Pool bottom cleaning robot applied to rectangular sedimentation tank

Abstract

The utility model discloses a pool bottom cleaning robot applied to a rectangular sedimentation pool, belongs to the technical field of sewage treatment, and aims to solve the problems that in the prior art, when the pool bottom cleaning robot runs at the pool bottom with a scraper, the scraper cannot be crossed, and the phenomena that equipment topples over or the scraper is abraded possibly occur in the crossing process; and secondly, a mud pumping port of common equipment can only pump fluid mud, and when hardened mud is involved, the mud pumping port cannot well pump the fluid mud. Comprising a robot body, a lower mounting frame is fixedly arranged below the robot body, an efficient cleaning mechanism is mounted on the lower mounting frame and the interior and exterior of the robot body in a combined mode, the efficient cleaning mechanism comprises a crossing plate assembly and a fixed guide ring sleeve, and an anti-collision mechanism is mounted on the upper portion of the fixed guide ring sleeve and one side of the interior of the robot body; and an operation panel is arranged above the robot body, an access door is installed on one side of the robot body, and the straddle plate assembly is installed on the inner portion and the outer portion of the lower installation frame.

Description

Technical Field

[0001] This utility model belongs to the field of wastewater treatment technology, specifically relating to a bottom cleaning robot for rectangular sedimentation tanks. Background Technology

[0002] During the operation of a wastewater treatment plant, the sludge-water mixture undergoes solid-liquid separation in a sedimentation tank. A large amount of suspended solids and organic matter will settle to the bottom of the tank to form sludge. Generally, organic sludge is lighter and is easier to discharge from the sedimentation tank through the sludge discharge and sludge return system. However, inorganic sludge will accumulate over time. If it is not cleaned in time, it will reduce the effective volume of the sedimentation tank, affect the sedimentation effect, and reduce the treatment capacity of the wastewater treatment plant. At this time, a tank bottom cleaning robot is needed to clean the rectangular sedimentation tank of the wastewater treatment plant.

[0003] Currently, under normal circumstances, if the drain pipe of a sedimentation tank is at the end of the tank or above the bottom, emptying requires manual handling. This is because the drainage slope of the sedimentation tank is inclined from the end towards the inlet, making it difficult for the sludge at the bottom of the tank to flow into the drain pipe. In addition, since rectangular sedimentation tanks generally have scrapers at the bottom, the scrapers at the bottom of the tank need to be raised during cleaning, which is a lot of work. Based on engineering experience, cleaning a sedimentation tank with a capacity of 10,000 tons / day requires 4 people for 3 to 5 days, which affects the normal operation of the wastewater treatment plant.

[0004] Regarding current cleaning machinery and equipment, firstly, when operating on the bottom of a pool with scrapers, there is a problem that the equipment cannot cross the scrapers. During the crossing process, the equipment may tip over or cause wear on the scrapers. Secondly, the sludge suction port of the equipment can usually only pump out fluid sludge, and it cannot effectively pump out compacted sludge. Utility Model Content

[0005] (1) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a bottom cleaning robot for rectangular sedimentation tanks. This aims to solve two problems in existing technologies: firstly, when operating on the bottom of a tank with scrapers, the robot cannot cross the scrapers, and crossing them may cause the equipment to tip over or cause scraper wear; secondly, the sludge extraction port of the equipment can usually only pump out fluid sludge, and cannot effectively pump out compacted sludge.

[0007] (2) Technical solution

[0008] To address the aforementioned technical problems, this utility model provides a bottom cleaning robot for rectangular sedimentation tanks, comprising a robot body, a lower frame fixed below the robot body, and a high-efficiency cleaning mechanism jointly installed on the lower frame and the inner and outer sides of the robot body. The high-efficiency cleaning mechanism includes a cross-plate assembly and a fixed guide ring sleeve. An anti-collision mechanism is installed above the fixed guide ring sleeve and on one side of the robot body. An operation panel is provided on the top of the robot body, and an inspection door is installed on one side of the robot body. The cross-plate assembly is installed inside and outside the lower frame. A pre-rinsing assembly is installed inside and outside the robot body, and a sludge removal assembly is installed on the side of the robot body inside and outside the pre-rinsing assembly.

[0009] Furthermore, the cross-plate assembly includes two rotating rods, which are respectively installed on both sides of the middle of the lower frame. A sawtooth-shaped traveling wheel is installed at one end of each of the two rotating rods. A first motor is installed on both sides of one side of the lower frame, and a transmission rod is installed at the output end of each of the two first motors. A pulley is fixed around a section of each of the two transmission rods and the two rotating rods, and a belt is sleeved around the periphery of the two pairs of pulleys.

