CN109108021A - A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning - Google Patents
A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning Download PDFInfo
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- CN109108021A CN109108021A CN201811171259.7A CN201811171259A CN109108021A CN 109108021 A CN109108021 A CN 109108021A CN 201811171259 A CN201811171259 A CN 201811171259A CN 109108021 A CN109108021 A CN 109108021A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 191
- 238000000034 method Methods 0.000 title claims abstract description 11
- 241001416181 Axis axis Species 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000012216 screening Methods 0.000 abstract description 5
- 239000006185 dispersion Substances 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 238000005457 optimization Methods 0.000 description 9
- 238000012913 prioritisation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- WSNMPAVSZJSIMT-UHFFFAOYSA-N COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 Chemical compound COc1c(C)c2COC(=O)c2c(O)c1CC(O)C1(C)CCC(=O)O1 WSNMPAVSZJSIMT-UHFFFAOYSA-N 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning, robot includes the upper heavy pond cleaning vehicle and sinking pond cleaning vehicle connected by cable, the walking mechanism I that heavy pond cleaning vehicle is moved along intermediate sloping platform in heavy pond cleaning device and driving, the walking mechanism II for being equipped with sinking pond cleaning device in the cleaning vehicle of the sinking pond and sinking pond cleaning vehicle being driven to move along sinking pond are installed in the upper heavy pond cleaning vehicle.It is an integrally-built traditional concept that the present invention, which has broken robot, set split type for cleaning robot, prune job is carried out to upper heavy pond and sinking pond simultaneously, improve cleaning efficiency, pass through each hairbrush and disc brush of setting, it realizes and total seven faces in upper heavy pond and sinking pond is made an overall screening, substantially increase the completeness of cleaning, solve the reservoir cleaning surface the dispersion.
Description
Technical field
It is specially a kind of the present invention relates to reservoir cleaning used in pond cleaning field more particularly to water utilities system
Split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning.
Background technique
Water utilities system usually passes through large-scale reservoir and carries out water storage, in order to play the role of sediment miscellaneous object, will generally store
Pond is divided into heavy pond and sinking pond, and intermediate sloping platform is arranged between upper heavy pond and sinking pond, when being fallen with reducing water flow
The impact for splashing and reducing to sinking pond.Reservoir after prolonged use, needs to clean up moss on pool wall and water stain,
With the safety and sanitation of guarantee water.It is exactly at present manual cleaning using most manner of cleaning up, it is not only time-consuming and laborious, but also be easy
It slips, there are security risks, although there is cleaning equipment, are directed to the structure of reservoir complexity, can not carry out each face
It makes an overall screening, cleaning efficiency is low.And some reservoirs are involute shape, and most narrow place only has 30cm wide, existing clear
Washing equipment can not pass through at all.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and cleaning sides
Method, the robot can carry out the cleaning work to upper heavy pond and sinking pond simultaneously, improve cleaning efficiency, and clear up more
Thoroughly.
The present invention is achieved through the following technical solutions, provides a kind of split type 7 degree of freedom degree secondary settling tank cleaning robot,
It is clear that heavy pond is installed including the upper heavy pond cleaning vehicle and sinking pond cleaning vehicle connected by cable, in the upper heavy pond cleaning vehicle
It sinks the cleaning vehicle walking mechanism I that moves along intermediate sloping platform in pond on cleaning device and driving, is equipped with down in the cleaning vehicle of the sinking pond
Heavy pond cleaning device and the walking mechanism II for driving sinking pond cleaning vehicle to move along sinking pond.
Robot is arranged to separate structure by this programme, and upper heavy pond cleaning vehicle is under the drive of walking mechanism I to upper heavy pond
It is cleared up, sinking pond cleaning vehicle clears up sinking pond under the drive of walking mechanism II, realizes while to upper heavy pond
With the prune job in sinking pond, cleaning efficiency is improved；Upper heavy pond cleaning vehicle is connected with sinking pond cleaning vehicle by cable, is made
A power supply can be shared by obtaining two cleaning vehicles, alleviate overall weight, and cable ensure that two cleaning vehicles are maintained at a spacing
From interior, situation apart from each other is prevented, to facilitate staff to control.
