A cleaning device and cleaning system for a cylindrical structure

Abstract

The utility model provides a kind of cleaning device and cleaning system for cylindrical structure, it is related to tobacco cleaning technical field, mobile assembly is installed in mounting bracket, multiple moving wheels are set around mounting bracket, cleaning assembly is movably connected with the end of mounting bracket, when being in first position, cleaning assembly can rotate relative to mounting bracket, first adjusting support is installed on mounting bracket, one end of second adjusting support is rotatably connected with first adjusting support, movable support is rotatably connected with one end of second adjusting support, visual piece is positioned on movable support.The utility model moves cleaning device to different positions in cylinder wall, guarantees the stability of movement, it has higher cleaning efficiency when being applied to the cleaning of the cylinder wall of cylindrical structure, visual piece can be driven to rotate in different directions respectively, so as to adjust the position and posture of visual piece, it has better adjusting flexibility, improves the cleaning effect of cleaning device.

Description

Technical Field

[0001] This utility model relates to the field of tobacco cleaning technology, and more specifically, to a cleaning device and cleaning system for a cylindrical structure. Background Technology

[0002] In tobacco production, tobacco leaves are processed using rehumidification drums. These drums utilize steam, hot air, and a circulation system to increase temperature and humidity, thereby improving product quality and enhancing the tobacco's processing resistance. However, material residue often remains inside the rehumidification drum, necessitating frequent cleaning of its inner walls to prevent contamination and adverse effects on the final product. Currently, cleaning the drum's inner walls involves personnel entering the drum, resulting in low efficiency and limited cleaning effectiveness. Utility Model Content

[0003] The purpose of this invention is to provide a cleaning device and system for cylindrical structures, which has high cleaning efficiency when used to clean the walls of cylindrical structures, facilitates visual identification of the environment inside the cylinder wall by the vision component, and improves the cleaning effect of the cleaning device.

[0004] A first aspect of this utility model provides a cleaning device for a cylindrical structure, the cleaning device comprising: Mounting rack; A movable component, which is mounted on the mounting frame, includes a plurality of casters arranged around the mounting frame; A cleaning component is movably connected to an end of the mounting bracket, and the cleaning component has at least a first position in which it is rotatable relative to the mounting bracket. An adjustment assembly includes a first adjustment bracket, a second adjustment bracket, and a movable bracket. The first adjustment bracket is mounted on the mounting bracket. One end of the second adjustment bracket is rotatably connected to the first adjustment bracket. The movable bracket is rotatably connected to the end of the second adjustment bracket away from the first adjustment bracket. The rotation axis of the movable bracket is perpendicular to the rotation axis of the second adjustment bracket. A vision component, which is positioned on the movable support.

[0005] In one possible embodiment of this utility model, the second adjusting bracket is rotatably connected to the side of the first adjusting bracket away from the mounting bracket via a first rotating shaft, and the side of the second adjusting bracket away from the first adjusting bracket forms an empty area. The movable bracket is disposed in the empty area, and the movable bracket is rotatably connected to the second adjusting bracket via a second rotating shaft.

[0006] In one possible embodiment of the present invention, the cleaning device further includes a liquid outlet nozzle, the number of the adjustment components is at least two, the vision element is located on one of the adjustment components, the liquid outlet nozzle is mounted on the movable bracket of the other adjustment component, and the liquid outlet nozzle and the vision element are arranged side by side.

[0007] In one possible embodiment of this utility model, the cleaning assembly includes a first driving member, a first movable rod, a second movable rod, a hinged rod, and a cleaning brush head. The first driving member is throttle-connected to the first movable rod, and the first driving member drives the first movable rod to rotate relative to it. The end of the first movable rod away from the first driving member is hinged to the hinged rod, and the end of the hinged rod away from the first movable rod is hinged to the second movable rod. The second movable rod is hinged to the first movable rod, and the cleaning brush head is mounted on the second movable rod.

[0008] In one possible embodiment of the present invention, the cleaning component further includes a second driving member, a movable member, and a slide rail. The second driving member is drivenly connected to one end of the movable member, the movable member is slidably connected to the slide rail, and the end of the movable member away from the second driving member is connected to the first movable rod through a connecting shaft. The sliding direction of the movable member on the slide rail and the movement direction of the first movable rod are both the first direction.

