Deslagging robot for treating bottom-sinking waste after submerging into cylinder bottom

Abstract

The utility model discloses a slag removal robot for treating bottom-sinking waste after submerging into a cylinder bottom, which belongs to the technical field of cleaning robots, and adopts the technical scheme that the slag removal robot comprises a snorkeling module, a waste concentration module, a battery module, a power module and a slag suction module, the waste concentration module is arranged in the middle of the snorkeling module, the battery module and the power module are arranged at the bottom of the snorkeling module, and the slag suction module is communicated with the waste concentration module; the battery module comprises a left side battery compartment, a right side battery compartment and a wireless charging module; the power module comprises a left motor, a right motor, wheels, a crawler belt, a left shock absorber and a right shock absorber; and the slag suction module comprises a scraper and a slag suction port. According to the utility model, double independent driving motor crawler stepping, snorkeling device attitude adjustment, laser ranging and laser radar scanning are combined, and the maintenance of a water body, especially a cylinder bottom, is realized through autonomous work.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning robots, in particular to a slag removal robot used for diving into the bottom of a tank to process bottom waste. Background Art

[0002] During aquaculture, especially in small-scale operations, metabolic waste and bottom-clinging algae often accumulate. The accumulation and proliferation of these wastes, including metabolic waste and algae, can pollute the water environment and deplete oxygen. Existing waste removal and water circulation equipment cannot efficiently clean and maintain the water, making it difficult to meet the high-quality water environment requirements of aquaculture. Utility Model Content

[0003] In view of the above-mentioned shortcomings of the existing technology, the present invention proposes a slag removal robot for diving into the bottom of a tank to process bottom waste. The robot combines dual independent drive motors for crawler stepping, a snorkeling device for posture adjustment, laser ranging, and lidar scanning to work autonomously to achieve water conservation, especially the bottom of the tank, and is used to clean metabolic waste and bottom-attached algae in the water. The technical solutions designed by the present invention include:

[0004] Snorkeling module 7, waste collection module 13, battery module, power module and slag suction module;

[0005] The waste concentration module 13 is arranged in the middle of the snorkeling module 7, the battery module and the power module are arranged at the bottom of the snorkeling module 7, and the slag suction module is in communication with the waste concentration module 13;

[0006] The battery module includes a left battery compartment 23, a right battery compartment 24 and a wireless charging module 27; the power module includes a left motor 28, a right motor 26, wheels 18, tracks 17, a left shock absorber 22 and a right shock absorber 25; the slag suction module includes a scraper 1 and a slag suction port 3.

[0007] Preferably, the snorkeling module 7 is provided with a first left snorkeling device 19, a second left snorkeling device 14, a first right snorkeling device 6 and a second right snorkeling device 10 for controlling the snorkeling posture;

[0008] The front end of the snorkeling module 7 is provided with a laser radar 2;

[0009] The snorkeling module 7 is provided with a left front laser ranging sensor 21, a left rear laser ranging sensor 16, a right front laser ranging sensor 4 and a right rear laser ranging sensor 9 on both sides.

[0010] Preferably, the left front laser ranging sensor 21 , the left rear laser ranging sensor 16 , the right front laser ranging sensor 4 and the right rear laser ranging sensor 9 correspond to steering gears, including a first steering gear 20 , a second steering gear 5 , a third steering gear 8 and a fourth steering gear 15 , respectively.

[0011] Preferably, the waste collection module 13 is a detachable module;

[0012] The waste collection module 13 has a handle 31 and a filtration pump 32 at the top;

[0013] The waste collection module 13 has an internal discharge port 29 and a liftable partition filter 33;

[0014] A backflow prevention filter door 30 communicating with the slag suction port 3 is provided under the waste collection module 13 .

[0015] Preferably, the wireless charging module 27 in the battery module is fixedly connected to the bottom rear end of the snorkeling module 7 , and the left battery compartment 23 and the right battery compartment 24 are fixedly connected to the waste collection module 13 .

[0016] Preferably, the wheels 18 in the power module include two front wheels and two rear wheels, the two front wheels are equipped with a left shock absorber 22 and a right shock absorber 25, and the two rear wheels are driven by corresponding independent motors respectively.

[0017] Preferably, the scraper 1 in the slag suction module is connected to the slot at the front end of the slag suction port 3. The slag suction port 3 is designed to be wide outside and narrow inside, fixedly adhered to the snorkeling module 7 at the upper end, and the end is communicated with the waste collection module 13.

