Sedimentation tank cleaning device and system

Abstract

The utility model discloses a settling pond cleaning device and system, and relates to the field of water treatment. And the settling pond cleaning device is used for cleaning a cutoff wall and a water collecting tank in the settling pond. The sedimentation tank cleaning device comprises a gantry truss and a cantilever moving mechanism. The gantry truss comprises a left fixed support arranged above the left side of the sedimentation tank, a right fixed support arranged above the right side of the sedimentation tank and a walking truss, and the two ends of the walking truss are movably connected with the left fixed support and the right fixed support respectively. The cantilever moving mechanism comprises a transverse moving mechanism, a longitudinal moving mechanism and a cantilever. The transverse moving mechanism is movably arranged on the walking truss, the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the cantilever is arranged on the longitudinal moving mechanism. And a cleaning brush is arranged on the cantilever. Through the arrangement, cleaning of the side wall of the cutoff wall, the side wall of the water collecting tank and the inner wall of the water collecting tank in the sedimentation tank is achieved.

Description

Technical Field

[0001] The utility model relates to the field of water treatment, in particular to a sedimentation tank cleaning device and system. Background Art

[0002] See also Figure 1 , a water barrier wall 11 and a water collection tank 12 are provided in the sedimentation tank 1 of the waterworks. The side walls of the water barrier wall 11 and the inner and outer walls of the water collection tank 12 are prone to the growth of moss and algae. If large moss and algae grow in the water collection tank 12, the overflow port will be blocked. At the same time, the death of algae and moss has a certain impact on the water quality and is also very unsightly. In order to ensure the cleanliness of the horizontal flow sedimentation tank 1 and the stable operation of the water supply facilities, a large amount of manpower must be organized every year to clean the algae and moss. In addition, the inside of the water collection tank 12 is very slippery when there are moss and algae, and there are certain safety risks for people to stand unsteadily. It is cold in winter and it is impossible to go into the water for cleaning. In summer, when the water temperature and light are suitable, the algae and moss grow very quickly, and the surface that has just been cleaned will often grow again after a few days. The annual labor cost is very high.

[0003] At present, there are some automatic devices for cleaning sedimentation tanks on the market. For example, patent CN108273290B discloses a sedimentation tank cleaning system, in which a cleaning robot is set in the water collection tank 12 to clean the inner wall of the water collection tank 12. However, this cleaning method is not suitable for cleaning sedimentation tanks. Figure 1 , it is necessary to remove the crossbar 121 in the water collecting tank 12 in advance to achieve cleaning, which still requires the investment of human resources. In addition, the patent cannot clean the outer wall of the water collecting tank 12 and the side wall of the water partition wall 11.

[0004] Therefore, there is an urgent need for a device that can clean the outer wall of the water-blocking wall 11, the outer wall of the water collecting tank 12 and the inner wall of the water collecting tank 12 at the same time. Utility Model Content

[0005] The first aspect of the utility model provides a sedimentation tank cleaning device, which is used to clean the water-blocking wall and the sump in the sedimentation tank. The sedimentation tank cleaning device includes a gantry truss and a cantilever moving mechanism. The gantry truss includes a left fixed bracket arranged on the upper left side of the sedimentation tank, a right fixed bracket arranged on the upper right side of the sedimentation tank, and a walking truss, and the two ends of the walking truss are movably connected to the left fixed bracket and the right fixed bracket respectively. The cantilever moving mechanism includes a transverse movement mechanism, a longitudinal movement mechanism and a cantilever. The transverse movement mechanism is movably arranged on the walking truss, the longitudinal movement mechanism is arranged on the transverse movement mechanism, and the cantilever is arranged on the longitudinal movement mechanism. A cleaning brush is provided on the cantilever.

[0006] In a specific embodiment, the transverse mechanism includes a transverse support arranged along the extension direction of the walking truss and a transverse plate movably arranged on the transverse support. The transverse support includes a first transverse axis, a second transverse axis and a third transverse axis arranged in parallel from top to bottom. The transverse plate is provided with a transverse motor, a plurality of upper driven wheels and a plurality of lower driven wheels. A transverse rack is provided on one side of the second transverse axis, a gear matching the transverse rack is provided on the driving shaft of the transverse motor, and the transverse motor cooperates with the transverse rack gear. Each of the upper driven wheels abuts against the upper surface of the first transverse axis and is movably connected to the upper surface of the first transverse axis. Each of the lower driven wheels abuts against the lower surface of the third transverse axis and is movably connected to the lower surface of the third transverse axis. The transverse support is also provided with a plurality of connecting ribs perpendicular to the transverse support, and each of the connecting ribs is arranged in parallel and evenly. One end of the connecting rib is connected to the walking truss, and the other end is connected to the third transverse axis. A plurality of fixing ribs are provided between adjacent connecting ribs, one end of each fixing rib is connected to the first transverse axis, and the other end of each fixing rib is connected to the third transverse axis.

[0007] In a specific embodiment, the transverse plate further includes a plurality of intermediate driven wheel groups, each of which includes two intermediate driven wheels arranged oppositely. The two intermediate driven wheels arranged oppositely in one group abut against both sides of the first transverse axis, and the intermediate driven wheels are movably connected to both sides of the first transverse axis. The two intermediate driven wheels arranged oppositely in one group abut against both sides of the third transverse axis, and the intermediate driven wheels are movably connected to both sides of the third transverse axis.

[0008] In a specific embodiment, the longitudinal movement mechanism includes a longitudinal support arranged on the transverse movement plate and a longitudinal movement plate movably arranged on the longitudinal support. The longitudinal support is provided with a longitudinal movement rack, a left slide rail and a right slide rail. The left slide rail and the right slide rail are arranged in parallel along the extension direction of the longitudinal support. The longitudinal movement plate is provided with a longitudinal movement motor and a plurality of left sliders and a plurality of right sliders. A gear matching the longitudinal movement rack is provided on the driving shaft of the longitudinal movement motor, and the longitudinal movement motor cooperates with the longitudinal movement rack gear. Each of the left sliders is movably arranged in the left slide rail, and each of the right sliders is movably arranged in the right slide rail. The left slide rail and the right slide rail are both provided with an upper limit block and a lower limit block, and a dust cover is also provided on the longitudinal support, and a protective cover is also provided on the longitudinal movement plate. A drag chain is also provided on one side of the longitudinal support, and one end of the drag chain is connected to the longitudinal movement plate, and the other end is connected to the longitudinal support.

