Robotic cleaning machine

Abstract

The present invention discloses a manipulator garbage cleaning machine, comprising a frame, a transmission mechanism, a slag rake and a slag unloading mechanism. The transmission mechanism comprises a central shaft, a reduction motor, a grille chain and a limit rod. The electric control system drives the motor, drives the central shaft connected to the motor transmission to rotate, drives the transmission gear fixed to the motor to rotate, and the transmission gear engages with the bolts on the grille chain, so that the transmission gear moves up and down along the track of the grille chain and drives the entire transmission mechanism to move synchronously. The slag unloading mechanism comprises a slag unloading rake and a recovery device. The rake teeth of the slag unloading rake are staggered and interlaced with the slag rake. The slag unloading rake is driven by the slag rake to move upward. At the same time, the rake teeth of the slag unloading rake slide along the ends of the slag rake teeth toward the roots, pushing the slag on the slag rake into the slag unloading port. The device can simultaneously remove the slag on the bars and the bottom of the channel, greatly improving the interception rate of suspended matter in the gaps between the bars and enhancing the garbage cleaning effect.

Description

Technical Field

[0001] The invention relates to the technical field of grille cleaning, in particular to a robot cleaning machine. Background Art

[0002] Screen cleaners are essential equipment in water treatment projects. Drainage pumping stations, sewage and rainwater lifting pumping stations, sewage treatment plants, water purification plants, etc. have a lot of suspended matter and complex composition, which makes it easy for them to get stuck and difficult to unload, and the residue easily flows downstream. Screen cleaners can automatically intercept and remove floating objects in the water to ensure the normal operation of the next process. The medium-coarse screen that is currently used more frequently is the reverse-fishing screen cleaner, and the running trajectory of the screen rake is from the downstream to the upstream of the screen. This type of screen cleaner has the problem that the suspended matter entangled on the tooth rake fails to fall off smoothly and flows downstream, making the processing of the next process more difficult and affecting the normal operation of subsequent equipment. In addition, this type of screen cleaner cannot remove the screen residue deposited on the bottom of the channel. Therefore, it is necessary to design a cleaning device that can simultaneously remove the screen residue on the bars and the bottom of the channel and completely recover the screen residue. Summary of the Invention

[0003] To address the shortcomings of existing screen cleaners, the present invention provides a robotic cleaning machine that utilizes a slag unloading rake to push the screen slag on the rake into a recovery device. This overcomes the problem of incomplete screen slag removal during operation of traditional screen cleaners, which easily flows downstream and reduces the difficulty of handling in the next process. At the same time, when the slag rake changes its direction of travel at the bottom of the screen chain, the angle between the rake's connecting rod and the channel bottom gradually decreases, allowing the rake to penetrate the channel bottom and dig out the slag deposited on the channel bottom, thus clearing the slag deposited on the channel bottom, improving the interception rate of suspended matter between the bars, and greatly enhancing the cleaning effect.

[0004] The present invention adopts the following technical solutions:

[0005] A manipulator garbage cleaning machine, characterized by comprising a frame, a transmission mechanism, an execution unit and a slag unloading mechanism;

[0006] The frame includes a main frame and a grid frame body. The grid frame body is installed in the channel and is fixedly connected to the main frame. The lower end of the grid frame extends to the bottom of the channel. A plurality of grid bars are evenly distributed on the grid frame body. The main frame spans the channel and is fixed to the wall on both sides. The inner sides of the frame bodies on the left and right sides of the main frame are respectively provided with a reciprocating track and a circular track extending up and down and parallel to each other. The reciprocating track is arranged on one side of the circular track.

[0007] The transmission mechanism includes a central shaft, a reduction motor, a grille chain and a limit rod. The grille chain is fixed between the annular tracks. Bearings, bearing seats and transmission gears are respectively installed at both ends of the central shaft. The bearings are embedded in the annular tracks on both sides of the main frame and can move in the annular tracks. The transmission gear is engaged with the grille chain, and the bearing seat is located on the inner side of the transmission gear. The reduction motor is located in the middle of the central shaft, and its output shaft is perpendicular to the central shaft and is connected to the central shaft in transmission. The two ends of the limit rod are limited in the reciprocating tracks on both sides of the main frame, and the reduction motor and the limit rod are connected by a connecting plate.

