A cleaning robot for a sewage treatment tank

Abstract

The application discloses a cleaning robot for a sewage treatment tank and belongs to the technical field of cleaning robots. The cleaning robot for the sewage treatment tank comprises a plurality of sleepers arranged at the edge of the treatment tank, a pair of circular tracks are fixedly connected to the sleepers, a pair of walking mechanisms are arranged on the upper surfaces of the pair of circular tracks, and support frames are rotatably connected to the upper ends of the pair of walking mechanisms. The circular tracks are arranged at the edge of the treatment tank, the walking mechanisms are arranged on the circular tracks, the support frames are installed on the walking mechanisms, the connecting blocks are installed on the support frames, the trusses are installed on the connecting blocks, the moving mechanisms are arranged on the trusses, the mechanical arms are arranged on the lower surfaces of the moving mechanisms, and the cleaning mechanisms are arranged on the lower ends of the mechanical arms. The cleaning mechanisms can reach every position in the treatment tank, the treatment tank can be comprehensively cleaned, the labor intensity of workers is reduced, the workers are prevented from being in contact with dangerous substances for a long time, and the health of the workers is protected.

Description

Technical Field

[0001] This invention belongs to the field of cleaning robot technology, specifically relating to a cleaning robot for sewage treatment ponds. Background Technology

[0002] A wastewater treatment tank is a facility used to treat sewage, receiving wastewater entering a wastewater treatment system. The purpose of a wastewater treatment tank is to remove or reduce pollutants in wastewater through physical, chemical, and biological processes, enabling it to meet discharge standards or be recycled. In a wastewater treatment tank, wastewater passes through different treatment units to remove suspended solids, sediments, and organic matter. These suspended solids, sediments, and organic matter settle to the bottom of the tank after treatment. Over time, the sediment at the bottom of the treatment tank can become too thick, reducing the tank's volume and affecting its treatment efficiency. Therefore, regular cleaning of the wastewater treatment tank is necessary.

[0003] When cleaning a sewage treatment tank, the sewage must first be drained from the tank. Then, professional staff wearing protective gear enter the tank to clean it. Because the sewage treatment tank is large and the internal sediment is complex, the labor intensity for the staff is high. During the cleaning process, stubborn stains need to be removed with a high-pressure water gun. Under the impact of the high-pressure water gun, stubborn stains are easily broken and splashed, which can easily get on the staff's clothes, causing the staff to come into contact with harmful substances and affecting their health. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a robot that can automatically clean sewage treatment ponds.

[0005] The technical solution adopted to solve the above-mentioned technical problems is: a cleaning robot for sewage treatment ponds, comprising several sleepers arranged at the edge of the treatment pond, a pair of circular tracks fixedly connected to the sleepers, a pair of walking mechanisms arranged on both sides of the upper surface of the pair of circular tracks, a support frame rotatably connected to the upper end of the pair of walking mechanisms, a connecting block fixedly connected to the end of the support frame away from the walking mechanism, a truss fixedly connected between the connecting blocks, a pair of straight tracks fixedly connected to the upper surface of the truss, a moving mechanism slidably connected through the truss, and the lower part of the moving mechanism... A robotic arm is rotatably connected to the surface of the device. A cleaning mechanism is rotatably connected to the end of the robotic arm away from the moving mechanism. A sludge tank is fixedly connected to one side of the upper end of the robotic arm. A sludge pump is fixedly connected to the lower surface of the sludge tank. A sludge suction pipe is fixedly connected to the output end of the sludge pump. A water tank is fixedly connected to the upper end of the robotic arm away from the sludge tank. A water pump is fixedly connected to the lower surface of the water tank. A water delivery pipe is fixedly connected to the output end of the water pump. The end of the water delivery pipe away from the water pump is fixedly connected to the cleaning mechanism. The end of the sludge suction pipe away from the sludge pump is fixedly connected to the cleaning mechanism.