As optimization, the upper heavy pond cleaning device include the driving motor I affixed with upper heavy pond cleaning vehicle car body and by
The shaft of the driving of driving motor I rotation, the both ends of the shaft are separately installed with the hair with the two sides face contact in upper heavy pond
Brush.This prioritization scheme drives shaft rotation by driving motor I, thus drive the hairbrush at both ends simultaneously while rotating, realization pair
It is cleaned while upper heavy pond left and right sidewall, and using the support of hairbrush and shaft, prevents heavy pond cleaning vehicle from intermediate sloping platform
It slides, ensure that the reliability of cleaning.
As optimization, the upper heavy pond cleaning device further includes the motor connect with upper heavy pond cleaning vehicle car body by horizontal axis axis
Box, and the driving motor II being fixed in the motor box, II output shaft of driving motor are connected with and intermediate sloping platform
The rotating brush of contact of incline plane.This prioritization scheme is cleared up by driving motor II with inclined-plane of the electric brush to intermediate sloping platform,
Motor box and car body axis are connect, when so that there is protrusion on intermediate sloping platform, motor box, which is taken advantage of a situation, to be rotated and cross raised obstacle, is avoided
Card resistance phenomenon occurs, guarantees the normally travel of car body, while motor box swings and swings with electric brush, increases and rushes to moss
It hits, so that the cleaning to moss is cleaner.
As optimization, be installed on the leading flank of the motor box and trailing flank the left horizontal axis that is transversely sequentially arranged and
The axis of right horizontal axis, the left horizontal axis and right horizontal axis is consistent with upper heavy pond cleaning vehicle moving direction, on upper heavy pond cleaning vehicle car body
Offer the circular hole passed through for left horizontal axis and the long arc-shaped holes passed through for right horizontal axis.This prioritization scheme is using left horizontal axis as hinged
Point makes motor box be adjacent to intermediate sloping platform downwards in its natural state, and when encountering protrusion, long arc-shaped holes are provided to the rotation of motor box
Space, arcuately long hole is mobile for right horizontal axis, and after boss disappears, right horizontal axis is under the gravity of motor box along long arc-shaped holes negative side
To movement, long arc-shaped holes provide guiding for right horizontal axis, and motor box is avoided arbitrarily to swing.
As optimization, the upper heavy pond cleaning device further includes the driving motor III affixed with upper heavy pond cleaning vehicle car body,
The motor shaft of the driving motor III is connected with the hairbrush with face contact on the outside of intermediate sloping platform.This prioritization scheme passes through driving motor
III band electric brush clears up intermediate sloping platform lateral surface, further increases cleaning face quantity.
As optimization, it is fixedly provided with the left bar extended in heavy pond on upper heavy pond cleaning vehicle car body and edge extends to sinking
Right bar in pond is equipped with the idler wheel with face contact on the right side of upper heavy pond on the left bar, be equipped on the right bar with
The idler wheel of face contact on the left of sinking pond.This prioritization scheme can prevent heavy pond cleaning vehicle by the setting of left bar and right bar
Car body falls or tumbles, and the setting of idler wheel then reduces the frictional resistance of car body advance, reduces energy consumption.
As optimization, sinking pond cleaning device includes the swing arm motor affixed with sinking pond cleaning vehicle car body, and
The affixed rocker arm with the swing arm motor axis is installed with cleaning motor on the rocker arm, and the cleaning motor passes through steering
Device connects left disc brush and right disc brush.This prioritization scheme drives rocker arm to move up and down by swing arm motor, is driven by cleaning motor
Left disc brush and the rotation of right disc brush, make an overall screening sinking pond side wall to realize, the range of cleaning is big, high-efficient.