[0008] The execution unit is a slag rake, the teeth size of which is adapted to the gap between the bars on the grid frame; the middle part of the connecting rod of the slag rake is fixed on the bearing seat, and the top end is connected to the connecting plate through an elastic connecting piece;

[0009] The slag unloading mechanism includes a slag unloading rake and a recovery device. The recovery device is arranged on one side of the grid frame. The brackets at both ends of the slag unloading rake are hinged on the main frame. The rake teeth size of the slag unloading rake is adapted to the slag rake, and in the initial state, when the slag rake runs to the slag unloading rake, the rake teeth of the slag unloading rake can be staggered and interlaced with the rake teeth of the slag rake.

[0010] Furthermore, the grille chain is composed of a plurality of bolts fixed on the two side plates of the main frame at equal intervals, and the ends of the bolts are provided with limit blocks to limit the transmission gears.

[0011] Furthermore, the elastic connecting member includes a buffer rod and a spring, one end of the buffer rod is fixedly connected to the end of the connecting rod of the slag rake, and the other end passes through the connecting plate and a nut is fixed at the end. The spring is sleeved on the buffer rod and is located between the nut and the connecting plate.

[0012] Furthermore, the motor is connected to an electric control system via a connecting plate.

[0013] Furthermore, bearings are respectively installed at both ends of the limiting rod, and the bearings are embedded in the reciprocating tracks on both sides of the main frame and can move back and forth linearly in the reciprocating tracks.

[0014] Furthermore, the slag unloading rake is located higher than the slag unloading port of the recovery device.

[0015] The beneficial effects of the present invention are:

[0016] 1. When the slag rake loaded with screenings moves upward to the slag unloading rake, the rake teeth of the slag unloading rake are staggered and interlaced with the slag rake, and the slag rake drives the slag unloading rake to move upward. At the same time, the rake teeth of the slag unloading rake slide along the end of the slag rake to the root, pushing the screenings on the slag rake into the slag unloading port, avoiding the screenings from flowing downstream, making the processing of the next process more difficult, facilitating the collection of debris, improving work efficiency, and saving manpower and time.

[0017] 2. When the slag rake reaches the upper end of the grid chain and begins to change direction, its top end is restrained by the limit rod, causing the rake's teeth to tilt backward and maintain this position until the slag rake reaches the lower end of the grid chain, where it then begins upward linear motion. At this point, the angle between the rake's connecting rod and the channel bottom gradually decreases, and the slag rake penetrates deep into the channel bottom, digging out the accumulated debris and clearing it. This process not only removes debris from the sediment pool bottom and significantly improves the suspended solids interception rate between the bars, but also dredges the channel, preventing it from being clogged by accumulated sediment, thereby extending the equipment's disposable life.

[0018] 3. Except for the bars and the slag rakes that run to this point, all the operating equipment described in the present invention works above the water surface, which is convenient for real-time monitoring of the operating status of the equipment and also convenient for subsequent cleaning and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the right view of the overall structure of the robotic cleaning machine.

[0020] Figure 2 This is the main view of the overall structure of the robotic cleaning machine.

[0021] Figure 3 for Figure 1 Cross-section view at AA in the middle.

[0022] Figure 4 for Figure 1 Cross-section view at the middle BB.

[0023] Figure 5 for Figure 1 A partial enlarged view of point D in the middle.

[0024] Figure 6 Schematic diagram of the bolt structure.

[0025] The following are the descriptions of the reference numerals:

[0026] 1. Main frame; 2. Grille frame; 3. Center shaft; 4. Reducer motor; 5. Grille chain; 6. Limit rod; 7. Reciprocating track; 8. Circular track; 9. Connecting plate; 10. Bearing seat; 11. Transmission gear; 12. Slag rake; 13. Slag unloading rake; 14. Slag unloading port; 15. Limit block; 16. Buffer rod; 17. Bolts; 18. Electronic control system. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to the specific embodiments of the drawings, but the protection scope of the present invention is not limited thereto.

[0028] Figure 1 、 Figure 2 The figure shows the overall structure of the robot cleaning machine of the present invention, which includes a frame, a transmission mechanism, an execution unit and a slag unloading mechanism.

