An underwater sewage cleaning operation device and its operation method

Abstract

The present invention discloses a device for underwater sewage cleaning operation. The traveling mechanism is equipped with a road condition detection mechanism. At the front end of the traveling mechanism, there is a swing frame and a swing driving mechanism. The swing frame is provided with a roller brush and a rotation driving assembly. The traveling mechanism has a transverse movement seat and a transverse movement driving assembly. The transverse movement seat is provided with a robotic arm, and the robotic arm has a mounting frame. The mounting frame is provided with a row brush, a pressure sensor, and a conductivity sensor. The mounting frame is provided with a rotary brush assembly and a suction assembly. The traveling mechanism has a control center and a sewage collection tank. The suction assembly is connected to the sewage collection tank. The traveling mechanism, the road condition detection mechanism, the swing driving mechanism, the rotation driving assembly, the transverse movement driving assembly, the robotic arm, the pressure sensor, the conductivity sensor, and the suction assembly are connected to the control center. Also disclosed is an operation method of the device for underwater sewage cleaning operation. This device for underwater sewage cleaning operation and its operation method are adapted to the transition from a plane to a slope and to handle the sludge in the gap between the plane and the slope, improving the practicability, sewage cleaning efficiency, and sewage cleaning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly relates to a bottom cleaning operation device and an operation method thereof. Background Art

[0002] The cooling water pool of a UHV converter station plays an important role in the power system. The cooling water pool helps equipment such as transformers or reactors dissipate heat through a water circulation system, enabling them to maintain an appropriate operating temperature range and preventing equipment failure or damage caused by overheating. However, under long-term operation or improper maintenance, due to factors such as poor water quality, pool environment, water circulation and flow rate, and microbial reproduction, a sludge layer will form at the bottom of the cooling water pool, leading to adverse consequences such as water quality deterioration, reduced cooling effect, and equipment damage.

[0003] In previous treatment methods, professional cleaners could descend to the bottom of the pool to directly remove the formed sludge. However, manual cleaning is costly, especially when it is necessary to stop the machine and drain the water for maintenance, which affects the operation of the UHV converter station. The development of a cleaning robot for the cooling water pool can improve work efficiency and reduce operation risks. Therefore, the cleaning robot for the cooling water pool came into being.

[0004] The Chinese patent document with the application number 201810038013.6 discloses a bottom cleaning robot and its usage method. Specifically, it discloses that the robot includes: a traveling mechanism provided at the bottom for carrying and transporting, the traveling mechanism is connected to a control system provided inside the robot, the control system is connected to a wireless receiving device, the interior of the robot is a filtering chamber, the upstream of the filtering chamber is connected to a sewage suction port provided at the front bottom of the robot, a filter sheet is provided inside the filtering chamber, a transparent sludge manual cleaning window is provided at the top of the filtering chamber corresponding to the position above the filter sheet, a self-priming pump is connected downstream of the filter sheet, the outlet of the self-priming pump is connected to a negative pressure water outlet provided at the upper rear part of the robot, and a video monitoring lens connected to the control system is provided at the rear tail of the robot. The robot of the present invention can achieve real-time cleaning of the bottom substrate of an aquaculture water pool in a mechanical and automated manner, ensuring the aquaculture water quality, improving the aquaculture environment and growth efficiency of aquatic products, and at the same time improving the production efficiency of aquaculture and its economic benefits. However, the bottom cleaning robot has the following deficiencies:

[0005] 1) The robot drives the robot to frequently move and change its own pose through the traveling mechanism, and sucks sewage through the sewage suction port at the front bottom of the robot to clean the sludge in the cleaning area. On the one hand, due to the differences in terrain such as flat ground or slopes at the bottom of the pool, when the bottom cleaning robot works at the bottom of the pool, it is difficult to adapt to the transition from a plane to a slope angle and handle the sludge in the gap between the plane and the slope.

[0006] 2) Even if it is used to handle the sludge in the gap between the plane and the slope, on the one hand, under the elevation of the plane and the slope, the sewage suction port will be relatively high from the gap between the plane and the slope, resulting in poor sewage cleaning effect; on the other hand, during the cleaning process, the traveling mechanism needs to drive the robot to frequently move and change its own pose to clean the sludge in the area, which greatly affects the cleaning efficiency and restricts the practical and efficient application of the robot. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a bottom sewage cleaning operation device and its operation method that can adapt to the transition from a plane to a slope and handle the sludge in the gap between the plane and the slope, improving the practicability, sewage cleaning efficiency, and sewage cleaning effect.