As optimization, sinking pond cleaning device further includes the tumbler motor affixed with sinking pond cleaning vehicle car body, with
And the affixed bracket with the tumbler motor motor shaft, bottom of pond cleaning motor, the bottom of pond cleaning electricity are installed on the bracket
The motor shaft of machine is connected with the hairbrush contacted with sinking pond bottom of pond.This prioritization scheme cleans motor band electric brush under by bottom of pond
The bottom of pond in heavy pond is cleared up, and is driven holder pivots by tumbler motor when cleaning, is increased cleaning area, improve cleaning and imitate
Rate.
A kind of secondary settling tank method for cleaning, includes the following steps:
(1) walking mechanism I drives heavy pond cleaning vehicle to move along intermediate sloping platform, and walking mechanism II drives sinking pond cleaning vehicle under
Heavy pond is mobile, and when first lap, upper heavy pond cleaning device cleans the left side in upper heavy pond and right side, sinking pond cleaning dress
It sets and the left side in sinking pond is cleaned；
When (2) second circle, upper heavy pond cleaning device cleans the left side in upper heavy pond and right side, sinking pond cleaning device
The right side in sinking pond is cleaned；
(3) controller being electrically connected with walking mechanism II is installed in upper heavy pond cleaning vehicle or sinking pond cleaning vehicle, is being sunk
The range unit being electrically connected with controller is installed in the cleaning vehicle of pond.
This method not only can satisfy the cleaning requirement of round reservoir, but also can satisfy using two circle cleaning ways
The cleaning requirement of involute-type reservoir, machine do not need to do return movement, detect heavy pond cleaning by setting range unit
The distance between vehicle and sinking pond cleaning vehicle, if the distance value of detection is greater than controller setting value, controller controls vehicle with walking machine
Structure II accelerates, and to guarantee that two cleaning vehicles are located in set distance range, keeps preferably synchronism.
As optimization, it is respectively set between left disc brush and diverter, between right disc brush and diverter and controller electrical property
The steering gear electric-machine that sinking control pond cleaning vehicle turns to, the steering engine electricity is arranged in the pressure sensor of connection in walking mechanism II
Machine and controller are electrically connected；The flowmeter being electrically connected with controller is installed on the cleaning vehicle car body of sinking pond.This optimization side
Case detects left disc brush, right disc brush to the pressure of sinking pond side wall, if pressure is small during cleaning, through pressure sensor
In setting value, controller sends to steering gear electric-machine and instructs, and makes car body to the direction running for leaning on proximal wall, increases left disc brush, right disk
The pressure to sinking pond side wall is brushed, to guarantee the thorough, clean of cleaning；Sinking pool inner water stream size is detected by flowmeter, and
Controller is reached, the received flow signal of controller is greater than the set value, then controls walking mechanism II and reduce the speed of travel, to offset
Impact of the water flow to car body, guarantees enough clearance times.
The invention has the benefit that having broken robot is an integrally-built traditional concept, robot will be cleared up
It is set as split type, while prune job is carried out to upper heavy pond and sinking pond, improve cleaning efficiency, pass through each hairbrush of setting
And disc brush, it realizes and total seven faces in upper heavy pond and sinking pond is made an overall screening, substantially increase the completeness of cleaning, solve
The reservoir cleaning surface the dispersion.
Detailed description of the invention
Fig. 1 is reservoir schematic cross-section；
Fig. 2 is upper heavy pond cleaning vehicle structural schematic diagram；
Fig. 3 is the right view (removing left bar and right bar) of Fig. 2；
Fig. 4 is the bottom view of Fig. 3；
Fig. 5 is motor box attachment structure schematic diagram；
Fig. 6 is sinking pond cleaning vehicle structural schematic diagram；
Fig. 7 is that axle surveys view is cleaned in sinking pond；
It is as shown in the figure:
1, upper heavy pond cleaning vehicle, 2, sinking pond cleaning vehicle, 3, intermediate sloping platform lateral surface, 4, cable, 5, sinking pond right side, 6, under
Heavy pond left side, 7, the inclined-plane of intermediate sloping platform, 8, sinking pond bottom of pond, 9, the two sides in upper heavy pond, 10, upper heavy pond cleaning vehicle vehicle
Body, 11,12,28, hairbrush, 13, left bar, 14, traveling wheel, 15, idler wheel, 16, right bar, 17, rotating brush, 18, shaft,
19, motor box, 20, left horizontal axis, 21, long arc-shaped holes, 22, sinking pond cleaning vehicle car body, 23, swing arm motor, 24, cleaning motor,
25, rocker arm, 26, right disc brush, 27, left disc brush, 29, bracket, 30, bottom of pond cleaning motor, 31, antenna, 32, shifter, 33, charging
Piece, 34, visual navigator, 35, diverter, 36, tumbler motor.
