Cleaning robot for sewage treatment tank

Abstract

The invention discloses a cleaning robot for a sewage treatment tank, belongs to the technical field of robots, and aims to solve the problems that when the cleaning robot faces hard and caked sludge, the cleaning robot is difficult to clean, the hard and caked sludge may be blocked due to overlarge resistance, and even parts are damaged. A moving part is mounted on the surface of the lifting part, a mechanical arm is mounted on one side of the moving part, a robot body is fixedly mounted at one end of the mechanical arm, a first driving part is arranged in the robot body, two cleaning brush rollers are rotationally connected into the robot body, and the first driving part is in transmission connection with the two cleaning brush rollers; the sludge state is monitored in real time through the ultrasonic sensor, mode switching between the cleaning brush rollers and the crushing part is automatically achieved, sparse sludge can be efficiently cleaned, hard and caked sludge can be specifically crushed, and the cleaning requirements of sludge in different states are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a cleaning robot for a sewage treatment tank. BACKGROUND

[0002] A sewage treatment tank is a facility for treating sewage and is used to receive sewage entering a sewage treatment system. In the fields of sewage treatment and industrial wastewater treatment, a large amount of sludge will be deposited in the treatment tank after long-term use. These sludge presents different states due to factors such as standing time and composition differences. There are both dilute sludge with good fluidity and some hard lump sludge formed by dehydration and hardening. If not cleaned in time, it will affect the effective volume and treatment efficiency of the treatment tank, and even cause problems such as pipe blockage and equipment failure. Therefore, the sewage treatment tank needs to be cleaned regularly.

[0003] The current cleaning robot for a sewage treatment tank generally uses a brush roller type cleaning robot to clean the sewage treatment tank. It can only clean dilute sludge by rotating the brush roller in cooperation with a suction device. When facing hard lump sludge, it is difficult to clean. It may be stuck due to excessive resistance, and even damage the components. Frequent replacement of equipment or adjustment of operation mode is required, which leads to low cleaning efficiency and increases labor costs.

[0004] In view of the above problems, a cleaning robot for a sewage treatment tank is proposed. SUMMARY

[0005] The purpose of the present application is to provide a cleaning robot for a sewage treatment tank. The device is used for work, thereby solving the problem that the cleaning robot in the above background is difficult to clean hard lump sludge, which may be stuck due to excessive resistance, and even damage the components.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] The utility model provides a cleaning robot for sewage treatment tank, including circular track, the surface sliding connection of circular track has the lifting piece, the surface installation of lifting piece has the moving part, the side installation of moving part has the mechanical arm, the fixed installation of mechanical arm one end has the robot body, be provided with first driving piece in the robot body, two cleaning brush rollers are rotatably connected in the robot body, and first driving piece is connected with two cleaning brush rollers transmission, be provided with second driving piece in the inside of two cleaning brush rollers, the periphery installation of second driving piece has the broken piece, and the broken piece is connected with cleaning brush roller sliding, the side close to cleaning brush roller of robot body is provided with hammering part, the side penetration of robot body corresponds to have a plurality of inclined shower nozzles, the inside sliding connection of inclined shower nozzle has the through -hole plate, the side of robot body is provided with the pusher, and pusher is fixedly connected with the through -hole plate, the side installation of moving part has the water delivery part, and water delivery part all is connected with a plurality of inclined shower nozzles, the side installation of moving part has the suction unit, and the one end penetration of suction unit is connected in the robot body, the surface installation of robot body has ultrasonic sensor, and ultrasonic sensor, first driving piece and second driving piece all are electrically connected with controller.

[0008] Further, the lifting piece includes a bottom plate and a support frame fixed on the surface of the bottom plate, a hydraulic cylinder is fixedly installed on the surface of the bottom plate, a sliding frame is slidingly connected to one side of the support frame, and the output end of the hydraulic cylinder is fixedly connected with the sliding frame.

[0009] Further, the moving part includes a horizontal plate and an electric sliding rail fixed on one side of the horizontal plate, and a sliding block is slidingly connected to the surface of the electric sliding rail.

[0010] Further, an installation groove is formed in the inner wall of the robot body.

[0011] Further, the first driving piece includes a first motor and a rotating shaft fixed on the output end of the first motor, the rotating shaft is rotatably connected with the robot body, a first gear is fixedly connected to one end of the rotating shaft, the cleaning brush roller includes a rotating cylinder and a connecting shaft fixed on one end of the rotating cylinder, the connecting shaft is rotatably connected with the robot body, a plurality of bristles are installed on the surface of the rotating cylinder, a second gear is fixedly installed on the other end of the rotating cylinder, and the first gear is meshingly connected with the second gear.

[0012] Further, the second driving piece includes a second motor and a bidirectional screw fixed on the output end of the second motor, the second motor is fixed in the connecting shaft, the bidirectional screw is rotatably connected with the rotating cylinder, two threaded blocks are threadedly connected to the surface of the bidirectional screw, and a hinged plate is rotatably connected to four edges of the threaded block.

