CLEANING IN PLACE ROBOTIC NOZZLE SYSTEM

The present invention relates to a cleaning in place nozzle system (1) for cleaning surfaces of complex shape, comprising a first body part (21) comprising a dry section (22) and a fluid section (23), a second body part (25) coaxially arranged in the first body part, a nozzle part (26) having a nozzle axis (NA), a fluid inlet (24) arranged in the first or second body part and a fluid outlet (27) arranged in the nozzle part wherein the nozzle system is operatively connected to an intelligent control unit (28) for controlling rotational movement of the nozzle part and/or the body parts. The invention further relates to a method for cleaning a container using a cleaning in place nozzle unit.

The present invention relates to a cleaning in place robotic nozzle system for cleaning surfaces of complex shape, comprising a first body part comprising a dry section and a fluid section, a second body part coaxially arranged in the first body part, a nozzle part having a nozzle axis, a fluid inlet arranged in the first or the second body part, and a fluid outlet arranged in the nozzle part.

Clean-in-place (CIP) is a method of cleaning the interior surfaces of pipes, tubes, vessels, containers, process equipment, filters and associated fittings, without disassembly of equipment in order to obtain access to the surfaces. Typically, prior to CIP, the equipment was disassembled and cleaned manually. Therefore, for industries that rely heavily on efficient cleaning and high levels of hygiene, CIP was a major step forward. This could pertain to industries in the field of e.g. dairy, beverage, brewing, processed foods, pharmacy, large-scale kitchens, cosmetics, etc.

The benefit for industries using CIP is that the cleaning is faster, less labour-intensive and more reliable and repeatable. Furthermore, CIP facilitates less of a chemical exposure risk for the related personnel and also with regards to the cleaning agents mixing with the item to be processed. Depending on dirt load and process geometry, the CIP design principle is typically one of the following:Deliver highly turbulent, high flow-rate cleaning solutions to effect good cleaning (applies e.g. to pipe circuits and some filled equipment).Deliver solutions as a low-energy spray to fully wet the surface (applies to lightly dirty/soiled vessels where static sprayball nozzles may be used).Deliver a high-energy impinging sprayed fluid (applies to highly dirty/soiled or large-diameter vessels where a movable spray nozzle may be used).

However, all of the above principles rely on fully mechanical nozzles that are driven by water pressure itself. This causes an inefficient and random cleaning because the cleaning is indiscriminate with regards to surfaces to be cleaned and relies on measuring waste water and visual inspection. If such measuring or inspection return with a negative response, the whole CIP system may be started up again, i.e. cleaning large areas that were already clean in the first place.

Measuring the quality of the cleaning is based on the part of the area to be cleaned that is the most demanding i.e. it is in fact similar to letting the lowest common denominator decide the cleaning needed. However, the development of micro-bacteria only needs a small area to be dirty, or an area that is harder to get clean, for it to develop and hence it is absolutely necessary for all surfaces to be equally clean.

There is a continuously increasing demand for better and more safe cleaning of facilities, in particular due to an increase in regulations and more delicate substances to be handled.

It is an object of the present invention to wholly or partly overcome the above disadvantages and drawbacks of the prior art. More specifically, it is an object to provide an improved cleaning in place robotic nozzle system that is faster and more efficient than existing nozzle systems by providing specific cleaning of local areas.

The above objects, together with numerous other objects, advantages and features, which will become evident from the below description, are accomplished by a solution in accordance with the present invention by a cleaning in place nozzle system for cleaning surfaces of complex shape, comprising: a first body part (21) comprising a dry section and a fluid section, a second body part (25) coaxially arranged in the first body part, a nozzle part having a nozzle axis (NA) where the nozzle part is arranged in the second body part, a fluid inlet arranged in the first or the second body part, a fluid outlet arranged in the nozzle part, where in a closed position the second body part is retracted into the first body part and the nozzle part is retracted into the second body part, and in an open position the second body part is extended out of the first body part and where the nozzle part projects out of the second body part, and wherein the robotic nozzle system is operatively connected to a control unit (28) for controlling rotational movement of the nozzle part and/or the first body part and/or the second body part.

