Suspension type inclination self-adjusting constant gravity center track cleaning robot

Abstract

The application provides a suspension type tilt angle self-adjusting constant gravity center track cleaning robot, which comprises a walking track device, a motor driving device, a positioning and clamping device and a cleaning device, the motor driving device is fixedly installed above the walking track device and is used for providing power for the walking track device, the positioning and clamping device is provided with two groups and is hingedly connected to the two sides of the walking track device, the tilt angle between the positioning and clamping device and the walking track device is adjustable, the positioning and clamping device abuts against the two side walls of a water outlet cofferdam to constrain the walking track of the walking track device, and the walking track device walks along the water outlet cofferdam, and the cleaning device is hingedly connected to the two sides of the walking track device and is used for cleaning and treatment. The positioning and clamping device is used for positioning and constraining the walking track device, so that the walking track device can make a circular motion along the water outlet cofferdam, the fixed frame is rotationally connected with the driving support and the driven support, the tilt angle of the walking track device is automatically adjusted, and the walking track device can adapt to the uneven surface of the cofferdam during walking.

Description

Technical Field

[0001] This invention relates to the field of wastewater treatment technology, and in particular to a suspended tilt-adjustable constant center of gravity tracked cleaning robot. Background Technology

[0002] Wastewater treatment involves purifying water to meet discharge standards. Currently, wastewater flows through multiple treatment tanks, with the sedimentation tank after biological treatment typically referred to as the secondary sedimentation tank. The function of the secondary sedimentation tank is to separate sludge from water, clarifying the mixed liquor, concentrating the sludge, and returning the separated sludge to the biological treatment stage. Its effectiveness directly affects the effluent quality and the concentration of the returned sludge.

[0003] In the existing technology, cleaning of the secondary sedimentation tank requires manual cleaning at the edge of the effluent weir, which is time-consuming, labor-intensive, and has low cleaning efficiency and high labor intensity. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the above-mentioned technologies and provide a suspended tilt-adjustable constant center of gravity tracked cleaning robot that can automatically clean outflow dams, iron plates, and walls, saving time and effort.

[0005] To address this, the present invention provides a suspended, tilt-adjustable, constant-center-of-gravity tracked cleaning robot, comprising a walking track device, a motor drive device, a positioning and clamping device, and a cleaning device. The positioning and clamping device comprises two sets, respectively hinged to both sides of the walking track device, with an adjustable tilt angle between them. Simultaneously, it abuts against the side walls of the outlet weir to constrain the walking track device's path, allowing it to travel along the outlet weir. The cleaning device, hinged to both sides of the walking track device, is used for cleaning.

[0006] Preferably, the walking track device includes a fixed frame, an active support, and a driven support. The active support and the driven support are rotatably connected to both ends of the fixed frame. The active support and the driven support are respectively hinged to the opposite ends of the active support and the driven support, and the outer circumferences of the active support and the driven support are connected end to end to form a track.

[0007] Preferably, each of the active and driven supports has a support rotation pin at one end, and the fixed frame has corresponding pin holes at both ends. The support rotation pin is located in the pin hole so that the active support, driven support and fixed frame are rotatably connected.

[0008] Preferably, the active bracket and the driven bracket are also provided with arc-shaped holes, and both ends of the fixed bracket are provided with positioning pins. The positioning pins are located in the arc-shaped holes and can rotate along the arc-shaped holes.

[0009] Preferably, the positioning and clamping device comprises clamping connecting plates, two of which are arranged on the front and back sides of the fixed frame and are hingedly connected to the fixed frame, the bottom end of the clamping connecting plate is rotatably connected with a guide rod, and the end of the guide rod is provided with a guide clamping roller.

[0010] Preferably, the bottom end of the clamping connecting plate is further fixedly connected with a clamping support, and the guide rod is rotatably connected with the clamping support through a bearing.

