Three-dimensional rotating nozzle driven by dual motors

Abstract

The utility model discloses a three -dimensional rotary shower of double motor drive, including two groups of drive motor device, inner rod transmission device, outer rod transmission device and water outlet device, two groups of drive motor device are mutually independent control, and two groups of drive motor device are respectively with the inner rod of inner rod transmission device, the outer rod transmission of outer rod transmission device drives and connects. Through the change of double motor's rotating speed, obtains different rotating speed ratio, can obtain different period parameters. Through the real -time feedback movement state of motor encoder and so on sensor, and the motor controller is adjusted output according to the feedback, can according to different container shape, carries out the pertinence cleaning, can save the working time greatly, guarantees the cleaning efficiency again.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a three-dimensional rotating nozzle driven by dual motors, which is suitable for all-round and efficient cleaning of the inside of containers in industries such as chemical, food, and pharmaceutical. Background Technology

[0002] Three-dimensional rotating nozzles, with their 360-degree coverage capability, are widely used in equipment cleaning in industries such as chemical, food, pharmaceutical, and shipbuilding. Existing technologies (such as CN112427155A) typically employ a single-motor driven inner and outer rod combination transmission device: the outer rod drives the entire water outlet device to revolve around its axis, while the inner rod drives the internal rotation of the water outlet device through a bevel gear pair, thus achieving the three-dimensional cleaning function.

[0003] However, these single-motor driven nozzles have the following limitations in practical applications:

[0004] The cleaning trajectory is monotonous: due to the fixed gear transmission ratio (such as 31:29, 47:46, etc.), the number of rotations of the nozzle is fixed, resulting in a high degree of repeatability of the cleaning trajectory and the easy formation of absolute cleaning blind spots (especially in container corners or irregularly shaped areas).

[0005] Poor adaptability: For containers of different shapes and sizes (such as slender storage tanks and reaction vessels with internal components), it is necessary to replace the transmission device with a different gear ratio, which increases maintenance costs and time.

[0006] The contradiction between energy consumption and efficiency: While increasing the number of nozzles can expand the coverage area, it will significantly increase the system flow demand, leading to increased energy consumption, increased pressure loss, and may cause problems such as poor drainage.

[0007] Insufficient control precision: Single motor drive cannot dynamically adjust spray parameters according to the characteristics of the cleaning area (such as dirt thickness and distance from the nozzle), resulting in incomplete or excessive cleaning in certain areas. Utility Model Content

[0008] This invention aims to provide a three-dimensional rotating nozzle driven by dual motors, which solves the problems of large cleaning blind spots, poor adaptability, and insufficient control precision of existing single-motor driven nozzles. By independently controlling the revolution and rotation of the nozzle, a flexible and adjustable cleaning trajectory can be achieved, thereby improving cleaning efficiency and reducing operating costs.

[0009] Design a three-dimensional rotating nozzle driven by dual motors, including an inner rod transmission device, an outer rod transmission device, and a water outlet device. The outer rod of the outer rod transmission device is a hollow structure, fitted outside the inner rod of the inner rod transmission device, and the outer rod and inner rod are coaxially arranged. One end of the outer rod is fixedly connected to the water outlet device. A self-rotating nozzle rotating seat is set inside the water outlet device through a bearing. One end of the inner rod drives the nozzle rotating seat to rotate through a bevel gear pair. The three-dimensional rotating nozzle is characterized by including two sets of drive motor devices, which are independently controlled and respectively connected to the inner rod of the inner rod transmission device and the outer rod of the outer rod transmission device.

[0010] Preferably, each drive motor unit includes a control motor and a speed reducer.

[0011] Furthermore, the motor is controlled using a closed-loop system. An encoder provides real-time feedback of speed and position information, achieving an angle control accuracy of ±0.1°.

[0012] Preferably, the external water inlet device is connected to the water outlet device via an outer rod or an inner rod. The rotation axis of the nozzle rotating seat forms an angle of 80° to 100° with the axis of the outer rod.

[0013] Preferably, the axis of the outer rod is perpendicular to the rotation axis of the nozzle rotating seat.

[0014] Beneficial effects:

[0015] 1. Dynamic trajectory generation:

[0016] By independently controlling the revolution and rotation speed, diverse cleaning trajectories such as spiral, grid, and wave can be generated, eliminating the absolute cleaning blind spots of traditional nozzles;

[0017] The system automatically matches the optimal cleaning path for different container shapes (such as cylindrical, conical, and containers with internal components).