In this way, it may be possible to intelligently control the movement of the second body part and the nozzle part. Furthermore, it may be possible to always know the exact position of the body part and/or nozzle part in relation to the equipment to be cleaned, i.e. it may be possible to determine a zero point/reference point to which the body part and/or nozzle part may be forced back. In this way, a non-randomized situation is achieved, i.e. a fully controlled path of the nozzle part and thereby the fluid outlet. In this way, it is possible to let the robotic nozzle system clean local areas for as long as needed without increasing time spent in other areas. This significantly reduces the time necessary for cleaning altogether. As an example, the smooth surfaces inside a large stainless-steel vessel only need a short cleaning cycle whereas the areas around an inlet, outlet and inspection opening need a longer cleaning cycle or an increased cleaning intensity. By the present invention, such cleaning processes can be adapted and adjusted according to the condition of the local areas.

By providing a nozzle system where the system can telescopically enter and exit a volume to be cleaned, where the nozzle part extends out of the second body part and the second body part extends out of the first body part, it is possible to provide a system that is fully retractable from the volume, while still having a maneuverability inside the volume to direct the nozzle axis in a plurality of directions, and thereby clean a majority of the surfaces inside the volume. In its closed position, the second body part and the nozzle part are positioned inside the first body part, so that the nozzle part is positioned outside the volume to be cleaned. However, when the volume is to be cleaned, the nozzle system may be transformed from its closed position to its open position, where the second body part extends out of the first body part, and the nozzle part extends out of the second body part, allowing the nozzle part to access the volume to be cleaned.

In one embodiment the second body part is rotatable along the longitudinal axis, where the second body part may rotate relative to the first body part. The first body part may e.g. be a housing of the nozzle system, where the first body part may be fixed relative to the item that is to be cleaned, and where the second body part may be rotated relative to the first body part, and thereby changing the position of the nozzle part relative to the first body part and/or the surface to be cleaned by rotating the second body part.

In one embodiment, the second body part may have an outer boundary, where the nozzle part may be positioned within the outer boundary of the second body part when the nozzle system is in its closed position. Thus, when the second body part is retracted into the first body part, the nozzle part is positioned within the outer boundary of the second body part, and the nozzle part will not interfere with the retraction and/or extension of the second body part relative to the first body part.

In one embodiment, the second body part may have an outer boundary, where the nozzle part may be at least partly positioned outside the outer boundary of the second body part, when the nozzle system is in its open position. Thus, when the second body part has been extended out of the first body part, the nozzle part may be extended out of the second body part, allowing the nozzle part to extend beyond the boundary of the first body part.

In one embodiment, the second body part may have an outer boundary, where the fluid outlet of the second nozzle part may be positioned outside the outer boundary of the second body part when the nozzle system is in its open position. Thus, when the nozzle part is extended out of the second body part, the fluid outlet may be positioned outside the second body part.

In one embodiment, the second body part may have an outer boundary, where the fluid outlet of the second nozzle part may be positioned inside the outer boundary of the second body part when the nozzle system is in its closed position. Thus, when the nozzle part is extended out of the second body part, the fluid outlet may be positioned inside the second body part, allowing the second body part to be retracted into the first body part.

In one embodiment the first body part may have an outer boundary, where the fluid outlet of the nozzle part may be positioned inside the outer boundary of the first body part and/or the outer boundary of the second body part when the nozzle system is in its closed position.

Within the context of the present disclosure, the term outer boundary may mean a volume that may be defined as the outer dimensions of an item or a part.

In one embodiment the second body part may be extended out of the first body part along a longitudinal axis of the first and/or the second body part, and where the nozzle part may be extended out of the second body part in a nozzle direction that is at an angle to the longitudinal axis of the first and/or the second body part. Optionally the nozzle direction is at a right angle to the longitudinal axis of the first and the second body part. By providing the nozzle axis in a direction that is at an angle to the longitudinal axis of the first body part and/or the second body part, it may be possible to extend the nozzle part so that the fluid outlet is moved in a direction away from the longitudinal axis of the first and/or the second nozzle part. Thus, when the second body part is rotated relative to the first body part, the rotation moves the nozzle part simultaneously. Furthermore, by rotating the nozzle part relative to the second body part, it allows the fluid outlet to be rotated along two rotational axis, and thereby provide a freedom of movement along the two rotational axes, allowing the fluid outlet to be pointed in a plurality of directions beyond what would be possible with only one rotational axis.

