Truss type double-scraper main push type mud scraper and working method thereof

Abstract

The invention discloses a truss type double-scraper main push type mud scraper and a working method thereof.The truss type double-scraper main push type mud scraper comprises a truss vehicle used for being erected on the top of a pool body and a pair of guide rails used for being fixed to the top of the pool body, the truss vehicle comprises a bridge frame, a walking mechanism, a walking motor and an underwater scraper assembly, and the bottom of the bridge frame is slidably connected to the guide rails; the bridge frame is arranged on the base and drives the bridge frame to slide through a walking motor, a supporting frame extending downwards is arranged on the bottom side of the bridge frame, the underwater scraper assembly is fixed to the bottom side of the supporting frame, horizontal rods extending forwards or backwards are arranged on the front side and the rear side of the bottom end of the supporting frame, and the underwater scraper assembly comprises a front scraper and a rear scraper. The front scraping plate and the rear scraping plate are rotationally connected to the horizontal rod on the front side or the horizontal rod on the rear side respectively, and angle adjusting mechanisms are independently arranged on the bridge frame and correspond to the front scraping plate and the rear scraping plate. The double scrapers are arranged at intervals front and back, so that mud scraping dead angles can be reduced as much as possible.

Description

Technical Field

[0001] The invention relates to mud scraping equipment, in particular to a truss type double scraper main push type mud scraper and a working method thereof. Background Art

[0002] The conventional scraping equipment for the square thickening tank of the water plant mainly includes four types: chain circulation type, monorail reciprocating type, hydraulic reciprocating type and crane-lifting rake type. However, the existing crane-lifting scraper has dead angles for scraping mud. For example, CN105999783B discloses a scraper, including a guide rail, a top platform, a bucket and a power device, and the bucket is driven by the power device to scrape mud. However, it is easy to produce dead angles for scraping mud on the back of the bucket, and it is easy to produce mud and sand accumulation problems at both ends of the square thickening tank. The existing crane-lifting rake scrapers all adopt the form of rear-drag scrapers. Because the original design of the square thickening tank is to use hydraulic scraping equipment, the position of the mud collecting trough is not suitable for the existing crane-lifting rake scraper, and the deposited sludge cannot be scraped into the mud collecting trough of the existing square thickening tank of the water plant. Therefore, there is an urgent need for a scraper that can minimize the dead angles for scraping mud. Summary of the invention

[0003] The present invention aims to solve the technical problems existing in the prior art, and particularly innovatively proposes a truss-type double-scraper main-push scraper and a working method thereof, which has double scrapers arranged at intervals in front and behind, and stably drives the double scrapers to scrape mud, thereby minimizing dead angles in scraping mud.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a truss-type double-scraper main-push type scraper, including a truss car for erecting on the top of a pool body and a pair of guide rails for fixing on the top of the pool body, the truss car includes a bridge frame, a walking mechanism, a walking motor and an underwater scraper assembly, the bottom of the bridge frame is slidably connected to the guide rails, and the bridge frame is driven to slide by the walking motor, a support frame extending downward is arranged on the bottom side of the bridge frame, the underwater scraper assembly is fixed on the bottom side of the support frame, and horizontal bars extending forward or backward are arranged on the front and rear sides of the bottom end of the support frame, the underwater scraper assembly includes a front scraper and a rear scraper, the front scraper and the rear scraper are respectively rotatably connected to the horizontal bars on the front side or the rear side, and the bridge frame is individually provided with angle adjustment mechanisms corresponding to the front scraper and the rear scraper;

[0005] It also includes multiple sludge concentration meters for installation on the side wall of the pool body, the sludge concentration signal output end of the sludge concentration meter is connected to the concentration signal input end of the central control machine, pressure sensors are arranged on the scraping surfaces at the bottom ends of the front scraper and the rear scraper, scrapers are arranged on the pressure sensors, the pressure detection output end of the pressure sensor is connected to the pressure detection input end of the central control machine, the angle adjustment output end of the central control machine is connected to the angle adjustment input end of the angle adjustment mechanism, and the walking speed adjustment output end of the central control machine is connected to the walking motor speed adjustment input end.

[0006] In the above scheme: the front side of the front scraper and the rear side of the rear scraper are both provided with lifting rings; the angle adjustment mechanism includes an angle adjustment motor, a planetary gear reducer and a winch, the output end of the angle adjustment motor is connected to the planetary gear reducer, the output end of the planetary gear reducer is connected to the winch, the winch is provided with an angle adjustment rope, and the other end of the angle adjustment rope is fixed to the corresponding lifting ring.