[0018] The beneficial effects of the present invention are as follows: the present invention proposes a slag removal robot for diving into the bottom of the tank to process the bottom waste. It aims at the production of metabolic waste and bottom algae in the aquaculture process, and can realize water cleaning and maintenance by autonomous, efficient and intelligent suction and removal of slag and impurities. It can provide a high-quality water environment for aquaculture, replace the manual suction and removal of slag and impurities, and carry out efficient cleaning and maintenance of the water body, especially the bottom of the tank, thereby reducing the workload of aquaculture. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a first structural diagram of the utility model;

[0020] Figure 2 It is a schematic diagram of the cross-sectional structure of the utility model;

[0021] Figure 3 This utility model Figure 2 Schematic diagram of the middle section;

[0022] Figure 4This is a first structural diagram of the waste concentration module of the present utility model;

[0023] Figure 5 This is a second structural diagram of the waste concentration module of the present utility model;

[0024] Figure 6 This utility model Figure 5 Schematic diagram of the bottom surface;

[0025] Figure 7 This is a second structural diagram of the present invention.

[0026] Explanation of the accompanying drawings: 1-scraper, 2-laser radar, 3-slag suction port, 4-right front laser ranging sensor, 5-second steering gear, 6-first right snorkeling device, 7-snorkeling module, 8-third steering gear, 9-right rear laser ranging sensor, 10-second right snorkeling device, 11-filtration pump, 12-handle, 13-waste collection module, 14-second left snorkeling device, 15-fourth steering gear, 16-left rear laser ranging sensor, 17-track, 18 wheel, 19-first left snorkeling device, 20-first steering gear, 21-left front laser ranging sensor, 22-left shock absorber, 23-left battery compartment, 24-right battery compartment, 25-right shock absorber, 26-right motor, 27-wireless charging module, 28-left motor, 29-discharge outlet, 30-anti-backflow filter door, 31-handle, 32-filtration pump, 33-liftable partition filter. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or components referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes and should not be understood as indicating or implying relative importance; in addition, unless otherwise expressly specified and limited, the terms "installed", "connected", and "connected" 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, an indirect connection through an intermediate medium, or it can be internal communication between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Reference Figure 1-7 In the utility model, a slag removal robot for diving into the bottom of a tank to process sediment waste comprises:

[0030] Snorkeling module 7, waste collection module 13, battery module, power module and slag suction module;

[0031] The waste collection module 13 is arranged in the middle of the snorkeling module 7, the battery module and the power module are arranged at the bottom of the snorkeling module 7, and the slag suction module is communicated with the waste collection module 13;

[0032] The battery module includes a left battery compartment 23, a right battery compartment 24 and a wireless charging module 27; the power module includes a left motor 28, a right motor 26, wheels 18, tracks 17, a left shock absorber 22 and a right shock absorber 25; the slag suction module includes a scraper 1 and a slag suction port 3.

[0033] Preferably, the snorkeling module 7 is provided with a first left snorkeling device 19, a second left snorkeling device 14, a first right snorkeling device 6 and a second right snorkeling device 10 for controlling the snorkeling posture;

[0034] A laser radar 2 is provided at the front end of the snorkeling module 7;

[0035] A left front laser ranging sensor 21 , a left rear laser ranging sensor 16 , a right front laser ranging sensor 4 and a right rear laser ranging sensor 9 are provided on both sides of the snorkeling module 7 .

[0036] Preferably, the left front laser ranging sensor 21 , the left rear laser ranging sensor 16 , the right front laser ranging sensor 4 and the right rear laser ranging sensor 9 correspond to steering gears, including a first steering gear 20 , a second steering gear 5 , a third steering gear 8 and a fourth steering gear 15 , respectively.

[0037] Preferably, the waste concentration module 13 is a detachable module;

[0038] The waste collection module 13 has a handle 31 and a filtration pump 32 at the top;

[0039] The waste collection module 13 has an outlet 29 and a liftable partition filter 33 inside;

[0040] A back-suction prevention filter door 30 communicating with the slag suction port 3 is provided under the waste collection module 13 .

[0041] Preferably, the wireless charging module 27 in the battery module is fixedly connected to the bottom rear end of the snorkeling module 7 , and the left battery compartment 23 and the right battery compartment 24 are fixedly connected to the waste collection module 13 .

[0042] Preferably, the wheels 18 in the power module include two front wheels and two rear wheels. The two front wheels are equipped with a left shock absorber 22 and a right shock absorber 25 , and the two rear wheels are driven by corresponding independent motors respectively.

