sensor that emits ultrasonic waves towards the cold storage pipe and receives reflected ultrasonic signals to acquire the thickness of the frost on the cold storage pipe.

[0020] The identification element acquires the frost thickness of the cold storage pipe, and the identification element can include one or more of a camera, an optical sensor, and an ultrasonic sensor, which can be specifically arranged according to different cold storage and different cold storage pipes to achieve better identification effect.

[0021] In some embodiments of the present application, the fully automatic mechanical defrosting device comprises a position sensor, and the control element acquires the position of the walking device through the position sensor.

[0022] According to the position of the walking device acquired by the position sensor, the control element can operate the cleaning device to perform defrosting, moving, obstacle avoidance, and other work.

[0023] In some embodiments of the present application, the position sensor is arranged at the end of the walking device on the walking path, and is used to acquire the position of the walking device and obstacle information on the walking path of the walking device.

[0024] The position sensor is arranged at the end, which is conducive to accurately acquiring the position of the walking device, and can more accurately acquire the distance, size, and other information of the obstacle.

[0025] In some embodiments of the present application, the fully automatic mechanical defrosting device comprises a control device, and the identification element and the control element are integrated in the control device. The control device further comprises a display for displaying the information acquired by the identification element and the control element.

[0026] By integrating the identification element and the control element in the control device, the space can be saved and the circuit layout can be simplified. The display displays the information acquired by the identification element and the control element, which is helpful to realize manual real-time monitoring of the defrosting condition of the cold storage pipe. BRIEF DESCRIPTION OF DRAWINGS

[0027] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Moreover, the same reference numerals in the drawings indicate the same or similar elements. In the drawings:

[0028] Figure 1 Block diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application;

[0029] Figure 2 Structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application defrosting the cold storage pipe;

[0030] Figure 3 Structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application when the cleaning mechanism is in the avoiding position during defrosting the cold storage pipe;

[0031] Figure 4 Top structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application;

[0032] Figure 5 Structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application defrosting the cold storage pipe;

[0033] Figure 6 Structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application when the cleaning mechanism is in the avoiding position during defrosting the cold storage pipe;

[0034] Figure 7 Structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application when the pushing assembly is extended;

[0035] Figure 8 Structural schematic diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application when the pushing assembly is retracted;

[0036] Figure 9 Block diagram of the full-automatic mechanical defrosting equipment provided for some embodiments of the present application.

[0037] Explanation of reference signs

[0038] 1. full-automatic mechanical defrosting equipment; 10. identification element; 2. cold storage pipe; 20. control element; 3. rack; 30. cleaning device; 300. rotating mechanism; 301. base; 310. fixed shaft; 302. push rod; 321. base; 31. second driving device; 32. cleaning brush; 40. traveling device; 401. third driving device; 42. traveling wheel; 43. support; 402. driving sprocket; 404. coupling; 50. position sensor; X. first direction; Y. second direction; Z. third direction; A. working position; B. avoiding position. DETAILED DESCRIPTION

[0039] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, but cannot be used to limit the protection scope of the present application.

[0040] In each large cold storage, frost removal is a very common problem. After frosting, it will cause the refrigeration effect to be greatly discounted, and increase energy consumption. Therefore, frost removal of the cold storage is a problem that needs to be handled frequently.

[0041] At present, the frost removal methods of the cold storage all need to consume a large amount of energy or cost manpower and material resources, which is not economic and environmentally friendly. The main reason is that the cycle is long, the frost removal is difficult, and when it cannot be cleaned in time, it is easy to consume too much energy.

[0042] To solve the above technical problems, the present application provides a full-automatic mechanical defrosting device which can defrost the cold storage pipe at the initial stage of frost formation, thereby improving the defrosting effect.

[0043] The full-automatic mechanical defrosting device provided by the present application is used for defrosting the cold storage pipe, which comprises: a recognition element for recognizing the frost thickness of the cold storage pipe; a cleaning device comprising a cleaning mechanism, the cleaning device removes the frost on the cold storage pipe through the cleaning mechanism; and a control element connected with the recognition element and the cleaning device, the control element is used for controlling the cleaning device to defrost when the frost thickness of the cold storage pipe is higher than or equal to a first threshold value.

