CN112058838A - Garbage can outer wall cleaning mechanism and control method thereof - Google Patents
Garbage can outer wall cleaning mechanism and control method thereof Download PDFInfo
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- CN112058838A CN112058838A CN202010904131.8A CN202010904131A CN112058838A CN 112058838 A CN112058838 A CN 112058838A CN 202010904131 A CN202010904131 A CN 202010904131A CN 112058838 A CN112058838 A CN 112058838A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/20—Cleaning containers, e.g. tanks by using apparatus into or on to which containers, e.g. bottles, jars, cans are brought
- B08B9/36—Cleaning containers, e.g. tanks by using apparatus into or on to which containers, e.g. bottles, jars, cans are brought the apparatus cleaning by using brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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Abstract
The invention discloses a garbage can outer wall cleaning mechanism and a control method thereof. According to the garbage bin outer wall cleaning mechanism, the self-adaptive mechanism is arranged between the connecting shaft and the rolling brush, the rolling brush can move outwards under the action force of the garbage bin outer wall, the garbage bin outer walls of different sizes can be cleaned at 360 degrees, and the universality of the garbage bin outer wall cleaning mechanism is improved. According to the control method, the cleaning gear can be selected according to the size of the garbage can to be cleaned, the controller can automatically control the hydraulic oil cylinder to adjust the telescopic degree of the hydraulic oil cylinder according to different gear selections so as to control the distance between the rolling brush and the outer wall of the garbage can to be kept constant, automatic position adjustment is achieved, 360-degree dead-angle-free cleaning can be performed on the garbage cans of different sizes, and the cleaning force is guaranteed to be kept stable. And, judge the current position of round brush through detecting whether proximity switch in the rotation limit position department of not unidimensional garbage bin is electrified, be convenient for carry out automated control to whole washing action.
Description
Technical Field
The invention relates to the technical field of cleaning of outer walls of garbage cans, in particular to a cleaning mechanism for the outer walls of the garbage cans, and further particularly relates to a control method of the cleaning mechanism for the outer walls of the garbage cans.
Background
As shown in fig. 1 and 2, the existing cleaning mechanism for the outer wall of the trash can works according to the following principle: the hydraulic motor drives the driving sprocket to rotate through the worm gear and worm speed reducer, the driving sprocket drives the two driven sprockets to rotate through the chain, the two driven sprockets drive one shaft to rotate respectively, each shaft drives one rolling brush to rotate, and the two rolling brushes also automatically transmit simultaneously, so that the outer wall of the garbage can is cleaned by 360 degrees.
However, the existing cleaning mechanism for the outer wall of the garbage can is different in width between the outer walls of the garbage cans of 120L and 240L and 660L, and the distance from the center of the rolling brush of the existing mechanism to the center of the rotating shaft is fixed (cannot be changed), so that the existing mechanism can only clean the outer wall of the garbage can with one size, the acting force of the rolling brush on the outer wall of the garbage can in the cleaning process is inconsistent, the acting force is large in some places, the acting force in some places is small, the cleaning cleanliness of the outer wall of the same garbage can is different, and meanwhile, the service life of the garbage can is damaged or shortened due to the fact that the garbage can is unevenly stressed.
Disclosure of Invention
The invention provides a garbage can outer wall cleaning mechanism and a control method thereof, and aims to solve the technical problems that the existing garbage can outer wall cleaning mechanism can only clean the outer wall of a garbage can with one size and is poor in universality.
According to one aspect of the invention, the garbage bin outer wall cleaning mechanism comprises a driving chain wheel, two driven chain wheels, two connecting shafts and two rolling brushes, wherein the driving chain wheel is used for being connected with a power mechanism and rotating under the driving of the power mechanism, the driving chain wheel is respectively connected with the two driven chain wheels through chains, each driven chain wheel is connected with one connecting shaft, the garbage bin outer wall cleaning mechanism further comprises a self-adaptive mechanism, the self-adaptive mechanism is respectively connected with the connecting shafts and the rolling brushes, the self-adaptive mechanism and the rolling brushes revolve under the driving of the connecting shafts, the rolling brushes rotate simultaneously, the two rolling brushes are respectively located on two sides of the garbage bin, and when the garbage bin outer wall is cleaned, the rolling brushes move outwards under the action of the garbage bin outer wall and can be pulled back inwards under the action of the self-adaptive mechanism.
The garbage can cleaning machine further comprises a controller, the controller is respectively electrically connected with the power mechanism and the rolling brush, an induction needle is installed on the driving chain wheel and rotates along with the driving chain wheel, a plurality of proximity switches are further arranged around the driving chain wheel and are electrically connected with the controller, the positions of the proximity switches respectively correspond to an initial position, left rotation limit positions of garbage cans with different sizes and right rotation limit positions of the garbage cans with different sizes, when the outer wall of the garbage can with a certain size is cleaned, the induction needle rotates forwards from the initial position to the left rotation limit position corresponding to the garbage can with the size, the proximity switch at the position is powered on, the controller receives an electric signal of the proximity switch at the position and then controls the power mechanism to rotate backwards, and the induction needle rotates to the right rotation limit position from the left rotation limit position, the proximity switch at the position is electrified, the controller controls the power mechanism to rotate forwards, when the induction needle rotates to the initial position, the proximity switch at the position is electrified, and the controller controls the power mechanism and the rolling brush to stop rotating.
