Apparatuses, systems, and methods for cleaning

Abstract

A cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member. In certain examples, the first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis. The cleaning apparatus also includes at least one sensor on the arm and configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm

That which is claimed: 
     
         1 . A cleaning system comprising:
 a cleaning apparatus; and   a drive system comprising:
 a track; and 
 a drive member comprising:
 a base comprising a first portion and a second portion extending downwardly from the first portion; 
 at least one wheel adapted to translate along the second portion of the base; and 
 a biasing system connecting the at least one wheel with the base, 
 wherein at least a portion of the track is received between the first portion of the base and the at least one wheel, 
 wherein the biasing system biases the at least one wheel towards the portion of the track received between the first portion of the base and the at least one wheel, and 
 wherein the cleaning apparatus is supported on the drive member. 
 
   
     
     
         2 . The cleaning system of  claim 1 , wherein the cleaning apparatus comprises an arm and a nozzle assembly attached to the arm, and wherein the arm comprises:
 a first rotatable arm defining a first axis, wherein the first rotatable arm is rotatable about the first axis;   a second rotatable arm defining a second axis and connected to the first rotatable arm, wherein the second rotatable arm is rotatable about the second axis; and   at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.   
     
     
         3 . The cleaning system of  claim 1 , wherein the track comprises a top side and a bottom side opposite the top side, wherein the top side comprises a plurality of teeth, wherein the drive system further comprises a gear configured to engage the top side of the track, and wherein the at least one wheel is configured to engage the bottom side of the track. 
     
     
         4 . The cleaning system of  claim 1 , wherein the track comprises a track width and sidewalls, wherein the at least one wheel comprises a first inner edge and a second inner edge, wherein a distance between the first inner edge and the second inner edge is greater than the track width, and wherein the at least one wheel is movable along the track such that the track is between the first inner edge and the second inner edge and the first inner edge and the second inner edge at least partially overlap the sidewalls of the track. 
     
     
         5 . The cleaning system of  claim 1 , wherein the track comprises a first track portion, a second track portion, and a curved track portion connecting the first track portion to the second track portion, wherein the first track portion extends along a first axis, and wherein the second track portion extends along a second axis different from the first axis. 
     
     
         6 . The cleaning system of  claim 5 , wherein the first axis and the second axis extend in different planes such that the first axis and the second axis are vertically offset from each other. 
     
     
         7 . The cleaning system of  claim 5 , wherein the biasing system biases the at least one wheel such that the at least one wheel maintains contact with the track while the drive member moves along the first track portion, the second track portion, and the curved track portion. 
     
     
         8 . The cleaning system of  claim 1 , wherein the biasing system comprises a spring and a spring block, wherein the at least one wheel is connected to the spring block, and wherein the spring connects the spring block with the first portion of the base of the drive member. 
     
     
         9 . The cleaning system of  claim 1 , wherein the second portion of the base comprises at least one elongated wheel slot, and wherein a portion of the at least one wheel is received within the at least one elongated wheel slot such that the at least one wheel is adapted to translate along the second portion of the base. 
     
     
         10 . The cleaning system of  claim 1 , wherein the at least one wheel comprises a first wheel and a second wheel, wherein the first wheel and the second wheel are each adapted to independently translate along the second portion of the base, and wherein the biasing system is configured to bias both the first wheel and the second wheel towards the first portion of the base. 
     
     
         11 . The cleaning system of  claim 1 , wherein the track is adapted to be positioned within a container and removably attached to an inner surface of the container. 
     
     
         12 . A cleaning system comprising:
 a cleaning apparatus; and   a drive member supporting the cleaning apparatus and comprising:
 a base comprising a first portion and a second portion that extends downwardly from the first portion; 
 at least one wheel extending from the second portion of the base and adapted to translate along the second portion of the base, wherein a receiving area for a track is at least partially defined between the at least one wheel and the first portion of the base; and 
 a biasing system connecting the at least one wheel with the base, wherein the biasing system is configured to bias the at least one wheel towards the first portion of the base. 
   
     
     
         13 . The cleaning system of  claim 12 , wherein the second portion of the base defines at least one wheel slot, and wherein a shaft of the at least one wheel is at least partially received within the at least one wheel slot and is slidable within the at least one wheel slot. 
     
     
         14 . The cleaning system of  claim 12 , wherein the at least one wheel comprises a first inner edge and a second inner edge, and wherein the at least one wheel is configured to receive a portion of the track between the first inner edge and the second inner edge such that the at least one wheel at least partially overlaps at least one sidewall the track. 
     
     
         15 . The cleaning system of  claim 12 , wherein the drive member further comprises a gear at least partially supported by the first portion of the base, and wherein the drive member is configured to receive the track between the gear and the at least one wheel. 
     
     
         16 . The cleaning system of  claim 12 , wherein the at least one wheel comprises a first wheel and a second wheel, wherein the first wheel and the second wheel are each adapted to translate independently along the second portion of the base. 
     
     
         17 . A cleaning system comprising:
 a cleaning apparatus; and   a drive member supporting the cleaning apparatus and comprising:
 a base; and 
 at least one wheel, 
 wherein a receiving area for a track is defined between the at least one wheel and a portion of the base, 
 wherein a height of the receiving area is a distance between the at least one wheel and the portion of the base defining the receiving area, and 
 wherein the at least one wheel is movable relative to the base such that the height of the receiving area is adjustable. 
   
     
     
         18 . The cleaning system of  claim 17 , wherein the drive member further comprises a biasing system connecting the at least one wheel with the base, wherein the biasing system is configured to bias the at least one wheel towards the portion of the base defining the receiving area for the track. 
     
     
         19 . The cleaning system of  claim 18 , further comprising the track, wherein the track comprises a first track portion, a second track portion, and a curved track portion connecting the first track portion to the second track portion, wherein the first track portion extends along a first axis, wherein the second track portion extends along a second axis different from the first axis, and wherein the biasing system biases the at least one wheel such that the at least one wheel maintains contact with the track while the drive member moves along the first track portion, the second track portion, and the curved track portion. 
     
     
         20 . The cleaning system of  claim 19 , wherein the first axis and the second axis extend in different planes such that the first axis and the second axis are vertically offset from each other.