[0006] The cleaning mechanism includes a housing rotatably connected to a robotic arm. A second motor is fixedly connected to both sides of the upper surface of the housing. A drive roller is fixedly connected to the output end of the second motor. A first rotating shaft is rotatably connected through both sides of the housing. A second rotating shaft is rotatably connected through both sides of the housing near the first rotating shaft. A first driven roller is fixedly connected through one end of the first rotating shaft, and a second driven roller is fixedly connected through one end of the second rotating shaft. A belt is fixedly fitted around the second driven roller, the first driven roller, and the drive roller. A second cleaning roller is fixedly connected through the first rotating shaft, and a first cleaning roller is fixedly connected through the second rotating shaft. Several stiff brushes are fixedly connected to the outside of the second cleaning roller, and several scraper plates are fixedly connected to the outside of the first cleaning roller. A sealing strip is fixedly connected to the lower edge of the housing. Several nozzles are fixedly connected to both sides of the housing. A suction channel is provided inside the housing.

[0007] Through the above technical solution, the walking mechanism, in conjunction with the circular track, drives the truss to rotate around the center of the treatment pool. The moving mechanism can drive the robotic arm to move along the truss direction, allowing the robotic arm to sweep over every position of the treatment pool with the cleaning mechanism, thereby thoroughly cleaning the treatment pool. The second motor drives the active roller to rotate, and the active roller drives the first and second driven rollers to rotate via a belt. The first driven roller drives the second cleaning roller to rotate via a first rotating shaft, and the second driven roller drives the first cleaning roller to rotate via a second rotating shaft. The hard brush on the second cleaning roller, in conjunction with the high-pressure water sprayed from the nozzle, crushes stubborn stains and sends them to the first cleaning roller. Then, the scraper on the first cleaning roller sends the stains and sludge into the suction channel.

[0008] Furthermore, the moving mechanism includes a slider slidably connected to the truss, with cavities on both sides of the slider. Several connecting shafts are rotatably connected through both sides of the slider. A first track wheel is fixedly connected to the end of each connecting shaft away from the slider. A first motor is fixedly connected inside the cavity. The output end of the first motor is fixedly connected to any of the connecting shafts. A reduction motor is fixedly connected to the slider. The output end of the reduction motor is fixedly connected to the robotic arm. The first track wheel and the straight track roll in cooperation with each other.

[0009] The above technical solution involves a first motor driving a connecting shaft to rotate, which in turn drives a first track wheel to rotate. The first track wheel and the straight track work together to move the slider along the truss. At the same time, a reduction motor drives the robotic arm to rotate, thus expanding the cleaning range.

[0010] Furthermore, the robotic arm includes a fixed plate rotatably connected to the lower surface of the moving mechanism. A rotating seat is fixedly connected to one end of the lower surface of the fixed plate. A large arm is rotatably connected to the rotating seat. A small arm is rotatably connected to the end of the large arm away from the rotating seat. The end of the small arm away from the large arm is rotatably connected to the cleaning mechanism. Several weight-reducing holes are provided on both the large arm and the small arm.

[0011] The above technical solution allows the sweeping mechanism to move more flexibly by setting up the boom and forearm. At the same time, the weight reduction holes can effectively reduce the weight of the boom and forearm, making the load on the truss smaller and avoiding excessive load that could cause the truss to break.

[0012] Furthermore, a pair of first hydraulic rods are rotatably connected to the lower surface of the fixed plate away from the rotating seat. The ends of the pair of first hydraulic rods away from the fixed plate are rotatably connected to the upper arm. A first fixed rod is fixedly connected inside the upper arm. A second hydraulic rod is rotatably connected to the first fixed rod. A second fixed rod is fixedly connected inside the lower arm. The end of the second hydraulic rod away from the first fixed rod is rotatably connected to the second fixed rod. A third fixed rod is fixedly connected inside the lower arm. A third hydraulic rod is rotatably connected to the third fixed rod. The end of the third hydraulic rod away from the third fixed rod is rotatably connected to the cleaning mechanism.

[0013] The above technical solution allows the first hydraulic rod to control the raising and lowering of the boom, the second hydraulic rod to control the angle between the forearm and the boom, and the third hydraulic rod to control the rotation of the cleaning mechanism. The cooperation of the first, second, and third hydraulic rods enables the cleaning mechanism to contact the bottom and side walls of the treatment tank during cleaning, thus achieving comprehensive cleaning. At the same time, when not cleaning, the mechanism can be folded up to avoid interfering with the wastewater treatment process in the treatment tank.