[0044] In the present application, the recognition element can recognize the frost thickness of the cold storage, so that the control element can control the cleaning device to defrost at the initial stage of frost formation, thereby realizing initial defrosting and automatic defrosting. At the initial stage of frost formation, the frost thickness is small, which is convenient for defrosting. At this time, defrosting is easier and more complete, which can improve the defrosting effect and reduce energy consumption.

[0045] Figure 1 The block diagram of the full-automatic mechanical defrosting device provided by some embodiments of the present application is shown in the figure; Figure 2 The structure schematic diagram of the full-automatic mechanical defrosting device provided by some embodiments of the present application for defrosting the cold storage pipe is shown in the figure; Figure 3 The structure schematic diagram of the full-automatic mechanical defrosting device provided by some embodiments of the present application for defrosting the cold storage pipe is shown in the figure; Figure 4 The top view structure schematic diagram of the full-automatic mechanical defrosting device provided by some embodiments of the present application is shown in the figure; Figure 5 The structure schematic diagram of the full-automatic mechanical defrosting device provided by some embodiments of the present application for defrosting the cold storage pipe is shown in the figure; Figure 6 The structure schematic diagram of the full-automatic mechanical defrosting device provided by some embodiments of the present application for defrosting the cold storage pipe is shown in the figure; Figure 7Structure diagram of the pushing assembly of the full-automatic mechanical defrosting equipment provided in some embodiments of the present application extending out; Figure 8 Structure diagram of the pushing assembly of the full-automatic mechanical defrosting equipment provided in some embodiments of the present application retracting; Figure 9 Structure diagram of the walking wheel provided in some embodiments of the present application; Figure 9 Block diagram of the full-automatic mechanical defrosting equipment provided in some embodiments of the present application.

[0046] As shown in Figures 1 to 9 the full-automatic mechanical defrosting equipment 1 of the present application can include an identification element 10, a control element 20 and a cleaning device 30. The control element 20 can be signal connected with the identification element 10 and the cleaning device 30, for example, can be electrically connected, and the control element 20 can transmit signals to the identification element 10 and the cleaning device 30 through electrical signals. However, the present application is not limited thereto, and in some embodiments, the control element 20 can be WiFi connected or Bluetooth connected with the identification element 10 and the cleaning device 30.

[0047] In the present application, the identification element 10 can identify the frost thickness of the cold storage pipe, and the identification element 10 can include one or more of a camera, an optical sensor and an ultrasonic sensor, and can be set according to different cold stores and different cold storage pipes to achieve better identification effect.

[0048] In the present application, the identification element 10 can have the ability to identify the cold storage pipe 2, for example, the identification element 10 can continuously identify without interruption and continuously transmit signals to the control element 20 without interruption, but the present application is not limited thereto, and in some embodiments, the identification element 10 can identify intermittently, for example, the identification element 10 can identify at regular intervals or at random intervals. In some embodiments, if the frost thickness obtained by the identification element 10 is greater than or equal to a first threshold value, the control element 20 will control the cleaning device 30 to defrost, and in this case, the identification element 10 can extend the identification time.

[0049] In some embodiments of the present application, the identification element 10 can identify the frost thickness of the cold storage pipe 2 by visual identification. For example, the identification element 10 can include a camera for obtaining the frost thickness of the cold storage pipe 2. The frost thickness of the cold storage pipe 2 is obtained by taking a picture of the cold storage pipe 2 by the camera. The camera can be a high-definition camera, for example, the high-definition camera is used to take a picture of the on-site condensing pipe, and a comparison is made with the picture taken when there is no frost, and a relevant model is established to identify the frost thickness of the condensing pipe (cold storage pipe).

