A secondary sedimentation tank cleaning robot driven by solar photovoltaic

Abstract

A new secondary sedimentation tank cleaning robot driven by solar photovoltaics solves the problem that the cleaning robot driven by a battery has low efficiency due to misalignment of the automatic charging device and long charging time. It includes a bottom plate, with a housing fixed above the bottom plate. Inside the housing, there is a solar photovoltaic panel, and the solar photovoltaic panel is a structure that can swing; a left active walking device is provided below the left side of the bottom plate, and a right active walking device is provided below the right side of the bottom plate.

Description

Technical Field

[0001] The present invention relates to the technical field of secondary sedimentation tank cleaning equipment, and particularly to a secondary sedimentation tank cleaning robot driven by solar photovoltaic power. Background Art

[0002] Generally, the sedimentation tank into which sewage enters after biological treatment is called a secondary sedimentation tank or a final sedimentation tank. The function of the secondary sedimentation tank is to separate mud and water, clarify the mixed liquid, concentrate the sludge, and return a part of the separated sludge to the biological treatment section. When the secondary sedimentation tank is being cleaned now, an automatic cleaning robot is used. However, the existing robots have the following deficiencies: 1) Battery-driven, the automatic charging device is misaligned and the charging time is long, affecting the charging efficiency and use; 2) The clamping device is connected by a single spring, a lever and a driven wheel, and the clamping device is unstable; 3) The driving wheel 4 is a single-row wheel and has a narrow width, and the equipment runs unstably; 4) There are many cleaning brushes and motors on the swing arm and they move with the swing arm. The position of the center of gravity of the equipment changes continuously with the rotation of the swing arm, affecting the stability of the device; 5) An ultrasonic rangefinder is installed on the swing arm, but due to the continuous swinging of the swing arm, the ranging is inaccurate, affecting the safe operation of the equipment; 6) The protection device of the swing arm is imperfect, and the ultrasonic ranging and the equipment are damaged. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a secondary sedimentation tank cleaning robot driven by solar photovoltaic power, effectively solving the problem of low efficiency caused by the misalignment of the automatic charging device and the long charging time when the cleaning robot is battery-driven.

[0004] The present invention is realized through the following technical solutions: The present invention includes a bottom plate, an outer shell is fixed above the bottom plate, and a solar photovoltaic panel is provided inside the outer shell. The solar photovoltaic panel is a structure that can swing.

[0005] Preferably, a left driving walking device is provided below the left side of the bottom plate, and a right driving walking device is provided below the right side of the bottom plate;

[0006] The left driving walking device and the right driving walking device have the same structure, and both include a driving wheel rotatably connected to the bottom plate. A walking motor is fixed at the upper end of the bottom plate, and the walking motor is connected to the driving wheel.

[0007] Preferably, a left elastic clamping device is provided below the rear side of the bottom plate, and a right elastic clamping device is also provided below the right side of the bottom plate. The left elastic clamping device and the right elastic clamping device have the same structure, and both include a slider that can slide horizontally. A clamping wheel is rotatably connected to the lower end of the slider.

[0008] Preferably, the left elastic clamping device and the right elastic clamping device also each include a support plate fixedly connected to the bottom plate. A transverse dovetail groove is provided on the support plate, and a wedge-shaped block that slides horizontally is provided in the dovetail groove. The upper end of the wedge-shaped block is located above the support plate and fixedly connected to the slider.

[0009] Preferably, the left elastic clamping device and the right elastic clamping device also each include a fixed column fixedly connected to the bottom plate;

[0010] A tension spring is fixedly connected to the front end of the slider, and an insertion pin is fixedly connected to the front end of the tension spring. The front end of the insertion pin slidably penetrates through the fixed column;

[0011] A set screw is threadedly connected to the upper end of the fixed column, and the set screw is in pressing contact with the insertion pin to form a structure for fixing the insertion pin.

[0012] Preferably, a front auxiliary cleaning brush is rotatably provided below the left side of the bottom plate, and a rear auxiliary cleaning brush is rotatably provided below the right side of the bottom plate.

[0013] Preferably, a rotatable outer cleaning brush is provided below the front side of the bottom plate.

