CN115582373A - Automatic cleaning equipment and method for container - Google Patents

Abstract

The invention relates to the field of operation and transportation, and provides automatic container cleaning equipment and an automatic container cleaning method. Centering the cleaning machine and the container by the centering sensor, driving the cleaning machine into the container, and cleaning back and forth by the rolling brush unit and the spraying unit; the bottom side surface of the container is cleaned through the lifting rolling brush unit, then the container is cleaned by sewage from the bottom side surface, and the container is cleaned for the second time; thus, the container can be cleaned once, and one or more times of cleaning can be set according to the condition inside the container, so that the automatic and efficient cleaning operation is achieved.

Description

Automatic cleaning equipment and method for container

Technical Field

The invention relates to the field of operation and transportation, in particular to automatic cleaning equipment and method for a container.

Background

The container is the first-selected transport means of current commodity circulation transportation, and it has sufficient intensity, and the space is big, and the turnover is convenient, can use for a long time, and advantages such as fitment are convenient for, are essential important instrument in the commodity circulation transportation.

After the container is loaded with goods, the goods may remain to be cleaned and disinfected, such as corn, mineral powder, coal, kaolin, animal waste, other stains, etc., so that the container must be cleaned before the next use. Before entering the container, the oxygen content inside the container must be detected to ensure that the volume fraction of oxygen in the container is more than 18%, so that personnel can enter the container for cleaning, and continuous air blowing is carried out in the cleaning process to ensure that the environment in the container is safe, otherwise, the safety of maintenance personnel is threatened. When the container is cleaned under hot environment in summer, the temperature inside the container is high, so that the working environment is poor; in addition, substances harmful to human bodies may remain in the container, which may cause a certain health risk to maintenance personnel.

In summary, there are many problems that may cause safety of maintenance personnel when containers are manually cleaned, and therefore, it is necessary to design a device to solve the problem of manually cleaning containers.

An apparatus for automatically cleaning containers is described in the application No. CN202210050190.2 entitled "an apparatus and method for automatically cleaning and disinfecting containers". Specifically, the automatic cleaning device cleans and sterilizes the interior of the container through the guide device and the alignment device, and the carrying vehicle is stopped at a set position through the guide device, so that the automatic cleaning device aligns the container on the carrying vehicle through the alignment device and enters the container for cleaning, and the purpose of mechanical and automatic cleaning is achieved. However, there are also disadvantages:

1. the automatic cleaning device is of a single-platform structure, cleaning is carried out by continuously replacing the container, and the carrying vehicle needs to be guided and aligned every time, so that the working efficiency is low.

2. The butt joint of platform is through the manual work place the attachment strap, perhaps directly utilizes track chassis to drive into the container, causes the damage to the container edge easily, perhaps the manual work place the attachment strap safe enough, and it is also inconvenient to use.

3. The alignment of the equipment is adjusted through the matching of the lifting freedom degree, the transverse moving freedom degree, the longitudinal moving freedom degree and the horizontal rotating freedom degree, and through the adjustment of the platform. The centering accuracy is relatively low, and the cleaning machine needs to be calibrated through a mechanical mechanism (a deviation rectifying component, such as a guide wheel and ultrasonic deviation rectifying), so that the cleaning effect is influenced.

Disclosure of Invention

The invention aims to provide automatic container cleaning equipment and method, and aims to solve the problems of high labor intensity and low safety of the conventional manual cleaning.

In order to achieve the purpose, the invention adopts the following technical scheme: an automatic container cleaning apparatus, comprising:

the cleaning machine comprises a rolling brush unit, a spraying unit and a movable chassis truck, wherein the rolling brush unit and the spraying unit are arranged on the movable chassis truck, the rolling brush unit is used for performing rolling brush cleaning on the interior of a container, and the spraying unit is used for spraying the inner side surface of the container;

the top surface of the mobile platform is used for parking the cleaning machine, the mobile platform is provided with a translation slide rail and a centering sensor, and the centering sensor is used for detecting the position and deviation angle information of the container at a cleaning station and feeding the information back to the mobile platform; and

the cleaning station is arranged side by side and faces the translation slide rail perpendicularly and is positioned on the same mounting surface.

Preferably, the rolling brush unit comprises side rolling brushes symmetrically arranged at two sides of the movable chassis vehicle, and a bottom rolling brush and a top rolling brush which are arranged at the front part of the movable chassis vehicle and can move up and down; the two end parts of the side surface rolling brush, the bottom surface rolling brush and the top surface rolling brush are hard nylon brushes which are obliquely arranged.

