Sludge treatment robot

Abstract

The sludge treatment robot comprises a connecting disc, an adjusting foot structure, a first servo motor, a supporting disc, a two-way adjusting mechanism, a spray gun, a camera, a water pipe, a second electronic push rod and the like. The connecting disc is a basic frame and is connected with a plurality of groups of adjusting foot structures through U-shaped clamps, and an adjusting rod and a supporting foot are driven by an electronic push rod A to realize stable supporting; the servo motor A drives the supporting disc to rotate, and the three sets of bidirectional adjusting mechanisms achieve accurate adjustment of functional parts through the servo motor B, the servo motor C and the bevel gear set. The water pipe sprays water for softening, the poking needle punctures the hole, and the camera monitors in real time. The robot achieves multi-dimensional precise operation, improves efficiency through cooperative processing, adapts to a complex sludge environment, is safe and intelligent, and solves the problems that existing equipment is unstable in supporting, inaccurate in positioning, single in function and the like.

Description

A sludge treatment robot Technical Field

[0001] This invention relates to the technical field of sludge treatment, specifically to a sludge treatment robot. Background Technology

[0002] Sludge, an inevitable byproduct of various production and construction activities, has a wide range of sources, covering multiple fields such as construction sites and industrial production, and its composition is complex. During construction, earthwork excavation disturbs the topsoil, which mixes with groundwater to form fluid or soft plastic sludge.

[0003] To address the problem of sludge pollution, various sludge treatment technologies have been developed both domestically and internationally. Despite these advancements, existing sludge treatment equipment still faces numerous unresolved issues. Regarding stability, existing equipment often lacks flexible adjustment capabilities and exhibits extremely poor adaptability. In terms of operational positioning accuracy, most existing equipment's adjustment mechanisms are single-dimensional, failing to achieve precise positioning of functional components, resulting in blind spots and low processing efficiency. Regarding functional synergy, most equipment only possesses a single treatment function, leading to unsatisfactory treatment results. Finally, in terms of operational stability, the structural design of existing equipment is not scientifically sound.

[0004] Against this backdrop, developing a sludge treatment device with features such as stable support, precise adjustment, and multi-functional synergy has significant practical implications and application value. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a sludge treatment robot, solving the problems mentioned in the background section. Technical Solution

[0006] To achieve the above objectives, the present invention provides the following technical solution: a sludge treatment robot, characterized in that it comprises: a connecting plate, wherein a plurality of U-shaped clamps are evenly distributed on the outer circumference of the connecting plate, and a vertical stepped shaft is provided in the through hole in the middle of the connecting plate; an adjustable foot structure, comprising three adjusting rods and a supporting foot, wherein an electronic push rod A is connected to each of the three adjusting rods and the supporting foot; the ends of the three adjusting rods are rotatably connected to each other in sequence, the first adjusting rod's head end is rotatably connected to the U-shaped clamps, the supporting foot is foot-shaped, and the third adjusting rod's tail end is rotatably connected to the middle of the supporting foot; a servo motor A, disposed on the upper surface of the connecting plate with its output shaft vertically upward; and a support plate, the lower surface of which is fixed to the rotation shaft of the servo motor A. The support plate has two symmetrical support plates on both sides along the left and right directions; there are three sets of bidirectional adjustment mechanisms, each set including a plate-shaped base, a U-shaped frame, a rotating shaft, and a 90° bevel gear set; two fixed plates are symmetrically arranged on the base; the U-shaped frame is set between the two fixed plates, and a deep groove ball bearing is set in each of its two flange plates and fixed to its outer ring; the rotating shaft is fixed to the inner ring of the two deep groove ball bearings, and a bidirectional overrunning clutch is fixed coaxially at the right end; one bevel gear of the 90° bevel gear set is fixed coaxially to the rotating shaft, and the other bevel gear is fixed coaxially to a connecting column, the other end of which passes through the middle of the U-shaped frame base plate and has a connecting platform at that end.

[0007] Preferably, the bidirectional adjustment mechanism further includes servo motor B and servo motor C.

[0008] Preferably, the output shaft of the servo motor B passes through the left fixing plate and is fixed to the left flange plate of the U-shaped frame.