[0014] Furthermore, the suction channel and suction pipe are connected, the nozzle and water supply pipe are connected, protective covers are fixedly connected to the outer shell near the belt, the hard brush is rounded, the scraper is arc-shaped, and the corners of the outer shell are chamfered.

[0015] The above technical solution allows the suction pump to draw sludge and other contaminants from the suction channel into the sludge tank through the suction pipe. Simultaneously, a water pump pumps clean water from the tank into the water supply pipe, which then transports the water to the nozzle. The nozzle sprays water, which, in conjunction with the stiff brush, removes stubborn stains from the inner wall of the treatment tank. The protective cover prevents sludge from contaminating the belt, causing it to slip and affecting the transmission efficiency. Furthermore, the corner design of the outer casing reduces the blind spots during cleaning, making the cleaning more thorough.

[0016] Furthermore, the walking mechanism includes a housing rotatably connected to the lower end of the support frame, a plurality of rotating shafts rotatably connected through the housing, a second track wheel fixedly connected to both ends of each rotating shaft, a driven gear fixedly connected through the rotating shaft located in the middle, and a third motor fixedly connected to the bottom wall of the housing.

[0017] The above technical solution allows the second track wheel and the circular track to work together to drive the truss to rotate around the center of the treatment pool, enabling the cleaning mechanism to cover the entire treatment pool and achieve complete cleaning.

[0018] Furthermore, the output end of the third motor is fixedly connected to a drive gear, which meshes with the driven gear, and the second track wheel and the circular track roll with each other.

[0019] Through the above technical solution, a third motor can drive the active gear to rotate. The active gear meshes with the driven gear, which in turn drives the driven gear to rotate. The driven gear drives the rotating shaft to rotate, and the rotating shaft drives the second track wheel to rotate. The second track wheel cooperates with the circular track, causing the truss to rotate around the center of the treatment pool, thereby increasing the cleaning range.

[0020] Furthermore, the support frame is provided with several weight-reducing holes, the circular track and the processing pool are arranged concentrically, and the sleepers are arranged in a circular pattern.

[0021] The above technical solutions can reduce the weight of the support frame, reduce the burden on the walking mechanism, and distribute the weight of the circular track by setting sleepers, thus protecting the ground around the treatment pool.

[0022] The beneficial effects of the present invention are as follows: (1) The present invention sets a circular track on the side of the treatment pool, sets a walking mechanism on the circular track, installs a support frame on the walking mechanism, installs a connecting block on the support frame, installs a truss on the connecting block, sets a moving mechanism on the truss, sets a mechanical arm on the lower surface of the moving mechanism, and sets a cleaning mechanism at the lower end of the mechanical arm. The walking mechanism drives the truss to rotate along the center of the circular track, and the moving mechanism drives the mechanical arm to move left and right along the truss. Through the combination of the two movements, the cleaning mechanism can reach every position in the treatment pool and clean the treatment pool. (1) A thorough cleaning can be carried out without the need for staff to go down to the bottom of the pool to clean, which greatly reduces the labor intensity of workers; (2) The present invention installs a water tank on one side of the robotic arm, and a water pump is set on the lower surface of the water tank. A water supply pipe is connected to the water pump. The water pump pumps the clean water in the water tank into the water supply pipe, and the water supply pipe transports it to the nozzle in the cleaning mechanism for spraying. The cleaning mechanism drives the active roller to rotate through the second motor. The active roller drives the first driven roller and the second driven roller to rotate through the belt. The first driven roller and the second driven roller drive the first cleaning roller and the second driven roller through the first rotating shaft and the second rotating shaft, respectively. The two cleaning rollers rotate, and the hard bristles on the second cleaning roller, together with the high-pressure water sprayed from the nozzle, break up the sediment at the bottom of the pool and sweep it to the first cleaning roller. The first cleaning roller, through the scraper, transports the broken sludge to the suction channel. Then, the sludge is sucked into the sludge tank through the suction pipe by the suction pump for storage. The sealing strip at the edge of the cleaning mechanism can prevent the sludge from splashing up by the impact of the high-pressure water, minimizing the possibility of pollution and ensuring that all sludge is collected by the suction pump; (3) The present invention uses a first hydraulic rod installed on the fixed plate to control the lifting of the boom and the extension and retraction of the first hydraulic rod. The robot arm descends, and a second hydraulic rod is installed inside the main arm. The angle between the forearm and the main arm is controlled by raising and lowering the second hydraulic rod. A third hydraulic rod is installed inside the forearm. The angle of the cleaning mechanism is controlled by extending and retracting the third hydraulic rod. When the third hydraulic rod is shortened, the cleaning mechanism can be turned into a vertical state, thereby cleaning the side wall of the sewage treatment tank. With the cooperation of the first and second hydraulic rods, the cleaning mechanism can be raised when the sewage treatment tank is in use to avoid interfering with sewage treatment. The setting of the geared motor can make the robotic arm rotate, increase the cleaning range, and avoid cleaning dead corners. Attached Figure Description

