CN211893163U

CN211893163U - Reciprocating type automatic cleaning system

Info

Publication number: CN211893163U
Application number: CN202020188735.2U
Authority: CN
Inventors: 房林; 鲁晓隆; 焦先宾; 张立行
Original assignee: Qingdao Main Link Cleaning Equipment Co ltd
Current assignee: Qingdao Main Link Cleaning Equipment Co ltd
Priority date: 2020-02-20
Filing date: 2020-02-20
Publication date: 2020-11-10
Anticipated expiration: 2030-02-20

Abstract

The utility model discloses a reciprocating type self-cleaning system, include: a trench, which is formed on the ground in a recessed manner, and steps are formed on opposite side surfaces of the trench; a traction assembly; a robot towed by the towing assembly and reciprocating in the trench along the step; the robot includes: a first frame; a pitch drive assembly; a second frame disposed on the first frame and driven to pitch by a pitch driving assembly; a swing drive assembly; and the switchable double spray heads are arranged on the second frame, driven by the swing driving assembly and capable of swinging, and comprise a switcher, a high-pressure water spray head and a spray head, wherein the switcher is communicated with the water supply pipeline and is used for switching the communication between the high-pressure water spray head or the spray head and the water supply pipeline. The utility model is used for intelligence, realize vehicle chassis's self-cleaning operation high-efficiently.

Description

Reciprocating type automatic cleaning system

Technical Field

The utility model belongs to the technical field of self-cleaning, concretely relates to reciprocating type self-cleaning system.

Background

Along with the improvement of the living standard of people, the livestock breeding industry is more and more prosperous, and simultaneously along with the technological progress, the large-scale intensive farms are also more and more, and the biosafety risk brought by the farms is also more and more high, so the cleaning and disinfecting requirements of the transport vehicle in the livestock breeding industry are increasingly increased.

The cleaning of the chassis of a transport vehicle is found to be a difficult cleaning point in the vehicle sterilization work.

Traditionally, the cleaning work of the chassis of the transport vehicle is mainly divided into two types: the first is that the high pressure water pipe is manually held to soak and wash the cleaning area, then the foam cleaning agent is manually sprayed to react with dirt on the surface area and soften, the high pressure water pipe is used again to repeatedly wash the cleaning area, and the hand sterilizer is used for repeatedly spraying and sterilizing after the washing is finished; the second is the use of ground spray to clean the vehicle chassis at the truck inlet. These two kinds of cleaning process intensity of labour are big, and the cleaning efficiency is low, also has the problem of clearance dead angle, needs the manual work to change different cleaning and disinfection modes, thereby spout ground and need use a large amount of shower nozzles and lead to needing high pressure high flow water pump to cooperate the use, undoubtedly these can bring the difficulty in the operation for the cleaning personnel, and then greatly reduced cleaning efficiency, in addition, abominable cleaning and disinfection operational environment produces the hidden danger to operating personnel's safety and health.

Therefore, there is a need for an operation method for automatically cleaning a chassis that can replace manual operation, so as to intelligently and efficiently implement automatic cleaning operation and meet different cleaning methods.

Disclosure of Invention

An object of the utility model is to provide a reciprocating type self-cleaning system for solve that the intensity of labour that traditional manual cleaning vehicle chassis brought is big, the cleaning efficiency is low and the suitability is poor problem, intelligence, high-efficient realization self-cleaning operation.

In order to solve the technical problem, the utility model provides a following technical scheme solves:

a reciprocating automatic cleaning system, comprising: a trench, which is formed on the ground in a concave manner, and steps are formed on the opposite side surfaces of the trench; a traction assembly; a robot towed by the towing assembly and reciprocating within the trench along the step; the robot includes: a first frame; a pitch drive assembly; a second frame disposed on the first frame and driven to pitch by the pitch drive assembly; a swing drive assembly; at least one switchable double spray head which is arranged on the second frame, is driven by the swing driving assembly and can swing, and comprises a switcher, a high-pressure water spray head and a spray head, wherein the switcher is communicated with a water supply pipeline and is used for switching the communication between the high-pressure water spray head or the spray head and the water supply pipeline; and the electric control box is used for controlling at least the action of the robot.