[0009] In one possible embodiment of this utility model, when in the first position, the first movable rod extends out of the mounting bracket, the cleaning brush head extends in a direction away from the mounting bracket, and the second movable rod and the plurality of the hinged rods together form an umbrella-shaped structure.

[0010] In one possible embodiment of this utility model, a second position is also included, wherein the mounting bracket is a hollow structure and an opening is provided at the end of the mounting bracket. When in the second position, the cleaning brush head retracts to the opening position so that the cleaning component is located inside the mounting bracket.

[0011] In one possible embodiment of the present invention, the cleaning device further includes a support assembly, which includes a support wheel and an elastic element, the support wheel being connected to the mounting bracket via the elastic element.

[0012] In one possible embodiment of this utility model, there are multiple support wheels and multiple elastic elements, with each support wheel corresponding to one elastic element. The multiple support wheels are arranged around the mounting frame, and the support wheels and the movable wheels are arranged alternately along the first direction.

[0013] A second aspect of this invention provides a cleaning system, including the cleaning device described in any of the above embodiments.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model provides a cleaning device and cleaning system for cylindrical structures. The mounting frame is used to install and support the moving component and the cleaning component. Multiple moving wheels of the moving component can move inside the cylindrical wall, moving the cleaning device to different positions inside the cylindrical wall. The multiple moving wheels arranged around the cylindrical wall ensure the stability of the movement. When in the first position, the cleaning component can clean the cylindrical wall by rotation. It has high cleaning efficiency when applied to cleaning the cylindrical wall of cylindrical structures. The second adjusting bracket rotates relative to the first adjusting bracket, and the movable bracket rotates relative to the second adjusting bracket. The second adjusting bracket and the movable bracket can drive the vision component to rotate in different directions, so as to adjust the position and posture of the vision component. This facilitates the vision component to visually identify the environment inside the cylindrical wall, has better adjustment flexibility, reduces the existence of cleaning dead corners inside the cylindrical wall, and thus improves the cleaning effect of the cleaning device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the cleaning device provided in some embodiments of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the cleaning device provided in some embodiments of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the adjustment component of the cleaning device provided in some embodiments of the present invention; Figure 4 This is a cross-sectional structural schematic diagram of the cleaning device provided in some embodiments of the present invention; Figure 5 This is a cross-sectional structural schematic diagram of the cleaning component of the cleaning device provided in some embodiments of the present invention; Figure 6 This is a schematic diagram of the structure of the moving component of the cleaning device provided in some embodiments of the present invention; Figure 7 This is a side view of the cleaning device provided in some embodiments of the present invention.

[0017] Explanation of key component symbols; 100-Cleaning device; 110-Mounting bracket; 111-Opening; 120-Moving component; 121-Moving wheel; 130-Cleaning component; 131-First drive element; 132-First movable rod; 133-Second movable rod; 134-Hinged rod; 135-Cleaning brush head; 136-Second drive element; 137-Moving component; 138-Slide rail; 139-Connecting shaft; 140-Adjusting component; 141-First adjusting bracket; 142-Second adjusting bracket; 1421-First support plate; 1422-Second support plate; 143-Moving bracket; 144-First rotating shaft; 145-Second rotating shaft; 146-Unused area; 150-Vision component; 160-Liquid nozzle; 170-Supporting component; 171-Supporting wheel; 172-Elastic component. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0023] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0025] In related technologies, tobacco leaf rehumidification cylinders achieve in-depth optimization of the physical properties and chemical composition of tobacco leaves, thereby significantly improving the quality, taste and industrial processing suitability of tobacco leaves. During the tobacco production process, tobacco leaf rehumidification cylinders are used to process tobacco leaves, and the tobacco leaves are heated and humidified through steam, hot air and circulation systems to improve their product quality and enhance their processing resistance. Material residue often remains inside the tobacco rehumidification cylinder. During the rehumidification process, tobacco material frequently accumulates and adheres to the inner wall of the cylinder. The cylinder's built-in cleaning function is insufficient to remove this residue. If this residue flows into subsequent production lines, it will contaminate the entire batch of products, leading to serious product quality issues. Furthermore, contaminated tobacco flowing into the finished cigarette production line will negatively impact consumer experience. Therefore, the inner wall of the tobacco rehumidification cylinder must be cleaned regularly to ensure that tobacco products throughout the entire process are not contaminated or affected. Currently, cleaning the inner wall of the rehumidification cylinder involves personnel entering the cylinder, which is inefficient and yields limited cleaning results.

