CN210497381U - Automatic change intelligent belt cleaning device - Google Patents

Abstract

The utility model provides an automatic change intelligent belt cleaning device, including the travelling car, the seat is rotated to the level, main rotation axis, locate the epaxial washing arm of main rotation, be equipped with a driving motor on the seat is rotated to the level, the washing arm includes the main arm, flexible actuating mechanism, the spray lance, the vertical pivoted of drive spray lance rotates actuating mechanism, the rotatory rotary driving mechanism of drive spray lance self circumference, be equipped with the shower nozzle on the spray lance, the other end is connected with the delivery pipe, the main arm articulates in the top of main rotation axis, be equipped with the lifting actuating mechanism of drive main arm lifting on the main rotation axis, be equipped with control system on the travelling car, a driving motor, flexible actuating mechanism, rotate actuating mechanism, rotary driving mechanism, the equal electricity of lifting actuating mechanism is. The utility model has high automation degree, and can replace manual work to automatically clean in the field environment; and the cleaning arm is in multi-shaft linkage, so that the flexibility is high, the cleaning range is wide, and the effect is good.

Description

Automatic change intelligent belt cleaning device

Technical Field

The utility model relates to a cleaning equipment technical field especially relates to an automatic change intelligent belt cleaning device.

Background

With the development of social science and technology, the application of the automation equipment in life is increasingly wide. The high-pressure cleaning device is mainly applied to cleaning the surface of large equipment, the workshop environment of a factory, the environment of a livestock breeding factory and the like. It can peel off and wash away dirt to clean the surface of the object.

As shown in the patent with publication number CN106040646B and named as high-pressure washer and the patent with publication number CN105170516A and named as high-pressure washer, most of the high-pressure washing devices in the market comprise a frame, a power device, a high-pressure water pump, a spray rod and the like; when the automatic surface cleaning device works, an operator holds the spray rod to clean the surface of a target cleaning object, and needs to manually push the rack to move.

Although the cleaning machine on the market can achieve the purpose of cleaning dirt on the surface of an object, the degree of automation is low, and the cleaning operation needs to be carried out manually on site. As is well known, the livestock breeding factory has a dirty and bad environment and bad smell, and brings great inconvenience to manual operation of workers on site. In addition, for some relatively regular factory environments or large-scale machine equipment with fixed geometric shapes, the manual cleaning operation is high in working intensity and high in labor cost, and therefore the trend of replacing manual cleaning with automatic cleaning is the future trend.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an automatic intelligent belt cleaning device, its degree of automation is high, can replace the manual work to carry out self-cleaning in the site environment.

In order to solve the technical problem, the technical scheme of the utility model is that: an automatic intelligent cleaning device comprises a movable trolley, a horizontal rotating seat standing on the movable trolley, a main rotating shaft rotationally connected to the horizontal rotating seat, and a cleaning arm arranged on the main rotating shaft, wherein the horizontal rotating seat is provided with a first driving motor for driving the main rotating shaft to rotate, the cleaning arm comprises a main arm, a telescopic arm arranged on the main arm, a telescopic driving mechanism for driving the telescopic arm to stretch, a spray rod arranged at one end of the telescopic arm far away from the main rotating shaft, a rotating driving mechanism for driving the spray rod to vertically rotate, and a rotating driving mechanism for driving the spray rod to circumferentially rotate, a spray head is arranged at one end of the spray rod far away from the rotating driving mechanism, the other end of the spray rod is connected with a water supply pipe, the water outlet axis of the spray head is intersected with the axis of the spray rod, the main arm is hinged to the top end, the movable trolley is provided with a control system, and the first driving motor, the telescopic driving mechanism, the rotary driving mechanism and the lifting driving mechanism are all electrically connected to the control system.

Through the technical scheme, the movable trolley can automatically walk under the action of the controller, so that the movable trolley can move in a cleaning area; the main rotating shaft can horizontally rotate under the action of the first driving motor, so that the cleaning arm is driven to horizontally rotate; the cleaning arm can be lifted and lowered in the vertical direction under the action of the lifting driving mechanism, and meanwhile, the cleaning arm can be stretched under the action of the stretching driving mechanism, so that the cleaning range of the cleaning arm is expanded; in addition, the spray rod at the front end of the telescopic arm can rotate 360 degrees in the vertical direction, and can drive the spray head to rotate, so that the spray rod and the spray head have high flexibility, and the environment, the corners and dead angles of equipment can be conveniently cleaned;

the cleaning arms are in multi-shaft linkage, so that the flexibility of the cleaning arms is greatly improved, and the cleaning range of the cleaning arms is expanded; the control system can accurately control the action of the cleaning arm and the traveling route of the movable trolley, so that an operator can preset the controller according to the actual working environment or a working object, and the automatic cleaning of the cleaning device is realized; or the operator controls the cleaning device outside the cleaning environment through the controller to achieve the cleaning purpose; in conclusion, the cleaning equipment has high automation degree, can replace manual work to carry out automatic cleaning in the field environment, has high efficiency and reduces the labor intensity of workers.

Preferably, the telescopic boom comprises a primary telescopic boom and a secondary telescopic boom, the primary telescopic boom is arranged in the primary boom in a penetrating manner, the secondary telescopic boom is arranged in the primary telescopic boom in a penetrating manner, the telescopic driving mechanism comprises a second driving motor arranged on the primary boom, a primary transmission chain for driving the primary telescopic boom to expand and contract, and a secondary transmission chain for driving the secondary telescopic boom to expand and contract, the second driving motor is provided with a driving wheel, a first driven wheel is arranged at one end of the primary boom far away from the main rotating shaft, the driving wheel and the first driven wheel are both in toothed connection with the primary transmission chain, one end of the primary telescopic boom close to the main rotating shaft is fixed on the primary transmission chain, a second driven wheel is arranged at one end of the primary telescopic boom far away from the main rotating shaft, a third driven wheel is arranged at one end of the secondary telescopic boom close to the main rotating shaft, and both the second driven wheel and the, and one end of the secondary telescopic arm close to the main rotating shaft is fixed on the secondary transmission chain.

By adopting the technical scheme, the arm spread of the cleaning arm is greatly increased by adopting a two-stage telescopic arm form, and the cleanable range of the cleaning arm is expanded; the two-stage telescopic boom is driven by one motor, so that the transmission control structure is simplified, and the telescopic boom is lighter; the power transmission is carried out through the two-stage transmission chain, so that the telescopic arm can be stably stretched and contracted, and the structure is stable and reliable.