[0008] To solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A bottom sewage cleaning operation device includes a traveling mechanism, on which a road condition detection mechanism is provided. At the front end of the traveling mechanism, there is a swing frame and a swing driving mechanism for driving the swing frame to swing up and down. On the swing frame, there is a roller brush and a rotation driving component for driving the roller brush to rotate. The traveling mechanism also has a transverse movement seat and a transverse movement driving component for driving the transverse movement seat to move horizontally. On the transverse movement seat, there is a robotic arm, and at the execution end of the robotic arm, there is a mounting frame. On the mounting frame, there is a row brush, a pressure sensor, and a conductivity sensor. At both ends of the row brush on the mounting frame, there are respectively a rotary round brush component and a suction component. The pressure sensor is used to detect the extrusion height of the row brush and the rotary round brush component, and the conductivity sensor is used to detect the conductivity of the water quality. The traveling mechanism also has a control center and a sewage collection box. The suction component is connected to the sewage collection box. The traveling mechanism, the road condition detection mechanism, the swing driving mechanism, the rotation driving component, the transverse movement driving component, the robotic arm, the pressure sensor, the conductivity sensor, and the suction component are all electrically connected to the control center.

[0010] As a further improvement of the above technical solution:

[0011] The rotary round brush component includes a rotary round brush and a brushing driving part, both of which are arranged on the mounting frame. The brushing driving part is connected to the rotary round brush and is used to drive the rotary round brush to rotate. The brushing driving part is electrically connected to the control center.

[0012] The suction component includes a suction cup, a suction pipe, and a suction pump. The suction cup is arranged at the center of the rotary round brush. There is a tapping head on the mounting frame. The suction cup is connected to the tapping head through the suction pipe. The tapping head is connected to the sewage collection box through the suction pump. The suction pump is electrically connected to the control center.

[0013] The mounting frame is provided with an electromagnetic valve on the suction pipe, and the electromagnetic valve is electrically connected to the control center.

[0014] The transverse movement driving assembly includes a lead screw and a rotary motor. The lead screw is rotatably arranged on the traveling mechanism, and the rotary motor is arranged on the traveling mechanism for driving the lead screw to rotate. The transverse movement seat is in threaded connection with the lead screw, and the rotary motor is electrically connected to the control center.

[0015] A transverse guide rail is arranged on the traveling mechanism, and the transverse movement seat is slidably arranged on the transverse guide rail.

[0016] The traveling mechanism includes a traveling frame and traveling components arranged on both sides of the traveling frame. The swing frame and the swing driving mechanism are arranged on the front end face of the traveling frame, the transverse movement seat and the transverse movement driving assembly are arranged on the top surface of the front end of the traveling frame, the road condition detection mechanism, the control center and the sewage receiving tank are all arranged on the traveling frame, and the traveling components are electrically connected to the control center.

[0017] The traveling component is a crawler wheel component.

[0018] A lighting lamp is arranged on the traveling frame.

[0019] An operation method of applying the underwater sewage cleaning operation device described above, which is applied to the cooling water pool of a UHV converter station, includes the following steps:

[0020] S1. The traveling mechanism is located on the bottom surface of the cooling water pool;

[0021] S2. When the road condition detection mechanism detects that there is a slope ahead, it detects the distance between the traveling mechanism and the slope, and the control center makes the traveling mechanism travel to a specified position away from the slope according to the distance between the traveling mechanism and the slope;

[0022] S3. The control center controls the mechanical arm to act, so that the brush row and the rotary brush assembly are in vertical contact with the bottom surface and approach the intersection line of the bottom surface and the slope;

[0023] S4. The control center controls the transverse movement driving assembly to move the brush row and the rotary brush assembly to brush along the extension direction of the intersection line. At the same time, the control center adjusts the suction force of the suction assembly according to the detection result of the conductivity sensor on the water quality conductivity, and adjusts the pressing depth of the brush row and the rotary brush assembly according to the detection result of the pressure sensor;

[0024] S5. After the brushing on one side of the intersection line with the bottom surface is completed, the control center controls the mechanical arm to act, so that the brush row and the rotary brush assembly are in vertical contact with the slope and approach the intersection line;

[0025] S6. The control center controls the transverse movement driving assembly to move the brush row and the rotary brush assembly to brush along the extension direction of the intersection line. At the same time, the control center adjusts the suction force of the suction assembly according to the detection result of the conductivity sensor on the water quality conductivity, and adjusts the pressing depth of the brush row and the rotary brush assembly according to the detection result of the pressure sensor;

[0026] After the brushing on one side of the intersection line on the slope is completed, the control center controls the movement of the robotic arm to align the suction assembly with the intersection line.