The reciprocating automatic cleaning system as described above, wherein a rotary driving shaft is fixed on the second frame, and the pitching driving assembly comprises: a pitch motor; and the first power transmission assembly is in transmission connection with the pitching motor and the rotating driving shaft respectively.

In the reciprocating automatic cleaning system, the first power transmission assembly is a first chain wheel and chain assembly, and the pitching motor transmits the torque to the rotary driving shaft through the first chain wheel and chain assembly.

In the reciprocating automatic cleaning system, the rotary driving shaft is a water-passing rotating shaft which is communicated with the water supply pipeline and each switchable double spray head.

The reciprocating automatic cleaning system as described above, said swing drive assembly comprising: a swing motor; and the second power transmission assembly is in transmission connection with the swing motor and each switchable double-nozzle respectively.

The reciprocating automatic cleaning system as described above, the at least one switchable dual spray head comprises a first switchable dual spray head and a second switchable dual spray head arranged side by side; the second frame is provided with a swing driving shaft in a penetrating way through a bearing and used for receiving power output by the swing motor; the second power transmission assembly includes: a first bevel gear assembly comprising a first bevel gear disposed on the swing drive shaft and a second bevel gear meshed with the first bevel gear disposed on the first switchable dual spray head; the transmission shaft is provided with a third bevel gear and a fourth bevel gear, and the third bevel gear is meshed with the second bevel gear; a second bevel gear assembly comprising a fifth bevel gear disposed on the second switchable dual spray head and meshed with the fourth bevel gear.

The reciprocating automatic cleaning system as described above, the first switchable dual spray head and the second switchable dual spray head swing alternately.

The reciprocating automatic cleaning system as described above includes: and the foam nozzle is arranged on the first frame and used for receiving the mixture of the gas and the liquid medicine and spraying foam.

The reciprocating automatic cleaning system as described above further includes: a tow chain support frame arranged in the trench; a tow chain for transmitting signals to the robot and carried by the tow chain support frame.

The reciprocating automatic cleaning system as described above includes: and a traveling part disposed at the bottom of the robot.

Compared with the prior art, the utility model discloses an advantage and beneficial effect are: the electric cabinet automatically controls the cleaning robot to act, and controls the traction assembly to pull the robot to reciprocate along the step part, so that the robot automatically controls walking; the multi-angle high-pressure water and spray washing of the vehicle chassis can be realized by adjusting the pitching of the second frame and switching the swinging of the double spray heads, so that the spray heads are suitable for various different scenes, and the application range of the robot is enlarged; the robot is high in automation degree, high in cleaning efficiency and high in user experience, reduces the manual task amount, and avoids harm of severe cleaning environment to health.

Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when read in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a general block diagram of an embodiment of a reciprocating automatic cleaning system according to the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a block diagram of a robot in the embodiment of the reciprocating automatic cleaning system shown in FIG. 1, with portions of an outer housing forming the exterior removed;

FIG. 4 is a front view of the robot shown in FIG. 3;

FIG. 5 is a partial block diagram of the robot shown in FIG. 3;

FIG. 6 is a front view of the partial block diagram shown in FIG. 5;

FIG. 7 is a block diagram of the switchable dual spray head of the robot shown in FIG. 4;

fig. 8 is a cross-sectional view of the switchable dual spray head shown in fig. 7.