[0026] To solve the above problems, please refer to... Figure 1 As shown, an embodiment of this application provides a cleaning device 100 for a cylindrical structure, the cleaning device 100 including a mounting bracket 110, a moving component 120, a cleaning component 130, an adjusting component 140, and a vision component 150.

[0027] Specifically, in combination Figures 1 to 3As shown, the movable component 120 is mounted on the mounting bracket 110. The movable component 120 includes a plurality of casters 121, which can be omnidirectional casters to enable omnidirectional movement of the cleaning device 100, such as... Figure 6 As shown, a plurality of the movable wheels 121 are arranged around the mounting frame 110. The cleaning component 130 is movably connected to the end of the mounting frame 110. The cleaning component 130 has at least a first position. When in the first position, the cleaning component 130 can rotate relative to the mounting frame 110. The mounting frame 110 is used to install and support the movable component 120 and the cleaning component 130. The plurality of movable wheels 121 of the movable component 120 can move within the cylinder wall, moving the cleaning device 100 to different positions within the cylinder wall. The plurality of movable wheels 121 arranged around the cylinder wall ensure the stability of the movement.

[0028] In this embodiment, the adjustment assembly 140 includes a first adjustment bracket 141, a second adjustment bracket 142, and a movable bracket 143. The first adjustment bracket 141 is mounted on the mounting bracket 110. One end of the second adjustment bracket 142 is rotatably connected to the first adjustment bracket 141. The movable bracket 143 is rotatably connected to the end of the second adjustment bracket 142 away from the first adjustment bracket 141. The rotation axis direction of the movable bracket 143 is perpendicular to the rotation axis direction of the second adjustment bracket 142. The visual component 150 is positioned on the movable bracket 143. Accordingly, when in the first position, the cleaning assembly 1... The 30 can clean the cylinder wall by rotation, and has high cleaning efficiency when used to clean the cylinder wall of cylindrical structures. The second adjusting bracket 142 rotates relative to the first adjusting bracket 141, and the movable bracket 143 rotates relative to the second adjusting bracket 142. The second adjusting bracket 142 and the movable bracket 143 can drive the vision component 150 to rotate in different directions, so as to adjust the position and posture of the vision component 150, which is conducive to the vision component 150 to visually identify the environment inside the cylinder wall. It has better adjustment flexibility, reduces the existence of cleaning dead corners inside the cylinder wall, and thus improves the cleaning effect of the cleaning device 100.

[0029] It is easy to understand that the vision component 150 includes a vision camera, which is an industrial camera capable of interacting with a computer. It acquires image information by converting light signals into electrical signals and transmits them to the computer for processing and analysis. Through computer algorithms, images or videos are analyzed to achieve target classification, positioning, behavior analysis, etc., aiming to improve the automation and intelligence level of data processing. In this application, the vision component 150 is used to take pictures of the inside of the cylinder wall. Equipped with a high-resolution camera and image processing algorithms, it constitutes a visual perception system to analyze the environment inside the cylinder wall. It can identify the location, density, type and other characteristics of the residues on the inner wall of the tobacco leaf rehydration cylinder in real time to assist the operation of the moving component 120, the cleaning component 130 and the adjusting component 140, which has better technical effects.

[0030] For example, the vision device 150 also includes a communication unit, a light source, an image acquisition card, and image processing software. The communication unit is used to communicate with other devices or systems and to receive and send control signals. The light source provides stable illumination for the vision camera to ensure image quality and detection accuracy. The image acquisition card converts the image signals captured by the camera into digital signals and transmits them to a computer or image processing software for further processing. The image processing software is used to process and analyze the acquired images.