[0014] Preferably, a disc is rotatably provided in the middle of the bottom plate. A telescopic arm is fixedly connected to the upper end of the disc. The front extending end of the telescopic arm is located in front of the bottom plate, and a cleaning brush is rotatably provided at the front end of the telescopic arm. The cleaning brush is located below the bottom plate.

[0015] Preferably, a damping wheel is provided in front of the front end of the telescopic arm.

[0016] Preferably, an ultrasonic rangefinder is fixed to the front end of the telescopic arm.

[0017] Preferably, a push spring is fixed on the bottom plate, and the right end of the push spring is fixedly connected to the telescopic arm.

[0018] The present invention has the following advantages compared with the prior art: 1) The present invention is driven by solar photovoltaics, adjusts the angle of the solar photovoltaic panel according to the sunlight angle, automatically charges and operates automatically, without a charging pile, has high charging efficiency, and does not affect normal use; 2) Reduces the degree of freedom of movement of the clamping wheel, and improves the stability and safety of the left elastic clamping device and the right elastic clamping device; 3) The size of the driving wheel is widened, and two sets of driving wheels are added. The elongation and shortening of the telescopic arm have less influence on the offset of the center of gravity relative to the wheel, and the whole device is more stable; 4) Improves the distribution method of the driving motor and the cleaning brush on the telescopic arm, reduces the weight of the telescopic arm without affecting the cleaning effect, and reduces the influence of the telescopic movement of the telescopic arm on the center of gravity of the device; 5) The ultrasonic rangefinder on the telescopic arm always aims at the outer wall of the secondary sedimentation tank during the movement process. The number of ultrasonic rangefinders on the telescopic arm is reduced from two to one, which reduces the weight of the cantilever and does not change the movement mode of the angle to the wall, greatly improving the accuracy of the ultrasonic rangefinder; 6) Through the setting of the damping wheel and the push spring, a chain protection device is generated, thereby ensuring the normal operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the overall structure of the present invention (partial structure of the outer shell is omitted);

[0020] Figure 2 Schematic axonometric structure diagram of the present invention (partial structure of the outer shell is omitted);

[0021] Figure 3 Schematic diagram of the structure of the present invention after removing the outer shell;

[0022] Figure 4 Schematic axonometric structure diagram of the present invention after removing the outer shell;

[0023] Figure 5 Schematic diagram of the structure of the left elastic clamping device or the right elastic clamping device of the present invention;

[0024] Figure 6 Schematic axonometric structure diagram of the left elastic clamping device or the right elastic clamping device of the present invention;

[0025] Figure 7 Schematic diagram of the telescopic arm telescopic ranging protection structure of the present invention;

[0026] Figure 8 Schematic axonometric structure diagram of the telescopic arm telescopic ranging protection of the present invention;

[0027] Among them: 1. Bottom plate, 2. Outer shell, 3. Solar photovoltaic panel, 4. Driving wheel, 5. Left driving walking device, 6. Right driving walking device, 7. Left elastic clamping device, 8. Right elastic clamping device, 9. Slide block, 10. Clamping wheel, 11. Support plate, 12. Insert pin, 13. Fixed column, 14. Tension spring, 15. Set screw, 16. Front auxiliary cleaning brush, 17. Rear auxiliary cleaning brush, 18. Outer cleaning brush, 19. Disc, 20. Telescopic arm, 21. Cleaning brush, 22. Damping wheel, 23. Ultrasonic rangefinder, 24. Push spring. Specific implementation mode

[0028] In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, the terms "set", "install", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present invention.

[0030] As Figure 1-8 shown, the present invention includes a bottom plate 1, an outer shell 2 is fixed above the bottom plate 1, and a solar photovoltaic panel 3 is arranged inside the outer shell 2. The solar photovoltaic panel 3 is a structure that can swing;

[0031] A left driving walking device 5 is arranged below the left side of the bottom plate 1, and a right driving walking device 6 is arranged below the right side of the bottom plate 1.

