Assembled mechanical and electric universal sewage discharging device

Abstract

The invention relates to the technical field of dirt discharging devices, in particular to an assembled mechanical and electric universal dirt discharging device which comprises a driving air cylinder, a clamping jaw air cylinder connected with a piston rod of the driving air cylinder and driven by the piston rod to reciprocate, and a driving guide assembly composed of pulleys rotationally arranged on two clamping jaws of the clamping jaw air cylinder. The image analysis module is used for determining the qualification of the winding process of the sewage discharge pipe based on the arrangement of the sewage discharge pipe in the initial pipe winding image and determining whether the single-layer winding of the sewage discharge pipe reaches the standard or not based on the arrangement of the sewage discharge pipe in the single-layer winding image; the transverse displacement amount of the driving air cylinder is determined and adjusted based on the uniformity difference value between the arrangement uniformity of the sewage discharging pipes which are disqualified in winding and the preset uniformity, and / or the clamping distance between the two pulleys is determined; and the regulation and control module is used for determining the clamping distance between the two pulleys and the delay time for driving the air cylinder to rotate on the basis of the arrangement uniformity of the single-layer winding substandard sewage discharging pipe, so that the winding process is more stable.

Description

Technical Field

[0001] The invention relates to the technical field of dirt discharge devices, and in particular to an assembled mechanical and electric universal dirt discharge device. Background Art

[0002] With the acceleration of industrialization, various types of mechanical equipment are constantly required to improve work efficiency and reduce reliance on manual operation in practical applications. Especially in sewage treatment and cleaning work, the sewage discharge unit is one of the key components, and the rationality of its structure and design directly affects the use effect and efficiency of the equipment.

[0003] Chinese Patent Publication No.: CN204296765U, a terminal device applied to a train vacuum sewage unloading system, comprising a sewage unloading pipe retracting and releasing device, a sewage unloading pipe is wound around the sewage unloading pipe retracting and releasing device, the sewage unloading pipe retracting and releasing device is also fixedly connected to a rotary sealing elbow, the outlet end of the sewage unloading pipe is connected to the rotary sealing elbow through the sewage unloading pipe retracting and releasing device, the sewage unloading pipe retracting and releasing device is connected to a manual driving device, the sewage unloading pipe retracting and releasing device is also connected to an electric control device through an electric driving device, and the output end of the electric driving device is also connected to an electric / manual switching device for switching between electric or manual modes. However, when the patent is in use, the efficiency of the use of the patent is reduced due to the low degree of automation when storing the sewage unloading pipe.

[0004] The sewage unloading equipment in the prior art is relatively complicated when being stored, which reduces the efficiency of storing the sewage unloading pipe and the stability of the winding of the sewage unloading pipe. Summary of the invention

[0005] To this end, the present invention provides an assembled mechanical and electric universal sewage discharge device to overcome the problem of low winding uniformity and stability of the sewage discharge pipe in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides an assembled mechanical and electric universal dirt discharge device, comprising:

[0007] An assembled mechanical and electric universal dirt-discharging device, comprising:

[0008] An assembled mechanical and electric universal sewage discharge device, characterized by comprising:

[0009] An active guide assembly includes a driving cylinder, a clamping jaw cylinder connected to a piston rod of the driving cylinder and driven to reciprocate by the piston rod, and a pulley disposed on two clamping jaws of the clamping jaw cylinder;

[0010] A hose reel assembly, comprising a fixed frame, a first motor disposed on the fixed frame, and a hose reel disposed in an inner space of the fixed frame and driven by the first motor;

[0011] A control assembly comprising:

[0012] An image acquisition module, used to obtain a winding image of the sewage discharge pipe;

[0013] An image analysis module, which is used to determine the eligibility of the winding process of the sewage discharge pipe based on the arrangement of the sewage discharge pipe in the initial pipe winding image, and determine whether the single-layer winding of the sewage discharge pipe meets the standard based on the arrangement of the sewage discharge pipe in the single-layer winding image;

[0014] A control module is used to determine the adjustment of the lateral displacement of the driving cylinder and / or the clamping distance between the two pulleys based on the difference between the arrangement uniformity of the unqualified sewage discharge pipe and the preset uniformity.

