Automatic cleaning device and method for secondary sedimentation tank

Abstract

The invention discloses an automatic cleaning device for a secondary sedimentation tank. The automatic cleaning device comprises a walking bridge, a guide rail, a sliding block, a stepping motor, a speed regulating motor, a cleaning brush, an electronic compass and a controller, cleaning path data is pre-stored in the controller; the cleaning path data comprises a stepping distance corresponding to each azimuth angle value; the controller is used for analyzing a corresponding azimuth angle value according to a message signal sent by the electronic compass, calculating a corresponding offset distance and then generating a corresponding stepping motor driving signal according to the offset distance; the stepping motor is fixedly installed on the guide rail and used for moving the sliding block according to a stepping motor driving signal. The device can drive a stepping motor and a servo to send a pulse signal according to the change of an angle value and a determined stepping distance, and drive a cleaning brush to a specified position for cleaning.

Description

Technical Field

[0001] The present application relates to the technical field of secondary sedimentation tank cleaning devices, and in particular to an automatic cleaning device and method for a secondary sedimentation tank. Background Art

[0002] The secondary sedimentation tank is used to separate mud and water, clarify the mixed liquor, concentrate the sludge and return the separated sludge to the biological treatment section. It is used to clarify the mixed liquor and recover and concentrate the activated sludge. Its effect directly affects the water quality of the effluent and the concentration of the returned sludge. If the sedimentation and concentration effect is not good, the active mud suspended matter will increase in the effluent, thereby increasing the BOD mass concentration of the effluent; at the same time, the concentration of the returned sludge will also decrease, thereby reducing the concentration of the mixed liquor in the aeration tank and affecting the purification effect.

[0003] A large amount of dirt is easily accumulated in the secondary sedimentation tank after long-term use. Most of the dirt appears on the side walls and top walls of the secondary sedimentation tank. In order not to affect the normal use of the secondary sedimentation tank, the secondary sedimentation tank needs to be brushed regularly. Since there are certain safety issues in manual brushing of the secondary sedimentation tank, many factories use brushing machines to automatically brush the secondary sedimentation tank. However, when general brushing machines are brushing the secondary sedimentation tank, for the irregular annular secondary sedimentation tank, they cannot adapt to the cleaning distance from the tank wall; they cannot circulate and clean both sides of the tank wall. Summary of the invention

[0004] The purpose of the present invention is to avoid the shortcomings of the prior art and provide a technology for a cleaning device that can adapt to irregular annular secondary sedimentation tanks.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] According to one aspect of the present invention, there is provided an automatic cleaning device for a secondary sedimentation tank, comprising: a walking bridge, a guide rail, a slider, a stepping motor, a speed regulating motor, a cleaning brush, an electronic compass and a controller; the stepping motor, the speed regulating motor and the electronic compass are respectively connected to the controller; the walking bridge is arranged above the secondary sedimentation tank, and is used for rotating about the center of the secondary sedimentation tank as the axis; the guide rail is fixedly installed below the walking bridge, the slider is movably connected to the slide rail, the speed regulating motor is fixedly connected to the slider, and the speed regulating motor is connected to the cleaning brush shaft; the electronic compass is fixedly connected to the speed regulating motor; the stepping motor, the speed regulating motor and the electronic compass are respectively connected to the controller separately; the controller pre-stores cleaning path data; the cleaning path data includes the stepping distance corresponding to each azimuth angle value; the controller is used for parsing the corresponding azimuth angle value according to the message signal sent by the electronic compass, and calculating the corresponding offset distance, and then generating the corresponding stepping motor driving signal according to the offset distance; the stepping motor is fixedly installed on the guide rail, and is used for moving the slider according to the stepping motor driving signal.

[0007] Specifically, the walking bridge also includes a servo motor, which is arranged at a position corresponding to the rotation axis of the walking bridge; the controller is connected to the servo motor and is used to control the forward and reverse rotation of the servo motor.

[0008] More specifically, a first limit switch and a second limit switch are also provided on the guide rail; the slider is arranged between the first limit switch and the second limit switch; when the slider moves and triggers the first limit switch or the second limit switch, the first limit switch or the second limit switch generates a corresponding reset signal and sends it to the controller; the controller generates a corresponding reset instruction according to the received reset signal; the stepper motor is reset according to the received reset instruction.