Reference numerals:

100-trench; 110-a step portion; 120-a first travel switch; 200-steel wire rope driving end; 210-a servo motor; 220-a reduction motor; 230-a first wire rope winding wheel; 240-a second wire rope winding wheel; 250-a first wire rope guide wheel; 300-a robot; 310-a first frame; 320-a second frame; 321-a rotary drive shaft; 330-pitch drive assembly; 331-a pitch motor; 332-a first sprocket chain assembly; 340' -a water supply line; 341' -a first water supply line; 342' -a second water supply line; 343' -a third water supply line; 344' -a first water-passing rotating shaft; 345' -a second water-through rotating shaft; 346' -a three-way valve; 340-a swing drive assembly; 341-swing motor; 342-a second sprocket chain assembly; 343-oscillating drive shaft; 344 — a first bevel gear assembly; 3441-first bevel gear; 3442-second bevel gear; 345-a drive shaft; 3451-third bevel gear; 3452-fourth bevel gear; 346-a second bevel gear assembly; 3461-fifth bevel gear; 350-a first switchable dual spray head; 351-a switcher; 3511-inlet; 3512-a first outlet; 3513-a second outlet; 3514-steel ball; 352-first spray head; 353-a second spray head; 350' -a second switchable dual spray head; 360-origin proximity switch; 370-foam nozzle; 371-gas circuit input port; 372-medicine path input port; 380-traveling wheels; 390-a guide wheel; 400-a tow chain support frame; 410-a first support frame; 411-a support member; 412-a first stainless steel tube; 413-a second stainless steel tube; 500-drag chain; B/C/D-swivel joint; e-90 degree elbow.

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 noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In order to realize the automatic cleaning of the chassis of the livestock transport vehicle, reduce the manual task amount, improve the cleaning efficiency and be suitable for various different occasions, the embodiment relates to a reciprocating type automatic cleaning system, which comprises a trench 100, a traction assembly, a robot 300 and an electric cabinet. The parts of the reciprocating automatic cleaning system will be described in detail with reference to the accompanying drawings. In this embodiment, the electric cabinet is used for power signals, communication signals, control signals, and the like of the reciprocating automatic cleaning system, and realizes automatic walking and various actions (such as pitching and swinging) of the robot.

Example one

In order to facilitate the cleaning of the chassis of the stock wagon, a trench 100 is concavely formed in the ground, the width of the trench 100 being substantially constant, and the length thereof being designed according to the longest length of the vehicle to be cleaned (provided by the customer), so that the cleaning of short-length models is also satisfied.

In the present embodiment, as shown in fig. 1 and 2, the trench 100 is a rectangular groove, and stepped portions 110 are formed on opposite left and right sides of the trench 100 in a length direction thereof. The robot 300 walks on the step 110 by the traction of the traction assembly, the traction assembly of this embodiment includes a driving end and a driven end, specifically, a steel wire rope driving end 200 and a steel wire rope driven end (not shown), the steel wire rope driving end 200 includes a servo motor 210, a speed reducer 220, a first steel wire rope winding wheel 230, a second steel wire rope winding wheel 240 and a first steel wire rope guide wheel 250, the steel wire rope driven end includes a steel wire rope winding wheel and a steel wire rope guide wheel, the steel wire rope is wound on the first steel wire rope winding wheel 230 and the second steel wire rope winding wheel 240 and guided by the first steel wire rope guide wheel 250 to be connected with the robot 300, then the third steel wire rope winding wheel is wound and guided by the second steel wire rope guide wheel, the servo motor 210 rotates and drives the speed reducer 220 to be driven to the first steel wire rope winding wheel 230 through shaft transmission, thereby drawing the robot 300 to reciprocate along the stepped part 110 by controlling the wire rope driving end 200 and the wire rope driven end. Of course, the tow assembly may also tow the robot 300 by other means.

In order to facilitate signal transmission of the robot 300, as shown in fig. 1 and fig. 2, a tow chain support 400 is detachably (e.g., screwed) disposed on the step portion 110, and the tow chain support 400 of this embodiment includes a first support 410 and a second support 410 symmetrically disposed on opposite left and right side walls of the step portion 110, and the structure of the first support 410 is taken as an example for description. The first support frame 410 comprises a plurality of support members 411, a first stainless steel pipe 412 and a second stainless steel pipe 413, wherein the first stainless steel pipe 412 and the second stainless steel pipe 413 are supported by the plurality of support members 411 fixedly mounted on the inner side wall of the step portion 110, so that the first support frame 410, the second support frame 420 and the plurality of support frames 411 together support the drag chain 500.

