A roll grinder grinding fluid pool pipeline sludge cleaning robot

Abstract

The present application relates to the technical field of pipeline cleaning, in particular to a kind of roller grinder grinding fluid pool pipeline sludge cleaning robot, comprising: robot with mobile body, the rear end surface of mobile body is fixedly arranged with connecting shaft, the rear end of connecting shaft is sequentially provided with agitating round plate, cleaning round plate and flushing round plate from back to front, the agitating round plate and cleaning round plate are provided with cleaning mechanism for cleaning sludge in pipeline, flushing mechanism is provided on the flushing round plate for flushing sludge and pipeline cleaned down.The agitating round plate, cleaning round plate and flushing round plate carrying cleaning mechanism and flushing mechanism are driven into pipeline by the mobile body to carry out cleaning operation, wherein the agitating round plate, cleaning round plate and flushing round plate are connected to each other by deformable connecting piece, to realize adaptive deformation adjustment in curved section of pipeline, ensure that the same cleaning operation can be carried out on curved section of pipeline.

Description

Technical Field

[0001] This invention relates to the field of pipeline cleaning technology, specifically to a robot for cleaning sludge from pipelines in a grinding fluid tank of a roll grinding machine. Background Technology

[0002] The grinding fluid tank pipeline of the roll grinding machine is used to supply and circulate grinding fluid to ensure that the roll remains cooled and lubricated during the grinding process. During the grinding process, the grinding fluid needs to flow and circulate in the system to achieve its cooling and lubrication functions. During the grinding process, the sand particles generated by the grinding process will fall into the grinding fluid and circulate with it. These sand particles will eventually form adhesive sludge that accumulates and adheres to the inside of the pipeline.

[0003] Accumulated sludge in the pipes can obstruct the flow of liquid, preventing the grinding fluid from being supplied smoothly to the required locations, thus affecting grinding efficiency and results. At the same time, the cooling effect of the grinding fluid on the rolls deteriorates, affecting the service life of the rolls and the grinding quality. Therefore, it is necessary to clean the sludge in the pipes. However, the following problems exist in the cleaning process: 1. The pipes have both vertical and curved sections. When cleaning the curved sections of the pipes, it is difficult to clean the curved parts manually. In addition, there is a lot of sludge accumulated and adhered in the curved sections of the pipes, making it difficult to clean this area thoroughly and the cleaning is also more difficult.

[0004] 2. Because silt is adhesive, some silt adheres to the inner wall of the pipe and accumulates into clumps, resulting in poor cleaning effect when cleaning silt, and some silt continues to remain on the inner wall of the pipe. Summary of the Invention

[0005] Therefore, it is necessary to provide a robot for cleaning sludge from the grinding fluid pool of a roll grinding machine, which aims to solve the above problems.

[0006] This application provides a robot for cleaning sludge from the grinding fluid tank pipeline of a roll grinding machine, comprising:

[0007] A robot with a moving body has a connecting shaft fixedly installed on the rear end face of the moving body. From back to front, the rear end of the connecting shaft is provided with an agitating circular plate, a cleaning circular plate, and a rinsing circular plate. The rinsing circular plate is fixedly connected to the connecting shaft. The agitating circular plate and the cleaning circular plate, as well as the cleaning circular plate and the rinsing circular plate, are connected by a connector. The connector includes two circular shafts distributed front and back and a universal joint located between the two circular shafts.

[0008] The cleaning mechanism is provided on both the agitating circular plate and the cleaning circular plate for cleaning the sludge in the pipe.

[0009] The flushing mechanism is provided on the flushing disc for flushing the cleaned-up sludge and pipes.

[0010] The cleaning mechanism includes an agitation group and a cleaning group. The agitation group is provided on the agitation circular plate, and the cleaning group is provided on the cleaning circular plate. The agitation group includes cleaning blocks. Multiple cleaning blocks are fixedly arranged circumferentially and evenly distributed on the circumferential surface of the agitation circular plate. The front and rear sides of the end face of the cleaning blocks away from the agitation circular plate are chamfered. A propulsion circular platform is fixedly provided on the rear end face of the agitation circular plate. A triangular agitation block is fixedly provided on the circumferential surface of the propulsion circular platform. The agitation circular plate is fixedly connected to the corresponding circular shaft, and the cleaning circular plate is rotatably connected to the corresponding circular shaft. The cleaning circular plate is provided with a drive group one for driving the agitation circular plate to rotate.