[0009] In a specific embodiment, an adapter plate is further provided on the longitudinal shift plate. The cantilever includes a first cantilever group and a second cantilever group. The first cantilever group includes a first cantilever and a first cantilever motor, the first cantilever motor is provided on the adapter plate, and a driving shaft of the first cantilever motor is connected to one end of the first cantilever for driving the first cantilever to rotate. The second cantilever group includes a second cantilever and a second cantilever motor, the second cantilever motor is provided at the other end of the first cantilever, and a driving shaft of the second cantilever motor is connected to one end of the second cantilever for driving the second cantilever to rotate. A rotating motor is provided on the other end of the second cantilever, and the rotating motor is connected to the cleaning brush for driving the cleaning brush to rotate.

[0010] In a specific embodiment, the walking truss includes a left walking motor and a right walking motor. The left walking motor is arranged at the left end of the walking truss, and the driving shaft of the left walking motor is connected to the left fixed bracket. The right walking motor is arranged at the right end of the walking truss, and the driving shaft of the right walking motor is connected to the right fixed bracket. Both the left walking motor and the right walking motor are servo motors.

[0011] In a specific embodiment, a plurality of sediment removal mechanisms for removing sediment from the bottom of the sedimentation tank are further included. Each of the sediment removal mechanisms is evenly arranged below the walking truss; each of the sediment removal mechanisms includes a pipeline and a pump body. One end of the pipeline is connected to the pump body, and the other end is arranged in the sedimentation tank; the pump body is connected to the walking truss.

[0012] The second aspect of the utility model provides a sedimentation tank cleaning system, comprising the sedimentation tank cleaning device as described in the first aspect of the utility model, a PLC and a host computer. The left travel motor, the right travel motor, the lateral movement motor, the longitudinal movement motor, the first cantilever motor, the second cantilever motor and the rotating motor are all provided with encoders. The encoder, the left travel motor, the right travel motor, the first cantilever motor, the second cantilever motor, the rotating motor, the lifting pipe and the pump body are all electrically connected to the PLC, and the PLC is electrically connected to the host computer. The host computer is installed with software for controlling the PLC.

[0013] Beneficial Effects

[0014] 1) The utility model sets a gantry truss and a cantilever moving mechanism above the sedimentation tank, and the gantry truss includes a left fixed bracket, a right fixed bracket and a movable walking truss fixed on both sides. The cantilever moving mechanism includes a transverse movement mechanism, a longitudinal movement mechanism and a cantilever, the transverse movement mechanism is set on the gantry truss, the longitudinal movement mechanism is set on the transverse movement mechanism, and the cantilever is set on the longitudinal movement mechanism. A cleaning brush is also set at the end of the cantilever. Through the above arrangement, the side wall of the water barrier wall, the side wall of the water collection tank and the inner wall of the water collection tank in the sedimentation tank can be cleaned.

[0015] 2) In addition to the transverse plate, transverse motor and transverse rack for movement, the transverse mechanism of the utility model also includes a first transverse axis, a second transverse axis and a third transverse axis, as well as an upper driven wheel, an intermediate driven wheel and a lower driven wheel. The upper driven wheel abuts against the upper surface of the first transverse axis and is movably connected thereto, the lower driven wheel abuts against the lower surface of the third transverse axis and is movably connected thereto, and the intermediate driven wheel abuts against the two side surfaces of the second transverse axis and is connectable thereto. This arrangement in which the driven wheels abut against different transverse axes from multiple directions ensures the stability of the transverse mechanism during movement, and can make the movement of the transverse plate more stable and less prone to shaking when the transverse motor drives the transverse plate to move, thereby ensuring the synchronization stability of the transverse mechanism and other mechanisms associated with the transverse mechanism.

[0016] 3) In addition to the longitudinal movement, longitudinal movement motor and longitudinal movement rack used for movement, the longitudinal movement mechanism of the utility model also includes a left slide rail and a right slide rail, as well as a left slider disposed on the left slide rail and a right slider disposed on the right slide rail. Through the above arrangement, the stability of the longitudinal movement mechanism during movement is guaranteed, and the longitudinal movement plate can be moved more stably and not easily shaken when the longitudinal movement motor drives the longitudinal movement plate to move, thereby ensuring the synchronization stability of the longitudinal movement mechanism and other mechanisms associated with the longitudinal movement mechanism.

[0017] 4) The rotating motor in the utility model adopts a servo motor, and an encoder is provided on the driving shaft of the rotating motor. The encoder transmits the real-time torque value back to the PLC, and the PLC determines the size relationship between the real-time torque value and the torque value preset by the program, and synchronously controls the transverse movement mechanism, the longitudinal movement mechanism and each motor in the cantilever to adjust the distance between the cleaning brush and the side wall of the water-blocking wall, so as to correct the real-time torque value and make it equal to the torque value set by the program. The above method can make the distance between the cleaning brush and the water-blocking side wall always remain the same during the cleaning process, so that the cleaning effect of each part of the water-blocking side wall can be the same, avoiding the problem of incomplete cleaning of some areas.

[0018] 5) In the utility model, both the left travel motor and the right travel motor are servo motors, and encoders are provided on the drive shafts of the left travel motor and the right travel motor. The encoders read the rotation speeds of the left travel motor and the right travel motor, so that the travel truss is not prone to tilt during movement, that is, one side moves fast and the other side moves slow. This ensures the linear motion of the travel truss and also improves the safety of the sedimentation tank cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the cleaning device of the utility model placed in a water pool from a top view.

[0020] Figure 2 It is a schematic diagram of the partial structure of the cleaning device of the utility model.

[0021] Figure 3 It is a structural schematic diagram of the transverse movement mechanism of the utility model.

[0022] Figure 4 It is a side view of the transverse movement mechanism of the utility model.

[0023] Figure 5 It is a structural schematic diagram of the longitudinal shift mechanism of the utility model.

[0024] Figure 6 The utility model is a flow chart of the water-blocking wall cleaning method.

[0025] Figure 7 The utility model is a flow chart of the method for cleaning the outer wall of a water collection tank.

[0026] Figure 8 The utility model is a flow chart of the method for cleaning the inner wall of a water collection tank.

[0027] Fig. 9 The utility model is a flow chart of the cleaning path of the water-blocking wall.

[0028] Fig.10 The utility model is a flow chart of the water collection tank cleaning path.

[0029] Fig.11 This is a cleaning path diagram for the water-blocking wall and the water collection tank of the utility model.

[0030] Fig.12 This is a diagram of the cleaning range of the cantilever group of the utility model.