Preferably, the spraying unit comprises a plurality of spraying rods and a water supply unit for providing water sources for the spraying rods, flushing nozzles are arranged at two ends of each spraying rod, and at least one fan-shaped nozzle is arranged in the middle of each spraying rod at equal intervals; the plurality of spray rods are used for spraying and arranging on the movable chassis vehicle towards the rolling brush unit direction.

Preferably, the top surface of the mobile platform is provided with a fence with an opening at one side, an access board is rotatably arranged at the opening, and a connecting rod mechanism is arranged between the access board and the fence; the driving rod of the connecting rod mechanism is arranged on the fence in a swinging mode, and the connecting rod of the connecting rod mechanism is arranged on the access board; when the cleaning machine pushes the driving rod to overturn and pull the access board to a rated maximum stroke, the access board is obliquely arranged towards one side far away from the fence to form an inclination angle of a complementary angle.

Preferably, the cleaning station is provided with at least one induction iron sheet on the central line position of one side of the translation slide rail, and the moving platform is provided with a positioning sensor for detecting the induction iron sheet.

Preferably, the mobile platform is further provided with an image recognition unit, and the image recognition unit performs accurate alignment on the cleaning machine and the opening of the container again through photos.

Preferably, a proximity switch is arranged on the connecting rod mechanism or the fence, and the proximity switch is electrically connected with the mobile platform; and when the access board is in a horizontal state, the mobile platform stops lifting.

Preferably, a recovery device is arranged on one side, facing the cleaning station, of the moving platform; the recovery device comprises a recovery hopper and a sewage storage box communicated with the recovery hopper, and a filter screen is arranged on the recovery hopper.

Preferably, a walking sensor is arranged on the movable chassis vehicle and used for guiding the movable chassis to walk in the container in a centering manner.

The automatic container cleaning method adopting the automatic container cleaning equipment for cleaning comprises the following steps:

transporting a plurality of containers to a cleaning station, and parking according to signal lamps on the cleaning station;

adjusting the automatic cleaning equipment of the container and the container opening of the container to align through a sensor;

taking a picture by an industrial camera, identifying the position of the picture container, and adjusting the position of the automatic container cleaning equipment to be accurately aligned with the container opening of the container again;

starting a cleaning machine of the automatic container cleaning equipment, separating the movement of the cleaning machine from a link mechanism of the automatic container cleaning equipment, and stopping the movement of the cleaning machine until a butt strap of the automatic container cleaning equipment is put down;

adjusting the horizontal height of a mobile platform of the automatic container cleaning equipment until the access board is in a horizontal state, and stopping lifting the mobile platform;

the cleaning machine drives into the container for cleaning, the cleaning machine performs self-adaptive centering adjustment in the container, and the cleaning machine keeps reciprocating movement at a centering position in the container;

the cleaning machine carries out rolling brush cleaning on all inner side surfaces of the container through a rolling brush unit and a spraying unit of the automatic container cleaning equipment; in the cleaning process of exiting the container, the sewage and the garbage in the container are cleaned out and are recycled by a recycling device of the automatic container cleaning equipment;

after the container is cleaned, the cleaning machine moves to the mobile platform and drives the link mechanism on the mobile platform, and after the lapping plate is lifted, the cleaning machine is shut down or is in a standby state.

After adopting the technical scheme, compared with the background technology, the invention has the following advantages:

1. the centering sensor and the image recognition unit are adopted to perform twice centering adjustment, so that the centering precision is high, a smooth cleaning process is provided, and the cleaning efficiency is improved.

2. The design of the butt strap can be matched with a cleaning machine to carry out falling lap joint and pulling protection so as to eliminate the clearance between the moving platform and the container and achieve the purposes of protection and smooth entering of the cleaning machine into the container.

3. Different spray heads are arranged on the spray rods of the spray units, so that different water outlet modes are realized, different positions of the container are washed, and the purpose of reasonably utilizing water resources is realized. Simultaneously can be through pressure regulating waterway regulation water pressure to the cleanness of the different containers of adaptation, for example, it is clean that the difficult abluent container of being more provides high water pressure, and the abluent container of being convenient for then can reduce water pressure and clean, and effectual saving water source improves abluent flexibility.