[0032] In the present invention, the shape of the outer shell 2 is a teardrop-shaped streamline, and the material is fiberglass. The solar photovoltaic panel 3 is inside the outer shell 2. A maximum power tracking device is arranged on the bottom plate 1. One end of the solar photovoltaic panel 3 is hinged and fixed to the outer shell 2, and the other end can be hinged with a telescopic rod, and the other end of the telescopic rod is hinged and fixed to the outer shell 2;

[0033] The cleaning robot is powered by the solar photovoltaic panel 3. To obtain the maximum power output, the angle of the solar photovoltaic panel 3 needs to be adjusted through the maximum power tracking device. By extending and retracting the telescopic rod, the solar photovoltaic panel 3 can be placed in the most suitable position. When the light intensity is relatively high, the electric energy can directly drive the left active walking device 5 and the right active walking device 6 to operate through the control system; when the cleaning robot is in a stopped state, the excess electric energy can be stored in the storage battery; when the light intensity is relatively low, the storage battery discharges through the control system to drive the front active walking device and the right active walking device 6, and then drive the robot.

[0034] The left active walking device 5 and the right active walking device 6 have the same structure, and both include a driving wheel 4 rotatably connected to the bottom plate 1. A walking motor is fixed to the upper end of the bottom plate 1, and the walking motor is connected to the driving wheel 4.

[0035] In the present invention, the size of the driving wheel 4 is widened, and from the original set of driving wheels 4, it is set into the left active walking device 5 and the right active walking device 6. In this way, when the telescopic arm 20 extends and retracts, the influence on the offset of the center of gravity relative to the driving wheel 4 is smaller, and the entire device is more stable.

[0036] A left elastic clamping device 7 is provided below the rear side of the bottom plate 1, and a right elastic clamping device 8 is also provided below the right side of the bottom plate 1. The left elastic clamping device 7 and the right elastic clamping device 8 have the same structure, and both include a slider 9 that can slide horizontally. A clamping wheel 10 is rotatably connected to the lower end of the slider 9.

[0037] As Figure 3 and Figure 4 shown, the clamping wheel 10 and the driving wheel 4 are perpendicular, and the clamping wheel 10 is in contact with the side wall of the secondary sedimentation tank. During operation, the clamping wheels 10 in the left elastic clamping device 7 and the right elastic clamping device 8 are closely attached to the inner side of the tank wall, ensuring the stability during operation.

[0038] The left elastic clamping device 7 and the right elastic clamping device 8 also both include a support plate 11 fixedly connected to the bottom plate 1. A transverse dovetail groove is provided on the support plate 11, and a wedge-shaped block that slides horizontally is provided in the dovetail groove. The upper end of the wedge-shaped block is placed above the support plate 11 and fixedly connected to the slider 9.

[0039] As Figure 5 and Figure 6 shown, the bottom plate 1 is fixedly connected to the support plate 11. Under the action of the dovetail groove and the wedge-shaped block, the horizontal sliding effect of the slider 9 is ensured. A wide hole is provided on the support plate 11, and the clamping wheel 10 is rotatably connected to the support plate 11 through a wheel shaft. The lower end of the wheel shaft passes through the wide hole and penetrates the support plate 11 and is placed below the support plate 11.

[0040] The left elastic clamping device 7 and the right elastic clamping device 8 also both include a fixed column 13 fixedly connected to the bottom plate 1;

[0041] A tension spring 14 is fixedly connected to the front end of the slider 9, and an insertion pin 12 is fixedly connected to the front end of the tension spring 14. The front end of the insertion pin 12 slidably penetrates through the fixed column 13;

[0042] A set screw 15 is threadedly connected to the upper end of the fixed column 13. The set screw 15 is in pressing contact with the insertion pin 12 to form a structure for fixing the insertion pin 12.

[0043] As Figure 5 and Figure 6 shown, both the left elastic clamping device 7 and the right elastic clamping device 8 include two fixed columns 13 fixedly connected to the bottom plate 1. The insertion pin 12 horizontally passes through the fixed column 13, and then the insertion pin 12 is fixed by the set screw 15. The tension spring 14 pulls the slider 9 to move towards the fixed column 13. By adjusting the position of the insertion pin 12 on the fixed column 13, the pre-tightening force of the tension spring 14 can be adjusted;

[0044] The slider 9 slides along the dovetail groove. Through the tension of the tension spring 14, when the channel is fixed, the clamping wheel 10 can only move in one dimension. The clamping wheel 10 runs stably and has a good clamping effect; the acting direction of the tension spring 14 is single, only pulling the clamping wheel 10 towards the wall direction, without additionally increasing the driven resistance, and the device runs stably;

[0045] By setting the set screw 15 on the fixed column 13 to adjust the insertion length of the insertion pin 12 and the pre-tightening force of the tension spring 14, the adaptability of clamping is stronger;

[0046] There are two tension springs 14 with a single acting force, and the two clamping devices are not easily damaged and are reliable.