[0011] According to an advantageous embodiment, the drive assembly includes a gear shaft, the gear shaft is rotatably mounted on the cleaning disc, a drive gear is fixedly mounted on the portion of the gear shaft located on the rear side of the cleaning disc, a mating gear that meshes with the drive gear is fixedly mounted on the circular shaft located on the rear side of the cleaning disc, a flexible shaft fixedly connected to the gear shaft is rotatably mounted on the rinsing disc, a protective cover for protecting the drive gear and the mating gear is fixedly mounted on the rear end face of the cleaning disc, and the circular shaft on the rear side of the cleaning disc passes through the protective cover.

[0012] According to an advantageous embodiment, the circumferential surface of the agitating disc is provided with a plurality of circumferentially evenly distributed rectangular grooves, the rectangular grooves being located between two adjacent agitating blocks, and the circumferential surface of the propulsion disc is provided with guide grooves that correspond one-to-one with the rectangular grooves and are connected to the corresponding rectangular grooves.

[0013] According to an advantageous embodiment, the cleaning assembly includes a rotating ring, on which the circumferential surface of the cleaning disc is rotatably mounted. Multiple circumferentially evenly distributed spring rods are fixedly mounted on the outer ring surface of the rotating ring. An arc-shaped plate is fixedly mounted at the telescopic end of each spring rod. A circular column is fixedly mounted on the outer arc surface of the arc plate. A fitting ball is movably mounted on the end face of the circular column away from the cleaning disc. Multiple circumferentially distributed cleaning brushes are provided on the outer arc surface of the arc plate. A second drive assembly for driving the rotating ring to rotate is provided on the cleaning disc.

[0014] According to an advantageous embodiment, the second drive assembly includes an annular groove, the circumferential surface of the cleaning disc has an annular groove, the gear shaft passes through the annular groove, the portion of the gear shaft located in the annular groove is fixedly fitted with a transmission gear, and the inner annular surface of the rotating disc is fixedly provided with an internal gear ring that meshes with the transmission gear.

[0015] According to an advantageous embodiment, the front end face of the cleaning circular plate is provided with an auxiliary group, the auxiliary group including a fixed column, the front end face of the cleaning circular plate is fixedly provided with the fixed column, a fixed plate is slidably provided on the fixed column, a return spring is fixedly provided between the fixed plate and the cleaning circular plate, an auxiliary ring is fixedly provided on the rear end face of the fixed plate, the inner ring surface of the auxiliary ring is inclined, the front end face of the arc plate is fixedly provided with an inclined plate that cooperates with the auxiliary ring, and the front end of the inclined plate is inclined towards the axis of the cleaning circular plate, and two symmetrical movable columns that slide in the front-back direction are provided on the rinsing circular plate, and a waist-shaped strip is fixedly provided on the rear end face of the two movable columns.

[0016] According to an advantageous embodiment, the rinsing mechanism includes a rinsing groove, the rinsing disc has an annular cavity structure inside, and the circumferential surface of the rinsing disc has a plurality of circumferentially evenly distributed rinsing grooves that communicate with its inner cavity. The rinsing grooves are isosceles trapezoidal structures with the large-diameter end facing outward. The rear end face of the rinsing disc is provided with two symmetrically distributed water inlet pipes that communicate with its inner cavity.

[0017] According to an advantageous embodiment, a water pump is fixedly installed on the rear end face of the movable body, an L-shaped frame is fixedly installed on the front end face of the cleaning circular plate, a suction hose connected to the water pump is provided between the vertical section of the L-shaped frame and the water pump, the suction hose penetrates the rinsing circular plate, and a flared sleeve is fixedly installed on the rear end face of the suction hose.

[0018] In summary, the present invention has at least one of the following beneficial effects: First, the present invention uses a movable body to drive a stirring plate, a cleaning plate, and a rinsing plate carrying a cleaning mechanism and a rinsing mechanism into the pipeline to carry out cleaning operations. The stirring plate, the cleaning plate, and the rinsing plate are all connected to each other by deformable connectors to achieve adaptive deformation adjustment in the curved sections of the pipeline, ensuring that the same cleaning operation can be carried out in the curved sections of the pipeline. The cleaning mechanism stirs and loosens the sludge in the pipeline and scrapes and cleans the inner wall of the pipeline. At the same time, the rinsing operation of the rinsing mechanism is combined to achieve complete cleaning of the inside of both the straight and curved sections of the pipeline.