[0031] refer to Figure 1 and Figure 2 As shown, the cleaning device 100 has a first direction X, a second direction Y, and a third direction Z, wherein the first direction X, the second direction Y, and the third direction Z are arranged perpendicularly to each other. For example, the first direction X refers to the height direction of the cleaning device 100, the second direction Y refers to the width direction of the cleaning device 100, and the third direction Z refers to the length direction of the cleaning device 100. It is understood that the above definitions are only for ease of understanding the relative positional relationships of the parts in the cleaning device 100 and should not be construed as limitations on this application.

[0032] In one embodiment, alternatively, such as Figure 3As shown, the second adjusting bracket 142 is rotatably connected to the side of the first adjusting bracket 141 away from the mounting bracket 110 via a first rotating shaft 144. The side of the second adjusting bracket 142 away from the first adjusting bracket 141 forms an empty area 146. The movable bracket 143 is disposed in the empty area 146, and the movable bracket 143 is rotatably connected to the second adjusting bracket 142 via a second rotating shaft 145. The second adjusting bracket 142 rotates relative to the first adjusting bracket 141, allowing the movable bracket 143 to rotate and adjust in the XZ plane. The movable bracket 143 rotates and adjusts within the empty area 146, allowing the movable bracket 143 to move in the YZ plane. The movable bracket 143 has the function of omnidirectional rotation adjustment, ensuring that the movable bracket 143 has better rotational flexibility, which is beneficial for the vision component 150 to take pictures and visually identify the position inside the cylinder wall, ensuring the visual recognition effect of the vision component 150.

[0033] In one embodiment, optionally, combining Figure 4 and Figure 5 As shown, the cleaning assembly 130 includes a first driving member 131, a first movable rod 132, a second movable rod 133, a hinge rod 134, and a cleaning brush head 135. The first driving member 131 is pulsatorically connected to the first movable rod 132, and the first driving member 131 drives the first movable rod 132 to rotate relative to it. The end of the first movable rod 132 away from the first driving member 131 is hinged to the hinge rod 134. The end of the hinge rod 134 away from the first movable rod 132 is hinged to the second movable rod 133. The second movable rod 133 is hinged to the first movable rod 132. The cleaning brush head 135 is mounted on the second movable rod 133. The first driving member 131 drives the second movable rod 133 to move through the first movable rod 132. The second movable rod 133 rotates, causing it to unfold through the hinge rod 134. After unfolding, the cleaning brush head 135 abuts against the side wall of the cylinder wall to facilitate cleaning of the cylinder wall.

[0034] Optionally, the cleaning assembly 130 further includes a second drive member 136, a movable member 137, and a slide rail 138. The second drive member 136 is drively connected to one end of the movable member 137, and the movable member 137 is slidably connected to the slide rail 138. The end of the movable member 137 away from the second drive member 136 is connected to the first movable rod 132 via a connecting shaft 139. The sliding direction of the movable member 137 on the slide rail 138 and the movement direction of the first movable rod 132 are both in the first direction. The second drive member 136 drives the movable member 137 to move relative to the slide rail 138, so that the movable member 137 drives the first movable rod 132 to move relative to each other in the first direction via the connecting shaft 139. The connecting shaft 139 prevents the relative rotation of the first movable rod 132 from interfering with or hindering the movable member 137.

[0035] In summary, the cleaning device 100 is used for cleaning cylindrical structures. The mounting frame 110 is used to install and support the moving component 120 and the cleaning component 130. The multiple moving wheels 121 of the moving component 120 can move inside the cylindrical wall, moving the cleaning device 100 to different positions inside the cylindrical wall. The multiple moving wheels 121 arranged around the cylindrical wall ensure the stability of the movement. When in the first position, the cleaning component 130 can clean the cylindrical wall by rotation. It has high cleaning efficiency when used for cleaning the cylindrical wall of cylindrical structures. The second adjusting bracket 142 rotates relative to the first adjusting bracket 141, and the movable bracket 143 rotates relative to the second adjusting bracket 142. The second adjusting bracket 142 and the movable bracket 143 can drive the vision component 150 to rotate in different directions, so as to adjust the position and posture of the vision component 150. This facilitates the vision component 150 to visually identify the environment inside the cylindrical wall, has better adjustment flexibility, reduces the existence of cleaning dead corners inside the cylindrical wall, and thus improves the cleaning effect of the cleaning device 100.