[0009] In another specific embodiment, the secondary sedimentation tank includes an outflow weir and an inner outflow weir; the cleaning path data includes two groups, corresponding to the outflow weir and the inner outflow weir respectively.

[0010] In another specific embodiment, the controller includes a PLC control unit and a touch screen; the PLC control unit includes: an acquisition module, a data processing module, a control module and a storage module; the storage module pre-stores cleaning path data, and the cleaning path data also includes the speed corresponding to the speed regulating motor; the acquisition module is used to collect the message signal sent by the electronic compass, and parse the message signal to parse out the corresponding azimuth angle value; the data processing module is used to retrieve the corresponding cleaning path data according to the azimuth angle value and calculate, and generate the corresponding stepper motor drive instruction; the control module is used to generate the corresponding drive signal according to the stepper motor drive instruction, and send it to the stepper motor.

[0011] Furthermore, the PLC control unit also includes a setting module, which is connected to the storage module and the touch screen respectively; the setting module is used to enter or update the cleaning path data.

[0012] According to another aspect of the present invention, there is provided a method for automatically cleaning a secondary sedimentation tank, which is applied to the above-mentioned automatic cleaning device for a secondary sedimentation tank, and comprises the following steps:

[0013] S1: Start the servo motor and speed regulating motor;

[0014] S2: Collect the message signal sent by the electronic compass and parse the corresponding azimuth angle value;

[0015] S3: Retrieve the corresponding cleaning path data according to the azimuth angle value; match the corresponding stepping distance in the cleaning path data, and compare the stepping distance with the current actual stepping; then calculate the corresponding offset distance, and generate the corresponding stepping motor drive signal according to the offset distance;

[0016] S4: The stepper motor rotates according to the stepper motor drive signal and moves the corresponding slider;

[0017] S5: Repeat steps S2 to S4 until the servo motor rotates the bridge back to the initial position.

[0018] Specifically, step S2 also includes the following steps:

[0019] S20: Generate a read request and send it to the electronic compass.

[0020] More specifically, step S2 further includes the following steps:

[0021] S21: extract the azimuth angle data in the message signal, convert it from hexadecimal to decimal, and then combine it with the operation instruction to calculate the azimuth angle value.

[0022] In another specific embodiment, step S4 further includes the following steps:

[0023] S41: Determine whether a reset signal is received. If a reset signal is received, generate a corresponding reset instruction to control the servo motor and the stepper motor to reset.

[0024] The beneficial effects achieved by the present invention are as follows: an automatic cleaning device for a secondary sedimentation tank comprises: a walking bridge, a guide rail, a slider, a stepping motor, a speed regulating motor, a cleaning brush, an electronic compass and a controller; the stepping motor, the speed regulating motor and the electronic compass are respectively connected to the controller; the walking bridge is arranged above the secondary sedimentation tank and is used to rotate with the center of the secondary sedimentation tank as the axis; the guide rail is fixedly installed below the walking bridge, the slider is movably connected to the slide rail, the speed regulating motor is fixedly connected to the slider, and the speed regulating motor is connected to the cleaning brush shaft; the electronic compass is fixedly connected to the speed regulating motor; the stepping motor, the speed regulating motor and the electronic compass are respectively connected to the controller The controller is separately connected; the controller pre-stores cleaning path data; the cleaning path data includes the stepping distance corresponding to each azimuth angle value; the controller is used to parse the corresponding azimuth angle value according to the message signal sent by the electronic compass, and calculate the corresponding offset distance, and then generate the corresponding stepping motor driving signal according to the offset distance; the stepping motor is fixedly installed on the guide rail, and is used to move the slider according to the stepping motor driving signal; the device can drive the stepping motor and the servo to send a pulse signal according to the change of the angle value and the determined stepping distance, and drive the cleaning brush to the specified position for cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic diagram of the principle of an automatic cleaning device for a secondary sedimentation tank according to an embodiment of the present application;

[0027] Figure 2 It is a three-dimensional structural schematic diagram of an automatic cleaning device for a secondary sedimentation tank according to an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of a first partial structure of an automatic cleaning device for a secondary sedimentation tank according to an embodiment of the present application;