Specific embodiment
In order to clarify the technical characteristics of the invention, being illustrated below by specific embodiment to this programme.
A kind of split type 7 degree of freedom degree secondary settling tank clears up robot as shown in Figure 1, and the upper heavy pond including being connected by cable 4 is clear
Carwash 1 and sinking pond cleaning vehicle 2, interior be equipped with of sinking pond cleaning vehicle car body are powered to upper heavy pond cleaning vehicle 1 and sinking pond cleaning vehicle 2
Battery, be equipped in the upper heavy pond cleaning vehicle 1 in heavy pond cleaning device and driving and sink pond cleaning vehicle and moved along intermediate sloping platform
Dynamic walking mechanism I is equipped with sinking pond cleaning device and driving sinking pond cleaning vehicle in sinking pond cleaning vehicle 2 along sinking
The mobile walking mechanism II in pond.
Walking mechanism I includes two traveling wheels 14 being installed on heavy pond cleaning vehicle car body, and with one of row
The movable motor of 14 connection of wheel is walked, each traveling wheel is arranged along the moving direction of upper heavy pond cleaning vehicle, the wheel face inclination of traveling wheel 14
The inclined-plane 7 of angle and intermediate sloping platform is consistent, to increase contact area, guarantees enough frictional force.
Walking mechanism II includes four wheels being installed on sinking pond cleaning vehicle car body 22, and four wheels are in rectangle point
Cloth, two lateral wheel spans are less than involute reservoir minimum widith, and each wheel connects motor by chain conveyer, with
Guarantee enough power, avoids being washed away by water flow.
Upper heavy pond cleaning device includes with the upper heavy affixed driving motor I of pond cleaning vehicle car body 10 and by the driving motor
The shaft 18 of I driving rotation, the both ends of the shaft 18 are separately installed with the hairbrush 12 contacted with the two sides 9 in upper heavy pond, drive
Dynamic motor I is rotated by chain belt turn axis 18.Upper heavy pond cleaning vehicle car body 10 is case structure, upper heavy pond cleaning vehicle
Electrical part is respectively mounted in the case, to avoid the short circuit that gets wet.In order to guarantee that the tensioning of the chain effect, shaft are threaded through on vertical plate, stand
Plate is threaded through in the sliding sleeve affixed with 10 bottom surfaces of upper heavy pond cleaning vehicle car body, and the fastening for holding out against vertical plate is equipped on the side wall of sliding sleeve
Bolt loosens fastening bolt, and can twitch vertical plate downwards makes chain tension, then tightens fastening bolt.
Upper heavy pond cleaning device further includes the motor box 19, Yi Jigu connect with upper heavy pond cleaning vehicle car body 10 by horizontal axis axis
Due to the driving motor II in the motor box, II output shaft of driving motor is connected with to be contacted with the inclined-plane 7 of intermediate sloping platform
Rotating brush 17.In order to improve the reliability and stability of motor box rotation, on the leading flank of motor box 19 and trailing flank
It is installed with the left horizontal axis 20 and right horizontal axis being transversely sequentially arranged, the axis and upper heavy pond of the left horizontal axis 20 and right horizontal axis clean
Vehicle moving direction is consistent, and the circular hole passed through for left horizontal axis and the arc passed through for right horizontal axis are offered on upper heavy pond cleaning vehicle car body
Long hole 21.