[0011] Preferably, the cleaning device comprises cofferdam inner roller brushes, cofferdam outer roller brushes, iron plate roller brushes, wall roller brushes and ground roller brushes, the cofferdam inner roller brushes and the iron plate roller brushes are fixed to the bottom end of the swing arm mounting plate hingedly connected to the fixed frame, the cofferdam outer roller brushes are mounted on the bottom end of the clamping connecting plate hingedly connected to the other side of the fixed frame, and the wall roller brushes and the ground roller brushes are mounted on the bottom end of the arm beam hingedly connected to the fixed frame.

[0012] Preferably, the bottom of the fixed frame is further hingedly connected with a stretching arm, the stretching arm is coaxially fixed with the arm beam, and a spring is fixedly connected between the other end of the stretching arm and the fixed frame.

[0013] Preferably, the motor driving device comprises a motor seat plate and a motor, the two ends of the motor seat plate are fixedly connected with the top end of the driving support and the driven support respectively, the motor is fixedly mounted on the motor seat plate, the shaft end of the track driving wheel is provided with a synchronous pulley, and the synchronous pulley is in transmission connection with the output end of the motor through a belt.

[0014] Preferably, the walking track device is provided with multiple groups, and adjacent two groups of walking track devices are connected through synchronous connecting rods.

[0015] The present application provides a kind of suspension type angle self-adjusting constant gravity track cleaning robot, with the following beneficial effects:

[0016] The present application adopts herringbone track suspension walking on the top slope of water cofferdam, utilizes the guide clamping roller of positioning and clamping device to clamp the inner and outer sidewalls of water cofferdam, guides and restricts the walking line of walking track device, so that walking track device makes circular motion along water cofferdam. In the process of walking track device walking, the fixed frame is always in parallel with the ground, the overall gravity center of the device is kept unchanged, the driving support and the driven support are suspended at the two ends of the fixed frame, the rotation connection between the fixed frame and the driving support and the driven support is utilized, the angle is self-adjusted, the walking track device adjusts the angle under the action of gravity according to the surface condition of water cofferdam, ensures that the cleaning robot always keeps the stability of gravity center in horizontal direction, and realizes the smooth operation when cleaning dirt.

[0017] The present application fully utilizes the stability and flexibility of connecting rod mechanism under limited constraint, ensures that the cleaning robot adapts to the existing curve operation of cleaning pool, replaces the traditional manual cleaning method, saves time and effort. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of the present application;

[0019] Figure 2 is a structural schematic diagram of the present application without a track;

[0020] Figure 3 is a structural schematic diagram of the present application without a track from the bottom;

[0021] Figure 4 is a structural schematic diagram of the present application of a fixing frame;

[0022] Figure 5 is a structural schematic diagram of the present application of a driving support;

[0023] Figure 6 is a structural schematic diagram of a sewage treatment secondary sedimentation tank effluent cofferdam section view;

[0024] Figure 7 is a structural schematic diagram of a sewage treatment secondary sedimentation tank effluent cofferdam plan view.

[0025] Markings in the figure: 1. walking track device, 11. fixing frame, 111. pin shaft hole, 112. positioning pin, 12. driving support, 121. support rotating pin, 13. driven support, 131. arc-shaped hole, 14. track driving wheel, 15. track driven wheel, 16. track, 2. motor driving device, 21. motor seat plate, 22. motor, 23. synchronous pulley, 24. lithium battery, 25. motor driver, 26. speed reducer, 3. positioning clamping device, 31. clamping connecting plate, 32. guide rod, 33. guide clamping roller, 34. clamping support, 4. cleaning device, 41. cofferdam inner roller brush, 42. cofferdam outer roller brush, 43. iron plate roller brush, 44. wall roller brush, 441. DC motor, 45. ground roller brush, 46. swing arm mounting plate, 461. long slot hole, 47. arm beam, 471. support rod, 472. universal wheel, 48. stretching arm, 49. spring, 5. effluent cofferdam, 6. iron plate, 7. outer wall, 8. synchronous connecting rod. DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the drawings and specific examples, so as to help understand the content of the present application. The methods used in the present application are conventional methods unless otherwise specified; the raw materials and devices used are conventional commercially available products unless otherwise specified.

