Automatic cleaning robot for secondary sedimentation tanks

Abstract

This utility model belongs to the technical field of wastewater treatment sedimentation tank cleaning equipment, and discloses an automatic cleaning robot for secondary sedimentation tanks. It includes a frame plate with walking mechanisms at both ends of the frame plate. The frame plate is equipped with a rocker arm cleaning mechanism, a waterway sidewall cleaning mechanism, and a sawtooth weir cleaning mechanism. The walking mechanism includes a crossbeam fixedly installed at the bottom of the frame plate. Walking components are located at both ends of the crossbeam. An adjustment component is located at the bottom of the crossbeam for automatically adjusting the distance between the walking components at both ends of the crossbeam according to the secondary sedimentation tank cleaning track. This utility model, through an adjustable walking mechanism, utilizes tension springs, tie rods, and other adjustment components to automatically adjust the distance between the walking components according to the secondary sedimentation tank cleaning track. When the track width changes, the tension springs extend and retract, causing the walking components to adaptively adjust. Combined with limit wheels, this prevents derailment and ensures stable robot operation. It can adapt to secondary sedimentation tanks of different widths, significantly improving the equipment's applicability.

Description

Technical Field

[0001] This utility model relates to the technical field of wastewater treatment sedimentation tank cleaning equipment, and in particular to an automatic cleaning robot for secondary sedimentation tanks. Background Technology

[0002] Because the effluent from the secondary sedimentation tank is eutrophic, algae grow year-round in the effluent weir and ditch. Dead algae can cause blockages, and currently, manual cleaning is used, which requires significant manpower and resources, poses safety risks, and is not very effective. Therefore, the development of an automated manual cleaning robot is underway.

[0003] Chinese invention patent CN110841991B discloses a fully automatic cleaning robot for a standard circular radial flow secondary sedimentation tank, including a skeleton plate. The skeleton plate is equipped with an elastic compensation brush mechanism, a tensioning and positioning mechanism, and a sliding automatic charging mechanism. The elastic compensation brush mechanism includes a main vertical spiral elastic compensation brush device, an end face elastic compensation brush device, a side spiral elastic compensation brush device, and a bottom elastic compensation brush device. The tensioning and positioning mechanism includes a load-bearing active wheel assembly, a load-bearing driven wheel assembly, a tensioning active wheel assembly, a tensioning driven wheel assembly, and a fixed wheel assembly. The sliding automatic charging mechanism includes a mobile charging box and a fixed charging box.

[0004] The robot described above has the following drawbacks in actual use: for example, the drive wheels are fixed and cannot adapt to changes in pool width. If the pool gradually narrows, the robot may fall into it; if the pool gradually widens, the drive wheels may get stuck, making it unable to adapt to different pool sizes.

[0005] To address this, an automated cleaning robot for secondary sedimentation tanks is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic cleaning robot for secondary sedimentation tanks, thereby solving or at least alleviating one or more of the aforementioned problems and other issues existing in the prior art.

[0007] To achieve the above objectives, the main technical solutions adopted by this utility model include: The automatic cleaning robot for secondary sedimentation tank includes a frame plate, with a walking mechanism at both ends of the frame plate. The frame plate is also equipped with a rocker arm cleaning mechanism, a waterway sidewall cleaning mechanism, and a sawtooth weir cleaning mechanism. The traveling mechanism includes a cross frame, which is fixedly installed at the bottom of the frame plate. Traveling components are provided at both ends of the cross frame, and an adjustment component is provided at the bottom of the cross frame for automatically adjusting the distance between the traveling components at both ends of the cross frame according to the cleaning track of the secondary sedimentation tank.

[0008] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, the walking component includes a mounting plate, slide rails are fixedly mounted at both ends of the bottom of the cross frame, a slider is fixedly mounted at the top of the mounting plate, the slider is slidably mounted on the slide rails, a wheel frame is fixedly mounted at the bottom of the mounting plate, a walking motor is fixedly mounted on one side of the wheel frame, a walking wheel is rotatably mounted at the lower end of the wheel frame, and the shaft of the walking motor is fixedly connected to the shaft of the walking wheel.

[0009] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, the adjusting assembly includes a tension spring, a pull rod, a limiting angle iron, and a limiting bolt. The limiting angle iron is fixedly installed at the bottom of the cross frame. One end of the pull rod slides through the limiting angle iron and is threadedly connected to the limiting bolt. One end of the tension spring is fixedly hooked to one end of one of the mounting plates, and the other end of the tension spring is fixedly hooked to the end of the pull rod away from the limiting angle iron. The slider on the other mounting plate is fixed to the slide rail by a locking bolt.