[0047] A front auxiliary cleaning brush 16 is rotatably provided below the left side of the bottom plate 1, and a rear auxiliary cleaning brush 17 is rotatably provided below the right side of the bottom plate 1.

[0048] An outer cleaning brush 18 is rotatably provided below the front side of the bottom plate 1.

[0049] As Figure 1-4 shown, from left to right are the front auxiliary cleaning brush 16, the outer cleaning brush 18 and the rear auxiliary cleaning brush 17. When installing, we can all adopt the setting of long slots to facilitate the adjustment of the positions of the three. The front auxiliary cleaning brush 16, the outer cleaning brush 18 and the rear auxiliary cleaning brush 17 are all driven to rotate by motors.

[0050] A disc 19 is rotatably provided in the middle of the bottom plate 1. A telescopic arm 20 is fixedly connected to the upper end of the disc 19. The front extended end of the telescopic arm 20 is placed in front of the bottom plate 1. A cleaning brush 21 is rotatably provided at the front end of the telescopic arm 20. The cleaning brush 21 is located below the bottom plate 1.

[0051] A driving motor is provided on the front extended end of the telescopic arm 20. The driving motor drives the cleaning brush 21 to rotate, so as to clean the outer wall of the secondary sedimentation tank.

[0052] The number of the cleaning brush 21 and the driving motor is reduced, and the mass distribution is reasonable, which reduces the weight of the cantilever without affecting the cleaning effect and reduces the influence of the telescoping of the telescopic arm 20 on the center of gravity of the equipment.

[0053] A damping wheel 22 is provided in front of the front end of the telescopic arm 20.

[0054] An ultrasonic rangefinder 23 is fixed at the front end of the telescopic arm 20.

[0055] As Figure 7 and Figure 8 shown, an ultrasonic rangefinder 23 is fixed at the front end of the telescopic arm 20. The telescopic arm 20 telescopes under the drive of a hydraulic device. The telescopic length is adjusted according to the distance measured by the ultrasonic rangefinder 23 from the pool wall, but the angle of the cantilever is not adjusted, so as to keep the ultrasonic rangefinder 23 at the front end of the telescopic arm 20 always facing the circular pool wall to ensure the ranging accuracy;

[0056] The setting of the damping wheel 22 provides a secondary protection structure. When the ultrasonic rangefinder 23 fails, the damping wheel 22 will contact the obstacle first, avoiding the direct impact between the equipment main body and the pool wall. When the damping wheel 22 jams, the device stops running.

[0057] A push spring 24 is fixed on the bottom plate 1. The right end of the push spring 24 is fixedly connected to the telescopic arm 20.

[0058] When both the ultrasonic rangefinder 23 and the damping wheel 22 fail, the telescopic arm 20 directly contacts the obstacle. The acting force causes the telescopic arm 20 to rotate under the pull of the push spring 24, rather than directly breaking away from the main body under a large acting force and causing irreversible damage.

[0059] The present invention has the following advantages compared with the prior art: 1) The present invention is driven by solar photovoltaics. The angle of the solar photovoltaic panel 3 is adjusted according to the sunlight angle, and it can be automatically charged and operated automatically without a charging pile, with high charging efficiency and no impact on normal use; 2) The degree of freedom of movement of the clamping wheel 10 is reduced, improving the stability and safety of the left elastic clamping device 7 and the right elastic clamping device 8; 3) The size of the driving wheel 4 is widened, and two sets of driving wheels 4 are added. The elongation and shortening of the telescopic arm 20 have a smaller impact on the offset of the center of gravity relative to the wheels, making the entire device more stable; 4) The distribution method of the driving motor and the cleaning brush 21 on the telescopic arm 20 is improved. Without affecting the cleaning effect, the weight of the telescopic arm 20 is reduced, and the impact of the telescopic movement of the telescopic arm 20 on the center of gravity of the device is reduced; 5) The ultrasonic rangefinder 23 on the telescopic arm 20 always aims at the outer wall of the secondary sedimentation tank during the movement process. The number of ultrasonic rangefinders 23 on the telescopic arm 20 is reduced from two to one, reducing the weight of the cantilever. Without changing the movement mode of the angle to the wall, the accuracy of the ultrasonic rangefinder 23 is greatly improved; 6) Through the setting of the damping wheel 22 and the push spring 24, an interlocking protection device is generated, thereby ensuring the normal operation of the device.

