Cleaning device in water tank

Abstract

The utility model relates to the technical field of water treatment and equipment cleaning, and discloses a cleaning device in a water tank, which comprises a chassis structure for driving the device to move at the bottom of the water tank; the middle-layer structure is located in the chassis structure and comprises a middle-layer supporting platform, a water tank and a high-pressure pump, and the water tank and the high-pressure pump are installed on the upper surface of the middle-layer supporting platform; the upper-layer structure is positioned above the middle-layer structure and is used for cleaning the inner wall of the water tank; the roller brush structures are located on the two sides of the chassis structure and used for cleaning dirt deposited on the bottom face of the inner wall of the water tank. The omni-directional wheel driving motor, the high-pressure pump, the water tank, the infrared digital reflection sensor, the control system and the power supply are arranged in the main body of the cleaning device in the water tank, the cleaning operation of the water tank can be quickly and efficiently completed, the time and the cost of manual operation are reduced, and the device can replace manual work to enter the water tank for cleaning. And the potential safety hazard of manual operation is avoided.

Description

Technical Field

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

[0002] During use, water tanks will accumulate dirt, algae and other sediments. These pollutants will affect water quality and even cause harm to human health.

[0003] Traditional water tank cleaning methods usually require manual entry into the water tank for cleaning, which is not only inefficient but also poses safety risks. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a cleaning device in a water tank, which can autonomously perform cleaning operations in the water tank, improve the cleaning efficiency, and reduce the risk of manual operation.

[0005] To achieve the above-mentioned purpose, the utility model provides a cleaning device in a water tank, comprising: a chassis structure, which is used to drive a device to move at the bottom of the water tank; a middle structure, which is located in the chassis structure, and comprises a middle support platform, a water tank and a high-pressure pump installed on the upper surface of the middle support platform; an upper structure, which is located above the middle structure, and comprises an upper platform, a first-level high-pressure water gun telescopic rod placed in the groove of the upper platform at the center of the upper platform, a second-level high-pressure water gun telescopic rod telescopic in the first-level high-pressure water gun telescopic rod, a first-level electric push rod, a second-level electric push rod telescopic in the first-level electric push rod, and a connecting rod; the first-level electric push rod is fixed to one side of the groove of the upper platform through an electric push rod fixing seat, and the first-level high-pressure water gun telescopic rod is rotatably connected to the other side of the groove of the upper platform through a high-pressure water gun fixing ring; the two ends of the connecting rod are rotatably connected to the middle part of the first-level high-pressure water gun telescopic rod and the front end of the second-level electric push rod through a rotating shaft; a roller brush structure, which is located on both sides of the chassis structure, is used to clean the dirt deposited on the bottom surface of the inner wall of the water tank.

[0006] Optionally, the roller brush structure includes a roller nylon brush, a roller brush driving motor, a roller brush connecting rod and a roller brush connecting rod driving motor; the roller brush driving motor is fixed to the bottom end of the roller brush connecting rod to achieve rotational cleaning of the roller nylon brush; the roller brush connecting rod driving motor is located at the top of the roller brush connecting rod to drive the roller brush connecting rod to rotate, thereby achieving adjustment of the brushing force.

[0007] Furthermore, the secondary high-pressure water gun telescopic rod is connected and fixed to the upper high-pressure water gun head, and the upper high-pressure water gun head is used to clean the top of the inner wall of the water tank; the left side and the front side of the upper surface of the upper platform are respectively provided with a left high-pressure water gun head and a front high-pressure water gun head for cleaning the inner wall of the water tank.

[0008] Optionally, the chassis structure includes a chassis shell, omnidirectional wheel grooves evenly distributed around the bottom of the chassis shell, an omnidirectional wheel hub placed in the omnidirectional wheel grooves, an omnidirectional wheel drive motor connected to the omnidirectional wheel axle at the center of the omnidirectional wheel hub, and rotating omnidirectional small wheels distributed around the omnidirectional wheel hub.

[0009] Furthermore, the outer surface of the chassis shell is evenly distributed with side cameras to observe the dirt situation in the water tank and provide a real-time picture of the cleaning; the outer surface of the chassis shell is evenly distributed with infrared digital reflection sensors.

[0010] Optionally, the bottom of the chassis shell is evenly distributed with middle-layer support rod fixing holes, and the lower surface of the middle-layer support platform is evenly distributed with middle-layer support rods connected and fixed to the middle-layer support rod fixing holes.

[0011] Furthermore, an upper camera is provided on the left side of the upper surface of the upper platform for observing the cleanliness of the top of the inner wall of the water tank; a laser radar is provided on the right side of the upper surface of the upper platform.