Further, self-adaptation mechanism is a parallelogram mechanism, two parallel sides of parallelogram mechanism are connected with connecting axle, round brush respectively, work as when the round brush outwards removes under the effect of garbage bin outer wall, parallelogram mechanism can take place to warp, and the round brush can inwards pull back under the slant tensile force effect that parallelogram mechanism provided.
Furthermore, an oblique spring is arranged between two adjacent rods of the parallelogram mechanism.
Furthermore, a hydraulic oil cylinder with a built-in displacement sensor is arranged between two adjacent rods of the parallelogram mechanism, the hydraulic oil cylinder is electrically connected with a controller, and the controller controls the distance between the rolling brush and the outer wall of the garbage can by controlling the telescopic degree of the hydraulic oil cylinder.
Furthermore, the rolling brush is hinged to the parallelogram mechanism, a spring is further arranged between the rolling brush and the parallelogram mechanism, and when the rolling brush and the outer wall of the garbage can interact, the rolling brush rotates around a hinge point at a small angle to keep parallel with the outer wall of the garbage can.
The garbage can further comprises an angular displacement sensor used for sensing the revolution angle and position of the rolling brush, the angular displacement sensor is electrically connected with the controller, the controller controls the rolling brush to keep a constant distance with the outer wall of the garbage can at each angle in the revolution process through the angular displacement sensor and a hydraulic oil cylinder with the built-in displacement sensor, and the movement tracks of the rolling brush corresponding to the garbage cans of different sizes are stored.
The hydraulic cylinder control system further comprises an operation mode selection switch, the operation mode selection switch is electrically connected with the controller, and the controller controls the expansion degree of the hydraulic cylinder according to the gear selected by the operation mode selection switch.
Furthermore, an ultrasonic sensor used for monitoring the distance change between the rolling brush and the outer wall of the garbage can is further installed on the rolling brush, the ultrasonic sensor is electrically connected with a controller, and the controller controls the telescopic degree of the hydraulic oil cylinder according to the detection result of the ultrasonic sensor so as to control the rolling brush to move according to a preset movement track.
The invention also provides a control method of the cleaning mechanism for the outer wall of the garbage can, which is used for controlling the working process of the cleaning mechanism for the outer wall of the garbage can and comprises the following steps:
step S1: placing a garbage can to be cleaned, selecting a cleaning gear according to the size of the garbage can to be cleaned, and automatically controlling the telescopic degree of the hydraulic oil cylinder by the controller according to the selected gear;
step S2: when the rolling brush is positioned at the initial position, the rolling brush is controlled to start to rotate, and after the preset time is delayed, the power mechanism is controlled to drive the driving chain wheel to rotate in the forward direction;
step S3: judging whether a proximity switch at a first rotation limit position corresponding to the size garbage can is powered on or not, if so, controlling a power mechanism to stop rotating, and controlling the power mechanism to reversely rotate after delaying preset time;
step S4: judging whether a proximity switch at a second rotation limit position corresponding to the size garbage can is powered on or not, if so, controlling the power mechanism to stop rotating, and controlling the power mechanism to rotate forward again after delaying preset time;
step S5: and judging whether the proximity switch at the initial position is electrified or not, if so, controlling the power mechanism to stop rotating, delaying the preset time and then controlling the rolling brush to stop rotating, and finishing the cleaning work of the garbage can.
The invention has the following effects:
according to the garbage can outer wall cleaning mechanism, the self-adaptive mechanism is arranged between the connecting shaft and the rolling brush, and the rolling brush can move outwards under the action force of the garbage can outer wall, so that the garbage cans with different sizes can be cleaned at 360 degrees, and the universality of the garbage can outer wall cleaning mechanism is improved.
In addition, according to the control method of the garbage can outer wall cleaning mechanism, the cleaning gear can be selected according to the size of a garbage can to be cleaned, the controller can automatically control the hydraulic oil cylinder to adjust the telescopic degree of the hydraulic oil cylinder according to different gear selections so as to control the distance between the rolling brush and the outer wall of the garbage can to be kept constant, automatic position adjustment is achieved, 360-degree dead-angle-free cleaning can be performed on the garbage cans of different sizes, and the cleaning force is guaranteed to be kept stable. And, judge the current position of round brush through detecting whether proximity switch in the rotation limit position department of not unidimensional garbage bin is electrified, be convenient for carry out automated control to whole washing action.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a conventional garbage can outer wall cleaning mechanism.
Fig. 2 is a schematic diagram of the movement tracks of two rolling brushes when the existing garbage bin outer wall cleaning mechanism cleans the outer wall of the garbage bin.
Fig. 3 is a schematic structural diagram of a cleaning mechanism for the outer wall of the garbage can in the preferred embodiment of the invention.
Fig. 4 is a structural schematic diagram of the rolling brush of the cleaning mechanism for the outer wall of the garbage can in parallel with the outer wall of the garbage can in the preferred embodiment of the invention.