[0031] Reference numerals

[0032] Sedimentation tank 1, water-blocking wall 11;

[0033] The water collecting tank 12, the cross bar 121, and the water collecting tank section 122;

[0034] Gantry truss 2, left fixed bracket 21, right fixed bracket 22;

[0035] Walking truss 23;

[0036] Cantilever moving mechanism 3;

[0037] Transverse movement mechanism 31, transverse support 310;

[0038] first horizontal axis 311;

[0039] The second transverse axis 312, the transverse rack 312.1;

[0040] The third horizontal axis 313;

[0041] Transverse plate 314, transverse motor 314.1, upper driven wheel 314.2, lower driven wheel 314.3, middle driven wheel 314.4, connecting rib 315, fixing rib 316; longitudinal mechanism 32, longitudinal bracket 320, longitudinal rack 320.1, left slide rail 320.2, right slide rail 320.3, upper limit block 320.4, lower limit block 320.5, dust cover 320.6, drag chain 320.7;

[0042] Longitudinal moving plate 321, longitudinal moving motor 321.1, left slider 321.2, right slider 321.3, adapter plate 321.4;

[0043] Cantilever 33;

[0044] Cleaning brush 34, rotating motor 341;

[0045] A first cantilever assembly 35, a first cantilever 351, and a first cantilever motor 352;

[0046] The second cantilever group 36 , the second cantilever 361 , and the second cantilever motor 362 . DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the utility model. In the description of the utility model, it should be noted that the orientation or position relationship indicated by the terms "left side", "right side", "upper side", "lower side", "above", "below", "inner wall", "outer wall", "inner and outer walls", "side wall", "one end", "the other end", "top", "bottom", "top surface", "bottom surface", "side", "both sides", etc. are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model 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 cannot be understood as a limitation to the utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0050] Embodiment 1

[0051] This embodiment provides a sedimentation tank cleaning device, see Figure 1 The sedimentation tank cleaning device is used for cleaning the water-blocking wall 11 and the water collecting tank 12 in the sedimentation tank 1, and includes a gantry truss 2 and a cantilever moving mechanism 3.

[0052] Continue reading Figure 1The gantry truss 2 includes a left fixed support 21 disposed on the upper left side of the sedimentation tank 1, a right fixed support 22 disposed on the upper right side of the sedimentation tank 1, and a traveling truss 23. The two ends of the traveling truss 23 are movably connected to the left fixed support 21 and the right fixed support 22, respectively. Specifically, the left traveling motor is disposed at the left end of the traveling truss 23, and the driving shaft of the left traveling motor is connected to the left fixed support 21. The right traveling motor is disposed at the right end of the traveling truss 23, and the driving shaft of the right traveling motor is connected to the right fixed support 22. Both the left traveling motor and the right traveling motor are servo motors, and encoders are disposed on the driving shafts of the left traveling motor and the right traveling motor.

[0053] The following is a detailed description of the movement mode of the walking truss 23: When the walking truss 23 moves, the left walking motor and the right walking motor are turned on synchronously, and the encoder Y on the left walking motor is turned on synchronously. 1 and encoder Y on the right travel motor 2 The real-time speed of the left and right travel motors is detected respectively, and the real-time speed data is transmitted back to the PLC. The PLC 1 and encoder Y 2 The real-time speed is transmitted to judge. 1 and encoder T 2 If the real-time speed transmitted back is different, the real-time speed of the left travel motor or the right travel motor is corrected to make the real-time speed of the left travel motor and the real-time speed of the right travel motor the same. This method of detecting the real-time speed through an encoder and correcting it makes it difficult for the travel truss 23 to tilt during the movement, that is, the situation where one side moves fast and the other side moves slowly, which can ensure the linear movement of the travel truss 23 and also improve the safety of the sedimentation tank cleaning device.

[0054] See also Figure 1 and Figure 2 The cantilever moving mechanism 3 includes a transverse moving mechanism 31, a longitudinal moving mechanism 32 and a cantilever 33. Figure 1 , the transverse mechanism 31 is movably arranged on the walking truss 23, the longitudinal mechanism 32 is arranged on the transverse mechanism 31, and the cantilever 33 is arranged on the longitudinal mechanism 32. A cleaning brush 34 is arranged on the cantilever 33, and the cleaning brush 34 is used to clean the water-blocking wall 11 and the water collecting tank 12 in the sedimentation tank 1. It is worth noting that the type of cleaning brush 34 should not be limited, and the common cleaning brushes 34 on the market can be used in this device. In addition, the length of the cleaning brush 34 should be greater than the height of the water-blocking wall 11 and the water collecting tank 12 to ensure that the cleaning brush 34 can clean the side wall of the water-blocking wall 11 and the bottom of the inner and outer walls of the water collecting tank 12.

[0055] See also Figure 3The transverse mechanism 31 includes a transverse support 310 arranged along the extending direction of the traveling truss 23 and a transverse plate 314 movably arranged on the transverse support 310. It is worth noting that the length of the transverse support 310 is generally the same as the length of the traveling truss 23, see Figure 1 , the transverse support 310 and the traveling truss 23 are also arranged parallel to the sedimentation tank 1. Figure 3 The transverse support 310 includes a first transverse axis 311, a second transverse axis 312, and a third transverse axis 313 which are arranged in parallel from top to bottom. It is worth noting that a certain interval is set between the first transverse axis 311, the second transverse axis 312, and the third transverse axis 313, and the lengths of the first transverse axis 311, the second transverse axis 312, and the third transverse axis 313 are generally the same as the length of the walking truss 23. Specifically, the material of the first transverse axis 311, the second transverse axis 312, and the third transverse axis 313 is a stainless steel pipe. In general, a solid stainless steel pipe is selected to enhance the hardness of the material and prevent it from being squeezed and deformed during movement.

[0056] See also Figure 3 and Figure 4 , a transverse motor 314.1, a plurality of upper driven wheels 314.2 and a plurality of lower driven wheels 314.3 are provided on the transverse plate 314. A transverse rack 312.1 is provided on one side of the second transverse axis 312, and a gear matching the transverse rack 312.1 is provided on the driving shaft of the transverse motor 314.1, and the transverse motor 314.1 cooperates with the transverse rack 312.1 gear rack. It is worth noting that the length of the transverse rack 312.1 is generally the same as the length of the second transverse axis 312, and the toothed surface of the transverse rack 312.1 can be set upward or downward, and the gear on the driving shaft of the transverse motor 314.1 and the transverse rack 312.1 should be the same in terms of the number of teeth, tooth size, tooth pitch and other parameters. For details, continue to refer to Figure 4 The toothed surface of the transverse rack 312.1 is set downward. In this way, the transverse rack 312.1 does not need to bear the gravity of the transverse motor 314.1, but is instead borne by other driven mechanisms. This can reduce the friction between the gear of the transverse motor 314.1 and the transverse rack 312.1, making the transverse motor 314.1 smoother during movement and reducing jams.