[0027] The control center enables the control of the cross - translation drive assembly to move the suction assembly along the extension direction of the intersection line for suction.

[0028] After the suction of the intersection line is completed, the control center makes the traveling mechanism move towards the slope and controls the swing drive mechanism to adjust the inclination angle of the roller brush so that the roller brush brushes again at the intersection line; meanwhile, the control center controls the movement of the robotic arm to make the row brush and the rotary round brush assembly brush the slope.

[0029] Compared with the prior art, the advantages of the present invention are as follows:

[0030] For the underwater cleaning operation device of the present invention, on the one hand, through the control center, road condition detection mechanism, pressure sensor and conductivity sensor, automatic control is realized. The robotic arm and the cross - translation seat are controlled to move so that the row brush and the rotary round brush assembly brush along one side of the intersection line on the bottom surface, along one side of the intersection line on the slope, and along the intersection line successively, adapting to the transition from the plane (bottom surface) to the slope and dealing with the sludge in the gap between the plane and the slope. And during the cleaning process, the traveling mechanism does not need to move frequently to change its own pose, as long as the robotic arm and the cross - translation seat move, which improves the practicability and efficiency. On the other hand, by brushing again at the intersection line with the roller brush, the cleaning effect is improved. On the third hand, while the roller brush brushes again at the intersection line, the row brush and the rotary round brush assembly brush the slope, further improving the cleaning efficiency.

[0031] The operation method of the present invention is carried out by using the underwater cleaning operation device and has all the advantages of the underwater cleaning operation device. That is, on the one hand, through the control center, road condition detection mechanism, pressure sensor and conductivity sensor, automatic control is realized. The robotic arm and the cross - translation seat are controlled to move so that the row brush and the rotary round brush brush along one side of the intersection line on the bottom surface, along one side of the intersection line on the slope, and along the intersection line successively, adapting to the transition from the plane (bottom surface) to the slope and dealing with the sludge in the gap between the plane and the slope. And during the cleaning process, the traveling mechanism does not need to move frequently to change its own pose, as long as the robotic arm and the cross - translation seat move, which improves the practicability and efficiency. On the other hand, by brushing again at the intersection line with the roller brush, the cleaning effect is improved. On the third hand, while the roller brush brushes again at the intersection line, the row brush and the rotary round brush brush the slope, further improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a three - dimensional structural schematic diagram of the underwater cleaning operation device of the present invention.

[0033] Figure 2It is the front view structural schematic diagram of the underwater sewage cleaning operation device of the present invention.

[0034] Figure 3 It is the top view structural schematic diagram of the underwater sewage cleaning operation device of the present invention.

[0035] Figure 4 It is the structural schematic diagram of the transverse movement drive assembly of the underwater sewage cleaning operation device of the present invention.

[0036] Figure 5 It is the main sectional structural schematic diagram of the rotary round brush of the underwater sewage cleaning operation device of the present invention.

[0037] Figure 6 It is the state diagram of the underwater sewage cleaning operation device of the present invention when the rotary round brush washes the intersection line on one side of the bottom surface.

[0038] Figure 7 It is the state diagram of the underwater sewage cleaning operation device of the present invention when the rotary round brush washes the intersection line on one side of the slope.

[0039] Figure 8 It is the state diagram of the underwater sewage cleaning operation device of the present invention at the intersection line where the rotary round brush washes.

[0040] Figure 9 It is the state diagram of the underwater sewage cleaning operation device of the present invention at the intersection line where the drum brush washes.

[0041] Each label in the figure represents:

[0042] 1. Traveling mechanism; 10. Cooling water pool; 101. Bottom surface; 102. Slope; 103. Intersection line; 11. Traveling frame; 12. Traveling component; 13. Lighting lamp; 2. Road condition detection mechanism; 3. Swing frame; 4. Swing drive mechanism; 5. Drum brush; 6. Rotation drive component; 7. Transverse movement seat; 71. Manipulator; 8. Transverse movement drive component; 81. Lead screw; 82. Rotation motor; 83. Transverse guide rail; 9. Mounting frame; 91. Row brush; 92. Pressure sensor; 93. Conductivity sensor; 94. Rotary round brush component; 941. Rotary round brush; 942. Brushing drive part; 95. Suction component; 951. Suction cup; 952. Straw; 96. Tap; 97. Solenoid valve. Specific embodiments