Fig. 5 is a schematic top view of the cleaning mechanism for the outer wall of the garbage can according to the preferred embodiment of the invention.
Fig. 6 is a schematic diagram of the movement track of the rolling brush when the cleaning mechanism for the outer wall of the garbage can cleans a 120L garbage can according to the preferred embodiment of the invention.
Fig. 7 is a schematic diagram of the movement track of the rolling brush when the cleaning mechanism for the outer wall of the trash can cleans the 240L trash can according to the preferred embodiment of the invention.
Fig. 8 is a schematic diagram of the movement track of the rolling brush when the 660L trash can is cleaned by the trash can outer wall cleaning mechanism according to the preferred embodiment of the invention.
Fig. 9 is a signal diagram of the ultrasonic sensor of the cleaning mechanism for the outer wall of the garbage can, which monitors that the distance between the ultrasonic sensor and the outer wall of the garbage can changes along with the revolution angle of the rolling brush.
Fig. 10 is a flow chart illustrating a control method of the outer wall cleaning mechanism of the trash can according to another embodiment of the present invention.
Description of the reference numerals
10. A drive sprocket; 11. a driven sprocket; 12. a connecting shaft; 13. an adaptive mechanism; 14. rolling and brushing; 15. an induction needle; 16. a proximity switch; 17. a hydraulic cylinder; 18. a first mounting plate; 19. a second mounting plate; 20. an angular displacement sensor; 21. an ultrasonic sensor.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
As shown in fig. 3, a preferred embodiment of the present invention provides a garbage can outer wall cleaning mechanism, which includes a driving sprocket 10, two driven sprockets 11, two connecting shafts 12 and two rolling brushes 14, wherein the driving sprocket 10 is used for being connected with a power mechanism and being driven by the power mechanism to rotate, the power mechanism employs a hydraulic motor, and the hydraulic motor drives the driving sprocket 10 to rotate through a worm gear reducer, although the power mechanism may also employ a motor in other embodiments of the present invention. Thereby drive sprocket 10 is connected with two driven sprocket 11 respectively through the chain and drives two driven sprocket 11 rotations, drive sprocket 10's size and number of teeth are the same with driven sprocket 11. Each driven sprocket 11 is connected with a connecting shaft 12, and the connecting shafts 12 are driven by the driven sprockets 11 to rotate. The garbage bin outer wall cleaning mechanism further comprises an adaptive mechanism 13, the adaptive mechanism 13 is respectively connected with a connecting shaft 12 and a rolling brush 14, the adaptive mechanism 13 and the rolling brush 14 revolve around the connecting shaft 12 under the driving of the connecting shaft 12, the rolling brush 14 rotates under the driving of a built-in hydraulic motor, the two rolling brushes 14 are respectively located on two sides of the garbage bin, and when the outer wall of the garbage bin is cleaned, the two rolling brushes 14 perform 360-degree dead angle-free cleaning on the outer wall of the garbage bin through revolution and rotation. And the rolling brush 14 can move outwards under the action of the outer wall of the garbage can after interacting with the outer wall of the garbage can, and can be pulled back inwards under the action of the self-adaptive mechanism 13. Specifically, when the trash cans with different sizes are cleaned, the distance that the rolling brush 14 moves outwards is different, for example, the trash cans with the sizes of 120L, 240L and 660L, which are standard sizes commonly used in the market currently, when the outer wall of the 120L trash can is cleaned, the distance that the rolling brush 14 moves outwards is increased when the outer wall of the 660L trash can is cleaned, and after the trash can is cleaned and removed, the rolling brush 14 can be pulled back under the driving of the adaptive mechanism 13, so as to return to the initial position to wait for the next cleaning action. Of course, the present invention can also be used for cleaning other trash cans with special sizes, and is not specifically described herein.
It can be understood that the self-adaptive mechanism 13 is arranged between the connecting shaft 12 and the rolling brush 14, and the rolling brush 14 can move outwards under the action of the outer wall of the garbage can, so that the outer walls of the garbage cans with different sizes can be cleaned by 360 degrees, and the universality of the cleaning mechanism for the outer wall of the garbage can is improved.
It can be understood that the garbage bin outer wall wiper mechanism still includes the controller, the controller respectively with power unit and the rotation hydraulic motor electric connection of round brush 14 to can control power unit and the pivoted of round brush 14 respectively and open and stop.
Specifically, the self-adaptive mechanism 13 is a parallelogram mechanism, two parallel sides of the parallelogram mechanism are respectively connected with the connecting shaft 12 and the rolling brush 14, when the rolling brush 14 moves outwards under the action of the outer wall of the garbage can, the parallelogram mechanism can deform, and after the garbage can is removed, the rolling brush 14 can be pulled back inwards under the action of an oblique tensile force provided by the deformed parallelogram mechanism. By adopting the parallelogram mechanism as the self-adaptive mechanism 13, the change of the existing garbage bin outer wall cleaning mechanism is small, and the connection reliability and the stability are good.