In one embodiment, the second body part may be rotated relative to the first body part along a longitudinal axis of the first body part and/or the second body part.

In one embodiment the nozzle part may be rotated relative to the second body part along the nozzle axis.

The robotic nozzle system may further comprise an internally and/or externally arranged intelligent control unit for controlling rotational movement of the nozzle part and/or the body parts.

Also, the intelligent control unit may be an external PC, a PLC or other micro-controllers.

Furthermore, the nozzle axis may be different from 180° to the longitudinal axis of the first and/or the second body part.

Additionally, the nozzle axis may be arranged at an angle of between 45° to 90° in relation to the longitudinal axis of the first and/or the second body part.

Moreover, the nozzle axis may be arranged at an angle of more than 30° in relation to the longitudinal axis of the first and/or the second body part or preferably the angle may be more than 45°.

Also, the actuators for controlling the rotational movement of the nozzle part and the second body part may be arranged in the dry section of the first body part.

The actuators may be driven by electricity, air pressure or fluid pressure.

Further, the intelligent control mechanism e.g. a micro-controller, PC, or PLC may be arranged in the dry section of the first body part.

Moreover, the end section of the dry section of the first body part may comprise a clear or semi-clear cover.

In addition, the cover may be polycarbonate.

Furthermore, the fluid outlet may be arranged to expel fluid at an angle of between 45° to 90° to the nozzle axis. In this way, it is possible to adjust the direction of the fluid to clean right under the CIP robot. Alternatively, the fluid outlet may be arranged to expel fluid at an angle of between 20 to 170 degrees to the nozzle axis.

The robotic nozzle unit may further comprise a vision system. In this way, it is possible to detect areas that need further cleaning based on direct real-time measuring.

Additionally, the fluid section of the first body part may comprise a first annular wall and a second annular wall, the one wall having a smaller diameter than the other wall in order for the one wall to slide inside the other wall. In this way, a delay system may be achieved for letting the fluid from the fluid inlet press the second body part away from the first body part. In the first position, i.e. closed position, the annular walls cover each other, and no fluid may flow to the inside of the annular walls. In the second position, i.e. open flow position, the two annular walls are no longer covering each other along the longitudinal wall axis, and fluid may enter the inside of the walls, and the fluid inlet will be in fluid communication with the nozzle part via the inside volume of the second annular wall.

In a further embodiment, the robotic nozzle system may comprise a valve for facilitating fluid flow from one body part to another body part and/or from a body part to the nozzle part. In an embodiment, the valve may be a piston that lets fluid pass when a threshold pressure is present.

Furthermore, the nozzle part may be slidably arranged along the nozzle axis.

Also, fluid pressure may cause the nozzle part to move to a second position, i.e. an open position where fluid may expel from the nozzle. In this way, it is achieved that the fluid pressure automatically causes the nozzle to move.

Moreover, the nozzle part may be forced to move along the nozzle axis by pressure from water entering the fluid inlet.

In addition, the nozzle part may be moved along the nozzle axis by a fluid pressure on the fluid inlet of 0,1 bar to 300 bar, more preferable between 0.1 bar and 250 bar, or 0.2 bar-10 bar, more preferably of 0.35-8 bar, most preferably of 0.5 bar-6 bar. In this way, it is achieved that the pressure directly from the fluid supply, e.g. water supply, is enough to activate the nozzle part. The fluid pressure of the fluid inlet may be higher than 10 bar, more specifically higher than 100 bar, more specifically higher than 150 bar, more specifically higher than 200 bar, more specifically higher than 300 bar.

The nozzle part may further comprise a return spring. In this way, it is possible to have the nozzle part automatically return to its retracted position, i.e. its first position, when the fluid pressure is shut off.

Also, the first body part may comprise a return spring. In this way, it is possible to have the second body part automatically return to its retracted position, i.e. its first position, when the fluid pressure is shut off.

Further, a first actuator, e.g. an electrical step motor, may drive the rotational movement of the second body part.

Additionally, a second actuator, e.g. an electrical step motor, may drive the rotational movement of the nozzle part.