In order to increase cleaning area, the upper heavy pond cleaning device of the present embodiment further includes affixed with upper heavy pond cleaning vehicle car body
Driving motor III, the motor shaft of the driving motor III is connected with the hairbrush 11 contacted with intermediate sloping platform lateral surface 3.
In order to avoid toppling, the left bar extended in upper heavy pond is fixedly provided on upper heavy pond cleaning vehicle car body 10
13 and along right bar 16 in sinking pond is extended to, the idler wheel with face contact on the right side of upper heavy pond, institute are installed along the left bar 13
State the idler wheel 15 for being equipped on right bar 16 and contacting with sinking pond left side 6.
Sinking pond cleaning device includes the swing arm motor 23 affixed with sinking pond cleaning vehicle car body 22, and with the swing arm
The affixed rocker arm 25 of 23 motor shaft of motor, cleaning motor 24 is installed on the rocker arm 25, and the cleaning motor 24 passes through steering
Device 35 connects left disc brush 27 and right disc brush 26, and left disc brush 27 is for clearing up sinking pond left side 6, and right disc brush 26 is for clearing up
Pond right side 5.It is rotated by the drive rocker arm of swing arm motor 23, so that left disc brush 27 and right disc brush 26 be made to move up and down, is increased
Cleaning area.Supersonic frequency mechanical wave vibration device is had in left disc brush 27 and right disc brush 26, by mechanical device with super
Acoustic frequency rejects dirt, the spot being more efficiently difficult to clean off on cleaning wall.
Sinking pond cleaning device further includes the tumbler motor 36 affixed with sinking pond cleaning vehicle car body, and with the pivoted arm
The affixed bracket 29 of 36 motor shaft of motor, bottom of pond cleaning motor 30 is installed on the bracket 29, and the bottom of pond cleans motor 30
Motor shaft be connected with the hairbrush 28 contacted with sinking pond bottom of pond 8.It drives bracket to swing back and forth by tumbler motor, makes hairbrush 28
It arcuately moves, increases cleaning area, ensure that and bottom of pond is made an overall screening.
In sinking pond, the top surface of cleaning vehicle car body 22 is additionally provided with antenna 31, and the WIFI link block in main control board passes through
Antenna 31 is connect with the remote controler in worker's hand, convenient to be remotely controlled control to robot；Equipped with charge sheet 33, pass through charge sheet
It charges to the battery carried on car body, meets electrical demand when cleaning；Equipped with visual navigator 34, guarantee that sinking pond is clear
Carwash avoids deviateing along setting route, to realize that car body is travelled close to pool wall always；Equipped with shifter 32, protect
Two cleaning vehicles are demonstrate,proved to be located in set distance range.
The method for carrying out secondary settling tank cleaning using above-mentioned robot, specific as follows:
(1) walking mechanism I drives heavy pond cleaning vehicle to move along intermediate sloping platform, and walking mechanism II drives sinking pond cleaning vehicle under
Heavy pond is mobile, and when first lap, upper heavy pond cleaning device cleans the left side in upper heavy pond and right side, sinking pond cleaning dress
It sets and the left side in sinking pond is cleaned；
When (2) second circle, upper heavy pond cleaning device cleans the left side in upper heavy pond and right side, sinking pond cleaning device
The right side in sinking pond is cleaned；
(3) controller being electrically connected with walking mechanism II is installed in upper heavy pond cleaning vehicle or sinking pond cleaning vehicle, is being sunk
The range unit being electrically connected with controller is installed in the cleaning vehicle of pond.
(4) it is respectively set between left disc brush and diverter, between right disc brush and diverter and controller electric connection
The steering gear electric-machine that sinking control pond cleaning vehicle turns to, the steering gear electric-machine and control is arranged in pressure sensor in walking mechanism II
Device processed is electrically connected；The flowmeter being electrically connected with controller is installed on the cleaning vehicle car body of sinking pond.