[0007] In the above scheme: the angle adjustment motor is a stepping motor, and the travel motor is a three-phase asynchronous brake motor.

[0008] In the above scheme: the back of the bottom end of the front scraper and the rear scraper are provided with guide wheels, which can prevent the scraper from running off the track. At the same time, when encountering pebbles, the guide wheels can roll on the pebbles, thereby lifting the scraper a little to prevent the pebbles from getting stuck in the scraper.

[0009] In the above scheme: the front and rear sides of the bridge are both provided with in-place switches, and detection blocks are provided at both ends of the guide rails corresponding to the in-place switches. The in-place detection output end of the in-place switch is connected to the in-place detection input end of the central control machine, and the walking output end of the central control machine is connected to the walking input end of the walking motor.

[0010] In the above scheme: the bridge is also provided with a travel switch for limiting the moving range, one end of the travel switch starting point protection limit normally closed switch is connected to the starting point protection limit signal input end of the central control machine, the other end of the travel switch starting point protection limit normally closed switch is connected to the power supply end of the switch power supply, one end of the travel switch end point protection limit normally closed switch is connected to the end point protection limit signal input end of the central control machine, and the other end of the travel switch end point protection limit normally closed switch is connected to the power supply end of the switch power supply;

[0011] The two in-position switches are photoelectric switches, and the detection ends of the two in-position switches are both set downward, and the height of the bottom end of the in-position switch is higher than the height of the detection block. The travel switch can detect the moving travel of the gantry truck, and can form a double protection with the in-position switch to improve the moving safety of the gantry truck.

[0012] In the above scheme: there are two walking motors, namely the first walking motor and the second walking motor, and they are driven by the same frequency converter. The first walking motor is also equipped with a fifth fuse, and the second walking motor is also equipped with a fifth fuse. The data interaction end of the frequency converter is connected to the data interaction end of the central control machine. One end of the normally open contact of the fifth fuse is connected to the power supply end of the switching power supply, and the other end of the normally open contact of the fifth fuse is connected to the fault signal input end of the first walking motor of the central control machine; one end of the normally open contact of the sixth fuse is connected to the power supply end of the switching power supply, and the other end of the normally open contact of the sixth fuse is connected to the fault signal input end of the second walking motor of the central control machine. The first alarm output end of the central control machine is connected to one end of the buzzer, and the other end of the buzzer is connected to the power supply end of the switching power supply; the electric control box is also provided with an audible and visual alarm and an emergency stop button, and the emergency stop signal input end of the central control machine The end is connected to one end of the normally closed contact of the emergency stop button, and the other end of the normally closed contact of the emergency stop button is connected to the power supply end of the switching power supply. The second alarm signal output end of the central control machine is connected to the alarm signal input end of the sound and light alarm; the start indication signal output end of the central control machine is connected to one end of the start indicator light, and the other end of the start indicator light is connected to the power supply end of the switching power supply. The angle adjustment motor is a stepper motor. The step pulse signal output end of the central control machine is connected to the positive electrode of the step pulse signal of the stepper motor, and the negative electrode of the step pulse signal of the stepper motor is connected to the negative electrode of the switching power supply. The step direction signal output end of the central control machine is connected to the positive electrode of the step direction signal input of the stepper motor, and the negative electrode of the step direction signal of the stepper motor is connected to the negative electrode of the switching power supply. The step brake signal output end of the central control machine is connected to the positive electrode of the step brake signal input of the stepper motor, and the negative electrode of the step brake signal of the stepper motor is connected to the negative electrode of the switching power supply.

[0013] The in-position switches are respectively a front in-position switch and a rear in-position switch, one end of the normally open contact of the front in-position switch is connected to the front in-position signal input end of the central control machine, the common end of the front in-position switch is connected to the negative electrode of the switching power supply, and the power supply end of the front in-position switch is connected to the power supply end of the switching power supply; one end of the normally open contact of the rear in-position switch is connected to the rear in-position signal input end of the central control machine, the common end of the rear in-position switch is connected to the negative electrode of the switching power supply, and the power supply end of the rear in-position switch is connected to the power supply end of the switching power supply;

[0014] One end of the travel switch starting point protection limit normally closed switch is connected to the starting point protection limit signal input end of the central control machine, and the other end of the travel switch starting point protection limit normally closed switch is connected to the switch power supply end. One end of the travel switch end point protection limit normally closed switch is connected to the end point protection limit signal input end of the central control machine, and the other end of the travel switch end point protection limit normally closed switch is connected to the switch power supply end.