Preferably, the secondary transmission chain comprises a first transmission chain and a second transmission chain, the first transmission chain is in toothed connection with the second driven wheel, one end of the first transmission chain is fixed to one end, far away from the main rotating shaft, of the main arm, the other end of the first transmission chain is fixed to one end, close to the main rotating shaft, of the secondary telescopic arm, the second transmission chain is in toothed connection with the third driven wheel, one end of the second transmission chain is fixed to one end, far away from the main rotating shaft, of the main arm, and the other end of the second transmission chain is fixed to one end, close to the main rotating shaft, of.

Through the technical scheme, the two-stage transmission chain is divided into two chains, so that one end of the first transmission chain is fixed on the outer side of the main arm, the other end of the first transmission chain extends into the first-stage telescopic arm and is fixed on the second-stage telescopic arm, the structure is optimized, and the occurrence of interference is reduced in the movement process; meanwhile, due to the arrangement of the two transmission chains, the connection point of the transmission chains and the secondary telescopic arm can be conveniently and properly adjusted, and stroke adaptability adjustment is carried out.

Preferably, the one end that the flexible arm of one-level is close to main rotation axis is equipped with first guide part, the one end that main rotation axis was kept away from to the main arm is equipped with first spacing portion, first spacing portion is including being fixed in the first mount of main arm left and right sides and downside, rotating the first gyro wheel of connecting on first mount, every side first gyro wheel contradicts the lateral wall that corresponds on the flexible arm of one-level respectively.

Through the technical scheme, the first guide part is located at one end of the primary telescopic arm extending into the main arm, the first roller on the bottom surface of the port of the main arm supports the bottom of the primary telescopic arm to enable the bottom of the primary telescopic arm to be separated from the inner wall of the main arm, the first rollers on the left side and the right side of the port of the main arm replace the inner side wall of the primary telescopic arm to be in direct contact with the main arm, sliding friction is replaced by rolling friction, therefore, the two ends of the primary telescopic arm move more smoothly under the action of the first guide part and the first limiting part, and the motion stability of the telescopic arm is.

The one end that the flexible arm of second grade is close to main rotation axis is equipped with the second guide part, the one end that the main rotation axis was kept away from to the flexible arm of one-level is equipped with the spacing portion of second, the spacing portion of second is including being fixed in the second mount of main arm left and right sides and downside, rotating the second gyro wheel of connecting on the second mount, every side the second gyro wheel contradicts the lateral wall that corresponds on the flexible arm of second grade respectively.

Through the technical scheme, the second guide part is located the one end that the flexible arm of second grade stretched into the flexible arm of one-level, the flexible arm bottom of second grade is held to the second gyro wheel of the flexible arm port bottom surface of one-level, make its bottom break away from the flexible arm inner wall of one-level, the second gyro wheel that is located the flexible arm port left and right sides of one-level replaces the inside wall of the flexible arm of second grade direct contact one-level, replace sliding friction with rolling friction, so the flexible arm both ends of second grade move more smoothly under the effect of the spacing portion of second guide part and second, the stability of flexible arm motion has been improved greatly.

Preferably, the first guide part comprises a first mounting frame fixed at one end of the primary telescopic arm penetrating into the main arm, and a first upper guide wheel, a first lower guide wheel, a first left guide wheel and a first right guide wheel which are arranged on the first mounting frame, and the first upper guide wheel, the first lower guide wheel, the first left guide wheel and the first right guide wheel are uniformly supported against the inner wall of the main arm;

the second guide part comprises a second mounting frame fixed on one end of the secondary telescopic arm, an upper guide wheel, a lower guide wheel, a second left guide wheel and a second right guide wheel, wherein the second mounting frame penetrates through one end of the main arm, the upper guide wheel, the lower guide wheel, the second left guide wheel and the second right guide wheel are arranged on the second mounting frame, the lower sides of the upper guide wheel and the lower guide wheel are supported on the inner wall of the lower side of the one-level telescopic arm, the upper side of the upper guide wheel and the lower guide wheel are in clearance fit with the inner wall of the upper side of the one-level telescopic.

Through the technical scheme, the guide wheels on the first mounting frame respectively abut against the four sides of the inner wall of the main arm at the end, extending into the main arm, of the first-stage telescopic arm, so that the gap between the end part of the first-stage telescopic arm and the inner side of the main arm is reduced, and the gap shaking generated when the telescopic arm is stretched is reduced; meanwhile, the guide wheel replaces sliding friction with rolling friction, so that the smoothness of the first-stage telescopic arm during movement is greatly improved; the upper guide wheel, the lower guide wheel, the second left guide wheel and the second right guide wheel have the same effect;

here, because the flexible arm internal diameter of second grade is less than the flexible arm of one-level, the setting of guide pulley about the different adoption can simplify the structure of second guide part, reduces guide pulley quantity, makes the product lightweight more.

Preferably, the rotation driving mechanism comprises a third fixing frame arranged at one end, far away from the main rotating shaft, of the telescopic arm, a rotating shaft rotationally connected to the third fixing frame, and a third driving motor arranged on the third fixing frame and driving the rotating shaft to rotate, and the spray rod is fixed on the rotating shaft.

Through above-mentioned technical scheme, third driving motor drive axis of rotation rotates for the third mount, and the axis of rotation drives the spray lance and rotates to realize the rotation action of spray lance.

Preferably, the rotary driving mechanism comprises a fixed plate fixed on the rotating shaft and a fourth driving motor arranged on the fixed plate, a first rotary joint is arranged on the fixed plate, the spray rod penetrates through the fixed plate and is rotatably connected to the first rotary joint, and the fourth driving motor drives the spray rod to rotate in the circumferential direction.

Through above-mentioned technical scheme, under fourth driving motor's effect, the spray lance rotation, the first rotary joint of this place has guaranteed that the water supply pipe can not take place winding phenomenon when the spray lance rotation, guarantees the leakproofness of joint department simultaneously.

Preferably, the rotating shaft is a hollow shaft, a second rotating joint is arranged at one end, away from the first rotating joint, of the rotating shaft, one end of the second rotating joint is rotatably connected with the rotating shaft, and the other end of the second rotating joint is connected with a water supply pipe.

Through the technical scheme, the hollow shaft is used for replacing a pipeline at the end part of the spray rod, so that a water supply pipe is introduced from one end of the second rotary joint, namely the water supply pipe which is originally directly connected to the end part of the spray rod is connected to the second rotary joint; the hollow pipe is matched with the structures of the first rotary joint and the second rotary joint, so that on one hand, the spray rod can be prevented from being repeatedly bent and even winding when rotating along with the rotating shaft, the spray rod can rotate in 360 degrees with two different dimensions, and the problem of limited rotation range caused by direct use of the water pipe is avoided;

on the other hand, because the water supply pipe is led to is the water under high pressure, and the spray lance is when rotating, and the water supply pipe leads to the fact the cleaning arm to rock with the spray lance with one side easily, and present second rotary joint department has firstly born high-pressure rivers, lets in the spray lance through hollow axis of rotation again, makes the flexible arm front end more stable, and the cleaning arm is more steady when wasing.