[0019] Second, the agitating circular plate in this invention drives the cleaning block to rotate synchronously around the circumference. During its rotation, the cleaning block agitates the sludge attached to the inner wall of the pipe, scrapes some of the sludge off from the inside of the pipe, performs the initial cleaning of the pipe, and loosens the sludge accumulated in the pipe, making it easier for subsequent cleaning and flushing operations, and avoiding the problem that the effect of subsequent cleaning and flushing operations is reduced due to the accumulation of sludge.

[0020] Third, the drive group two in this invention causes the arc plate to rotate, and the arc plate drives the cleaning brush on it to scrub the inner wall of the pipe, that is, to perform secondary cleaning of the inner wall of the pipe, brushing off the sludge that still adheres to the inner wall of the pipe after the initial cleaning operation, thus ensuring the cleaning effect of the inner wall of the pipe.

[0021] Fourth, in this invention, water is sprayed out from the flushing tank to rinse the cleaned inner wall of the pipe, preventing the sludge removed during the previous cleaning process from re-adhering to the inner wall of the pipe. At the same time, the water flow washes the cleaned sludge out of the pipe, thus cleaning and scrubbing the inner wall of the pipe while flushing the cleaned sludge out of the pipe with water, avoiding the problem of sludge re-adhering.

[0022] Fifth, the water pump in this invention works by using a suction hose to suction the areas agitated by the stirring plate and cleaned by the cleaning plate. This allows some of the cleaned sludge to be discharged into the pipe through the suction hose. The suction operation of the suction hose and the flushing operation of the flushing mechanism work together to improve the cleaning efficiency of the sludge in the pipe and avoid the problem of excessive accumulation of cleaned sludge on the back of the flushing plate, which would affect the overall cleaning operation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This diagram shows a first three-dimensional partial cross-sectional view of a sludge cleaning robot for a grinding fluid tank pipeline of a roll grinding machine, provided by an embodiment of the present invention.

[0025] Figure 2 This diagram shows a second three-dimensional partial cross-sectional view of a sludge cleaning robot for a grinding fluid tank pipeline of a roll grinding machine, provided by an embodiment of the present invention.

[0026] Figure 3 A three-dimensional structural diagram of the agitation assembly, cleaning disc, and rinsing disc provided according to an embodiment of the present invention is shown.

[0027] Figure 4 A schematic diagram of the structure between the propulsion frustum, the stirring plate, and the circular shaft provided according to an embodiment of the present invention is shown.

[0028] Figure 5 A three-dimensional structural diagram of the circular shaft, the rinsing circular plate, and the auxiliary assembly provided according to an embodiment of the present invention is shown.

[0029] Figure 6 A three-dimensional structural diagram of the cleaning group and the driving group two provided according to an embodiment of the present invention is shown.

[0030] The above figures include the following reference numerals:

[0031] 1. Pipeline; 2. Moving body; 3. Connecting shaft; 4. Agitating circular plate; 5. Cleaning circular plate; 6. Flushing circular plate; 7. Circular shaft; 8. Cleaning mechanism; 80. Agitating assembly; 800. Cleaning block; 801. Propulsion platform; 802. Agitating block; 81. Cleaning assembly; 810. Rotating ring; 811. Spring rod; 812. Arc plate; 813. Circular column; 814. Adhesive ball; 815. Cleaning brush; 82. Drive assembly one; 820. Gear shaft; 821. Drive gear; 822. Mating gear; 823. 824. Flexible shaft; 83. Protective cover; 84. Rectangular groove; 85. Guide groove; 86. Drive group two; 87. Circular groove; 88. Transmission gear; 89. Internal gear ring; 80. Auxiliary group; 81. Fixed column; 82. Fixed plate; 83. Return spring; 84. Auxiliary ring; 85. Inclined plate; 866. Movable column; 87. Waist-shaped strip; 98. Flushing mechanism; 99. Flushing tank; 90. Water inlet pipe; 91. Water pump; 92. L-shaped frame; 93. Sewage suction hose; 94. Flared sleeve. Detailed Implementation

[0032] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] like Figure 1 and Figure 2 As shown, a robot for cleaning sludge from the grinding fluid tank pipes of a roll grinding machine includes:

[0034] A robot with a mobile body 2 (the robot is a conventional technical feature in this field and is not shown in the figure) has a connecting shaft 3 fixedly installed on the rear end face of the mobile body 2. From back to front, the rear end of the connecting shaft 3 is provided with an agitating circular plate 4, a cleaning circular plate 5, and a rinsing circular plate 6. The rinsing circular plate 6 is fixedly connected to the connecting shaft 3. The agitating circular plate 4 and the cleaning circular plate 5, as well as the cleaning circular plate 5 and the rinsing circular plate 6, are connected by connectors. The connectors include two circular shafts 7 distributed front to back and a universal joint located between the two circular shafts 7.