[0009] Preferably, the output shaft of the servo motor C is coaxially fixed with the bidirectional overrunning clutch.

[0010] Preferably, one of the bidirectional adjustment mechanisms is fixed to the upper surface of the support plate via its base, and its connecting platform is connected to a spray gun in the front-to-back direction.

[0011] Preferably, a camera is provided above the spray gun.

[0012] Preferably, the other two sets of bidirectional adjustment mechanisms are symmetrically fixed to the upper surface of two support plates via their bases, and their connecting platforms are respectively connected to water pipes in the front and rear directions and electronic push rod B.

[0013] Preferably, the telescopic shaft end of the electronic push rod B is coaxially connected to a needle.

[0014] This invention provides a sludge treatment robot with the following advantages: 1. The multi-degree-of-freedom adjustable foot structure, through the coordinated action of the multi-section rotating adjustable rod and the independently controlled electronic push rod, along with the supporting foot, realizes support and movement adjustment, enabling the robot to operate stably in sludge environments with different degrees of softness and terrain conditions. This solves the technical problems of unstable support and poor adaptability of existing equipment, laying a solid foundation for efficient treatment.

[0015] 2. The bidirectional adjustment mechanism, combined with the coarse adjustment function of the servo motor, forms a dual positioning system of coarse adjustment and fine adjustment, enabling precise bidirectional adjustment of functional components in both directions (up and down, left and right). This solves the problems of inaccurate positioning and incomplete coverage in existing equipment, and significantly improves the accuracy and comprehensiveness of sludge treatment.

[0016] 3. Integrating the functions of water pipes, needles, and spray guns, a softening-puncture-reaction integrated treatment process is constructed, breaking the limitations of traditional equipment with single functions. This allows the agents to fully penetrate into the deep layers of sludge, avoiding incomplete treatment and significantly improving treatment efficiency and quality, thus meeting the requirements for harmless and stable sludge treatment.

[0017] 4. The independent rotation design of the deep groove ball bearing, the function of the two-way overrunning clutch, and the reasonable connection of each component ensure stable operation of the equipment. Attached Figure Description

[0018] Figure 1 is a three-dimensional structural schematic diagram of the present invention; Figure 2 is a front view of the present invention; Figure 3 is a top view of Figure 2; Figure 4 is a cross-sectional view AA in Figure 3; Figure 5 is a cross-sectional view BB in Figure 3; Figure 6 is an enlarged view of section I in Figure 5; In the figures: 1, connecting plate; 101, U-shaped clamp; 102, stepped shaft; 2, adjusting foot structure; 201, adjusting rod; 202, supporting foot; 203, electronic push rod A; 3, servo motor A; 4, supporting plate; 401, supporting plate; 5, bidirectional adjusting mechanism; 501, base; 502, U-shaped frame; 503, rotating shaft; 504, fixing plate; 505, deep groove ball bearing; 506, bidirectional overrunning clutch; 507, bevel gear; 508, connecting platform; 509, servo motor B; 510, servo motor C; 6, spray gun; 7, camera; 8, water pipe; 9, electronic push rod B; 901, needle. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] In this application, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0021] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0022] Example 1: Please refer to Figures 1 to 6. A sludge treatment robot includes: a connecting plate (1), which is circular in shape, with a plurality of U-shaped clamps (101) evenly arranged on the outer surface of its circumference. A vertical stepped shaft (102) is provided in the through hole in the middle of the connecting plate (1), and the stepped shaft (102) passes downward through the through hole in the middle. The connecting plate (1) serves as the basic connecting component of the robot and builds the main frame. On the one hand, it realizes the symmetrical installation of the adjustable foot structure (2) through the U-shaped clamps (101), and on the other hand, it supports the connection of the electronic push rod A (203) through the stepped shaft (102), ensuring the installation and positioning of each component and the effective transmission of force, and providing stable support for the upper structure.