In the present embodiment, in order to facilitate the movement of the robot 300, as shown in fig. 3 and 4, four walking wheels 380 are provided at the bottom of the robot 300, and the four walking wheels 380 are in contact with the upper surface of the stepped part 110 when the robot 300 reciprocates along the stepped part 110, that is, the wheel shafts of the walking wheels 380 are parallel to the upper surface of the stepped part 110. In addition, in order to better guide the walking of the robot 300, two guide wheels 390 are further provided on each of the left and right sides of the robot 300, and when the robot 300 reciprocates along the step 110, the guide wheel on the left side contacts with the left sidewall of the trench 100 above the step 110 on the left side, and the guide wheel on the right side contacts with the right sidewall of the trench 100 above the step 110 on the right side, that is, the axle of the guide wheel 390 is perpendicular to the axle of the walking wheel 380.

As shown in fig. 2, in order to limit the movement stroke of the robot 300 in the trench 100, a first stroke switch 120 and a second stroke switch (not shown) are respectively installed at both ends of the trench 100, for example, the first stroke switch 120 is installed at a position near the wire rope driving end 200, and the second stroke switch is installed at a position near the wire rope driven end. Correspondingly, as shown in fig. 3 and 4, an origin proximity switch 360 is provided on the robot 300 for determining an initial position of the robot. The first travel switch 120 of the present embodiment serves as a protection switch to prevent damage to the machine after the origin proximity switch 360 is damaged. After the robot 300 starts to work, the robot 300 moves from the initial position along the step part 110 toward the driven end of the steel wire rope, and when the second travel switch detects the robot 300, the robot 300 moves away from the driven end of the steel wire rope toward the driving end of the steel wire rope, so that automatic reciprocating motion is realized.

Referring to fig. 3 to 8, the structure of the robot 300 will be described.

When the chassis of the livestock transport vehicle is cleaned, the chassis of the livestock transport vehicle is positioned above the trench 100, and the robot 300 cleans the chassis of the livestock transport vehicle at multiple angles by adjusting the switchable double spray heads 350/350' to be at different angles.

Specifically, the robot 300 of the present embodiment includes a first frame 310, a second frame 320, a pitch drive assembly 330, a yaw drive assembly 340, and at least one switchable dual head.

The first frame 310 serves as a main frame of the robot 300 for carrying various components of the robot 300.

The second frame 320 is rotatably disposed on the first frame 310, and the pitch driving assembly 330 drives the pitch rotation to adjust the pitch angle, and at least one switchable dual nozzle is disposed on the second frame 320, so that when the second frame 320 is tilted, each switchable dual nozzle can be tilted accordingly.

The pitch driving assembly 330 includes a pitch motor 331 for transmitting power to the second frame 320. The first power transmission assembly is a first sprocket chain assembly 332. Specifically, a first chain wheel (not labeled) is fixedly arranged on an output shaft of the pitching motor 331, a rotating driving shaft 321 is fixedly arranged on the second frame 320, a second chain wheel (not labeled) is fixedly arranged on the rotating driving shaft 321, chains are sleeved on the first chain wheel and the second chain wheel, the positions of the first chain wheel and the second chain wheel are obliquely arranged, the output power of the pitching motor 331 is transmitted to the rotating driving shaft 321 through the first chain wheel and chain assembly 332, and the pitching motor 331 drives the second frame 320 to realize pitching.

In the present embodiment, the switchable dual spray provided on the second frame 320 is supplied with water by the rotary driving shaft 321. The rotary driving shaft 321 is a water-passing rotary shaft, and one end thereof is communicated with the inlets of the switchable dual spray heads and the other end thereof is communicated with the water supply pipeline 340'.