Drawings

Fig. 1 is a schematic structural view of an automatic container cleaning device according to the present invention at a first viewing angle;

FIG. 2 is a schematic structural view of an automatic container cleaning apparatus according to the present invention from a second perspective;

FIG. 3 is a partial view of the position of the mobile platform of the automatic container cleaning device according to the present invention;

FIG. 4 is an enlarged view of the circle marked A in FIG. 3;

FIG. 5 is a side view of the mobile platform and washing machine of the automatic container washing apparatus of the present invention;

FIG. 6 is a schematic structural diagram of a cleaning machine of the automatic container cleaning device according to the present invention;

FIG. 7 is a partial view of a washer of the automatic container washing apparatus according to the present invention;

FIG. 8 is a partial view of a mobile platform of the automatic container cleaning apparatus according to the present invention;

FIG. 9 is an enlarged view of the circle marked B in FIG. 8;

fig. 10 is a partial schematic view of a spray unit of the automatic container cleaning device according to the present invention in a state having a plurality of spray bars;

fig. 11 is a schematic view of a pipeline for supplying water to spray bars by a water supply unit of the automatic container cleaning device according to the present invention.

Description of reference numerals:

1. a container; 2. a mounting surface; 3. a signal lamp;

10. a cleaning machine; 101. a roll brush unit; 102. a spraying unit; 103. moving the chassis vehicle;

1011. side rolling brush; 1012. bottom surface rolling brush; 1013. rolling and brushing the top surface;

1021. a spray bar; 1022. a water supply unit; 1023. flushing the spray head; 1024. a fan-shaped spray head;

1025. a connecting seat; 1026. scouring the corners; 1027. a water supply pipe; 1028. a filter;

1029. a water pump; 1030. a pressure regulating waterway; 1031. an electromagnetic valve; 1032. a one-way valve;

1033. a safe waterway;

20. a mobile platform; 201. translating the slide rail; 202. a fence; 203. a butt strap;

204. a link mechanism; 205. an image recognition unit; 206. a proximity switch;

207. a recovery unit;

2041. a drive rod; 2042. a fixing rod; 2043. a connecting rod;

2071. a recovery hopper; 2072. a filter screen;

30. cleaning a station; 301. and (5) induction of iron sheets.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, it should be noted that:

the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element of the present invention must have a specific orientation, and thus, should not be construed as limiting the present invention.

When an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be in communication within the two elements or in interactive relationship with the two elements. Specific meanings of the above terms in the present invention can be understood according to specific situations by a person of ordinary skill in the art.

Example one

Referring to fig. 1, 2, 3, 6 and 10, the present embodiment provides an automatic cleaning apparatus for a container 1, including a cleaning machine 10, a mobile platform 20 and a cleaning station 30, where the cleaning machine 10 includes a rolling brush unit 101, a spraying unit 102 and a mobile chassis 103, the rolling brush unit 101 and the spraying unit 102 are disposed on the mobile chassis 103, the rolling brush unit 101 is used for rolling brush cleaning all surfaces inside the container 1, and the spraying unit 102 is used for spraying all surfaces inside the container 1; the top surface of the mobile platform 20 is used for parking the cleaning machine 10, the mobile platform 20 is provided with a translation slide rail 201 and a centering sensor, and the centering sensor is used for detecting the position and deviation angle information of the container 1 at the cleaning station 30 and feeding the information back to the mobile platform 20; the cleaning stations 30 are arranged side by side, and the cleaning stations 30 are arranged perpendicularly to the translation sliding rail 201 and located on the same mounting surface 2.

Installation face 2 can be for the ground that reinforced concrete poured in this embodiment to bear 1 self-cleaning equipment of container, avoid because 1 self-cleaning equipment of container is heavier, lead to translation slide rail 201 to warp, influence the counterpoint precision, provide a good operational environment.

In the preparation stage, the container 1 to be cleaned is stopped at a designated position in the cleaning station 30, i.e. an artificially designed position, and the opening orientation of the container 1, so that the contraposition cleaning machine 10 can conveniently enter and exit for cleaning. At this time, the washing machine 10 is parked on the moving platform 20, connected to a water supply pipe, and prepared to perform a washing operation in a standby state. Specifically, a signal frame of a traffic light and a position sensor (such as an infrared sensor) can be installed at each cleaning station 30 to ensure that a driver can accurately park the container 1 within a set range when parking the container 1, so as to ensure that the butt joint between the cleaning machine 10 and the container 1 is within a manually set range, and improve the safety and the practicability.

The cleaning working stage comprises an alignment step and a cleaning step, wherein in the alignment step: the positions of the container 1 and the cleaning machine 10 are detected through the centering sensor, and then the positions of the moving platform 20 are adjusted, namely, the left and right adjustment along the translation sliding rail 201 (the centering adjustment of the cleaning machine 10 and the container 1), the up and down adjustment of the lifting of the moving platform 20 (the horizontal height adjustment of the cleaning machine 10 and the container 1) and the front and back adjustment of the sliding of the moving platform 20 through the winch (the distance adjustment between the cleaning machine 10 and the container 1) are performed, so that the accurate alignment of the cleaning machine 10 and the container 1 is finally realized.