[0029] The frame includes a main frame 1 and a grid frame 2. The grid frame 2 is installed in the channel and is fixedly connected to the main frame 1 by fixing brackets and expansion bolts. The lower end extends to the bottom of the channel, and multiple bars are evenly distributed on the grid frame 2; the main frame 1 spans the channel and is fixed to the wall on both sides. The lower end is fixed to the channel walls on both sides by bolts, nuts, flat washers and spring washers. The part above the channel is fixed to the ground on both sides with fixing brackets and bolts. The inner sides of the frames on the left and right sides of the main frame 1 are respectively provided with reciprocating tracks 7 and circular tracks 8 extending up and down and parallel to each other. The reciprocating track 7 is arranged on one side of the circular track 8.

[0030] Figure 3 、 Figure 4 、 Figure 5 The schematic diagram of the transmission mechanism of the present invention is shown. The transmission mechanism includes a central shaft 3, a reduction motor 4, a grille chain 5 and a limit rod 6. The grille chain 5 is fixed between the annular rails 8 and is composed of a plurality of bolts fixed to the two side plates of the main frame 1 at equal intervals. The ends of the bolts are provided with limit blocks 15 to limit the transmission gear 11. Figure 6 As shown, the central shaft 3 is equipped with bearings, bearing seats 10, and transmission gears 11 at both ends. The bearings are embedded in and can move within the circular tracks 8 on both sides of the main frame 1. The transmission gear 11 engages with the grille chain 5, and the bearing seats 10 are located inside the transmission gear 11. The reduction motor 4 is located in the middle of the central shaft 3, with its output shaft perpendicular to the central shaft 3 and in transmission connection with the central shaft 3. The limit rod 6 is equipped with bearings at both ends. The bearings are embedded in and can move linearly within the reciprocating tracks 7 on both sides of the main frame 1. The reduction motor 4 and the limit rod 6 are connected by a connecting plate. The motor is connected to an electronic control system 18 via the connecting plate.

[0031] The actuator is a slag rake 12, whose teeth are sized to fit the gaps between the bars of the grille frame 2. The middle of the connecting rod of the slag rake 12 is fixed to the bearing seat 10, and the top is connected to the connecting plate via a buffer rod. One end of the buffer rod 16 is fixedly connected to the end of the connecting rod of the slag rake 12, and the other end passes through the connecting plate and is fixed with a nut. The buffer rod 16 is equipped with a spring sleeve located between the nut and the connecting plate. The slag rake 12 is also constrained by the limit rod 6, the central shaft 3, and the limit block 15, so that it can only move up and down along the grille chain 5.

[0032] The slag unloading mechanism includes a slag unloading rake 13 and a recovery device. The recovery device is arranged on one side of the grid frame 2. The brackets at both ends of the slag unloading rake 13 are hinged on the main frame 1. The rake teeth size of the slag unloading rake 13 is adapted to the slag rake 12. In the initial state, when the slag rake 12 runs to the slag unloading rake 13, the rake teeth of the slag unloading rake 13 can be staggered and interlaced with the rake teeth of the slag rake 12, and the grating slag on the slag rake 12 is pushed into the slag unloading port 14 of the recovery device through the rake teeth of the slag unloading rake 13.

[0033] During actual operation, the electronic control system drives the motor, rotating the central shaft 3, which is connected to the motor, and the transmission gear 11 fixed to the motor. The transmission gear 11 engages with the bolts on the grid chain 5, causing the transmission gear 11 to move up and down along the track of the grid chain 5, driving the entire transmission mechanism to move synchronously. When the slag rake 12 moves upward along the grid chain 5 to the top of the track and begins to change its direction of travel, the limit rod 6 remains within the reciprocating track 7. The entire transmission mechanism and the slag rake 12 are constrained by the limit rod 6. The transmission gear continues to move along the grid chain 5, and the entire transmission mechanism and the slag rake 12 tilt backward. The angle between the connecting rod of the slag rake 12 and the ground decreases, and the rake teeth of the slag rake 12 are raised. This state remains unchanged as the slag rake 12 moves straight downward. When the slag rake 12 runs to the lower end of the grid chain 5 and begins to change its direction of travel, the limit rod 6 is always in the reciprocating track 7, and the transmission gear 11 continues to move along the grid chain 5. The tilted state of the slag rake 12 is gradually restored, and the angle between the slag rake 12 and the ground becomes larger. The rake teeth of the slag rake 12 are gradually lowered. During the lowering process, the slag rake goes deep into the channel bottom, digs out the slag deposited at the channel bottom, and completes the slag removal work at the bottom of the sedimentation pool.