[0027] By Figure 1 , Figure 2 , Figure 6 , Figure 7As shown, the present application provides a suspension type angle self-adjusting constant gravity center track cleaning robot, which comprises a walking track device 1, a motor driving device 2, a positioning and clamping device 3 and a cleaning device 4. The motor driving device 2 is fixedly installed above the walking track device 1, and the output end thereof is in transmission connection with the input end of the walking track device 1, so as to provide power for the walking track device 1. The positioning and clamping device 3 is provided with two groups, which are respectively hinged to the two sides of the walking track device 1. When the walking track device 1 walks on the slope of the water outlet cofferdam 5, the positioning and clamping devices 3 on the two sides thereof clamp the two side walls of the water outlet cofferdam 5, so as to guide and constrain the walking line of the walking track device 1, so that the walking track device 1 makes a circular motion along the water outlet cofferdam 5, and drives the cleaning device 4 hinged with the walking track device 1 to clean. In the walking process of the walking track device 1, since the angle between the walking track device 1 and the positioning and clamping device 3 is adjustable, the walking track device 1 can freely adjust the angle according to the uneven surface of the water outlet cofferdam 5 under the condition that the overall gravity center of the device is unchanged, so as to achieve stable operation.

[0028] The walking track device 1 can be provided with multiple groups, and adjacent two groups of walking track devices 1 are connected through front and rear two synchronous connecting rods 8. The adjacent two groups of walking track devices 1 are hinged through the synchronous connecting rod 8, so that the multiple groups of walking track devices 1 can always keep synchronous linkage when the robot moves. The embodiment specifically adopts two groups of walking track devices 1 for description.

[0029] The walking track device 1 can be provided with multiple groups, and adjacent two groups of walking track devices 1 are connected through front and rear two synchronous connecting rods 8. The adjacent two groups of walking track devices 1 are hinged through the synchronous connecting rod 8, so that the multiple groups of walking track devices 1 can always keep synchronous linkage when the robot moves. The embodiment specifically adopts two groups of walking track devices 1 for description. Figure 4 、 Figure 5As shown, each walking track device 1 comprises a fixed frame 11, a driving support 12 and a driven support 13, the driving support 12 and the driven support 13 are respectively rotatably connected to the left and right ends of the fixed frame 11, and the positioning and clamping device 3 is hingedly connected to the front and rear sides of the fixed frame 11. Specifically, the opposite ends of the driving support 12 and the driven support 13 are each provided with a support rotating pin 121, and the left and right ends of the fixed frame 11 are correspondingly provided with pin hole 111, the support rotating pin 121 is arranged in the pin hole 111 to rotatably connect the driving support 12, the driven support 13 and the fixed frame 11, so that the driving support 12 and the driven support 13 can rotate about the support rotating pin 121, and the inclination angle between the walking track device 1 and the positioning and clamping device 3 can be adjusted. The opposite ends of the driving support 12 and the driven support 13 are respectively hingedly provided with a track driving wheel 14 and a track driven wheel 15, and the outer circumferences of the track driving wheel 14 and the track driven wheel 15 are provided with a track 16 in a head-to-tail manner. The outer surface of the rubber track 16 is further provided with a herringbone-shaped protrusion. The track 16 with a herringbone pattern structure can facilitate the entire device to float on the top inclined surface of the water outlet cofferdam 5 and walk smoothly, and the herringbone pattern can also remove the moss and algae and other pollutants on the top of the water outlet cofferdam 5, and because the teeth of the track 16 are herringbone-shaped, the removed moss and algae and other pollutants can be thrown to the bottom of the pool for further cleaning by the cleaning device 4.

[0030] In order to avoid interference between the walking track device 1 and other components during walking, the driving support 12 and the driven support 13 are further provided with an arc-shaped hole 131, and the two ends of the fixed frame 11 are provided with a positioning pin 112, the positioning pin 112 is arranged in the arc-shaped hole 131 and can rotate limitedly along the arc-shaped hole 131, thereby restricting the rotation angle of the driving support 12 and the driven support 13, so that the maximum rotation angle of the driving support 12 and the driven support 13 is equal to the maximum angle (about 12°) between the inclined surface of the water outlet cofferdam 5 and the horizontal plane, thereby ensuring that the walking track device 1 can freely adjust the inclination angle according to the uneven inclined surface of the water outlet cofferdam 5 while running smoothly.