[0023] Figure 1 This is an overall structural diagram of a cleaning robot for sewage treatment ponds according to the present invention;

[0024] Figure 2 This is a three-dimensional structural diagram of a cleaning robot for sewage treatment ponds according to the present invention;

[0025] Figure 3 This is a front view structural diagram of a cleaning robot for sewage treatment ponds according to the present invention;

[0026] Figure 4 yes Figure 2 Enlarged view of point A;

[0027] Figure 5 This is a structural diagram of the walking mechanism of a cleaning robot for a sewage treatment pond according to the present invention;

[0028] Figure 6 This is a cross-sectional view of the moving mechanism of a cleaning robot for a sewage treatment pond according to the present invention.

[0029] Figure 7 This is a structural diagram of the robotic arm of a cleaning robot for a sewage treatment pond according to the present invention;

[0030] Figure 8 This is a perspective view of the robotic arm of a cleaning robot for a sewage treatment pond according to the present invention;

[0031] Figure 9 This is a structural diagram of the cleaning mechanism of a cleaning robot for a sewage treatment pond according to the present invention;

[0032] Figure 10 yes Figure 9 Enlarged view of point B;

[0033] Figure 11 This is a perspective view of the cleaning mechanism of a cleaning robot for a sewage treatment pond according to the present invention;

[0034] Figure 12 This is a cross-sectional view of the cleaning mechanism of a cleaning robot for a sewage treatment pond according to the present invention;

[0035] Figure 13 This is a diagram showing the internal structure of the walking mechanism of a cleaning robot for sewage treatment ponds according to the present invention.

[0036] Reference numerals: 1. Truss; 2. Straight track; 3. Moving mechanism; 31. Slider; 32. Cavity; 33. First motor; 34. Connecting shaft; 35. First track wheel; 36. Gear motor; 4. Robotic arm; 41. Fixed plate; 42. Rotating seat; 43. Upper arm; 44. Lower arm; 45. First hydraulic rod; 46. First fixed rod; 47. Second hydraulic rod; 48. Second fixed rod; 49. Third fixed rod; 410. Third hydraulic rod; 5. Cleaning mechanism; 51. Outer shell; 52. Second motor; 53. Drive roller; 54. Belt; 55. First rotating shaft; 56. Second rotating shaft; 5 7. First driven roller; 58. Second driven roller; 59. First cleaning roller; 510. Second cleaning roller; 511. Scraper; 512. Hard brush; 513. Nozzle; 514. Sealing strip; 515. Suction channel; 516. Protective cover; 6. Connecting block; 7. Support frame; 8. Walking mechanism; 81. Housing; 82. Rotating shaft; 83. Second track wheel; 84. Driven gear; 85. Third motor; 86. Drive gear; 9. Circular track; 10. Sleeper; 11. Sludge tank; 12. Suction pump; 13. Suction pipe; 14. Water tank; 15. Water pump; 16. Water delivery pipe. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, a cleaning robot for a sewage treatment pond according to this embodiment includes several sleepers 10 arranged at the edge of the treatment pond. A pair of circular tracks 9 are fixedly connected to the sleepers 10. A pair of walking mechanisms 8 are arranged on both sides of the upper surface of the pair of circular tracks 9. A support frame 7 is rotatably connected to the upper end of the pair of walking mechanisms 8. A connecting block 6 is fixedly connected to the end of the support frame 7 away from the walking mechanism 8. A truss 1 is fixedly connected between the connecting blocks 6. A pair of straight tracks 2 are fixedly connected to the upper surface of the truss 1. A moving mechanism 3 is slidably connected through the truss 1. A robotic arm 4 is rotatably connected to the lower surface of the moving mechanism 3. A cleaning mechanism 5 is rotatably connected to the end of the robotic arm 4 away from the moving mechanism 3. A sludge tank 11 is fixedly connected to one side of the upper end of the robotic arm 4. A sludge suction pump 12 is fixedly connected to the lower surface of the sludge tank 11. The output end of the suction pump 12 is fixedly connected to the suction pipe 13. The upper end of the robotic arm 4 is fixedly connected to the side away from the sludge tank 11, and the lower surface of the water tank 14 is fixedly connected to the water pump 15. The output end of the water pump 15 is fixedly connected to the water supply pipe 16. The end of the water supply pipe 16 away from the water pump 15 is fixedly connected to the cleaning mechanism 5. The end of the suction pipe 13 away from the suction pump 12 is fixedly connected to the cleaning mechanism 5. The walking mechanism 8 is connected to the truss 1 through the support frame 7 and the connecting block 6, thereby driving the truss 1 to move along the circular track 9. The moving mechanism 3 drives the robotic arm 4 to move along the truss 1, so that the cleaning mechanism 5 can reach any corner of the treatment pool and avoid cleaning dead corners. At the same time, when the robotic arm 4 rotates, the water tank 14 and the sludge tank 11 rotate with the robotic arm 4, thereby avoiding pipe entanglement.