[0010] Furthermore, the pre-rinsing assembly includes a clean water pipe, which is fixedly installed along one side of the middle of the robot body. A clean water electric valve is installed on one end of the clean water pipe, and a clean water connecting hose is connected to the other end of the clean water electric valve. A pressurized cleaning pump is connected to the other end of the clean water pipe, and a rinsing pipe is connected to the other end of the pressurized cleaning pump. A rinsing hose is connected to the end of the rinsing pipe, and a rinsing spout is connected to the end of the rinsing hose.

[0011] Furthermore, the rinsing pipe, the rinsing hose, and the rinsing duckbill are interconnected.

[0012] Furthermore, the sludge removal assembly includes a sludge discharge short pipe, which is fixedly installed through one side of the robot body. One end of the sludge discharge short pipe is equipped with a sludge discharge electric valve, and the other end of the sludge discharge electric valve is connected to a sludge discharge pipe. The other end of the sludge discharge short pipe is connected to a suction pump, and one end of the suction pump is connected to a connecting pipe. The end of the connecting pipe is connected to a sludge discharge hose, and a fixed guide ring is fixedly provided around a section of the sludge discharge hose. The end of the sludge discharge hose is connected to a suction nozzle.

[0013] Furthermore, the anti-collision mechanism includes guide rods, which are respectively fixed to the lower part of the robot body. A fixed sliding frame is fixedly installed inside the lower section of the robot body, and a guide frame is slidably installed on the inner side of the fixed sliding frame. A rack is fixedly installed on the inner side of the guide frame, and one end of the rack is fixedly connected to a fixed guide ring sleeve. A fixed sleeve is fixedly installed on one side of the lower part of the robot body, and a second motor is installed in the middle of the fixed sleeve. The output end of the second motor is connected to a connecting rod, and a gear is fixedly installed around one end of the connecting rod.

[0014] Furthermore, the gear and rack are meshing transmission connections, and the fixed guide ring sleeve and guide rod are movable guiding connections.

[0015] (3) Beneficial effects

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] This utility model relates to a pool bottom cleaning robot with an integrated structure, comprising a pressurized flushing system, a sludge removal system, and an intelligent control system. The intelligent control system employs an AI-based intelligent control design. With the assistance of a multispectral vision camera and ultrasonic sensors within the AI ​​recognition system, the robot can intelligently identify the positions of the scrapers distributed on the bottom of a rectangular sedimentation tank. When the robot moves to the scraper position while simultaneously cleaning using the cross-plate assembly, it identifies and utilizes the speed difference between the two primary motors to control the position and stroke of the serrated wheels, ensuring that the two serrated wheels can... The robot uses the difference in its surrounding sawtooth pattern to cross the scraper at the bottom of the pool. During the movement of the robot, personnel can simultaneously activate the clean water electric valve, the pressurized cleaning pump, the sludge discharge electric valve, and the suction pump. In this state, external clean water will enter the clean water connecting hose, clean water pipe, flushing pipe, and flushing hose in sequence under pressure, and finally be sprayed out from the spray nozzle of the flushing duckbill. This stirs and washes the sludge that has hardened at the bottom of the pool, making it into fluidized sludge. Then, under the pressure of the suction pump, the fluidized sludge will flow through the suction duckbill, sludge discharge hose, connecting pipe, and sludge discharge short pipe, and finally be discharged from the end of the sludge discharge pipe to the air vent or venting pipe, thereby achieving the purpose of cleaning the pool.

[0018] In this invention, when the robot body uses its serrated wheels to cross the bottom scraper of the pool, in order to avoid the suction duckbill colliding with the bottom scraper, the operator can start the second motor to rotate the connecting rod and gear connected to its output end. At this time, the rack meshing with the gear will be guided by the fixed sliding frame, guide frame and guide rod to compress the fixed guide ring sleeve and mud discharge hose within an acceptable range for a short distance, thereby effectively increasing the height of the suction duckbill and indirectly improving the practicality of the suction duckbill. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 A top-down view of the internal structure of the lower mounting frame;

[0022] Figure 3 This is a schematic diagram of the internal structure of the robot body;

[0023] Figure 4 for Figure 3 Schematic diagram of the structure at point A in the middle.