[0031] The positioning and clamping device 3 comprises clamping connecting plates 31, two clamping connecting plates 31 are arranged on the front and rear sides of the fixed frame 11 and are hingedly connected to the fixed frame 11, and the bottom end of each clamping connecting plate 31 is rotatably connected to two guide rods 32, the distal end of the guide rod 32 is provided with a guide clamping roller 33, the guide clamping roller 33 is made of wear-resistant rubber material and has a cylindrical shape or other shapes that can form point or line contact. When the robot walks, the front and rear two rows of symmetrically arranged guide clamping rollers 33 clamp the inner and outer sidewalls of the water outlet cofferdam 5, guide and constrain the walking line of the walking track device 1, so that the walking track device 1 performs circular motion along the water outlet cofferdam 5, thereby ensuring the stability of the overall cleaning process of the robot.

[0032] The bottom end of the clamping connecting plate 31 is also fixedly connected with a clamping support 34 arranged outside the guide rod 32, which supports the guide rod 32 and is rotatably connected with the guide rod 32 through a bearing.

[0033] The cleaning device 4 comprises cofferdam inner roller brushes 41, cofferdam outer roller brushes 42, iron plate roller brushes 43, wall roller brushes 44 and ground roller brushes 45, all of which are made of 316 stainless steel wire roller brushes, which are wear-resistant and corrosion-resistant and can clean more thoroughly. During installation, the cofferdam inner roller brushes 41 and the iron plate roller brushes 43 are fixed to the bottom end of the swing arm mounting plate 46 hinged to the fixed frame 11, which are used to clean the moss on the inner side wall of the cofferdam 5 and the iron plate 6. Specifically, a plurality of long slot holes 461 are formed in the swing arm mounting plate 46, and the cofferdam inner roller brushes 41 and the iron plate roller brushes 43 can be installed at different positions of the swing arm mounting plate 46 according to the actual working conditions to adjust the contact area with the inner side wall of the cofferdam 5 and the iron plate 6, so that the moss is cleaned more thoroughly. The cofferdam outer roller brushes 42 are installed on the other side of the walking track device 1 and are fixedly connected with the bottom end of the clamping connecting plate 31, which are used to clean the moss on the outer side of the cofferdam 5. The wall roller brushes 44 and the ground roller brushes 45 are installed at the bottom end of the arm beam 47 hinged to the fixed frame 11, which are used to clean the moss on the outer wall 7 and the ground. The top end of the wall roller brushes 44 and the ground roller brushes 45 is also connected with a DC motor 441, and under the action of the DC motor 441, the wall roller brushes 44 and the ground roller brushes 45 are rotatably connected with the arm beam 47 through a bearing. The setting of the DC motor 441 increases the rotating power of the wall roller brushes 44 and the ground roller brushes 45, which indirectly prolongs the service life of the wall roller brushes 44 and the ground roller brushes 45. The bottom end of the arm beam 47 is also fixedly provided with a support rod 471, and the bottom of the support rod 471 is provided with a universal wheel 472, which is used to support the arm beam 47 and further enhance the stability of the robot as a whole.

[0034] As shown in FIG. 1, Figure 3 The lower end of the fixed frame 11 is also hingedly provided with a stretching arm 48, which is coaxially fixed with the arm beam 47, and the other end of the stretching arm 48 is fixedly connected with the fixed frame 11 and provided with a spring 49. Because the cofferdam 5 is a positive circular curve and the outer wall 7 is a involute curve, a channel with gradually changing width is naturally formed between the outer side of the cofferdam 5 and the outer wall 7. In order to make the wall roller brushes 44 always adhere to the outer wall 7 to clean the moss, the wall roller brushes 44 are initially designed to be in the widest channel during use, and as the walking track device 1 travels in the channel, the spring 49 is always in a stretched state, thereby ensuring that the wall roller brushes 44 always adhere to the outer wall 7 to clean the moss.