[0039] The support frame 7 has several weight-reducing holes to reduce the load on the traveling mechanism 8. The circular track 9 and the treatment pool are concentrically arranged so that the truss 1 can rotate around the center of the treatment pool. The sleepers 10 are arranged in a circle to provide support for the circular track 9 and to distribute the pressure on the circular track 9.

[0040] like Figure 6 and Figure 7 As shown, the moving mechanism 3 includes a slider 31 slidably connected to the truss 1. Cavities 32 are provided on both sides of the slider 31. Several connecting shafts 34 are rotatably connected through both sides of the slider 31. A first track wheel 35 is fixedly connected to the end of each connecting shaft 34 away from the slider 31. A first motor 33 is fixedly connected inside the cavity 32. The output end of the first motor 33 is fixedly connected to any of the connecting shafts 34. A reduction motor 36 is fixedly connected to the slider 31. The output end of the reduction motor 36 is fixedly connected to the robotic arm 4. The first track wheel 35 and the straight track 2 roll in cooperation. The first motor 33 drives the connecting shafts 34 to rotate, which in turn drives the first track wheel 35 to rotate, thus enabling the first track wheel 35 to cooperate with the straight track 2. This allows the slider 31 to move along the truss 1, while the reduction motor 36 drives the robotic arm 4 to rotate, increasing the cleaning range of the cleaning mechanism 5.

[0041] like Figure 7 and Figure 8 As shown, the robotic arm 4 includes a fixed plate 41 rotatably connected to the lower surface of the moving mechanism 3. A rotating seat 42 is fixedly connected to one end of the lower surface of the fixed plate 41. A large arm 43 is rotatably connected to the rotating seat 42. A small arm 44 is rotatably connected to the end of the large arm 43 away from the rotating seat 42. The end of the small arm 44 away from the large arm 43 is rotatably connected to the cleaning mechanism 5. Several weight-reducing holes are provided on both the large arm 43 and the small arm 44. The weight of the large arm 43 and the small arm 44 can be reduced by setting the weight-reducing holes, thereby reducing the load on the first hydraulic rod 45 and the second hydraulic rod 47.

[0042] A pair of first hydraulic rods 45 are rotatably connected to the lower surface of the fixed plate 41 away from the rotating seat 42. The ends of the first hydraulic rods 45 away from the fixed plate 41 are rotatably connected to the upper arm 43. A first fixed rod 46 is fixedly connected inside the upper arm 43. A second hydraulic rod 47 is rotatably connected to the first fixed rod 46. A second fixed rod 48 is fixedly connected inside the forearm 44. The end of the second hydraulic rod 47 away from the first fixed rod 46 is rotatably connected to the second fixed rod 48. A third fixed rod 49 is fixedly connected inside the forearm 44. The third fixed rod 49 is rotatably connected to the lower surface of the forearm 44. A third hydraulic rod 410 is movably connected. The end of the third hydraulic rod 410 away from the third fixed rod 49 is rotatably connected to the cleaning mechanism 5. The first hydraulic rod 45 controls the raising and lowering of the upper arm 43, the second hydraulic rod 47 controls the raising and lowering of the lower arm 44, and the third hydraulic rod 410 controls the angle of the cleaning mechanism 5. Thus, during cleaning, the cleaning mechanism 5 can be lowered and pressed against the bottom of the treatment pool, while the cleaning mechanism 5 can be raised to clean the side wall of the treatment pool, greatly improving the cleaning range of the cleaning mechanism 5.