[0050] In the present application, the identification element 10 can include an identification module that can be compared with the photo without frosting and establish a relevant model to identify the frost thickness of the condenser pipe (cold storage pipe). However, the present application is not limited thereto, and in some embodiments, the identification element 10 can also transmit the picture to the control element 20, and the identification module of the control element 20 can be compared with the photo without frosting and establish a relevant model to identify the frost thickness of the condenser pipe (cold storage pipe).

[0051] In the present application, it is not limited to identification by model, and in some embodiments, the picture taken by the camera can be transmitted to the display (for example, the display of the control device) for manual identification of the frost thickness of the cold storage pipe 2 by the operator.

[0052] In the present application, the identification element 10 can be a visual identification system, for example, it can be a chip, circuit or circuit board with identification function.

[0053] In the present application, the visual identification system can be composed of high-definition camera, high-definition camera, industrial computer, large-screen display, embedded computer and other parts, and its function is mainly to take pictures of the condenser pipe on site by high-definition camera, compare with the photo without frosting, and establish a relevant model to identify the frost thickness of the condenser pipe.

[0054] In the present application, the identification element 10 can identify the frost thickness of the cold storage pipe 2 by optical element. For example, the identification element 10 can include an optical sensor, which can be arranged on the surface of the cold storage pipe 2 to sense the thickness of the frost on the cold storage pipe 2.

[0055] For example, the identification element 10 can be an optical sensor that can sense the intensity of ambient light. After frosting, it will cause the optical sensor to sense a decrease in light intensity, and the thickness of the frost will be different, so the optical sensor will sense different light intensity, thereby obtaining the thickness of the frost.

[0056] In the present application, the optical sensor can be arranged as a single sensor, for example, it can be arranged at a position where the cold storage pipe 2 is prone to frost. The optical sensor can also be arranged as multiple sensors, and multiple optical sensors can be distributed at different positions of the cold storage pipe 2 to more accurately obtain the thickness of the frost.

[0057] In the present application, the identification element 10 can identify the frost thickness of the cold storage pipe 2 by ultrasonic wave. For example, the identification element 10 can include an ultrasonic sensor that emits ultrasonic waves toward the cold storage pipe and receives reflected ultrasonic signals to obtain the thickness of the frost on the cold storage pipe.

[0058] In the present application, the control element 20 can be an element capable of controlling the defrosting of the cleaning device 30 according to the frost thickness of the refrigeration pipeline being higher than or equal to the first threshold value, for example, can be a chip (main control chip), a circuit board or a circuit. The control element 20 can include one or more of the following: a receiving module for receiving signals transmitted by other elements; a processing module for processing, operating, comparing the received signals, and obtaining the results after processing, operation and comparison; a control module for outputting corresponding signals to other elements according to the results obtained by the processing module to control other elements to perform corresponding operations.

[0059] In the present application, the control element 20 (intelligent control system) is composed of PLC, touch screen, sensor, circuit breaker, relay and the like, and its main function is to obtain the specific position of the trolley through the sensor, and control the cleaning system and the running driving system.

[0060] As shown in Figure 1 , the control element 20 can receive the frost status (for example, the frost picture) of the refrigeration pipeline 2 input by the identification element 10, and obtain the thickness of the frost according to the frost status, and control the cleaning device 30 to defrost based on the thickness of the frost being greater than or equal to the first threshold value.

[0061] In the present application, the first threshold value can be 2mm. The frost thickness less than or equal to 2mm can be considered as the initial stage of frost, which is easy to defrost, has good defrosting effect and can reduce the energy consumption of defrosting. The present application is set to start defrosting when the frost thickness is greater than or equal to 2mm, and the automatic mechanical defrosting device is started when the threshold is exceeded, which is beneficial to energy saving. It should be pointed out that the first threshold value of the present application is not specifically limited, and can be set according to the specific conditions of the refrigeration pipeline.

[0062] In the present application, as shown in Figure 1 , after receiving the picture of the refrigeration pipeline 2, the control element 20 can process the picture, extract the picture information, etc. If the picture is not clear or has other problems, the control element 20 can transmit a signal to the identification element 10 to control the identification element 10 to take a picture again.