Left disc brush, right disc brush are detected to the pressure of sinking pond side wall by pressure sensor, if pressure is less than setting value,
Controller sends to steering gear electric-machine and instructs, and makes car body to the direction running for leaning on proximal wall, increases left disc brush, right disc brush to sinking pond
The pressure of side wall, to guarantee the thorough, clean of cleaning；Sinking pool inner water stream size is detected by flowmeter, and reaches controller,
The received flow signal of controller is greater than the set value, then controls walking mechanism II and reduce the speed of travel, to offset water flow to car body
Impact, guarantee enough clearance times.
Certainly, above description is also not limited to the example above, technical characteristic of the present invention without description can by or
It is realized using the prior art, details are not described herein；Above embodiments and attached drawing are only used to illustrate the technical scheme of the present invention not
It is limitation of the present invention, is described the invention in detail referring to preferred embodiment, the ordinary skill people of this field
Member is it should be appreciated that variation, remodeling, the addition that those skilled in the art are made within the essential scope of the present invention
Or replacement also should belong to claims of the invention without departure from spirit of the invention.
Claims (10)
1. a kind of split type 7 degree of freedom degree secondary settling tank clears up robot, it is characterised in that: including the upper heavy pond connected by cable (4)
Cleaning vehicle (1) and sinking pond cleaning vehicle (2) are equipped on the upper heavy pond cleaning vehicle (1) on heavy pond cleaning device and driving
The walking mechanism I that heavy pond cleaning vehicle is moved along intermediate sloping platform is equipped with sinking pond cleaning device in sinking pond cleaning vehicle (2)
The walking mechanism II moved with driving sinking pond cleaning vehicle along sinking pond.
2. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 1 clears up robot, it is characterised in that: described heavy
Pond cleaning device includes the driving motor I affixed with upper heavy pond cleaning vehicle car body (10) and drives rotation by the driving motor I
Shaft (18), the both ends of the shaft (18) are separately installed with the hairbrush (12) contacted with the two sides (9) in upper heavy pond.
3. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 2 clears up robot, it is characterised in that: described heavy
Pond cleaning device further includes the motor box (19) connect with upper heavy pond cleaning vehicle car body (10) by horizontal axis axis, and is fixed on described
Driving motor II in motor box, II output shaft of driving motor are connected with the rotation contacted with the inclined-plane (7) of intermediate sloping platform
Hairbrush (17).
4. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 3 clears up robot, it is characterised in that: the motor
The left horizontal axis (20) and right horizontal axis being transversely sequentially arranged, the left horizontal axis are installed on the leading flank of box (19) and trailing flank
(20) and the axis of right horizontal axis is consistent with upper heavy pond cleaning vehicle moving direction, offers on upper heavy pond cleaning vehicle car body for left horizontal axis
The circular hole passed through and the long arc-shaped holes (21) passed through for right horizontal axis.
5. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 2 clears up robot, it is characterised in that: described heavy
Pond cleaning device further includes the driving motor III affixed with upper heavy pond cleaning vehicle car body, and the motor shaft of the driving motor III is affixed
There is the hairbrush (11) contacted with intermediate sloping platform lateral surface (3).
6. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 1 clears up robot, it is characterised in that: above heavy pond is clear
The left bar (13) extended in heavy pond is fixedly provided on carwash car body and along extending to right bar (16) in sinking pond, it is described
Idler wheel with face contact on the right side of upper heavy pond is installed on left bar (13), is equipped on the right bar (16) and sinking pond left side
The idler wheel (15) of face (6) contact.
7. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 1 clears up robot, it is characterised in that: the sinking
Pond cleaning device includes the swing arm motor (23) affixed with sinking pond cleaning vehicle car body (22), and with the swing arm motor (23)
The affixed rocker arm of motor shaft (25), is installed with cleaning motor (24) on the rocker arm (25), the cleaning motor (24) by turn
Left disc brush (27) and right disc brush (26) are connected to device (35).