[0035] The cleaning mechanism 8 is provided on both the stirring circular plate 4 and the cleaning circular plate 5 for cleaning the sludge in the pipe 1.

[0036] The flushing mechanism 9 is provided on the flushing disc 6 for flushing the cleaned sludge and the pipe 1.

[0037] During operation, the moving body 2 in the robot drives the stirring plate 4, cleaning plate 5, and flushing plate 6 into the pipe 1. As the moving body 2 moves forward step by step, the cleaning mechanism 8 starts to work. First, it stirs the sludge in the pipe 1, causing some of the sludge adhering to the pipe 1 to fall off and loosen the sludge. Then, it cleans and scrapes the inner wall of the pipe 1. At the same time, the flushing mechanism 9 flushes the inner wall of the pipe 1 and discharges the cleaned sludge from the pipe 1, completing the cleaning operation inside the pipe 1.

[0038] like Figure 3 , Figure 4 and Figure 6 As shown, the cleaning mechanism 8 includes an agitation group 80 and a cleaning group 81. The agitation group 80 is provided on the agitation disc 4, and the cleaning group 81 is provided on the cleaning disc 5. The agitation group 80 includes cleaning blocks 800. Multiple circumferentially evenly distributed cleaning blocks 800 are fixedly provided on the circumferential surface of the agitation disc 4. The front and rear sides of the end face of the cleaning blocks 800 away from the agitation disc 4 are chamfered. A propulsion disc 801 is fixedly provided on the rear end face of the agitation disc 4. A triangular agitation block 802 is fixedly provided on the circumferential surface of the propulsion disc 801. The agitation disc 4 and the corresponding circular shaft 7 are fixedly connected. The cleaning disc 5 is rotatably connected to the corresponding circular shaft 7. The cleaning disc 5 is provided with a drive group 82 for driving the agitation disc 4 to rotate.

[0039] like Figure 2 , Figure 5 and Figure 6 As shown, the drive assembly 82 includes a gear shaft 820. The gear shaft 820 is rotatably mounted on the cleaning disc 5. A drive gear 821 is fixedly mounted on the rear side of the gear shaft 820 located on the rear side of the cleaning disc 5. A mating gear 822 that meshes with the drive gear 821 is fixedly mounted on the circular shaft 7 located on the rear side of the cleaning disc 5. A flexible shaft 823 that is fixedly connected to the gear shaft 820 is rotatably mounted on the rinsing disc 6. The flexible shaft 823 is connected to an external motor. A protective cover 824 for protecting the drive gear 821 and the mating gear 822 is fixedly mounted on the rear end face of the cleaning disc 5, and the circular shaft 7 on the rear side of the cleaning disc 5 passes through the protective cover 824.

[0040] like Figure 4As shown, the circumferential surface of the stirring disc 4 is provided with a plurality of circumferentially evenly distributed rectangular grooves 83, which are located between two adjacent stirring blocks 802. The circumferential surface of the propulsion disc 801 is provided with guide grooves 84 that correspond one-to-one with the rectangular grooves 83 and are connected to the corresponding rectangular grooves 83.

[0041] like Figure 5 and Figure 6 As shown, the cleaning assembly 81 includes a rotating ring 810. The rotating ring 810 is rotatably mounted on the circumferential surface of the cleaning circular plate 5. A plurality of circumferentially evenly distributed spring rods 811 are fixedly mounted on the outer ring surface of the rotating ring 810. An arc-shaped plate 812 is fixedly mounted on the telescopic end of the spring rods 811. A circular column 813 is fixedly mounted on the outer arc surface of the arc plate 812. A fitting ball 814 is movably mounted on the end face of the circular column 813 away from the cleaning circular plate 5. A plurality of circumferentially distributed cleaning brushes 815 are provided on the outer arc surface of the arc plate 812. A drive assembly 85 for driving the rotating ring 810 to rotate is provided on the cleaning circular plate 5.