[0063] In the present application, as described above, the identification element 10 can also directly obtain the thickness of the frost or directly obtain whether defrosting is needed, and can transmit the thickness or defrosting signal to the control element 20, and the control element 20 can drive the cleaning device 30 to defrost accordingly.

[0064] In some embodiments of the present application, the fully-automated mechanical defrosting device 1 can comprise a control device (not shown), the identification element 10 and the control element 20 can be integrated in the control device, and the control device can further comprise a display, which can be used to display the information obtained by the identification element 10 and the control element 20.

[0065] By integrating the identification element and the control element in the control device, the space can be saved and the circuit layout can be simplified. The display displays the information obtained by the identification element and the control element, which helps to realize manual real-time monitoring of the defrosting condition of the refrigeration pipeline.

[0066] In the present application, the cleaning device 30 can clean the frost on the refrigeration pipeline.

[0067] In some embodiments of the present application, as shown in Figures 1 to 3 , the cleaning device 30 can comprise a cleaning mechanism, which can comprise a cleaning brush 32, and the cleaning mechanism can clean the frost on the refrigeration pipeline by the cleaning brush 32.

[0068] In some embodiments of the present application, the refrigeration pipeline 2 has a plurality, and the cleaning device 30 is provided in a plurality, the plurality of cleaning devices 30 can be arranged side by side, the plurality of cleaning devices 30 correspond to the plurality of refrigeration pipelines 2, and one of the plurality of cleaning devices can clean the refrigeration pipeline 2 to remove the frost on the refrigeration pipeline 2.

[0069] In the present application, as shown in Figure 3 , Figure 5 and Figure 6 , the refrigeration pipeline 2 can be provided in two rows, the two rows of refrigeration pipelines 2 are stacked in the third direction Z, the plurality of cleaning devices 30 can be arranged side by side, and one of the plurality of cleaning devices can clean the refrigeration pipeline 2 to remove the frost on the refrigeration pipeline 2.

[0070] The plurality of cleaning devices can simultaneously defrost the plurality of pipelines synchronously, which improves the defrosting efficiency.

[0071] In some embodiments of the present application, as shown in Figures 2 to 9 , the fully-automated mechanical defrosting device 1 can further comprise a walking device 40, the walking device 40 can be connected with the cleaning device 30, and the walking device 40 can move along the refrigeration pipeline 2 and drive the cleaning device 30 to move.

[0072] In the present application, the walking device 40 can move along the refrigeration pipeline 2 and drive the cleaning device 30 to move, which helps the cleaning device 30 to defrost the pipelines in a certain range as a whole, and in addition, for some positions of the pipelines where frost is easy to form or frost forms quickly, the walking device 40 can move the cleaning device 30 to these positions for targeted defrosting.

[0073] In the present application, as shown in Figures 1 to 9 The walking device 40 can include a third driving device 401, a shaft coupling 404, a walking wheel 42 and a support 43. The third driving device 401 can be a motor, which can be signal connected with the control element 20 and drive the walking wheel 42 to rotate to realize the movement of the walking device 40 according to the signal transmitted by the control element 20.

[0074] In the present application, the support 43 can extend in the first direction X, and a plurality of cleaning devices 30 are arranged on the support 43 and arranged in the first direction X. The cleaning device 30 extends in the second direction Y.

[0075] In the present application, a plurality of cold storage pipes 2 are arranged in the first direction X, and the cold storage pipes 2 extend in the second direction Y, and the full-automatic mechanical defrosting device 1 moves along the second direction Y.

[0076] In the present application, as shown in Figures 2 to 9 The walking wheel 42 can have a pair, and the pair of walking wheels 42 can be arranged at opposite ends of the support 43 respectively. The walking wheel 42 can include a driving sprocket 402 and a driving chain track.