[0029] Figure 4 This is a second partial structural schematic diagram of an automatic cleaning device for a secondary sedimentation tank according to an embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of a partial structure of a secondary sedimentation tank automatic cleaning device in an embodiment of the present application from a top view;

[0031] Figure 6 It is a schematic flow chart of an automatic cleaning method of a secondary sedimentation tank according to an embodiment of the present application;

[0032] in, Figures 1 to 5 Including:

[0033] 1. Stepper motor; 2. Guide rail; 3. Slider; 4. Limit switch; 5. Speed ​​regulating motor; 6. Electronic compass;

[0034] 7. Cleaning brush; 8. Fixed bracket; 12. Outlet water weir; 13. Inner water weir; 14. Walking bridge. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described through the implementation method with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0036] Example 1

[0037] One of the implementation methods of the automatic cleaning device of the secondary sedimentation tank of the present application is as follows: Figures 1 to 6 As shown, it includes: a walking bridge 14, a guide rail 2, a slider 3, a stepping motor 1, a speed regulating motor 5, a cleaning brush 7, an electronic compass 6 and a controller; the stepping motor 1, the speed regulating motor 5 and the electronic compass 6 are respectively connected to the controller.

[0038] The walkway 14 is arranged above the secondary sedimentation tank and is used for rotating about the center of the secondary sedimentation tank as the axis.

[0039] The guide rail 2 is fixedly installed under the walking bridge 14 through a fixed bracket 8, the slider 3 is movably connected to the guide rail 2, the speed regulating motor 5 is fixedly connected to the slider 3, and the speed regulating motor 5 is axially connected to the cleaning brush 7; the electronic compass 6 is fixedly connected to the speed regulating motor 5. The stepping motor 1, the speed regulating motor 5 and the electronic compass 6 are separately connected to the controller.

[0040] Specifically, the walkway 14 is also provided with a servo motor, which is arranged at a position corresponding to the rotation axis of the walkway 14; a controller is connected to the servo motor to control the forward and reverse rotation of the servo motor. When the servo motor rotates, it drives the walkway 14 to rotate back and forth.

[0041] The controller pre-stores cleaning path data; the cleaning path data includes step distances corresponding to various azimuth angle values; the controller is used to parse the corresponding azimuth angle value according to the message signal sent by the electronic compass, and calculate the corresponding offset distance, and then generate the corresponding stepper motor drive signal according to the offset distance; the stepper motor is fixedly installed on the guide rail and is used to move the slider according to the stepper motor drive signal.

[0042] The controller receives the message from the electronic compass 6 and parses it, and obtains the specific azimuth angle value through program data conversion, thereby providing the accurate position information of the specific electronic compass and the cleaning brush in the secondary sedimentation tank. Therefore, according to the change of the angle value and the determined stepping distance, it can drive the stepper motor and servo to send a pulse signal to drive the cleaning brush to the specified position for cleaning.

[0043] Specifically, the controller includes a PLC control unit and a touch screen; the PLC control unit includes: an acquisition module, a data processing module, a control module and a storage module.

[0044] The storage module pre-stores cleaning path data, and the cleaning path data also includes the rotation speed corresponding to the speed regulating motor.

[0045] The acquisition module is used to collect the message signals sent by the electronic compass, and parse the message signals to obtain the corresponding azimuth angle values.

[0046] The data processing module is used to retrieve and calculate the corresponding cleaning path data according to the azimuth angle value, and generate the corresponding stepper motor drive instruction.

[0047] The control module is used to generate a corresponding driving signal according to the stepper motor driving instruction and send it to the stepper motor.

[0048] Furthermore, the PLC control unit also includes a setting module, which is connected to the storage module and the touch screen respectively; the setting module is used to enter or update the cleaning path data.

[0049] Furthermore, a limit switch 4 is provided on the guide rail 2, and there are two limit switches 4, including: a first limit switch and a second limit switch; the slider 3 is arranged between the first limit switch and the second limit switch; when the slider 3 moves and triggers the first limit switch or the second limit switch, the first limit switch or the second limit switch generates a corresponding reset signal and sends it to the controller; the controller generates a corresponding reset instruction according to the received reset signal; the stepper motor 1 is reset according to the received reset instruction, so that the slider 3 returns to the initial position.