[0043] The present invention will be further described in detail below in conjunction with the specification drawings and specific embodiments.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0046] In the present invention, unless otherwise clearly specified and defined, the terms "assembled", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Example 1:

[0048] Figures 1 to 9An embodiment of the underwater sewage cleaning operation device of the present invention is shown. The underwater sewage cleaning operation device of this embodiment includes a traveling mechanism 1. A road condition detection mechanism 2 is provided on the traveling mechanism 1. A swing frame 3 and a swing driving mechanism 4 for driving the swing frame 3 to swing up and down are provided at the front end of the traveling mechanism 1. A roller brush 5 and a rotation driving assembly 6 for driving the roller brush 5 to rotate are provided on the swing frame 3. A transverse movement seat 7 and a transverse movement driving assembly 8 for driving the transverse movement seat 7 to move horizontally are also provided on the traveling mechanism 1. A robotic arm 71 is provided on the transverse movement seat 7. An installation frame 9 is provided at the execution end of the robotic arm 71. A row brush 91, a pressure sensor 92, and a conductivity sensor 93 are provided on the installation frame 9. Rotating round brush assemblies 94 and suction assemblies 95 are respectively provided at both ends of the row brush 91 on the installation frame 9. The pressure sensor 92 is used to detect the squeezed height of the row brush 91 and the rotating round brush assemblies 94. The conductivity sensor 93 is used to detect the conductivity of the water quality. A control center and a sewage collection tank are also provided on the traveling mechanism 1. The suction assembly 95 is connected to the sewage collection tank. The traveling mechanism 1, the road condition detection mechanism 2, the swing driving mechanism 4, the rotation driving assembly 6, the transverse movement driving assembly 8, the robotic arm 71, the pressure sensor 92, the conductivity sensor 93, and the suction assembly 95 are all electrically connected to the control center.

[0049] This underwater sewage cleaning operation device is applied to the operation process of the cooling water pool 10 of a UHV converter station: First step, the traveling mechanism 1 is located on the bottom surface 101 of the cooling water pool 10; Second step, when the road condition detection mechanism 2 detects that there is a slope 102 ahead, it detects the distance between the traveling mechanism 1 and the slope 102, and the control center makes the traveling mechanism 1 travel to a specified position away from the slope 102 according to the distance between the traveling mechanism 1 and the slope 102; Third step, the control center controls the robotic arm 71 to act, so that the row brush 91 and the rotating round brush assemblies 94 are in vertical contact with the bottom surface 101 and close to the intersection line 103 of the bottom surface 101 and the slope 102, as Figure 6 shown; Fourth step, the control center controls the transverse movement driving assembly 8 to make the row brush 91 and the rotating round brush assemblies 94 move and brush along the extension direction of the intersection line 103. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water quality conductivity, and adjusts the pressing depth of the row brush 91 and the rotating round brush assemblies 94 according to the detection result of the pressure sensor 92; Fifth step, after the side of the intersection line 103 on the bottom surface 101 is brushed, the control center controls the robotic arm 71 to act, so that the row brush 91 and the rotating round brush assemblies 94 are in vertical contact with the slope 102 and close to the intersection line 103, as Figure 7As shown; Step 6: The control center controls the transverse movement drive assembly 8 to move the row brush 91 and the rotary round brush assembly 94 along the extension direction of the intersection line 103 for brushing. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the water quality conductivity by the conductivity sensor 93, and adjusts the pressing depth of the row brush 91 and the rotary round brush assembly 94 according to the detection result of the pressure sensor 92; Step 7: After the intersection line 103 is brushed on one side of the slope 102, the control center controls the manipulator 71 to act, so that the suction assembly 95 is aligned with the intersection line 103, as Figure 8 shown; Step 8: The control center controls the transverse movement drive assembly 8 to move the suction assembly 95 along the extension direction of the intersection line 103 for suction; Step 9: After the intersection line 103 is suctioned, the control center makes the traveling mechanism 1 walk towards the slope 102, and controls the swing drive mechanism 4 to adjust the inclination angle of the drum brush 5, so that the drum brush 5 brushes again at the intersection line 103; At the same time, the control center controls the manipulator 71 to act, so that the row brush 91 and the rotary round brush assembly 94 brush the slope 102, as Figure 9 shown.