Moreover, a first axle connected to the first actuator for rotating the second body part may be hollow, and a second axle connected to the second actuator for rotating the nozzle part may be positioned inside the first hollow axle.

In a further embodiment, the robotic nozzle system may comprise one or more gearing systems for transferring rotational movement from one part of the robotic nozzle system to a second part of the robotic nozzle system.

In one embodiment, the gearing systems may comprise a plurality of gears, where one or more gears may be manufactured out of a metallic material and/where one or more gears may be manufactured out of a polymeric material. Optionally a metal gear interacts with a plastic gear, and vice versa. By providing alternating gears of metal and plastic, it is possible to prevent the creation of metallic waste and/or metallic fragments, as the plastic gear reduces the wear and tear on the metallic gears.

Furthermore, the second axle may be connected to the nozzle part via a pinion gear. In this way an easy transformation from a first rotational direction to a second rotational direction is achieved.

The present invention also relates to a method for cleaning a container using a cleaning in place robotic nozzle unit.

The path of the expelled fluid may be adapted to clean in a different path near local extremities of the container. In this way, it is possible to ensure a faster cleaning due to the fact that the dirtiest areas, i.e. dirty local areas, are cleaned more than other areas, hereby achieving cleaning to the desired level of cleanness without the need for extra cleaning of the whole container but only requiring extra cleaning of the local areas. In this way, the overall time necessary for cleaning the container altogether is minimized.

Finally, the present invention relates to the use of a cleaning in place robotic nozzle unit for equipment to the food industry, e.g. vessel, containers, or internal volume equipment.

The retraction of the second body part may be sequentially after the retraction of the nozzle part. In this way, it is achieved that the nozzle part does not block the retraction of the second body part.

Further, the cleaning in place robotic nozzle unit may be a pop-in. The pop-in function may be activated by water pressure, one or more actuators, air pressure, or mechanically. In this way it is possible to fully retract the nozzle part and minimize turbulence during use of the equipment in which the robotic nozzle system is mounted.

The invention may also relate to a plurality of nozzle systems that are operatively connected to a control unit for controlling the rotational movement of the nozzle part and/or the first body part and/or the second body part of each of the nozzle systems, where the control unit may provide control signals to control the jets from each of the fluid outlets independently from each other. Thus, it may be possible to use one, two or more nozzle systems for cleaning surfaces where the control signals may e.g. be utilized to systematically move the cleaned dirt in a predefined direction, e.g. towards a bottom of a volume to be cleaned. This is advantageous in such a way that the dirt cleaned from one surface is not sent towards a surface that has already been cleaned. The two or more nozzle systems may be operated individually.

The system may comprise a closure plate which may be connected to the first part, second part and/or the nozzle part, so that when the system is in its closed state/position, the closure plate provides a sanitary interface between the system and the tank. The closure plate may be planar, or slightly curved, where a seal may be provided between the plate and the first part and/or the second part, so that any residual liquids inside the cleaning apparatus do not exit the system when the system is attached to e.g. a tank. The closure plate may have an outer surface that is easily cleanable.

The system may provide rotational movement to the fluid outlet, where the rotational axis of the second part provides 360 degrees of rotation and the rotational axis of the nozzle part provides 360 degrees of rotation, where the rotational axis of the second part and the rotational axis of the nozzle part are at an angle to each other, and preferably are perpendicular to each other allowing a three dimensional rotation of the fluid outlet.

All the figures are highly schematic and not necessarily to scale, and show only those parts which are necessary in order to elucidate the invention, other parts being omitted or merely suggested.

FIG.1shows a cleaning in place robotic nozzle system1for cleaning surfaces of complex shape. The robotic nozzle system1is mounted to a container2. The container2could be used in various industries e.g. chemical, food, beverage, medicine, oil, power plant, purification of water, water handling in general, or direct food preparation in large-scale kitchens and food production. The robotic nozzle system comprises a nozzle part26(Seen inFIG.2) for expelling fluid4. The expelled fluid4has a point of contact5with the surface to be cleaned6. The point of contact5follows a controlled path7and in the shown situation of cleaning, the controlled path7follows a first, a second, and a third path section8,9,10adapted to the local surface area11,11′,11″ to be cleaned. The first local surface area11benefits from the first path section8due to the fact that this local surface area11comprises a maintenance opening12for maintenance of the container2. In a similar manner, the third path section10is adapted for this specific local surface area11″ due to the presence of a sensor13. It is noted that the situation shown inFIG.1is just one situation in which the robotic nozzle unit1may work, whereas in other situations the robotic nozzle unit may work in pipes, tubes or entire rooms, all of various sizes.