[0013] Further, the crushing piece comprises a first moving plate and a plurality of conical blocks fixed on the surface of the first moving plate, the conical blocks are in sliding connection with the rotating cylinder, one end of the hinged plate is in hinged connection with the first moving plate, the two ends of the first moving plate are fixedly provided with second moving plates, and the two second moving plates are in sliding connection with the rotating cylinder, one side of the second moving plate is fixedly provided with a contact plate, and the contact plate is in sliding connection with the rotating cylinder.

[0014] Further, the hammering piece comprises a fixed plate and a plurality of hitting hammers fixed on one side of the fixed plate, the fixed plate is in sliding connection with the mounting groove, the hitting hammers are in sliding connection with the robot body, a plurality of springs are mounted on one side of the fixed plate, one end of the spring is fixedly connected with the inner wall of the mounting groove, two slide rods are fixedly mounted in the mounting groove, the fixed plate is in sliding connection with the two slide rods, a supporting rod is fixedly mounted on the inner wall of the mounting groove, the surface of the supporting rod is obliquely rotatably provided with an L-shaped rod, the one end of the L-shaped rod is fixedly provided with a pressing plate, the one side of the L-shaped rod is fixedly provided with a torsion spring, one end of the torsion spring is fixedly connected with the supporting rod, and an inclined block is correspondingly mounted on one side of the fixed plate and in contact with the L-shaped rod.

[0015] Further, a connecting hole corresponding to the inclined spray head is formed in one side of the through-hole plate, the pushing piece comprises an electric push rod and a concave plate fixed on the output end of the electric push rod, the concave plate is in sliding connection with the robot body, and the concave plate is fixedly connected with the through-hole plate, the concave plate is driven to reciprocate by the output end of the electric push rod, so that the through-hole plate can be moved.

[0016] Further, the water conveying piece comprises a water tank and a water pump mounted on one side of the water tank, the water pump is in communication with the water tank, a first telescopic hose is mounted on one side of the water pump, the first telescopic hose is in communication with the inclined spray head, the suction piece comprises a storage tank and a suction pump mounted on one side of the storage tank, the suction pump is in communication with the storage tank, a second telescopic hose is in communication with one side of the suction pump, and a suction pipe is communicated with one end of the second telescopic hose and penetrates one side of the robot body.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] 1. The sludge state is monitored in real time by the ultrasonic sensor, and the mode switching of the cleaning brush roller and the crushing piece is automatically realized, so that the sparse sludge can be efficiently cleaned, the hard and hard sludge can be broken, and the cleaning demand of different state sludge can be met.

[0019] 2. With the cooperation of the moving seat, the lifting seat and the mechanical arm on the circular track, the position of the robot body can be flexibly adjusted, the bottom, wall and corner of the sewage treatment tank can be covered, and the cleaning blind area can be reduced.

[0020] 3. Two relatively rotating cleaning brush rollers and breaking pieces, cooperating with the pre-hammering of the hammering piece, can multi-dimensionally break the hard lump sludge, so that the broken sludge particles are more uniform, and the subsequent suction of the suction piece is facilitated.

[0021] 4. When breaking, the through-hole plate moves and is misaligned with the water outlet holes of the inclined spray head, effectively preventing dust from blocking the inclined spray head. When switching to cleaning mode, the through-hole plate reciprocates to form high-pressure spraying, which not only helps cleaning but also self-cleans the spray head, reducing equipment failure.

[0022] 5. The conical breaking roller formed by the combination of four breaking pieces and cleaning brush rollers can produce piercing, extruding and shearing synergies on the lump sludge through the relative rotation of the two cleaning brush rollers, and the broken particles converge to the center under the condition of relative rotation, avoiding the suction omission caused by the dispersion of the broken particles. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the present application;

[0024] Figure 2 is a schematic diagram of the robot body structure of the present application;

[0025] Figure 3 is a schematic diagram of the lifting piece structure of the present application;

[0026] Figure 4 is a schematic diagram of the moving piece structure of the present application;

[0027] Figure 5 is a schematic diagram of the hammering piece structure of the present application;

[0028] Figure 6 is a schematic diagram of the Figure 5 structure in A of the present application;

[0029] Figure 7 is a schematic diagram of the first driving piece structure of the present application;

[0030] Figure 8 is a schematic diagram of the cleaning brush roller structure of the present application;

[0031] Figure 9 is a schematic diagram of the second driving piece structure of the present application;

[0032] Figure 10 is a schematic diagram of the conical block structure of the present application;

[0033] Figure 11 is a schematic diagram of the pushing piece structure of the present application;

[0034] Figure 12 is a schematic diagram of the Figure 11 structure in B of the present application.