[0050] In this underwater cleaning operation device, on the one hand, through the control center, the road condition detection mechanism 2, the pressure sensor 92 and the conductivity sensor 93, automatic control is realized. The manipulator 71 and the transverse seat 7 are controlled to act, so that the row brush 91 and the rotary round brush assembly 94 successively move along one side of the intersection line 103 on the bottom surface 101, along one side of the intersection line 103 on the slope 102, and along the intersection line 103 for brushing, adapting to the transition from the plane (bottom surface 101) to the slope 102 and dealing with the sludge in the gap between the plane and the slope 102. And during the cleaning process, the traveling mechanism 1 does not need to move frequently to change its own pose, as long as the manipulator 71 and the transverse seat 7 act, which improves the practicability and efficiency. On the second hand, by brushing the intersection line 103 again with the drum brush 5, the cleaning effect is improved. On the third hand, while the drum brush 5 brushes the intersection line 103 again, the row brush 91 and the rotary round brush assembly 94 brush the slope 102, further improving the cleaning efficiency.

[0051] Furthermore, as Figure 2 and Figure 3 shown, in this embodiment, the rotary round brush assembly 94 includes a rotary round brush 941 and a brushing drive member 942 both arranged on the mounting frame 9. The brushing drive member 942 is connected to the rotary round brush 941 and is used to drive the rotary round brush 941 to rotate. The brushing drive member 942 is electrically connected to the control center. The brushing drive member 942 drives the rotary round brush 941 to rotate, improving the brushing effect. Preferably, the sides of the rotary round brush 941 and the row brush 91 away from the mounting frame 9 are flush, and the mounting frame 9 is in the shape of a flat plate. The control center adjusts the suction force of the suction assembly 95 according to the detection result of the water quality conductivity by the conductivity sensor 93, and adjusts the pressing depth of the row brush 91 and the rotary round brush assembly 94 according to the detection result of the pressure sensor 92.

[0052] Further, as Figure 3 and Figure 5 shown, in this embodiment, the suction assembly 95 includes a suction cup 951, a suction pipe 952, and a suction pump (not shown in the drawings). The suction cup 951 is provided at the center of the rotary circular brush 941. A tapping head 96 is provided on the mounting bracket 9. The suction cup 951 is connected to the tapping head 96 through the suction pipe 952. The tapping head 96 is connected to a sewage collection tank (not shown in the drawings) through the suction pump. The suction pump is electrically connected to the control center. When the suction pump is turned on, each suction cup 951 has suction force. The control center adjusts the power of the suction pump according to the detection result of the water conductivity by the conductivity sensor 93, so as to adjust the suction force of the suction cup 951.

[0053] Further, in this embodiment, the mounting bracket 9 is provided with an electromagnetic valve 97 on the suction pipe 952, and the electromagnetic valve 97 is electrically connected to the control center.

[0054] When the rotary circular brush 941 moves in a spatial pose along with the mounting bracket 9 while performing a self-rotation movement to disperse the sludge, the suction cup 951 inhales the sludge to be cleaned after being dispersed into the suction pipe 952 through the valve size of the opening and closing of the electromagnetic valve 97 and the suction force distributed by the suction pump, and sends it to the sewage collection tank.

[0055] Further, as Figure 4 shown, in this embodiment, the lateral movement driving assembly 8 includes a lead screw 81 and a rotary motor 82. The lead screw 81 is rotatably provided on the traveling mechanism 1. The rotary motor 82 is provided on the traveling mechanism 1 and is used to drive the lead screw 81 to rotate. The lateral movement seat 7 is threadedly connected to the lead screw 81. The rotary motor 82 is electrically connected to the control center. The rotary motor 82 drives the lead screw 81 to rotate, and the lead screw 81 drives the lateral movement seat 7 to move laterally through the screw thread cooperation.

[0056] Further, in this embodiment, a lateral guide rail 83 is provided on the traveling mechanism 1, and the lateral movement seat 7 is slidably provided on the lateral guide rail 83. The lateral guide rail 83 plays a role in guiding the movement of the lateral movement seat 7 and improves the smoothness of the movement of the lateral movement seat 7.

[0057] Further, in this embodiment, the traveling mechanism 1 includes a traveling frame 11 and traveling components 12 provided on both sides of the traveling frame 11. The swing frame 3 and the swing driving mechanism 4 are provided on the front end surface of the traveling frame 11. The lateral movement seat 7 and the lateral movement driving assembly 8 are provided on the top surface of the front end of the traveling frame 11. The road condition detection mechanism 2, the control center, and the sewage collection tank are all provided on the traveling frame 11. The traveling components 12 are electrically connected to the control center.