[0024] The labels in the attached diagram are as follows: 1. Robot body; 2. Lower frame; 3. High-efficiency cleaning mechanism; 31. Cross-plate assembly; 311. Rotating rod; 312. Serrated walking wheel; 313. First motor; 314. Transmission rod; 315. Pulley; 316. Belt; 32. Pre-rinsing assembly; 321. Clean water pipe; 322. Clean water electric valve; 323. Clean water connection hose; 324. Pressurized cleaning pump; 325. Rinsing pipe; 326. Rinsing hose; 327. 33. Rinsing duckbill; 331. Mud suction assembly; 332. Mud discharge short pipe; 333. Mud discharge electric valve; 334. Mud discharge pipe; 335. Suction pump; 336. Connecting pipe; 337. Mud discharge hose; 338. Fixed guide ring sleeve; 4. Suction duckbill; 4. Anti-collision mechanism; 41. Guide rod; 42. Fixed sliding frame; 43. Guide frame; 44. Rack; 45. Fixed sleeve; 46. Second motor; 47. Connecting rod; 48. Gear; 5. Control panel; 6. Inspection door. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] This specific embodiment describes a bottom cleaning robot applied to a rectangular sedimentation tank, as shown in the schematic diagram below. Figures 1 to 4As shown, the system includes a robot body 1, a lower mounting frame 2 fixedly mounted below the robot body 1, and a high-efficiency cleaning mechanism 3 jointly installed on the lower mounting frame 2 and the robot body 1. The high-efficiency cleaning mechanism 3 includes a cross-plate assembly 31 and a fixed guide ring sleeve 337. An anti-collision mechanism 4 is installed above the fixed guide ring sleeve 337 and on one side of the inside of the robot body 1. An operation panel 5 is provided on the top of the robot body 1, and an inspection door 6 is installed on one side of the robot body 1. The cross-plate assembly 31 is installed on the inside and outside of the lower mounting frame 2. The cross-plate assembly 31 includes two rotating rods 311, which are respectively installed on both sides of the middle part of the lower mounting frame 2. A sawtooth-shaped walking wheel 312 is installed at one end of each of the two rotating rods 311. Two sawtooth-shaped walking wheels 312 are installed on one side of the inside of the lower mounting frame 2. The robot body 1 is equipped with two first motors 313, each with a transmission rod 314 at its output end. Each of the two transmission rods 314 and two rotating rods 311 has a pulley 315 fixedly mounted around its periphery, and belts 316 are fitted around the periphery of the two pairs of pulleys 315. A pre-rinsing assembly 32 is installed inside and outside the robot body 1. The pre-rinsing assembly 32 includes a clean water pipe 321, which is fixedly installed along one side of the middle of the robot body 1. A clean water electric valve 322 is installed at one end of the clean water pipe 321, and a clean water connecting hose 323 is connected to the other end of the clean water electric valve 322. A pressurized cleaning pump 324 is connected to the other end of the clean water pipe 321, and a rinsing pipe 325 is connected to the other end of the pressurized cleaning pump 324. The end of the rinsing pipe 325 is connected to a rinsing hose 326, and the end of the rinsing hose 326 is connected to a rinsing spout 327. The rinsing pipe 325, the rinsing hose 326, and the rinsing spout 327 are interconnected. A mud-removing assembly 33 is installed on one side of the robot body 1, inside and outside the pre-rinsing assembly 32. The mud-removing assembly 33 includes a mud-discharge short pipe 331, which is fixedly installed through one side of the robot body 1. A mud-discharge electric valve 332 is provided at one end of the mud-discharge electric valve 332, and the other end of the mud-discharge electric valve 332 is connected to a mud-discharge pipe 333. The other end of the mud-discharge short pipe 331 is connected to a suction pump 334, and one end of the suction pump 334 is connected to a connecting pipe 335. The end of the connecting pipe 335 is connected to a mud discharge pipe. The sludge discharge hose 336 has a fixed guide ring sleeve 337 around one end, and a suction nozzle 338 is connected to the end of the sludge discharge hose 336. The main body 1 of this pool bottom cleaning robot is an integrated structure, divided into a pressurized flushing system, a sludge pumping system, and an intelligent control system. The intelligent control system adopts an AI intelligent control design. With the cooperation of multispectral vision cameras and ultrasonic sensors included in the AI ​​recognition system, the robot body 1 can intelligently identify the scraper positions distributed on the bottom of the rectangular sedimentation tank. When the robot body 1 moves to the scraper position while cleaning sludge using the cross-plate assembly 31, it will identify and use the speed difference of the two first motors 313 to control the position and stroke of the sawtooth-shaped walking wheels 312.During movement, the two serrated wheels 312 can cross the bottom scraper based on the difference in their surrounding serrations. While the robot body 1 moves, personnel can simultaneously activate the clean water electric valve 322, the pressurized cleaning pump 324, the sludge discharge electric valve 332, and the suction pump 334. In this state, external clean water will be pressurized and sequentially enter the clean water connecting hose 323, clean water pipe 321, flushing pipe 325, and flushing hose 326, finally spraying out from the spray nozzle of the flushing spout 327. This agitates and flushes the hardened sludge at the bottom of the pool, forming fluidized sludge. Subsequently, under the pressure of the suction pump 334, the fluidized sludge will flow through the suction spout 338, sludge discharge hose 336, connecting pipe 335, and sludge discharge short pipe 331, finally being discharged from the end of the sludge discharge pipe 333 to the air vent or drain pipe, thus achieving the purpose of cleaning the pool.