[0015] The present invention also provides a working method of a truss-type double-scraper main push-type scraper, comprising the scraper described in the above scheme, and further comprising the following steps:

[0016] S1: Start the scraper;

[0017] S2: Load configuration parameters, set scraper start value, maximum scraping volume of scraper at a time, maximum scraper pressure and maximum boost pressure, and perform self-check on each component; if the self-check results of each component are normal, proceed to the next step; if there is an abnormality, the central control machine will send out an alarm signal to alarm;

[0018] S3: Detection is performed through the sludge concentration meter, and the data detected by the sludge concentration meter is analyzed by the central control computer. If the sludge concentration exceeds the set scraper start value, the central control computer sends a scraping instruction to the scraper;

[0019] S4: If no scraping instruction is received, the scraper enters standby mode and performs real-time detection through the sludge concentration meter; if a scraping instruction is received, the next step is executed;

[0020] S5: Start scraping mud;

[0021] S6: The central control machine formulates a sludge scraping plan; the central control machine generates a three-dimensional surface diagram of the sludge concentration distribution in the tank body according to the sludge concentration signals detected by multiple groups of sludge concentration meters arranged on the tank body; and compares the maximum sludge deposition in the tank body with the maximum single-time sludge scraping amount of the scraper. If it does not exceed the maximum single-time sludge scraping amount of the scraper, the scraper operates normally; if it exceeds the maximum single-time sludge scraping amount of the scraper, the central control machine drives the scraper to repeat multiple operations;

[0022] S7: The central control machine adjusts the front scraper to the initial angle, starts the travel motor, and drives the underwater scraper assembly to scrape the silt through the travel motor; the scraper pressure data is collected in real time through the pressure sensor of the front scraper. If the detected pressure is greater than the maximum scraper pressure, the next step is performed, otherwise S10 is executed;

[0023] S8: The central control machine drives the angle adjustment mechanism to adjust the inclination angle of the front scraper, so that the bottom of the front scraper is raised, the thickness of the scraped mud is reduced, and the scraper pressure data is re-detected through the pressure sensor of the front scraper. If the detected pressure is reduced, S10 is executed;

[0024] S9: If the detected pressure data increase is less than the maximum pressure increase value, the inclination angle of the front scraper is further adjusted so that the bottom of the front scraper is raised again;

[0025] If the detected pressure data increase is greater than the maximum boost value, the central control machine drives the angle adjustment mechanism to adjust the front scraper to the highest position, and at the same time sends a stop command to the travel motor to stop scraping mud, and the central control machine sends an alarm signal for workers to troubleshoot the fault;

[0026] S10: The central control machine drives the scraper to scrape the mud until the scraping operation is completed, and S3 is repeated.

[0027] In summary, the beneficial effects of the present invention are: it can achieve efficient and accurate removal of sludge accumulated at the bottom of the pool without making major changes to the square pool body. It integrates the advantages of intelligent control, high efficiency, low energy consumption, stability and reliability;

[0028] It can automatically adjust the scraping speed according to the distribution of sludge in the sedimentation tank to realize intelligent scraping. The scraper can detect data in real time based on the pressure sensor installed on the force-bearing surface of the scraper, and adjust the scraper opening degree and driving speed through the data, while controlling the operation of the sludge pump. By placing sensors and automatic control technology, the equipment can monitor parameters such as sludge concentration and scraper pressure in real time to ensure the accuracy and efficiency of the scraping process, reduce manual intervention, and improve the convenience and intelligence of operation;

[0029] The double scrapers can improve the scraping efficiency and reduce the dead angle of scraping. At the same time, the stability of the truss structure and the high efficiency of power transmission can be used to ensure the continuity and uniformity of the scraping process, greatly improving the efficiency and quality of sludge removal. The truss not only enhances the stability and carrying capacity of the equipment, but also ensures the reliable operation of the equipment in harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The present invention is a schematic flow chart of a working method of a truss type double-scraper main push type scraper.

[0031] Figure 2 It is a top view of the mud scraper of the present invention.

[0032] Figure 3 It is a top view of the mud scraper of the present invention.

[0033] Figure 4 It is a top view of the mud scraper of the present invention.

[0034] Figure 5 It is a top view of the mud scraper of the present invention.

[0035] Figure 6 It is a top view of the mud scraper of the present invention.

[0036] Figure 7 It is a top view of the mud scraper of the present invention.