[0023] The adjustable foot structure (2) matches the number of U-shaped clamps (101) and is connected to them. Each group includes three adjusting rods (201) and a supporting foot (202). Each of the three adjusting rods (201) and the supporting foot (202) is connected to an electronic push rod A (203). The ends of the three adjusting rods (201) are rotatably connected to each other in sequence. The first adjusting rod (201) is rotatably connected to the U-shaped clamp (101). The supporting foot (202) is foot-shaped. The tail end of the third adjusting rod (201) is rotatably connected to the middle of the supporting foot (202). The telescopic shaft end of the electronic push rod A (203) of the first adjusting rod (201) is rotatably connected to its tail end. The other end is rotatably connected to the outer circumferential surface of the stepped shaft (102); the telescopic shaft end of the electronic push rod A (203) of the second adjusting rod (201) is rotatably connected to its tail, and the other end of the electronic push rod A (203) is rotatably connected to the U-shaped clamp (101); the telescopic shaft end of the electronic push rod A (203) of the third adjusting rod (201) is rotatably connected to its middle part, and the other end of the electronic push rod A (203) is rotatably connected to the middle part of the second adjusting rod (201); the telescopic shaft end of the electronic push rod A (203) of the support foot (202) is rotatably connected to its head end, and the other end of the electronic push rod A (203) is rotatably connected to the middle part of the third adjusting rod (201). Each adjustment rod (201) and support foot (202) of the adjustable foot structure (2) is equipped with an independent electronic push rod (203) to form a multi-degree-of-freedom adjustment system. Through the coordinated work of multiple groups, it can adapt to sludge environments with different degrees of softness and undulating terrain. By independently controlling the extension and retraction of the electronic push rod (203), the angle and height of the support foot (202) can be adjusted to stably support the robot in the sludge, providing a solid foundation for the treatment operation. At the same time, the robot can be moved in the sludge through adjustment to expand the treatment range.

[0024] Servo motor A (3) is set on the upper surface of the connecting plate (1) with its output shaft pointing vertically upward. Servo motor A (3) drives the support plate (4) to rotate horizontally, thereby achieving coarse adjustment of the direction of functional components such as the upper spray gun (6) and camera (7), quickly aligning with the sludge area to be treated, laying the foundation for fine adjustment of the bidirectional adjustment mechanism (5), and improving the efficiency of work preparation.

[0025] The support plate (4) is disc-shaped, and its lower surface is fixed to the rotation axis of the servo motor A (3). Two support plates (401) are symmetrically provided at the left and right ends of the support plate (4) along the left and right directions. The support plate (4) serves as the mounting carrier for the upper functional components, receives the power transmission of the servo motor A (3), and drives the upper components to rotate synchronously. The support plates (401) realize the reasonable distribution of the three sets of bidirectional adjustment mechanisms (5), avoid mutual interference during operation, and ensure the installation stability and operation coordination of each functional component.

[0026] The bidirectional adjustment mechanism (5) consists of three sets, each including a plate-shaped base (501), a U-shaped frame (502), a rotating shaft (503), and a 90° bevel gear set; the base (501) has two fixed plates (504) symmetrically arranged on the left and right sides; the U-shaped frame (502) is located between the two fixed plates (504), and each of its two flange plates is equipped with a deep groove ball bearing (505) and fixed to its outer ring; the rotating shaft (503) is fixed to the inner ring of the two deep groove ball bearings (505), and the rotating shaft ( 503) The left end does not exceed the left flange plate of the U-shaped frame (502), and the right end passes through the right flange plate and the right fixed plate (504) of the U-shaped frame (502) and a bidirectional overrunning clutch (506) is fixed coaxially at the right end; one of the bevel gears (507) of the 90° bevel gear set is fixed coaxially on the rotating shaft (503), and the other bevel gear (507) is fixed coaxially with a connecting column, the other end of which passes through the middle of the bottom plate of the U-shaped frame (502) and a connecting platform (508) is provided at this end. The base (501) and fixing plate (504) of the bidirectional adjustment mechanism (5) are symmetrically distributed on the left and right sides, providing a stable installation foundation; the two flange plates of the U-shaped frame (502) have built-in deep groove ball bearings (505), which realizes that the rotating shaft (503) and the U-shaped frame (502) can rotate independently without interference; the bidirectional overrunning clutch (506) protects the servo motor C (510) and avoids the reverse influence of external forces; the 90° bevel gear set realizes 90° power steering. The characteristics of the deep groove ball bearing (505) ensure that when the U-shaped frame (502) rotates, it will not transmit the rotation of the rotating shaft (503) through the deep groove ball bearing (505) to make the rotating shaft (503) rotate, and vice versa. The function of the bidirectional overrunning clutch (506) is to keep the rotating shaft (503) rotating when it is subjected to other external forces, while not driving the servo motor C (510) to rotate. However, when the servo motor C (510) rotates, it can transmit the rotation to the rotating shaft (503) through the bidirectional overrunning clutch (506) to make the rotating shaft (503) rotate synchronously.