[0043] like Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, the cleaning mechanism 5 includes a housing 51 rotatably connected to the robotic arm 4. A second motor 52 is fixedly connected to both sides of the upper surface of the housing 51. A drive roller 53 is fixedly connected to the output end of the second motor 52. A first rotating shaft 55 is rotatably connected through both sides inside the housing 51. A second rotating shaft 56 is rotatably connected through both sides inside the housing 51 near the first rotating shaft 55. A first driven roller 57 is fixedly connected through one end of the first rotating shaft 55, and a second driven roller 58 is fixedly connected through one end of the second rotating shaft 56. A belt 54 is fixedly fitted around the second driven roller 58, the first driven roller 57, and the drive roller 53. A second cleaning roller 510 is fixedly connected through the first rotating shaft 55, and a first cleaning roller 59 is fixedly connected through the second rotating shaft 56. Several hard brushes 512 are fixedly connected to the outside of the second cleaning roller 510, and several scraper plates 511 are fixedly connected to the outside of the first cleaning roller 59. A sealing strip 514 is fixedly connected to the lower surface edge of the housing 51. Several nozzles 513 are fixedly connected to both sides inside the housing 51. A suction channel 515 is opened inside the housing 51. The second motor 52 drives the active roller 53 to rotate. The active roller 53 drives the first driven roller 57 and the second driven roller 58 to rotate through the belt 54. The first driven roller 57 drives the second cleaning roller 510 to rotate through the first rotating shaft 55. The second driven roller 58 drives the first cleaning roller 59 to rotate through the second rotating shaft 56. At this time, the water pump 15 drives the water in the water tank 14 to enter the water supply pipe 16. Then, the water is transported to the nozzles 513 through the water supply pipe 16 and sprayed out through the nozzles 513. The high-pressure water sprayed out by the nozzles 513 cooperates with the hard brush 512 on the second cleaning roller 510 to impact and break up stubborn stains and sweep them to the first cleaning roller 59. The scraper 511 on the first cleaning roller 59 sends the sludge and other substances into the suction channel 515.

[0044] The suction channel 515 is connected to the suction pipe 13, and the nozzle 513 is connected to the water supply pipe 16. Protective covers 516 are fixedly connected to the outer casing 51 near the belt 54. The hard brush 512 is rounded, the scraper 511 is arc-shaped, and the corners of the outer casing 51 are chamfered. The sludge is sucked into the sludge tank 11 through the suction pipe 13 by the suction pump 12. During the cleaning process, the sealing strip 514 is used to seal the sludge and prevent it from splashing due to the impact of high pressure water. At the same time, the protective cover 516 protects the belt 54 and prevents it from being contaminated and slipping, which would affect the transmission effect.

[0045] like Figure 13 As shown, the walking mechanism 8 includes a housing 81 rotatably connected to the lower end of the support frame 7. Several rotating shafts 82 are rotatably connected through the housing 81. Second track wheels 83 are fixedly connected to both ends of the rotating shafts 82. A driven gear 84 is fixedly connected through the rotating shaft 82 located in the middle. A third motor 85 is fixedly connected to the bottom wall of the housing 81.

[0046] The output end of the third motor 85 is fixedly connected to the drive gear 86, which meshes with the driven gear 84. The second track wheel 83 and the circular track 9 roll with each other. The third motor 85 drives the drive gear 86 to rotate, which in turn drives the driven gear 84 to rotate. The driven gear 84 drives the rotating shaft 82 to rotate, which in turn drives the second track wheel 83 to rotate, thus allowing the traveling mechanism 8 to move on the circular track 9.