[0037] Figure 8 It is a top view of the mud scraper of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below by way of embodiments and in conjunction with the accompanying drawings:

[0039] like Figure 2 to Figure 8As shown, a truss-type double-scraper main push-type scraper includes a truss vehicle 2 for erecting on the top of a pool body 1 and a pair of guide rails 1d for fixing on the top of the pool body 1. The truss vehicle 2 includes a bridge frame 2a, a traveling mechanism, a traveling motor 6 and an underwater scraper assembly. A mud collecting trough 1a is provided on the front side of the pool body 1. The bottom of the bridge frame 2a is slidably connected to the guide rail 1d, and the bridge frame 2a is driven to slide by the traveling motor 6. A support frame extending downward is provided on the bottom side of the bridge frame 2a, and the underwater scraper assembly is fixed on the bottom side of the support frame. Horizontal bars extending forward or backward are provided on both the front and rear sides of the bottom end of the support frame, and the underwater scraper assembly includes a front scraper 2c and a rear scraper 2b. The front scraper 2c and the rear scraper 2b are respectively rotatably connected to the horizontal bars on the front side or the rear side, and angle adjustment mechanisms are separately provided on the bridge frame 2a corresponding to the front scraper 2c and the rear scraper 2b.

[0040] It also includes a plurality of sludge concentration meters for installation on the side wall of the tank body 1, and the sludge concentration signal output end of the sludge concentration meter is connected to the concentration signal input end of the central control machine CPU. Pressure sensors 2d are provided on the scraping surfaces at the bottom ends of the front scraper 2c and the rear scraper 2b, and scrapers 2e are provided on the pressure sensors 2d. The pressure detection output end of the pressure sensor 2d is connected to the pressure detection input end of the central control machine CPU. The angle adjustment output end of the central control machine CPU is connected to the angle adjustment input end of the angle adjustment mechanism, and the walking speed adjustment output end of the central control machine CPU is connected to the speed adjustment input end of the walking motor 6. Specifically, the front side of the front scraper 2c and the rear side of the rear scraper 2b are both provided with a lifting ring 2f. The angle adjustment mechanism includes an angle adjustment motor 5, a planetary gear reducer 5a and a winch 4, and the output end of the angle adjustment motor 5 is connected to the planetary gear reducer 5a. The output end of the planetary gear reducer 5a is connected to the winch 4, and the winch 4 is provided with an angle adjustment rope 4a, and the other end of the angle adjustment rope 4a is fixed to the corresponding lifting ring 2f. The angle adjustment motor 5 of this embodiment is a stepper motor, and the travel motor 6 is a three-phase asynchronous brake motor. The back of the bottom end of the front scraper 2c and the rear scraper 2b are both provided with guide wheels 2g, which can prevent the scraper from running off the track. At the same time, when encountering small stones, the guide wheels 2g can roll on the small stones, thereby lifting the scraper a little to prevent the small stones from getting stuck on the scraper.

[0041] Both the front and rear sides of the bridge 2a are provided with in-position switches, and detection blocks 1a are provided at both ends of the guide rail 1d corresponding to the in-position switches. The in-position detection output end of the in-position switch is connected to the in-position detection input end of the central control machine CPU, and the walking output end of the central control machine CPU is connected to the walking input end of the walking motor 6.

[0042] A travel switch for limiting the range of movement is also provided on the bridge 2a. One end of the travel switch start protection limit normally closed switch SQ4 is connected to the start protection limit signal input end of the central control machine CPU, and the other end of the travel switch start protection limit normally closed switch SQ4 is connected to the power supply end of the switch power supply U2. One end of the travel switch end protection limit normally closed switch SQ5 is connected to the end protection limit signal input end of the central control machine CPU, and the other end of the travel switch end protection limit normally closed switch SQ5 is connected to the power supply end of the switch power supply U2.

[0043] The two in-position switches are photoelectric switches, and the detection ends of the two in-position switches are both set downward, and the height of the bottom end of the in-position switch is higher than the height of the detection block 1a. The travel switch can detect the moving travel of the gantry truck, and can form a double protection with the in-position switch to improve the moving safety of the gantry truck.