[0036] refer to Figures 1 to 3 As shown, embodiments of this application provide another cleaning device 100 for a cylindrical structure. The cleaning device 100 includes a mounting bracket 110, a moving component 120, a cleaning component 130, an adjusting component 140, and a vision component 150, which replaces the situation where personnel enter the tobacco rehumidification cylinder for cleaning, reducing the potential safety risks to personnel.

[0037] Specifically, in combination Figures 1 to 3As shown, the moving component 120 is mounted on the mounting frame 110. The moving component 120 includes multiple moving wheels 121, which can be omnidirectional wheels to enable the cleaning device 100 to move in all directions. The multiple moving wheels 121 are arranged around the mounting frame 110. The cleaning component 130 is movably connected to the end of the mounting frame 110. Accordingly, the mounting frame 110 is used to install and support the moving component 120 and the cleaning component 130. The multiple moving wheels 121 of the moving component 120 can move within the cylinder wall, moving the cleaning device 100 to different positions within the cylinder wall. The multiple moving wheels 121 arranged around the cylinder wall ensure the stability of the movement.

[0038] In this embodiment, the cleaning component 130 has at least a first position. When in the first position, the cleaning component 130 can rotate relative to the mounting bracket 110. The adjustment component 140 includes a first adjustment bracket 141, a second adjustment bracket 142, and a movable bracket 143. The first adjustment bracket 141 is mounted on the mounting bracket 110. One end of the second adjustment bracket 142 is rotatably connected to the first adjustment bracket 141, and the second adjustment bracket 142 rotates relative to the first adjustment bracket 141.

[0039] The movable bracket 143 is rotatably connected to the end of the second adjusting bracket 142 away from the first adjusting bracket 141. The rotation axis of the movable bracket 143 is perpendicular to the rotation axis of the second adjusting bracket 142. The vision element 150 is positioned on the movable bracket 143. When in the first position, the cleaning assembly 130 can clean the cylinder wall by rotation, which has high cleaning efficiency when applied to cleaning the cylinder wall of a cylindrical structure. The movable bracket 143 rotates relative to the second adjusting bracket 142. The second adjusting bracket 142 and the movable bracket 143 can respectively drive the vision element 150 to rotate in different directions, so as to adjust the position and posture of the vision element 150. This facilitates the vision element 150 to visually identify the environment inside the cylinder wall, has better adjustment flexibility, reduces the existence of cleaning dead corners inside the cylinder wall, and thus improves the cleaning effect of the cleaning device 100.

[0040] In one embodiment, alternatively, such as Figure 3As shown, the second adjusting bracket 142 is rotatably connected to the side of the first adjusting bracket 141 away from the mounting bracket 110 via the first rotating shaft 144. The side of the second adjusting bracket 142 away from the first adjusting bracket 141 forms an empty area 146. The movable bracket 143 is disposed in the empty area 146 and is rotatably connected to the second adjusting bracket 142 via the second rotating shaft 145. The second adjusting bracket 142 rotates relative to the first adjusting bracket 141, allowing the movable bracket 143 to rotate and adjust in the XZ plane. The movable bracket 143 rotates and adjusts within the empty area 146, allowing it to move in the YZ plane. The movable bracket 143 has the function of omnidirectional rotation adjustment, ensuring that the movable bracket 143 has better rotational flexibility, which is beneficial for the vision component 150 to take pictures and visually identify the position inside the cylinder wall, ensuring the visual recognition effect of the vision component 150.

[0041] Further, refer to Figure 3 As shown, the second adjustment bracket 142 is provided with a first support plate 1421 and a second support plate 1422. The first support plate 1421 and the second support plate 1422 are arranged opposite to each other, and the distance between the first support plate 1421 and the second support plate 1422 forms a void area 146. The void area 146 provides free movement space for the movable bracket 143, avoiding interference between the movable bracket 143 and the second adjustment bracket 142. Furthermore, the rotation of the second adjustment bracket 142 relative to the first adjustment bracket 141 is not affected. The two ends of the movable bracket 143 are rotatably connected to the first support plate 1421 and the second support plate 1422, respectively, so that the movable bracket 143 can move within the void area 146 to adjust the pitch angle of the visual component 150 located on the movable bracket 143, further improving the adjustment flexibility.