[0077] In the present application, the shaft coupling 404 can be arranged in a pair, and the pair of shaft couplings 404 can be arranged on both sides of the third driving device 401, and the shaft couplings 404 are respectively connected with the pair of walking wheels 42. The third driving device 401 can drive the driving sprocket 402 to move in the driving chain track by driving the shaft couplings 404 on both sides. By arranging the shaft couplings, rigid synchronization can be realized.

[0078] In the present application, the walking device 40 walking driving system mainly includes a driving motor, a driving sprocket, a chain track, a shaft coupling and the like.

[0079] In some embodiments of the present application, as shown in Figure 2 and Figure 3 The cleaning device 30 can include a rotating mechanism 300, and a cleaning mechanism is arranged on the rotating mechanism 300. The rotating mechanism 300 can drive the cleaning mechanism to rotate to switch the cleaning mechanism between a working position A and an avoiding position B. When the cleaning mechanism is in the working position A, the cleaning mechanism contacts the cold storage pipe 2. When the cleaning mechanism is in the avoiding position B, there is a gap between the cleaning mechanism and the cold storage pipe 2.

[0080] In the present application, Figure 5 A schematic view of the cleaning device 30 defrosting is shown, Figure 5 The cleaning mechanism in the working position A is shown.

[0081] In the present application, Figure 6A schematic view showing the cleaning device 30 avoiding during defrosting is shown, Figure 6 A case where the cleaning mechanism is in the avoiding position B is shown in the middle. When the cleaning mechanism is in the avoiding position B, the cleaning mechanism can be parallel to the cold storage pipe 2.

[0082] In this application, the cleaning mechanism in the avoiding position B and in the working position A can have 90°. But the present disclosure is not limited thereto, in some embodiments, the cleaning mechanism in the avoiding position B and in the working position A can have other angles.

[0083] In this application, the rotating mechanism 300 can be signal connected with the control element 20, and the rotating mechanism 300 rotates according to the control of the control element 20.

[0084] The cold storage is usually provided with various equipment, devices, components, frozen goods, supports, etc. For example, the cold storage pipe 2 is usually supported by the rack 3. During the movement of the walking device 40, i.e. during the defrosting process of the full-automatic mechanical defrosting device 1, the full-automatic mechanical defrosting device 1, especially the cleaning device 30, is close to the cold storage pipe 2, and the cleaning mechanism has the risk of colliding with various equipment, devices, components, frozen goods, supports, etc. The rotating mechanism 300 can drive the cleaning mechanism to rotate, thereby achieving obstacle avoidance.

[0085] In some embodiments of the present application, the cleaning device 30 can include a cleaning brush 32, a first driving device and a second driving device 31. The first driving device can be signal connected with the control element 20, and the first driving device can drive the push rod assembly to extend or retract to drive the cleaning mechanism to rotate according to the control of the control element 20.

[0086] The first driving device can be a motor, which can be signal connected with the control element 20 and drive the push rod assembly to extend or retract to drive the cleaning device to rotate to achieve obstacle avoidance according to the signal transmitted by the control element 20. In embodiments with multiple cleaning devices 30, each cleaning device 30 can have a first driving device.

[0087] In this application, the second driving device 31 can be signal connected with the control element 20, and the second driving device 31 can drive the cleaning brush 32 to rotate to clean and defrost according to the signal transmitted by the control element 20.

[0088] In some embodiments of the present application, as shown in Figure 1 and Figure 6 The full-automatic mechanical defrosting device 1 can include a position sensor 50, and the control element 20 can obtain the position of the walking device 40 through the position sensor 50.

[0089] According to the position of the walking device 40 acquired by the position sensor 50, the control element 20 can operate the cleaning device 30 to perform defrosting, moving, obstacle avoidance and other work. The position sensor 50 can be one or more of an optical sensor, an infrared sensor, a camera, etc.

[0090] In some embodiments of the present application, the position sensor 50 can be arranged at the end of the walking device 40 on the walking path, for example, the position sensor 50 can be arranged at the end of the walking device 40 in the second direction Y. In this way, the position sensor 50 can acquire the position of the walking device 40 and obstacle information on the walking path of the walking device 40.