[0010] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, a connecting rod is fixedly installed at the bottom of the mounting plate, and a limit wheel is rotatably installed at the bottom of the connecting rod.

[0011] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, the rocker arm cleaning mechanism includes a rocker arm and an electric push rod. One end of the rocker arm is hinged to the bottom of the frame plate, and one end of the electric push rod is hinged to the bottom of the frame plate. The piston rod end of the electric push rod is hinged to the rocker arm. A first motor is fixedly installed at the other end of the rocker arm. A first transmission shaft is fixedly installed at the bottom of the rotating shaft of the first motor. A first sleeve is installed on the first transmission shaft with adjustable height, and a first brush is installed on the first sleeve.

[0012] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, the rocker arm is rotatably equipped with a collision-resistant wheel at the end near the first motor.

[0013] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, the waterway sidewall cleaning mechanism includes a second motor, the second motor is fixedly mounted on the frame plate, a second transmission shaft is fixedly mounted on the bottom of the rotating shaft of the second motor, a second sleeve is mounted on the second transmission shaft at adjustable height, and a second brush is mounted on the second sleeve.

[0014] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, the sawtooth weir cleaning mechanism includes a third motor, which is fixedly mounted on the frame plate. A third transmission shaft is fixedly mounted at the bottom of the rotating shaft of the third motor, and a third brush is fixedly mounted at the lower end of the third transmission shaft.

[0015] In the automatic cleaning robot for secondary sedimentation tanks according to this utility model, an installation box is mounted on the skeleton plate. The installation box contains a PLC controller and a rechargeable lithium battery for power supply. The signal output terminal of the PLC controller is electrically connected to the control terminals of the walking motor, the electric push rod, the first motor, the second motor, and the third motor, respectively.

[0016] In the automatic cleaning robot for secondary sedimentation tanks according to the present invention, a protective cover is hinged to the frame plate, and the mounting box is located inside the protective cover.

[0017] This utility model has at least the following beneficial effects: The adjustable-spacing walking mechanism, utilizing springs, levers, and other adjustment components, allows the spacing of the walking components to automatically adjust according to the secondary sedimentation tank cleaning track. When the track width changes, the springs extend and retract, causing the walking components to adaptively adjust. Combined with limit wheels, this prevents derailment and ensures stable robot operation. It can adapt to secondary sedimentation tanks of varying widths, significantly improving the equipment's applicability. The mounting box integrates a PLC controller and a rechargeable lithium battery, and is protected by a protective cover to prevent water splashes and dust from entering and to avoid damage to electronic components. At the same time, the walking motor directly drives the walking wheels, reducing the risk of failure caused by gear transmission, reducing equipment maintenance costs, and extending the overall service life of the equipment. Automated cleaning robots enable unmanned operation. The PLC controller has preset cleaning programs, and the robot can work automatically around the clock without human supervision, effectively reducing labor input and avoiding safety accidents that may be caused by manual operation. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a front view structural diagram of the present invention; Figure 2 This is a cross-sectional structural diagram of the walking mechanism of this utility model; Figure 3 This is a partial structural schematic diagram of the walking mechanism of this utility model; Figure 4 This is a schematic diagram of the practical state structure of this utility model.

[0019] Explanation of icon numbers: 1. Traveling mechanism; 101. Crossbeam; 102. Slide rail; 103. Slider; 104. Mounting plate; 105. Wheel frame; 106. Traveling motor; 107. Traveling wheel; 108. Connecting rod; 109. Limiting wheel; 110. Locking bolt; 111. Tension spring; 112. Tie rod; 113. Limiting angle iron; 114. Limiting bolt; 2. Frame plate; 201. Protective cover; 3. Rocker arm cleaning mechanism; 301. Rocker arm; 302. Electric push rod; 303. First drive shaft; 304. First brush; 305. Anti-collision wheel; 306. First motor; 4. Waterway sidewall cleaning mechanism; 401. Second motor; 402. Second drive shaft; 403. Second brush; 5. Installation box; 6. Sawtooth weir cleaning mechanism; 601. Third motor; 602. Third drive shaft; 603. Third brush. Detailed Implementation

[0020] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0021] Please refer to Figures 1 to 4 As shown, an embodiment of this utility model provides an automatic cleaning robot for a secondary sedimentation tank, including a frame plate 2. Both ends of the frame plate 2 are provided with a walking mechanism 1. The frame plate 2 is respectively provided with a rocker arm cleaning mechanism 3, a waterway sidewall cleaning mechanism 4, and a sawtooth weir cleaning mechanism 6. The walking mechanism 1 includes a crossbeam 101, which is fixedly installed at the bottom of the frame plate 2. Both ends of the crossbeam 101 are provided with walking components. The bottom of the crossbeam 101 is provided with an adjustment component for automatically adjusting the distance between the walking components at both ends of the crossbeam 101 according to the cleaning track of the secondary sedimentation tank.