[0042] Optionally, such as Figure 1As shown, the cleaning device 100 also includes a liquid spray nozzle 160 for spraying cleaning liquid. The cleaning liquid can be used in conjunction with the cleaning brush head 135 to improve the cleaning effect on the inside of the cylinder wall. The number of adjusting components 140 is at least two. The visual component 150 is located in one adjusting component 140, and the liquid spray nozzle 160 is mounted on the movable bracket 143 of the other adjusting component 140. The liquid spray nozzle 160 and the visual component 150 are arranged side-by-side. In other words, the two adjusting components 140 are arranged side-by-side to facilitate the spraying of cleaning liquid. The liquid nozzle 160 and the vision component 150 are respectively mounted on the movable brackets 143 of the two adjustment components 140. The vision recognition system realizes the precise planning of the cleaning trajectory by analyzing the pollution characteristic information (such as pollution area, pollution density and pollution type) of the visual feedback in real time and performing a multi-parameter collaborative control mechanism. This ensures that the cleaning liquid sprayed by the liquid nozzle 160 can cover the target area with the optimal path. The position and attitude of the liquid nozzle 160 and the vision component 150 are adjusted respectively to improve the mobility of the liquid nozzle 160 and the vision component 150.

[0043] In one embodiment, optionally, combining Figure 4 and Figure 5 As shown, the cleaning assembly 130 includes a first driving member 131, a first movable rod 132, a second movable rod 133, a hinge rod 134, and a cleaning brush head 135. The first driving member 131 is pulsatorically connected to the first movable rod 132, and the first driving member 131 drives the first movable rod 132 to rotate relative to it. The end of the first movable rod 132 away from the first driving member 131 is hinged to the hinge rod 134. The end of the hinge rod 134 away from the first movable rod 132 is hinged to the second movable rod 133. The second movable rod 133 is hinged to the first movable rod 132. The cleaning brush head 135 is mounted on the second movable rod 133. The first driving member 131 drives the second movable rod 133 to move through the first movable rod 132. The second movable rod 133 rotates, causing it to unfold through the hinge rod 134. After unfolding, the cleaning brush head 135 abuts against the side wall of the cylinder wall to facilitate cleaning of the cylinder wall. For example, the first drive element 131 can be a rotary motor.

[0044] Furthermore, there are two cleaning components 130, which are respectively disposed at opposite ends of the mounting bracket 110.

[0045] Optionally, the cleaning assembly 130 further includes a second drive member 136, a movable member 137, and a slide rail 138. The second drive member 136 is drively connected to one end of the movable member 137, and the movable member 137 is slidably connected to the slide rail 138. The end of the movable member 137 away from the second drive member 136 is connected to the first movable rod 132 via a connecting shaft 139. The sliding direction of the movable member 137 on the slide rail 138 and the movement direction of the first movable rod 132 are both in a first direction. The second drive member 136 drives the movable member 137 to move relative to the slide rail 138, causing the movable member 137 to drive the first movable rod 132 to move relative to each other along the first direction via the connecting shaft 139. The connecting shaft 139 prevents the relative rotation of the first movable rod 132 from interfering with or hindering the movable member 137. For example, the second drive member 136 is a stepper motor.

[0046] During the operation of the cleaning assembly 130, the first driving member 131 drives the first movable rod 132 to rotate relative to each other, and the second movable rod 133 rotates through the hinge rod 134, thereby causing the cleaning brush head 135 to rotate, ensuring that the cleaning brush head 135 has a better cleaning effect. The second driving member 136 drives the movable member 137 to move relative to each other on the slide rail 138, so that the movable member 137 drives the first movable rod 132 to move. The second driving member 136 is used to make the first movable rod 132 extend out of the mounting bracket 110, and the hinge rod 134 and the second movable rod 133 unfold along the radial direction of the first movable rod 132 to form an umbrella-shaped structure, or the first movable rod 132 retracts into the mounting bracket 110, causing the hinge rod 134 and the second movable rod 133 to retract and fold.