[0012] Furthermore, the upper platform is a circular platform, and its lower surface is sealed and connected to the chassis shell via a gasket.

[0013] From the above, compared with the prior art, the water tank cleaning device of the utility model has at least the following beneficial effects:

[0014] 1. This device can autonomously or semi-autonomously perform cleaning operations in the water tank, improve cleaning efficiency, and reduce the risk of manual operation. This device is equipped with a flexible chassis structure, high-pressure water gun, roller nylon brush, infrared digital reflection sensor, control system, laser radar and power supply system. It can plan the cleaning path according to the actual situation, adjust the cleaning strategy autonomously, and improve the cleaning effect. The main body of this device adopts a waterproof design and can operate in a humid environment. The main body is equipped with an omnidirectional wheel drive motor, a high-pressure pump, a water tank, an infrared digital reflection sensor, a control system and a power supply.

[0015] 2. The device is equipped with an omnidirectional wheel chassis, which can move flexibly at the bottom of the water tank. The device is equipped with a high-pressure water gun and a roller brush device, which can effectively remove dirt on the inner wall and bottom of the water tank. The device is equipped with a camera and an infrared digital reflection sensor to detect the dirt inside the water tank and the cleaning effect, and prevent the device from colliding with the inner wall of the water tank and the support frame.

[0016] 3. The device is equipped with a laser radar that can scan the inner wall of the water tank, the support frame, and the sediment to generate high-precision three-dimensional point cloud data, and then build a high-precision three-dimensional map. According to the cleaning requirements such as full coverage cleaning and key area cleaning, the path coverage mode is set, and the cleaning operation is carried out autonomously according to the planned path. The device is equipped with a rechargeable battery that can support long-term cleaning operations.

[0017] 4. This device can quickly and efficiently complete the water tank cleaning operation, reducing the time and cost of manual operation. This device can replace manual entry into the water tank for cleaning, avoiding the safety hazards of manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the water tank cleaning device of the utility model;

[0020] Figure 2 It is a side view of the water tank cleaning device of the utility model;

[0021] Figure 3 It is an exploded view of some parts of the water tank cleaning device of the utility model;

[0022] Figure 4 It is a structural schematic diagram of the omnidirectional wheel of the utility model;

[0023] Figure 5 It is a structural schematic diagram of the chassis structure of the utility model;

[0024] Figure 6 It is a bottom schematic diagram of the chassis structure of the utility model;

[0025] Figure 7 It is a structural schematic diagram of the middle layer structure of the utility model;

[0026] Figure 8 It is a structural schematic diagram of the upper structure of the utility model;

[0027] Fig. 9 It is a structural schematic diagram of the roller brush structure of the present utility model.

[0028] Description of reference numerals:

[0029] 100-Chassis structure:

[0030] 101- omnidirectional wheel axle; 102- omnidirectional wheel hub; 103- omnidirectional small wheel; 104- omnidirectional wheel groove; 105- wheel axle fixing hole; 106- omnidirectional wheel drive motor; 107- omnidirectional wheel drive motor groove; 108- middle support rod fixing hole; 109- chassis shell; 110- washer; 111- side camera; 112- infrared digital reflection sensor; 113- roller brush connecting rod fixing ring; 114- ring light strip;

[0031] 200-Mid-level structure:

[0032] 201-middle support rod; 202-middle support platform; 203-water tank; 204-motor; 205-high pressure pump; 206-battery;

[0033] 300-Superstructure:

[0034] 301-upper platform; 302-upper platform groove; 303-high-pressure water gun fixing ring; 304-electric push rod fixing seat; 305-first-level high-pressure water gun telescopic rod; 306-second-level high-pressure water gun telescopic rod; 307-upper high-pressure water gun head; 308-first-level electric push rod; 309-second-level electric push rod; 310-connecting rod; 311-left high-pressure water gun head; 312-front high-pressure water gun head; 313-upper camera; 314-laser radar;

[0035] 400-Roller Brush Structure:

[0036] 401- roller nylon brush; 402- roller brush driving motor; 403- roller brush connecting rod; 404- roller brush connecting rod driving motor. DETAILED DESCRIPTION

[0037] 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 of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] See below Figure 1 to Figure 9 The water tank cleaning device of the utility model is described in detail.

[0039] like Figure 1-9 As shown, the water tank cleaning device of the utility model is a device that can autonomously perform cleaning operations in a water tank, and includes a chassis structure 100 , a middle structure 200 , an upper structure 300 , and a roller brush structure 400 .