[0027] The bidirectional adjustment mechanism (5) further includes servo motor B (509) and servo motor C (510). The output shaft of servo motor B (509) passes through the left fixed plate (504) and is fixed to the left flange plate of the U-shaped frame (502). The output shaft of servo motor C (510) is coaxially fixed with the bidirectional overrunning clutch (506). Servo motor B (509) drives the U-shaped frame (502) to rotate up and down by rotating in both directions, and servo motor C (510) drives the rotating shaft (503) to rotate in both directions, thereby driving the bevel gear set to rotate and causing the connecting platform (508) to drive the functional components on it to rotate left and right. Through the coordinated control of the two servo motors, the functional components on the connecting platform (508) can be precisely adjusted up and down and left and right in both directions, ensuring that the spray gun (6), water pipe (8), etc. are accurately aligned with the area to be treated, thereby improving the accuracy and effect of the operation.

[0028] One of the bidirectional adjustment mechanisms (5) is fixed to the upper surface of the support plate (4) via its base (501), and its connecting platform (508) is connected to a spray gun (6) in the front-to-back direction. The spray gun (6) sprays a specific reaction agent onto the sludge to be treated through a pipeline connected to an external agent storage tank. The agent reacts chemically with the harmful substances in the sludge. For example, when polyaluminum chloride is sprayed, it reacts with the pollutants in the sludge and forms a complex with the heavy metal ions in the sludge to generate stable, insoluble compounds, which fix the heavy metal ions, prevent their migration and diffusion, and reduce the toxicity of the sludge so that it meets the standards for discharge or secondary utilization.

[0029] A camera (7) is installed above the spray gun (6). The camera (7) monitors the sludge treatment process in real time and transmits the image to the ground control terminal, so that the operator can intuitively understand the treatment progress and effect, adjust the operation parameters in time, and at the same time assist the bidirectional adjustment mechanism (5) in precise positioning to avoid blind operation.

[0030] The other two sets of bidirectional adjustment mechanisms (5) are symmetrically fixed to the upper surface of two support plates (401) via their bases (501), and their connecting platforms (508) are respectively connected to water pipes (8) in the front and rear directions and electronic push rods (9). The water pipes (8) spray clean water onto the sludge through the external water tank, which softens the sludge structure, reduces its viscosity, and facilitates the penetration of the agent; on the other hand, it washes away the scum on the surface of the sludge, so that the agent reacts more fully with the sludge and improves the treatment effect.

[0031] The end of the telescopic shaft of the electronic push rod B (9) is coaxially connected to a needle (901). The telescopic movement of the electronic push rod B (9) drives the needle (901) to insert into the sludge, forming uniform holes, breaking the dense structure of the sludge, and allowing the agent and water to quickly penetrate to the bottom of the sludge, avoiding incomplete treatment and improving treatment efficiency and quality. The selection of the above three functional components represents only the selection of this embodiment, and the present invention is not limited to a single one.

[0032] Working process: During operation, the present invention is first transported to the sludge area to be treated, and the electronic push rods (203) of the adjustable foot structure (2) are activated. Each electronic push rod (203) extends and retracts independently, driving the three adjusting rods (201) and the support foot (202) to adjust their angles in sequence, so that the support foot (202) can be inserted into the sludge at the best angle. Multiple sets of adjustable foot structures (2) work together to stably support the robot and prevent it from tilting and sinking.