[0015] Or, the clamping distance between the two pulleys and the delay time for the rotation of the driving cylinder are determined based on the arrangement uniformity of the sewage discharge pipe that does not meet the single-layer winding standard.

[0016] Furthermore, it also includes a shell component, which includes a frame component with a hollow structure, a plurality of door panels arranged on each side of the frame component for closing the side frame component to form an installation space, and an upper cover component arranged on the top of the frame component.

[0017] Furthermore, the hose reel assembly also includes a first sprocket arranged on the hose reel and coordinated with the second sprocket on the first motor, and an integrated bearing seat arranged at the end of the hose reel for plugging in the sewage discharge pipe, wherein the first sprocket is connected to the second sprocket via a chain transmission.

[0018] Further, the size of the first sprocket is larger than the size of the second sprocket.

[0019] Furthermore, it also includes an auxiliary guide assembly, which is arranged above the active guide assembly and fixedly connected to the frame, and includes a guide frame fixedly connected to the frame, a guide groove formed inside the guide frame for preliminarily guiding the sewage discharge pipe, and a quick connector connected to the other end of the sewage discharge pipe and arranged inside the guide frame.

[0020] Furthermore, one end of the integrated bearing seat is used to be connected to the sewage discharge pipe, and the other end passes through the door panel and forms a threaded structure.

[0021] Further, the image analysis module determines that the arrangement uniformity of the sewage discharge pipe is unqualified based on the comparison result that the arrangement uniformity of the sewage discharge pipe is less than a preset uniformity.

[0022] Furthermore, when the sewage discharge pipe winding is unqualified, the control module determines that the control strategy is to reduce the lateral displacement of the driving cylinder and / or reduce the clamping distance at the farthest ends of the two pulleys.

[0023] Furthermore, the image analysis module determines that the single-layer winding of the sewage discharge pipe does not meet the standard based on a comparison result that the arrangement uniformity of the sewage discharge pipe in the single-layer winding image is less than a preset uniformity.

[0024] Furthermore, the control module determines to optimize the clamping distance at the farthest ends of the two pulleys and determines the delay time for the rotation of the driving cylinder based on the condition that the single-layer winding of the sewage discharge pipe does not meet the standard.

[0025] Compared with the prior art, the beneficial effects of the present invention are that, firstly, the image acquisition and analysis system equipped in the device can monitor the winding state of the sewage discharge pipe in real time to ensure that its arrangement uniformity reaches the preset standard. During the winding process, if the winding is found to be unqualified, the system automatically adjusts the clamping distance at the farthest ends of the two pulleys of the active guide component and the lateral displacement of the driving cylinder, which effectively avoids the errors caused by manual adjustment in traditional methods, thereby improving the accuracy and automation of the operation. Through the optimized pipe winding component, active guide component and image analysis module, the winding process of the sewage discharge pipe is more stable and efficient.

[0026] Secondly, the device enhances the stability of the sewage discharge pipe during winding by adjusting the clamping distance at the farthest ends of the two pulleys in the active guide assembly. This design can significantly reduce winding errors caused by uneven pipe storage and improve the storage efficiency of the sewage discharge pipe. The dynamic control function enables the device to be flexibly adjusted to adapt to various complex scenarios when facing different working conditions, ensuring the efficiency and stability of the equipment operation.

[0027] In addition, the modular design makes the maintenance and upgrade of the equipment easier. Users can quickly replace or repair components according to actual needs, extending the service life of the equipment. Through modular design, each component can operate independently and can also be flexibly integrated with other industrial equipment, further improving its versatility and compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an exploded view of the overall structure of the assembled mechanical and electric universal sewage discharge device of the present invention;

[0029] Figure 2 It is a schematic diagram of the internal structure of the assembled mechanical and electric universal dirt discharge device of the present invention;

[0030] Figure 3 It is a schematic diagram of the cooperation between the sewage discharge pipe and the driving cylinder in the assembled mechanical and electric universal sewage discharge device of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the clamping claw cylinder in the assembled mechanical and electric universal dirt-unloading device of the present invention;