[0022] Overall architecture: The skeleton plate 2 serves as the basic support structure and carries various cleaning mechanisms; the walking mechanism 1 drives the robot to move along the track of the secondary sedimentation tank.

[0023] Function of the adjustment component: By automatically adjusting the spacing of the walking components, the robot can adapt to cleaning tracks of different widths (such as narrowing or widening pools) to prevent it from falling or getting stuck.

[0024] In this embodiment, the walking assembly includes a mounting plate 104. Slide rails 102 are fixedly mounted at both ends of the bottom of the crossbeam 101. A slider 103 is fixedly mounted on the top of the mounting plate 104 and slides on the slide rails 102. A wheel frame 105 is fixedly mounted on the bottom of the mounting plate 104. A walking motor 106 is fixedly mounted on one side of the wheel frame 105. A walking wheel 107 is rotatably mounted on the lower end of the wheel frame 105. The shaft of the walking motor 106 is fixedly connected to the shaft of the walking wheel 107.

[0025] The slider 103 slides on the slide rail 102 to achieve lateral displacement of the walking component, and adjusts the spacing in conjunction with the adjustment component.

[0026] The walking motor 106 directly drives the walking wheel 107 to rotate, effectively avoiding the situation where the efficiency of gear transmission is reduced and malfunctions are prone to occur.

[0027] In this embodiment, the adjustment assembly includes a tension spring 111, a pull rod 112, a limiting angle iron 113, and a limiting bolt 114. The limiting angle iron 113 is fixedly installed at the bottom of the cross frame 101. One end of the pull rod 112 slides through the limiting angle iron 113 and is threadedly connected to the limiting bolt 114. One end of the tension spring 111 is fixedly hooked to one end of one of the mounting plates 104, and the other end of the tension spring 111 is fixedly hooked to the end of the pull rod 112 away from the limiting angle iron 113. The slider 103 on the other mounting plate 104 is fixed to the slide rail 102 by a locking bolt 110.

[0028] The tension spring 111 applies tension through the pull rod 112, allowing one side of the traveling component to slide along the slide rail 102; the other side is fixed by the locking bolt 110, forming a "fixed-elastic" adjustment structure.

[0029] Adaptive track: When the track narrows, the tension spring 111 contracts, reducing the spacing between the traveling components; when the track widens, the tension spring 111 stretches, increasing the spacing to prevent the track from slipping off or jamming.

[0030] In this embodiment, a connecting rod 108 is fixedly installed on the bottom of the mounting plate 104, and a limit wheel 109 is rotatably installed on the bottom of the connecting rod 108.

[0031] The limiting wheel 109 rolls close to the side of the track to prevent the walking wheel 107 from derailing and to enhance the robot's stability on the track.

[0032] In this embodiment, the rocker arm cleaning mechanism 3 includes a rocker arm 301 and an electric push rod 302. One end of the rocker arm 301 is hinged to the bottom of the frame plate 2, and one end of the electric push rod 302 is hinged to the bottom of the frame plate 2. The piston rod end of the electric push rod 302 is hinged to the rocker arm 301. A first motor 306 is fixedly installed at the other end of the rocker arm 301. A first transmission shaft 303 is fixedly installed at the bottom of the rotating shaft of the first motor 306. A first sleeve is installed on the first transmission shaft 303 with adjustable height. A first brush 304 is installed on the first sleeve.

[0033] The electric push rod 302 extends and retracts to drive the rocker arm 301 to rotate around the hinge point, adjusting the position of the first brush 304. The first motor 306 drives the first drive shaft 303 and the first brush 304 to rotate, cleaning algae on the bottom or slope of the secondary sedimentation tank. The height of the first sleeve can be adjusted along the first drive shaft 303 to adapt to cleaning needs at different depths. In this embodiment, the first sleeve is installed on the first drive shaft 303 with adjustable height using bolts.

[0034] Furthermore, a crash wheel 305 is rotatably mounted on the end of the rocker arm 301 near the first motor 306. When the rocker arm 301 swings to the pool wall or an obstacle, the crash wheel 305 contacts and rolls first, preventing rigid collisions from damaging the equipment.