[0047] The working principle of this embodiment is as follows: During cleaning, the sewage in the treatment tank is drained. Then, the first hydraulic rod 45 and the second hydraulic rod 47 are extended, driving the large arm 43 and the small arm 44 to unfold, so that the cleaning mechanism 5 contacts the bottom of the tank. Then, the second motor 52 is started, which drives the active roller 53 to rotate. The active roller 53 drives the first driven roller 57 and the second driven roller 58 to rotate via the belt 54. The first driven roller 57 drives the second cleaning roller 510 to rotate via the first rotating shaft 55, and the second driven roller 58 drives the first cleaning roller 59 to rotate via the second rotating shaft 56. At this time, the water pump 15 drives the water in the water tank 14 to enter the water supply pipe 16, and then the water is transported to the nozzle 513 via the water supply pipe 16. The water is sprayed out through the nozzle 513. The high-pressure water sprayed from the nozzle 513 cooperates with the hard brush 512 on the second cleaning roller 510 to impact and break up stubborn stains and sweep them to the first cleaning roller 59. Then, the scraper 511 on the first cleaning roller 59 removes sludge and other debris. The sludge is fed into the suction channel 515, and then the suction pump 12 sucks the sludge into the sludge tank 11 through the suction pipe 13. During the cleaning process, the sludge is sealed by the sealing strip 514 to prevent the sludge from splashing due to the impact of high-pressure water. Then, the reduction motor 36 drives the fixed plate 41 to rotate, expanding the cleaning range. The first motor 33 drives the connecting shaft 34 to rotate, and the connecting shaft 34 drives the first track wheel 35 to rotate. The first track wheel 35 cooperates with the straight track 2, driving the slider 31 to move left and right on the truss 1, expanding the cleaning range. The third motor 85 drives the drive gear 86, and the drive gear 86 drives the rotating shaft 82 to rotate through the driven gear 84. The rotating shaft 82 drives the second track wheel 83 to rotate. The second track wheel 83 cooperates with the circular track 9 to drive the walking mechanism 8 to move along the circular track 9. Thus, through the cooperation of the support frame 7 and the connecting block 6, the truss 1 is driven to rotate along the center of the circular track 9, so that the cleaning mechanism 5 can clean every corner of the sewage treatment tank.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A cleaning robot for a sewage treatment pond, comprising a plurality of sleepers (10) disposed at the edge of the treatment pond, characterized in that: A pair of circular tracks (9) are fixedly connected to the sleeper (10). A pair of walking mechanisms (8) are provided on both sides of the upper surface of the pair of circular tracks (9). A support frame (7) is rotatably connected to the upper end of the pair of walking mechanisms (8). A connecting block (6) is fixedly connected to the end of the support frame (7) away from the walking mechanism (8). A truss (1) is fixedly connected between the connecting blocks (6). A pair of straight tracks (2) are fixedly connected to the upper surface of the truss (1). A moving mechanism (3) is slidably connected through the truss (1). A mechanical arm (4) is rotatably connected to the lower surface of the moving mechanism (3). A cleaning mechanism is rotatably connected to the end of the mechanical arm (4) away from the moving mechanism (3). (5) A sludge tank (11) is fixedly connected to one side of the upper end of the robotic arm (4). A sludge pump (12) is fixedly connected to the lower surface of the sludge tank (11). A sludge suction pipe (13) is fixedly connected to the output end of the sludge pump (12). A water tank (14) is fixedly connected to the side of the upper end of the robotic arm (4) away from the sludge tank (11). A water pump (15) is fixedly connected to the lower surface of the water tank (14). A water delivery pipe (16) is fixedly connected to the output end of the water pump (15). The end of the water delivery pipe (16) away from the water pump (15) is fixedly connected to the cleaning mechanism (5). The end of the sludge suction pipe (13) away from the sludge pump (12) is fixedly connected to the cleaning mechanism (5). The cleaning mechanism (5) includes a housing (51) rotatably connected to a robotic arm (4). A second motor (52) is fixedly connected to both sides of the upper surface of the housing (51). An active roller (53) is fixedly connected to the output end of the second motor (52). A first rotating shaft (55) is rotatably connected through both sides inside the housing (51). A second rotating shaft (56) is rotatably connected through both sides inside the housing (51) near the first rotating shaft (55). A first driven roller (57) is fixedly connected through one end of the first rotating shaft (55), and a second driven roller (58) is fixedly connected through one end of the second rotating shaft (56). 8) Both the first driven roller (57) and the driving roller (53) are fixedly fitted with belts (54). The first rotating shaft (55) is fixedly connected to the second cleaning roller (510). The second rotating shaft (56) is fixedly connected to the first cleaning roller (59). Several hard brushes (512) are fixedly connected to the outside of the second cleaning roller (510). Several scraper plates (511) are fixedly connected to the outside of the first cleaning roller (59). A sealing strip (514) is fixedly connected to the lower edge of the outer shell (51). Several nozzles (513) are fixedly connected to both sides inside the outer shell (51). A suction channel (515) is opened inside the outer shell (51).