[0032] Figure 5 It is a plan view of the clamping claw cylinder in the assembled mechanical and electric universal dirt-unloading device of the present invention;

[0033] Figure 6 This is a structural diagram of an integrated bearing in the assembled mechanical and electric universal dirt-discharging device of the present invention;

[0034] Among them: 1-frame composition, 11-door panel, 12-upper cover composition, 2-control electrical box, 3-guide frame, 31-quick connector, 4-fixed frame, 41-hose reel, 42-integrated bearing seat, 43-motor shaft, 44-first sprocket, 45-second sprocket, 46-first motor, 5-driving cylinder, 51-grip cylinder, 52-grip, 53-fixed plate, 54-rotating shaft, 55-pulley. DETAILED DESCRIPTION

[0035] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0037] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0038] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] See also Figure 1 , Figure 2 As shown, Figure 1 It is an exploded view of the overall structure of the assembled mechanical and electric universal sewage discharge device of the present invention; Figure 2It is a schematic diagram of the internal structure of the assembled mechanical and electric universal dirt discharge device of the present invention;

[0040] The assembled mechanical and electric universal dirt discharge device of the embodiment of the present invention comprises:

[0041] The housing assembly includes a frame component 1 with a hollow structure, a plurality of door panels 11 arranged on the sides of the frame component 1 for closing the side frame component 1 to form an installation space, and an upper cover component 12 arranged on the top of the frame component 1;

[0042] The upper cover component 12 includes an upper cover body arranged on the top of the frame component 1 and a movable cover for covering the auxiliary guide component, and the movable cover can facilitate the use of the quick-pull-out quick connector 31.

[0043] The hose reel assembly includes a fixed frame 4 disposed inside the installation space, a first motor 46 disposed on the fixed frame 4, a hose reel 41 disposed in the internal space of the fixed frame 4, a first sprocket 44 disposed on the hose reel 41 and drivingly matched with a second sprocket 45 on the first motor 46, and an integrated bearing seat 42 disposed at the end of the hose reel 41 for plugging in a sewage discharge pipe, wherein the first sprocket 44 is connected to the second sprocket 45 via a chain transmission;

[0044] In the embodiment of the present invention, the first motor 46 drives the hose reel 41 to rotate via the first sprocket and the second sprocket, so that the sewage discharge hose is wound and stored on the hose reel 41 through the rotation of the hose reel 41 .

[0045] An auxiliary guide assembly, which is arranged above the hose reel 41 and fixedly connected to the frame assembly 1, comprises a guide frame 3 fixedly connected to the frame assembly 1, and a quick connector 31 connected to the other end of the sewage discharge pipe and arranged inside the guide frame 3;

[0046] In the embodiment of the present invention, a receiving groove for accommodating the quick connector 31 is provided inside the guide frame 3, wherein the quick connector 31 is provided with a valve for controlling the opening and closing of the sewage discharge flow, and the handle on the valve for twisting is located above the receiving groove and contacts the side wall of the receiving groove, so that the handle will limit the quick connector 31 so that it will not be separated from the receiving groove to the inside of the frame component 1, thereby ensuring that the user can quickly and effectively pull out the quick connector 31.

[0047] An active guide assembly is arranged between the hose reel 41 and the auxiliary guide assembly and is fixedly connected to the fixed frame 4, comprising a driving cylinder 5 fixedly connected to the frame assembly 1, a clamping jaw cylinder 51 connected to the piston rod of the driving cylinder 5 and driven to reciprocate by the piston rod, and two clamping jaws stacked and arranged on the clamping jaw cylinder 51; wherein a single clamping jaw 51 comprises a fixed plate 53, a rotating shaft 54 ​​arranged between the two fixed plates 53, and a pulley 55 arranged on the rotating shaft;

[0048] In the embodiment of the present invention, the pulley 55 can rotate relative to the fixed plate 53 around the axis of the rotating shaft 54, and there is a gap between the two pulleys 55 to accommodate the sliding of the sewage discharge pipe, and the gap can be adjusted with the distance between the two clamping claws 52 on the clamping claw cylinder 51;

[0049] A control component 2, which is arranged on the frame component 1, includes a power supply, an image acquisition module for acquiring an image of the sewage discharge pipe winding, and an image analysis module for analyzing the image acquisition module;

[0050] A control module adjusts the lateral displacement of the driving cylinder and / or adjusts the clamping distance between the two pulleys based on the difference between the arrangement uniformity of the unqualified sewage discharge pipe and the preset uniformity.