[0044] There are two travel motors 6, namely the first travel motor M1 and the second travel motor M2, and they are driven by the same frequency converter U1. The first travel motor M1 is also equipped with a fifth fuse QF5, and the second travel motor M2 is also equipped with a fifth fuse QF6. The data interaction end of the frequency converter U1 is connected to the data interaction end of the central control machine CPU. One end of the normally open contact of the fifth fuse QF5 is connected to the power supply end of the switching power supply U2, and the other end of the normally open contact of the fifth fuse QF5 is connected to the fault signal input end of the first travel motor of the central control machine CPU. One end of the normally open contact of the sixth fuse QF6 is connected to the power supply end of the switching power supply U2, and the other end of the normally open contact of the sixth fuse QF6 is connected to the fault signal input end of the second travel motor of the central control machine CPU. The first alarm output end of the central control machine CPU is connected to one end of the buzzer HA2, and the other end of the buzzer HA2 is connected to the power supply end of the switching power supply U2. The electric control box 3 is also provided with an audible and visual alarm and an emergency stop button SB3. The emergency stop signal input end of the central control machine CPU is connected to one end of the normally closed contact of the emergency stop button SB3, and the other end of the normally closed contact of the emergency stop button SB3 is connected to the power supply end of the switch power supply U2. The second alarm signal output end of the central control machine CPU is connected to the alarm signal input end of the audible and visual alarm. The start indication signal output end of the central control machine CPU is connected to one end of the start indicator light SB1, and the other end of the start indicator light SB1 is connected to the power supply end of the switch power supply U2. The angle adjustment motor 5 is a stepper motor, and the step pulse signal output end of the central control machine CPU is connected to the positive pole of the step pulse signal of the stepper motor. The negative pole of the step pulse signal of the stepper motor is connected to the negative pole of the switch power supply U2. The step direction signal output end of the central control machine CPU is connected to the positive pole of the step direction signal input of the stepper motor, and the negative pole of the step direction signal of the stepper motor is connected to the negative pole of the switch power supply U2. The step brake signal output end of the central control machine CPU is connected to the positive pole of the step brake signal input of the stepper motor, and the negative pole of the step brake signal of the stepper motor is connected to the negative pole of the switch power supply U2.

[0045] The in-position switches are respectively the front in-position switch SQ1 and the rear in-position switch SQ2. One end of the normally open contact of the front in-position switch SQ1 is connected to the front in-position signal input end of the central control machine CPU, and the common end of the front in-position switch SQ1 is connected to the negative pole of the switching power supply U2. The power supply end of the front in-position switch SQ1 is connected to the power supply end of the switching power supply U2. One end of the normally open contact of the rear in-position switch SQ2 is connected to the rear in-position signal input end of the central control machine CPU. The common end of the rear in-position switch SQ2 is connected to the negative pole of the switching power supply U2, and the power supply end of the rear in-position switch SQ2 is connected to the power supply end of the switching power supply U2.

[0046] One end of the travel switch start protection limit normally closed switch SQ4 is connected to the start protection limit signal input end of the central control machine CPU, and the other end of the travel switch start protection limit normally closed switch SQ4 is connected to the power supply end of the switch power supply U2. One end of the travel switch end protection limit normally closed switch SQ5 is connected to the end protection limit signal input end of the central control machine CPU, and the other end of the travel switch end protection limit normally closed switch SQ5 is connected to the power supply end of the switch power supply U2.

[0047] The scraper of this technical solution can be flexibly designed to adapt to rectangular thickening tanks of different sizes, and can find suitable configuration solutions to meet different needs. At the same time, the equipment also has good scalability, and can be adjusted and upgraded according to changes in processing volume to adapt to the dynamic changes in tailwater treatment needs. At the same time, the structural design of the equipment fully considers the convenience of maintenance and maintenance. Most parts are easy to disassemble and replace, reducing maintenance costs and downtime. The intelligent monitoring system can warn of potential faults in advance, facilitate timely maintenance, and ensure the long-term stable operation of the equipment. The material selection and anti-corrosion treatment of the equipment ensure that it can still maintain good performance and a long service life in an environment where it is in long-term contact with sludge water.

[0048] like Figure 1 As shown, the present invention also provides a working method of a truss type double scraper main push type scraper, comprising the following steps:

[0049] S1: Start the scraper;

[0050] S2: Load configuration parameters, set the scraper start value, the maximum scraping amount of the scraper at a time, the maximum scraper pressure and the maximum boost pressure, and perform self-checks on each component. If the self-check results of each component are normal, proceed to the next step. If an abnormality occurs, the central control computer CPU will send an alarm signal to alarm; the configuration parameters include the descent depth of the sludge concentration meter, the distance from the total height of the pool 1 to the bottom of the sludge concentration meter, and the distance between the scraper and the two ends of the pool 1;