It is understood that, as a variant, the adaptive mechanism 13 may also take the following structural form: adaptive mechanism 13 includes a spout, the one end and the connecting axle 12 fixed connection of spout, the other end is unsettled, the top of round brush 14 is located the spout and can make a round trip to slide along the axial of spout in the spout, and all is provided with the spring between the top both sides of round brush 14 and the inner wall about the spout, when wasing the outer wall of garbage bin, round brush 14 outwards removes under the effect of garbage bin outer wall, and its top is to the left side removal and extrude left side spring and tensile right side spring in the spout, after removing the garbage bin, round brush 14 can inwards pull back under the resilience force effect of both sides spring. Preferably, the adaptive mechanism 13 further includes a limiting mechanism for limiting a free end of the sliding chute, the limiting mechanism is a cylindrical member disposed at the periphery of the cleaning mechanism, an annular limiting groove is circumferentially disposed on an inner wall of the limiting mechanism, the free end of the sliding chute is located in the annular limiting groove, and when the sliding chute revolves around the connecting shaft 12, the free end of the sliding chute slides in the annular limiting groove along the circumferential direction of the limiting mechanism, so that the structural stability of the sliding chute is ensured.
Preferably, a hydraulic oil cylinder 17 with a built-in displacement sensor is arranged between two adjacent rods of the parallelogram mechanism, the hydraulic oil cylinder 17 is electrically connected with a controller, and the controller controls the distance between the rolling brush 14 and the outer wall of the garbage can by controlling the telescopic degree of the hydraulic oil cylinder 17. When the rolling brush 14 rotates around the garbage can for cleaning, an interaction force exists between the rolling brush 14 and the garbage can to enable the rolling brush 14 to be far away from the garbage can, at the moment, the rolling brush 14 is simultaneously subjected to gravity, lifting force of the parallelogram mechanism to the rolling brush 14, reaction force of the garbage can to the rolling brush 14 and lifting force of the hydraulic oil cylinder 17, wherein the magnitude of the reaction force of the garbage can to the rolling brush 14 is determined by the distance between the rolling brush 14 and the garbage can, and when the distance between the center of the rolling brush 14 and the outer wall of the garbage can reaches a certain value, the resultant force of the four forces is 0. To the garbage bin of equidimension not, can adjust the distance between round brush 14 to the garbage bin outer wall through the flexible degree that control hydraulic cylinder 17 is different, can be so that the resultant force that the round brush 14 received this moment is 0, the distance between round brush 14 and the garbage bin outer wall keeps invariable, thereby whole mechanism's stability in the cleaning process has been ensured, and keep unchangeable to the washing dynamics to whole garbage bin outer wall, avoid appearing the garbage bin outer wall atress uneven and the atress is neglected little and lead to the garbage bin to break, the life of garbage bin has been prolonged. In addition, the cleaning force of the rolling brush 14 on the outer wall of the garbage can be controlled by controlling the telescopic degree of the hydraulic oil cylinder 17, the longer the extending length of the hydraulic oil cylinder 17 is, the farther the distance between the center of the rolling brush 14 and the outer wall of the garbage can is, the smaller the acting force of the rolling brush 14 on the outer wall of the garbage can is, the smaller the cleaning force is, the shorter the extending length of the hydraulic oil cylinder 17 is, the closer the distance between the center of the rolling brush 14 and the outer wall of the garbage can is, the larger the acting force of the rolling brush 14 on the outer wall of the garbage can is.
Alternatively, an oblique spring is further disposed between two adjacent rods of the parallelogram mechanism, and the spring is configured to lift an oblique tensile force provided by the parallelogram mechanism, so as to ensure that the rolling brush 14 can be pulled back to the initial position.
It can be understood that, as shown in fig. 4, as preferable, the rolling brush 14 is hinged to the parallelogram mechanism, specifically, connected by a hinge pin, and a spring is further disposed between the rolling brush 14 and the parallelogram mechanism, since the outer wall of the trash can is generally an inclined surface, when the rolling brush 14 interacts with the outer wall of the trash can, the rolling brush 14 rotates around the hinge point by a small angle to keep parallel with the outer wall of the trash can, so as to ensure that the cleaning force is the same for the upper and lower areas of the outer wall of the trash can, and ensure the consistency of the cleaning effect.