[0051] Specifically, the power supply is used to provide power support to the sewage unloading device. When the sewage unloading pipe needs to be stored, the first motor 46 is controlled to start and the second sprocket 45 is driven to rotate through the motor shaft 43. The second sprocket 45 will drive the first sprocket 44 to rotate through the chain, thereby driving the hose reel 41 to rotate. When the sewage unloading pipe is recovered, the guide groove opened inside the guide frame 3 and the gap formed by the two pulleys in the active guide assembly will first ensure the consistency of the sewage unloading pipe storage path. The integrated bearing seat 42 is arranged on the hose reel 41 through a flange, wherein one end of the integrated bearing seat 42 passes through the door panel 11 and is provided with a threaded structure, and the other end of the integrated bearing seat 42 is provided with a pagoda joint for connecting with the sewage unloading pipe.

[0052] See also Figure 6 As shown, it is an integrated bearing structure diagram in the assembled mechanical electric universal sewage unloading device of the present invention. In this embodiment, the shell assembly constitutes the external frame component 1 of the sewage unloading unit, providing a closed installation space to accommodate other components, and is composed of multiple door panels 11 and upper covers 12. The door panels 11 can be disassembled and installed as needed to facilitate maintenance and cleaning. The upper cover component 12 is designed to be detachable, which is convenient for inspection and replacement of internal components. The second sprocket 45 is smaller than the first sprocket 44, and the sewage unloading pipe can be wound onto the hose reel 41 at a more uniform and gentle speed, thereby completing the automatic storage of the sewage unloading pipe. The integrated bearing seat 42 is convenient for quick connection with the sewage unloading pipe on the one hand, and is convenient for transferring sewage to the sewage unloading pipe for unloading on the other hand, thereby facilitating the rapid transfer of sewage to the sewage unloading pipe for unloading.

[0053] In addition, in another embodiment of the present invention, the scheme in which the first motor 46 drives the hose reel 41 to rotate via the first sprocket 44 and the second sprocket 45 can be replaced by the first motor 46 being directly connected to the hose reel 41, and then the hose reel 41 is driven to rotate by the rotation of the motor shaft 43 of the first motor 46. There is still another scheme in which the first sprocket 44 and the second sprocket 45 can be connected by belt drive. The present invention does not make specific limitations on this. For those skilled in the art, other schemes in which two or more cooperate or cooperate in linkage to enable the first motor 46 to drive the hose reel 41 to rotate are still within the scope of protection of the present invention.

[0054] In the assembled mechanical and electric universal sewage unloading device of the embodiment of the present invention, the control module determines the clamping distance at the farthest ends of the two pulleys 55 when the clamping claw cylinder 51 clamps the sewage unloading pipe based on the diameter of the sewage unloading pipe under the condition of recovering the sewage unloading pipe, and determines the diameter of the sewage unloading pipe as the initial lateral displacement of the sewage unloading pipe in the active guide assembly within a preset time length.

[0055] Among them, when the clamping claw cylinder 51 clamps the sewage discharge pipe, the clamping distance at the farthest ends of the two pulleys 55 is less than or equal to the diameter of the sewage discharge pipe, so that the two pulleys 55 can exert a force on the side wall of the sewage discharge pipe, and then when the sewage discharge pipe is wound, the sewage discharge pipe can be stretched based on the force exerted by the two pulleys 55 on the side wall of the sewage discharge pipe, and further when the sewage discharge pipe is wound onto the hose reel 41, the distance between the sewage discharge pipes can be adjusted.