[0043] Preferably, the scraper 1 in the slag suction module is connected to the slot at the front end of the slag suction port 3. The slag suction port 3 is designed to be wide outside and narrow inside, fixedly adhered to the snorkeling module 7 at the upper end, and the end is communicated with the waste collection module 13.

[0044] In a specific embodiment, Figure 1 and Figure 7 The figure shows a slag removal robot scraper 1 for diving into the bottom of a tank to process sediment waste, a slag suction port 3, a snorkeling module 7, a waste collection module 13, a battery module and a power module.

[0045] The slag suction module includes a slag suction port 3 and a scraper 1 at its front end.

[0046] In a specific embodiment, the scraper 1 is connected to the slag suction port 3 by a slot, and scrapers of different materials can be selected according to different working conditions.

[0047] In one specific embodiment, the snorkeling module includes a first right snorkel 6, a second right snorkel 10, a first left snorkel 19, a second left snorkel 14, two left front laser ranging sensors 21, a left rear laser sensor 16, a right front laser sensor 4, a right rear laser sensor 8, and a corresponding control servo and front-end laser radar 2. These five sensors provide the robot with navigation and obstacle avoidance capabilities for diving, surfacing, and underwater operations.

[0048] In one specific embodiment, the servo rotates when the robot is about to dive or surface, positioning the entire laser sensor below the servo. This allows the robot to measure its height from the bottom and the wall of the tank during the dive or surface process. When the robot touches the bottom or surfaces, the servo resets the laser ranging sensor.

[0049] In a specific embodiment, the location of the farmed aquatic products and the location of metabolic waste are identified through the detection data of the laser radar 2, thereby achieving obstacle avoidance hovering and efficient directional slag suction operations during the ascent and descent process.

[0050] In a specific embodiment, the robot can float up and down by pumping water into and out of the snorkeling module 7 through the first right snorkeling device 6, the second right snorkeling device 10, the first left snorkeling device 19, and the second left snorkeling device 14. The four independent snorkeling devices can enable the robot to have a certain ability to adjust its posture in the water.

[0051] The waste collection module 13 includes a handle 12 and a filter pump 11 at the top, a discharge port 29 at the rear, an internal liftable partition filter 33, and an anti-backflow filter 30 at the front.

[0052] In one embodiment, the top handle 12 facilitates pulling the entire detachable waste collection module out of the center of the robot, allowing waste residue to be dumped out of the discharge port 29. During the waste removal process, the internal liftable filter 33 automatically rises to the top of the chamber and automatically returns to its original position. During the non-cleaning process, it performs the initial separation of the supernatant and reduces the operating pressure of the filter pump.

[0053] In a specific embodiment, the front anti-backflow filter 30 is connected to the slag suction port 3. During the entire water cleaning and maintenance process, waste slag enters the slag suction port 3 under the filtration action of the suction pump and enters the interior of the waste collection module through the anti-backflow filter 30 to accumulate. When a large amount of clean water is sucked into the cabin, in order to improve the cabin's ability to accommodate waste slag, the suction pump extracts the supernatant after filtering through the liftable partition filter and discharges it out of the cabin.

[0054] In a specific embodiment, the battery module includes a left battery compartment 23 and a right battery compartment 24 located at the bottom of the waste collection module 13 and a wireless charging module 27 fixed to the tail of the snorkeling module.

[0055] In a specific embodiment, the left battery compartment 23 and the right battery compartment 24 provide the main power source for the robot. In special circumstances, the backup power supply of the wireless charging module can power the robot for a certain period of time to ensure that it can return to the charging area.

[0056] In one specific embodiment, the wireless charging module is connected to the wireless charging module of a mobile phone. To use it, simply hang the wireless charger on the bottom of the tank wall or place it on the bottom of the tank. Before the actual operation, the robot will roam the entire tank bottom to map the tank bottom and the charging area.

[0057] The power module includes tracks 17, a left motor 28, a right motor 26, a left shock absorber 22, a right shock absorber 25 and four hollow wheels located on both sides of the lower end of the waste collection module.

[0058] In a specific embodiment, the track is made of non-slip rubber, which provides the entire power module with stronger grip and mobility.

[0059] In a specific embodiment, the independent left shock absorber 22 and right shock absorber 25 provided on both sides of the front wheels provide the robot with a certain obstacle crossing capability.

[0060] In a specific embodiment, a crawler-type stepping system with two independent motors provides the robot with more flexible steering capabilities and more stable movement capabilities.