Preferably, the water supply pipe includes a first connection pipe, a vertical pipe, and a second connection pipe, one end of the first connection pipe is connected to the spray rod, and the other end is connected to the vertical pipe, the vertical pipe is coaxially installed in the main rotation axis and rotates synchronously along with the main rotation axis, the upper end of the vertical pipe penetrates out from the side wall of the main rotation axis and is connected to the first connection pipe, the other end of the vertical pipe extends into the horizontal rotation seat and is connected to the second connection pipe, a third rotary joint is disposed between the vertical pipe and the second connection pipe, one end of the third rotary joint is rotatably connected to the vertical pipe, the other end of the third rotary joint is fixedly connected to the second connection pipe, and the second connection.

According to the technical scheme, high-pressure water is introduced into the second connecting pipe through the water supply device, flows through the vertical pipe, the first connecting pipe and the hollow pipe and is finally introduced into the spray rod; the whole water path runs along the cleaning arm, so that the cleaning device can work more smoothly and stably in the actual cleaning process, the problem of water pipe interference is avoided, and the whole product is lighter;

here, the standpipe is coaxially mounted in the main rotating shaft, and is not affected by the horizontal rotation of the main rotating shaft even under the action of the third rotary joint, so that the main rotating shaft can rotate by 360 degrees.

Preferably, the control system comprises a power supply module, a wireless communication device, a controller, an input end submodule, an output end submodule, a laser ranging sensor, a laser radar and a plurality of servo drivers; the power module, the wireless communication device, the input end submodule, the output end submodule, the laser ranging sensor, the laser radar and the servo drivers are in communication connection with the controller.

Through the technical scheme, a user can perform various setting and starting and stopping operations on the cleaning device, and the operations can also be performed through a remote network; through two sensors, can realize the detection feedback to belt cleaning device's real-time position, and then carry out accurate control to belt cleaning device's removal according to feedback data, make the device more automatic, intelligent.

The utility model discloses technical effect mainly embodies in following aspect:

1. an operator can preset or remotely control the cleaning device through the control system, and accurately control the action of the cleaning arm and the advancing route of the movable trolley, so that the device is more automatic and intelligent and can replace manpower to automatically clean in a field environment;

2. the cleaning arm is in multi-shaft linkage, so that the flexibility of the cleaning arm is greatly improved; the arrangement of the telescopic arm is more beneficial to expanding the cleaning range of the cleaning arm;

3. the cleaning arm is designed in a light weight mode, two stages of telescopic arms are driven by one motor, the driving structure is simplified, and the telescopic arms are lighter; the two-stage transmission chain is used for power transmission, so that the telescopic arm can be stably stretched and contracted, and the structure is stable and reliable;

4. the telescopic arm moves more smoothly and stably due to the additional design of the guide part and the limiting part;

5. the delivery pipe is compact structure with main rotation axis, cleaning arm, and a plurality of rotary joint of skillful use carries out the switching, avoids the problem that the water pipe interferes, improves the flexibility ratio of cleaning arm greatly.

Drawings

FIG. 1 is a schematic diagram illustrating a right side view structure according to a first embodiment;

FIG. 2 is a left side view structural diagram according to the first embodiment;

FIG. 3 is a schematic structural view of a cleaning arm in an embodiment, wherein the cleaning arm is partially cut away;

FIG. 4 is an enlarged view of portion A of FIG. 3;

FIG. 5 is an enlarged view of portion B of FIG. 3;

FIG. 6 is a schematic view of the structure at the first guide portion;

FIG. 7 is a schematic view of the structure at the second guide portion;

FIG. 8 is a schematic structural view of the first and second position-limiting portions;

FIG. 9 is a schematic view of the rotary drive mechanism and the rotary drive mechanism;

FIG. 10 is a schematic view of the structure at the horizontal rotation seat;

FIG. 11 is a schematic diagram of a control system;

FIG. 12 is a schematic structural view of a first driving chain and a second driven wheel according to a second embodiment;

fig. 13 is a schematic structural view of a second transmission chain and a second guide portion in the second embodiment.

Reference numerals: 1. moving the trolley; 2. a horizontal rotation seat; 3. a main rotating shaft; 4. cleaning the arm; 5. a first drive motor; 6. a main arm; 7. a telescopic arm; 71. a first stage telescopic arm; 72. a secondary telescopic arm; 8. a telescopic driving mechanism; 81. a second drive motor; 82. a primary drive chain; 821. a main chain; 822. a secondary chain; 83. a secondary drive chain; 831. a first drive chain; 832. a second drive chain; 9. a rotation driving mechanism; 91. a third fixing frame; 92. a rotating shaft; 93. a third drive motor; 10. a rotation driving mechanism; 101. a fixing plate; 102. a fourth drive motor; 11. a lift drive mechanism; 111. mounting a plate; 112. a servo push rod; 113. a first servo motor; 12. a first guide portion; 121. a first mounting bracket; 1211. mounting blocks; 1212. a left side plate; 1213. a right side plate; 1214. a base plate; 1215. an adjustment plate; 122. a first upper guide wheel; 123. a first lower guide wheel; 124. a first left guide wheel; 125. a first right guide wheel; 13. a first limiting part; 131. a first fixing frame; 132. a first roller; 14. a second guide portion; 141. a second mounting bracket; 1411. a connecting end; 1412. a guide end; 1413. adjusting the seam; 1414. a fixed part; 1415. an adjustment section; 1416. an extension section; 142. an upper guide wheel and a lower guide wheel; 143. a second left guide wheel; 144. a second right guide wheel; 1416. an adjusting screw; 1417. an adjustment hole; 15. a second limiting part; 151. a second fixing frame; 152. a second roller; 16. a driving wheel; 17. a spray rod; 18. a spray head; 19. a first driven wheel; 20. a second driven wheel; 21. a third driven wheel; 22. a first fixed block; 23. a second fixed block; 24. a third fixed block; 25. a first tightening mechanism; 251. connecting sheets; 252. a first adjusting screw; 253. a first limit nut; 26. a second tightening mechanism; 261. a fixing sheet; 262. a second adjusting screw; 263. a second limit nut; 27. a first rotary joint; 28. a second rotary joint; 29. a water supply pipe; 291. a first connecting pipe; 292. a vertical tube; 293. a second connecting pipe; 30. a third rotary joint; 31. a water supply device; 311. a spool stand; 312. a take-up reel; 313. a water pipe; 314. a fifth drive motor; 32. a fourth rotary joint; 33. a frame; 35. a front wheel; 36. a rear wheel; 37. a synchronous belt; 38. a sixth drive motor; 40. a control system; 41. a controller; 42. a touch screen; 43. an input terminal module; 44. an output terminal module; 45. a wireless communication device; 46. a cloud man-machine server; 47. a laser ranging sensor; 48. a laser radar; 49. an Ethercat extension module; 50. a servo driver; 51. a bracket; 52. a handle; 53. a chassis; 61. a first electric telescopic rod; 62. and the second electric telescopic rod.