[0042] like Figure 6 As shown, the second drive assembly 85 includes an annular groove 850. The cleaning circular plate 5 has an annular groove 850 on its circumferential surface. The gear shaft 820 passes through the annular groove 850. The portion of the gear shaft 820 located in the annular groove 850 is fixedly fitted with a transmission gear 851. An internal gear ring 852 that meshes with the transmission gear 851 is fixedly provided on the inner ring surface of the rotating ring 810.

[0043] like Figure 3 , Figure 4 and Figure 5 As shown, the front end face of the cleaning circular plate 5 is provided with an auxiliary group 86, which includes a fixed column 860. The fixed column 860 is fixedly provided on the front end face of the cleaning circular plate 5. A fixed plate 861 is slidably provided on the fixed column 860. A return spring 862 is fixedly provided between the fixed plate 861 and the cleaning circular plate 5. An auxiliary ring 863 is fixedly provided on the rear end face of the fixed plate 861. The inner ring surface of the auxiliary ring 863 is inclined. An inclined plate 864 that cooperates with the auxiliary ring 863 is fixedly provided on the front end face of the arc plate 812. The front end of the inclined plate 864 is inclined towards the axis of the cleaning circular plate 5. Two movable columns 865 that are symmetrical from left to right and slide in the front-back direction are provided on the rinsing circular plate 6. A waist-shaped strip 866 is fixedly provided on the rear end face of the two movable columns 865. The movable columns 865 are driven to move back and forth by an external electric push rod.

[0044] During operation, the moving body 2 moves and drives the agitating disc 4, cleaning disc 5, and rinsing disc 6 to the pipe 1 that needs cleaning. The moving body 2 moves gradually forward. During the movement of the moving body 2, the external motor drives the flexible shaft 823 to rotate forward. The flexible shaft 823 drives the gear shaft 820 to rotate synchronously. The gear shaft 820 drives the drive gear 821 on it to rotate synchronously. Through the meshing of the drive gear 821 and the mating gear 822, the mating gear 822 drives the corresponding circular shaft 7 to rotate synchronously in reverse. This circular shaft 7 is connected to a universal joint. The shaft 7 on the agitator plate 4 drives the agitator plate 4 to rotate synchronously. Therefore, the agitator plate 4 drives the cleaning block 800 to rotate synchronously around the circumference. During its rotation, the cleaning block 800 agitates the sludge attached to the inner wall of the pipe 1, scrapes some of the sludge off the inside of the pipe 1, performs the initial cleaning of the pipe 1, and loosens the sludge that is attached to the inner wall of the pipe 1 and piled up together, so as to facilitate subsequent cleaning and flushing operations and avoid the problem that the subsequent cleaning and flushing operations are poor due to the accumulation of sludge.

[0045] Secondly, the stirring disc 4 drives the propulsion disc 801 to rotate synchronously, and the propulsion disc 801 drives the stirring block 802 on it to rotate synchronously. The stirring block 802 stirs and loosens the accumulated sludge. The guide groove 84 set on the propulsion disc 801 guides the stirred, loosened and detached sludge. This sludge flows to the front side of the stirring disc 4 through the guide groove 84 and the corresponding rectangular groove 83. The subsequent flushing mechanism 9 can remove this sludge, avoiding the problem that after the stirring disc 4 stirs and loosens the sludge, the sludge accumulates on the rear side of the stirring disc 4 and obstructs the feed movement of the stirring disc 4.

[0046] Furthermore, during the rotation of the gear shaft 820, the gear shaft 820 drives the transmission gear 851 to rotate synchronously. The meshing between the transmission gear 851 and the internal gear ring 852 causes the internal gear ring 852 to drive the rotating ring 810 to rotate synchronously. The rotating ring 810, through the spring rod 811, drives all the arc-shaped plates 812 on it to rotate synchronously. The arc-shaped plates 812, driven by the spring rod 811, cause the cleaning brushes 815 on them to remain in close contact with the pipe 1. This is especially beneficial for cleaning operations within the curved sections of the pipe 1, preventing the arc-shaped plates 812 from causing friction damage. The problem of poor cleaning effect caused by the cleaning brush 815 failing to adhere tightly to the inner wall of pipe 1 is addressed by the arc plate 812 rotating. During the rotation, the arc plate 812 drives the cleaning brush 815 on it to scrub the inner wall of pipe 1, that is, to perform a secondary cleaning of the inner wall of pipe 1. This brushes off the sludge that still adheres to the inner wall of pipe 1 after the initial cleaning operation, ensuring the cleaning effect of the inner wall of pipe 1. The set contact ball 814 keeps in close contact with the inner wall of pipe 1 under the elastic force of the set spring rod 811, thus ensuring the stability of the rotation when the cleaning circular plate 5 rotates around the whole circle.