Furthermore, a cleaning step is performed, the cleaning machine 10 is started, the entire cleaning machine 10 is driven by the moving chassis 103 to enter the container 1 from the moving platform 20, and cleaning operation can be performed after the cleaning machine enters the container 1, and all inner surfaces of the container 1 are scrubbed by the rolling brush unit 101 and the spraying unit 102 until the cleaning machine enters the bottom side surface (side surface relative to the container opening) position of the container 1. At this moment, carry out the round brush through lift round brush unit 101 and wash, later cleaning machine 10 backs a car through removing chassis car 103, realizes the washing of second time, and the sewage and the debris that will wash simultaneously sweep out container 1 through round brush unit 101, so accomplish the washing to container 1, and the abluent number of times can be operated according to the condition of container 1 is artificial, can carry out the washing repeatedly many times, guarantees the sanitization to container 1, and the flexibility is higher.

In the embodiment, the centering sensor may be an ultrasonic sensor (not shown), and the position of the container 1 in the cleaning station 30 is located by ultrasonic detection, that is, the distance between the container 1 and the left and right sides of the cleaning station 30 is detected, and the information of the inclination angle of the container 1 is detected, and the information is fed back to the moving platform 20. Further, the position of the movable platform 20 is adjusted left and right on the translation slide rail 201, and the alignment adjustment between the cleaning machine 10 and the opening of the container 1 is realized.

As shown in fig. 6 and 7, the roll brush unit 101 in this embodiment includes side roll brushes 1011 symmetrically disposed at both sides of the moving chassis 103, and a bottom roll brush 1012 and a top roll brush 1013 disposed at the front of the moving chassis 103 to be movable up and down; both end portions of the side surface rolling brush 1011, the bottom surface rolling brush 1012 and the top surface rolling brush 1013 are hard nylon brushes disposed obliquely. The side rolling brushes 1011, the bottom rolling brushes 1012 and the top rolling brushes 1013 may be made by a combination of nylon brushes and fur brushes; the two end portions of the side surface rolling brush 1011, the bottom surface rolling brush 1012 and the top surface rolling brush 1013 are made of inclined hard nylon brushes so as to brush the corner positions of the container 1, thereby having the performance of difficult deformation, improving the cleaning cleanliness and prolonging the service life.

During the cleaning operation, since the height of the side rolling brush 1011 can be the same as or slightly higher than the height of the container 1 (the brush has flexibility and small bending deformation, and does not affect the cleaning effect), two times of brushing can be realized when the cleaning machine 10 enters or exits the container 1. Similarly, the length of the floor rolling brush 1012 and the roof rolling brush 1013 is similar to the width of the container 1 so as to brush the roof, floor and underside of the container 1.

It is necessary for the floor rolling brushes 1012 and the roof rolling brushes 1013 to perform a lifting movement in order to achieve the effect of brushing the bottom and side surfaces of the container 1. Therefore, the fixing frame of the bottom rolling brush 1012 is installed on a lead screw and a polished rod which are vertically arranged, the lead screw and the polished rod are installed on the frame of the movable chassis 103, and the lead screw is provided with a motor for driving the lead screw to rotate, so that the whole bottom rolling brush 1012 can be driven to move up and down. In the same way, the top surface rolling brush 1013 also adopts a screw rod structure to perform lifting movement, thereby achieving the purpose of brushing the bottom side surface of the container 1. Simultaneously, go up and down through the drive of lead screw to wash the container 1 of different specifications, improve the suitability.

As shown in fig. 10 and 11, in the present embodiment, the spray unit 102 includes a plurality of spray bars 1021 and a water supply unit 1022 for supplying water to the plurality of spray bars 1021, the water supply unit 1022 includes a water supply pipe 1027, and a filter 1028, a water pump 1029, a pressure-regulating water path 1030, an electromagnetic valve 1031 and a one-way valve 1032 which are sequentially installed on the water supply pipe 1027, flushing nozzles 1023 are disposed at both ends of the spray bars 1021, and at least one fan-shaped nozzle 1024 is disposed at the middle of the spray bars 1021 at equal intervals; the plurality of spray bars 1021 are used to spray the water disposed on the moving chassis 103 toward the roll brush unit 101. A plurality of spray rods 1021 may be installed at both sides of the moving chassis 103 and both upper and lower ends of the front of the moving chassis 103 to perform a washing spray on the bottom surface, the top surface, the bottom side surface, and both side surfaces of the container 1.