FIG.2shows a robotic nozzle system1in a partly transparent illustration. In this embodiment, the robotic nozzle system1comprises a first body part21comprising a dry section22and a fluid section23. The fluid section23of the first body part comprises a fluid inlet24. The robotic nozzle system1further comprises a second body part25coaxially arranged in the first body part21along the longitudinal body axis BA. The second body part25comprises a nozzle part26having a nozzle axis NA. The nozzle part26is adapted to rotate around the nozzle axis NA in the direction of the arrow NAA. The nozzle part26comprises a fluid outlet27. The robotic nozzle system1is operatively connected to an intelligent control unit28for controlling the rotational movement of the nozzle part26and the second body part25. The second body part25rotates in the direction of the body axis arrow rotation BAAR. The dry section22of the first body part21is illustrated in a transparent manner and hence, a first actuator29for controlling the rotational movement of the nozzle part26in the direction of the nozzle axis arrow NAA is visible. Furthermore, a second actuator30is shown. The second actuator30is adapted for controlling the rotational movement of the second body part25in the direction of the body axis arrow BAAR. InFIG.2, no wires are shown between the intelligent control unit28and the actuators29,30but wires are shown inFIG.4A and4B. In a further embodiment, the connection may be wireless e.g. Bluetooth or similar.

FIG.3shows a cross-sectional view of the robotic nozzle system1as shown inFIG.1andFIG.2. It shows the dry section22of the first body part21which comprises the first and the second actuator29,30. The first actuator29is connected via a first shaft31to a pinion gear32that rotates the nozzle part26. The second actuator30is connected via a hollow shaft33to the second body part25in order to rotate the second body part25. The first shaft31is positioned inside the hollow shaft33. The second body part25is slidably arranged in relation to the first body part21. In this embodiment, the second body part25is arranged to be slid into the fluid section23(seen inFIG.2) of the first body part21along the longitudinal body axis BA. In order for the second body part25to slide along the longitudinal body axis BA, i.e. in the direction of the body axis sliding arrow BASA, the actuators29,30need to be able to slide as well. Hence, the first and the second actuator29,30are slidably arranged in the dry section22of the first body part21. Two bars34ensure a precise sliding of a fixture35for the first and the second actuators29,30. The fluid section23(seen inFIG.2) of the first body part21has a first annular wall36and a second annular wall37. The robotic nozzle system1is shown in its fully extended position, typically called the “popped in” position. In this position, the first and the second annular walls36,37are in a position furthest away from each other. In order to move the second body part25in relation to the first body part, i.e. retract the second body part25into the fluid section23(seen inFIG.2) of the first body part21, a body return spring38is arranged in contact with the first body part21and the second body part25. Furthermore, in order to retract the nozzle part26into the second body part25, a nozzle retraction spring39is arranged in contact with the second body part25and the nozzle part26. A sealing ring40is arranged to achieve a fluid tight connection when the nozzle part26is retracted into the second body part25. In this embodiment, upon retraction, the nozzle part26slides along the nozzle axis NA. A further sealing ring41ensures a fluid tight connection between the first body part21and the second body part25.

FIG.4Ashows a closed state of the robotic nozzle system1, andFIG.4Bshows a popped in (open) state of a robotic nozzle system1.FIGS.4A and4Bare shown as partly transparent in order to see the sliding movement of the first and the second actuator29,30(seen inFIG.3). In these figs., wires42are shown connecting the intelligent control unit28. It will be understood that the connection between the intelligent control unit28and the actuators29,30(seen inFIG.3) in other embodiments may be different, e.g. wireless (Bluetooth, Wi-Fi etc.) in order to achieve an operative connection. InFIG.4A, it is shown that the second body part25is retracted into the fluid section23of the first body part21. The second body part25is slid fully along the body axis BA and closes sealingly to the first body part by seal (not shown). InFIG.4B, the second body part25is popped in, i.e. projected into the volume to be cleaned. In other words, the second body part25is projected away from the first body part21in the direction along the body axis BA, i.e. in the direction of the body axis sliding arrow BASA. In this state, the nozzle part26is projected along the nozzle axis NA, and the fluid outlet27is able to expel fluid. In this state, it is seen that the wires42are stretched but still operatively connected to the intelligent control28.