[0035] The motor driving device 2 comprises a motor seat plate 21 and a motor 22, two ends of the motor seat plate 21 are fixedly connected with top ends of the driving support 12 and the driven support 13 respectively, the motor 22 is fixedly installed on the motor seat plate 21, a shaft end of the track driving wheel 14 is coaxially fixedly connected with a synchronous pulley 23, the synchronous pulley 23 is in transmission connection with an output end of the motor 22 through a belt, the motor driving device 2 is arranged to provide walking power for the walking track device 1, and the stability of transmission and movement is improved. Because the motor seat plate 21 is fixedly connected with the driving support 12 and the driven support 13, the track driving wheel 14, the track driven wheel 15, the driving support 12, the driven support 13 and the motor seat plate 21 keep the same inclination in the horizontal direction, and the synchronous transmission of power is met. When walking, the robot clamps the inner and outer sidewalls of the water outlet cofferdam 5 by using the guide clamping roller 33, so that the fixed frame 11 is always in parallel with the ground, because the inclination between the fixed frame 11 and the driving support 12 and the driven support 13 is adjustable, so that the overall gravity center of the device is unchanged, the walking track device 1 freely adjusts the inclination according to the uneven surface of the water outlet cofferdam 5, and stably runs to clean the dirt.

[0036] The motor driving device 2 further comprises a lithium battery 24 and a motor driver 25, the motor driver 25 and the motor 22 are electrically connected with the lithium battery 24, and the lithium battery 24 and the motor driver 25 are fixedly installed on the synchronous connecting rod 8. The output end of the motor 22 is further provided with a speed reducer 26, so that the service life of the motor 22 can be prolonged while energy saving and environmental protection are achieved. The lithium battery 24 selects a large-capacity rechargeable customized lithium battery pack, through double (single) driving design, it is guaranteed that the pollution cleaning robot runs stably and reliably in continuous operation, and charging and discharging is simple and easy to operate.

[0037] The working principle of the present application is as follows:

[0038] The invention adopts the track 16 to walk on the top slope of the water outlet cofferdam 5, uses the n symmetrically arranged guide clamping rollers 33 of the positioning and clamping device 3 to clamp the inner and outer sidewalls of the water outlet cofferdam 5, guides and restricts the walking line of the walking track device 1, and under the action of the motor driving device 2, makes the walking track device 1 make a circular motion along the water outlet cofferdam 5. In the walking process of the walking track device 1, the fixed frame 11 is always in parallel with the ground, the overall gravity center of the device is kept unchanged, the rotating connection between the fixed frame 11 and the driving support 12 and the driven support 13 is used for self-adjusting the inclination angle, the walking track device 1 is freely adjusted in the inclination angle according to the surface condition of the water outlet cofferdam 5 under the action of gravity, and stable operation during cleaning of the dirt is realized. In the walking process, the cofferdam inner roller brush 41 and the iron plate roller brush 43 clean the inner sidewall of the water outlet cofferdam 5 and the iron plate 6, the cofferdam outer roller brush 42 cleans the outer side of the water outlet cofferdam 5, and the wall roller brush 44 and the ground roller brush 45 clean the outer wall 7 and the pool bottom. In order to make the wall roller brush 44 always close to the outer wall 7 to clean the dirt, the initial design is that the wall roller brush 44 is located in the widest channel between the water outlet cofferdam 5 and the outer wall 7, and as the walking track device 1 advances, the spring 49 is always in a stretched state, so that the wall roller brush 44 always walks close to the outer wall 7 to clean the moss dirt. At the same time, the two ends of the synchronous connecting rod 8 are hinged to the fixed frames 11 of the front and rear walking track devices 1 to form a four-bar mechanism, so that the stability and flexibility of the device are ensured, and the cleaning robot can adapt to the curve operation of the cleaning pool without changing the original building structure of the cleaning pool.

[0039] The invention is aimed at cleaning and treating the sewage treatment field, can clean and brush away the moss and algae and other breeding dirt on the wall body and the bottom of the circular water outlet pool regularly, so that the water quality is further improved and the overall appearance of the pool cofferdam is improved, the traditional manual cleaning method is replaced, time and labor are saved. In addition, the cleaning robot of the invention can be used for cleaning sludge and sediment by replacing the cleaning device 4.