[0091] The position sensor 50 is arranged at the end, which is conducive to accurately acquiring the position of the walking device 40, and can more accurately acquire information such as the distance and size of the obstacle.

[0092] In the present application, the control element 20 can control the rotation mechanism 300 to rotate to achieve obstacle avoidance according to the information acquired by the position sensor 50.

[0093] In some embodiments of the present application, the rotation mechanism 300 can include a base 301 and a push rod assembly, one end of the push rod assembly is connected with the walking device 40, the cleaning mechanism is arranged on the first side of the base 301, and the push rod assembly is extended or retracted to drive the cleaning mechanism to rotate to achieve obstacle avoidance.

[0094] In the present application, as shown in Figure 2 , Figure 3 , Figures 5 to 8 , the push rod assembly can include a base and a push rod 302, the push rod 302 is accommodated in the base 321 and can be extended from the base 321 or retracted towards the base 321 to extend or reciprocate in the second direction Y.

[0095] As shown in Figure 7 and Figure 8 , the base 301 can be connected with the walking device 40 through a fixed shaft 310, one end of the push rod assembly is connected with the walking device 40, the other end of the push rod assembly is connected with the base 301, the push rod 302 of the push rod assembly is extended to push the base 301 and the cleaning mechanism to rotate and make the cleaning mechanism rotate and be in the avoidance position B, and the cleaning brush 32 has a gap with the cold storage duct 2 when the cleaning mechanism is in the avoidance position B. In the case of obstacle avoidance, the push rod 302 of the push rod assembly is retracted to drive the base 301 and the cleaning mechanism to rotate around the fixed shaft 310 to return to the working position A, and the cleaning brush 32 has contact with the cold storage duct 2 when the cleaning mechanism is in the working position A.

[0096] As shown in Figure 7 and Figure 8As shown, the base 301 can rotate around the fixed shaft 310. One side of the base 301 is provided with the cleaning mechanism, and the other side of the base 301 can be connected with the push rod 302 to make the base 301 rotate with the push rod 302.

[0097] In the present application, as shown in Figure 7 the push rod assembly can be connected with the base 301, and the push rod 302 of the push rod assembly extends along the cold storage ducts 2 relative to the walking device 40 to drive the base 301 to rotate around the fixed shaft 310, so that the cleaning mechanism is located in the avoiding position B.

[0098] As shown in Figure 2 and Figure 8 the push rod 302 of the push rod assembly is retracted along the cold storage ducts 2 relative to the walking device 40 to drive the base 301 to rotate around the fixed shaft 310, so that the cleaning mechanism is located in the working position A. In the present application, Figure 2 the case where the cleaning mechanism is in the working position A is shown, Figure 8 the case where the cleaning mechanism is in the position between the working position A and the avoiding position B is shown. However, the present application is not limited thereto, and in some embodiments, Figure 8 the case where the cleaning mechanism is in the avoiding position is also shown.

[0099] It should be pointed out that the present application is not limited to the above-mentioned scheme in which the push rod drives the base to rotate around the fixed shaft, and in some embodiments, the rotating mechanism can also be other structures as long as it can achieve the rotation of the cleaning mechanism to avoid obstacles. For example, in some embodiments, the rotating mechanism can include a base and a pair of elastic members, one pair of elastic members is respectively located on both sides of the base, the cleaning mechanism is fixed by the pair of elastic members, and the cleaning mechanism is driven to rotate by the elongation and shortening of the elastic members. For example, the elastic members are elongated or shortened to drive the cleaning mechanism to rotate to achieve obstacle avoidance, and the elastic members are shortened or elongated to make the cleaning mechanism automatically reset to the working position after passing through the obstacle.

[0100] In the present application, as shown in Figure 5 the cleaning brush 32 can cover two or more of the same column in the two rows of cold storage ducts 2, so that two or more cold storage ducts 2 can be cleaned and defrosted at the same time.