FIGS.5A-5Cshow in a cross-sectional view the stages of popping in the robotic nozzle system1without showing the fluid (fluid will be shown inFIGS.6A-6C).FIGS.5A-5Cshow the first annular wall36and the second annular wall37moving in relation to each other as the first body part21and the second body part25move in relation to each other. InFIG.5A, the second annular wall37is fully encapsulating the first annular wall36. In.FIG.5B, the first and the second annular walls36,37are free of each other, and an opening50is seen between the rims of the annular walls36,37, hence allowing fluid communication between the first volume52outside the second annular wall37and the second volume53inside the annular walls36,37. InFIG.5C, the second body part25is slid further along the body axis BA, and the opening50is larger. In this fully projected state of the second body part25, i.e. popped in, the nozzle part26is projected.

FIGS.6A-6Cshows a cross-sectional view of the robotic nozzle system1similar to that ofFIGS.5A-5Cbut now showing how the fluid60spreads when water pressure is applied to the fluid inlet24. InFIG.6A, a fluid pressure is applied to the fluid inlet24of the robotic nozzle system1. The fluid60spreads in the first volume52outside the annular walls36,37. The first volume52is limited by a first end wall61of the first body part21and an opposing second end wall62of the second body part25. The first end wall61is fixed, but the second end wall62is slidably arranged as shown previously. Due to the pressure from the fluid60subjected to the second end wall62, the second body part25will start to slide and the return spring38will be compressed, i.e. the second body part25will start to slide in the direction of the body axis slide arrow BASA.

InFIG.6B, the second body part25has moved so much that an opening50is present between the first annular wall36and the second annular wall37. This opening50allows for fluid communication to the inner volume53of the annular walls36,37. In this way, the full inner volume53of the fluid section23of the first body part21starts to be filled with fluid60.

InFIG.6C, the whole volume of the fluid section23of the first body part21is filled with fluid60. Furthermore, fluid communication is created from the fluid section23to the fluid outlet27via internal canals or volumes of the second body part25and the nozzle part26. The fluid pressure forces the nozzle part26to project, and the fluid outlet27is free to let the fluid60flow out to become expelled fluid4.

FIG.7shows an enlarged view of the expelling of expelled fluid4from the fluid outlet27in the nozzle part26. In this embodiment, the fluid outlet27is arranged in an expel angle EA in relation to the nozzle axis NA, and hence also in an angle ABA in relation to the body axis BA. In the present embodiment, the angle between the nozzle axis NA and the body axis BA is approximately 90°. In such embodiment, the fluid outlet27may be arranged to expel fluid in an expel angle EA smaller than 90° whereby it is achieved that the robotic nozzle system1is capable of cleaning a surface right under the robotic nozzle system1. In another embodiment, the nozzle axis NA, i.e. the nozzle part26itself, may be arranged in an angle in relation to the body axis BA different from 90°. In this way, it is achieved that the fluid outlet27may expel fluid in an angle of 90° and the surface right under the robotic nozzle system1may still be cleaned.

When the fluid pressure is stopped, the projection process is reversed due to the return springs38. The return springs38causes the nozzle part26and the second body part25to be retracted. A small play between the first body part21and the second body part25ensures that fluid60in the fluid section23of the first body part21is forced out of the fluid outlet27until the second body part25is fully retracted into the first body part21(Seen inFIGS.6A-6C)

Furthermore, when the fluid pressure is stopped, the fluid pressure inside the nozzle system may be released gradually, so that when the pressure inside the nozzle system drops below a predefined level the nozzle part will retract into the second body part, and when the fluid pressure drops below a second predefined level the second body part will retract into the first body part, until the second body part is completely retracted and the nozzle system is in its closed position, as seen inFIG.4A. Thus, the system may be transformed between its open and closed positions by providing a fluid pressure that forces the second body part in and/or out of the first body part, and that forces the nozzle part in and/out of the second body part, while the second body part is at least partly extended out of the first body part.