Detailed Description

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings, so that the technical solution of the present invention can be more easily understood and grasped.

The first embodiment is as follows:

the automatic intelligent cleaning device shown in the attached fig. 1, 2 and 11 comprises a moving trolley 1, a horizontal rotating seat 2 standing on the moving trolley 1, a main rotating shaft 3 rotatably connected to the horizontal rotating seat 2, and a cleaning arm 4 arranged on the main rotating shaft 3. The horizontal rotating base 2 is provided with a first driving motor 5 for driving the main rotating shaft 3 to rotate.

The cleaning arm 4 comprises a main arm 6, a telescopic arm 7 arranged on the main arm 6, a telescopic driving mechanism 8 for driving the telescopic arm 7 to stretch, a spray rod 17 arranged at one end of the telescopic arm 7 far away from the main rotating shaft 3, a rotary driving mechanism 9 for driving the spray rod 17 to vertically rotate, and a rotary driving mechanism 10 for driving the spray rod 17 to circumferentially rotate. The end of spray bar 17 remote from rotary drive 9 is provided with spray head 18. The main arm 6 is hinged to the top end of the main rotating shaft 3, and a lifting driving mechanism 11 for driving the main arm 6 to lift is arranged on the main rotating shaft 3. Here, a cabinet 53 is provided on the traveling carriage 1, and the control system 40 is installed in the cabinet 53; the first driving motor 5, the telescopic driving mechanism 8, the rotary driving mechanism 9, the rotary driving mechanism 10 and the lifting driving mechanism 11 are electrically connected to the control system 40. The control system 40 can accurately control the motion of the cleaning arm 4 and the traveling path of the traveling carriage 1, thereby realizing the automatic cleaning of the cleaning apparatus.

Referring to fig. 1 and 2, the lifting driving mechanism 11 includes a mounting plate 111 hinged to a side wall of the main rotating shaft 3, a servo push rod 112 provided on the mounting plate 111, and a first servo motor 113 provided on the mounting plate 111 and configured to drive the servo push rod 112 to operate, and a push rod of the servo push rod 112 is hinged to a lower side wall of the main arm 6.

Referring to fig. 2 and 3, the telescopic arm 7 includes a primary telescopic arm 71 and a secondary telescopic arm 72. In order to make the telescopic boom 7 lighter, the main boom 6, the primary telescopic boom 71 and the secondary telescopic boom 72 are all square tubular hollow structures; the primary telescopic boom 71 is inserted into the primary boom 6, the secondary telescopic boom 72 is inserted into the primary telescopic boom 71, and the spray rod 17 is connected to the secondary telescopic boom 72.

A first guide part 12 is disposed at one end of the primary telescopic arm 71 close to the main rotating shaft 3, and a first limit part 13 is disposed at one end of the main arm 6 far from the main rotating shaft 3.

Referring to fig. 3 and 6, first guide portion 12 includes a first mounting bracket 121, a first upper guide wheel 122, a first lower guide wheel 123, a first left guide wheel 124, and a first right guide wheel 125. The first mounting bracket 121 is fixed to one end of the primary telescopic arm 71 near the main rotation shaft 3, and the first mounting bracket 121 includes a mounting block 1211, a left side plate 1212 and a right side plate 1213 fixed to both sides of the mounting block 1211, and a bottom plate 1214 fixed to the bottom of the mounting block 1211. The first upper guide wheel 122 is arranged between the left side plate 1212 and the right side plate 1213, the first lower guide wheel 123 is arranged on the bottom plate 1214, and the first left guide wheel 124 and the first right guide wheel 125 are respectively arranged at the left and right sides of the fixing block; here, the first upper guide wheel 122, the first lower guide wheel 123, the first left guide wheel 124 and the first right guide wheel 125 are uniformly abutted against the inner side wall of the main arm 6. The first mounting frame 121 is divided into a plurality of modules, so that the first guide part 12 is convenient to process and mount, and the production cost is reduced; meanwhile, when one guide wheel or one part is damaged, the guide wheel or the part can be independently replaced, and the operation is convenient.

Here, in order to adjust the interval between the first left guide wheel 124 and the first right guide wheel 125, an adjustment plate 1215 is provided on a side of the mounting block 1211 away from the first right guide wheel 125; and the first left guide wheel 124 is provided on the adjustment plate 1215. Adjustment plate 1215 is secured to mounting block 1211 by screws. The distance between the adjustment plate 1215 and the mounting block 1211 can be adjusted by screwing the screw, so that the distance between the first left guide wheel 124 and the first right guide wheel 125 can be adjusted, the first guide part 12 can be more attached to the inner side wall of the main arm 6, and the telescopic arm 7 is more stable during telescopic movement.

Referring to fig. 3 and 4, the first limiting portion 13 includes a first fixing frame 131 and a first roller 132 rotatably connected to the first fixing frame 131, the first fixing frame 131 is disposed on the left and right sides and the lower side of the main arm 6, and the first roller 132 on each side is abutted to the corresponding outer sidewall of the first-stage telescopic arm 71.

Referring to fig. 5 and 7, a second guide portion 14 is provided at an end of the secondary telescopic arm 72 close to the main rotating shaft 3, and a second limit portion 15 is provided at an end of the primary telescopic arm 71 far from the main rotating shaft 3.