[0051] S3: Detection is performed through the sludge concentration meter, and the data detected by the sludge concentration meter is analyzed by the central control computer CPU. If the sludge concentration exceeds the set scraper start value, the central control computer CPU sends a scraping instruction to the scraper;

[0052] S4: If no scraping instruction is received, the scraper enters standby mode and performs real-time detection through the sludge concentration meter. If a scraping instruction is received, the next step is executed;

[0053] S5: Start scraping mud;

[0054] S6: The central control machine CPU formulates a sludge scraping plan. The central control machine CPU generates a three-dimensional surface diagram of the sludge concentration distribution in the tank body 1 according to the sludge concentration signals detected by the multiple groups of sludge concentration meters arranged on the tank body 1, and compares the maximum sludge deposition value in the tank body 1 with the maximum sludge scraping amount of the scraper at a time. If the maximum sludge scraping amount of the scraper at a time is not exceeded, the scraper operates normally (the scraper can complete the sludge scraping in a single complete operation). If the maximum sludge scraping amount of the scraper at a time is exceeded, the central control machine CPU drives the scraper to repeat multiple operations.

[0055] S7: The central control machine CPU adjusts the front scraper 2c to the initial angle, starts the travel motor 6, drives the underwater scraper assembly to scrape away the silt through the travel motor 6, and collects the scraper pressure data in real time through the pressure sensor of the front scraper 2c. If the detected pressure is greater than the maximum scraper pressure, proceed to the next step, otherwise execute S10.

[0056] S8: The central control machine CPU drives the angle adjustment mechanism to adjust the inclination angle of the front scraper 2c, so that the bottom of the front scraper 2c is raised, the thickness of the scraped mud is reduced, and the scraper pressure data is re-detected through the pressure sensor of the front scraper 2c. If the detected pressure is reduced, execute S10.

[0057] S9: If the detected pressure data increase is less than the maximum pressure increase value, the inclination angle of the front scraper 2c is continuously adjusted so that the bottom of the front scraper 2c is raised again.

[0058] If the detected pressure data increase is greater than the maximum boost value, the central control machine CPU drives the angle adjustment mechanism to adjust the front scraper 2c to the highest position, and at the same time sends a stop command to the travel motor 6 to stop scraping mud, and the central control machine CPU sends an alarm signal for workers to troubleshoot.

[0059] S10: The central control machine CPU drives the scraper to scrape the mud. When the current in-position switch SQ1 detects that it has reached the front end of the pool body 1, the central control machine CPU drives the front scraper 2c and the rear scraper 2b to rotate to a horizontal state to lift the bottom ends of the front scraper 2c and the rear scraper 2b, and drives the front scraper 2c and the rear scraper 2b back to the rear end of the pool body 1 through the walking mechanism;

[0060] When the rear position switch SQ2 detects that the rear end of the pool body 1 has been reached, the central control machine CPU drives the front scraper 2c and the rear scraper 2b to rotate to a vertical state to scrape mud; repeat steps S7 to S9;

[0061] Until the scraping operation is completed, S3 is repeated.

Claims

1. A truss-type double-scraper main push-type scraper, comprising a truss vehicle (2) for erecting on the top of a pool body (1) and a pair of guide rails (1d) for fixing on the top of the pool body (1), the truss vehicle (2) comprising a bridge frame (2a), a traveling mechanism, a traveling motor (6) and an underwater scraper assembly, the bottom of the bridge frame (2a) is slidably connected to the guide rail (1d), and the traveling motor (6) drives the bridge frame (2a) to slide, characterized in that: A support frame extending downward is arranged on the bottom side of the bridge frame (2a), the underwater scraper assembly is fixed on the bottom side of the support frame, and horizontal bars extending forward or backward are arranged on both the front and rear sides of the bottom end of the support frame, the underwater scraper assembly comprises a front scraper (2c) and a rear scraper (2b), the front scraper (2c) and the rear scraper (2b) are rotatably connected to the horizontal bars on the front side or the rear side, respectively, and angle adjustment mechanisms are separately arranged on the bridge frame (2a) corresponding to the front scraper (2c) and the rear scraper (2b); It also comprises a plurality of sludge concentration meters for installation on the side wall of the tank body (1), wherein the sludge concentration signal output end of the sludge concentration meter is connected to the concentration signal input end of the central control machine (CPU), the scraping surfaces at the bottom ends of the front scraper (2c) and the rear scraper (2b) are both provided with pressure sensors (2d), a scraper blade (2e) is provided on the pressure sensor (2d), the pressure detection output end of the pressure sensor (2d) is connected to the pressure detection input end of the central control machine (CPU), the angle adjustment output end of the central control machine (CPU) is connected to the angle adjustment input end of the angle adjustment mechanism, and the travel speed adjustment output end of the central control machine (CPU) is connected to the speed adjustment input end of the travel motor (6).