It can be understood that, as shown in fig. 5, an induction pin 15 is further installed on the driving sprocket 10, the induction pin 15 rotates along with the driving sprocket 10, a plurality of proximity switches 16 are further disposed around the driving sprocket 10, the plurality of proximity switches 16 are electrically connected to the controller, and positions of the plurality of proximity switches 16 respectively correspond to an initial position, left rotation limit positions of trash cans of different sizes, and right rotation limit positions of trash cans of different sizes. Namely, each size of garbage can corresponds to a left rotation limit position and a right rotation limit position, and each rotation limit position is correspondingly provided with a proximity switch 16. In the preferred embodiment of the present invention, a total of 7 proximity switches 16 are provided, corresponding to the start position of the roller brush 14, the left rotation limit position of the 120L trash can, the right rotation limit position of the 120L trash can, the left rotation limit position of the 240L trash can, the right rotation limit position of the 240L trash can, the left rotation limit position of the 660L trash can, and the right rotation limit position of the 660L trash can, respectively, although in other embodiments of the present invention, the number of proximity switches 16 varies according to the variation in the number of sizes of trash cans. The proximity switches 16 corresponding to the starting positions are mounted on the periphery of the drive sprocket 10 through a first mounting plate 18, the other proximity switches 16 are mounted on the periphery of the drive sprocket 10 through a second mounting plate 19, and the first mounting plate 18 and the second mounting plate 19 are arranged oppositely. For example, when the outer wall of a 120L trash can is cleaned, the sensing needle 15 rotates forwards from the initial position to the left rotation limit position corresponding to the 120L trash can, the proximity switch 16 at the position is powered, the controller receives an electric signal of the proximity switch 16 at the position and controls the power mechanism to stop rotating forwards, the power mechanism is controlled to rotate backwards after 1s, the sensing needle 15 rotates backwards from the left rotation limit position corresponding to the 120L trash can to the right rotation limit position corresponding to the 120L trash can, the proximity switch 16 at the position is powered, the controller controls the power mechanism to stop rotating backwards, the power mechanism is controlled to rotate forwards after 1s, when the sensing needle 15 rotates to the initial position along with the driving sprocket 10, the rolling brush 14 rotates to the initial position, the proximity switch 16 at the position is powered, the controller controls the power mechanism and the rolling brush to stop rotating, at this time, the outer wall of the 120L garbage bin is cleaned. It is to be understood that, in the present invention, the forward rotation and the reverse rotation are defined relatively, and when the forward rotation is clockwise rotation, the reverse rotation is counterclockwise rotation, and when the forward rotation is counterclockwise rotation, the reverse rotation is clockwise rotation.
According to the garbage bin outer wall cleaning mechanism, the sensing needle 15 is arranged on the driving chain wheel 10, and the proximity switches 16 are arranged around the driving chain wheel 10 to respectively mark the initial position of the rolling brush 14 and the rotation limit positions of garbage bins with different sizes, so that the automatic cleaning action can be realized, and the cleaning efficiency is improved.
Preferably, the outer wall cleaning mechanism of the garbage can further comprises an angular displacement sensor 20 for sensing the revolution angle and position of the rolling brush 14, the angular displacement sensor 20 can be arranged below the driving sprocket 10 or the driven sprocket 11, the angular displacement sensor 20 is electrically connected with a controller, the controller can control the rolling brush 14 to keep a constant distance from the outer wall of the garbage can at each angle in the revolution process through the angular displacement sensor 20 and a hydraulic oil cylinder 17 with a built-in displacement sensor, and the movement tracks of the rolling brush 14 when the garbage cans with different sizes are cleaned are respectively stored. As shown in fig. 6 to 8, when the 120L trash can is cleaned, the distance from the center of the rolling brush 14 to the outer wall of the 120L trash can is L2, and the distance from the center of the rolling brush 14 to the center of the connecting shaft 12 is L1; when the 240L garbage can is cleaned, the distance from the center of the rolling brush 14 to the outer wall of the 120L garbage can is still L2, and the distance from the center of the rolling brush 14 to the center of the connecting shaft 12 is L3; when the 660L garbage can is cleaned, the distance from the center of the rolling brush 14 to the outer wall of the 120L garbage can is still L2, and the distance from the center of the rolling brush 14 to the center of the connecting shaft 12 is L4, L4 > L3 > L1. Therefore, by detecting the revolution angle and position of the angular displacement sensor 20 and controlling the extension degree of the hydraulic oil cylinder 17, the distance between the center of the rolling brush 14 and the outer wall of the garbage can be controlled to be constant even for garbage cans of different sizes, but the extension degree of the hydraulic oil cylinder 17 is different for garbage cans of different sizes. After three garbage cans with different sizes are respectively cleaned for one circle, the cleaning track of the rolling brush of the 120L garbage can, the cleaning track of the rolling brush of the 240L garbage can and the cleaning track of the rolling brush of the 660L garbage can are respectively stored.
Preferably, the outer wall cleaning mechanism of the garbage can further comprises an operation mode selection switch, which has three stages of 120L, 240L and 660L in total, of course, the more the size types of the garbage can are, the more the gears correspond to each other, the operation mode selection switch is electrically connected with the controller, and the controller controls the extension and retraction degree of the hydraulic oil cylinder 17 according to the gear selected by the operation mode selection switch, so as to control the distance between the rolling brush 14 and the outer wall of the garbage can to be kept at L2. For example, when the operation mode selection switch is shifted to the 120L shift position, the controller controls the hydraulic oil cylinder 17 to drive the rolling brush 14 to the initial position for cleaning the 120L trash can, at this time, the distance from the center of the rolling brush 14 to the center of the connecting shaft 12 is L1, the distance from the center of the rolling brush 14 to the outer wall of the trash can is L2, and when cleaning is started, the rolling brush 14 moves according to the movement track of the rolling brush 14 corresponding to the 120L trash can.
