An automatic cleaning system for sealing surface of water gate

Abstract

The present invention discloses an automatic system for cleaning the sealing surface of a water gate, including a frame, a guide rail, a cleaning robot, a rack and a drag chain. The frame is a rectangular corrosion-resistant metal frame. The guide rails are respectively arranged on each frame of the frame, the racks are respectively arranged on each frame of the frame, the walking mechanism of the cleaning robot meshes with the rack for transmission, the walking mechanism of the cleaning robot also slides with the guide rails, the drag chains are respectively arranged on each frame of the frame, and the drag chains are connected to the cleaning robot. The automatic mechanism for cleaning the sealing surface of a water gate disclosed in the present application drives the cleaning robot to move on the guide rails arranged on the frame through the rack, so as to achieve the cleaning operation of the sealing surface of the water gate, replace the manual cleaning of the prior art, and achieve a safer cleaning operation. At the same time, the cleaning robot can perform unlimited repeated cleaning operations, and the cleaning effect is better.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning robots, and in particular to an automatic cleaning system for a water gate sealing surface. Background Art

[0002] A sluice gate is a gate designed to close underwater canals and waterways.

[0003] Since the sealing surface of the sluice gate is below the horizontal plane, the sealing surface of the sluice gate is immersed below the horizontal plane for a long time, resulting in a large number of organisms growing on the sealing surface or dirt attaching to the sealing surface, making the sealing surface uneven, so that the sluice gate cannot fit tightly with the sealing surface, the gate cannot effectively close the waterway and canal, and the gate leaks water. The current solution to this problem is to rely on workers to dive underwater for manual cleaning. Because it is an underwater operation, there is an unknown water flow, high water pressure, dim light or even no light environment underwater, so the underwater cleaning operation is very dangerous. Recently, there was a major safety accident in which a frogman disappeared during the cleaning operation of the sealing surface of a power station gate. At the same time, the manual cleaning method is not only time-consuming and labor-intensive, but also has poor cleaning effect.

[0004] Therefore, how to solve the safety hazards of existing underwater gate sealing surface cleaning and the technical problems of poor cleaning effect is a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic system for cleaning the sealing surface of a sluice gate. The cleaning robot moves on a guide track on a frame to clean the sealing surface of the sluice gate, replacing the manual cleaning method of the prior art and achieving a safer cleaning operation. At the same time, the cleaning robot can perform unlimited repeated cleaning operations, resulting in a better cleaning effect.

[0006] In order to solve the above technical problems, the present invention provides an automatic cleaning system for the sealing surface of a sluice gate, comprising a frame, a guide rail, a cleaning robot, a rack and a drag chain, wherein the frame is a rectangular corrosion-resistant metal frame, the guide rails are respectively arranged on each frame of the frame, the racks are respectively arranged on each frame of the frame, the walking mechanism of the cleaning robot is meshed with the rack for transmission, the walking mechanism of the cleaning robot is also slidably matched with the guide rails, the drag chains are respectively arranged on each frame of the frame, and the drag chains are connected to the cleaning robot.

[0007] Preferably, it also includes a junction box arranged on the top of the frame.

[0008] Preferably, it further comprises a power box, a control box and a cable, one end of the cable is connected to the power box and the control box, and the other end of the cable is connected to the junction box.

[0009] Preferably, it also includes a cable retracting and releasing device for retracting and releasing the cable.

[0010] Preferably, a lifting ring is also provided on the top of the frame.

[0011] Preferably, reinforcing ribs are provided inside the frame.

[0012] Preferably, the cleaning robot includes a shell, a brush head, a vibration device, an underwater camera assembly, a travel drive assembly, a controller, a feed drive assembly, a feed device, a guide wheel assembly and a blade, the brush head and the vibration device are arranged on the feed device, the underwater camera assembly, the travel drive assembly, the controller, the feed drive assembly, the guide wheel assembly and the blade are arranged on the shell, the feed drive assembly is used to drive the feed device to be slidably arranged on the shell, and the travel drive assembly is used to drive the brush head to rotate and the blade to swing.

[0013] Preferably, it also includes a high-pressure water pump arranged on the housing.

[0014] Preferably, the vibration device is an ultrasonic vibrator.

[0015] Preferably, the underwater camera assembly is a 360° rotating camera.