[0018] 2. Energy-saving and efficient:

[0019] Compared to traditional single-motor nozzles, cleaning time is reduced by 30% to 50%, and energy consumption is reduced by 20% to 35%.

[0020] Adjustable nozzle extension rods reduce the number of nozzles required, resulting in a 15% to 25% reduction in total system flow.

[0021] 3. Intelligent control:

[0022] It supports preset cleaning programs and allows for one-click switching between cleaning schemes for different containers;

[0023] The cleaning resistance is monitored in real time by a pressure sensor, and the cleaning parameters (such as rotation speed and flow rate) are automatically adjusted.

[0024] 4. Easy maintenance:

[0025] Modular design allows for quick replacement of wear parts such as motors and speed reducers;

[0026] The gearbox adopts a fully sealed structure with an IP65 protection rating, making it suitable for harsh working conditions. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a three-dimensional rotating nozzle structure driven by dual motors proposed in this utility model.

[0029] In the diagram: 1. First servo motor; 2. Inner rod; 3. First driving gear; 4. Second driven gear; 5. Bottom mounting plate; 6. First bevel gear; 7. Side cover; 8. Second bevel gear; 9. Inlet rotary joint; 10. Second servo motor; 11. Bearing seat; 12. First driven gear; 13. Second driving gear; 14. Gearbox; 15. Outer rod connecting bushing; 16. Outer rod; 17. Nozzle; 18. Nozzle extension rod; 19. Nozzle rotating seat; 20. Water outlet device. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0031] Reference Figure 1A dual-motor driven three-dimensional rotating nozzle includes a bottom mounting plate 5. A gearbox 14 is fixedly mounted on the upper part of the bottom mounting plate 5. A first servo motor 1 and a second servo motor 10 (or other closed-loop control motors, such as closed-loop DC motors) are fixedly mounted on the upper sides of the gearbox 14, respectively. The first servo motor 1 and the second servo motor 10 are independently controlled. The first servo motor 1 is connected to a reducer (not shown in the figure), and its output end is fixedly mounted with a first drive gear 3 located inside the gearbox 14. The second servo motor 10 is connected to a reducer (not shown in the figure), and its output end is fixedly mounted with a second drive gear 13 located inside the gearbox 14. The servo motors provide power for the nozzle device, and the reducer reduces the speed transmitted from the servo motors to the output end, ensuring that the nozzle speed meets the actual requirements.

[0032] An inner rod 2 runs through the middle of the bottom mounting plate 5 and the gearbox 14. The inner rod 2 is hollow to allow liquid to pass through. An inlet rotary joint 9 is fixedly installed on the top of the inner rod 2. The external water inlet device is connected to the water outlet device 20 through the inner rod 2. A bearing seat 11 fixed to the top of the gearbox 14 is sleeved on the outer side of the inner rod 2. A first driven gear 12 located inside the gearbox 14 and meshing with the first driving gear 3 is fixedly sleeved on the outer side of the inner rod 2. An outer rod connecting bushing 15 runs through the bottom mounting plate 5. A second driven gear 4 located inside the gearbox 14 and meshing with the second driving gear 13 is fixedly sleeved on the outer side of the outer rod connecting bushing 15. An outer rod 16 is fixedly sleeved at the bottom end of the outer rod connecting bushing 15. The outer rod is hollow and is sleeved outside the inner rod 2 of the inner rod transmission device. The outer rod 16 and the inner rod 2 are coaxially arranged.

[0033] The bottom end of the inner rod 2 is connected to a first bevel gear 6. A water outlet device 20 is fixedly installed at the bottom end of the outer rod 16. A side cover 7 is fixedly installed on one side of the water outlet device 20. A rotating nozzle seat 19 is mounted inside the water outlet device 20 via a bearing. A second bevel gear 8, meshing with the first bevel gear 6, is fixedly installed at one end of the nozzle seat 19. The axis of the outer rod 16 is perpendicular to the rotation axis of the nozzle seat 19. Of course, different angle structures can be used depending on the actual situation of the container.

[0034] A water inlet is provided in the middle of the nozzle rotating base 19, which is connected to the inner rod 2. A nozzle extension rod 18 is fixedly installed on both sides of one end of the nozzle rotating base 19. The length of the nozzle extension rod 18 is adjustable to better adapt to the size of the container. A nozzle 17 is provided at the end of the nozzle extension rod.

[0035] Alternatively, the external water inlet device can also be connected to the water outlet device via an external rod, which is an existing structure and will not be described in detail here.