The second guide portion 14 includes a second mounting bracket 141, an upper guide wheel 142, a lower guide wheel 142, a second left guide wheel 143, and a second right guide wheel 144. The second mounting bracket 141 is fixed to the second-stage telescopic arm 72 penetrating into one end of the main arm 6. The second mounting rack 141 is provided with a connecting end 1411 and a guiding end 1412, and the connecting end 1411 is connected with the second-stage telescopic arm 72. The middle of the guide end 1412 is provided with an adjusting slit 1413, the adjusting slit 1413 divides the guide end 1412 into a fixing portion 1414 and an adjusting portion 1415, and one end of the fixing portion 1414, which is far away from the connecting end 1411, is provided with an extending section 1416. The upper and lower guide wheels 142 are disposed on the extension 1416, the second left guide wheel 143 is disposed on the adjustment part 1415, and the second right guide wheel 144 is disposed on the fixing part 1414. The lower side of the upper and lower guide wheels 142 abuts against the inner wall of the lower side of the first-stage telescopic arm 71, and the upper side of the upper and lower guide wheels 142 is in clearance fit with the inner wall of the upper side of the first-stage telescopic arm 71. One side of the second left guide wheel 143 abuts against the inner wall of the left side of the first-stage telescopic arm 71, and one side of the second right guide wheel 144 abuts against the inner wall of the right side of the first-stage telescopic arm 71. Here, the adjusting portion 1415 is further provided with an adjusting screw 1416 for adjusting the distance between the adjusting portion 1415 and the fixing portion 1414. By means of the adjusting slot 1413, the distance between the second left guide wheel 143 and the second right guide wheel 144 can be adjusted by screwing the adjusting screw 1416, so that the gap between the second guide part 14 and the inner wall of the first-stage telescopic arm 71 is adjusted, the gap swing generated when the telescopic arm 7 is telescopic is reduced, and the telescopic arm 7 is more stable in movement.

In addition, in order to increase the deformation capability of the adjustment portion 1415 and reduce the stress concentration phenomenon at the adjustment slit 1413, an adjustment hole 1417 is provided at one end of the adjustment slit 1413 near the connection end 1411.

Referring to fig. 3 and 4, the second limiting portion 15 includes a second fixing frame 151 fixed to the left and right sides and the lower side of the main arm 6, and a second roller 152 rotatably connected to the second fixing frame 151, wherein the second roller 152 on each side abuts against the corresponding outer sidewall of the secondary telescopic arm 72.

In the structure, the first guide part 12 and the second guide part 14 are both in modular design, so that the processing and the installation are convenient, and the production cost is reduced. A guide wheel on the mounting frame is abutted against the inner wall of the main arm 6 or the primary telescopic arm 71, so that the gap between the arms is reduced, and the gap shaking generated when the telescopic arm 7 is stretched is reduced; meanwhile, the guide wheel replaces sliding friction with rolling friction, and smoothness of the telescopic arm 7 during movement is greatly improved.

Referring to fig. 3, the telescopic driving mechanism 8 includes a second driving motor 81, a primary transmission chain 82, and a secondary transmission chain 83. The second driving motor 81 is fixed to one end of the main arm 6 near the main rotating shaft 3, and the driving pulley 16 is provided on the second driving motor 81. One end of the main arm 6, which is far away from the main rotating shaft 3, is provided with a first driven wheel 19, and the driving wheel 16 and the first driven wheel 19 are in toothed connection with the primary transmission chain 82. One end of the primary telescopic arm 71 close to the main rotating shaft 3 is fixed on the primary transmission chain 82. One end of the first-stage telescopic arm 71, which is far away from the main rotating shaft 3, is provided with a second driven wheel 20, one end of the second-stage telescopic arm 72, which is close to the main rotating shaft 3, is provided with a third driven wheel 21, the second driven wheel 20 and the third driven wheel 21 are in toothed connection with a second-stage transmission chain 83, and one end of the second-stage telescopic arm 72, which is close to the main rotating shaft 3, is fixed on the second-stage transmission chain 83.

The third driven wheel 21 is provided on the first guide portion 12 to simplify and reduce the structure. Referring to fig. 6, the third driven wheel 21 is located between the two first upper guide wheels 122 and is coaxially disposed with the two first upper guide wheels 122. The diameter of third driven wheel 21 is smaller than the diameter of first upper guide wheel 122.

In the above-described transmission structure, in order to make the transmission of the transmission chain more stable and to adjust the appropriate telescopic length ratio of the two-stage telescopic arm 7 at the same time, the connection point between the one-stage transmission chain 82 and the one-stage telescopic arm 71 is divided into two. Referring to fig. 3 and 5, a first fixing block 22 is disposed at an end of the upper side of the primary telescopic arm 71 close to the first mounting frame 121, one end of the primary transmission chain 82 is fixed to a left side plate 1212 of the first mounting frame 121, and the other end is fixed to the first fixing block 22. A certain distance exists between the primary transmission chain 82 and two points of the primary telescopic arm 71.

In addition, in order to perform structural optimization, the secondary transmission chain 83 is divided into two in order to reduce the occurrence of interference phenomenon during movement. Secondary drive chain 83 is split into a first drive chain 831 and a second drive chain 832.

Here, for convenience of installation, a second fixing block 23 is provided on the connection end 1411 of the second mounting bracket 141, and a third fixing block 24 is provided on the extension. The first transmission chain 831 is geared with the second driven wheel 20, one end of the first transmission chain 831 is fixed to one end of the main arm 6 away from the main rotating shaft 3, and the other end is fixed to the second fixing block 23. The second transmission chain 832 is in toothed connection with the third driven wheel 21, one end of the second transmission chain 832 is fixed on the inner side wall of one end of the main arm 6 far away from the main rotating shaft 3, and the other end is fixed on the third fixing block 24.

With reference to fig. 5 and 8, as an optimization, a first tightening mechanism 25 is provided on the primary transmission chain 82, and a second tightening mechanism 26 is provided on the secondary transmission chain 83. The tightening mechanism can adjust the tightness degree of the transmission chain, so that the transmission chain is always kept in the optimal transmission state.

Specifically, the primary transmission chain 82 includes a main chain 821 and a secondary chain 822, and the first tightening mechanism 25 includes a connecting piece 251, a first adjusting screw 252, and a first limiting nut 253 for fixing the first adjusting screw 252 to the connecting piece 251. One end of the first adjusting screw 252 is connected to the movable end of the main chain 821, and the other end thereof is inserted into the connecting piece 251. The end of the connecting link 251 remote from the main chain 821 is connected to the movable end of the secondary chain 822. The length of the first adjusting screw 252 extending into the connecting piece 251 can be adjusted by screwing the first limiting nut 253, and the length of the primary transmission chain 82 is controlled by adjusting the length of the first tightening mechanism 25.

The second tightening mechanism 26 includes a fixing plate 261 fixed to an end of the main arm 6 away from the main rotating shaft 3, a second adjusting screw 262 penetrating the fixing plate 261, and a second limiting nut 263 for fixing the second adjusting screw 262 to the fixing plate 261. The end of the second adjusting screw 262 far from the fixing plate 261 is connected to the first transmission chain 831. The length of the second adjusting screw 262 extending into the fixing plate 261 can be adjusted by screwing the second limit nut 263, and the length of the second transmission chain 832 is controlled by adjusting the length of the second tightening mechanism 26.