[0027] The anti-collision mechanism 4 includes guide rods 41, which are fixedly mounted on the lower part of the robot body 1. A fixed sliding frame 42 is fixedly mounted inside the lower section of the robot body 1, and a guide frame 43 is slidably mounted on the inner side of the fixed sliding frame 42. A rack 44 is fixedly mounted on the inner side of the guide frame 43, and one end of the rack 44 is fixedly connected to a fixed guide ring sleeve 337. A fixed sleeve 45 is fixedly mounted on one side of the lower part of the robot body 1, and a second motor 46 is installed in the middle of the fixed sleeve 45. The output end of the second motor 46 is connected to a connecting rod 47, and a gear 48 is fixedly mounted around a section of the connecting rod 47. The gear 48 and the rack 44 are meshed and connected. The guide ring sleeve 337 and the guide rod 41 are connected by a movable guide. When the robot body 1 crosses the bottom scraper of the pool using the sawtooth walking wheel 312, in order to avoid the suction duckbill 338 from colliding with the bottom scraper, the operator can start the second motor 46 to rotate the connecting rod 47 and gear 48 connected to its output end. At this time, the rack 44 meshing with the gear 48 will be guided by the fixed sliding frame 42, the guide frame 43 and the guide rod 41 to carry the fixed guide ring sleeve 337 and the mud discharge hose 336 to a short distance within an acceptable range, thereby effectively increasing the height of the suction duckbill 338 and indirectly improving the practicality of the suction duckbill 338.

[0028] Working Principle: The robot body 1 is an integrated structure, consisting of a pressurized flushing system, a sludge removal system, and an intelligent control system. The intelligent control system employs an AI-powered intelligent control design. With the assistance of a multispectral vision camera and ultrasonic sensors within the AI ​​recognition system, the robot body 1 can intelligently identify the positions of the scrapers distributed on the bottom of the rectangular sedimentation tank. When the robot body 1 moves to the scraper position while simultaneously cleaning using the cross-plate assembly 31, it identifies and utilizes the speed difference between the two first motors 313 to control the position and stroke of the serrated walking wheels 312. This allows the two serrated walking wheels 312 to cross the bottom scrapers based on the difference in their surrounding serrations during movement. During the movement of the robot body 1, personnel can simultaneously activate the clean water electric valve 322, the pressurized cleaning pump 324, the sludge discharge electric valve 332, and the suction pump 334. In this state, external clean water will sequentially enter the clean water connection hose 323, the clean water pipe 321, the flushing pipe 325, and the flushing hose 326, ultimately flowing out from the flushing... The spray nozzle of the scrubbing nozzle 327 agitates and washes the hardened sludge at the bottom of the pool, forming fluidized sludge. Under the pressure of the suction pump 334, the fluidized sludge flows along the suction nozzle 338, the sludge discharge hose 336, the connecting pipe 335, and the sludge discharge short pipe 331, finally being discharged from the end of the sludge discharge pipe 333 to the air vent or drain pipe, thus achieving the purpose of pool cleaning. Secondly, during the process of the robot body 1 using the serrated wheels 312 to cross the bottom scraper of the pool, to prevent the suction nozzle 338 from colliding with the bottom scraper... Upon collision, personnel can activate the second motor 46 to rotate the connecting rod 47 and gear 48 connected to its output end. At this time, the rack 44 meshing with the gear 48 will be guided by the fixed sliding frame 42, guide frame 43 and guide rod 41, causing the fixed guide ring sleeve 337 and mud discharge hose 336 to undergo short-distance compression within an acceptable range. This can effectively increase the height of the suction duckbill 338 and indirectly improve the practicality of the suction duckbill 338 (the main body of the robot 1 is made of 304 stainless steel, which is suitable for humid and corrosive environments).