2. A cleaning robot for a sewage treatment pond according to claim 1, characterized in that, The moving mechanism (3) includes a slider (31) slidably connected to the truss (1). Both sides of the slider (31) are provided with cavities (32). Both sides of the slider (31) are rotatably connected to several connecting shafts (34). The ends of the connecting shafts (34) away from the slider (31) are fixedly connected to a first track wheel (35). A first motor (33) is fixedly connected in the cavity (32). The output end of the first motor (33) is fixedly connected to any of the connecting shafts (34). A reduction motor (36) is fixedly connected on the slider (31). The output end of the reduction motor (36) is fixedly connected to the robotic arm (4). The first track wheel (35) and the straight track (2) roll and cooperate with each other.

3. A cleaning robot for a sewage treatment pond according to claim 1, characterized in that, The robotic arm (4) includes a fixed plate (41) rotatably connected to the lower surface of the moving mechanism (3). A rotating seat (42) is fixedly connected to one end of the lower surface of the fixed plate (41). A large arm (43) is rotatably connected to the rotating seat (42). A small arm (44) is rotatably connected to the end of the large arm (43) away from the rotating seat (42). The end of the small arm (44) away from the large arm (43) is rotatably connected to the cleaning mechanism (5). Several weight-reducing holes are provided on both the large arm (43) and the small arm (44).

4. A cleaning robot for a sewage treatment pond according to claim 3, characterized in that, A pair of first hydraulic rods (45) are rotatably connected to the lower surface of the fixed plate (41) away from the rotating seat (42). The ends of the first hydraulic rods (45) away from the fixed plate (41) are rotatably connected to the upper arm (43). A first fixed rod (46) is fixedly connected inside the upper arm (43). A second hydraulic rod (47) is rotatably connected to the first fixed rod (46). A second fixed rod (48) is fixedly connected inside the lower arm (44). The end of the second hydraulic rod (47) away from the first fixed rod (46) is rotatably connected to the second fixed rod (48). A third fixed rod (49) is fixedly connected inside the lower arm (44). A third hydraulic rod (410) is rotatably connected to the third fixed rod (49). The end of the third hydraulic rod (410) away from the third fixed rod (49) is rotatably connected to the cleaning mechanism (5).

5. A cleaning robot for a sewage treatment pond according to claim 1, characterized in that, The suction channel (515) and the suction pipe (13) are connected, the nozzle (513) and the water supply pipe (16) are connected, and the outer shell (51) is fixedly connected with a protective cover (516) near the belt (54). The hard brush (512) is rounded, the scraper (511) is arc-shaped, and the corners of the outer shell (51) are chamfered.

6. A cleaning robot for a sewage treatment pond according to claim 1, characterized in that, The walking mechanism (8) includes a housing (81) rotatably connected to the lower end of the support frame (7). Several rotating shafts (82) are rotatably connected through the housing (81). Second track wheels (83) are fixedly connected to both ends of the rotating shafts (82). A driven gear (84) is fixedly connected through the rotating shaft (82) located in the middle. A third motor (85) is fixedly connected to the bottom wall of the housing (81).

7. A cleaning robot for a sewage treatment pond according to claim 6, characterized in that, The output end of the third motor (85) is fixedly connected to a drive gear (86), which meshes with the driven gear (84), and the second track wheel (83) and the circular track (9) roll with each other.

8. A cleaning robot for a sewage treatment pond according to claim 1, characterized in that, The support frame (7) has several weight-reducing holes, the circular track (9) and the treatment pool are arranged concentrically, and the sleepers (10) are arranged in a circular pattern.

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