[0035] In the figure: 1, circular track; 2, lifting piece; 21, bottom plate; 22, support frame; 23, hydraulic cylinder; 24, sliding frame; 3, moving piece; 31, cross plate; 32, electric sliding rail; 33, sliding block; 4, mechanical arm; 5, robot body; 51, mounting groove; 6, first driving piece; 61, first motor; 62, rotating shaft; 63, first gear; 7, cleaning brush roller; 71, rotating cylinder; 72, connecting shaft; 73, brush; 74, second gear; 8, second driving piece; 81, second motor; 82, bidirectional screw rod; 83, threaded block; 84, hinged plate; 9, crushing piece; 91, first moving plate; 92, conical block; 93, second moving plate; 94, contact plate; 10, hammering piece; 101, fixed plate; 102, hammer; 103, spring; 104, sliding rod; 105, supporting rod; 106, L-shaped rod; 107, pressing plate; 108, torsional spring; 109, inclined block; 20, inclined nozzle; 30, through-hole plate; 301, connecting hole; 40, pushing piece; 401, electric push rod; 402, concave plate; 50, water conveying piece; 501, water tank; 502, water pump; 503, first telescopic hose; 60, suction piece; 601, storage box; 602, suction pump; 603, second telescopic hose; 604, suction pipe; 70, ultrasonic sensor. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0037] In order to solve the technical problem that the cleaning robot is difficult to clean the hard and clumpy sludge, and may be stuck due to too large resistance, and even damage the components, such as Figures 1-12 As shown in the figure, the following preferred technical solutions are provided:

[0038] As shown in the figure, the following preferred technical solutions are provided: Figures 1-2As shown, a cleaning robot for a sewage treatment tank comprises a circular track 1, a lifting piece 2 is slidably connected to the surface of the circular track 1, the design of the circular track 1 can make the lifting piece 2 always rotate around the sewage treatment tank, so that the lifting piece 2 can move to different positions, improve the applicability, the surface of the lifting piece 2 is installed with a moving piece 3, one side of the moving piece 3 is installed with a mechanical arm 4, one end of the mechanical arm 4 is fixedly installed with a robot body 5, first, the lifting piece 2 always rotates around the sewage treatment tank, so that the lifting piece 2 can move to different positions, so that the robot body 5 can be moved to different positions, the inside of the sewage treatment tank can be cleaned, and the moving piece 3 and the mechanical arm 4 can also drive the robot body 5 to move to different positions, and the mechanical arm 4 can drive the robot body 5 to move to the inner wall of the sewage treatment tank, so that the impurities attached to the inner wall of the sewage treatment tank can be cleaned, and the areas that are difficult to reach by traditional equipment such as the bottom, the wall and even the corner of the tank can be covered.

[0039] A first driving piece 6 is arranged in the robot body 5, two cleaning brush rollers 7 are rotatably connected in the robot body 5, and the first driving piece 6 is in transmission connection with the two cleaning brush rollers 7, the first driving piece 6 can drive the two cleaning brush rollers 7 to rotate relatively, the relatively rotating brush rollers can produce a "inward converging" vortex effect, for example, when the left cleaning brush roller 7 rotates clockwise and the right cleaning brush roller 7 rotates counterclockwise, the left cleaning brush roller 7 pushes the sparse sludge on the left side to the right, and the right cleaning brush roller 7 guides the sludge on the right side to the left, and the resultant force formed by the two can concentrate the dispersed sludge in the middle area between the two cleaning brush rollers 7, this gathering effect avoids the problem that the sludge is "pushed away" or "scattered" when a single brush roller or rotates in the same direction, so that the sludge forms a high-concentration aggregation area below, greatly improves the capture efficiency, and reduces the secondary settlement of the sludge due to diffusion.

[0040] The second driving member 8 is arranged in the interior of each cleaning brush roller 7, and the four breaking members 9 are installed around the second driving member 8 and are in sliding connection with the cleaning brush roller 7. The second driving member 8 can push the four breaking members 9 out of the interior of the cleaning brush roller 7, and at this time, the breaking members 9 and the cleaning brush roller 7 form a conical breaking roller. The cleaning brush roller 7 can independently complete the cleaning work of the sparse sludge in the initial state, and when the caked sludge needs to be treated, the components do not need to be replaced, and only the breaking members 9 are pushed out by the second driving member 8, so that the conical breaking roller with breaking capacity can be quickly converted. This integrated dual-purpose design avoids the additional independent breaking device, greatly simplifies the overall structure of the robot, reduces the equipment volume and weight, and is especially suitable for the operation requirements in narrow and complex spaces such as sewage treatment tanks. The four breaking members 9 and the cleaning brush roller 7 form a conical breaking roller, and through the relative rotation of the two cleaning brush rollers 7, the caked sludge can be pierced, extruded and sheared in a synergistic manner. The tip of the breaking member 9 can pierce into the inside of the caked sludge, and when the cleaning brush roller 7 rotates, the interlaced force generated by the relative rotation will produce a tearing and extruding effect on the caked sludge. Even if the internal structure of the caked sludge is uneven, it can also be forced to break from multiple directions, avoiding the problem of incomplete local breaking caused by single-direction force, and enabling more thorough and efficient breaking of the caked sludge.