The driving process of the telescopic arm 7 described above is explained in detail below:

the second driving motor 81 drives the driving wheel 16 to rotate, and since the primary transmission chain 82 is fixed on the primary telescopic arm 71 through the first fixing block 22, the driving wheel 16 drives the primary telescopic arm 71 to extend and retract through the first transmission chain 831; because the first transmission chain 831 is fixed on the second-stage telescopic arm 72 through the second fixing block 23, the first transmission chain 831 is driven to move by the second driven wheel 20 in the process of extending the first-stage telescopic arm 71, and the second-stage telescopic arm 72 is driven to extend by the first transmission chain 831; because the second transmission chain 832 is fixed on the second-stage telescopic arm 72 through the third fixing block 24, in the process of retracting the first-stage telescopic arm 71, the third driven wheel 21 drives the second transmission chain 832 to move, and the second transmission chain 832 drives the second-stage telescopic arm 72 to retract, so that the first-stage telescopic arm 71 and the second-stage telescopic arm 72 synchronously extend and retract under the action of the first-stage transmission chain 82, the first transmission chain 831 and the second transmission chain 832, and linkage is realized through a single power source.

Referring to fig. 1 and 9, the rotation driving mechanism 9 includes a third fixing frame 91 disposed at an end of the secondary telescopic arm 72 far from the main rotating shaft 3, a rotating shaft 92 rotatably connected to the third fixing frame 91, and a third driving motor 93 disposed on the third fixing frame 91 and driving the rotating shaft 92 to rotate. The rotation driving mechanism 10 includes a fixed plate 101 fixed to the rotation shaft 92, and a fourth driving motor 102 provided on the fixed plate 101. Here, the rotating shaft 92 is a hollow shaft, a first rotating joint 27 is provided at one end of the rotating shaft 92 close to the fixed plate 101, and a second rotating joint 28 is provided at one end of the rotating shaft 92 far from the fixed plate 101. The hollow shaft is rotatably connected with the water outlet end of the second rotary joint 28 and fixedly connected with the water inlet end of the first rotary joint 27. Here, the spray bar 17 is inserted into the fixing plate 101 and rotatably connected to the water outlet end of the first rotary joint, and the spray bar 17 is driven to rotate circumferentially by the fourth drive motor 102.

In addition, the water outlet axis of the spray head 18 is intersected with the axis of the spray rod 17, namely the spray head 18 and the spray rod 17 are arranged at a certain angle, so that the spray range of the spray head 18 is wider when the spray rod 17 rotates, and the cleaning arm 4 can be cleaned aiming at dead angles by matching with the rotation of the spray rod 17 around the shaft, so that the cleaning effect is greatly improved.

Referring to fig. 1, 2 and 10, the water supply pipe 29 includes a first connection pipe 291, a vertical pipe 292, and a second connection pipe 293. One end of the first connection pipe 291 is connected to the water inlet end of the second rotary joint, and the other end is connected to the vertical pipe 292. Wherein, standpipe 292 coaxial mount is in main rotating shaft 3 and follows main rotating shaft 3 synchronous rotation. The upper end of the vertical tube 292 penetrates out of the side wall of the main rotating shaft 3 and is connected with the first connecting tube 291, and the other end of the vertical tube 292 extends into the horizontal rotating seat 2 and is connected with the second connecting tube 293; a third rotary joint 30 is arranged between the vertical pipe 292 and the second connecting pipe 293, one end of the third rotary joint 30 is rotatably connected with the vertical pipe 292, and the other end is fixedly connected with the second connecting pipe 293. The second connection pipe 293 is connected to the water supply device 31.

The water supply device 31 includes a winding reel 311 disposed on the movable cart 1, a winding reel 312 rotatably connected to the winding reel 311, a water pipe 313 wound around the winding reel 312, and a fifth driving motor 314 for driving the winding reel 312 to rotate. Here, the winding frame 311 is provided with a hollow rotating shaft, and the winding roll 312 is fixed on the hollow rotating shaft and is rotatably connected to the winding frame 311 through the hollow rotating shaft. One end of the water pipe 313 is fixedly connected with one end of the hollow rotating shaft, and the other end is communicated with an external water source. The hollow rotating shaft is connected with the second connecting pipe 293 through a fourth rotating joint 32, the water inlet end of the fourth rotating joint 32 is rotatably connected with the hollow rotating shaft, and the water outlet end is fixedly connected with the second connecting pipe 293.

Referring to fig. 1 and 2, the mobile cart 1 includes a frame 33, and two front wheels 35 and two rear wheels 36 are mounted on the frame 33. Each of front wheel 35 and rear wheel 36 is independently rotatably connected to a side wall of frame 33. A synchronous belt 37 is connected between the front wheel 35 and the rear wheel 36 which are positioned on the same side of the frame, and the lower side belt surface of the synchronous belt 37 is in contact with the ground. Two sixth driving motors 38 are further provided on the frame 33 to drive one front wheel 35 individually. Here, replace the mode of traditional gyro wheel face and ground contact with the mode of hold-in range 37 and ground contact, and then promoted the effective area of contact between power dolly and the ground by a wide margin, walking stability is higher, is applicable to many oil stains ground operational environment. And the left and right front wheels 35 and 35 are driven individually, so that differential control is possible, and steering of the vehicle can be accurately controlled using differential rotation.

Wherein, the spool 311 of the mobile cart 1 is further provided with a bracket 51, the bracket 51 is provided with a handle 52, and the cart can be manually pushed through the handle 52.

Referring to fig. 1 and 11, the control system 40 includes a power supply module (not shown), a controller 41, a touch screen 42, an input sub-module 43, an output sub-module 44, a wireless communication device 45, a cloud man-machine server 46, a laser ranging sensor 47 and a laser radar 48, an Ethercat expansion module 49, and a plurality of servo drivers 50.

In the present embodiment, as an example, the models of the controller 41, the touch screen 42, the input terminal module 43, the output terminal module 44, the Ethercat expansion module 49, and the plurality of servo drivers 50 are respectively C9900-K624, CP2907, EL1008, EL2008, and EK 1110. And a cloud man-machine server 46 of the type CMT-SVR-100. Laser range sensor 47 and lidar 48 are model numbers DL100-21AA2110, TIM561-2050101, respectively.