[0056] See also Figure 3-Figure 5 As shown, Figure 3 It is a partial schematic diagram of the cooperation between the sewage discharge pipe and the driving cylinder 5 in the assembled mechanical and electric universal sewage discharge device of the present invention; Figure 4 It is a schematic diagram of the structure of the clamping claw cylinder 51 in the assembled mechanical and electric universal dirt discharging device of the present invention; Figure 5 It is a plan view of the clamping claw cylinder 51 in the assembled mechanical and electric universal dirt discharging device of the present invention;

[0057] In the assembled mechanical and electric universal sewage unloading device of the embodiment of the present invention, the image analysis module determines whether the winding process of the sewage unloading pipe is qualified based on the arrangement uniformity of the sewage unloading pipe in the initial winding pipe image and the preset uniformity under the first preset condition;

[0058] Among them, the initial pipe winding image is an image in which the sewage discharge pipe starts to be wound along the leftmost end of the hose reel 41, and the sewage discharge pipe is wound at least three times from the leftmost end of the hose reel 41 to the right end of the hose reel 41. The first preset condition is that the sewage discharge pipe is wound on the hose reel 41 at least three times.

[0059] Specifically, the arrangement uniformity of the sewage discharge pipes is the average value of the ratio of the number of sewage discharge pipes with the same spacing to the number of spacings between sewage discharge pipes and the ratio of the number of spacings with spacings less than or equal to 1 cm to the number of spacings between sewage discharge pipes, that is, it satisfies the following formula:

[0060]

[0061] Among them, J is the arrangement uniformity, A is the number of sewage discharge pipes with the same spacing, A0 is the number of sewage discharge pipes with spacing less than or equal to 1 cm;

[0062] In addition, the preset uniformity is the average value of the ratio of the number of sewage discharge pipes with the same spacing to the number of sewage discharge pipes with the same spacing and the ratio of the number of spacings with spacings less than or equal to 1 cm to the number of spacings between the sewage discharge pipes. However, due to errors in the specific winding of the sewage discharge pipes, the preset uniformity value range is 0.9 to 1. The preferred value in the present invention is 0.97. The qualified condition for the sewage discharge pipe arrangement uniformity is that the arrangement uniformity is greater than or equal to 0.97, and the unqualified condition for the sewage discharge pipe arrangement uniformity is that the arrangement uniformity is less than 0.97.

[0063] In this embodiment, the arrangement spacing of the sewage discharge pipes is divided in a refined manner, which can further improve the compactness and rationality of the winding of the sewage discharge pipes and ensure the stability of the arrangement of the sewage discharge pipes.

[0064] Specifically, the image analysis module calculates the arrangement uniformity of the sewage discharge pipe and the preset uniformity difference under unqualified conditions, so as to determine the adjustment strategy for the pipe winding process according to the uniformity difference and the preset difference;

[0065] If the uniformity difference is greater than or equal to the preset difference, the control module regulates the lateral displacement of the driving cylinder 5 in the active guide assembly and the clamping distance between the farthest ends of the two pulleys 55 of the clamping cylinder 51 in the active guide assembly based on the first adjustment strategy;

[0066] If the uniformity difference is less than the preset difference, the control module adjusts the lateral displacement of the driving cylinder 5 in the active guide assembly based on the second adjustment strategy;

[0067] Among them, the first adjustment strategy is that the control module adjusts the clamping distance between the farthest ends of the two pulleys 55 of the clamping cylinder 51 in the active guide assembly and the lateral displacement of the driving cylinder 5 in the active guide assembly, and the second adjustment strategy is that the control module adjusts the lateral displacement of the driving cylinder 5 in the active guide assembly;

[0068] In this embodiment, the image acquisition module can calculate the spacing between each two adjacent circles of the sewage unloading pipe based on the initial pipe winding image of the sewage unloading pipe, and the arrangement uniformity difference of the sewage unloading pipe is the difference between the arrangement uniformity and the preset uniformity. The preset uniformity difference is the error value of the preset uniformity of the sewage unloading pipe when an error occurs during the winding process between the sewage unloading pipes.