8. a kind of split type 7 degree of freedom degree secondary settling tank according to claim 7 clears up robot, it is characterised in that: the sinking
Pond cleaning device further includes the tumbler motor (36) affixed with sinking pond cleaning vehicle car body, and electric with the tumbler motor (36)
The affixed bracket of arbor (29), bottom of pond cleaning motor (30) is installed on the bracket (29), and the bottom of pond cleans motor (30)
Motor shaft be connected with the hairbrush (28) contacted with sinking pond bottom of pond.
9. a kind of secondary settling tank method for cleaning, it is characterised in that:
(1) walking mechanism I drives heavy pond cleaning vehicle to move along intermediate sloping platform, and walking mechanism II drives sinking pond cleaning vehicle under
Heavy pond is mobile, and when first lap, upper heavy pond cleaning device cleans the left side in upper heavy pond and right side, sinking pond cleaning dress
It sets and the left side in sinking pond is cleaned；
When (2) second circle, upper heavy pond cleaning device cleans the left side in upper heavy pond and right side, sinking pond cleaning device
The right side in sinking pond is cleaned；
(3) controller being electrically connected with walking mechanism II is installed in upper heavy pond cleaning vehicle or sinking pond cleaning vehicle, is being sunk
The range unit being electrically connected with controller is installed in the cleaning vehicle of pond.
10. a kind of secondary settling tank method for cleaning according to claim 9, it is characterised in that: between left disc brush and diverter,
The pressure sensor being electrically connected with controller is respectively set between right disc brush and diverter, control is set in walking mechanism II
The steering gear electric-machine that sinking pond cleaning vehicle turns to, the steering gear electric-machine and controller are electrically connected；On the cleaning vehicle car body of sinking pond
The flowmeter that installation is electrically connected with controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811171259.7A CN109108021A (en) | 2018-10-09 | 2018-10-09 | A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning |
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| CN201811171259.7A CN109108021A (en) | 2018-10-09 | 2018-10-09 | A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot and method for cleaning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112790666A (en) * | 2021-02-02 | 2021-05-14 | 西南科技大学城市学院 | Fish tank cleaning robot system and cleaning mode |
| CN114558857A (en) * | 2022-02-24 | 2022-05-31 | 广东北控环保装备有限公司 | Sink tank cleaning device system |
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| US6016924A (en) * | 1995-10-30 | 2000-01-25 | Caliva; Anthony L. | Apparatus for cleaning water treatment tank surfaces |
| KR19990011247A (en) * | 1997-07-22 | 1999-02-18 | 차현열 | Balanced Moss Removal Device |
| JP2000176210A (en) * | 1998-12-18 | 2000-06-27 | Shiraishi Takeo | Overflow trough cleaning device of settling basin |
| US20070056134A1 (en) * | 2005-09-13 | 2007-03-15 | Envirodyne Systems Inc. | Mechanized rotary brush cleaner for sedimentation tanks |
| KR200471816Y1 (en) * | 2013-09-16 | 2014-03-17 | 세방기술산업 주식회사 | A movable algal remover |
| CN203972420U (en) * | 2014-08-12 | 2014-12-03 | 深圳市水务（集团）有限公司罗芳污水处理厂 | Second pond effluent weir clearing apparatus |
| CN105641984A (en) * | 2015-09-10 | 2016-06-08 | 上海城投污水处理有限公司 | Sewage treatment plant rectangular secondary sedimentation tank effluent weir automatic cleaning device |
| CN208840155U (en) * | 2018-10-09 | 2019-05-10 | 山东拜罗智能科技有限公司 | A kind of split type 7 degree of freedom degree secondary settling tank cleaning robot |
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| CN112790666A (en) * | 2021-02-02 | 2021-05-14 | 西南科技大学城市学院 | Fish tank cleaning robot system and cleaning mode |
| CN112790666B (en) * | 2021-02-02 | 2022-03-25 | 西南科技大学城市学院 | Fish tank cleaning robot system and cleaning mode |
| CN114558857A (en) * | 2022-02-24 | 2022-05-31 | 广东北控环保装备有限公司 | Sink tank cleaning device system |
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