In this embodiment, two switchable dual nozzles are taken as an example for explanation.

The two switchable dual spray heads include a first switchable dual spray head 350 and a second switchable dual spray head 350', two U-shaped notches (not labeled) are arranged on the second frame 320 side by side, and the first switchable dual spray head 350 and the second switchable dual spray head 350' are respectively clamped in the corresponding U-shaped notches, so that the switchable dual spray heads 350 and 350' can be driven to pitch simultaneously when the second frame 320 pitches.

The water supply line 340 'includes a first water supply line 341', a second water supply line 342', and a third water supply line 343'. In the present embodiment, as shown in fig. 7, the first water supply line 341 'communicates with one end of the rotary driving shaft 321 through the rotary joint D, and the other end of the rotary driving shaft 321 communicates with one end of the second water supply line 342' through the 90 ° elbow E, wherein the second water supply line 342 'is positioned below the second frame 320, the other end of the second water supply line 342' is branched to the third water supply line 343 'through the three-way valve 346', and the third water supply line 343 'is positioned in the second frame 320, and has one end communicating with the inlet of the first switchable dual spray head 350 through the rotary joint B and the other end communicating with the inlet of the second switchable dual spray head 350' through the rotary joint C.

A first water passing rotating shaft 344' is arranged at an inlet of the first switchable double spray nozzle 350, and the first water passing rotating shaft 344' is communicated with a third water supply pipeline 343' through a rotary joint B; a second water passing rotating shaft 345 'is provided at an inlet of the second switchable dual spray nozzle 350', and the second water passing rotating shaft 345 'is communicated with a third water supply line 343' through a rotary joint C.

To achieve the swing of the switchable dual spray head, it is implemented using a swing driving assembly 340. The swing driving assembly 340 of this embodiment includes a swing motor 341 and a second power transmission assembly that receives power output from the swing motor 341 and is used to drive the switchable dual spray heads to be swung.

When there is one switchable dual spray head, for example, there is the first switchable dual spray head 350, the transmission between the swing motor 341 and the first water rotating shaft 344' of the first switchable dual spray head 350 may be in the form of a gear-gear, a synchronous belt, a chain, a coupling, a worm-worm gear, or a combination thereof, where the gear may be a spur gear, a helical gear, or a bevel gear, and the like, and the transmission is not limited herein as long as the transmission of the output torque of the swing motor 341 can be achieved.

In order to realize the swing synchronism of the two switchable dual nozzles when there are two switchable dual nozzles, in the present embodiment, a gear-gear manner is adopted to transmit the torque of the swing motor 341.

As shown in fig. 3 to 6, the second power transmission assembly of the present embodiment includes a second sprocket chain assembly 342 and a gear transmission assembly. Specifically, a third sprocket (not labeled) is fixedly arranged on an output shaft of the swing motor 341, a hollow shaft (not labeled) is fixedly arranged on the second frame 320, a swing driving shaft 343 is arranged in the hollow shaft in a penetrating manner through a bearing (not shown) and extends into the second frame 320 to realize concentric rotation with the second frame 320, a fourth sprocket (not labeled) is fixedly arranged on the swing driving shaft 343, a chain is sleeved on the third sprocket and the fourth sprocket, and output power of the swing motor 341 is transmitted to the swing driving shaft 343 through a second sprocket chain assembly 342.