As a further preference, the roller brush 14 is further provided with an ultrasonic sensor 21 for monitoring the distance change between the roller brush 14 and the outer wall of the garbage can, specifically, the ultrasonic sensor 21 is arranged on the central shaft of the roller brush 14, the distance from the ultrasonic sensor 21 to the outer wall of the garbage can is detected to be L5, when the roller brush 14 moves according to the preset movement track, the distance from the center of the roller brush 14 to the outer wall of the garbage can, L2, should be kept constant, and the distance from the ultrasonic sensor 21, L5, should also be kept constant. The ultrasonic sensor 21 is electrically connected with a controller, and the controller controls the telescopic degree of the hydraulic oil cylinder 17 according to the detection result of the ultrasonic sensor 21 so as to control the rolling brush 14 to move according to a preset motion track. As shown in fig. 9, when the reading change of the distance L5 detected by the ultrasonic sensor 21 exceeds 20mm, the controller determines that the movement track of the rolling brush 14 deviates from the preset track, and at this time, the controller may control the hydraulic oil cylinder 17 to adjust the telescopic degree thereof according to the deviation data so as to ensure that the rolling brush 14 moves according to the preset movement track, so that the feedback adjustment control of the movement track of the rolling brush 14 is realized, and the precise control of the cleaning action is realized.
It can be understood that, as an optimization, the cleaning mechanism for the outer wall of the trash can further comprises a positioning mechanism (not shown) for fixing the trash can, and the positioning mechanism can clamp the wall of the trash can by using a mechanical arm to realize positioning so as to prevent the trash can from toppling over or even turning over during the cleaning process.
Next, the cleaning of the 120L trash can is taken as an example for explanation:
firstly, preparing for cleaning, placing a 120L garbage can at a cleaning position, rotating an operation mode selection switch to a 120L gear, and automatically pushing the rolling brush 14 to a position L1 away from the center of the connecting shaft 12 by the hydraulic oil cylinder 17, wherein the distance from the center of the rolling brush 14 to the outer wall of the 120L garbage can is L2.
And secondly, when the rolling brush 14 is located at the initial position, specifically, whether the rolling brush 14 is located at the initial position is judged by judging whether the proximity switch 16 at the initial position is powered, and if the rolling brush 14 is not located at the initial position, the controller firstly controls the power mechanism to drive the rolling brush 14 to revolve until the proximity switch 16 at the initial position is powered. And pressing a cleaning starting key, controlling the rolling brush 14 to start to rotate by the controller, and keeping the rolling brush 14 parallel to the outer wall of the garbage can due to acting force and reacting force of the bristles and the outer wall of the garbage can during rotation of the rolling brush 14 within the rotation time of 2 s. After the rolling brush 14 rotates for 2 seconds, the controller controls the power mechanism to rotate forwards, and the power mechanism drives the driving sprocket 10 to rotate clockwise through the worm and gear reducer, so that the rolling brush 14 is driven to revolve clockwise around the connecting shaft 12.
Thirdly, when the rolling brush 14 rotates clockwise to the left rotation limit position corresponding to the 120L garbage bin, the proximity switch 16 at the position is electrified, and the controller controls the power mechanism to stop rotating, namely the rolling brush 14 stops rotating. After stopping for 1s, the controller controls the power mechanism to start reverse rotation, i.e., the rolling brush 14 starts to revolve counterclockwise.
Fourthly, when the rolling brush 14 revolves anticlockwise to the right rotation limit position corresponding to the 120L garbage bin, the proximity switch 16 at the position is electrified, and the controller controls the power mechanism to stop rotating, namely the rolling brush 14 stops revolving. After stopping for 1s, the controller controls the power mechanism to start the forward rotation again, namely, the rolling brush 14 starts to revolve clockwise.
Fifthly, when the rolling brush 14 revolves clockwise to the initial position, the proximity switch 16 at the position is powered on, the controller controls the power mechanism to stop rotating, namely the rolling brush 14 stops revolving, and after stopping for 1s, the controller controls the rolling brush 14 to stop rotating, namely the rolling brush 14 stops rotating, and the outer wall of the 120L garbage bin is cleaned.
It will be appreciated that the cleaning process for the 240L and 660L bins is substantially identical to the 120L bin, differing only in the left and right rotational limit positions.
In addition, as shown in fig. 10, another embodiment of the present invention further provides a control method of a cleaning mechanism for an outer wall of a trash can, for controlling an operation process of the cleaning mechanism for an outer wall of a trash can as described above, the control method including the steps of:
step S1: placing a garbage can to be cleaned, selecting a cleaning gear according to the size of the garbage can to be cleaned, and automatically controlling the telescopic degree of the hydraulic oil cylinder 17 by the controller according to the selected gear;
step S2: when the rolling brush 14 is located at the initial position, the rolling brush 14 is controlled to start to rotate, and after the preset time is delayed, the power mechanism is controlled to drive the driving sprocket 10 to rotate in the forward direction;
step S3: judging whether the proximity switch 16 at the first rotation limit position corresponding to the garbage bin with the size is powered on or not, if so, controlling the power mechanism to stop rotating, and controlling the power mechanism to reversely rotate after delaying preset time;
step S4: judging whether the proximity switch 16 at the second rotation limit position corresponding to the garbage bin with the size is powered on or not, if so, controlling the power mechanism to stop rotating, and controlling the power mechanism to rotate forward again after delaying the preset time;
step S5: and judging whether the proximity switch 16 at the initial position is electrified or not, controlling the power mechanism to stop rotating if the proximity switch 16 at the initial position is electrified, and controlling the rolling brush 14 to stop autorotation after delaying preset time to finish the cleaning work of the garbage can.