[0035] In this embodiment, the waterway sidewall cleaning mechanism 4 includes a second motor 401, which is fixedly installed on the frame plate 2. A second transmission shaft 402 is fixedly installed at the bottom of the shaft of the second motor 401. A second sleeve is installed on the second transmission shaft 402 with adjustable height, and a second brush 403 is installed on the second sleeve.

[0036] The second motor 401 drives the second transmission shaft 402 and the second brush 403 to rotate, cleaning the vertical sidewalls of the secondary sedimentation tank channel. The second sleeve can be adjusted in height along the second transmission shaft 402 to adapt to the sidewall cleaning needs at different heights. In this embodiment, the second sleeve is height-adjustably mounted on the second transmission shaft 402 using bolts.

[0037] In this embodiment, the sawtooth weir cleaning mechanism 6 includes a third motor 601, which is fixedly mounted on the frame plate 2. A third drive shaft 602 is fixedly mounted on the bottom of the rotating shaft of the third motor 601, and a third brush 603 is fixedly mounted on the lower end of the third drive shaft 602. In use, the third motor 601 drives the third drive shaft 602 and the third brush 603 to rotate, specifically cleaning algae and blockages in the sawtooth weir of the secondary sedimentation tank.

[0038] In this embodiment, a mounting box 5 is installed on the frame plate 2. The mounting box 5 contains a PLC controller and a rechargeable lithium battery for power supply. The signal output terminal of the PLC controller is electrically connected to the electrical control terminal of the walking motor 106, the electrical control terminal of the electric push rod 302, the electrical control terminal of the first motor 306, the electrical control terminal of the second motor 401, and the electrical control terminal of the third motor 601.

[0039] During operation, the PLC controller sends instructions according to a preset program, coordinating the movements of various motors and electric actuators to achieve automatic robot movement, angle adjustment, and cleaning operations. The number of cleaning cycles and cleaning time can be set according to cleaning requirements. No human supervision is needed during operation; it can work 24 / 7, saving time and labor, and is safe and reliable. After each cleaning cycle, it automatically returns to the charging station for recharging.

[0040] In some embodiments, a charging station for charging a rechargeable lithium battery is installed on the frame plate 2.

[0041] In some embodiments, a protective cover 201 is hinged to the frame plate 2, and the mounting box 5 is located inside the protective cover 201. The protective cover 201 protects the PLC controller and battery inside the mounting box 5, preventing water splashes and dust from entering, thus extending the equipment life. The protective cover 201 can be hinged open for easy maintenance of the internal equipment.

[0042] In actual use, the robot is parked at the charging station, and the rechargeable lithium battery on the frame plate 2 is fully charged. The operator presets the cleaning program through the PLC controller in the installation box 5, including parameters such as the cleaning route, the working time of each cleaning mechanism, and the number of cleaning cycles. Then, the protective cover 201 is closed to prevent water splashes and dust from entering.

[0043] autonomously proceed to the work area The PLC controller issues a command, the walking motor 106 starts, directly driving the walking wheel 107 to rotate, and the robot begins to move along the secondary sedimentation tank track. During the movement, if the track width changes, the adjustment component starts to work: the tension spring 111 applies tension through the pull rod 112, causing the slider 103 on one side of the mounting plate 104 to slide on the slide rail 102, while the slider 103 on the other side is fixed by the locking bolt 110, forming a "fixed-elastic" adjustment structure that adapts to the track width. At the same time, the limit wheel 109 rolls close to the side of the track to prevent the walking wheel 107 from derailing, ensuring that the robot moves forward stably until it reaches the designated cleaning area.

[0044] Cleaning operations Operation of the rocker arm cleaning mechanism: The electric push rod 302 extends and retracts, driving the rocker arm 301 to rotate around the hinge point, adjusting the first brush 304 to a suitable cleaning position. Subsequently, the first motor 306 starts, driving the first drive shaft 303 and the first brush 304 to rotate, cleaning algae on the bottom or slope of the secondary sedimentation tank. When the rocker arm 301 swings to the tank wall or obstacle, the anti-collision wheel 305 contacts and rolls first, avoiding rigid collisions that could damage the equipment.

[0045] Operation of the waterway sidewall cleaning mechanism: The second motor 401 starts, driving the second drive shaft 402 and the second brush 403 to rotate, cleaning the vertical sidewalls of the secondary sedimentation tank waterway. By adjusting the position of the second sleeve on the second drive shaft 402, it can adapt to the cleaning needs of sidewalls at different heights.