[0057] See also Figure 3 The upper driven wheel 314.2 abuts against the upper surface of the first transverse axis 311 and is movably connected to the upper surface of the first transverse axis 311. Each lower driven wheel 314.3 abuts against the lower surface of the third transverse axis 313 and is movably connected to the lower surface of the third transverse axis 313. Figure 3 and Figure 4The transverse plate 314 also includes a plurality of intermediate driven wheel groups, each of which includes two intermediate driven wheels 314.4 arranged opposite to each other. The two intermediate driven wheels 314.4 arranged opposite to each other in one group abut against the two sides of the first transverse axis 311, and the intermediate driven wheels 314.4 are movably connected to the two sides of the first transverse axis 311. The two intermediate driven wheels 314.4 arranged opposite to each other in one group abut against the two sides of the third transverse axis 313, and the intermediate driven wheels 314.4 are movably connected to the two sides of the third transverse axis 313. By providing the upper driven wheel 314.2, the lower driven wheel 314.3 and the intermediate driven wheel 314.4, the stability of the transverse mechanism 31 during movement is improved.

[0058] Next, the driven modes of the upper driven wheel 314.2, the lower driven wheel 314.3 and the middle driven wheel 314.4 are described in detail: Figure 3 and Figure 4 Since the relative positions of the first horizontal axis 311, the second horizontal axis 312 and the third horizontal axis 313 are fixed, the first horizontal axis 311, the second horizontal axis 312 and the third horizontal axis 313 can be viewed as an integral framework. Figure 3 and Figure 4 , then, the upper driven wheel 314.2, the lower driven wheel 314.3 and the middle driven wheel 314.4 respectively hold the upper, lower, left and right four surfaces of the overall frame (the upper driven wheel 314.2 holds the top surface, the lower driven wheel 314.3 holds the bottom surface, and the middle driven wheel 314.4 holds the two opposite side surfaces), and are movably connected to these four surfaces at the same time, which is equivalent to clamping the overall frame from four directions. This driven mode ensures the stability of the transverse mechanism 31 during the movement process, and can make the transverse plate 314 move more stably and less likely to shake when the transverse motor 314.1 drives the transverse plate 314 to move, thereby ensuring the synchronization stability of the transverse mechanism 31 and other mechanisms associated with the transverse mechanism 31. It is worth noting that the upper driven wheel 314.2, the lower driven wheel 314.3 and the middle driven wheel 314.4 are all driven mechanisms and do not provide any power for movement. The power provided by the transverse movement mechanism 31 when moving is provided by the transverse movement motor 314.1.

[0059] Therefore, when the transverse mechanism 31 moves, the transverse motor 314.1 drives the transverse plate 314 to move along the transverse bracket 310, and the upper driven wheel 314.2, the lower driven wheel 314.3 and the middle driven wheel 314.4 move synchronously with the transverse motor 314.1 and provide the stability required during movement.

[0060] Next, the arrangement of the upper driven wheel 314.2, the lower driven wheel 314.3 and the middle driven wheel 314.4 is described: Figure 3, a certain distance should be maintained between each upper driven wheel 314.2, and the distances between adjacent upper driven wheels 314.2 should be equal. Similarly, the same is true for each lower driven wheel 314.3 and each group of intermediate driven wheels, which will not be described here. Figure 3 The number of intermediate driven wheel groups is equal to the sum of the number of upper driven wheels 314.2 and lower driven wheels 314.3, and the number of intermediate driven wheel groups abutting against both sides of the first transverse axis 311 is equal to the number of upper driven wheels 314.2, and the number of intermediate driven wheel groups abutting against both sides of the third transverse axis 313 is equal to the number of lower driven wheels 314.3. Figure 3 There should also be a gap between the two opposite intermediate driven wheels 314.4 in the intermediate driven wheel set, and the gap between the two opposite intermediate driven wheels 314.4 in each set of intermediate driven wheel sets can be the same or different. Generally, the gap between the two opposite intermediate driven wheels 314.4 in each set of intermediate driven wheel sets is the same. Figure 3 The upper driven wheel 314.2 and the lower driven wheel 314.3 are generally located between two opposite intermediate driven wheels 314.4 in each set of intermediate driven wheels.

[0061] The above-mentioned arrangement can further improve the stability of the transverse movement mechanism 31 during the movement. In addition, generally speaking, the surfaces of the first transverse axis 311, the second transverse axis 312 and the third transverse axis 313 are all smooth planes, and the resistance of each driven wheel when moving is small. Alternatively, tracks are provided on the surfaces where the first transverse axis 311, the second transverse axis 312 and the third transverse axis 313 are connected to each driven wheel, and each driven wheel can move on the track, further improving the stability. In addition, limit blocks are provided at both ends of the first transverse axis 311, the second transverse axis 312 and the third transverse axis 313 to prevent the transverse movement mechanism 31 from exceeding the reasonable movement range, thereby causing a safety accident.

[0062] In one specific embodiment, see Figure 3 , three upper driven wheels 314.2, two lower driven wheels 314.3 and five sets of intermediate driven wheels are provided. Among them, three sets of intermediate driven wheels abut against both sides of the first transverse axis 311 and are movably connected to both sides of the first transverse axis 311, and two sets of intermediate driven wheels abut against both sides of the third transverse axis 313 and are movably connected to both sides of the third transverse axis 313.

[0063] Continue reading Figure 3, the transverse support 310 is also provided with a plurality of connecting ribs 315 perpendicular to the transverse support 310, and the connecting ribs 315 are arranged parallel and evenly. One end of the connecting rib 315 is connected to the walking truss 23, and the other end is connected to the third transverse axis 313. It is worth noting that the connection between the connecting rib 315 and the walking truss 23, and between the connecting rib and the third transverse axis 313 can adopt common mechanical connections, such as threaded connection, riveting and welding. Here, a specific connection method of the connecting rib 315 is provided, and screw holes are provided at both ends of the connecting rib 315, and the corresponding positions of the walking truss 23 and the third transverse axis 313 are provided with screw holes of the same type. When connecting, insert the screws matching the corresponding screw holes, and screw on the nuts to lock them. In addition, continue to refer to Figure 3 There should be a certain interval between each connecting rib 315. The intervals between adjacent connecting ribs 315 can be the same or different, but in general, the intervals between adjacent connecting ribs 315 are the same. The same interval arrangement can make the connection between the lateral movement mechanism 31 and the walking truss 23 more stable, thereby improving the stability of the lateral movement mechanism 31 when moving.