This may similarly be done using external pneumatic or hydraulic pressure, where the pressure may be utilized to transform the system from a closed position to an open position, and vice versa. The pneumatic or hydraulic pressure may be applied through a separate input—i.e. a pressure input, where the pressure input is separate and/or independent from the fluid input of the cleaning fluid. Thus, the system may be transformed between its open and closed positions by providing an external pressure that forces the second body part in and/or out of the first body part, and that forces the nozzle part in and/out of the second body part, while the second body part is at least partly extended out of the first body part.

Thus, the nozzle part may be provided with a resilient part having a first predefined resilience, and the second body part may be provided with a second resilient part that has a second predefined resilience, where the first predefined resilience is larger than the second predefined resilience. Thus, this allows the nozzle part to be completely retracted into the second body part, prior to the second body part being retracted into the first body part. If the nozzle part is not fully retracted when the second body part is retracted into the first body part, the nozzle may block the retraction of the second body part into the first body part. The resilient parts may have a predefined resilience that is directed towards the pressure applied by the cleaning fluid and/or the pressure of pneumatic and/or hydraulic force, so that when the pressure falls below a predefined magnitude, the predefined resilient part will overcome the force applied by the pressure, and move the nozzle part and/or the second body part.

It will be understood by the skilled person in the art that the robotic nozzle unit1may also be without the popping in function, i.e. where the second body part25is fixed in relation to the first body part21along the body axis BA. Similarly, the nozzle part26may be fixed in relation to the second body part25along the nozzle axis NA.

FIGS.8A-8Cshow a further embodiment of the popping in function of the robotic nozzle system1. The function itself is the same as described inFIGS.6A-6C, i.e. applying a fluid pressure through the fluid inlet24into the fluid section23of the first body part21(no fluid is shown, only the mechanical movements caused by the fluid pressure).FIG.8Ashows a valve lever knee80is in its fully bent position. The valve lever knee80is connected to the first body part21in the one end and to a valve81in the other end. InFIG.8A, no fluid pressure is applied and therefore neither the second body part25nor the nozzle part26are popped in, i.e. projected from the first body part21and the second body part25respectively. InFIG.8B, a fluid pressure is applied, i.e. fluid is filled into the fluid section23of the first body part21. The fluid pressure applies a pressure on the valve81and hence the valve81is forced to move in a direction away from the dry section22of the first body part21. During this motion caused by the fluid pressure, the valve lever knee80is stretched. InFIG.8B, the valve lever knee80is almost stretched to its full extent along the body axis. The valve81is still in full contact with a valve seat82of the second body part25. When the valve81and the valve seat82are in full contact no fluid can flow through the apertures83from the fluid section23of the first body part21to the internal volume of the second body part25. Hence, no fluid can flow to the nozzle part26via the second body part25.FIG.8Cshows that applying a continued fluid pressure causes the second body part25to move further than the valve lever knee80and hence the valve81can reach i.e. be in contact with the valve seat82and hence the valve81is no longer in contact with the second body part25. This is caused by the force applied from the fluid pressure on the seat rim84of the valve seat82. Therefore, the fluid in the fluid section23of the first body part21starts to flow into the internal volume of the second body part25. With the apertures83being open, the fluid now continues to flow towards the nozzle part26and applies a force on the end section85of the nozzle part26. The nozzle part26will be forced out of second body part25, i.e. moving along the nozzle axis NA and starts to expel fluid from the fluid outlet27. In this way a full fluid communication is established from the fluid inlet24to the fluid outlet27. Hence the robotic nozzle system1has a first position with no fluid communication from the fluid inlet24to the fluid outlet27and a second position having full fluid communication.

Although the invention has been described in the above in connection with preferred embodiments of the invention, it will be evident for a person skilled in the art that several modifications are conceivable without departing from the invention as defined by the following claims.

The reference numbers discussed with reference to some figures may be found in other figures of the disclosure, where elements shown in one figure may be found in a plurality of figures.