[0040] Specifically, Figure 4 , Figure 5 , Figure 6 As shown, the chassis structure 100 of the utility model is composed of an omnidirectional wheel axle 101, an omnidirectional wheel hub 102, an omnidirectional small wheel 103, an omnidirectional wheel groove 104, an axle fixing hole 105, an omnidirectional wheel drive motor 106, an omnidirectional wheel drive motor groove 107, a middle support rod fixing hole 108, a chassis shell 109, a washer 110, a side camera 111, an infrared digital reflection sensor 112, a roller brush connecting rod fixing ring 113 and an annular light strip 114. The omnidirectional wheel axle 101 is located at the center of the omnidirectional wheel hub 102 and is connected to the omnidirectional wheel drive motor 106. The omnidirectional wheel hub 102 is evenly distributed with axles around it, which are connected to the omnidirectional small wheel 103, so that the omnidirectional small wheel 103 can rotate. The omnidirectional wheel groove 104 is evenly distributed around the bottom of the chassis shell 109, and the omnidirectional wheel hub 102 can be placed. The wheel axle fixing holes 105 are distributed on the side of the omni-directional wheel groove 104, with a large hole in the center to fix the shaft of the omni-directional wheel drive motor 106, and small holes around to fix the body of the omni-directional wheel drive motor 106. The omni-directional wheel drive motor 106 is placed in the omni-directional wheel drive motor groove 107, and the shaft of the omni-directional wheel drive motor 106 is connected to the omni-directional wheel axle 101, and the two are fixed through the wheel axle fixing holes 105.

[0041] The middle support rod fixing holes 108 are evenly distributed at the bottom of the chassis shell 109, and can be connected and fixed with the middle support rod 201. The chassis shell 109 is a cylindrical structure used to carry other structures. The gasket 110 is distributed on the end surface above the chassis shell 109, and can be connected with the upper platform 301 to achieve the sealing of the fuselage. The side cameras 111 are evenly distributed around the outer surface of the chassis shell 109, which can observe the dirt in the water tank and provide a real-time picture of the cleaning. The infrared digital reflection sensor 112 is evenly distributed around the outer surface of the chassis shell 109 to prevent the device from colliding with the inner wall of the water tank and the support frame. The roller brush connecting rod fixing ring 113 is distributed at the front end of the outer surface of the chassis shell 109, and can be connected and fixed with the roller brush connecting rod 403 through the roller brush connecting rod driving motor 404. The annular light strip 114 is distributed around the chassis shell 109 to provide lighting when the light in the water tank is dim.

[0042] Specifically, if Figure 7As shown, the middle structure 200 is located in the chassis structure 100, and is composed of a middle support rod 201, a middle support platform 202, a water tank 203, a motor 204, a high-pressure pump 205 and a battery 206. The middle structure 200 is installed inside the device. There are multiple middle support rods 201, which are evenly distributed on the lower surface of the middle support platform 202 and can be connected and fixed with the middle support rod fixing holes 108. The middle support platform 202 is a porous structure and can be connected with other structures to provide a support platform. The water tank 203 is installed on the upper surface of the middle support platform 202 and can provide a cleaning liquid containing sodium hypochlorite. The motor 204 is installed on the upper surface of the middle support platform 202 and can drive the high-pressure pump 205 to generate high-pressure water. The high-pressure pump 205 is installed on the upper surface of the middle support platform 202 and can generate high-pressure water for cleaning. The battery 206 is installed on the upper surface of the middle support platform 202 and is used to supply power to the device.