[0064] Continue reading Figure 3 , a plurality of fixing ribs 316 are provided between adjacent connecting ribs 315, one end of the fixing rib 316 is connected to the first transverse axis 311, and the other end is connected to the third transverse axis 313. It is worth noting that the connection between the fixing rib 316 and the first transverse axis 311, and between the fixing rib 316 and the third transverse axis 313 can adopt commonly used mechanical connections, such as threaded connection, riveting and welding. The specific connection method can refer to the connection method of the above-mentioned connecting rib 315, which will not be repeated here. Through the above-mentioned arrangement, the fixing rib 316 supports between the first transverse axis 313 and the third transverse axis 313, so that the load-bearing capacity of the first transverse axis 313 and the third transverse axis 313 is further improved, and the stability of the transverse movement mechanism 31 during movement is also indirectly improved. In addition. Continue to refer to Figure 3 There should be a certain interval between each fixing rib 316, and the intervals between adjacent fixing ribs 316 can be the same or different. Figure 3 Each adjacent fixing rib 316 has an inclination angle, and each adjacent fixing rib 316 is arranged in a conical shape. By the above-mentioned conical arrangement between each adjacent fixing rib 316, the load-bearing capacity of the first horizontal axis 313 and the third horizontal axis 313 is further improved.

[0065] See also Figure 5, the longitudinal movement mechanism 32 includes a longitudinal support 320 arranged on the transverse support 310 and a longitudinal movement plate 321 movably arranged on the longitudinal support 320. It is worth noting that, generally speaking, the longitudinal support 320 is the same size as the transverse support 310 and is arranged overlappingly, or the transverse support 310 and the longitudinal support 320 are the same support. The longitudinal support 320 is provided with a longitudinal movement rack 320.1, a left slide rail 320.2 and a right slide rail 320.3. The left slide rail 320.2 and the right slide rail 320.3 are arranged in parallel along the extension direction of the longitudinal support 320. It is worth noting that the extension direction refers to the direction perpendicular to the bottom surface of the sedimentation tank 1. The longitudinal movement plate 321 is provided with a longitudinal movement motor 321.1 and a plurality of left sliders 321.2 and a plurality of right sliders 321.3. The driving shaft of the longitudinal movement motor 321.1 is provided with a gear matching the longitudinal movement rack 320.1, and the longitudinal movement motor 321.1 is gear-matched with the longitudinal movement rack 320.1. Each left slider 321.2 is movably disposed in the left slide rail 320.2, and each right slider 321.3 is movably disposed in the right slide rail 320.3. Figure 2 A dust cover 320.6 is also provided on the longitudinal bracket 320, and a protective cover is also provided on the longitudinal shift plate 321. A drag chain 320.7 is also provided on one side of the longitudinal bracket 320, and one end of the drag chain 320.7 is connected to the longitudinal shift plate 321, and the other end is connected to the longitudinal bracket 320.

[0066] The following is a detailed description of the arrangement of each component in the longitudinal movement mechanism 32: 1) The length of the longitudinal movement rack 312.1 is generally the same as the length of the longitudinal bracket 320, the toothed surface of the longitudinal movement rack 320.1 can be set to the left or to the right, and the gear on the drive shaft of the longitudinal movement motor 321.1 and the longitudinal movement rack 320.1 should have the same number of teeth, tooth size, tooth pitch and other parameters. 2) See Figure 5 The left slide rail 320.2 and the right slide rail 320.3 are arranged on the left and right sides of the longitudinal rack 320.1, and the length should be the same as that of the longitudinal rack 320.1. 3) See Figure 2 , the dust cover 320.6 is provided with an upper and lower section. The upper end of the upper section of the dust cover 320.6 is connected to the top of the longitudinal bracket 320, and the lower end of the upper section of the dust cover 320.6 is connected to the top of the longitudinal plate 321; the upper end of the lower section of the dust cover 320.6 is connected to the bottom end of the longitudinal plate 321, and the lower end of the lower section of the dust cover 320.6 is connected to the bottom end of the longitudinal bracket 320. The dust cover 320.6 uses a folding elastic dust cover. When the longitudinal plate 321 moves up and down, the dust cover 320.6 is folded or unfolded to ensure that no matter where the longitudinal plate 321 moves to, the dust cover 320.6 can cover the longitudinal rack 320.1, the left slide rail 320.2 and the right slide rail 320.3 to prevent dust from entering and affecting the operation of each mechanism. 4) The protective cover is used to cover the longitudinal plate 321, which serves as a waterproof treatment on the one hand, and prevents dust from entering and affecting the operation of each mechanism on the other hand. 5) See Figure 2 The drag chain 320.7 is used for wiring. The wires used in the longitudinal movement mechanism 32 are all arranged in the drag chain 320.7. When the longitudinal movement plate 321 moves up and down, the drag chain 320.7 will synchronously follow the longitudinal movement plate 321 to curl upward or straighten downward, which can prevent the relevant wires from being entangled when the longitudinal movement plate 321 is raised or lowered, thereby causing a safety accident.

[0067] The following is a detailed description of the movement mode of the longitudinal movement mechanism 32: When the longitudinal movement mechanism 32 moves, the gear on the driving shaft of the longitudinal movement motor 321.1 rotates on the longitudinal movement rack 320.1, thereby driving the longitudinal movement plate 321 to move up and down. At the same time, each left slider 321.2 moves synchronously on the left slide rail 320.2, and each right slider 321.3 moves synchronously on the right slide rail 320.3. Through the above arrangement, the stability of the longitudinal movement mechanism 32 during the movement process is guaranteed, and the longitudinal movement motor 321.1 can make the movement of the longitudinal movement plate 321 more stable and less likely to shake during the process of driving the longitudinal movement plate 321 to move, thereby ensuring the synchronization stability of the longitudinal movement mechanism 32 and other mechanisms associated with the longitudinal movement mechanism 32.

[0068] When the longitudinal movement motor 321.1 moves to the upper limit or the lower limit, the left slider 321.2 abuts against the upper limit block 320.4 or the lower limit block 320.5 on the left slide rail 320.2, and the right slider 321.3 abuts against the upper limit block 320.4 or the lower limit block 320.50 on the right slide rail 320.3 to prevent the longitudinal movement motor 321.1 from exceeding the moving range. The method of setting the limit blocks above ensures the safety of the longitudinal movement mechanism 32.

[0069] See also Figure 2 and Figure 5 , an adapter plate 321.4 is also provided on the longitudinal moving plate 321, and the adapter plate 321.4 is arranged perpendicular to the longitudinal moving plate 321. The cantilever 33 includes a first cantilever group 35 and a second cantilever group 36. The first cantilever group 35 includes a first cantilever 351 and a first cantilever motor 352, the first cantilever motor 352 is arranged on the adapter plate 321.4, the driving shaft of the first cantilever motor 352 is connected to one end of the first cantilever 351, and is used to drive the first cantilever 351 to rotate. The second cantilever group 36 includes a second cantilever 361 and a second cantilever motor 362, the second cantilever motor 362 is arranged at the other end of the first cantilever 351, the driving shaft of the second cantilever motor 362 is connected to one end of the second cantilever 361, and is used to drive the second cantilever 361 to rotate. A rotating motor 341 is provided on the other end of the second cantilever 361, and the rotating motor 341 is connected to the cleaning brush 34, and is used to drive the cleaning brush 34 to rotate.