[0050] Furthermore, the secondary sedimentation tank includes an outflow weir 12 and an inner outflow weir 13; the cleaning path data includes two groups, corresponding to the outflow weir 12 and the inner outflow weir 13. An automatic cleaning device for a secondary sedimentation tank of the present application can clean the outflow weir 12 and / or the inner outflow weir 13 respectively according to the determined cleaning path data.

[0051] According to another aspect of the present invention, there is provided a secondary sedimentation tank automatic cleaning method, which is applied to the above-mentioned secondary sedimentation tank automatic cleaning device, such as Figure 6 As shown, the following steps are included:

[0052] S1: Start the servo motor and speed regulating motor according to the determined working mode;

[0053] S2: Collect the message signal sent by the electronic compass and parse the corresponding azimuth angle value;

[0054] Specifically, step S2 includes the following steps:

[0055] S20: The acquisition module generates a read request according to the determined acquisition frequency and sends it to the electronic compass 6. After receiving the read request, the electronic compass 6 generates a message of receipt and sends it to the acquisition module;

[0056] S21: The acquisition module acquires the message information sent by the electronic compass 6, extracts the azimuth angle data in the message signal, converts it from hexadecimal to decimal, and then calculates the azimuth angle value in combination with the operation instruction.

[0057] The specific formula is: actual angle = (converted to decimal data field - 20000) / 100.

[0058] For example: the angle value returned is 3D52, which is converted into decimal as 15698. The actual data is (15698-20000) / 100=-43.02 degrees.

[0059] S3: Retrieve the corresponding cleaning path data according to the azimuth angle value; match the corresponding stepping distance in the cleaning path data, and compare the stepping distance with the current actual stepping; then calculate the corresponding offset distance, and generate the corresponding stepping motor drive signal according to the offset distance;

[0060] S4: The stepper motor rotates according to the stepper motor drive signal and moves the corresponding slider;

[0061] Specifically, step S4 also includes the following steps:

[0062] S41: Determine whether a reset signal is received. If a reset signal is received, generate a corresponding reset instruction to control the servo motor and the stepper motor to reset.

[0063] S5: Repeat steps S2 to S4 until the servo motor rotates the bridge back to the initial position.

[0064] Furthermore, before step S1, step S0 is also included: initializing the cleaning path data, that is, inputting the determined cleaning path data.

[0065] When positioning the cleaning brush 7, it is necessary to first measure the irregular water outlet area. The cleaning machine needs to first determine two points in the water outlet area:

[0066] (1) Determine the origin of the cleaning machine at any position and calibrate the electronic compass through a computer to use the origin as the zero point of the electronic compass, that is, 0 degrees.

[0067] (2) Determine the origin of the guide rail, and use the center position of the cleaning brush 7 between the outflow weir 12 and the inflow weir 13 as the origin of positioning (step distance).

[0068] After determining the azimuth angle value of the cleaning brush 7 at each operating angle, the step distances corresponding to the cleaning brush 7 at each operating angle are measured respectively, and these data are entered into the controller to form cleaning path data.

[0069] Specifically, the servo motor is started to drive the walking bridge to move, the position of the cleaning brush 7 is fixed, and the distance from the cleaning brush 7 to the outflow weir 12 and the inner outflow weir 13 on the left and right sides is measured, that is, the stepping distance that the cleaning brush 7 needs to run on the guide rail when cleaning the secondary sedimentation tank driven by the walking bridge.

[0070] In general, the secondary sedimentation tank is in a perfect circle, and the stepping distance of the above operation remains unchanged. When reaching an irregular position, record the corresponding stepping distance and the corresponding azimuth angle value.

[0071] It is clear which irregular positions need to be moved how far to be cleaned and the angle value of the position. The two data are used as the basis for the positioning control of the PLC unit to form the cleaning path data. The PLC unit outputs the corresponding drive signal to the stepper motor and the servo motor according to the position angle value output by the electronic compass 6, and controls the cleaning brush 7 to perform radial positioning cleaning control.

[0072] Among them, the drive signal corresponding to the output of the stepper motor and the servo motor is a pulse signal.