[0016] The automatic cleaning water gate sealing surface system provided by the present invention mainly includes a frame, a guide rail, a cleaning robot, a rack and a drag chain. The frame is a rectangular corrosion-resistant metal frame. The guide rails are respectively arranged on each frame of the frame, the racks are respectively arranged on each frame of the frame, the walking mechanism of the cleaning robot is meshed with the rack for transmission, and the walking mechanism of the cleaning robot also slides with the guide rails. The drag chain is respectively arranged on each frame of the frame, and the drag chain is connected to the cleaning robot. The automatic cleaning water gate sealing surface mechanism disclosed in the present application drives the cleaning robot to move on the guide rails arranged on the frame through the rack to achieve the cleaning operation of the water gate sealing surface, replacing the manual cleaning of the prior art and achieving a safer cleaning operation. At the same time, the cleaning robot can perform unlimited repeated cleaning operations with better cleaning effects; the drag chain ensures that the cleaning robot has an independent cleaning space, has little mutual influence with the outside world, and has higher cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the overall structure of a specific implementation method provided by the present invention;

[0019] Figure 2 for Figure 1 The front view of the frame structure shown;

[0020] Figure 3 for Figure 2 An enlarged view of the local A shown;

[0021] Figure 4 for Figure 1 An axonometric view of the frame structure shown;

[0022] Figure 5 for Figure 2 The schematic diagram of the cleaning robot structure shown;

[0023] Figure 6 for Figure 5 Another angle view of the cleaning robot is shown.

[0024] in, Figure 1-Figure 6 middle:

[0025] Frame—1, guide track—2, cleaning robot—3, shell—301, brush head—302, vibration device—303, underwater camera assembly—304, travel drive assembly—305, controller—306, feed drive assembly—307, feed device—308, guide wheel assembly—309, scraper—310, high-pressure water pump—311, rack—4, drag chain—5, junction box—6, power box—7, control box—8, cable—9, wire retracting and releasing device—10, lifting ring—11, reinforcement rib—12. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Please refer to Figures 1 to 4 , Figure 1 A schematic diagram of the overall structure of a specific implementation method provided by the present invention; Figure 2 for Figure 1 The front view of the frame structure shown; Figure 3 for Figure 2 An enlarged view of the local A shown; Figure 4 for Figure 1 Axonometric view of the frame structure shown.

[0028] In a specific embodiment provided by the present invention, the automatic cleaning water gate sealing surface system mainly includes a frame 1, a guide rail 2, a cleaning robot 3, a rack 4 and a drag chain 5. The frame 1 is a rectangular corrosion-resistant metal frame. The guide rails 2 are respectively arranged on each frame of the frame 1, and the racks 4 are respectively arranged on each frame of the frame 1. The walking mechanism of the cleaning robot 3 is meshed with the rack 4 for transmission, and the walking mechanism of the cleaning robot 3 also slides with the guide rails 2. The drag chains 5 are respectively arranged on each frame of the frame 1, and the drag chains 5 are connected to the cleaning robot 3.

[0029] Among them, the frame 1 is a rectangular corrosion-resistant metal frame, which is used to be fixedly installed with the lintel cover of the sluice gate; the guide rails 2 are respectively arranged on each frame of the frame 1 for guiding and sliding cooperation of all cleaning robots 3; the cleaning robot 3 is used to clean the lintel sealing surface, vertical sealing surface and bottom sill sealing surface of the sluice gate; the rack 4 is fixed on the inner side surface of the frame 1, which is used to engage and transmit with the walking mechanism of the cleaning robot 3, so that the cleaning robot 3 can walk along the frame 1, and the cleaning robot 3 is driven to walk on the guide rail 2; the drag chain 5 is distributed on the four surfaces of the frame 1, and the drag chain 5 is connected to the cleaning robot 3, and cables are arranged inside, so that when the cleaning robot 3 walks, the cables can also move together.

[0030] Specifically, in the actual application process, the frame 1 is firstly lifted underwater by a crane and placed on the bottom sill without moving. The assembled frame 1 of the cleaning mechanism is matched and fixed with the sealing surface of the sluice gate, and then the automatic cleaning sluice gate sealing surface system is started. The rack 4 is driven by an external power supply to drive the walking mechanism of the cleaning robot 3 to move. The walking mechanism of the cleaning robot 3 drives the cleaning robot 3 to slide on the guide track 2. During the sliding process of the cleaning robot 3, the cleaning robot 3 cleans the lintel sealing surface, vertical sealing surface and bottom sill sealing surface of the sealing surface of the sluice gate. In this process, due to the setting of the drag chain 5, the necessary cables connected to drive the cleaning robot 3 move with the cleaning robot 3, thereby completing the cleaning operation of the sluice gate. It should be noted that the cleaning robots 3 are respectively arranged on the four surfaces of the frame 1, so as to comprehensively clean the lintel sealing surface, vertical sealing surface and bottom sill sealing surface of the sealing surface of the sluice gate.