[0047] Optionally, when in the first position, the first movable rod 132 extends out of the mounting bracket 110, and the cleaning brush head 135 extends away from the mounting bracket 110. The second movable rod 133 and the plurality of hinge rods 134 together form an umbrella-shaped structure. Correspondingly, the first movable rod 132 extends out of the mounting bracket 110 through the second driving member 136, so that the second movable rod 133 and the hinge rods 134 have a larger expansion area and support area. The umbrella-shaped structure can provide additional support force. The umbrella-shaped structure forms a triangular or fan-shaped support net through the linkage of the plurality of hinge rods 134, which disperses pressure and improves bending resistance, ensures the stability of the cleaning brush head 135 when working, prevents the cleaning brush head 135 from deforming or shifting due to pressure when working, and increases the cleaning range or contact area of ​​the cleaning brush head 135. It is suitable for scenarios that require deep penetration into enclosed spaces or expanded coverage.

[0048] Optionally, a second position is also included, wherein the mounting bracket 110 has a hollow structure and an opening 111 is provided at the end of the mounting bracket 110. When in the second position, the cleaning brush head 135 retracts and folds to the opening 111, so that the cleaning component 130 is located inside the mounting bracket 110. Under the driving action, the second movable rod 133 and the hinge rod 134 can drive the cleaning brush head 135 to move and fold towards the opening 111, folding it from an unfolded umbrella shape to a compact shape, so that the cleaning brush head 135 is completely stored inside the mounting bracket 110. On the one hand, this facilitates the cleaning brush head 135 to enter a relatively narrow space area. At this time, the unfolded cleaning brush head 135 may not be able to enter the narrow cylinder wall. On the other hand, the cleaning brush head 135 and the hinge rod 134 are protected in the second position, reducing the possibility of the hinge rod 134 and the cleaning brush head 135 being bumped or damaged, thereby improving the adaptability and reliability of the cleaning device 100.

[0049] When the second driving member 136 drives the movable member 137 to move, the cleaning device 100 has a first position in an unfolded state and a second position in a retracted state. When the cleaning device 100 is in the first position in the unfolded state, the second movable rod 133, the hinge rod 134 and the cleaning brush head 135 are unfolded to facilitate cleaning of the cylinder wall. When the cleaning device 100 is in the first position in the retracted state, the movable rod, the hinge rod 134 and the cleaning brush head 135 are retracted and folded to facilitate storage.

[0050] In one embodiment, alternatively, referencing Figure 1 and Figure 7 As shown, the cleaning device 100 also includes a support assembly 170, which includes a support wheel 171 and an elastic element 172. The support wheel 171 is connected to the mounting frame 110 through the elastic element 172. The support wheel 171, together with the moving wheel 121, provides a certain support for the cleaning device 100. The support wheel 171 and the elastic element 172 form a self-balancing structure. The elastic element 172 enables the support wheel 171 to have a certain degree of adjustability and adjusts the height of the support wheel 171. This prevents the support wheel 171 from being obstructed by uneven surfaces (such as uneven areas on the inner wall of a pipe) during its movement within the cylinder wall. This makes it suitable for stable operation in complex environments, ensuring the smooth movement and positional stability of the cleaning device 100, and facilitating its movement within the cylinder wall.

[0051] Furthermore, there are two support components 170 and two moving components 120. The two support components 170 are arranged side by side with intervals, and both support components 170 are located between the two moving components 120.

[0052] Optionally, such as Figure 7As shown, there are multiple support wheels 171 and multiple elastic elements 172. Each support wheel 171 corresponds to one elastic element 172. The multiple support wheels 171 are arranged around the mounting frame 110. Along the first direction, the support wheels 171 and the moving wheels 121 are staggered. Correspondingly, the multiple support wheels 171 are distributed in a ring structure to ensure that the support wheels 171 provide support in multiple directions. The staggered arrangement of the support wheels 171 and the moving wheels 121 provides better support for the cleaning device 100. For example, the included angle between adjacent support wheels 171 and moving wheels 121 is 45°. The support wheels 171 are used to fill the gap between two adjacent moving wheels 121 to prevent the cleaning device 100 from tilting or tipping over.