Specifically, the spray bars 1021 (the two spray bars 1021 are called a top spray bar and a bottom spray bar) positioned at the upper and lower end parts of the front of the moving chassis 103 are hinged on the frame body of the moving chassis 103 through a connecting seat 1025; and flush angles 1026 are mounted to the top and bottom spray bars, the flush angles 1026 being connecting rods 2043 with guide wheels at the ends. Under normal state, the top spray rod and the bottom spray rod cannot swing. When the cleaning machine 10 touches the bottom side surface of the container 1, the guide wheel on the scouring corner 1026 contacts the bottom side surface and slides along the bottom side surface along with the movement of the cleaning machine 10 (the bottom spray rod slides towards the bottom surface of the container 1, the top spray rod 1 slides towards the top surface of the container 1), so that the top spray rod and the bottom spray rod swing, and the scouring spray heads 1023 and the fan-shaped spray heads 1024 are aligned to the corners or the positions of the top corners of the container 1, thereby forming spray cleaning without dead corners and improving the cleaning cleanliness.

As shown in fig. 10 and 11, when the shower head is used, water is supplied to the shower rod 1021 through the water supply pipe 1027, the water supply pipe 1027 is sequentially provided with the filter 1028, the water pump 1029, the pressure-regulating water path 1030, the electromagnetic valve 1031, and the check valve 1032, and the pressure-regulating water path 1030 regulates the water pressure of the water supply pipe 1027 through the regulating valve so as to regulate the outlet water pressure of the shower rod 1021. Furthermore, the water is sprayed out through the flushing nozzle 1023 and the fan-shaped nozzle 1024, and the effect of large-flow washing can be achieved through the adjustment of the water supply amount, or the purpose of small-flow spraying and cleaning can be achieved, so that the cleaning is flexible, and the water resource is saved. In order to improve the safety of the water supply unit 1022, a safety water path 1033 may be connected to the water supply pipe 1027, and the safety water path 1033 has a pressure valve therein, so that when the water supply of the water pump 1029 is greater than the output water, the pressure value set by the pressure valve is exceeded, and the pressure valve is automatically opened, so that the water flow is divided and decompressed by the safety water path 1033, the water pressure in the pipeline is reduced, the water pressure in the pipeline is ensured, and the safety is improved.

When spraying out water, wash out shower nozzle 1023 and can be the column shower nozzle, a large amount of water of blowout that can be quick to reach the effect that large-traffic was washed out, wash the edges and corners position of container 1. The fan-shaped nozzles 1024 are flushed by a fan-shaped diffusion type spraying mode, so that the purpose of large-area spraying is achieved, large-scale cleaning is achieved, and the cleaning efficiency is improved.

As shown in fig. 5 and 8, in the embodiment, the top surface of the mobile platform 20 is provided with a rail 202 having an opening at one side, and an access board 203 is rotatably disposed at the opening, a link mechanism 204 is disposed between the access board 203 and the rail 202, the link mechanism 204 includes a driving rod 2041 which is pivotally mounted on the rail 202, a fixing rod 2042 which is fixedly mounted on the access board 203, and a connecting rod 2043 which is pivotally connected to the driving rod 2041 and the fixing rod 2042, so as to drive the driving rod 2041 to turn over the access board 203. The upper attachment plate 203 is mounted on the mobile platform 20 through a shaft hinge or a hinge, and the connection between the attachment plate 203 and the mobile platform 20 is achieved through the link mechanism 204, so that the attachment plate 203 is rotated by driving the driving rod 2041 of the link mechanism 204.

In an initial state, the cleaning machine 10 is parked on the moving platform 20, and the cleaning machine 10 abuts against the driving rod 2041, and the access board 203 is pulled up through the link mechanism 204 and is kept in a tilted state, that is, one end of the access board 203 is tilted, and the opening position of the fence 202 is blocked, so as to form protection. When the container 1 is cleaned, the cleaning machine 10 is started and drives into the container 1, and at the moment, the cleaning machine 10 is separated from the driving rod 2041, so that the access board 203 is rotated and placed down by self weight until one end of the access board 203 is placed on the container 1 to form lap joint, so that the cleaning machine 10 can conveniently walk; when the cleaning machine 10 returns to the movable platform 20, it will abut against the driving rod 2041 again, and the strap 203 will be lifted up again. The problem of the strap 203 is placed in the manual work is solved, the strap 203 is placed automatically, and the safety and the convenience of use are improved.