Wherein, the touch screen 42 is installed on the bracket 51, the DVI interface and the USB interface of the touch screen 42 are connected with the controller 41, and the staff can set the parameters and perform other related operations on site through the touch screen 42. The power module, the controller 41, the input terminal module 43, the output terminal module 44, the wireless communication device 45, the cloud man-machine server 46, the Ethercat expansion module 49 and the plurality of servo drivers 50 are all installed in the case 53. The input terminal sub-module 43 and the output terminal sub-module 44 are plugged into corresponding sockets on the controller 41. The input terminal module 43 can be used for accessing some operation devices, such as an emergency stop switch, etc., so as to facilitate the operation of field personnel; the output terminal module 44 is used to control the water circuit of the washing device, for example, on/off control of an electrically controlled valve. The servo drivers 50 are cascaded through an Ethercat interface, the servo driver 50 of the first stage is connected with the Ethercat expansion module 49 through the Ethercat interface, and then the output end of each servo driver 50 is connected with one servo motor.

The wireless communication device 45 may be a wireless router, and the wireless communication device 45 and the cloud man-machine server 46 are connected to the controller 41 through an RJ45 interface. The wireless communication device 45 can be configured with 4G/5G function, and can access the internet through a telephone card without connecting a broadband.

The laser ranging sensor 47 is connected with the cloud man-machine server 46 through an RJ45 interface, and the laser radar 48 is connected with the wireless communication device 45 through an RJ45 interface. Other types of sensors may be used and may communicate directly with the controller 41 through the expansion module. In addition, the laser ranging sensor 47 and the laser radar 48 are both arranged on the front side of the cleaning device, and the laser ranging sensor 47 is mainly used for measuring the forward moving distance of the cleaning device and realizing accurate positioning of each cleaning position; laser radar 48 is used for measuring the distance of belt cleaning device and both sides barrier, and then avoids belt cleaning device to touch the barrier, leads to the cleaning process to receive the influence.

When the washing device works, a programmer can set a moving path and a washing path of the washing device in advance according to parameters of a washing object, namely control over each servo motor and control over an electric control valve; after the cleaning device is placed on site, it is activated either through the touch screen 42 on site or remotely through a PAD or the like. After starting, the cleaning device performs corresponding cleaning actions according to a set program, such as left-right rotation of the horizontal rotating seat 2, stretching and retracting of the cleaning arm 4, lifting and lowering and rotation of the spray rod 17, and controls the cleaning device to move back and forth according to feedback data of the laser ranging sensor 47 and the laser radar 48 until a complete cleaning program is executed. The machine replaces manual work to wash automatically, and degree of automation is high.

Example two:

the second embodiment is different from the first embodiment in that the structures of the joints between the first transmission chain 831 and the second transmission chain 832 and the main arm 6 and the secondary telescopic arm 72 are different.

As shown in fig. 1, 12 and 13, the second tightening mechanism 26 includes a first electric telescopic rod 61, one end of the first electric telescopic rod 61 is fixed to one end of the main arm 6 close to the second driven wheel 20, and the other end is connected to the first driven chain. One end of the second guiding part 14 far away from the second-stage telescopic arm 72 is provided with a second electric telescopic rod 62, and the telescopic rod of the second electric telescopic rod 62 is connected with a third transmission chain. Wherein, the first electric telescopic rod 61 and the second electric telescopic rod 62 are electrically connected to the control system 40; the first electric telescopic rod 61 and the second electric telescopic rod 62 act synchronously.

Here, under the driving of the second driving motor 81, the primary transmission chain 82 drives the primary telescopic arm 71 to extend and retract; the telescopic motion of the first-stage telescopic arm 71 is synchronously converted into the power for the second-stage telescopic arm 72 to stretch. When the telescopic ratio of the first-stage telescopic arm 71 and the second-stage telescopic arm 72 needs to be changed, the adjustment can be carried out through the first electric telescopic rod 61 and the second electric telescopic rod 62. Two of the adjustment relationships are as follows:

when the first-stage telescopic arm 71 extends, the first electric telescopic rod 61 contracts, the second electric telescopic rod 62 extends, and the extension of the second-stage telescopic arm 72 can be accelerated, so that the extension length of the second-stage telescopic arm 72 is greater than that of the first-stage telescopic arm 71.

When the first-stage telescopic arm 71 extends, the first electric telescopic rod 61 extends, the second electric telescopic rod 62 contracts, and the extension of the second-stage telescopic arm 72 can be slowed down, so that the extension length of the second-stage telescopic arm 72 is smaller than the extension length of the first-stage telescopic arm 71.

In the cleaning process, if the cleaning object or the environment does not need to use the limit length of the telescopic arm 7, the extension amount of the first-stage telescopic arm 71 can be appropriately controlled by the electric telescopic rod. The less the primary telescopic arm 71 extends, the closer the center of gravity of the whole device is to the mobile cart 1, i.e., the more stable.

Of course, the above is only a typical example of the present invention, and besides, the present invention can also have other various specific embodiments, and all technical solutions adopting equivalent replacement or equivalent transformation are all within the scope of the present invention as claimed.

Claims (10)

1. The utility model provides an automatic change intelligent belt cleaning device which characterized by: comprises a movable trolley (1), a horizontal rotating seat (2) standing on the movable trolley (1), a main rotating shaft (3) rotationally connected to the horizontal rotating seat (2), and a cleaning arm (4) arranged on the main rotating shaft (3);

the horizontal rotating seat (2) is provided with a first driving motor (5) for driving the main rotating shaft (3) to rotate;

the cleaning arm (4) comprises a main arm (6), a telescopic arm (7) arranged on the main arm (6), a telescopic driving mechanism (8) for driving the telescopic arm (7) to stretch, a spray rod (17) arranged at one end, far away from the main rotating shaft (3), of the telescopic arm (7), a rotary driving mechanism (9) for driving the spray rod (17) to vertically rotate, and a rotary driving mechanism (10) for driving the spray rod (17) to circumferentially rotate, wherein a spray head (18) is arranged at one end, far away from the rotary driving mechanism (9), of the spray rod (17), the other end of the spray rod (17) is connected with a water supply pipe (29), and the water outlet axis of the spray head (18) is intersected with;

the main arm (6) is hinged to the top end of the main rotating shaft (3), and a lifting driving mechanism (11) for driving the main arm (6) to lift is arranged on the main rotating shaft (3);

the movable trolley is characterized in that a control system (40) is arranged on the movable trolley (1), and the first driving motor (5), the telescopic driving mechanism (8), the rotary driving mechanism (9), the rotary driving mechanism (10) and the lifting driving mechanism (11) are electrically connected to the control system (40).