[0070] The following is a detailed description of the arrangement of each component in the cantilever 33: 1) The rotation angle of the first cantilever motor 352 and the second cantilever motor 362 is 0-270°, and the rotation angle of the rotary motor 341 is 360°; 2) The first cantilever motor 352, the second cantilever motor 362 and the rotary motor 341 can all be any one of a stepper motor, a DC reduction motor or a servo motor. Preferably, the first cantilever motor 352, the second cantilever motor 362 and the rotary motor 341 are all servo motors, and encoders are mounted on their respective rotating shafts.

[0071] The following is a detailed description of the movement mode of the cantilever 33: Since the rotation angles of the first cantilever motor 352 and the second cantilever motor 362 are 0 to 270°, the movement trajectory of the first cantilever 351 is a sector-shaped area delineated by the first cantilever motor 352 as the origin; similarly, the movement trajectory of the second cantilever 361 is a sector-shaped area delineated by the second cantilever motor 362 as the origin. Although, through the cooperation between the walking truss 23, the transverse movement mechanism 31 and the longitudinal movement mechanism 32, it is possible to move the cleaning brush 34 to any reasonable position in the water tank 1. However, in actual use, for some planar movements with shorter paths, the position is generally not adjusted by the walking truss 23 and the transverse movement mechanism 31, but the cantilever mechanism 33 is used to adjust the position of the cleaning brush 34. On the one hand, the cantilever mechanism 33 consumes less power than the walking truss 23 and the traverse mechanism 31, and is suitable for short-distance control; on the other hand, the walking truss 23 generally has a larger span and a heavier weight, and repeatedly moving the walking truss 23 over a short distance will greatly shorten the service life of the gantry truss 2. More specifically, see Fig.12 , the moving range of the first cantilever group 35 is Move 1 , the moving range of the second cantilever group 36 is Move 2 , the maximum moving range of the cantilever group 34 is Far, and the minimum moving range of the cantilever group 34 is Close. It is worth noting that since the second cantilever group 36 is set based on the first cantilever group 35, the Move 2 In fact, with Move 1 Therefore, the actual cleaning range of the cantilever group 34 is the space between Close and Far. At the same time, the sump section 122 should be able to be covered by the above-mentioned moving space, so that only the cantilever group 34 can be moved when cleaning the sump section 122.

[0072] In a specific embodiment, a plurality of sediment removal mechanisms for removing sediment at the bottom of the sedimentation tank are also included. Each sediment removal mechanism is evenly arranged below the traveling truss 23. Each sediment removal mechanism includes a pipeline and a pump body. One end of the pipeline is connected to the pump body, and the other end is arranged in the sedimentation tank. The pump body is connected to the traveling truss. Specifically, when the sediment removal mechanism is in use, the pump body is started first, and then the traveling truss 23 moves; during the movement of the traveling truss 23, the sediment in the sedimentation tank 1 is sucked out by the pump body through the pipeline, thereby achieving the removal of the sediment in the sedimentation tank 1.

[0073] Embodiment 2

[0074] This embodiment provides a sedimentation tank cleaning system, including the sedimentation tank cleaning device in Embodiment 1, a PLC and a host computer.

[0075] The left travel motor, the right travel motor, the transverse movement motor 314 . 1 , the longitudinal movement motor 321 . 1 , the first cantilever motor 352 , the second cantilever motor 362 and the rotary motor 341 are all provided with encoders.

[0076] The encoder, the left travel motor, the right travel motor, the lateral movement motor 314.1, the longitudinal movement motor 321.1, the first cantilever motor 352, the second cantilever motor 362, the rotary motor 341 and the pump body are all electrically connected to the PLC, and the PLC is electrically connected to the host computer. It is worth noting that the model of the PLC should not be restricted and the host computer is installed with software for programming and controlling the PLC. In addition, the host computer refers to a computer or a single-chip microcomputer that can directly send operating instructions, generally providing a user operation interactive interface and displaying feedback data to the user. The present embodiment also provides a method for cleaning the water-blocking wall 11 and the water collection tank 12 in the sedimentation tank 1.

[0077] The following describes the cleaning methods of the sedimentation tank cleaning system for the water barrier wall and the water collection tank 12. Before describing the cleaning method of the water barrier wall 11, the water barrier wall 11 is first described. Figure 1 The sedimentation tank 1 is provided with a plurality of parallel water-blocking walls 11, and the number and length of the water-blocking walls 11 are not limited. Generally speaking, the number of the water-blocking walls 11 is 3 to 5, and the length of the water-blocking walls 11 is one third to two thirds of the length of the water storage tank 1.

[0078] The specific cleaning method of the water-blocking wall 11 is as follows, and can also be referred to Figure 6 :

[0079] 1) The walking truss 23 moves to the location of the watertight wall 11;

[0080] 2) The traverse mechanism 31 moves the cantilever 33 to the top of the side wall of the water barrier 11;

[0081] 3) The longitudinal movement mechanism 32 lowers the cantilever 33 into the sedimentation tank 1;

[0082] 4) The cantilever 33 is adjusted to a position so that the cleaning brush 34 contacts the side wall of the water barrier 11;

[0083] 5) The rotating motor 341 is turned on, and the cleaning brush 34 rotates to clean the side wall of the water-blocking wall 11 .

[0084] The movement modes of the walking truss 23, the transverse movement mechanism 31, the longitudinal movement mechanism 32 and the cantilever 33 in the above steps have been described in detail in the first embodiment and will not be repeated here. During the cleaning process of the above step 5), the encoder on the rotating motor 341 detects the real-time torque value of the rotating motor 341 and transmits the real-time torque value back to the PLC, which automatically makes a judgment; if there is a deviation between the real-time torque value and the torque value set by the program, the PLC controls the various motors in the transverse movement mechanism 31, the longitudinal movement mechanism 32 and the cantilever 33 to adjust the distance between the cleaning brush 34 and the side wall of the water-blocking wall 1 to correct the real-time torque value so that it is equal to the torque value set by the program.

[0085] It is particularly important to note that the closer the cleaning brush 34 is to the side wall of the water-blocking wall 11 during its rotation, the greater its torque value. Before cleaning, the operator sets a torque value in the PLC program according to the desired cleaning intensity. The torque value represents the distance between the cleaning brush 34 and the side wall of the water-blocking wall 11 that the operator expects. Since the surface of the side wall of the water-blocking wall 11 is not smooth, if the real-time torque value is not detected, the cleaning effect at different positions of the water-blocking wall 11 will inevitably be different. Therefore, through the above-mentioned setting method, the distance between the cleaning brush 34 and the side wall of the water-blocking wall 11 can be kept the same during the cleaning process, so that the cleaning effect of each part of the side wall of the water-blocking wall 11 can be the same, avoiding the problem of incomplete cleaning of some areas.