[0069] Specifically, under the first adjustment strategy condition, the image analysis module, in the embodiment of the present invention, the preset uniformity difference range is 0 to 0.1, and the present invention preferably selects 0.1. When the image acquisition module identifies that the difference between the arrangement uniformity and the preset uniformity is 0.12 based on the initial winding image of the sewage discharge pipe, the uniformity difference at this time is greater than or equal to the preset difference. The control module adjusts the displacement change of the driving cylinder 5 and the clamping distance between the farthest ends of the two pulleys 55 of the clamping cylinder 51 based on the first adjustment strategy. Based on this, the present invention can refer to the adjustment coefficient k for dynamically adjusting the lateral displacement of the driving cylinder 5 and the clamping distance between the farthest ends of the two pulleys 55 of the clamping cylinder 51 to adjust the driving cylinder 5 and the active guide assembly, and the calculation formula of k is:

[0070]

[0071] Wherein: Δd is the uniformity difference, Δp is the preset difference, and n is the number of winding turns of the sewage discharge pipe.

[0072] Based on this, in the embodiment of the present invention, when n=4, the k value is 0.7, and the adjustment of the clamping spacing F between the farthest ends of the two pulleys 55 of the clamping cylinder 51 is based on the adjustment coefficient k and the clamping spacing F0 to satisfy the following formula: F=F0*k; in the embodiment of the present invention, the initial clamping spacing F0 can be set in the range of 3 to 5 cm, and 3 cm is preferred in the present invention. On this basis, the adjusted clamping spacing F is 2.1 cm, so that the spacing between the pulleys 55 becomes smaller;

[0073] The adjustment of the lateral displacement X of the driving cylinder 5 in the active guide assembly is based on the adjustment coefficient k and the initial lateral displacement X0, which satisfies the following formula: X=X0*k; the embodiment of the present invention can set the initial lateral displacement X0 range to 3-8 cm, and the present invention preferably uses 5 cm. On this basis, the adjusted lateral displacement becomes 3.5 cm;

[0074] In the embodiment of the present invention, by optimizing the clamping distance between the farthest ends of the two pulleys 55 and the adjustment method of the lateral displacement of the driving cylinder 5, the operation of the equipment can be controlled more accurately to ensure the stability and safety of the winding process. In addition, through the formulated dynamic adjustment strategy of the present invention, the system can realize automatic and precise adjustment, avoid errors that may be caused by manual operation, and improve the overall operating efficiency and production quality of the sewage unloading device. This method can also reduce excessive wear of the equipment and extend its service life.

[0075] Specifically, under the second adjustment strategy condition, when the image acquisition module determines that the difference is 0.08 based on the average of the change in the spacing of several images during the rotation process, the k value in this embodiment is 0.8, and the adjustment of the lateral displacement X of the driving cylinder 5 in the embodiment of the present invention is based on the adjustment coefficient k and the initial lateral displacement X0, which is adjusted to 4 cm;

[0076] In the embodiment of the present invention, the second adjustment strategy is adopted to adjust the lateral displacement of the driving cylinder 5 in the active guide assembly, so that the present invention shows higher flexibility in dealing with smaller deviations, can quickly correct winding errors, significantly reduce the incidence of unqualified winding, ensure the stability of winding quality, and provide reliable support for complex working scenarios. During the winding process, if the winding is found to be unqualified, the system automatically adjusts the clamping distance between the farthest ends of the two pulleys 55 and the lateral displacement of the driving cylinder 5, effectively avoiding the errors caused by manual adjustment in traditional methods, thereby improving the accuracy and automation of the operation.

[0077] In the embodiment of the present invention, the image analysis module analyzes the single-layer winding image under the second preset condition to determine whether the single-layer winding of the sewage discharge pipe meets the standard based on the comparison result of the arrangement uniformity of the sewage discharge pipe in the single-layer winding image and the preset uniformity;

[0078] The single-layer winding image is that the sewage discharge pipe is wound around the hose reel 41 in sequence according to the winding order and is in a state of having only one layer. The second preset condition is that the sewage discharge pipe is wound around the right end of the hose reel 41 and the width from the hose reel 41 is the diameter of the sewage discharge pipe. The single-layer winding non-compliant condition is that the arrangement uniformity between the sewage discharge pipes is less than the preset uniformity, and the single-layer winding compliance condition is that the arrangement uniformity between the sewage discharge pipes is greater than or equal to the preset uniformity.