Further, as shown in fig. 5 and 8, in the embodiment, when the cleaning machine 10 pushes against the driving rod 2041 to turn over and pull up the strap 203 to a rated stroke (the strap 203 is pulled up, and is in the maximum pulling-up position), the strap 203 is inclined toward the side away from the fence 202 to form an inclination angle of a complementary angle, and the inclination angle of the maximum inclination angle may be between 80 ° and 90 °, so that the strap 203 has a downward gravity, and after the pulling force of the link mechanism 204 is released, the strap 203 may fall by its own weight, and the action of lowering the strap 203 is realized.

A positioning hole is arranged on the connecting rod, and a limiting hole matched with the positioning hole is arranged on the fence 202; when the access board 203 is turned and tilted, the central axis of the positioning hole and the central axis of the limiting hole are aligned to be coaxial, or after the access board 203 is set to be turned to the maximum angle, the central axis of the positioning hole and the central axis of the limiting hole are coaxial, and then the locking is carried out through the pin shaft, so that the purpose of fixing the connecting rod mechanism 204 on the fence 202 is achieved, and the effect of safe locking is achieved. When the cleaning machine is used, the cleaning machine 10 can be driven away from the platform frame body only after the pin shaft needs to be taken down, and therefore practicability and safety are improved.

Further, as shown in fig. 3 and 5, the mobile platform 20 of the present embodiment is further provided with an image recognition unit 205, and the image recognition unit 205 performs accurate alignment of the cleaning machine 10 and the opening of the container 1 again through photos. The image recognition unit 205 can be an industrial camera, and can recognize the shot picture, and then precisely adjust the mobile platform 20 again, so as to achieve the purpose of accurate alignment between the cleaning machine 10 and the opening of the container 1, improve the detection precision, and provide the safety guarantee of centering adjustment.

As shown in fig. 1, in the present embodiment, at least one sensing iron piece 301 is disposed at a center line position of the side of the cleaning station 30 facing the translation slide rail 201, and a positioning sensor (not shown) for detecting the sensing iron piece 301 is disposed on the moving platform 20. The positioning sensor may be a position sensor, an infrared sensor, or a proximity switch sensor, and thus may perform sensing detection with the sensing iron piece 301 through the positioning sensor. Specifically, the moving platform 20 is driven to move on the translation slide rail 201, and the moving platform 20 is immediately stopped moving until the positioning sensor senses the induction iron sheet 301, so that the moving platform 20 is centered with the cleaning station 30, the effect of simply and practically adjusting the centering position of the moving platform 20 is achieved, and the accuracy of detection of the image recognition unit 205 and the centering sensor is improved.

Then, the industrial camera takes a picture, the picture taken is identified, the position of the mobile platform 20 is adjusted, and the cleaning machine 10 is centered with the opening of the container 1. Then, the access panel 203 on the moving platform 20 is placed, and the horizontal height is adjusted up and down by the hydraulic cylinder, so that the washing machine 10 enters the container 1 for washing.

As shown in fig. 8 and 9, in the present embodiment, the link mechanism 204 or the fence 202 is provided with a proximity switch 206, and the proximity switch 206 is electrically connected to the moving platform 20; when the access panel 203 is in the horizontal state, the mobile platform 20 stops lifting. The proximity switch 206 is installed on the fence 202, and when the driving rod 2041 of the link mechanism 204 is in a state of flatting the access board 203, the driving rod 2041 may touch the proximity switch 206, and then the mobile platform 20 is turned off through the proximity switch 206, so that the mobile platform 20 does not perform lifting movement any more. At the moment, the access board 203 can be judged to be in a horizontal state, the access board 203 is lapped on the container 1, the accurate adjustment of the horizontal height is achieved, and the method is simple and practical.

As shown in fig. 3, 4 and 5, the recycling device 207 is disposed on a side of the moving platform 20 facing the cleaning station 30 in the embodiment; the recycling device 207 includes a recycling hopper 2071 and a sewage storage box communicated with the recycling hopper 2071, and a filter screen 2072 is disposed on the recycling hopper 2071. The sewage and sundries swept out are collected through the recovery bucket 2071, the collected wastewater can be stored in the sewage storage box and then is output through a pipeline for centralized treatment. And, have filter screen 2072 on recovery fill 2071, can filter debris on recovery fill 2071, avoid the pipeline to take place to block up, also be convenient for clear up the debris that filter off, improve the practicality.

In this embodiment, the moving chassis 103 is provided with a walking sensor (not shown) for guiding the moving chassis to walk in the container 1. The walking sensor can be an infrared sensor, and guides the cleaning machine 10 by detecting the position of the cleaning machine 10 in the container 1, so that the cleaning machine 10 can walk in the container 1 in a centering way, all sides of the container 1 are guaranteed to be scrubbed, and the purpose of improving the cleanliness of the cleaning machine is achieved.