[0086] Before describing the method for cleaning the water collection tank 12, the water collection tank 12 is first described. Figure 1 The sedimentation tank 1 is provided with a plurality of parallel water collection tanks 12. The water collection tank 12 is different from the water barrier wall 11 in that the water collection tank 12 is not solid, and a groove extending along the length direction of the water collection tank 12 is provided in the water collection tank 12. Therefore, cleaning the water collection tank 12 is not only to clean the outer wall of the water collection tank 12, but also to clean the inner wall of the water collection tank 12. In addition, continue to refer to Figure 1 The water collecting tank 12 is provided with a plurality of cross bars 121, each cross bar 121 divides the water collecting tank 12 into a plurality of water collecting tank sections 122. It is worth noting that the intervals between adjacent cross bars 121 can be the same or different. Generally speaking, the intervals between adjacent cross bars 121 are the same, and the sizes of the water collecting tank sections 122 are the same.

[0087] Next, the cleaning methods of the outer wall and the inner wall of the water collection tank 12 are described separately. First, the cleaning method of the outer wall of the water collection tank 12 is described. The specific cleaning method is as follows, and you can also refer to Figure 7 :

[0088] 1) The walking truss 23 moves to the location of the water collecting tank 12;

[0089] 2) The traverse mechanism 31 moves the cantilever 33 to above the outer wall of the water collecting tank 12;

[0090] 3) The longitudinal movement mechanism 32 lowers the cantilever 33 into the sedimentation tank 1;

[0091] 4) The cantilever 33 is adjusted to a position so that the cleaning brush 34 contacts the outer wall of the water barrier 11;

[0092] 5) The rotating motor 341 is turned on, and the cleaning brush 34 rotates to clean the outer wall of the water collection tank 12.

[0093] The movement of the walking truss 23, the lateral movement mechanism 31, the longitudinal movement mechanism 32 and the cantilever 33 in the above steps has been described in detail in the first embodiment, and will not be repeated here. The detection of the torque value in step 5) has been described in the method for cleaning the water-blocking wall 11, and will not be repeated here.

[0094] Next, the cleaning method of the inner wall of the water collection tank 12 is described. The specific cleaning method is as follows, and can also be referred to in Figure 8 :

[0095] 1) The traveling truss 23 moves to the location of the sump section 122;

[0096] 2) The traverse mechanism 31 moves the cantilever 33 to above the inner wall of the sump section 122;

[0097] 3) The longitudinal movement mechanism 32 lowers the cantilever 33 into the sedimentation tank 1; the water collection tank section 122

[0098] 4) The cantilever 33 is adjusted to a position so that the cleaning brush 34 contacts the inner wall of the sump section 122;

[0099] 5) The rotating motor 341 is turned on, and the cleaning brush 34 rotates to clean the inner wall of the sump section 122 .

[0100] The movement of the walking truss 23, the lateral movement mechanism 31, the longitudinal movement mechanism 32 and the cantilever 33 in the above steps has been described in detail in the first embodiment, and will not be repeated here. The detection of the torque value in step 5) has been described in the method for cleaning the water-blocking wall 11, and will not be repeated here.

[0101] In addition, the rotation speed of the cleaning brush 34 can be controlled accordingly according to actual cleaning needs. At the same time, the lowering position of the cleaning brush 34 can also be adjusted accordingly. Generally speaking, it is divided into a full brush mode and a half brush mode. In the full brush mode, the cleaning brush 34 descends to a deeper position in the sedimentation tank 1 to clean both the upper and lower parts of the water-blocking wall 11 or the water collection tank 12. In the half brush mode, the cleaning brush 34 descends to a shallower position in the sedimentation tank 1 to clean only the upper half of the water-blocking wall 11 or the water collection tank 12. It is worth noting that other cleaning modes, such as 1 / 4 brush, 1 / 3 brush, etc. can be reasonably derived from the above two cleaning modes and will not be repeated here. The present embodiment provides a cleaning path for the water-blocking wall 11 and the water collection tank 12 in the sedimentation tank 1. In order to better understand the cleaning path of the sedimentation tank cleaning device provided in the first embodiment, its cleaning range is first described in detail again: refer to Fig.12 , the moving range of the first cantilever group 35 is Move 1 , the moving range of the second cantilever group 36 is Move 2 , the maximum moving range of the cantilever group 34 is Far, and the minimum moving range of the cantilever group 34 is Far. It is worth noting that the above cleaning range is achieved without moving the walking truss 23, the lateral movement mechanism 31 and the longitudinal movement mechanism 32, that is, the above cleaning range is the cleaning range that can be achieved only by moving the cantilever group 34.

[0102] Next, the cleaning path of the water barrier wall 11 and the cleaning path of the water collection tank 12 are described separately. First, the cleaning path of the water barrier wall 11 is described, and reference can be made to Fig. 9 and Fig.11 , Fig.11 The arrow in the figure indicates the cleaning direction. The specific cleaning method is as follows:

[0103] 1) First clean one side of the outer wall of the water barrier 11, and then clean the other side of the outer wall of the same water barrier 11;

[0104] 2) The traverse mechanism 31 moves to the position of the previous or next watertight wall 11;

[0105] 3) Repeat the above steps 1) to 2) until the outer walls of all water-blocking walls 11 are cleaned;

[0106] Next, the cleaning path of the water collection tank 12 is described, and reference can also be made to Fig. 9 and Fig.11 , Fig.11 The arrow in the figure indicates the cleaning direction. The specific cleaning method is as follows:

[0107] 1) First clean the outer wall of the sump section 122, and then clean the inner wall of the sump section 122;

[0108] 2) The traverse mechanism 31 moves to the same sump section 122 of the previous or next sump 12;

[0109] 3) Repeat the above steps 1) to 2) until the outer wall and inner wall of the water collecting tank section 122 of all water collecting tanks 12 are cleaned;

[0110] 4) The traveling truss 23 moves to the previous or next water collecting tank section 122, and the above steps 1) to 3) are repeated until all the water collecting tank sections 122 of all the water collecting tanks 12 are cleaned.