[0079] Specifically, when the comparison result between the arrangement uniformity of the sewage discharge pipe and the preset uniformity does not meet the standard, the clamping distance between the farthest ends of the two pulleys 55 is optimized and the delay time of the rotation of the driving cylinder 5 is determined;

[0080] When the comparison result of the arrangement uniformity of the sewage discharge pipe and the preset uniformity meets the standard, it is determined to optimize the clamping distance between the farthest ends of the two pulleys 55 in the clamping jaw cylinder 51 and the lateral displacement of the driving cylinder 5 to maintain the status quo;

[0081] Among them, the arrangement uniformity of the sewage unloading pipes is the average value of the ratio of the number of sewage unloading pipes with the same spacing to the number of spacings less than or equal to 1 cm to 2.1 times the number of spacings between the sewage unloading pipes. Errors may occur, so the preset uniformity value range is 0.9-1. The preferred value of the present invention is 0.97. The condition for the sewage unloading pipes to meet the arrangement uniformity standard is that the arrangement uniformity is greater than or equal to 0.97. The condition for the sewage unloading pipes to fail to meet the arrangement uniformity standard is that the arrangement uniformity is less than 0.97.

[0082] In this embodiment, when the arrangement uniformity of the sewage discharge pipe in the single-layer winding image collected by the image acquisition module is 98%, the comparison result meets the standard, and the optimization scheme for determining the displacement change of the two pulleys 55 in the clamping cylinder 51 and the lateral displacement of the driving cylinder 5 is to keep the status quo unchanged. When the arrangement uniformity of the sewage discharge pipe in the single-layer winding image collected by the image acquisition module is 85%, the comparison result does not meet the standard, and the optimization scheme for determining the displacement change of the clamping cylinder 51 and the lateral displacement of the driving cylinder 5 is to reduce the displacement change of the two pulleys 55 of the clamping cylinder 51 and determine the delay time of the rotation of the driving cylinder 5. At this time, the displacement change of the two pulleys 55 of the clamping cylinder 51 can be optimized based on the dynamic adjustment coefficient K, where K satisfies the following relationship:

[0083]

[0084] Wherein: Δd is the uniformity difference, Δp is the preset difference, and n is the number of winding turns of the sewage discharge pipe.

[0085] Based on this, in an embodiment of the present invention, when n=4, the k value in this embodiment is 0.75, and the adjustment of the clamping distance F between the farthest ends of the two pulleys 55 of the clamping cylinder 51 is based on the adjustment coefficient k and the clamping distance F0 to satisfy the following formula: F=F0*k; in an embodiment of the present invention, the initial clamping distance F0 can be set in the range of 3 to 5 cm, and the present invention preferably prefers 3 cm. On this basis, the adjusted clamping distance F is 2.25 cm, so that the distance between the pulleys 55 becomes smaller, and at this time, the adjustment of the delay time T of the rotation of the driving cylinder 5 is based on the adjustment coefficient k and the delay time T0 of the initial rotation to satisfy the following formula: T=T0 / k. In an embodiment of the present invention, the delay time T0 of the initial rotation can be set in the range of 1 to 5 s, and the present invention preferably prefers 2 s. On this basis, the adjusted delay time T of the rotation is determined to be 2.66 s, so that the delay time of the rotation of the driving cylinder 5 is extended.

[0086] In this embodiment, when the comparison result of the arrangement uniformity of the sewage discharge pipe and the preset uniformity does not meet the standard, the control module determines that the scheme for optimizing the clamping claw cylinder 51 is to reduce the clamping distance between the farthest ends of the two pulleys 55 and extend the delay time of the rotation of the driving cylinder 5. In this case, the sewage discharge pipe will first be wound around the rightmost end of the hose reel 41. However, since the delay time of the rotation of the driving cylinder 5 becomes longer, the sewage discharge pipe at the rightmost end of the hose reel 41 will be wound more, and the clamping distance and lateral displacement between the farthest ends of the two pulleys 55 will be reduced, which will increase the clamping force of the two pulleys 55 on the sewage discharge pipe, and then the sewage discharge pipe wound around the rightmost end of the hose reel 41 will firmly press the previously wound sewage discharge pipe on the next layer, thereby increasing the firmness of the sewage discharge pipe winding.

