| 摘要 |
The present disclosure provides a system and method for a cleaning apparatus that includes a swash assembly (65) for allowing independent control of the nozzle pitch from the nozzle rotation, and further includes supplying a cleaning fluid through the same apparatus used to rotate the nozzle. The method and system allows cleaning with spray patterns of substantially 360 degrees spherical ranges of motion. The nozzle angle can be controlled by hydraulic cylinders (27) that can reversibly translate a rack (9) along a longitudinal axis of a nozzle assembly (3) to engage a pitch gear (4) coupled to the nozzle. The system is automatically resettable to a default position upon failure of hydraulic pressure. Generally, a plurality of nozzles are used to balance the side forces on the main mast (17). A remote control system allows an operator to design and control an optimal cleaning procedure, and to adjust the nozzle rotation, angle, and cleaning regime.
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