It can be understood that in the step S1, specifically, the operating mode selection switch is used to select the corresponding shift positions of the trash cans with different sizes, and after the shift positions are selected, the controller automatically controls the extension and retraction degree of the hydraulic oil cylinder 17 to push the rolling brush 14 to a position away from the outer wall L2 of the trash can.
It can be understood that if the rolling brush 14 is not located at the initial position, the controller is required to control the power mechanism to rotate to drive the rolling brush 14 to revolve to the initial position, and the proximity switch 16 at the initial position is powered. In addition, after the rolling brush 14 is controlled to start to rotate, the rolling brush 14 is kept parallel to the outer wall of the garbage can within 2s, so that the cleaning force for the upper area and the lower area of the outer wall of the garbage can is ensured to be consistent. And after 2s, controlling the power mechanism to rotate forwards. Of course, the preset time may be 3s, 4s, 5s, and is not limited herein.
It is to be understood that in the steps S3 and S4, the first rotation limit position and the second rotation limit position are relative, for example, if the first rotation limit position is a left rotation limit position, the second rotation limit position is a right rotation limit position, and if the first rotation limit position is a right rotation limit position, the second rotation limit position is a left rotation limit position.
It is understood that, when the rolling brush 14 starts to revolve, the rolling brush 14 theoretically moves according to the pre-stored movement track. In the actual operation process, the actual motion trajectory of the rolling brush 14 may deviate from the pre-stored motion trajectory due to the uncertainty. Therefore, after the revolution of the rolling brush 14 is started, the change of the distance between the rolling brush 14 and the outer wall of the garbage can is monitored by the ultrasonic sensor 21 arranged on the rolling brush 14, and when the change of the reading of the distance L5 detected by the ultrasonic sensor 21 exceeds 20mm, the movement track of the rolling brush 14 is judged to have deviation, and the controller controls the hydraulic oil cylinder 17 to adjust the extension degree according to the deviation size so as to ensure that the rolling brush 14 moves according to the prestored movement track.
According to the control method of the garbage can outer wall cleaning mechanism, the cleaning gear can be selected according to the size of a garbage can to be cleaned, the controller can automatically control the hydraulic oil cylinder 17 to adjust the telescopic degree of the hydraulic oil cylinder so as to control the distance between the rolling brush 14 and the outer wall of the garbage can to be kept constant according to different gear selections, automatic position adjustment is achieved, the garbage cans of different sizes can be cleaned, and the cleaning force is guaranteed to be kept stable. And, through detecting whether proximity switch 16 of the rotation extreme position department of different size garbage bins is electrified to judge the current position of round brush 14, be convenient for carry out automated control to whole washing action. In addition, in the revolution process of the rolling brush 14, the change of the distance between the rolling brush 14 and the outer wall of the garbage can be monitored in real time through the ultrasonic sensor 21, once the change of the distance is monitored to exceed a threshold value, the hydraulic oil cylinder 17 is controlled to adjust the telescopic degree of the hydraulic oil cylinder to control the rolling brush 14 to keep the preset movement track to move, the feedback adjustment control of the movement track of the rolling brush 14 is realized, and the accurate control of the cleaning action is realized.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A garbage bin outer wall cleaning mechanism comprises a driving chain wheel (10), two driven chain wheels (11), two connecting shafts (12) and two rolling brushes (14), wherein the driving chain wheel (10) is used for being connected with a power mechanism and rotating under the driving of the power mechanism, the driving chain wheel (10) is respectively connected with the two driven chain wheels (11) through chains, each driven chain wheel (11) is connected with one connecting shaft (12), and the garbage bin outer wall cleaning mechanism is characterized in that,
still include self-adaptation mechanism (13), self-adaptation mechanism (13) are connected with connecting axle (12) and round brush (14) respectively, self-adaptation mechanism (13) and round brush (14) revolve under the drive of connecting axle (12), just round brush (14) carry out the rotation simultaneously, two round brush (14) are located the both sides of garbage bin respectively, when wasing the outer wall of garbage bin, round brush (14) outwards remove under the effect of garbage bin outer wall to can inwards pull back under the effect of self-adaptation mechanism (13).
2. The outer wall cleaning mechanism for garbage can as claimed in claim 1,
the garbage can cleaning machine is characterized by further comprising a controller, the controller is electrically connected with the power mechanism and the rolling brush (14) respectively, an induction needle (15) is installed on the driving chain wheel (10), the induction needle (15) rotates along with the driving chain wheel (10), a plurality of proximity switches (16) are further arranged around the driving chain wheel (10), the proximity switches (16) are electrically connected with the controller, the positions of the proximity switches (16) correspond to an initial position, left rotation limit positions of garbage cans of different sizes and right rotation limit positions of the garbage cans of different sizes respectively, when the outer wall of a garbage can of a certain size is cleaned, the induction needle (15) rotates forwards from the initial position to the left rotation limit position corresponding to the garbage can of the size, the proximity switch (16) at the position is powered on, the controller receives an electric signal of the proximity switch (16) at the position and controls the power mechanism to rotate backwards, the induction needle (15) rotates to the right rotation limit position from the left rotation limit position, the proximity switch (16) at the position is electrified, the controller controls the power mechanism to rotate forwards, when the induction needle (15) rotates to the initial position, the proximity switch (16) at the position is electrified, and the controller controls the power mechanism and the rolling brush (14) to stop rotating.