[0041] The hammering piece 10 is arranged inside the robot body 5 near the side of the cleaning brush roller 7, when the four crushing pieces 9 are moved out from the inside of the cleaning brush roller 7, the cleaning brush roller 7 rotates through the crushing pieces 9 to drive the hammering piece 10 to hammer the caked sludge, for the long-term deposition, low water content and hardened caked, through the high-frequency impact of the hammering piece 10 on the caked, the instantaneous impact force generated by the hammering can directly crush the internal structure of the caked, break the stress balance of the hard surface layer, and create conditions for the subsequent shearing and extrusion of the conical roller, a plurality of inclined nozzles 20 are correspondingly penetrated on one side of the robot body 5, a through-hole plate 30 is slidably connected inside the inclined nozzle 20, a pushing piece 40 is arranged on one side of the robot body 5, and the pushing piece 40 is fixedly connected with the through-hole plate 30, a water conveying piece 50 is installed on one side of the moving piece 3, and the water conveying piece 50 is in communication with the plurality of inclined nozzles 20, when the equipment is switched to the crushing mode, the through-hole plate 30 is moved by the pushing piece 40 to make the through-hole plate 30 and the water outlet hole of the inclined nozzle 20 dislocated, which is equivalent to closing the water outlet of the inclined nozzle 20 by mechanical shielding, at this time, the dust and debris generated by the crushed caked sludge cannot enter the inside of the inclined nozzle 20, avoiding the blockage problem of the traditional inclined nozzle 20 when switching between crushing and cleaning from the source, when switched to the cleaning mode, the water source is injected through the water conveying piece 50, and the through-hole plate 30 is reciprocally moved by the pushing piece 40, so that the through-hole plate 30 and the water outlet hole of the inclined nozzle 20 are continuously dislocated and communicated, this dynamic cooperation can form a pulse high-pressure jet, compared with the continuous low-pressure water flow of the traditional fixed nozzle, the impact force is stronger, and the residual sparse sludge, crushed small particles and even sticky impurities attached to the pool wall can be more effectively flushed, especially for the dead angle left after the cleaning of the cleaning brush roller 7, the pulse water flow can realize secondary cleaning and improve the overall cleaning cleanliness.

[0042] The suction member 60 is installed on the other side of the moving member 3 and penetrates the robot body 5 at one end, and the suction member 60 directly removes the broken sludge from the gathering area between the two cleaning brush rollers 7 by negative pressure, ensuring that the breaking and extraction are synchronized, avoiding the problem of broken accumulation from the source, improving the overall cleaning efficiency, and the surface of the robot body 5 is installed with an ultrasonic sensor 70, when the ultrasonic sensor 70 detects sparse sludge, the ultrasonic sensor 70 has strong penetration, weak reflection signal and uniform attenuation, and the sparse sludge has low density, good fluidity, and small obstacle to sound waves, the ultrasonic sensor 70 converts this feature into an electrical signal and transmits it to the controller (the controller is prior art, not shown in the figure), determines the cleaning mode, triggers the relative rotation of the cleaning brush roller 7 to cooperate with the suction member 60, when encountering clumped sludge, the ultrasonic sensor 70 reflects a strong signal due to the impact of a hard surface, and the clumped sludge has high density, hard structure, and high sound wave energy reflectivity, the ultrasonic sensor 70 captures this feature and determines the breaking mode, instructs the second driving member 8 to push the breaking member 9 out of the cleaning brush roller 7, forms a conical breaking roller, and cooperates with the hammering member 10 to break and suck the clumped sludge, and the ultrasonic sensor 70, the first driving member 6 and the second driving member 8 are electrically connected with the controller.

[0043] First, when the ultrasonic sensor 70 detects sparse sludge, only the first driving member 6 drives the two cleaning brush rollers 7 to rotate relative to each other to cooperate with the suction member 60, when encountering clumped sludge, the ultrasonic sensor 70 determines the breaking mode, and the controller (the controller is prior art, not shown in the figure) controls the second driving member 8 to push the breaking member 9 out of the cleaning brush roller 7 to form a conical breaking roller, without the need to replace parts, only by pushing the breaking member 9 out of the second driving member 8, it can be quickly converted into a conical breaking roller with breaking capacity, this integrated dual-purpose design avoids additional independent breaking device, greatly simplifies the overall structure of the robot, reduces the equipment size and weight, and is especially suitable for the operation requirements of narrow and complex spaces such as sewage treatment tanks.

[0044] The four broken pieces 9 and the cleaning brush roller 7 form a conical crushing roller, and through the relative rotation of the two cleaning brush rollers 7, the broken pieces 9 can pierce into the inside of the caked sludge, and when the cleaning brush roller 7 and the broken pieces 9 rotate, the interlaced force generated by the relative rotation can produce a combined effect of tearing and extruding on the caked sludge. Small caked sludge is cut by the sharp end, and large caked sludge is forced to crush by the wedge-shaped space between the two rollers and the rotation. The crushed particles are more uniform in size, and the crushed particles are continuously gathered to the center under the action of the rotating vortex, avoiding the suction omission caused by the dispersion of the crushed particles. At the same time, the rotation of the two cleaning brush rollers 7 can also form a slight air flow disturbance, which can help the small particles to be quickly sucked into the suction device 60, reducing the secondary deposition of particles on the pool bottom. The cleaning brush roller 7 can assist in restraining the caked sludge during the crushing process to prevent it from splashing due to the impact of the broken pieces 9.