[0058] Further, in this embodiment, the traveling components 12 are caterpillar wheel assemblies. Of course, in other embodiments, the traveling components 12 can also be traveling wheel assemblies.

[0059] Further, in this embodiment, a lighting lamp 13 is provided on the traveling frame 11. The lighting lamp 13 can improve lighting in the dim underwater environment and enhance the detection effect of the road condition detection mechanism 2.

[0060] Further, in this embodiment, a camera is installed on the robotic arm 71. The camera can sense the working environment around the execution end of the robotic arm 71 so that the robotic arm 71 can make a timely response and adjust its posture.

[0061] The road condition detection mechanism 2 includes a detection radar. The detection radar can provide navigation and positioning, can detect surrounding obstacles, terrain changes, etc., and can help discover and avoid potential obstacles by detecting reflected signals to prevent collisions and damages.

[0062] Embodiment Two:

[0063] The operation method of the underwater cleaning operation device of Embodiment One is applied to the cooling water pool 10 of a UHV converter station, and includes the following steps:

[0064] S1. The traveling mechanism 1 is located on the bottom surface 101 of the cooling water pool 10;

[0065] S2. When the road condition detection mechanism 2 detects that there is a slope 102 ahead, it detects the distance between the traveling mechanism 1 and the slope 102, and the control center makes the traveling mechanism 1 travel to a specified position away from the slope 102 according to the distance between the traveling mechanism 1 and the slope 102;

[0066] S3. The control center controls the robotic arm 71 to act, so that the brush 91 and the rotary brush assembly 94 (rotary brush 941) are in vertical contact with the bottom surface 101 and approach the intersection line 103 of the bottom surface 101 and the slope 102, as Figure 6 shown;

[0067] S4. The control center makes the control traverse drive assembly 8 move the brush 91 and the rotary brush assembly 94 (rotary brush 941) to brush along the extension direction of the intersection line 103. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the conductivity sensor 93 on the water quality conductivity, and adjusts the pressing depth of the brush 91 and the rotary brush assembly 94 (rotary brush 941) according to the detection result of the pressure sensor 92;

[0068] S5. After the side of the intersection line 103 on the bottom surface 101 is brushed, the control center controls the robotic arm 71 to act, so that the brush 91 and the rotary brush assembly 94 (rotary brush 941) are in vertical contact with the slope 102 and approach the intersection line 103, as Figure 7 shown;

[0069] S6. The control center causes the control cross - translation drive assembly 8 to move the row brush 91 and the rotary round brush assembly 94 (rotary round brush 941) to brush along the extension direction of the intersection line 103. At the same time, the control center adjusts the suction force of the suction assembly 95 according to the detection result of the water quality conductivity by the conductivity sensor 93, and adjusts the pressing depth of the row brush 91 and the rotary round brush assembly 94 (rotary round brush 941) according to the detection result of the pressure sensor 92;

[0070] S7. After the intersection line 103 is brushed on one side of the slope 102, the control center controls the action of the robotic arm 71 to align the suction assembly 95 with the intersection line 103, as Figure 8 shown;

[0071] S8. The control center causes the control cross - translation drive assembly 8 to move the suction assembly 95 to suck along the extension direction of the intersection line 103;

[0072] S9. After the intersection line 103 is sucked, the control center causes the traveling mechanism 1 to travel towards the slope 102, and controls the swing drive mechanism 4 to adjust the inclination angle of the roller brush 5 so that the roller brush 5 brushes again at the intersection line 103. At the same time, the control center controls the action of the robotic arm 71 to cause the row brush 91 and the rotary round brush assembly 94 (rotary round brush 941) to brush the slope 102, as Figure 9 shown.

[0073] This operation method is carried out by using the underwater cleaning operation device and has all the advantages of the underwater cleaning operation device. That is, on the one hand, through the control center, the road condition detection mechanism 2, the pressure sensor 92 and the conductivity sensor 93, automatic control is realized. The robotic arm 71 and the cross - translation seat 7 are controlled to cause the row brush 91 and the rotary round brush 941 to brush along one side of the intersection line 103 on the bottom surface 101, along one side of the intersection line 103 on the slope 102, and along the intersection line 103 successively, adapting to the transition from the plane (bottom surface 101) to the slope 102 and dealing with the sludge in the gap between the plane and the slope 102. And during the cleaning process, the traveling mechanism 1 does not need to frequently move and change its own pose, as long as the robotic arm 71 and the cross - translation seat 7 act, which improves the practicability and efficiency. On the other hand, by brushing the intersection line 103 again with the roller brush 5, the cleaning effect is improved. On the third hand, while the roller brush 5 brushes the intersection line 103 again, the row brush 91 and the rotary round brush 941 brush the slope 102, further improving the cleaning efficiency.