The gear transmission assembly comprises a first bevel gear assembly 344, a transmission shaft 345 and a second bevel gear assembly 346, wherein the first bevel gear assembly 344 comprises a first bevel gear 3441 and a second bevel gear 3442 which are matched with each other, the transmission shaft 345 is provided with a third bevel gear 3451 and a fourth bevel gear 3452 which are matched with the second bevel gear 3442 respectively, and the second bevel gear assembly 346 comprises a fifth bevel gear 3461 which is matched with the fourth bevel gear 3452. A first bevel gear 3441 is installed at one end of the swing driving shaft 343, a second bevel gear 3442 is installed at the first water passing rotation shaft 344' of the first switchable dual spray 350, a third bevel gear 3451 and a fourth bevel gear 3452 are respectively installed at both ends of the transmission shaft 345, and a fifth bevel gear 3461 is installed at the second water passing rotation shaft 345' of the second switchable dual spray 350 '. After the swing driving shaft 343 obtains power from the swing motor 341, it drives the first bevel gear 3441 to rotate and transmit power, the first bevel gear 3441 is engaged with the second bevel gear 3442, when the first switchable dual spray nozzle 350 swings on a plane perpendicular to the plane of the second frame 320, the power is transmitted to the fifth bevel gear 3461 engaged with the fourth bevel gear 3452 through the transmission shaft 345 by the engagement of the second bevel gear 3442 and the third bevel gear 3451, and further the second switchable dual spray nozzle 350 'also swings on a plane perpendicular to the plane of the second frame 320, so that when the swing motor 341 outputs power, the two switchable dual spray nozzles 350 and 350' swing in a staggered manner on the plane perpendicular to the plane of the second frame 320, and the vehicle chassis can be washed at various angles.

Of course, the second power transmission assembly may also be only the gear transmission assembly as described above, at this time, the power output by the swing motor 341 may be directly output to the swing driving shaft 343, and the swing driving shaft 343 transmits the power to the water passing rotating shafts of the switchable dual nozzles through the gear transmission assembly as described above, so as to implement the synchronous staggered swing of the switchable dual nozzles.

If more than two switchable double nozzles exist, the second power transmission assembly is similarly adopted for power transmission, and the power of the swinging driving shaft 343 is transmitted to the water passing rotating shafts of the switchable double nozzles, so that the synchronous staggered swinging of the nozzles is realized.

To facilitate switching of the dual spray heads, as shown in fig. 7 and 8, taking the structure of the first switchable dual spray head 350 as an example for explanation, the first switchable dual spray head 350 includes a switch 351, a first spray head 352 and a second spray head 353, the switch 351 has an inlet 3511, a first outlet 3512, a second outlet 3513 and a steel ball 3514, the steel ball 3554 blocks a first flow path (i.e., shown by a solid arrow in fig. 8) between the inlet 3511 and the first outlet 3512 or a second flow path (i.e., shown by a dotted arrow in fig. 8) between the inlet 3511 and the second outlet 3513; the first spray head 352 is inserted at the first outlet 3512; the second nozzle 353 is inserted at the second outlet 3513.

In this embodiment, the first nozzle 352 and the second nozzle 353 are switchable to spray high-pressure water or a spray (e.g., a chemical solution), and thus the first nozzle 352 is selected to be a high-pressure water nozzle and the second nozzle 353 is selected to be a spray nozzle.

Before using the robot, the first switchable dual spray nozzle 350 and the second switchable dual spray nozzle 350 'are first adjusted to be at initial positions, such as the first switchable dual spray nozzle 350 and the second switchable dual spray nozzle 350' shown in fig. 5 are at opposite horizontal positions, and the first spray nozzle of the two switchable dual spray nozzles is above and the second spray nozzle is below, which may be marked as 0 °. The first switchable dual spray head 350 is switched, that is, the first spray head 352 and the second spray head 353 are switched.

Specifically, when high-pressure water needs to be sprayed, the high-pressure water pipeline through which the high-pressure water flows is disconnected, the first switchable double spray nozzle 350 swings clockwise from the initial position to sink to 10 ° -15 ° set by a program, the steel ball 3514 falls into the second outlet 3513, the spray nozzle is blocked, the high-pressure water pipeline is opened, the steel ball 3514 is pressed by water pressure to keep still and continuously block the spray nozzle, the high-pressure water is sprayed out of the high-pressure water spray nozzle at the moment, namely, the flow direction shown by the solid arrow in fig. 8, and during the later period that the high-pressure water pipeline is opened, the high-pressure water is sprayed out of the high-pressure water spray nozzle no matter how the first switchable double spray nozzle 350.