[0045] The suction device 60 then directly removes the crushed sludge from the gathering area between the two cleaning brush rollers 7 by negative pressure, ensuring that crushing and extraction are synchronized, avoiding the problem of crushing accumulation from the source, improving overall cleaning efficiency. The through-hole plate 30 is moved by the pushing member 40 to move the through-hole plate 30 out of position with the water outlet of the inclined nozzle 20, which is equivalent to mechanically blocking the water outlet of the inclined nozzle 20. At this time, the dust and debris generated by the crushed caked sludge cannot enter the interior of the inclined nozzle 20, thereby avoiding the blockage problem of the traditional inclined nozzle 20 when switching between crushing and cleaning. When switched to cleaning mode, the water source is injected through the water delivery member 50, and the through-hole plate 30 is moved back and forth by the pushing member 40, causing the through-hole plate 30 to continuously misalign and connect with the water outlet of the inclined nozzle 20. This dynamic cooperation allows the water flow to form a pulsed high-pressure jet, which has a stronger impact force than the continuous low-pressure water flow of traditional fixed nozzles. It can more effectively flush away the residual sparse sludge, crushed small particles, and even sticky impurities attached to the pool wall. Especially for the dead angles left after the cleaning brush roller 7 is cleaned, the pulsed water flow can achieve secondary cleaning, improving the overall cleaning cleanliness.

[0046] As shown in Figures 3-4 The lifting member 2 includes a bottom plate 21 and a support frame 22 fixed to the surface of the bottom plate 21. The surface of the bottom plate 21 is fixedly installed with a hydraulic cylinder 23. One side of the support frame 22 is slidingly connected with a sliding frame 24, and the output end of the hydraulic cylinder 23 is fixedly connected with the sliding frame 24. The output end of the hydraulic cylinder 23 can push the sliding frame 24 to move, thereby adjusting the height of the sliding frame 24, and thus the height of the moving member 3 can be adjusted.

[0047] The moving part 3 includes a horizontal plate 31 and an electric slide rail 32 fixed to one side of the horizontal plate 31. A slider 33 is slidably connected to the surface of the electric slide rail 32. The slider 33 can be moved by the electric slide rail 32. The movement of the slider 33 can drive the robotic arm 4 and the robot body 5 to move, which can adjust the robot body 5 and improve its applicability.

[0048] Water supply component 50 includes a water tank 501 and a water pump 502 installed on one side of the water tank 501. The water pump 502 is connected to the water tank 501. A first telescopic hose 503 is installed on one side of the water pump 502 and is connected to the inclined nozzle 20. Suction component 60 includes a storage tank 601 and a suction pump 602 installed on one side of the storage tank 601. The suction pump 602 is connected to the storage tank 601. A second telescopic hose 603 is connected to one side of the suction pump 602. One end of the hose 603 is connected to the suction pipe 604, and the suction pipe 604 is connected to one side of the robot body 5. The water pump 502 transports the water inside the water tank 501 to the tilt nozzle 20 through the first telescopic hose 503. Water is sprayed through the tilt nozzle 20. The suction pump 602, the second telescopic hose 603 and the suction pipe 604 can extract the crushed sludge from the crushing area, such as the gathering area between the two cleaning brush rollers 7, and transport it to the storage box 601.

[0049] like Figures 5-10 As shown, the inner wall of the robot body 5 has a mounting groove 51 for mounting the broken parts 9. The first drive unit 6 includes a first motor 61 and a rotating shaft 62 fixed to the output end of the first motor 61. The rotating shaft 62 is rotatably connected to the robot body 5. A first gear 63 is fixedly connected to one end of the rotating shaft 62. The cleaning brush roller 7 includes a rotating cylinder 71 and a connecting shaft 72 fixed to one end of the rotating cylinder 71. The connecting shaft 72 is rotatably connected to the robot body 5. Brush bristles 73 are installed on the surface of the rotating cylinder 71. The brush bristles 73 are made of highly elastic and wear-resistant materials such as nylon and polyurethane. When the rotating cylinder 71 rotates relative to the robot body 5, the brush bristles 73 can be released through the elasticity of the rotating cylinder 71. The flexible deformation penetrates into the tiny gaps at the bottom of the pool, completely peeling off the attached soft sludge. The elastic properties of the bristles 73 can buffer the contact force between the rotating cylinder 71 and the bottom of the pool. When encountering a protrusion or hard object on the bottom of the pool, the bristles 73 will bend and deform instead of being rigidly impacted, which can prevent the surface of the pool from being scratched. A second gear 74 is fixedly installed at the other end of the rotating cylinder 71. The first gear 63 and the second gear 74 are meshed and connected. The first motor 61 can drive the rotating shaft 62 and the first gear 63 to rotate. The first gear 63 can drive the two second gears 74 to rotate relative to each other. The second gears 74 can serve as a connection to facilitate the rotation of the rotating cylinder 71.