[0040] In the description of the invention, it should be understood that the terms "left", "right", "up", "down", "top", "bottom", "front", "back", "inner", "outer", "back", "middle" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the invention.

[0041] The above is only a specific embodiment of the invention, which cannot limit the scope of the invention, so the replacement of equivalent components or equivalent changes and modifications made within the scope of the patent protection of the invention shall still fall within the scope of the claims of the invention.

Claims

1. A suspended tilt-adjustable constant center of gravity tracked cleaning robot, characterized in that, It includes a walking track device, a motor drive device, a positioning and clamping device, and a cleaning device. The positioning and clamping device has two sets, which are respectively hinged to both sides of the walking track device. The angle between the positioning and clamping device and the walking track device is adjustable. At the same time, it abuts against the two side walls of the outlet cofferdam to constrain the walking track device's walking path, so that the walking track device walks along the outlet cofferdam. The cleaning device is hinged to both sides of the walking track device for cleaning. The walking track device includes a fixed frame, an active support, and a driven support. The active support and the driven support are rotatably connected to both ends of the fixed frame. The active support and the driven support are respectively hinged to the opposite ends of the active support and the driven support, and the outer circumferences of the active support and the driven support are connected end to end to form a track. The active support and the driven support are each provided with a support rotation pin at one end. The two ends of the fixed frame are respectively provided with pin holes. The support rotation pin is provided in the pin hole so that the active support, the driven support and the fixed frame are rotatably connected. The extension direction of the support rotation pin is roughly the same as the travel direction of the track cleaning robot. The positioning and clamping device includes clamping connecting plates. Two clamping connecting plates are provided, respectively located on the front and rear sides of the fixed frame and hinged to the fixed frame. A guide rod is rotatably connected to the bottom end of the clamping connecting plate, and a guide clamping roller is provided at the end of the guide rod.

2. The suspended tilt-adjustable constant center of gravity tracked cleaning robot according to claim 1, characterized in that, The active support and the driven support are also provided with arc-shaped holes. Both ends of the fixed frame are provided with positioning pins. The positioning pins are located in the arc-shaped holes and can rotate along the arc-shaped holes.

3. The suspended tilt-adjustable constant center of gravity tracked cleaning robot according to claim 1, characterized in that, The bottom end of the clamping connecting plate is also fixedly connected to a clamping support, and the guide rod is rotatably connected to the clamping support through a bearing.

4. A suspended tilt-adjustable constant center of gravity tracked cleaning robot according to claim 1, characterized in that, The cleaning device includes an inner dike roller brush, an outer dike roller brush, an iron plate roller brush, a wall roller brush, and a ground roller brush. The inner dike roller brush and the iron plate roller brush are fixed to the bottom end of a swing arm mounting plate hinged to the fixed frame. The outer dike roller brush is installed at the bottom end of a clamping connecting plate hinged to the other side of the fixed frame. The wall roller brush and the ground roller brush are installed at the bottom end of an arm beam hinged to the fixed frame.

5. A suspended tilt-adjustable constant center of gravity tracked cleaning robot according to claim 4, characterized in that, A tension arm is also hinged to the bottom of the fixed frame. The tension arm is fixed coaxially with the arm beam, and a spring is fixedly connected to the other end of the tension arm and the fixed frame.

6. A suspended tilt-adjustable constant center of gravity tracked cleaning robot according to claim 1, characterized in that, The motor drive device includes a motor base plate and a motor. The two ends of the motor base plate are fixedly connected to the top ends of the driving bracket and the driven bracket, respectively. The motor is fixedly mounted on the motor base plate. The shaft end of the track drive wheel is provided with a synchronous pulley. The synchronous pulley is connected to the output end of the motor via a belt.

7. A suspended tilt-adjustable constant center of gravity tracked cleaning robot according to claim 1, characterized in that, The walking track device is provided in multiple sets, and adjacent sets of walking track devices are connected by synchronous connecting rods.

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