[0036] Working Principle: In operation, the second servo motor 10 drives the outer rod 16 to rotate via the second driving gear 13 and the second driven gear 4. The outer rod 16 then drives the water outlet device 20 to rotate. The first servo motor 1 drives the inner rod 2 to rotate via the first driving gear 3 and the first driven gear 12. The inner rod 2 drives the first bevel gear 6 to rotate, and simultaneously, under the action of the first bevel gear 6 and the second bevel gear 8, it drives the nozzle rotating seat 19 to rotate. This achieves both axial and radial rotation of the nozzle rotating seat 19. Water flows through the inlet rotary joint 9, the inner rod 2, the nozzle rotating seat 19, and the nozzle extension rod 18, exiting from the nozzle 17 to achieve three-dimensional cleaning. By giving the first servo motor 1 and the second servo motor 10 different speeds, different speed ratios can be achieved, resulting in different cycle parameters. Both the first servo motor 1 and the second servo motor 10 adopt closed-loop control motors. The motion status is fed back in real time through sensors such as encoders. The controller adjusts the output according to the feedback. It can perform targeted cleaning according to different container shapes, such as fast cleaning for nearby points, slow cleaning for distant points (to ensure cleaning), slow cleaning for key areas, and fast cleaning for non-key areas. This can greatly save working time and ensure cleaning efficiency.

[0037] The servo motor controller uses a PLC or motion controller to control two servo motors respectively via CANopen or Ethernet / IP bus.

[0038] Sensor configuration: The first servo motor (1) and the second servo motor (10) are each equipped with a 2500-line incremental encoder to achieve speed feedback control. Angle sensors are installed on the nozzle rotating seat (19) and the outer rod (16) to monitor the revolution and rotation angle positions in real time. Pressure sensors and flow sensors are installed on the water inlet pipe to provide feedback on the cleaning medium parameters.

[0039] Innovation Points and Advantages

[0040] Dual-motor independent control: Breaking through the limitations of the fixed transmission ratio of the traditional single motor, it realizes the continuous adjustment of the ratio of revolution and rotation speed (1.5:1 to 20:1), covering the cleaning needs of more than 95% of industrial containers.

[0041] Dynamic trajectory optimization: Automatically generates diverse cleaning trajectories such as spirals and grids based on the container shape, eliminating absolute cleaning blind spots. For key areas such as welds and nozzles, the cleaning time can be set to 2 to 5 times that of conventional areas.

[0042] Energy efficient: Compared to traditional nozzles, cleaning time is reduced by 30%–50%, and energy consumption is reduced by 20%–35%. The adjustable nozzle extension rod design reduces the number of nozzles required, and the total system flow rate is reduced by 15%–25%.

[0043] Intelligent control: Supports preset cleaning programs and allows one-click switching between cleaning schemes for different containers.

[0044] The fault self-diagnosis function detects bearing wear or blockage by abnormal motor current, providing early warnings of maintenance needs.

[0045] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A three-dimensional rotating nozzle driven by dual motors, comprising an inner rod drive device, an outer rod drive device, and a water outlet device. The outer rod of the outer rod drive device is a hollow structure, fitted outside the inner rod of the inner rod drive device, and the outer and inner rods are coaxially arranged. One end of the outer rod is fixedly connected to the water outlet device. A self-rotating nozzle rotating seat is installed inside the water outlet device via bearings. One end of the inner rod drives the nozzle rotating seat to rotate via a bevel gear pair. The nozzle is characterized in that... The three-dimensional rotating nozzle also includes two sets of drive motors, which are independently controlled and connected to the inner rod of the inner rod transmission device and the outer rod of the outer rod transmission device, respectively.

2. The dual-motor driven three-dimensional rotating nozzle according to claim 1, characterized in that, Each drive motor unit includes a control motor and a speed reducer.

3. A three-dimensional rotating nozzle driven by dual motors according to claim 2, characterized in that, The motor is controlled using a closed-loop control system.

4. A three-dimensional rotating nozzle driven by dual motors according to claim 1, characterized in that, The external water inlet device is connected to the water outlet device via an outer rod or an inner rod.

5. A three-dimensional rotating nozzle driven by dual motors according to claim 1, characterized in that, The rotation axis of the nozzle rotating seat forms an angle of 80° to 100° with the axis of the outer rod.

6. A three-dimensional rotating nozzle driven by dual motors according to claim 5, characterized in that, Both sides of the nozzle rotating base are equipped with nozzle extension rods, and the nozzles are installed at the ends of the nozzle extension rods.

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