Similarly, when a spray is required to be sprayed, the spray pipeline is disconnected firstly, the first switchable double spray nozzle 350 is swung anticlockwise from the initial position to 190-195 set by a program, the steel ball 3514 falls into the first outlet 3512, the high-pressure water spray nozzle is blocked, the spray pipeline is opened, the steel ball 3514 is pressed by water pressure to keep still motionless and continuously block the high-pressure water spray nozzle, the spray is sprayed out of the spray nozzle at the moment, namely the flow direction shown by a dotted arrow in fig. 8, and during the later period when the spray pipeline is opened, the spray is sprayed out of the spray nozzle no matter how the first switchable double spray nozzle 350 is swung at the moment due to the action of the water pressure.

The above-mentioned manner of implementing the rotation of the first switchable dual spray head 350 can be implemented in an automatic manner or a manual manner, which is not limited herein.

The position of the steel ball 3514 is changed by rotating the first switchable double-nozzle 350, so that the steel ball is positioned in the first flow path or the second flow path and is matched with the opening or the disconnection of the water path, high-pressure water spraying or mist spraying of the first switchable double-nozzle 350 is achieved, the use is convenient, the switching is easy, the labor task amount is reduced, the switching time of workers is shortened, and the cleaning operation efficiency is improved.

In order to satisfy various needs for vehicle chassis washing, as shown in fig. 3 and 4, a foam nozzle 370 is further provided on the first frame 310. The foam nozzle 370 is used to spray foam, and after the dirt on the vehicle chassis is softened by a reaction for a certain period of time covering the foam, the water is washed by using high pressure water, and thus, for the convenience of cleaning, the two switchable dual nozzles 350 and 350' of the present embodiment are located at the front end of the robot 300, and the foam nozzle 370 is located at the rear end of the robot 300.

The bubble jet head 370 receives the gas from the gas path input port 371 and the liquid medicine from the medicine path input port 372, and the gas and the liquid medicine are mixed in proportion to realize the bubble jet head 370 ejecting bubbles.

When the robot 300 is not in use, the second frame 320, the switchable dual spray heads 350 and 350', and the entire robot 300 should be respectively in their initial positions, and when they are controlled, they are controlled from the initial positions. Therefore, before the robot 300 starts to work, the electric cabinet detects the initial pitching position of the second frame 320 of the robot 300, the initial swinging position of the switchable dual spray heads 350 and 350', and the initial position of the robot 300, respectively, so as to ensure the control reliability.

The utility model provides a reciprocating type self-cleaning system can realize the automatic control of robot 300 through the electric cabinet, makes things convenient for operating personnel to keep away from abominable washing environment, and user experience is good; the switchable double spray heads can realize double spray head switching, high-pressure water column and spray switching, pitching angle adjustment and swinging angle adjustment, enrich the functions of the robot 300, meet the use requirements in different scenes and enlarge the use range of the robot 300; the robot 300 is high in automation degree, manual operation is reduced, safety risks are reduced, and cleaning efficiency and effect are improved.

Example two

In this embodiment, the output power of the swing motor 341 may be transmitted to the two switchable dual nozzles by using a bevel gear to transmit the power, so that the switchable dual nozzles may swing alternately.

Specifically, a hollow shaft is fixedly arranged on the second frame 320, the swing driving shaft 343 is inserted into the hollow shaft (not shown) through a bearing (not shown) and extends into the second frame 320 to realize concentric rotation with the second frame 320, a first left-handed helical gear (not shown) and a first right-handed helical gear (not shown) are arranged at intervals on the swing driving shaft 343, correspondingly, a second right-handed helical gear (not shown) matched with the first left-handed helical gear is arranged on the first water passing rotating shaft 344' of the first switchable dual spray head 350, and a second left-handed helical gear (not shown) matched with the first right-handed helical gear is arranged on the second water passing rotating shaft 345' of the second switchable dual spray head 350 '.