[0050] The second driving member 8 comprises a second motor 81 and a bidirectional screw rod 82 fixed at the output end of the second motor 81, the second motor 81 is fixed inside the connecting shaft 72, the bidirectional screw rod 82 is rotationally connected with the rotating cylinder 71, the surface of the bidirectional screw rod 82 is threadedly connected with two threaded blocks 83, the four edges of the threaded blocks 83 are rotationally connected with hinged plates 84, when the second motor 81 drives the bidirectional screw rod 82 to rotate, the reverse threads on the surface of the bidirectional screw rod 82 will drive the two threaded blocks 83 to relatively approach or move away along the axial direction, when the threaded blocks 83 approach each other, the hinged plates 84 on the four edges will be synchronously pried outward, thereby pushing the connected crushing members 9 to stably extend from the inside of the rotating cylinder 71 to the four sides, when the threaded blocks 83 move away from each other, the hinged plates 84 contract, driving the crushing members 9 to retract, this structure can ensure that the extension lengths of the four crushing members 9 are completely consistent, avoids eccentricity of the conical crushing roller caused by uneven force, ensures the balance stability during subsequent relative rotation, and reduces the equipment vibration.

[0051] The crushing member 9 comprises a first moving plate 91 and a plurality of conical blocks 92 fixed on the surface of the first moving plate 91, the conical blocks 92 are slidingly connected with the rotating cylinder 71, one end of the hinged plate 84 is hingedly connected with the first moving plate 91, the first moving plate 91 is fixedly installed with second moving plates 93 at both ends, and the two second moving plates 93 are slidingly connected with the rotating cylinder 71, the second moving plate 93 is fixedly installed with a contact plate 94 on one side, and the contact plate 94 is slidingly connected with the rotating cylinder 71, the plurality of conical blocks 92 are fixed on the surface of the first moving plate 91 to form an array type crushing unit, when the hinged plate 84 pushes the first moving plate 91 to move, the conical blocks 92 are integrally extended, the tips thereof can concentrate stress to crush the sludge, compared with a dispersed crushing structure, this rigid connection ensures that the impact force of each conical block 92 is uniformly transmitted, avoids breakage of individual conical blocks 92 caused by uneven force, the sliding connection between the conical blocks 92 and the rotating cylinder 71 limits the movement track thereof, ensures accurate positioning along the preset direction when extending, and guarantees that the conical blocks 92 on the other rotating cylinder 71 form staggered engagement.

[0052] The hammering part 10 comprises a fixed plate 101 and a plurality of hitting hammers 102 fixed on one side of the fixed plate 101, the fixed plate 101 is in sliding connection with the mounting groove 51, the hitting hammers 102 are in sliding connection with the robot body 5, a plurality of springs 103 are mounted on one side of the fixed plate 101, one end of the spring 103 is fixedly connected with the inner wall of the mounting groove 51, two sliding rods 104 are fixedly installed in the mounting groove 51, the fixed plate 101 is in sliding connection with the two sliding rods 104, a supporting rod 105 is fixedly installed on the inner wall of the mounting groove 51 in correspondence, an L-shaped rod 106 is obliquely rotatable on the surface of the supporting rod 105, a pressing plate 107 is fixedly installed at one end of the L-shaped rod 106, a torsional spring 108 is fixedly installed on one side of the L-shaped rod 106, and one end of the torsional spring 108 is fixedly connected with the supporting rod 105, and an inclined block 109 is mounted on one side of the fixed plate 101 in correspondence, and the L-shaped rod 106 is in contact with the inclined block 109.

[0053] When the contact plate 94 rotates to drive the pressing plate 107 to move downward, the contact plate 94 is extended and rotated with the second moving plate 93, the edge of the contact plate 94 presses the pressing plate 107 of the L-shaped rod 106 downward, so that the L-shaped rod 106 rotates around the hinge point of the supporting rod 105, at this time, the torsional spring 108 is twisted to store energy, the other end of the L-shaped rod 106 is lifted upward due to rotation, and a pushing force is generated through the inclined contact surface of the L-shaped rod 106 and the inclined block 109, so that the horizontal rotational displacement is converted into a vertical force, the fixed plate 101 is pushed to slide upward along the mounting groove 51, and the spring 103 on one side of the fixed plate 101 is compressed during the upward movement of the fixed plate 101, so that the spring 103 stores elastic potential energy; at the same time, the fixed plate 101 drives the hitting hammers 102 to move upward synchronously, and the hitting hammers 102 are separated from the initial hitting position, at this time, the hitting hammers 102 are in a force-accumulating state, when the contact plate 94 rotates to be separated from the pressing plate 107, the L-shaped rod 106 loses the external force pressing downward, the elastic force of the torsional spring 108 drives the L-shaped rod 106 to rotate reversely to reset, the contact pressure between the L-shaped rod 106 and the inclined block 109 disappears, and the elastic potential energy of the spring 103 is released instantaneously, so as to push the fixed plate 101 to move downward rapidly, the hitting hammers 102 are lowered and extended out of the robot body 5 at the same time, and form a momentary impact on the caked sludge, so as to complete one hammering, and then under the reciprocating action of the spring 103, multiple high-frequency hammerings can be realized.