[0061] In a specific embodiment, the hollow wheel design can ensure a certain working speed while effectively avoiding disturbing the aquatic products and raising waste and residue with certain floating ability during the cleaning and maintenance operations.

[0062] In a specific embodiment, the overall size is based on the size of an aquaculture tank to meet the design requirement of being submerged in the bottom of the tank.

[0063] In a specific embodiment, before the robot enters the water, the waste collection module is in an empty state, the laser detector is in a default position, and the operation frequency is set to twice a day, three times a day, etc.

[0064] In a specific embodiment, an aquaculture tank requires debris suction and water cleaning and maintenance. The robot system is activated, the robot is placed horizontally on the water surface, water is introduced into the waste collection module 13, the steering gear is activated, and the submergence sequence begins. Upon reaching a corner of the tank bottom, the steering gear's laser rangefinder sensor is reset, and the robot begins roaming around the tank wall, mapping the tank bottom and marking the charging area. The laser radar 2 is activated to identify the primary cleaning area, and the suction pump is activated to initiate the debris suction sequence. At the end of the operation, the suction pump is turned off. The return charging sequence is initiated, and the robot automatically drives to the charging area for charging and awaits the next operation.

[0065] In one specific embodiment, the waste collection module 13 of the slag suction robot is set to reach a critical level. The robot sends a slag dump notification to the user's mobile phone. Upon receiving the user's response, the robot initiates the buoyancy process, activates the steering gear, and the snorkeling module begins draining water, reaching the surface. After the user pulls the handle 12 to dump the waste, the user reinstalls the waste collection module and continues operations.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A slag removal robot for diving into the bottom of a tank to process sediment waste, characterized in that: include: Snorkeling module (7), waste collection module (13), battery module, power module and slag suction module; The waste collection module (13) is arranged in the middle of the snorkeling module (7), the battery module and the power module are arranged at the bottom of the snorkeling module (7), and the slag suction module is in communication with the waste collection module (13); The battery module includes a left battery compartment (23), a right battery compartment (24) and a wireless charging module (27); the power module includes a left motor (28), a right motor (26), wheels (18), tracks (17), a left shock absorber (22) and a right shock absorber (25); and the slag suction module includes a scraper (1) and a slag suction port (3).

2. A slag removal robot for diving into the bottom of a tank to process sediment waste according to claim 1, characterized in that: The snorkeling module (7) is provided with a first left snorkeling device (19), a second left snorkeling device (14), a first right snorkeling device (6), and a second right snorkeling device (10) for controlling the snorkeling posture; The front end of the snorkeling module (7) is provided with a laser radar (2); A left front laser distance measuring sensor (21), a left rear laser distance measuring sensor (16), a right front laser distance measuring sensor (4) and a right rear laser distance measuring sensor (9) are provided on both sides of the snorkeling module (7).

3. A slag removal robot for diving into the bottom of a tank to process sediment waste according to claim 2, characterized in that: The left front laser ranging sensor (21), the left rear laser ranging sensor (16), the right front laser ranging sensor (4) and the right rear laser ranging sensor (9) respectively correspond to steering gears, including a first steering gear (20), a second steering gear (5), a third steering gear (8) and a fourth steering gear (15).

4. The slag removal robot for diving into the bottom of a tank to process sediment waste according to claim 1, characterized in that: The waste collection module (13) is a detachable module; The waste collection module (13) has a handle (31) and a filtration pump (32) at the top; The waste collection module (13) has an outlet (29) and a liftable partition filter (33) inside. A back-suction prevention filter door (30) communicating with the slag suction port (3) is provided under the waste collection module (13).

5. The slag removal robot for diving into the bottom of a tank to process sediment waste according to claim 1, characterized in that: The wireless charging module (27) in the battery module is fixedly connected to the bottom rear end of the snorkeling module (7), and the left battery compartment (23) and the right battery compartment (24) are fixedly connected to the waste collection module (13).

6. The slag removal robot for diving into the bottom of a tank to process sediment waste according to claim 1, characterized in that: The wheels (18) in the power module include two front wheels and two rear wheels, the two front wheels are equipped with a left shock absorber (22) and a right shock absorber (25), and the two rear wheels are driven by corresponding independent motors.

7. The slag removal robot for diving into the bottom of a tank to process sediment waste according to claim 1, characterized in that: The scraper (1) in the slag suction module is connected to the slot at the front end of the slag suction port (3). The slag suction port (3) is designed to be wide outside and narrow inside, and is fixedly bonded to the upper end of the snorkeling module (7). The end is connected to the waste collection module (13).

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