[0043] Specifically, if Figure 8As shown, the upper structure 300 is located above the middle structure 200, and is composed of an upper platform 301, an upper platform groove 302, a high-pressure water gun fixing ring 303, an electric push rod fixing seat 304, a first-level high-pressure water gun telescopic rod 305, a second-level high-pressure water gun telescopic rod 306 telescopic in the first-level high-pressure water gun telescopic rod 305, an upper high-pressure water gun head 307, a first-level electric push rod 308, a second-level electric push rod 309 telescopic in the first-level electric push rod 308, a connecting rod 310, a left high-pressure water gun head 311, a front high-pressure water gun head 312, an upper camera 313 and a laser radar 314. The upper platform 301 is a circular platform, and its lower surface can be sealed and connected to the chassis shell 109 through a gasket 110. The upper platform groove 302 is located in the center of the upper platform 301, and can be used to place the first-level high-pressure water gun telescopic rod 305, the second-level high-pressure water gun telescopic rod 306, the upper side high-pressure water gun head 307, the first-level electric push rod 308, the second-level electric push rod 309 and the connecting rod 310 to reduce the height of the device. The high-pressure water gun fixing ring 303 is distributed on one side of the upper platform groove 302, and can be fixed to the end of the first-level high-pressure water gun telescopic rod 305 to achieve the first-level high-pressure water gun telescopic rod 305 rotatable. The electric push rod fixing seat 304 is distributed on one side of the upper platform groove 302, and can be connected and fixed to the first-level electric push rod 308. The first-level high-pressure water gun telescopic rod 305 is connected to the second-level high-pressure water gun telescopic rod 306 to achieve adjustable height of the water gun. The second-level high-pressure water gun telescopic rod 306 is connected and fixed to the upper side high-pressure water gun head 307. The upper side high-pressure water gun head 307 can be used to clean the top of the inner wall of the water tank. The first-level electric push rod 308 is connected to the second-level electric push rod 309 to realize the telescopic function. Both ends of the connecting rod 310 have a rotating shaft, which can be connected with the rotating shaft hole in the middle of the first-level high-pressure water gun telescopic rod 305 and the rotating shaft hole at the front end of the second-level electric push rod 309. When the second-level electric push rod 309 extends from the first-level electric push rod 308, it drives the connecting rod 310 to move forward, and then drives the first-level high-pressure water gun telescopic rod 305 to rise, thereby realizing the adjustment of the cleaning angle of the top of the inner wall of the water tank. The left high-pressure water gun gun head 311 is located on the left side of the upper surface of the upper platform 301, and is used for cleaning the inner wall of the water tank. The front high-pressure water gun gun head 312 is located on the front side of the upper surface of the upper platform 301, and is used for cleaning the inner wall of the water tank. The upper camera 313 is located on the left side of the upper surface of the upper platform 301, and can observe the cleaning condition of the top of the inner wall of the water tank. The laser radar 314 is located on the right side of the upper surface of the upper platform 301. It can scan the inner wall of the water tank, the support frame, and the sediment to generate high-precision three-dimensional point cloud data, and then construct a high-precision three-dimensional map. According to the cleaning requirements such as full coverage cleaning and key area cleaning, the path coverage mode is set, the path is automatically planned, and autonomous cleaning is achieved.

[0044] Specifically, Fig. 9As shown, the roller brush structure 400 is located on both sides of the chassis structure 100, and is composed of a roller nylon brush 401, a roller brush driving motor 402, a roller brush connecting rod 403 and a roller brush connecting rod driving motor 404. The roller nylon brush 401 is a hard brush head, which can effectively clean the dirt deposited on the bottom surface of the inner wall of the water tank. The roller brush driving motor 402 is fixed to the bottom end of the roller brush connecting rod 403, and the roller nylon brush 401 can be rotated for cleaning. The two ends of the roller brush connecting rod 403 are connected to the roller brush driving motor 402 and the roller brush connecting rod driving motor 404. The roller brush connecting rod driving motor 404 is fixed to the roller brush connecting rod fixing ring 113 and is located at the top of the roller brush connecting rod 403, and is used to drive the roller brush connecting rod 403 to rotate to adjust the brushing force.

[0045] After the device is started, the laser radar 314 emits a laser of a specific wavelength to scan the inner wall, support frame, and sediment of the water tank to generate high-precision three-dimensional point cloud data. For interference in the water tank, such as suspended particles, noise points are eliminated through algorithm statistical filtering and voxel filtering to retain effective environmental information. Then the laser radar 314 directly constructs a high-precision three-dimensional map. Generate a voxel map and mark key areas such as the wall to be cleaned, obstacles, and entrances and exits. According to the cleaning requirements such as full coverage cleaning and key area cleaning, set the path coverage mode, which has spiral, grid, and round shape. The laser radar 314 and the infrared digital reflection sensor 112 continuously scan the front area to detect sudden obstacles such as detached sediments and temporarily placed tools, and adjust the path through the dynamic window method or the artificial potential field method. Real-time detection of uncleaned areas and dynamic supplementation of paths ensure coverage without dead angles. The planned path is then converted into motion instructions for the device, such as linear velocity and angular velocity adjustment. The position deviation is fed back in real time by the laser radar 314, and the trajectory is corrected using the PID control method. The cleaning effect is detected by cameras or sensors, and the completed areas are marked, and the water tank map data is updated, such as the location of new obstacles, to provide prior information for the next task. Through this process, the water tank cleaning device equipped with LiDAR can achieve high-precision environmental perception, efficient path coverage and dynamic obstacle avoidance, thereby realizing autonomous and efficient water tank cleaning functions.