[0054] In order to solve the technical problems that the inside of the inclined nozzle 20 is easy to be blocked and the traditional nozzle has a continuous low-pressure water flow and a weak impact force, as shown in the prior art, Figures 11-12 The following preferred technical solutions are provided:

[0055] A connecting hole 301 corresponding to the inclined nozzle 20 is provided on one side of the through-hole plate 30, the pushing part 40 comprises an electric push rod 401 and a concave plate 402 fixed on the output end of the electric push rod 401, the concave plate 402 is in sliding connection with the robot body 5, and the concave plate 402 is fixedly connected with the through-hole plate 30, the concave plate 402 is driven to move reciprocatingly by the output end of the electric push rod 401, so as to drive the through-hole plate 30 to move.

[0056] When the connecting hole 301 is aligned with the inclined nozzle 20, the two form a smooth waterway, and through the dynamic cooperation of the continuous dislocation and connection of the connecting hole 301 and the water outlet hole of the inclined nozzle 20, the water flow forms a pulsed high-pressure jet, which has stronger impact force than the continuous low-pressure water flow of the traditional fixed nozzle. When the connecting hole 301 is dislocated from the inclined nozzle 20, the water outlet of the inclined nozzle 20 is closed, which can prevent the sludge debris, impurities and the like generated by breaking from entering the inside of the nozzle to cause blockage, so as to ensure that the inclined nozzle 20 can work normally when it is used next time, thereby prolonging the service life of the nozzle. Pushing the through-hole plate 30 to move makes the connecting hole 301 dislocate from the water outlet hole of the inclined nozzle 20, which is equivalent to closing the water outlet of the inclined nozzle 20 by mechanical shielding. At this time, the dust and debris generated by breaking and crushing the sludge cannot enter the inside of the inclined nozzle 20, thereby avoiding the blockage problem of the traditional inclined nozzle 20 when switching between breaking and cleaning from the source. When switching to the cleaning mode, the water source is injected through the water conveying part 50, and the through-hole plate 30 is reciprocally moved by the pushing part 40, so as to make the connecting hole 301 continuously dislocate from and connect with the water outlet hole of the inclined nozzle 20. The dynamic cooperation of the two can make the water flow form a pulsed high-pressure jet, which has stronger impact force than the continuous low-pressure water flow of the traditional fixed nozzle, and can more effectively flush the residual sparse sludge and small particles after breaking on the bottom of the pool.

[0057] It should be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed or inherent to such a process, method, article or device.

[0058] Although the embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations of the embodiments can be made without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A cleaning robot for a sewage treatment tank, comprising a circular track (1), characterized in that: The circular track (1) is surface slidingly connected with a lifting piece (2), the lifting piece (2) is surface mounted with a moving piece (3), one side of the moving piece (3) is mounted with a mechanical arm (4), one end of the mechanical arm (4) is fixedly mounted with a robot body (5), the robot body (5) is internally provided with a first driving piece (6), two cleaning brush rollers (7) are rotatably connected inside the robot body (5), and the first driving piece (6) is in transmission connection with the two cleaning brush rollers (7), the two cleaning brush rollers (7) are internally provided with a second driving piece (8), a crushing piece (9) is mounted around the second driving piece (8), and the crushing piece (9) is in sliding connection with the cleaning brush roller (7), a hammering piece (10) is arranged on one side of the robot body (5) close to the cleaning brush roller (7), a plurality of inclined spray heads (20) are correspondingly penetrated on one side of the robot body (5), a through-hole plate (30) is slidingly connected inside the inclined spray head (20), a pushing piece (40) is arranged on one side of the robot body (5), and the pushing piece (40) is fixedly connected with the through-hole plate (30), a water conveying piece (50) is mounted on one side of the moving piece (3), and the water conveying piece (50) is in communication with the plurality of inclined spray heads (20), a suction piece (60) is mounted on the other side of the moving piece (3), one end of the suction piece (60) is penetrated and connected to the robot body (5), an ultrasonic sensor (70) is mounted on the surface of the robot body (5), and the ultrasonic sensor (70), the first driving piece (6) and the second driving piece (8) are electrically connected with the controller.