[0046] Sawtooth weir cleaning mechanism operation: The third motor 601 starts, driving the third transmission shaft 602 and the third brush 603 to rotate, specifically cleaning algae and blockages in the sawtooth weir of the secondary sedimentation tank.

[0047] Cleaning cycle and path switching The PLC controller coordinates the working time and sequence of each cleaning mechanism according to the preset program, and controls the walking mechanism 1 to move the robot, so that each cleaning mechanism can perform cyclic cleaning of different areas until all preset cleaning tasks are completed.

[0048] Automatically return to charging After the cleaning task is completed, the PLC controller controls the walking mechanism 1 to automatically return the robot to the charging station along the preset route. Upon arrival at the charging station, the robot automatically docks with the charging interface and begins charging the rechargeable lithium battery, awaiting the next cleaning task instruction.

[0049] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the present invention's conception through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An automatic cleaning robot for secondary sedimentation tanks, characterized in that, The system includes a frame plate, with a walking mechanism at both ends of the frame plate. The frame plate is also equipped with a rocker arm cleaning mechanism, a waterway sidewall cleaning mechanism, and a sawtooth weir cleaning mechanism. The traveling mechanism includes a cross frame, which is fixedly installed at the bottom of the frame plate. Traveling components are provided at both ends of the cross frame, and an adjustment component is provided at the bottom of the cross frame for automatically adjusting the distance between the traveling components at both ends of the cross frame according to the cleaning track of the secondary sedimentation tank. The walking assembly includes a mounting plate, slide rails are fixedly mounted at both ends of the bottom of the cross frame, a slider is fixedly mounted at the top of the mounting plate and the slider is slidably mounted on the slide rails, a wheel frame is fixedly mounted at the bottom of the mounting plate, a walking motor is fixedly mounted on one side of the wheel frame, a walking wheel is rotatably mounted at the lower end of the wheel frame, and the shaft of the walking motor is fixedly connected to the shaft of the walking wheel. The adjustment assembly includes a tension spring, a pull rod, a limiting angle iron, and a limiting bolt. The limiting angle iron is fixedly installed at the bottom of the cross frame. One end of the pull rod slides through the limiting angle iron and is threadedly connected to the limiting bolt. One end of the tension spring is fixedly hooked to one end of one of the mounting plates, and the other end of the tension spring is fixedly hooked to the end of the pull rod away from the limiting angle iron. The slider on the other mounting plate is fixed to the slide rail by a locking bolt. The rocker arm cleaning mechanism includes a rocker arm and an electric push rod. One end of the rocker arm is hinged to the bottom of the frame plate, and one end of the electric push rod is hinged to the bottom of the frame plate. The piston rod end of the electric push rod is hinged to the rocker arm. A first motor is fixedly installed at the other end of the rocker arm. A first transmission shaft is fixedly installed at the bottom of the rotating shaft of the first motor. A first sleeve is installed on the first transmission shaft with adjustable height, and a first brush is installed on the first sleeve.

2. The automatic cleaning robot for secondary sedimentation tanks according to claim 1, characterized in that: A connecting rod is fixedly installed at the bottom of the mounting plate, and a limit wheel is rotatably installed at the bottom of the connecting rod.

3. The automatic cleaning robot for secondary sedimentation tanks according to claim 1, characterized in that: The rocker arm is rotatably mounted with a collision-prevention wheel at the end closest to the first motor.

4. The automatic cleaning robot for secondary sedimentation tanks according to claim 3, characterized in that: The waterway sidewall cleaning mechanism includes a second motor, which is fixedly mounted on the frame plate. A second drive shaft is fixedly mounted on the bottom of the rotating shaft of the second motor. A second sleeve is mounted on the second drive shaft at an adjustable height, and a second brush is mounted on the second sleeve.

5. The automatic cleaning robot for secondary sedimentation tanks according to claim 4, characterized in that: The sawtooth weir cleaning mechanism includes a third motor, which is fixedly mounted on the frame plate. A third transmission shaft is fixedly mounted on the bottom of the rotating shaft of the third motor, and a third brush is fixedly mounted on the lower end of the third transmission shaft.

6. The automatic cleaning robot for secondary sedimentation tanks according to claim 5, characterized in that: An installation box is mounted on the frame plate. Inside the installation box are a PLC controller and a rechargeable lithium battery for power supply. The signal output terminal of the PLC controller is electrically connected to the control terminals of the walking motor, the electric push rod, the first motor, the second motor, and the third motor, respectively.

7. The automatic cleaning robot for secondary sedimentation tanks according to claim 6, characterized in that: A protective cover is hinged to the frame plate, and the mounting box is located inside the protective cover.

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