[0047] Before the cleaning operation, during the process of placing the cleaning disc 5 into the pipe 1, the external electric push rod operates, causing the movable column 865 to move the waist-shaped strip 866 backward. During this backward movement, the waist-shaped strip 866 contacts the fixed plate 861 and exerts a backward pushing force on it. The fixed plate 861 then moves the auxiliary ring 863 backward synchronously, compressing the return spring 862. Through the cooperation between the inclined surface of the auxiliary ring 863 and the inclined plate 864, all the inclined plates 864 move their corresponding... The arc-shaped plate 812 moves towards the axis of the cleaning circular plate 5, all the arc-shaped plates 812 retract inward, and the spring rod 811 is compressed, which makes it easier for the cleaning circular plate 5 to move with the arc-shaped plates 812 into the pipe 1. At the same time, after the arc-shaped plate 812 moves into the pipe 1, the movable column 865 drives the waist-shaped strip 866 to move forward and reset, and the reset spring 862 and spring rod 811 reset. Therefore, the arc-shaped plate 812 drives the cleaning brush 815 on it to stick tightly to the inner wall of the pipe 1, and the auxiliary ring 863 also quickly resets.

[0048] As the moving body 2 initially feeds forward, the agitating disc 4, the cleaning disc 5, and the flushing disc 6 move to the curved end of the pipe 1. The universal joint between the agitating disc 4 and the cleaning disc 5 allows them to bend relative to each other while maintaining the full rotation of the agitating disc 4, thus ensuring that the inner wall of the curved section of the pipe 1 can also be cleaned. The cleaning disc 5 and the flushing disc 6 can also bend relative to each other. The flexible shaft 823 ensures that the cleaning disc 5 and the rotating ring 810 can still rotate when cleaning the curved section of the pipe 1, thus ensuring the cleaning effect on the inner wall of the curved section of the pipe 1.

[0049] like Figure 2 and Figure 5 As shown, the rinsing mechanism 9 includes rinsing grooves 90. The rinsing circular plate 6 has an annular cavity structure inside. The circumferential surface of the rinsing circular plate 6 is provided with multiple circumferentially evenly distributed rinsing grooves 90 that communicate with its inner cavity. The rinsing grooves 90 are isosceles trapezoidal structures with the large-diameter end facing outward. The front end face of the rinsing circular plate 6 is provided with two symmetrically distributed water inlet pipes 91 that communicate with its inner cavity. The water inlet pipes 91 are connected to an external water pump (not shown in the figure).

[0050] like Figure 2 and Figure 5 As shown, a water pump 92 is fixedly installed on the rear end face of the moving body 2, and an L-shaped frame 93 is fixedly installed on the front end face of the cleaning circular plate 5. A suction hose 94 connected to the water pump 92 is provided between the vertical section of the L-shaped frame 93 and the water pump 92. The suction hose 94 passes through the rinsing circular plate 6, and a flared sleeve 95 is fixedly installed on the rear end face of the suction hose 94.

[0051] During operation, as the flushing disc 6 moves within the pipe 1, an external water pump pumps water into the inner cavity of the flushing disc 6 through the inlet pipe 91. Then, the water flow sprays out from the flushing tank 90 to flush the inner wall of the cleaned pipe 1, preventing the sludge removed during the previous cleaning process from re-adhering to the inner wall of the pipe 1. At the same time, the water flow washes away the sludge from the pipe 1, thus achieving the goal of cleaning and scrubbing the inner wall of the pipe 1 while simultaneously flushing away the sludge through the water flow, preventing the problem of sludge re-adhering. Simultaneously, the suction pump 92 operates by using the suction hose 94 to suction the areas stirred by the agitating disc 4 and cleaned by the cleaning disc 5. The flared sleeve 95 increases the suction area of ​​the suction hose 94, allowing some of the cleaned sludge to be discharged into the pipe 1 through the suction hose 94. The suction operation of the suction hose 94 and the flushing operation of the flushing mechanism 9 work together to improve the cleaning efficiency of the sludge in the pipe 1 and avoid the problem of excessive accumulation of cleaned sludge behind the flushing disc 6, which would affect the overall cleaning operation.