2. The cleaning robot for a sewage treatment tank according to claim 1, characterized in that: The lifting piece (2) comprises a bottom plate (21) and a support frame (22) fixed on the surface of the bottom plate (21), a hydraulic cylinder (23) is fixedly mounted on the surface of the bottom plate (21), a sliding frame (24) is slidingly connected on one side of the support frame (22), and the output end of the hydraulic cylinder (23) is fixedly connected with the sliding frame (24).

3. The cleaning robot for a sewage treatment tank according to claim 1, characterized in that: The moving piece (3) comprises a horizontal plate (31) and an electric sliding rail (32) fixed on one side of the horizontal plate (31), and a sliding block (33) is slidingly connected on the surface of the electric sliding rail (32).

4. The cleaning robot for a sewage treatment tank according to claim 1, characterized by: The robot body (5) is internally provided with a mounting groove (51).

5. The cleaning robot for a sewage treatment tank according to claim 1, characterized by: The first driving piece (6) comprises a first motor (61) and a rotating shaft (62) fixed on the output end of the first motor (61), the rotating shaft (62) is in rotation connection with the robot body (5), a first gear (63) is fixedly connected on one end of the rotating shaft (62), the cleaning brush roller (7) comprises a rotating cylinder (71) and a connecting shaft (72) fixed on one end of the rotating cylinder (71), the connecting shaft (72) is in rotation connection with the robot body (5), a plurality of bristles (73) are mounted on the surface of the rotating cylinder (71), a second gear (74) is fixedly mounted on the other end of the rotating cylinder (71), and the first gear (63) is in meshing connection with the second gear (74).

6. A cleaning robot for a sewage treatment tank according to claim 5, characterised in that: The second driving member (8) comprises a second motor (81) and a bidirectional screw rod (82) fixed at the output end of the second motor (81), the second motor (81) is fixed inside the connecting shaft (72), the bidirectional screw rod (82) is rotationally connected with the rotating cylinder (71), and the surface of the bidirectional screw rod (82) is threadedly connected with two threaded blocks (83), and the four edges of the threaded block (83) are rotationally connected with the hinged plates (84).

7. A cleaning robot for a sewage treatment tank according to claim 6, characterised in that: The breaking member (9) comprises a first moving plate (91) and a plurality of conical blocks (92) fixed on the surface of the first moving plate (91), the conical blocks (92) are slidingly connected with the rotating cylinder (71), one end of the hinged plate (84) is hinged to the first moving plate (91), the two ends of the first moving plate (91) are fixedly installed with second moving plates (93), and the two second moving plates (93) are slidingly connected with the rotating cylinder (71), one side of the second moving plate (93) is fixedly installed with a contact plate (94), and the contact plate (94) is slidingly connected with the rotating cylinder (71).

8. The cleaning robot for a sewage treatment tank according to claim 4, characterized by: The hammering member (10) comprises a fixed plate (101) and a plurality of hitting hammers (102) fixed on one side of the fixed plate (101), the fixed plate (101) is slidingly connected with the mounting groove (51), the hitting hammer (102) is slidingly connected with the robot body (5), a plurality of springs (103) are installed on one side of the fixed plate (101), one end of the spring (103) is fixedly connected with the inner wall of the mounting groove (51), two sliding rods (104) are fixedly installed in the mounting groove (51), the fixed plate (101) is slidingly connected with the two sliding rods (104), a supporting rod (105) is fixedly installed on the inner wall of the mounting groove (51) in a corresponding manner, the surface of the supporting rod (105) is obliquely and rotationally provided with an L-shaped rod (106), one end of the L-shaped rod (106) is fixedly installed with a pressing plate (107), one side of the L-shaped rod (106) is fixedly installed with a torsional spring (108), one end of the torsional spring (108) is fixedly connected with the supporting rod (105), and a beveled block (109) is installed on one side of the fixed plate (101) in a corresponding manner, and the L-shaped rod (106) is in contact with the beveled block (109).

9. The cleaning robot for a sewage treatment tank according to claim 1, characterized by: A connecting hole (301) corresponding to the inclined spray head (20) is formed in the side of the through-hole plate (30), the pushing member (40) comprises an electric push rod (401) and a concave plate (402) fixed at the output end of the electric push rod (401), the concave plate (402) is slidingly connected with the robot body (5), and the concave plate (402) is fixedly connected with the through-hole plate (30), the output end of the electric push rod (401) drives the concave plate (402) to reciprocate, so that the through-hole plate (30) can be moved.

10. The cleaning robot for a sewage treatment tank according to claim 1, characterized by: The water feeding part (50) comprises a water tank (501) and a water pump (502) installed on one side of the water tank (501), the water pump (502) is communicated with the water tank (501), a first flexible hose (503) is installed on one side of the water pump (502), the first flexible hose (503) is communicated with the inclined spray head (20), the suction part (60) comprises a storage tank (601) and a suction pump (602) installed on one side of the storage tank (601), the suction pump (602) is communicated with the storage tank (601), a second flexible hose (603) is communicated with one side of the suction pump (602), a suction pipe (604) is communicated with one end of the second flexible hose (603), and the suction pipe (604) penetrates through one side of the robot body (5).

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