[0031] In order to optimize the advantage of the automatic cleaning sluice gate sealing surface system in the above embodiment that it can complete the sluice gate cleaning operation more efficiently, the automatic cleaning sluice gate sealing surface system also includes a junction box 6 arranged on the top of the frame 1. The junction box 6 is a node connecting the cleaning robot 3 with the external control system. The junction box 6 is distributed on the top of the frame 1 and is used for the electrical connection between the cleaning robot 3 and the outside world. The junction box 6 plays a role of transfer, so that the cleaning robot 3 will not interact with the external control during the cleaning operation. The junction box 6 cooperates with the drag chain 5 to perfectly form the advantage of the cleaning robot 3 to perform the cleaning operation independently, which can improve the cleaning efficiency of the cleaning robot 3. It should be noted that the junction box 6 must be strictly drained to ensure the safety of the cable node.

[0032] Based on the transfer function of the junction box 6 of the automatic cleaning water gate sealing surface system, the automatic cleaning water gate sealing surface system also includes a power box 7, a control box 8 and a cable 9, one end of the cable 9 is connected to the power box 7 and the control box 8, and the other end of the cable 9 is connected to the junction box 6. Because the cleaning robot 3 needs to be controlled by the control system when performing the cleaning operation, the cleaning robot 3 also needs to drive power cables, control cables and other cables. Therefore, the power box 7, control box 8 and cable 9 of the cleaning robot 3 are all transferred through the junction box 6 and then connected to the cleaning robot 3, which also plays a role in avoiding the mutual influence between the cleaning robot 3 and the external control system, and can improve the cleaning efficiency of the cleaning robot 3. It should be noted that the cable 9 is used for the power supply of the cleaning robot 3 and the transmission of control signals and video signals.

[0033] It should be noted that, since this solution is an underwater automatic cleaning system, the automatic cleaning sluice gate sealing surface system also includes a retractable wire device 10 for retracting and releasing cables 9. The retractable wire device 10 can be placed on the ground and used to retract and release cables 9. Since the sluice gates have different depths, when the crane hoisting frame 1 is lowered, the corresponding cables 9 will also be stretched along with the frame 1. At this time, the retractable wire device 10 plays the role of retracting and releasing wires, making the entire lifting process smoother, shortening the preparation time for the cleaning operation, and improving the cleaning efficiency. It should also be noted that the power box 7 equipped in this solution is a portable power box that can be placed on the ground, has a power supply and electrical components inside, and can be carried. In addition, the control box 8 is also a portable control box that can be placed on the ground, has electrical components inside, and can also be carried, so that the driving and control equipment of the cleaning robot 3 has a more convenient use effect.

[0034] Furthermore, a hoisting ring 11 is provided on the top of the frame 1, and a reinforcing rib 12 is provided inside the frame 1. Because, before cleaning the sluice gate, the first thing to do in this solution is to hoist the frame 1, so a hoisting ring 11 is provided on the top of the frame 1 for the crane to perform hoisting operations. Similarly, the reinforcing rib 12 inside the frame 1 is to strengthen the firmness of the frame 1, to ensure that the frame 1 will not be affected by the hoisting during the hoisting process, and to increase the service life of this solution.

[0035] Please refer to Figure 5 and Figure 6 ; Figure 5 for Figure 2 The schematic diagram of the cleaning robot structure shown; Figure 6 for Figure 5 Another angle view of the cleaning robot is shown.

[0036] Based on the advantages that the above-mentioned automatic cleaning system for the sealing surface of the sluice gate can perform cleaning with higher efficiency and better cleaning effect, the cleaning robot 3 includes a shell 301, a brush head 302, a vibration device 303, an underwater camera assembly 304, a walking drive assembly 305, a controller 306, a feeding drive assembly 307, a feeding device 308, a guide wheel assembly 309 and a scraper 310. The brush head 302 and the vibration device 303 are arranged on the feeding device 308, the underwater camera assembly 304, the walking drive assembly 305, the controller 306, the feeding drive assembly 307, the guide wheel assembly 309 and the scraper 310 are arranged on the shell 301, the feeding drive assembly 307 is used to drive the feeding device 308 to be slidably arranged on the shell 301, and the walking drive assembly 305 is used to drive the brush head 302 to rotate and the scraper 310 to swing. During the movement of the cleaning robot 3, the feed drive assembly 307 is used to drive the feed device 308 to rise and fall, and the travel drive assembly 305 is used to drive the cleaning robot 3 to travel, the brush head 302 to rotate, and the scraper 310 to swing left and right, thereby driving the brush head 302 and the vibration device 303 to clean the sealing surface.