[0074] Although the present invention has been disclosed above in preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into equivalent embodiments with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A working method of a subaqueous sewage cleaning operation device, which is applied to the cooling water pool of a UHV converter station, is characterized in that The described underwater sewage cleaning operation device includes a traveling mechanism (1), on which a road condition detection mechanism (2) is provided. At the front end of the traveling mechanism (1), a swing frame (3) and a swing drive mechanism (4) for driving the swing frame (3) to swing up and down are provided. On the swing frame (3), a roller brush (5) and a rotation drive assembly (6) for driving the roller brush (5) to rotate are provided. On the traveling mechanism (1), a transverse movement seat (7) and a transverse movement drive assembly (8) for driving the transverse movement seat (7) to move horizontally are also provided. On the transverse movement seat (7), a robotic arm (71) is provided. At the execution end of the robotic arm (71), a mounting frame (9) is provided. On the mounting frame (9), a row brush (91), a pressure sensor (92), and a conductivity sensor (93) are provided. At both ends of the row brush (91) on the mounting frame (9), a rotary round brush assembly (94) and a suction assembly (95) are respectively provided. The pressure sensor (92) is used to detect the squeezed height of the row brush (91) and the rotary round brush assembly (94). The conductivity sensor (93) is used to detect the conductivity of the water quality. On the traveling mechanism (1), a control center and a sewage collection tank are also provided. The suction assembly (95) is connected to the sewage collection tank. The traveling mechanism (1), the road condition detection mechanism (2), the swing drive mechanism (4), the rotation drive assembly (6), the transverse movement drive assembly (8), the robotic arm (71), the pressure sensor (92), the conductivity sensor (93), and the suction assembly (95) are all electrically connected to the control center. The operation method of the underwater sewage cleaning operation device includes the following steps: S1. The traveling mechanism (1) is located on the bottom surface (101) of the cooling water pool (10); S2. When the road condition detection mechanism (2) detects that there is a slope (102) ahead, it detects the distance between the traveling mechanism (1) and the slope (102). The control center makes the traveling mechanism (1) travel to a specified position away from the slope (102) according to the distance between the traveling mechanism (1) and the slope (102); S3. The control center controls the action of the robotic arm (71) to make the row brush (91) and the rotary round brush assembly (94) vertically contact the bottom surface (101) and approach the intersection line (103) of the bottom surface (101) and the slope (102); S4. The control center controls the transverse movement drive assembly (8) to make the row brush (91) and the rotary round brush assembly (94) move and scrub along the extension direction of the intersection line (103). At the same time, the control center adjusts the suction force of the suction assembly (95) according to the detection result of the conductivity of the water quality by the conductivity sensor (93), and adjusts the pressing depth of the row brush (91) and the rotary round brush assembly (94) according to the detection result of the pressure sensor (92); S5. After the scrubbing on one side of the intersection line (103) on the bottom surface (101) is completed, the control center controls the action of the robotic arm (71) to make the row brush (91) and the rotary round brush assembly (94) vertically contact the slope (102) and approach the intersection line (103); S6. The control center causes the control cross - movement drive assembly (8) to move the row brush (91) and the rotary round brush assembly (94) to brush along the extension direction of the intersection line (103). At the same time, the control center adjusts the suction force of the suction assembly (95) according to the detection result of the water quality conductivity by the conductivity sensor (93), and adjusts the downward pressing depth of the row brush (91) and the rotary round brush assembly (94) according to the detection result of the pressure sensor (92). S7. After the brushing on one side of the slope (102) of the intersection line (103) is completed, the control center controls the action of the robotic arm (71) to align the suction assembly (95) with the intersection line (103). S8. The control center causes the control cross - movement drive assembly (8) to move the suction assembly (95) to suck along the extension direction of the intersection line (103). S9. After the suction of the intersection line (103) is completed, the control center causes the traveling mechanism (1) to travel towards the slope (102), and controls the swing drive mechanism (4) to adjust the inclination angle of the roller brush (5) so that the roller brush (5) brushes again at the intersection line (103). At the same time, the control center controls the action of the robotic arm (71) to cause the row brush (91) and the rotary round brush assembly (94) to brush the slope (102).