[0087] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0088] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An assembled mechanical and electric universal sewage discharge device, characterized in that: include: An active guide assembly includes a driving cylinder, a clamping jaw cylinder connected to a piston rod of the driving cylinder and driven to reciprocate by the piston rod, and a pulley disposed on two clamping jaws of the clamping jaw cylinder; A hose reel assembly, comprising a fixed frame, a first motor disposed on the fixed frame, and a hose reel disposed in an inner space of the fixed frame and driven by the first motor; A control assembly comprising: An image acquisition module, used to obtain a winding image of the sewage discharge pipe; An image analysis module, which is used to determine the eligibility of the winding process of the sewage discharge pipe based on the arrangement of the sewage discharge pipe in the initial pipe winding image, and determine whether the single-layer winding of the sewage discharge pipe meets the standard based on the arrangement of the sewage discharge pipe in the single-layer winding image; A control module, which determines to adjust the lateral displacement of the driving cylinder and / or adjusts the clamping distance between the two pulleys based on the difference between the arrangement uniformity of the unqualified sewage discharge pipe and the preset uniformity. Or, the clamping distance between the two pulleys and the delay time for the rotation of the driving cylinder are determined based on the arrangement uniformity of the sewage discharge pipe that does not meet the single-layer winding standard.

2. The assembled mechanical and electric universal dirt discharge device according to claim 1 is characterized in that: It also includes a shell component, which includes a frame component with a hollow structure, a plurality of door panels arranged on each side of the frame component for closing the side frame component to form an installation space, and an upper cover component arranged on the top of the frame component.

3. The assembled mechanical and electric universal dirt-discharging device according to claim 2 is characterized in that: The hose reel assembly also includes a first sprocket disposed on the hose reel and drivingly matched with a second sprocket on the first motor, and an integrated bearing seat disposed at the end of the hose reel for plugging in a sewage discharge pipe, wherein the first sprocket is connected to the second sprocket via a chain transmission.

4. The assembled mechanical and electric universal dirt discharge device according to claim 3 is characterized in that: The first sprocket has a size greater than that of the second sprocket.

5. The assembled mechanical and electric universal dirt-discharging device according to claim 2 is characterized in that: It also includes an auxiliary guide assembly, which is arranged above the active guide assembly and fixedly connected to the frame, including a guide frame fixedly connected to the frame, a guide groove formed inside the guide frame for preliminarily guiding the sewage discharge pipe, and a quick connector connected to the other end of the sewage discharge pipe and arranged inside the guide frame.

6. The assembled mechanical and electric universal dirt-discharging device according to claim 3 is characterized in that: One end of the integrated bearing seat is used to be connected to the sewage discharge pipe, and the other end penetrates the door panel and forms a threaded structure.

7. The assembled mechanical and electric universal dirt-discharging device according to claim 1 is characterized in that: The image analysis module determines that the arrangement uniformity of the sewage discharge pipe is unqualified based on the comparison result that the arrangement uniformity of the sewage discharge pipe is less than a preset uniformity.

8. The assembled mechanical and electric universal dirt-discharging device according to claim 7 is characterized in that: The control module determines the control strategy to reduce the lateral displacement of the driving cylinder and / or reduce the clamping distance between the farthest ends of the two pulleys when the winding of the sewage discharge pipe is unqualified.

9. The assembled mechanical and electric universal dirt-discharging device according to claim 1 is characterized in that: The image analysis module determines that the single-layer winding of the sewage discharge pipe does not meet the standard based on the comparison result that the arrangement uniformity of the sewage discharge pipe in the single-layer winding image is less than the preset uniformity.

10. The assembled mechanical and electric universal dirt discharge device according to claim 9, characterized in that: The control module determines to optimize the clamping distance at the farthest ends of the two pulleys and determines the delay time for the rotation of the driving cylinder based on the condition that the single-layer winding of the sewage discharge pipe does not meet the single-layer winding standard.

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