[0073] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. An automatic cleaning device for a secondary sedimentation tank, characterized in that: include: Walking bridge, guide rail, slider, stepper motor, speed regulating motor, cleaning brush, electronic compass and controller; The stepping motor, the speed regulating motor and the electronic compass are respectively connected to the controller; The walkway is arranged above the secondary sedimentation tank and is used to rotate with the center of the secondary sedimentation tank as the axis; The guide rail is fixedly installed under the walking bridge, the slider is movably connected to the slide rail, the speed regulating motor is fixedly connected to the slider, and the speed regulating motor is connected to the cleaning brush shaft; the electronic compass is fixedly connected to the speed regulating motor; The stepping motor, the speed regulating motor and the electronic compass are separately connected to the controller; The controller pre-stores cleaning path data; the cleaning path data includes step distances corresponding to various azimuth angle values; the controller is used to parse the corresponding azimuth angle value according to the message signal sent by the electronic compass, calculate the corresponding offset distance, and then generate the corresponding stepper motor drive signal according to the offset distance; The stepper motor is fixedly mounted on the guide rail and is used to move the slider according to the stepper motor driving signal.

2. The automatic cleaning device for a secondary sedimentation tank according to claim 1 is characterized in that: The walkway also includes a servo motor, which is arranged at a position corresponding to the rotation axis of the walkway; The controller is connected to the servo motor and is used for controlling the forward and reverse rotation of the servo motor.

3. The automatic cleaning device for a secondary sedimentation tank according to claim 2 is characterized in that: The guide rail is also provided with a first limit switch and a second limit switch; The slider is arranged between the first limit switch and the second limit switch; When the slider moves and triggers the first limit switch or the second limit switch, the first limit switch or the second limit switch generates a corresponding reset signal and sends it to the controller; The controller generates a corresponding reset instruction according to the received reset signal; The stepper motor is reset according to the received reset instruction.

4. The automatic cleaning device for a secondary sedimentation tank according to claim 2 is characterized in that: The secondary sedimentation tank comprises an outflow weir and an inner outflow weir; The cleaning path data includes two groups, corresponding to the outgoing water weir and the inner water weir respectively.

5. The automatic cleaning device for a secondary sedimentation tank according to claim 2 is characterized in that: The controller includes a PLC control unit and a touch screen; The PLC control unit includes: an acquisition module, a data processing module, a control module and a storage module; The storage module pre-stores the cleaning path data, and the cleaning path data also includes the speed corresponding to the speed regulating motor; The acquisition module is used to collect the message signal sent by the electronic compass, and parse the message signal to parse out the corresponding azimuth angle value; The data processing module is used to retrieve and calculate the corresponding cleaning path data according to the azimuth angle value, and generate the corresponding stepper motor driving instruction; The control module is used to generate a corresponding driving signal according to the stepper motor driving instruction and send it to the stepper motor.

6. The automatic cleaning device for a secondary sedimentation tank according to claim 5 is characterized in that: The PLC control unit also includes a setting module, which is connected to the storage module and the touch screen respectively; The setting module is used to enter or update the cleaning path data.

7. An automatic cleaning method for a secondary sedimentation tank, applied to an automatic cleaning device for a secondary sedimentation tank according to any one of claims 2 to 6, characterized in that: The following steps are involved: S1: Start the servo motor and the speed regulating motor; S2: Collect the message signal sent by the electronic compass and parse the corresponding azimuth angle value; S3: Retrieving the corresponding cleaning path data according to the azimuth angle value; matching the corresponding stepping distance in the cleaning path data, and comparing the stepping distance with the current actual stepping; then calculating the corresponding offset distance, and generating the corresponding stepping motor driving signal according to the offset distance; S4: the stepper motor rotates according to the stepper motor driving signal to move the corresponding slider; S5: Repeat steps S2 to S4 until the servo motor rotates the bridge back to the initial position.

8. The automatic cleaning method of a secondary sedimentation tank according to claim 7, characterized in that: The step S2 further comprises the following steps: S20: Generate a read request and send it to the electronic compass.

9. The automatic cleaning method of a secondary sedimentation tank according to claim 8, characterized in that: The step S2 further comprises the following steps: S21: extract the azimuth angle data in the message signal, convert it from hexadecimal to decimal, and then combine it with the operation instruction to calculate the azimuth angle value.

10. The automatic cleaning method of a secondary sedimentation tank according to claim 7, characterized in that: The step S4 further comprises the following steps: S41: Determine whether a reset signal is received. If the reset signal is received, generate a corresponding reset instruction to control the servo motor and the stepper motor to reset.

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