The automatic cleaning equipment for the container 1 in the implementation realizes the purpose of full-automatic cleaning and solves the problem of potential safety hazard in manual cleaning. Meanwhile, a plurality of cleaning stations 30 can be arranged, so that the cleaning machine 10 can alternately clean through the translation sliding rail 201, namely after one container 1 is cleaned, the container 1 is moved to the next cleaning station 30 to be cleaned, the container 1 which is cleaned can be transported out of the cleaning stations 30 and is stopped to the container 1 to be cleaned, and the cleaning efficiency is ensured by alternately cleaning.

Specifically, the time for cleaning one container 1 by the automatic cleaning equipment for the container 1 is generally 3-5 minutes, some containers 1 which are difficult to clean are not eliminated, and the container can be cleaned for a longer time. Through 1 self-cleaning equipment of container whole no manual contact (open the back, walk through the sensor, perhaps control through the remote controller), can realize full self-cleaning's effect, safe and reliable practices thrift the cost of labor, and clear intensity of labour is lower. And, can collect through collecting the fill to rubbish and the sewage that washs, through collecting the processing to sewage, can carry out cyclic utilization, the water economy resource.

Example two

The embodiment provides an automatic cleaning method for a container 1, and the automatic cleaning device for the container 1 described in the first embodiment is used for cleaning, specifically, the method comprises the following steps:

a plurality of containers 1 are transported to the cleaning station 30, one container 1 is parked on one cleaning station 30, and the containers are parked according to signal lamps 3 (traffic lights) on the cleaning station 30, namely, when the transport vehicle transports the containers 1 to the cleaning station 30, the positions of the containers 1 are detected through a position sensor or an infrared sensor, when the transport vehicle moves to a specified position, the containers 1 are detected by the position sensor or the infrared sensor, the signal lamps 3 can be lightened at the moment, a driver stops according to the lightening of the signal lamps 3, the containers 1 are put down, and the transport at this time is completed. In this way, the containers 1 parked in each cleaning station 30 are regularly arranged within a range set by a human operator, so that the mobile platform 20 drives the cleaning machine 10 to align.

Furthermore, the automatic cleaning equipment of the container 1 is adjusted to be aligned with the opening of the container 1 through a sensor; the container 1 is detected in the position of the washing station 30, for example by means of ultrasonic sensors, and the washing machine 10 is centered. In order to improve the centering precision, the position of the picture container 1 can be photographed and recognized through an industrial camera, and the position of the automatic cleaning equipment of the container 1 is adjusted again to be accurately centered with the opening of the container 1.

Further, the cleaning machine 10 of the automatic cleaning equipment of the container 1 moves, the cleaning machine 10 moves to be separated from the link mechanism 204 of the automatic cleaning equipment of the container 1, and the cleaning machine 10 stops moving until the access board 203 of the automatic cleaning equipment of the container 1 is put down; at this time, the horizontal height of the moving platform 20 of the automatic cleaning device for the container 1 is adjusted, and the lifting of the moving platform 20 is stopped until the access panel 203 is in a horizontal state, thereby completing the height adjustment of the cleaning machine 10.

Further, the cleaning machine 10 drives into the container 1 for cleaning, the cleaning machine 10 performs self-adaptive centering adjustment in the container 1, and the cleaning machine keeps reciprocating movement at a centering position in the container 1; the cleaning machine 10 performs rolling brush cleaning on all inner sides of the container 1 through a rolling brush unit 101 and a spraying unit 102 of the automatic cleaning equipment for the container 1; in the cleaning process of exiting the container 1, the sewage and the garbage in the container 1 are cleaned, and are recovered and treated by a recovery device 207 of the automatic cleaning equipment of the container 1; the recovered sewage is recycled after being treated, so that the environment pollution is avoided, and meanwhile, the water resource is saved.

After the cleaning of the container 1 is completed, the cleaning machine 10 moves to the moving platform 20, and drives the link mechanism 204 on the moving platform 20, and after the access panel 203 is taken up, the cleaning machine 10 is shut down or in a standby state. Therefore, a full-automatic cleaning process is realized, manual cleaning is not needed, and safety guarantee is improved. Meanwhile, the high-precision centering design can ensure smooth operation of the equipment and ensure the cleaning effect on the container 1; moreover, the arrangement of the plurality of cleaning stations 30 can realize continuous alternate cleaning, thereby improving the cleaning efficiency of the container 1.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. An automatic cleaning device for a container, comprising:

the cleaning machine comprises a rolling brush unit, a spraying unit and a movable chassis truck, wherein the rolling brush unit and the spraying unit are arranged on the movable chassis truck, the rolling brush unit is used for performing rolling brush cleaning on the interior of a container, and the spraying unit is used for spraying the inner side surface of the container;

the top surface of the moving platform is used for parking the cleaning machine, the moving platform is provided with a translation sliding rail and a centering sensor, and the centering sensor is used for detecting the position and deviation angle information of the container at the cleaning station and feeding back the information to the moving platform; and

the cleaning station is arranged side by side and faces the translation slide rail perpendicularly and is positioned on the same mounting surface.