The power output by the swing motor 341 realizes the staggered swing of the first switchable dual spray nozzle 350 and the second switchable dual spray nozzle 350' on the plane perpendicular to the plane of the second frame 320 through the matching of the first left-handed helical gear and the second right-handed helical gear and the matching of the first right-handed helical gear and the second left-handed helical gear.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or that equivalents may be substituted for elements thereof; such modifications and substitutions do not depart from the spirit and scope of the present invention, which is claimed.

Claims

1. A reciprocating automatic cleaning system, comprising:

a trench, which is formed on the ground in a concave manner, and steps are formed on the opposite side surfaces of the trench;

a traction assembly;

a robot towed by the towing assembly and reciprocating within the trench along the step; the robot includes:

a first frame;

a pitch drive assembly;

a second frame disposed on the first frame and driven to pitch by the pitch drive assembly;

a swing drive assembly;

at least one switchable dual spray head disposed on the second frame, driven by the swing driving assembly, and capable of swinging, the switchable dual spray head including a switch, a high pressure water spray head, and a spray head, the switch being in communication with a water supply line and being used to switch the communication of the high pressure water spray head or the spray head with the water supply line;

and the electric control box is used for controlling at least the action of the robot.

2. The reciprocating automatic cleaning system according to claim 1, wherein a rotary drive shaft is secured to the second frame, and the pitch drive assembly comprises:

a pitch motor;

and the first power transmission assembly is in transmission connection with the pitching motor and the rotating driving shaft respectively.

3. The reciprocating automatic cleaning system according to claim 2, wherein the first power transmission assembly is a first sprocket chain assembly, the pitch motor transmitting torque to the rotary drive shaft through the first sprocket chain assembly.

4. The reciprocating automatic cleaning system according to claim 2 or 3, wherein the rotary driving shaft is a water-passing rotating shaft which communicates the water supply line and each switchable double nozzle.

5. The reciprocating automatic cleaning system according to claim 1, wherein said oscillating drive assembly comprises:

a swing motor;

and the second power transmission assembly is in transmission connection with the swing motor and each switchable double-nozzle to be swung respectively.

6. The reciprocating automatic cleaning system according to claim 5, wherein the at least one switchable dual spray head comprises a first switchable dual spray head and a second switchable dual spray head arranged side by side; the second frame is provided with a swing driving shaft in a penetrating way through a bearing and used for receiving power output by the swing motor;

the second power transmission assembly includes:

a first bevel gear assembly comprising a first bevel gear disposed on the swing drive shaft and a second bevel gear meshed with the first bevel gear disposed on the first switchable dual spray head;

the transmission shaft is provided with a third bevel gear and a fourth bevel gear, and the third bevel gear is meshed with the second bevel gear;

a second bevel gear assembly comprising a fifth bevel gear disposed on the second switchable dual spray head and meshed with the fourth bevel gear.

7. The reciprocating automatic cleaning system according to claim 6, wherein the first switchable dual spray head and the second switchable dual spray head are oscillated alternately.

8. The reciprocating automatic cleaning system according to any one of claims 1 to 3, 5 to 7, characterized in that it comprises:

and the foam nozzle is arranged on the first frame and used for receiving the mixture of the gas and the liquid medicine and spraying foam.

9. The reciprocating automatic cleaning system according to any one of claims 1 to 3, 5 to 7, further comprising:

a tow chain support frame arranged in the trench;

a tow chain for transmitting signals to the robot and carried by the tow chain support frame.

10. The reciprocating automatic cleaning system according to any one of claims 1 to 3, 5 to 7, characterized in that it comprises:

and a traveling part disposed at the bottom of the robot.