[0060] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A secondary sedimentation tank cleaning robot driven by solar photovoltaic, comprising a bottom plate (1), characterized in that, Above the bottom plate (1), a housing (2) is fixed. Inside the housing (2), there is a solar photovoltaic panel (3), and the solar photovoltaic panel (3) is a structure that can swing. In the middle of the bottom plate (1), a disc (19) is rotatably provided. At the upper end of the disc (19), a telescopic arm (20) is fixedly connected. The front extending end of the telescopic arm (20) is placed in front of the bottom plate (1). At the front end of the telescopic arm (20), a cleaning brush (21) is rotatably provided, and the cleaning brush (21) is located below the bottom plate (1). In front of the front end of the telescopic arm (20), a damping wheel (22) is provided. At the front end of the telescopic arm (20), an ultrasonic rangefinder (23) is fixed. On the bottom plate (1), a push spring (24) is fixed. The right end of the push spring (24) is fixedly connected to the telescopic arm (20). The telescopic arm (20) expands and contracts under the drive of a hydraulic device, and the hydraulic device adjusts the length value of the telescopic arm (20) according to the distance value measured by the ultrasonic rangefinder (23) from the pool wall. When the ultrasonic rangefinder (23) fails, the damping wheel (22) will first contact the obstacle to prevent the main body of the equipment from directly hitting the pool wall. When the damping wheel (22) jams, the device stops running. When both the ultrasonic rangefinder (23) and the damping wheel (22) fail, the telescopic arm (20) directly contacts the obstacle, and the acting force causes the telescopic arm (20) to rotate under the pull of the push spring (24).

2. The secondary sedimentation tank cleaning robot driven by solar photovoltaic according to claim 1, characterized in that, Below the left side of the bottom plate (1), a left active walking device (5) is provided. Below the right side of the bottom plate (1), a right active walking device (6) is provided. The left active walking device (5) and the right active walking device (6) have the same structure, and both include a driving wheel (4) rotatably connected to the bottom plate (1). At the upper end of the bottom plate (1), a walking motor is fixed, and the walking motor is connected to the driving wheel (4).

3. The secondary sedimentation tank cleaning robot driven by solar photovoltaics according to claim 1, characterized in that, Below the rear side of the bottom plate (1), a left elastic clamping device (7) is provided. Below the right side of the bottom plate (1), a right elastic clamping device (8) is also provided. The left elastic clamping device (7) and the right elastic clamping device (8) have the same structure, and both include a slidable slider (9). At the lower end of the slider (9), a clamping wheel (10) is rotatably connected.

4. The secondary sedimentation tank cleaning robot driven by solar photovoltaic according to claim 3, characterized in that, The left elastic clamping device (7) and the right elastic clamping device (8) also both include a support plate (11) fixedly connected to the bottom plate (1). On the support plate (11), a transverse dovetail groove is provided, and a transverse sliding wedge block is provided in the dovetail groove. The upper end of the wedge block is placed above the support plate (11) and fixedly connected to the slider (9).

5. A secondary sedimentation tank cleaning robot driven by solar photovoltaic according to claim 3, characterized in that, The left elastic clamping device (7) and the right elastic clamping device (8) also both include a fixed column (13) fixedly connected to the bottom plate (1). At the front end of the slider (9), a tension spring (14) is fixedly connected. At the front end of the tension spring (14), an insertion pin (12) is fixedly connected. The front end of the insertion pin (12) slidably penetrates through the fixed column (13). At the upper end of the fixed column (13), a set screw (15) is threadedly connected, and the set screw (15) is in pressing contact with the insertion pin (12) to form a structure for fixing the insertion pin (12).

6. A secondary sedimentation tank cleaning robot driven by solar photovoltaic according to claim 1, characterized in that, A front auxiliary cleaning brush (16) is rotatably provided below the left side of the bottom plate (1), and a rear auxiliary cleaning brush (17) is rotatably provided below the right side of the bottom plate (1).

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