[0111] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principle of the present invention. These improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A sedimentation tank cleaning device, used for cleaning a water barrier wall (11) and a water collection tank (12) in a sedimentation tank (1), characterized in that: It comprises a gantry truss (2) and a cantilever moving mechanism (3); The gantry truss (2) comprises a left fixed support (21) arranged above the left side of the sedimentation tank (1), a right fixed support (22) arranged above the right side of the sedimentation tank (1), and a walking truss (23), wherein two ends of the walking truss (23) are movably connected to the left fixed support (21) and the right fixed support (22) respectively; The cantilever moving mechanism (3) comprises a transverse moving mechanism (31), a longitudinal moving mechanism (32) and a cantilever (33); The transverse movement mechanism (31) is movably arranged on the walking truss (23), the longitudinal movement mechanism (32) is arranged on the transverse movement mechanism (31), and the cantilever (33) is arranged on the longitudinal movement mechanism (32); a cleaning brush (34) is arranged on the cantilever (33); The transverse movement mechanism (31) comprises a transverse support (310) arranged along the extension direction of the walking truss (23) and a transverse movement plate (314) movably arranged on the transverse support (310); The transverse support (310) comprises a first transverse axis (311), a second transverse axis (312) and a third transverse axis (313) which are arranged in parallel from top to bottom; the transverse plate (314) is provided with a transverse motor (314.1), a plurality of upper driven wheels (314.2) and a plurality of lower driven wheels (314.3); A transverse rack (312.1) is provided on one side of the second transverse axis (312), a gear matching the transverse rack (312.1) is provided on the driving shaft of the transverse motor (314.1), and the transverse motor (314.1) and the transverse rack (312.1) are gear-matched; Each of the upper driven wheels (314.2) abuts against the upper surface of the first transverse axis (311) and is movably connected to the upper surface of the first transverse axis (311); each of the lower driven wheels (314.3) abuts against the lower surface of the third transverse axis (313) and is movably connected to the lower surface of the third transverse axis (313); The transverse support (310) is also provided with a plurality of connecting ribs (315) perpendicular to the transverse support (310), and the connecting ribs (315) are arranged in parallel and evenly; one end of the connecting rib (315) is connected to the walking truss (23), and the other end is connected to the third transverse axis (313); a plurality of fixing ribs (316) are also provided between adjacent connecting ribs (315), and one end of the fixing rib (316) is connected to the first transverse axis (311), and the other end is connected to the third transverse axis (313).

2. The sedimentation tank cleaning device according to claim 1, characterized in that: The transverse shift plate (314) further comprises a plurality of intermediate driven wheel groups, each of which comprises two intermediate driven wheels (314.4) arranged opposite to each other; One group of two relatively arranged intermediate driven wheels (314.4) abuts against two sides of the first transverse axis (311), and the intermediate driven wheels (314.4) are movably connected to two sides of the first transverse axis (311); one group of two relatively arranged intermediate driven wheels (314.4) abuts against two sides of the third transverse axis (313), and are movably connected to two sides of the third transverse axis (313).

3. The sedimentation tank cleaning device according to claim 2, characterized in that: The longitudinal movement mechanism (32) comprises a longitudinal support (320) arranged on the transverse movement plate (314) and a longitudinal movement plate (321) movably arranged on the longitudinal support (320); The longitudinal support (320) is provided with a longitudinal shift rack (320.1), a left slide rail (320.2) and a right slide rail (320.3); the left slide rail (320.2) and the right slide rail (320.3) are arranged in parallel along the extension direction of the longitudinal support (320); The longitudinal movement plate (321) is provided with a longitudinal movement motor (321.1) and a plurality of left sliders (321.2) and a plurality of right sliders (321.3); a gear matching the longitudinal movement rack (320.1) is provided on the driving shaft of the longitudinal movement motor (321.1), and the longitudinal movement motor (321.1) and the longitudinal movement rack (320.1) are gear-matched; each of the left sliders (321.2) is movably arranged in the left slide rail (320.2), and each of the right sliders (321.3) is movably arranged in the right slide rail (320.3); The left slide rail (320.2) and the right slide rail (320.3) are both provided with an upper limit block (320.4) and a lower limit block (320.5); the longitudinal bracket (320) is also provided with a dust cover (320.6); and the longitudinal displacement plate (321) is also provided with a protective cover; a drag chain (320.7) is also provided on one side of the longitudinal bracket (320); one end of the drag chain (320.7) is connected to the longitudinal displacement plate (321), and the other end is connected to the longitudinal bracket (320).

4. The sedimentation tank cleaning device according to claim 3, characterized in that: The longitudinal shift plate (321) is further provided with an adapter plate (321.4); the cantilever (33) comprises a first cantilever group (35) and a second cantilever group (36); The first cantilever group (35) comprises a first cantilever (351) and a first cantilever motor (352); the first cantilever motor (352) is arranged on the adapter plate (321.4); a driving shaft of the first cantilever motor (352) is connected to one end of the first cantilever (351) for driving the first cantilever (351) to rotate; The second cantilever group (36) comprises a second cantilever (361) and a second cantilever motor (362), wherein the second cantilever motor (362) is arranged at the other end of the first cantilever (351), and a driving shaft of the second cantilever motor (362) is connected to one end of the second cantilever (361) for driving the second cantilever (361) to rotate; A rotating motor (341) is provided on the other end of the second cantilever (361); the rotating motor (341) is connected to the cleaning brush (34) and is used to drive the cleaning brush (34) to rotate.

5. The sedimentation tank cleaning device according to claim 4, characterized in that: The walking truss (23) comprises a left walking motor and a right walking motor; The left travel motor is arranged at the left end of the travel truss (23), and the drive shaft of the left travel motor is connected to the left fixed bracket (21); the right travel motor is arranged at the right end of the travel truss (23), and the drive shaft of the right travel motor is connected to the right fixed bracket (22); The left travel motor and the right travel motor are both servo motors.

6. The sedimentation tank cleaning device according to claim 5, characterized in that: It also includes a plurality of sediment removal mechanisms for removing sediment from the bottom of the sedimentation tank (1); Each of the sediment removal mechanisms is evenly arranged below the walking truss (23); each of the sediment removal mechanisms comprises a pipeline and a pump body; One end of the pipeline is connected to the pump body, and the other end is arranged in the sedimentation tank (1); the pump body is connected to the traveling truss (23).

7. A sedimentation tank cleaning system, characterized in that: It comprises the sedimentation tank cleaning device as claimed in claim 6, a PLC and a host computer; The left travel motor, the right travel motor, the lateral movement motor (314.1), the longitudinal movement motor (321.1), the first cantilever motor (352), the second cantilever motor (362) and the rotating motor (341) are all provided with encoders; the encoder, the left travel motor, the right travel motor, the first cantilever motor (352), the second cantilever motor (362), the rotating motor (341) and the pump body are all electrically connected to the PLC, and the PLC is electrically connected to the host computer; The host computer is installed with software for controlling the PLC.

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