[0052] In specific operation, the moving body 2 first drives the stirring plate 4, cleaning plate 5, and flushing plate 6 into the pipe 1. During the movement of the moving body 2, the external motor drives the flexible shaft 823 to rotate synchronously. Through the operation of the drive group, the stirring plate 4 drives the cleaning block 800 to rotate synchronously around the circumference. The cleaning block 800 stirs the sludge attached to the inner wall of the pipe 1, scrapes some of the sludge off from the inside of the pipe 1, and performs the initial cleaning of the pipe 1. At the same time, it stirs and loosens the sludge attached to the inner wall of the pipe 1 and piled up together. The pushing platform 801 drives the stirring block 802 on it to rotate synchronously. The stirring block 802 stirs and loosens the accumulated sludge. The guide groove 84 set on the pushing platform 801 guides the stirred, loosened and detached sludge.

[0053] At the same time, the operation of the second drive group 85 causes the rotating ring 810 to rotate synchronously through the spring rod 811, which drives all the arc plates 812 on it. The arc plates 812 drive the cleaning brush 815 on them to scrub the inner wall of the pipe 1, that is, to perform secondary cleaning on the inner wall of the pipe 1, brushing off the sludge that adhered to the inner wall of the pipe 1 after the initial cleaning operation, thus maintaining the cleaning effect on the inner wall of the pipe 1.

[0054] An external water pump pumps water into the inner cavity of the flushing disc 6 through the inlet pipe 91 to flush the inner wall of the cleaned pipe 1. At the same time, the water flow flushes the cleaned sludge out of the pipe 1. Thus, the inner wall of the pipe 1 is cleaned and scrubbed while the cleaned sludge is flushed out of the pipe 1 through the water flow. Meanwhile, the suction hose 94 performs suction operation on the areas that have been agitated by the stirring disc 4 and cleaned by the cleaning disc 5, so that some of the cleaned sludge is discharged into the pipe 1 through the suction hose 94.

[0055] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0056] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0057] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "connected," "installed," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A roll grinder grinding fluid sump pipe sludge cleaning robot, characterized by, Include: Robot with mobile body (2), the rear end surface of mobile body (2) is fixedly provided with connecting shaft (3), the rear end of connecting shaft (3) is sequentially provided with stirring round plate (4), cleaning round plate (5) and flushing round plate (6) from back to front, flushing round plate (6) is fixedly connected with connecting shaft (3), stirring round plate (4) and cleaning round plate (5) and cleaning round plate (5) and flushing round plate (6) are connected through connecting piece, and the connecting piece includes two front and rear distributed round shafts (7) and universal joint located between the two round shafts (7); Cleaning mechanism (8), the stirring round plate (4) and cleaning round plate (5) are provided with cleaning mechanism (8) for cleaning the sludge in pipeline (1); Flushing mechanism (9), the flushing round plate (6) is provided with flushing mechanism (9) for flushing the sludge cleaned and pipeline (1); The cleaning mechanism (8) includes stirring group (80) and cleaning group (81), the stirring round plate (4) is provided with stirring group (80), the cleaning round plate (5) is provided with cleaning group (81), the stirring group (80) includes cleaning block (800), the circumferential surface of stirring round plate (4) is fixedly provided with a plurality of circumferentially uniform cleaning blocks (800), the rear end surface of stirring round plate (4) is fixedly provided with propelling round table (801), the circumferential surface of propelling round table (801) is fixedly provided with triangular stirring block (802), the stirring round plate (4) is fixedly connected with corresponding round shaft (7), the cleaning round plate (5) is rotatably connected with corresponding round shaft (7), and the cleaning round plate (5) is provided with driving group one (82) for driving stirring round plate (4) to rotate; The driving group one (82) includes gear shaft (820), the cleaning round plate (5) is rotatably provided with gear shaft (820), the part of gear shaft (820) located at the rear side of cleaning round plate (5) is fixedly sleeved with driving gear (821), the round shaft (7) located at the rear side of cleaning round plate (5) is fixedly sleeved with matching gear (822) meshing with driving gear (821), the flexible shaft (823) fixedly connected with gear shaft (820) is rotatably arranged on flushing round plate (6), the rear end surface of cleaning round plate (5) is fixedly provided with protective cover (824) for protecting driving gear (821) and matching gear (822), and the round shaft (7) at the rear side of cleaning round plate (5) penetrates protective cover (824); The cleaning group (81) comprises a rotating circular ring (810), the circumferential surface of the cleaning circular plate (5) is rotationally provided with the rotating circular ring (810), the outer annular surface of the rotating circular ring (810) is fixedly provided with a plurality of spring rods (811) which are uniformly distributed in the circumferential direction, the telescopic end of the spring rod (811) is fixedly provided with an arc-shaped plate (812), the outer arc surface of the arc-shaped plate (812) is fixedly provided with a circular column (813), the end surface of the circular column (813) away from the cleaning circular plate (5) is movably provided with a close contact ball (814), the outer arc surface of the arc-shaped plate (812) is provided with a plurality of cleaning brushes (815) which are distributed in the circumferential direction, and the cleaning circular plate (5) is provided with a second driving group (85) for driving the rotating circular ring (810) to rotate.