[0046] The chassis structure of the utility model adopts omnidirectional wheels, which can move forward and backward, left and right, and turn on the spot, and has high flexibility in the narrow space inside the water tank. There are two cleaning methods for this device, namely high-pressure water gun cleaning and roller nylon brush cleaning. The high-pressure water gun can clean the inner side of the water tank, the inner bottom of the water tank, and the inner top of the water tank. The roller nylon brush can scrub the inner bottom of the water tank. The combination of the two cleaning methods can effectively remove the dirt on the inner wall and bottom of the water tank.

[0047] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A water tank cleaning device, characterized in that: include: A chassis structure (100) is used to drive the device to move at the bottom of the water tank; A middle structure (200), located in the chassis structure (100), comprising a middle support platform (202), a water tank (203) and a high-pressure pump (205) installed on the upper surface of the middle support platform (202); The upper structure (300) is located above the middle structure (200), and comprises an upper platform (301), a first-level high-pressure water gun telescopic rod (305) placed in an upper platform groove (302) at the center of the upper platform (301), a second-level high-pressure water gun telescopic rod (306) telescopic in the first-level high-pressure water gun telescopic rod (305), a first-level electric push rod (308), a second-level electric push rod (309) telescopic in the first-level electric push rod (308), and a connecting rod. (310); the first-level electric push rod (308) is fixed to one side of the upper platform groove (302) through the electric push rod fixing seat (304), and the first-level high-pressure water gun telescopic rod (305) is rotatably connected to the other side of the upper platform groove (302) through the high-pressure water gun fixing ring (303); the two ends of the connecting rod (310) are rotatably connected to the middle part of the first-level high-pressure water gun telescopic rod (305) and the front end of the second-level electric push rod (309) through a rotating shaft; The roller brush structure (400) is located on both sides of the chassis structure (100) and is used to clean dirt deposited on the bottom surface of the inner wall of the water tank.

2. The water tank cleaning device according to claim 1, characterized in that: The roller brush structure (400) comprises a roller nylon brush (401), a roller brush driving motor (402), a roller brush connecting rod (403) and a roller brush connecting rod driving motor (404); The roller brush driving motor (402) is fixed to the bottom end of the roller brush connecting rod (403) and is used to realize the rotational cleaning of the roller nylon brush (401); The roller brush connecting rod driving motor (404) is located at the top end of the roller brush connecting rod (403) and is used to drive the roller brush connecting rod (403) to rotate, thereby achieving adjustment of the scrubbing force.

3. The water tank cleaning device according to claim 1, characterized in that: The secondary high-pressure water gun telescopic rod (306) is connected and fixed to the upper high-pressure water gun head (307), and the upper high-pressure water gun head (307) is used to clean the top of the inner wall of the water tank; A left high-pressure water gun head (311) and a front high-pressure water gun head (312) are respectively provided on the left side and the front side of the upper surface of the upper platform (301) for cleaning the inner wall of the water tank.

4. The water tank cleaning device according to claim 1, characterized in that: The chassis structure (100) comprises a chassis shell (109), omnidirectional wheel grooves (104) evenly distributed around the bottom of the chassis shell (109), an omnidirectional wheel hub (102) placed in the omnidirectional wheel grooves (104), an omnidirectional wheel drive motor (106) connected to an omnidirectional wheel axle (101) at the center of the omnidirectional wheel hub (102), and rotatable omnidirectional small wheels (103) distributed around the omnidirectional wheel hub (102).

5. The water tank cleaning device according to claim 4, characterized in that: Side cameras (111) are evenly distributed around the outer surface of the chassis housing (109) for observing the dirt situation in the water tank and providing a real-time picture of the cleaning; Infrared digital reflection sensors (112) are evenly distributed around the outer surface of the chassis housing (109).

6. The water tank cleaning device according to claim 4, characterized in that: The bottom of the chassis shell (109) is evenly distributed with middle-layer support rod fixing holes (108), and the lower surface of the middle-layer support platform (202) is evenly distributed with middle-layer support rods (201) connected and fixed to the middle-layer support rod fixing holes (108).

7. The water tank cleaning device according to claim 1, characterized in that: An upper camera (313) is provided on the left side of the upper surface of the upper platform (301) for observing the cleanliness of the top of the inner wall of the water tank; a laser radar (314) is provided on the right side of the upper surface of the upper platform (301).

8. The water tank cleaning device according to claim 4, characterized in that: The upper platform (301) is a circular platform, and its lower surface is sealedly connected to the chassis shell (109) via a gasket (110).

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