2. The automatic container washing apparatus according to claim 1, wherein: the rolling brush unit comprises side rolling brushes symmetrically arranged on two sides of the movable chassis truck, and a bottom rolling brush and a top rolling brush which are arranged on the front part of the movable chassis truck and can move up and down;

the two end parts of the side surface rolling brush, the bottom surface rolling brush and the top surface rolling brush are hard nylon brushes which are obliquely arranged.

3. The automatic container washing apparatus according to claim 1, wherein: the spraying unit comprises a plurality of spraying rods and a water supply unit for providing water sources for the spraying rods, flushing nozzles are arranged at two end parts of each spraying rod, and at least one fan-shaped nozzle is arranged in the middle of each spraying rod at equal intervals;

and the plurality of spray rods are used for spraying towards the direction of the rolling brush unit and are arranged on the movable chassis vehicle.

4. The automatic container washing apparatus according to claim 1, wherein: the top surface of the mobile platform is provided with a fence with an opening at one side, an access board is rotatably arranged at the opening, and a connecting rod mechanism is arranged between the access board and the fence;

the driving rod of the connecting rod mechanism is arranged on the fence in a swinging mode, and the connecting rod of the connecting rod mechanism is arranged on the access board; when the cleaning machine pushes the driving rod to overturn and pull up the access board to a rated maximum stroke, the access board is obliquely arranged towards one side far away from the fence to form an inclination angle of a complementary angle.

5. The automatic container washing apparatus according to claim 1, wherein: the cleaning station is provided with at least one induction iron sheet on the central line position on one side of the translation slide rail, and the moving platform is provided with a positioning sensor for detecting the induction iron sheet.

6. The automatic container washing apparatus according to claim 1, wherein: the mobile platform is also provided with an image recognition unit, and the image recognition unit accurately centers the cleaning machine and the opening of the container again through photos.

7. The automatic container washing apparatus according to claim 4, wherein: a proximity switch is arranged on the connecting rod mechanism or the fence and is electrically connected with the mobile platform;

and when the butt strap is in a horizontal state, the mobile platform stops lifting.

8. The automatic container washing apparatus according to claim 1, wherein: a recovery device is arranged on one side, facing the cleaning station, of the moving platform;

the recovery device comprises a recovery hopper and a sewage storage box communicated with the recovery hopper, and a filter screen is arranged on the recovery hopper.

9. The automatic container washing apparatus according to claim 1, wherein: and a walking sensor is arranged on the movable chassis vehicle and used for guiding the movable chassis to walk in the container in a centering way.

10. An automatic cleaning method for a container, which is performed by using the automatic cleaning apparatus for a container according to any one of claims 1 to 9, comprising the steps of:

transporting a plurality of containers to a cleaning station, and parking according to signal lamps on the cleaning station;

adjusting the container automatic cleaning equipment and the container opening of the container to align through a sensor;

photographing and identifying the position of the picture container through an industrial camera, and adjusting the position of the automatic container cleaning equipment again to be accurately aligned with the container opening of the container;

starting a cleaning machine of the automatic container cleaning equipment, separating the movement of the cleaning machine from a link mechanism of the automatic container cleaning equipment, and stopping the movement of the cleaning machine until a butt strap of the automatic container cleaning equipment is put down;

adjusting the horizontal height of a mobile platform of the automatic container cleaning equipment until the butt strap is in a horizontal state, and stopping the lifting of the mobile platform;

the cleaning machine drives into the container for cleaning, the cleaning machine performs self-adaptive centering adjustment in the container, and the cleaning machine keeps reciprocating movement at a centering position in the container;

the cleaning machine carries out rolling brush cleaning on all inner side surfaces of the container through a rolling brush unit and a spraying unit of the automatic container cleaning equipment; in the cleaning process of exiting the container, the sewage and the garbage in the container are cleaned out and are recycled by a recycling device of the automatic container cleaning equipment;

after the container is cleaned, the cleaning machine moves to the mobile platform and drives the link mechanism on the mobile platform, and after the lapping plate is lifted, the cleaning machine is shut down or is in a standby state.

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