2. The roll grinder grinding fluid sump pipeline sludge cleaning robot according to claim 1, characterized in that: The circumferential surface of the stirring circular plate (4) is provided with a plurality of rectangular grooves (83) which are uniformly distributed in the circumferential direction, the rectangular grooves (83) are located between two adjacent stirring blocks (802), and the circumferential surface of the advancing circular table (801) is provided with guide grooves (84) which correspond to the rectangular grooves (83) one by one and are in communication with the corresponding rectangular grooves (83).

3. The roll grinder grinding fluid sump pipeline sludge cleaning robot according to claim 2, characterized in that: The second driving group (85) comprises a circular ring groove (850), the circumferential surface of the cleaning circular plate (5) is provided with the circular ring groove (850), the gear shaft (820) penetrates through the circular ring groove (850), and the part of the gear shaft (820) located in the circular ring groove (850) is fixedly provided with a transmission gear (851), and the inner annular surface of the rotating circular ring (810) is fixedly provided with an inner tooth ring (852) which is in mesh with the transmission gear (851).

4. The roll grinder grinding fluid sump pipeline sludge cleaning robot according to claim 2, characterized in that: The front end surface of the cleaning circular plate (5) is provided with an auxiliary group (86), the front end surface of the cleaning circular plate (5) is fixedly provided with a fixed column (860), the fixed column (860) is slidably provided with a fixed plate (861), a return spring (862) is fixedly arranged between the fixed plate (861) and the cleaning circular plate (5), the rear end surface of the fixed plate (861) is fixedly provided with an auxiliary circular ring (863), the inner annular surface of the auxiliary circular ring (863) is inclined, the front end surface of the arc-shaped plate (812) is fixedly provided with an inclined plate (864) which cooperates with the auxiliary circular ring (863), and the front end of the inclined plate (864) is inclined towards the direction close to the axis of the cleaning circular plate (5), and the flushing circular plate (6) is provided with two left-right symmetrical movable columns (865) which slide in the front-rear direction, and the rear end surfaces of the two movable columns (865) are fixedly provided with a waist-shaped strip (866) together.

5. The roll grinder grinding fluid sump pipeline sludge cleaning robot according to claim 1, characterized in that: The flushing mechanism (9) comprises a flushing groove (90), the inside of the flushing circular plate (6) is a hollow structure, a plurality of flushing grooves (90) which are uniformly distributed in the circumferential direction and are in communication with the inner cavity are arranged on the circumferential surface of the flushing circular plate (6), the flushing groove (90) is a isosceles trapezoidal structure with the large-diameter end facing outward, and the rear end surface of the flushing circular plate (6) is provided with two symmetrically distributed water inlet pipes (91) which are in communication with the inner cavity.

6. A roll grinder grinding fluid sump pipeline sludge cleaning robot according to claim 5, characterized in that: The rear end surface of the mobile body (2) is fixedly provided with a water suction pump (92), and the front end surface of the cleaning disc (5) is fixedly provided with an L-shaped frame (93). A vertical section of the L-shaped frame (93) and the water suction pump (92) are jointly provided with a sewage suction hose (94) connected with the water suction pump (92), the sewage suction hose (94) penetrates the flushing disc (6), and the rear end surface of the sewage suction hose (94) is fixedly provided with a flared sleeve (95).

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