[0033] Then, servo motor A (3) is started, and its output shaft drives the support plate (4) and the upper functional components to rotate, achieving coarse adjustment of direction, so that each functional component is roughly aligned with the area to be treated. Through the real-time transmission of the image from the camera (7), servo motor B (509) and servo motor C (510) of the bidirectional adjustment mechanism (5) are controlled. Servo motor B (509) drives the U-shaped frame (502) to rotate up and down, adjusting the up and down angle of the functional components; servo motor C (510) drives the rotating shaft (503) to rotate through the bidirectional overrunning clutch (506), and through the 90° bevel gear set (507), drives the connecting table (508) to rotate left and right, achieving fine adjustment of the left and right angle of the functional components, ensuring accurate alignment with the target area. Then, water pipe (8) is started to spray clean water to soften the sludge, and electronic push rod B (9) extends and retracts to drive the needle (901) to insert into the sludge to form holes. The spray gun (6) then sprays the agent, and the agent quickly penetrates into the deep layer of the sludge through the holes to fully react with the harmful substances. Throughout the process, the camera (7) continuously monitors the process, and the operator adjusts the parameters in real time according to the images to ensure the processing effect.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A sludge treatment robot, characterized in that, include: A connecting plate (1) has several U-shaped clamps (101) evenly distributed on its outer circumference surface, and a vertical stepped shaft (102) is provided in the through hole in the middle of the connecting plate (1); an adjusting foot structure (2) includes three adjusting rods (201) and a supporting foot (202), and an electronic push rod A (203) is connected to each of the three adjusting rods (201) and the supporting foot (202); the ends of the three adjusting rods (201) are rotatably connected to each other in sequence, the head end of the first adjusting rod (201) is rotatably connected to the U-shaped clamp (101), the supporting foot (202) is foot-shaped, and the tail end of the third adjusting rod (201) is rotatably connected to the middle of the supporting foot (202); a servo motor A (3) is set on the upper surface of the connecting plate (1) and its output shaft is vertically upward; a supporting plate (4) has its lower surface fixed to the rotating shaft of the servo motor A (3), and two supporting plates along the left and right directions are symmetrically provided at the left and right ends of the supporting plate (4). (401); Two-way adjustment mechanism (5), in three groups, each group including plate base (501), U-shaped frame (502), rotating shaft (503), and 90° bevel gear set; the base (501) is symmetrically provided with two fixed plates (504); the U-shaped frame (502) is set between the two fixed plates (504), and each of its two flange plates is provided with a deep groove ball bearing (505) and fixed to its outer ring; the rotating shaft (503) is fixed to the inner ring of the two deep groove ball bearings (505), and a two-way overrunning clutch (506) is fixed coaxially at the right end; one bevel gear (507) of the 90° bevel gear set is fixed coaxially on the rotating shaft (503), and the other bevel gear (507) is fixed coaxially with a connecting column, the other end of which passes through the middle of the bottom plate of the U-shaped frame (502) and is provided with a connecting platform (508) at that end.

2. The sludge treatment robot according to claim 1, characterized in that: The bidirectional adjustment mechanism (5) further includes servo motor B (509) and servo motor C (510).

3. The sludge treatment robot according to claim 2, characterized in that: The output shaft of the servo motor B (509) passes through the left fixed plate (504) and is fixed to the left flange plate of the U-shaped frame (502).

4. The sludge treatment robot according to claim 3, characterized in that: The output shaft of the servo motor C (510) is fixed coaxially with the bidirectional overrunning clutch (506).

5. A sludge treatment robot according to claim 1, characterized in that: One of the bidirectional adjustment mechanisms (5) is fixed to the upper surface of the support plate (4) via its base (501), and its connecting platform (508) is connected to a spray gun (6) in the front-to-back direction.

6. A sludge treatment robot according to claim 5, characterized in that: A camera (7) is provided above the spray gun (6).

7. A sludge treatment robot according to claim 6, characterized in that: The other two sets of bidirectional adjustment mechanisms (5) are symmetrically fixed on the upper surface of two support plates (401) through their bases (501), and their connecting platforms (508) are respectively connected to water pipes (8) in the front and rear directions and electronic push rods (9).

8. A sludge treatment robot according to claim 7, characterized in that: The telescopic shaft end of the electronic push rod B (9) is coaxially connected to a needle (901).

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