[0101] In the present application, as shown in Figure 5 two of the same column in the two rows of cold storage ducts 2 can be arranged in a staggered manner, and the cleaning brush 32 of the cleaning mechanism can also be arranged obliquely to ensure that each cold storage duct 2 can be cleaned in place and a larger area of the cold storage duct 2 can be cleaned. If the cleaning brush 32 of the cleaning mechanism is arranged vertically, the upper row of ducts can only be swept to the lower plane, and the cleaning range is limited.

[0102] In the present application, when the cleaning mechanism is in the avoiding position B, the cleaning mechanism can be parallel to the cold storage pipe 2, thereby smoothly passing through and avoiding collision with the rack 3 supporting the cold storage pipe 2. In some embodiments, the cleaning mechanism is switched by 90° between the working position A and the avoiding position B, but the present disclosure is not limited thereto, and in some embodiments, the cleaning mechanism is switched by other angles between the working position and the avoiding position, as long as the effect of avoiding obstacles can be achieved.

[0103] However, the present application is not limited thereto, and in some embodiments, when the cleaning mechanism is in the avoiding position, the cleaning brush of the cleaning mechanism can be at an angle to the cold storage pipe 2. For example, when the fully automatic mechanical defrosting device 1 moves below the cold storage pipe 2 for defrosting, when the cleaning mechanism is in the avoiding position, the cleaning brush of the cleaning mechanism can be directed away from the cold storage pipe 2, for example, the cleaning brush 32 can be at an angle to the cold storage pipe 2 and the cleaning brush 32 is directed away from the cold storage pipe 2 and close to the ground.

[0104] The rotating mechanism 300 can drive the cleaning mechanism to rotate so that the cleaning mechanism is switched between the working position A and the avoiding position B, when the cleaning mechanism is in the working position A, the cleaning brush 32 is in contact with the cold storage pipe 2 to remove frost, and when the cleaning mechanism is in the avoiding position B, there is a gap between the cleaning brush 32 and the cold storage pipe 2.

[0105] In the present application, the push rod can be an electric push rod.

[0106] In the present application, the push rod assembly is movable along the cold storage pipe 2, and when moving, it pushes the base 301 and the cleaning mechanism to rotate, which is beneficial to save space for rotation. Specifically, when the movement of the push rod assembly and the movement of the walking device are in the same direction, it is not necessary to occupy other space to realize the rotation of the cleaning mechanism, which is suitable for use in narrow space near the cold storage pipe.

[0107] In the present application, the cleaning device 30 can be composed of a cleaning motor (second driving device), a cleaning mechanism, a bearing seat (base), an electric push rod, a base, etc. The cleaning motor drives the cleaning mechanism to rotate, the bearing seat connects the cleaning mechanism and the cleaning motor, the electric push rod connects the bearing seat and the base, and the extension or shortening of the electric push rod can drive the bearing seat, the cleaning mechanism and the cleaning motor to overturn as a whole, and when it is overturned by 90°, it can avoid the obstacle of the pipe support.

[0108] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application; the terms "include" and "comprise" and variations thereof, as used in the specification and claims and the above description of the drawings, are intended to cover not exclusive inclusion.

[0109] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0110] In this paper, the reference to "embodiments" means that the specific features, structures or properties described in conjunction with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. The skilled in the art explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0111] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are "or" relationship.

[0112] In the description of the embodiments of the present application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed, operated or used in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0113] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanical connection, or it can be electrical connection; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0114] In the description of the embodiments of the present application, unless specifically defined and limited otherwise, the technical term "contact" should be interpreted broadly, which can be direct contact or contact through an intermediate medium layer, which can be contact between two objects in contact without interaction force or contact between two objects in contact with interaction force.

[0115] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A fully automated mechanical defrosting apparatus, characterized in that, A defrosting device for a cold storage pipe, comprising: a recognition element for recognizing the frost thickness of the cold storage pipe; a cleaning device comprising a cleaning mechanism, the cleaning device being configured to remove the frost on the cold storage pipe by the cleaning mechanism; and a control element in signal connection with the recognition element and the cleaning device, the control element being configured to control the cleaning device to defrost when the frost thickness of the cold storage pipe is higher than or equal to a first threshold value.