[0037] Furthermore, the automatic cleaning system for the sluice gate sealing surface also includes a high-pressure water pump 311 disposed on the housing 301. When the cleaning robot 3 performs cleaning operations on the sluice gate, the blade 310 performs hard work, that is, removes the attachments on the sealing surface, but some marine organisms will remain, so the high-pressure water pump 311 is used to clean the marine organisms through the high-pressure water channel, achieving a better cleaning effect.

[0038] It should be noted that the vibration device 303 is an ultrasonic vibrator. The ultrasonic vibrator can vibrate the brush head 302 so that the brush head 302 cleans the sealing surface. At the same time, the ultrasonic vibrator can vibrate the residue on the sealing surface to a certain extent, destroying the structure of the residue, so that the scraper 311 can perform the cleaning operation more easily.

[0039] It should also be noted that the underwater camera assembly 304 is a 360° rotating camera. The 360° rotating camera is used to observe the cleaning effect of the cleaning robot 3 and transmit the real-time image to the display screen of the control box 8 for the operator to view, so as to perform a more thorough cleaning operation and achieve a better cleaning effect.

[0040] In summary, the automatic cleaning water gate sealing surface system provided by the present embodiment mainly includes a frame, a guide rail, a cleaning robot, a rack and a drag chain. The frame is a rectangular corrosion-resistant metal frame. The guide rails are respectively arranged on each frame of the frame, the racks are respectively arranged on each frame of the frame, the walking mechanism of the cleaning robot meshes with the rack for transmission, and the walking mechanism of the cleaning robot also slides with the guide rails. The drag chain is respectively arranged on each frame of the frame, and the drag chain is connected to the cleaning robot. The automatic cleaning water gate mechanism disclosed in the present application drives the cleaning robot to move on the guide rails arranged on the frame through the rack to achieve the cleaning operation of the water gate sealing surface, replacing the manual cleaning of the prior art and achieving a safer cleaning operation. At the same time, the cleaning robot can perform unlimited repeated cleaning operations with better cleaning effects; the drag chain ensures that the cleaning robot has an independent cleaning space, has little mutual influence with the outside world, and has higher cleaning efficiency.

[0041] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic cleaning system for the sealing surface of a water gate, characterized in that: The cleaning robot (3) comprises a frame (1), a guide rail (2), a cleaning robot (3), a rack (4) and a drag chain (5); the frame (1) is a rectangular corrosion-resistant metal frame; the guide rail (2) is respectively arranged on each frame of the frame (1); the rack (4) is respectively arranged on each frame of the frame (1); the walking mechanism of the cleaning robot (3) is meshed with the rack (4) for transmission; the walking mechanism of the cleaning robot (3) is also slidably matched with the guide rail (2); the drag chain (5) is respectively arranged on each frame of the frame (1), and the drag chain (5) is connected to the cleaning robot (3); the cleaning robot (3) comprises a shell (301), a brush head (302), a vibration device (303), an underwater camera assembly (304), a walking drive assembly (305), a controller (306), a feed drive assembly (307), a feed device (308), a guide wheel assembly (309) and a scraper (310), the brush head (302) and the vibration device (303) are arranged on the feed device (308), the underwater camera assembly (304), the travel drive assembly (305), the controller (306), the feed drive assembly (307), the guide wheel assembly (309) and the scraper (310) are arranged on the shell (301), the feed drive assembly (307) is used to drive the feed device (308) to be slidably arranged on the shell (301), and the travel drive assembly (305) is used to drive the brush head (302) to rotate and the scraper (310) to swing.

2. The automatic cleaning water gate sealing surface system according to claim 1, characterized in that: It also includes a junction box (6) arranged on the top of the frame (1).

3. The automatic cleaning water gate sealing surface system according to claim 2, characterized in that: It also comprises a power box (7), a control box (8) and a cable (9), one end of the cable (9) is connected to the power box (7) and the control box (8), and the other end of the cable (9) is connected to the junction box (6).

4. The automatic cleaning water gate sealing surface system according to claim 3, characterized in that: It also includes a wire retracting and releasing device (10) for retracting and releasing the cable (9).

5. The automatic cleaning water gate sealing surface system according to claim 4, characterized in that: A lifting ring (11) is also provided on the top of the frame (1).

6. The automatic cleaning water gate sealing surface system according to claim 5, characterized in that: Reinforcing ribs (12) are arranged inside the frame (1).

7. The automatic cleaning water gate sealing surface system according to claim 1, characterized in that: It also includes a high-pressure water pump (311) arranged on the housing (301).

8. The automatic cleaning water gate sealing surface system according to claim 7, characterized in that: The vibration device (303) is an ultrasonic vibrator.

9. The automatic cleaning water gate sealing surface system according to claim 8, characterized in that: The underwater camera assembly (304) is a 360° rotating camera.

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