2. The automated intelligent cleaning device of claim 1, wherein: the telescopic boom (7) comprises a primary telescopic boom (71) and a secondary telescopic boom (72), the primary telescopic boom (71) is arranged in the main boom (6) in a penetrating manner, the secondary telescopic boom (72) is arranged in the primary telescopic boom (71) in a penetrating manner, the telescopic driving mechanism (8) comprises a second driving motor (81) arranged on the main boom (6), a primary transmission chain (82) used for driving the primary telescopic boom (71) to stretch and a secondary transmission chain (83) used for driving the secondary telescopic boom (72) to stretch and retract, a driving wheel (16) is arranged on the second driving motor (81), a first driven wheel (19) is arranged at one end, far away from the main rotating shaft (3), of the main boom (6), a first driven wheel (19) is arranged at one end, the driving wheel (16) and the first driven wheel (19) are in tooth joint with the primary transmission chain (82), one end, close to the main rotating shaft (3), of the primary telescopic boom (71) is fixed, one end that main rotating shaft (3) was kept away from in one-level flexible arm (71) is equipped with second from driving wheel (20), the one end that second grade flexible arm (72) are close to main rotating shaft (3) is equipped with third from driving wheel (21), second from driving wheel (20) and third from driving wheel (21) all with second grade driving chain (83) looks toothing, the one end that second grade flexible arm (72) are close to main rotating shaft (3) is fixed in on second grade driving chain (83).

3. The automated intelligent cleaning device of claim 2, wherein: the secondary transmission chain (83) comprises a first transmission chain (831) and a second transmission chain (832), the first transmission chain (831) is in toothed connection with the second driven wheel (20), one end of the first transmission chain (831) is fixed to one end, away from the main rotating shaft (3), of the main arm (6), the other end of the first transmission chain is fixed to one end, close to the main rotating shaft (3), of the secondary telescopic arm (72), the second transmission chain (832) is in toothed connection with the third driven wheel (21), one end of the second transmission chain (832) is fixed to one end, away from the main rotating shaft (3), of the main arm (6), and the other end of the second transmission chain (832) is fixed to one end, close to the main rotating shaft (3), of the secondary telescopic arm (72).

4. The automated intelligent cleaning device of claim 2, wherein: a first guide part (12) is arranged at one end, close to the main rotating shaft (3), of the primary telescopic arm (71), a first limiting part (13) is arranged at one end, far away from the main rotating shaft (3), of the main arm (6), the first limiting part (13) comprises first fixing frames (131) fixed to the left side, the right side and the lower side of the main arm (6) and first idler wheels (132) rotatably connected to the first fixing frames (131), and the first idler wheels (132) on each side respectively abut against corresponding outer side walls of the primary telescopic arm (71);

the one end that flexible arm of second grade (72) is close to main rotation axis (3) is equipped with second guide part (14), the one end that main rotation axis (3) was kept away from in first order flexible arm (71) is equipped with spacing portion of second (15), spacing portion of second (15) including be fixed in second mount (151) of main arm (6) left and right sides and downside, rotate second gyro wheel (152) of connecting on second mount (151), every side second gyro wheel (152) contradict the lateral wall that corresponds on the flexible arm of second grade (72) respectively.

5. The automated intelligent cleaning device of claim 4, wherein: the first guide part (12) comprises a first mounting frame (121) fixed to one end of the primary telescopic arm (71) penetrating into the main arm (6), and a first upper guide wheel (122), a first lower guide wheel (123), a first left guide wheel (124) and a first right guide wheel (125) which are arranged on the first mounting frame (121), and the uniform sides of the first upper guide wheel (122), the first lower guide wheel (123), the first left guide wheel (124) and the first right guide wheel (125) are abutted against the inner wall of the main arm (6);

the second guide part (14) penetrates through a second mounting frame (141) at one end of the main arm (6) and an upper guide wheel (142), a second left guide wheel (143) and a second right guide wheel (144) which are arranged on the second mounting frame (141) and fixed to the second-stage telescopic arm (72), the lower side of the upper guide wheel (142) and the lower side of the first-stage telescopic arm (71) are abutted to the lower inner wall of the first-stage telescopic arm (71), the upper side of the upper guide wheel (142) is in clearance fit with the upper inner wall of the first-stage telescopic arm (71), one side of the second left guide wheel (143) is abutted to the left inner wall of the first-stage telescopic arm (71), and one side of the second right guide wheel (144) is abutted to.

6. The automated intelligent cleaning device of claim 1, wherein: the rotary driving mechanism (9) comprises a third fixing frame (91) arranged at one end, far away from the main rotating shaft (3), of the telescopic arm (7), a rotary shaft (92) connected to the third fixing frame (91) in a rotary mode, and a third driving motor (93) arranged on the third fixing frame (91) and driving the rotary shaft (92) to rotate, and the spray rod (17) is fixed on the rotary shaft (92).

7. The automated intelligent cleaning device of claim 6, wherein: rotary driving mechanism (10) is including being fixed in fixed plate (101) on axis of rotation (92), locating fourth driving motor (102) on fixed plate (101), be equipped with first rotary joint on fixed plate (101), fixed plate (101) are worn to locate and rotate to be connected in first rotary joint by spray lance (17), fourth driving motor (102) drive spray lance (17) circumferential direction.

8. The automated intelligent cleaning device of claim 7, wherein: the rotating shaft (92) is a hollow shaft, one end of the rotating shaft (92) far away from the first rotating joint (27) is provided with a second rotating joint (28), one end of the second rotating joint (28) is rotatably connected with the rotating shaft (92), and the other end of the second rotating joint is connected with a water supply pipe (29).

9. The automated intelligent cleaning device of claim 1, wherein: the water supply pipe (29) comprises a first connecting pipe (291), a vertical pipe (292) and a second connecting pipe (293), one end of the first connecting pipe (291) is connected with the spray rod (17), the other end is connected with the vertical pipe (292), the vertical tube (292) is coaxially arranged in the main rotating shaft (3) and synchronously rotates along with the main rotating shaft (3), the upper end of the vertical pipe (292) penetrates out of the side wall of the main rotating shaft (3) and is connected with a first connecting pipe (291), the other end of the vertical pipe (292) extends into the horizontal rotating seat (2) and is connected with the second connecting pipe (293), a third rotating joint (30) is arranged between the vertical pipe (292) and the second connecting pipe (293), one end of the third rotary joint (30) is rotatably connected with the vertical pipe (292), the other end of the third rotary joint is fixedly connected with a second connecting pipe (293), and the second connecting pipe (293) is connected with the water supply device (31).

10. The automated intelligent cleaning device of claim 1, wherein: the control system (40) comprises a power supply module, a wireless communication device (45), a controller (41), an input end sub-module (43), an output end sub-module (44), a laser ranging sensor (47), a laser radar (48) and a plurality of servo drivers (50); the power supply module, the wireless communication device (45), the input end sub-module (43), the output end sub-module (44), the laser ranging sensor (47), the laser radar (48) and the servo drivers (50) are in communication connection with the controller (41).

Images