3. The outer wall cleaning mechanism for garbage cans of claim 2,
self-adaptation mechanism (13) are a parallelogram mechanism, two parallel sides of parallelogram mechanism are connected with connecting axle (12), round brush (14) respectively, work as when round brush (14) outwards remove under the effect of garbage bin outer wall, parallelogram mechanism can take place to warp, and round brush (14) can inwards pull back under the slant tensile force effect that parallelogram mechanism provided.
4. The outer wall cleaning mechanism for garbage cans of claim 3,
an oblique spring is further arranged between two adjacent rods of the parallelogram mechanism.
5. The outer wall cleaning mechanism for garbage cans of claim 3,
a hydraulic oil cylinder (17) with a built-in displacement sensor is arranged between two adjacent rods of the parallelogram mechanism, the hydraulic oil cylinder (17) is electrically connected with a controller, and the controller controls the distance between the rolling brush (14) and the outer wall of the garbage can by controlling the telescopic degree of the hydraulic oil cylinder (17).
6. The outer wall cleaning mechanism for garbage cans of claim 3,
the rolling brush (14) is hinged with the parallelogram mechanism, a spring is further arranged between the rolling brush (14) and the parallelogram mechanism, and when the rolling brush (14) and the outer wall of the garbage can interact, the rolling brush (14) rotates around a hinge point at a small angle to keep parallel with the outer wall of the garbage can.
7. The outer wall cleaning mechanism for garbage cans of claim 5,
the garbage can revolving and collecting device is characterized by further comprising an angular displacement sensor (20) used for sensing the revolving angle and position of the rolling brush (14), wherein the angular displacement sensor (20) is electrically connected with a controller, the controller controls the rolling brush (14) to keep a constant distance with the outer wall of the garbage can at each angle in the revolving process through the angular displacement sensor (20) and a hydraulic oil cylinder (17) with a built-in displacement sensor, and the moving tracks of the rolling brush (14) corresponding to the garbage cans of different sizes are stored.
8. The outer wall cleaning mechanism for garbage cans of claim 7,
the hydraulic cylinder control system further comprises an operation mode selection switch, the operation mode selection switch is electrically connected with the controller, and the controller controls the telescopic degree of the hydraulic cylinder (17) according to the gear selected by the operation mode selection switch.
9. The outer wall cleaning mechanism for garbage cans of claim 7,
the garbage can is characterized in that the rolling brush (14) is further provided with an ultrasonic sensor (21) used for monitoring the distance change between the rolling brush (14) and the outer wall of the garbage can, the ultrasonic sensor (21) is electrically connected with the controller, and the controller controls the telescopic degree of the hydraulic oil cylinder (17) according to the detection result of the ultrasonic sensor (21) so as to control the rolling brush (14) to move according to a preset movement track.
10. A control method of a cleaning mechanism for the outer wall of a garbage can, which is used for controlling the working process of the cleaning mechanism for the outer wall of the garbage can according to claim 8,
the method comprises the following steps:
step S1: placing a garbage can to be cleaned, selecting a cleaning gear according to the size of the garbage can to be cleaned, and automatically controlling the telescopic degree of the hydraulic oil cylinder (17) by the controller according to the selected gear;
step S2: when the rolling brush (14) is positioned at the initial position, the rolling brush (14) is controlled to start to rotate, and after the preset time is delayed, the power mechanism is controlled to drive the driving sprocket (10) to rotate in the forward direction;
step S3: judging whether a proximity switch (16) at a first rotation limit position corresponding to the garbage can with the size is powered on, if so, controlling a power mechanism to stop rotating, and controlling the power mechanism to reversely rotate after delaying preset time;
step S4: judging whether a proximity switch (16) at a second rotation limit position corresponding to the garbage can with the size is powered on, if so, controlling the power mechanism to stop rotating, and controlling the power mechanism to rotate forward again after delaying preset time;
step S5: and judging whether the proximity switch (16) at the initial position is electrified or not, if so, controlling the power mechanism to stop rotating, delaying the preset time and then controlling the rolling brush (14) to stop rotating, and finishing the cleaning work of the garbage can.
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| CN113578875A (en) * | 2021-08-09 | 2021-11-02 | 杨恺远 | A high-efficient belt cleaning device for fire hose |
| CN114273361A (en) * | 2021-12-23 | 2022-04-05 | 长沙中联重科环境产业有限公司 | Garbage can outer wall cleaning device and garbage can outer wall cleaning method |
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| CN116539045A (en) * | 2023-07-05 | 2023-08-04 | 深之蓝(天津)水下智能科技有限公司 | Underwater robot positioning method, underwater robot, storage medium and electronic device |
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