2. A truss-type double-scraper main push-type scraper according to claim 1, characterized in that: The front side of the front scraper (2c) and the rear side of the rear scraper (2b) are both provided with a lifting ring (2f); the angle adjustment mechanism comprises an angle adjustment motor (5), a planetary gear reducer (5a) and a winch (4); the output end of the angle adjustment motor (5) is connected to the planetary gear reducer (5a); the output end of the planetary gear reducer (5a) is connected to the winch (4); an angle adjustment rope (4a) is provided on the winch (4); the other end of the angle adjustment rope (4a) is fixed to the corresponding lifting ring (2f).

3. A truss-type double-scraper main push type scraper according to claim 2, characterized in that: The angle adjustment motor (5) is a stepping motor, and the travel motor (6) is a three-phase asynchronous brake motor.

4. A truss type double scraper main push type scraper according to claim 1, characterized in that: The back sides of the bottom ends of the front scraper (2c) and the rear scraper (2b) are both provided with guide wheels (2g).

5. The truss-type double-scraper main push-type scraper according to claim 1, characterized in that: Both the front and rear sides of the bridge (2a) are provided with in-position switches, and detection blocks (1a) are provided at both ends of the guide rail (1d) corresponding to the in-position switches. The in-position detection output end of the in-position switch is connected to the in-position detection input end of the central control machine (CPU), and the travel output end of the central control machine (CPU) is connected to the travel input end of the travel motor (6).

6. A truss type double scraper main push type scraper according to claim 5, characterized in that: The bridge (2a) is also provided with a travel switch for limiting the range of movement, one end of the travel switch starting point protection limit normally closed switch (SQ4) is connected to the starting point protection limit signal input end of the central control machine (CPU), the other end of the travel switch starting point protection limit normally closed switch (SQ4) is connected to the power supply end of the switch power supply (U2), one end of the travel switch end point protection limit normally closed switch (SQ5) is connected to the end point protection limit signal input end of the central control machine (CPU), and the other end of the travel switch end point protection limit normally closed switch (SQ5) is connected to the power supply end of the switch power supply (U2); The two in-place switches are photoelectric switches, and the detection ends of the two in-place switches are arranged downward, and the height of the bottom end of the in-place switch is higher than the height of the detection block (1a).

7. A truss type double scraper main push type scraper according to claim 6, characterized in that: There are two travel motors (6), namely a first travel motor (M1) and a second travel motor (M2), and they are driven by the same frequency converter (U1). The first travel motor (M1) is also equipped with a fifth fuse (QF5), and the second travel motor (M2) is also equipped with a fifth fuse (QF6). The data interaction end of the frequency converter (U1) is connected to the data interaction end of the central control machine (CPU), one end of the normally open contact of the fifth fuse (QF5) is connected to the power supply end of the switch power supply (U2), and the fifth fuse (QF5) is normally closed. The other end of the open contact is connected to the first travel motor fault signal input end of the central control machine (CPU); one end of the normally open contact of the sixth fuse (QF6) is connected to the power supply end of the switch power supply (U2), and the other end of the normally open contact of the sixth fuse (QF6) is connected to the second travel motor fault signal input end of the central control machine (CPU); the first alarm output end of the central control machine (CPU) is connected to one end of the buzzer (HA2), and the other end of the buzzer (HA2) is connected to the power supply end of the switch power supply (U2); the electric control box (3) is also provided with an audible and visual alarm and an emergency stop button (SB 3), the emergency stop signal input end of the central control machine (CPU) is connected to one end of the normally closed contact of the emergency stop button (SB3), and the other end of the normally closed contact of the emergency stop button (SB3) is connected to the power supply end of the switch power supply (U2); the second alarm signal output end of the central control machine (CPU) is connected to the alarm signal input end of the sound and light alarm; the start indication signal output end of the central control machine (CPU) is connected to one end of the start indicator light (SB1), and the other end of the start indicator light (SB1) is connected to the power supply end of the switch power supply (U2); the angle adjustment motor (5) is a stepping motor, The step pulse signal output end of the central control machine (CPU) is connected to the positive electrode of the step pulse signal of the stepping motor, the negative electrode of the step pulse signal of the stepping motor is connected to the negative electrode of the switching power supply (U2), the step direction signal output end of the central control machine (CPU) is connected to the positive electrode of the step direction signal input of the stepping motor, the negative electrode of the step direction signal of the stepping motor is connected to the negative electrode of the switching power supply (U2), the step brake signal output end of the central control machine (CPU) is connected to the positive electrode of the step brake signal input of the stepping motor, and the negative electrode of the step brake signal of the stepping motor is connected to the negative electrode of the switching power supply (U2); The in-position switches are respectively a front in-position switch (SQ1) and a rear in-position switch (SQ2); one end of the normally open contact of the front in-position switch (SQ1) is connected to the front in-position signal input end of the central control machine (CPU), the common end of the front in-position switch (SQ1) is connected to the negative electrode of the switching power supply (U2), and the power supply end of the front in-position switch (SQ1) is connected to the power supply end of the switching power supply (U2); one end of the normally open contact of the rear in-position switch (SQ2) is connected to the rear in-position signal input end of the central control machine (CPU), the common end of the rear in-position switch (SQ2) is connected to the negative electrode of the switching power supply (U2), and the power supply end of the rear in-position switch (SQ2) is connected to the power supply end of the switching power supply (U2); One end of the travel switch starting point protection limit normally closed switch (SQ4) is connected to the starting point protection limit signal input end of the central control computer (CPU), and the other end of the travel switch starting point protection limit normally closed switch (SQ4) is connected to the power supply end of the switch power supply (U2). One end of the travel switch end point protection limit normally closed switch (SQ5) is connected to the end point protection limit signal input end of the central control computer (CPU), and the other end of the travel switch end point protection limit normally closed switch (SQ5) is connected to the power supply end of the switch power supply (U2).