2. An underwater sewage cleaning operation device, characterized in that: The operation method of the underwater sewage cleaning device for implementing claim 1 includes a traveling mechanism (1). A road condition detection mechanism (2) is provided on the traveling mechanism (1). A swing frame (3) and a swing drive mechanism (4) for driving the swing frame (3) to swing up and down are provided at the front end of the traveling mechanism (1). A roller brush (5) and a rotary drive assembly (6) for driving the roller brush (5) to rotate are provided on the swing frame (3). A cross - movement base (7) and a cross - movement drive assembly (8) for driving the cross - movement base (7) to move horizontally are further provided on the traveling mechanism (1). A robotic arm (71) is provided on the cross - movement base (7). An installation frame (9) is provided at the execution end of the robotic arm (71). A row brush (91), a pressure sensor (92), and a conductivity sensor (93) are provided on the installation frame (9). A rotary round brush assembly (94) and a suction assembly (95) are respectively provided at both ends of the row brush (91) on the installation frame (9). The pressure sensor (92) is used to detect the squeezed height of the row brush (91) and the rotary round brush assembly (94). The conductivity sensor (93) is used to detect the conductivity of the water quality. A control center and a sewage collection tank are further provided on the traveling mechanism (1). The suction assembly (95) is connected to the sewage collection tank. The traveling mechanism (1), the road condition detection mechanism (2), the swing drive mechanism (4), the rotary drive assembly (6), the cross - movement drive assembly (8), the robotic arm (71), the pressure sensor (92), the conductivity sensor (93), and the suction assembly (95) are all electrically connected to the control center.

3. The underwater sewage cleaning operation device according to claim 2, characterized in that: The rotating circular brush assembly (94) includes a rotating circular brush (941) and a brushing driving member (942) both arranged on the mounting bracket (9). The brushing driving member (942) is connected to the rotating circular brush (941) and is used to drive the rotating circular brush (941) to rotate. The brushing driving member (942) is electrically connected to the control center.

4. The underwater sewage cleaning operation device according to claim 3, characterized in that: The suction assembly (95) includes a suction cup (951), a suction pipe (952), and a suction pump. The suction cup (951) is arranged at the center of the rotating circular brush (941). A tapping connector (96) is provided on the mounting bracket (9). The suction cup (951) is connected to the tapping connector (96) through the suction pipe (952). The tapping connector (96) is connected to the sewage storage tank through the suction pump. The suction pump is electrically connected to the control center.

5. The underwater sewage cleaning operation device according to claim 4, characterized in that: The mounting bracket (9) is provided with an electromagnetic valve (97) on the suction pipe (952). The electromagnetic valve (97) is electrically connected to the control center.

6. The underwater sewage cleaning operation device according to claim 2, characterized in that: The transverse movement driving assembly (8) includes a lead screw (81) and a rotating motor (82). The lead screw (81) is rotatably arranged on the traveling mechanism (1). The rotating motor (82) is arranged on the traveling mechanism (1) and is used to drive the lead screw (81) to rotate. The transverse movement seat (7) is threadedly connected to the lead screw (81). The rotating motor (82) is electrically connected to the control center.

7. The underwater sewage cleaning operation device according to claim 6, characterized in that: A transverse guide rail (83) is provided on the traveling mechanism (1). The transverse movement seat (7) is slidably arranged on the transverse guide rail (83).

8. The underwater pollution cleaning operation device according to any one of claims 2 to 7, characterized in that: The traveling mechanism (1) includes a traveling frame (11) and traveling assemblies (12) arranged on both sides of the traveling frame (11). The swing frame (3) and the swing driving mechanism (4) are arranged on the front end face of the traveling frame (11). The transverse movement seat (7) and the transverse movement driving assembly (8) are arranged on the top surface of the front end of the traveling frame (11). The road condition detection mechanism (2), the control center, and the sewage storage tank are all arranged on the traveling frame (11). The traveling assemblies (12) are electrically connected to the control center.

9. The underwater sewage cleaning operation device according to claim 8, wherein: The traveling assemblies (12) are caterpillar wheel assemblies.

10. The underwater sewage cleaning operation device according to claim 8, characterized in that: A lighting lamp (13) is provided on the traveling frame (11).

Images