[0053] For example, the cleaning device 100 also includes a controller, which is electrically connected to the moving component 120, the cleaning component 130, the adjusting component 140, and the vision component 150. The controller includes an integrated circuit chip with signal processing capabilities. The controller can be a general-purpose processor, including a central processing unit, or a microcontroller, microcontroller unit, complex programmable logic device, field-programmable gate array, application-specific integrated circuit, embedded ARM, etc. The controller can realize or execute the control and operation of the moving component 120, the cleaning component 130, the adjusting component 140, and the vision component 150.

[0054] The present invention also provides a cleaning system, including the cleaning device 100 described in any of the above embodiments. The cleaning system including the cleaning device 100 has all the beneficial effects of the cleaning device 100, which will not be described in detail here.

[0055] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0056] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A cleaning device for a cylindrical structure, characterized in that, include: Mounting rack; A movable component, which is mounted on the mounting frame, includes a plurality of casters arranged around the mounting frame; A cleaning component is movably connected to an end of the mounting bracket, and the cleaning component has at least a first position in which it is rotatable relative to the mounting bracket. An adjustment assembly includes a first adjustment bracket, a second adjustment bracket, and a movable bracket. The first adjustment bracket is mounted on the mounting bracket. One end of the second adjustment bracket is rotatably connected to the first adjustment bracket. The movable bracket is rotatably connected to the end of the second adjustment bracket away from the first adjustment bracket. The rotation axis of the movable bracket is perpendicular to the rotation axis of the second adjustment bracket. A vision component, which is positioned on the movable support.

2. The cleaning device according to claim 1, characterized in that, The second adjusting bracket is rotatably connected to the side of the first adjusting bracket away from the mounting frame via a first rotating shaft. The side of the second adjusting bracket away from the first adjusting bracket forms an empty area. The movable bracket is disposed in the empty area and is rotatably connected to the second adjusting bracket via a second rotating shaft.

3. The cleaning device according to claim 1, characterized in that, It also includes a liquid outlet nozzle, and the number of the adjustment components is at least two. The vision element is located on one of the adjustment components, and the liquid outlet nozzle is mounted on the movable bracket of the other adjustment component, with the liquid outlet nozzle and the vision element arranged side by side.

4. The cleaning device according to any one of claims 1 to 3, characterized in that, The cleaning assembly includes a first drive member, a first movable rod, a second movable rod, a hinge rod, and a cleaning brush head. The first drive member is throttle-connected to the first movable rod, and the first drive member drives the first movable rod to rotate relative to it. The end of the first movable rod away from the first drive member is hinged to the hinge rod. The end of the hinge rod away from the first movable rod is hinged to the second movable rod. The second movable rod is hinged to the first movable rod. The cleaning brush head is mounted on the second movable rod.

5. The cleaning device according to claim 4, characterized in that, The cleaning assembly further includes a second driving member, a movable member, and a slide rail. The second driving member is drivenly connected to one end of the movable member, and the movable member is slidably connected to the slide rail. The end of the movable member away from the second driving member is connected to the first movable rod through a connecting shaft. The sliding direction of the movable member on the slide rail and the movement direction of the first movable rod are both the first direction.

6. The cleaning device according to claim 5, characterized in that, When in the first position, the first movable rod extends out of the mounting bracket, the cleaning brush head extends away from the mounting bracket, and the second movable rod and the plurality of the hinged rods together form an umbrella-shaped structure.

7. The cleaning device according to claim 5, characterized in that, It also includes a second position, wherein the mounting bracket is a hollow structure and has an opening at its end. When in the second position, the cleaning brush head retracts to the opening position so that the cleaning component is located inside the mounting bracket.

8. The cleaning apparatus according to any one of claims 1 to 3, characterized in that, It also includes a support assembly, which includes a support wheel and an elastic element, the support wheel being connected to the mounting bracket via the elastic element.

9. The cleaning device according to claim 8, characterized in that, The number of support wheels is multiple, and the number of elastic elements is multiple. Each support wheel corresponds to one elastic element. The multiple support wheels are arranged around the mounting frame, and the support wheels and the moving wheels are arranged alternately along the first direction.

10. A cleaning system, characterized in that, Includes the cleaning device as described in any one of claims 1 to 9.

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