8. A method for operating a truss-type double-scraper main push-type scraper, characterized in that: The mud scraper according to any one of claims 1 to 7 further comprises the following steps: S1: Start the scraper; S2: Load configuration parameters, set scraper start value, maximum scraping volume of scraper at a time, maximum scraper pressure and maximum boost pressure, and perform self-check on each component; if the self-check results of each component are normal, proceed to the next step; if there is an abnormality, the central control computer (CPU) will send out an alarm signal to alarm; S3: Detection is performed through the sludge concentration meter, and the data detected by the sludge concentration meter is analyzed by the central control computer (CPU). If the sludge concentration exceeds the set scraper start value, the central control computer (CPU) sends a scraper instruction to the scraper; S4: If no scraping instruction is received, the scraper enters standby mode and performs real-time detection through the sludge concentration meter; if a scraping instruction is received, the next step is executed; S5: Start scraping mud; S6: The central control computer (CPU) formulates a sludge scraping plan; the central control computer (CPU) generates a three-dimensional surface diagram of the sludge concentration distribution in the tank body (1) based on the sludge concentration signals detected by the multiple groups of sludge concentration meters arranged on the tank body (1); and compares the maximum sludge deposition in the tank body (1) with the maximum sludge scraping amount of the scraper at a time; if the maximum sludge scraping amount of the scraper at a time is not exceeded, the scraper operates normally; if the maximum sludge scraping amount of the scraper at a time is exceeded, the central control computer (CPU) drives the scraper to operate repeatedly for multiple times; S7: the central control unit (CPU) adjusts the front scraper (2c) to an initial angle, starts the travel motor (6), and drives the underwater scraper assembly to scrape away the sludge through the travel motor (6); the pressure sensor of the front scraper (2c) collects scraper pressure data in real time, and if the detected pressure is greater than the maximum scraper pressure, proceeds to the next step, otherwise, executes S10; S8: the central control unit (CPU) drives the angle adjustment mechanism to adjust the inclination angle of the front scraper (2c), so that the bottom of the front scraper (2c) is raised, the thickness of the scraped mud is reduced, and the scraper is scraped; the scraper pressure data is re-detected by the pressure sensor of the front scraper (2c), and if the detected pressure is reduced, S10 is executed; S9: If the detected pressure data increase is less than the maximum pressure increase value, the inclination angle of the front scraper (2c) is further adjusted so that the bottom of the front scraper (2c) is raised again; If the detected pressure data increase is greater than the maximum pressure increase, the central control unit (CPU) drives the angle adjustment mechanism to adjust the front scraper (2c) to the highest position, and at the same time sends a stop command to the travel motor (6) to stop scraping mud, and the central control unit (CPU) sends an alarm signal for workers to conduct troubleshooting; S10: The central control computer (CPU) drives the scraper to scrape the mud until the scraping operation is completed, and S3 is repeated.

Images