[0034] When the slag rake 12 carrying the grating slag continues to move upward in a straight line and reaches the slag unloading mechanism, the rake teeth of the slag unloading rake 13 intersect with the slag rake 12, and the slag rake 12 drives the slag unloading rake 13 upward. At the same time, the rake teeth of the slag unloading rake 13 slide along the ends of the rake teeth of the slag rake 12 to the roots, pushing the grating slag on the slag rake 12 into the slag unloading port 14, and finally falling off the slag rake 12, returning to the initial state. At this time, the slag rake 12 continues to move upward in a straight line, starting a new round of work.

[0035] The examples are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the scope of protection of the present invention.

Claims

1. A robot cleaning machine, characterized by: It includes a frame, a transmission mechanism, an execution unit and a slag unloading mechanism; The frame comprises a main frame (1) and a grid frame (2); the grid frame (2) is installed in the channel and fixedly connected to the main frame (1); the lower end of the grid frame (2) extends to the bottom of the channel; a plurality of grid bars are evenly distributed on the grid frame (2); the main frame (1) spans the channel and is fixed to the wall on both sides; the inner sides of the frame on the left and right sides of the main frame (1) are respectively provided with a reciprocating track (7) and a circular track (8) extending up and down and parallel to each other; the reciprocating track (7) is arranged on one side of the circular track (8); The transmission mechanism comprises a central shaft (3), a reduction motor (4), a grille chain (5) and a limit rod (6); the grille chain (5) is fixed between the annular tracks (8); bearings, bearing seats (10) and transmission gears (11) are respectively installed at both ends of the central shaft (3); the bearings are embedded in the annular tracks (8) on both sides of the main frame (1) and can move in the annular tracks (8); the transmission gears (11) are engaged with the grille chain (5); the bearing seats (10) are located on the inner side of the transmission gears (11); the grille chain (5) is composed of a plurality of fixed bearings arranged at equal intervals. The main frame (1) is composed of bolts (17) on two side plates, and the ends of the bolts (17) are provided with limit blocks (15) to limit the transmission gear (11); the reduction motor (4) is located in the middle of the central shaft (3), and its output shaft is perpendicular to the central shaft (3) and is in transmission connection with the central shaft (3); the two ends of the limit rod (6) are respectively provided with bearings, and the bearings are embedded in the reciprocating tracks (7) on both sides of the main frame (1) and can move back and forth in a straight line in the reciprocating tracks (7); the reduction motor (4) and the limit rod (6) are connected by a connecting plate (9); The execution unit is a slag rake (12), the teeth size of the slag rake (12) is adapted to the gap between the bars on the grid frame (2); the middle part of the connecting rod of the slag rake (12) is fixed to the bearing seat (10), and the top end is connected to the connecting plate (9) through an elastic connecting member; the elastic connecting member includes a buffer rod (16) and a spring, one end of the buffer rod (16) is fixedly connected to the end of the connecting rod of the slag rake (12), and the other end passes through the connecting plate (9) and is fixed with a nut at the end, and the spring is sleeved on the buffer rod (16) and is located between the nut and the connecting plate (9); The slag unloading mechanism comprises a slag unloading rake (13) and a recovery device, wherein the recovery device is arranged on one side of the grid frame (2), and brackets at both ends of the slag unloading rake (13) are hinged to the main frame (1), and the rake teeth size of the slag unloading rake (13) is adapted to the slag rake (12), and in an initial state, when the slag rake (12) runs to the slag unloading rake (13), the rake teeth of the slag unloading rake (13) can be staggered and interlaced with the rake teeth of the slag rake (12).

2. The robot cleaning machine according to claim 1, characterized in that: The motor is connected to an electric control system (18) via a connecting plate (9).

3. The robot cleaning machine according to claim 1, characterized in that: The slag unloading rake (13) is located higher than the slag unloading port (14) of the recovery device.

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