[0029] All technical features in this embodiment can be freely combined according to actual needs.

[0030] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A bottom cleaning robot for rectangular sedimentation tanks, comprising a robot body (1), characterized in that, The robot body (1) is fixedly provided with a lower frame (2) below it, and the lower frame (2) and the robot body (1) are jointly installed with a high-efficiency cleaning mechanism (3) inside and outside. The high-efficiency cleaning mechanism (3) includes a cross plate assembly (31) and a fixed guide ring sleeve (337). An anti-collision mechanism (4) is installed above the fixed guide ring sleeve (337) and on one side inside the robot body (1). An operation panel (5) is provided above the robot body (1). An inspection door (6) is installed on one side of the robot body (1). The cross plate assembly (31) is installed inside and outside the lower frame (2). A pre-rinsing assembly (32) is installed inside and outside the robot body (1). A mud-squeezing assembly (33) is installed on the side of the robot body (1) that is inside and outside the pre-rinsing assembly (32).

2. The bottom cleaning robot for a rectangular sedimentation tank according to claim 1, characterized in that, The cross plate assembly (31) includes two rotating rods (311), and the two rotating rods (311) are respectively installed on both sides of the middle part of the lower frame (2). A sawtooth-shaped walking wheel (312) is installed at one end of each of the two rotating rods (311). A first motor (313) is installed on both sides of one side of the lower frame (2), and a transmission rod (314) is installed at the output end of each of the two first motors (313). A pulley (315) is fixed around a section of each of the two transmission rods (314) and the two rotating rods (311), and a belt (316) is sleeved around the periphery of the two pairs of pulleys (315).

3. The bottom cleaning robot for a rectangular sedimentation tank according to claim 1, characterized in that, The pre-rinsing assembly (32) includes a clean water pipe (321), which is fixedly installed on one side of the middle part of the robot body (1). A clean water electric valve (322) is installed on one end of the clean water pipe (321), and a clean water connecting hose (323) is connected to the other end of the clean water electric valve (322). A pressurized cleaning pump (324) is connected to the other end of the clean water pipe (321), and a rinsing pipe (325) is connected to the other end of the pressurized cleaning pump (324). A rinsing hose (326) is connected to the end of the rinsing pipe (325), and a rinsing duckbill (327) is connected to the end of the rinsing hose (326).

4. The bottom cleaning robot for a rectangular sedimentation tank according to claim 3, characterized in that, The rinsing pipe (325), the rinsing hose (326), and the rinsing duckbill (327) are interconnected.

5. The bottom cleaning robot for a rectangular sedimentation tank according to claim 1, characterized in that, The sludge removal assembly (33) includes a sludge discharge short pipe (331), which is fixedly installed through one side of the robot body (1). One end of the sludge discharge short pipe (331) is provided with a sludge discharge electric valve (332), and the other end of the sludge discharge electric valve (332) is connected to a sludge discharge pipe (333). The other end of the sludge discharge short pipe (331) is connected to a suction pump (334), and one end of the suction pump (334) is connected to a connecting pipe (335). The end of the connecting pipe (335) is connected to a sludge discharge hose (336), and a fixed guide ring sleeve (337) is fixedly provided around a section of the sludge discharge hose (336). The end of the sludge discharge hose (336) is connected to a suction duckbill (338).

6. The bottom cleaning robot for a rectangular sedimentation tank according to claim 1, characterized in that, The anti-collision mechanism (4) includes a guide rod (41), and the guide rod (41) is fixedly installed below the robot body (1). The lower part of the robot body (1) is fixedly provided with a fixed sliding frame (42), and a guide frame (43) is slidably provided on the inner side of the fixed sliding frame (42). A rack (44) is fixedly provided on the inner side of the guide frame (43). One end of the rack (44) is fixedly connected to a fixed guide ring sleeve (337). A fixed sleeve (45) is fixedly provided on one side of the lower part of the robot body (1), and a second motor (46) is installed in the middle of the fixed sleeve (45). The output end of the second motor (46) is connected to a connecting rod (47), and a gear (48) is fixedly provided around a section of the connecting rod (47).

7. A bottom cleaning robot for rectangular sedimentation tanks according to claim 6, characterized in that, The gear (48) and rack (44) are meshing transmission connections, and the fixed guide ring sleeve (337) and guide rod (41) are movable guide connections.

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