2. The fully automated mechanical defrosting apparatus according to claim 1, characterized in that, The fully automatic mechanical defrosting device further comprises: a walking device connected to the cleaning device, the walking device being movable along the cold storage pipe and driving the cleaning device to move.

3. The fully automatic mechanical defrosting device according to claim 2, wherein the cleaning device comprises a rotating mechanism, the cleaning mechanism being arranged on the rotating mechanism, the rotating mechanism being configured to switch the cleaning mechanism between a working position and an avoiding position by driving the cleaning mechanism to rotate, the cleaning mechanism being in contact with the cold storage pipe when the cleaning mechanism is in the working position, and the cleaning mechanism having a spacing from the cold storage pipe when the cleaning mechanism is in the avoiding position, wherein the rotating mechanism is in signal connection with the control element, the rotating mechanism being configured to rotate according to the control of the control element; the cleaning mechanism is in signal connection with the control element, the cleaning mechanism being configured to clean according to the control of the control element.

4. The fully automatic mechanical defrosting device according to claim 3, wherein when the cleaning mechanism is in the avoiding position, the cleaning mechanism is arranged in parallel with the cold storage pipe or at an angle.

5. The fully automatic mechanical defrosting device according to claim 3, wherein the rotating mechanism comprises a base and a push rod assembly, one end of the push rod assembly being connected to the walking device, the cleaning mechanism being arranged on the base, the base being hinged to the walking device through a fixed shaft, the push rod of the push rod assembly being connected to the base, and the push rod of the push rod assembly being extended to drive the base and the cleaning mechanism to rotate around the fixed shaft so that the cleaning mechanism rotates and is in the avoiding position; the push rod of the push rod assembly being retracted to drive the base and the cleaning mechanism to rotate around the fixed shaft so that the cleaning mechanism returns to the working position.

6. The fully automatic mechanical defrosting device according to claim 5, wherein the cleaning device comprises a cleaning brush, a first driving device and a second driving device, the first driving device being in signal connection with the control element, the first driving device being configured to drive the push rod assembly to extend or retract to drive the cleaning mechanism to rotate according to the control of the control element; the second driving device being in signal connection with the control element, the second driving device being configured to drive the cleaning brush to rotate to clean according to the control of the control element.

7. The fully automatic mechanical defrosting device according to any one of claims 1 to 6, wherein The cold storage pipe is provided in plurality, the cleaning device is provided in plurality, the plurality of cleaning devices are provided side by side, the plurality of cleaning devices correspond to the plurality of cold storage pipes, and the plurality of cleaning devices drive the cleaning mechanism to rotate to remove the frost of the cold storage pipe.

8. The fully-automated mechanical defrosting device according to any one of claims 1 to 6, characterized in that, the identification element comprises a camera for acquiring the frost thickness of the cold storage pipe; and / or the identification element comprises an optical sensor arranged on the surface of the cold storage pipe to sense the thickness of the frost of the cold storage pipe; and / or the identification element comprises an ultrasonic sensor that emits ultrasonic waves toward the cold storage pipe and receives reflected ultrasonic signals to acquire the thickness of the frost of the cold storage pipe.

9. The fully-automated mechanical defrosting device according to any one of claims 2 to 6, characterized in that, the fully-automated mechanical defrosting device comprises a position sensor, and the control element acquires the position of the walking device through the position sensor.

10. The fully-automated mechanical defrosting device according to claim 9, characterized in that, the position sensor is arranged at the end of the walking path of the walking device, and the position sensor is used to acquire the position of the walking device and obstacle information on the walking path of the walking device.

11. The fully-automated mechanical defrosting device according to any one of claims 1 to 6, characterized in that, the fully-automated mechanical defrosting device comprises a control device, the identification element and the control element are integrated in the control device, the control device further comprises a display for displaying the information acquired by the identification element and the control element.

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