CN109837976B - Garbage pool leachate pull throughs - Google Patents
Garbage pool leachate pull throughs Download PDFInfo
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- CN109837976B CN109837976B CN201910159865.5A CN201910159865A CN109837976B CN 109837976 B CN109837976 B CN 109837976B CN 201910159865 A CN201910159865 A CN 201910159865A CN 109837976 B CN109837976 B CN 109837976B
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Abstract
The invention discloses a garbage pool leachate dredging device, which is used for dredging a water grate on the side wall of a garbage pool and comprises a control cabinet, a robot body and a guide rail, wherein the guide rail is arranged on a gallery in the garbage pool, the robot body is arranged on the guide rail and moves along the guide rail, the control cabinet is connected with the robot body through a power cable and a signal cable, sends a local action instruction to the robot body and receives data and images fed back by the robot body. The invention replaces the manual dredging of the percolate in the garbage pool of the current garbage power plant, realizes the dredging among the water grate grids along the manual passage of the garbage pool at different height positions, has simple mechanism and high automation degree, effectively improves the dredging efficiency and reduces the safety accident risk.
Description
The technical field is as follows:
the invention relates to the technical field of garbage power plant equipment, in particular to a garbage pool leachate dredging device.
Background art:
the garbage of the garbage power plant needs to be stored in a garbage pool for a period of time before being burnt, and the water content of the garbage can be reduced through natural compression and partial fermentation, so that the heat value of the garbage entering the furnace is improved, and the burning effect of the garbage is improved. In order to ensure the discharge and collection of the garbage leachate, the bottom of the garbage pool is provided with a slope of more than or equal to 2 percent, and the bottom is provided with a collection ditch. A manual channel is formed on one side of the wall of the garbage pool, drainage grids are arranged at different heights along the wall of the garbage pool to form a channel for draining leachate and manually cleaning, and the leachate can flow into a collection groove of the channel through the grids in the vertical and horizontal directions. The residence time of the garbage in the storage pit is 3-5 days, but the garbage cannot be grabbed or turned over due to the fact that the grabbing and hanging cannot be attached to the wall, the garbage is blocked after a period of time to affect the smoothness of the drainage system, and liquid cannot seep out to affect combustion.
At present, the power plant is mainly dredged manually, and garbage behind the grating is poked into small holes frequently about twice a week. But the corridor is full of stink, and a large amount of toxic gases such as hydrogen sulfide, sulfur dioxide gas and flammable and explosive methane are filled in the corridor, the plugging frequency is high, the existing dredging can be realized only by using an iron stick manually, the manual operation amount is large, the labor intensity is high, the harm to human bodies is large, and the risk of safety accidents also exists.
The invention content is as follows:
the invention provides a garbage pool leachate dredging device for solving the problems in the prior art.
The technical scheme adopted by the invention is as follows: a dredging device for percolate in a garbage pool is used for dredging a water grate on the side wall of the garbage pool and comprises a control cabinet, a robot body and a guide rail, wherein the guide rail is arranged on a gallery in the garbage pool;
the robot body comprises a travelling mechanism, a lifting mechanism, a rotary avoiding mechanism and a dredging mechanism provided with a dredging rod, wherein the travelling mechanism is arranged on the guide rail, the fixed end of the lifting mechanism is fixed on the travelling mechanism, the free lifting end of the lifting mechanism is fixedly connected with the fixed end of the rotary avoiding mechanism, and the free rotary end of the rotary avoiding mechanism is fixedly connected with the dredging mechanism; the lifting mechanism and the rotary avoiding mechanism adjust the position of the dredging mechanism, and a dredging rod of the dredging mechanism is aligned to the water grate and reciprocates to dredge the water grate.
Furthermore, the guide rails are double guide rails arranged in parallel, and a belt rack is arranged on the lower end face of each guide rail.
Furthermore, the travelling mechanism comprises a base, a travelling mechanism driving motor, gears, rollers and an absolute encoder, wherein the travelling mechanism driving motor, the gears, the rollers and the absolute encoder are arranged on the base, one gear and one roller form a wheel set unit, every two of the four wheel set units are respectively arranged on one side of two guide rails in a group, the rollers in each wheel set unit are supported on the rail surface of the guide rails, the gears are meshed with racks on the guide rails, the travelling mechanism driving motor drives the gears in the wheel set units to rotate, the signal input end of the absolute encoder is connected with the travelling mechanism driving motor, and the signal output end of the absolute encoder is connected with; the lifting mechanism is fixed on the base.
Furthermore, a position sensor is arranged on the base and located on one side of the guide rail, a positioning device is arranged on the guide rail, the position sensor is inducted by the positioning device, and a signal output end of the position sensor is connected with the control cabinet and transmits the detection position confirmation information to the control cabinet.
Furthermore, the lifting mechanism is a scissor type lifting mechanism, a driving motor of the lifting mechanism in the scissor type lifting mechanism is a servo motor, an absolute encoder is arranged in the lifting mechanism, a signal input end of the absolute encoder is connected with the driving motor of the lifting mechanism, an output end of the absolute encoder is connected with the control cabinet, and the absolute encoder detects the real-time height of a lifting free end of the lifting mechanism and conveys height position information to the control cabinet.
Furthermore, the robot body also comprises a telescopic jacking mechanism, the upper fixed end of the jacking mechanism is fixedly connected to the rotating free end of the rotating avoiding mechanism or the dredging mechanism shell, the lower free end of the jacking mechanism is fixedly provided with a friction plate, before the dredging mechanism works, the jacking mechanism extends and enables the friction plate to be in contact with and tightly press the contact surface of the bottom of the garbage pool, a pressure sensor in the jacking mechanism feeds back a pressure signal to the control cabinet, and the jacking mechanism does not act any more when the jacking force reaches a set value; after the dredging mechanism finishes dredging, the jacking mechanism releases jacking and recovers.
Furthermore, the jacking mechanism is a parallel and symmetrical double-link mechanism, the telescopic motion of the double-link mechanism is driven by a motor and a lead screw, four points at the upper end of the double-link mechanism are fixedly connected with the rotating free end of the rotating avoiding mechanism or the dredging mechanism shell, and the lower end of the double-link mechanism is fixedly connected with a friction plate.
Further, a dredging rod in the dredging mechanism is linearly moved by a screw rod and nut structure.
Furthermore, a video monitoring device is arranged at the front end of the dredging mechanism, and a signal output end of the video monitoring device is connected with the control cabinet.
Further, the cable adopts dragchain formula arrangement structure, and the guide rail avris is equipped with the pulley guide rail, sets up the solid fixed ring pulley of cable on the pulley guide rail, moves in the pulley guide rail through the solid fixed ring pulley of cable and makes the cable follow the robot body and remove.
The invention has the following beneficial effects:
the invention replaces the manual dredging of the percolate in the garbage pool of the current garbage power plant, realizes the dredging among the water grate grids along the manual passage of the garbage pool at different height positions, has simple mechanism and high automation degree, effectively improves the dredging efficiency and reduces the safety accident risk.
Description of the drawings:
FIG. 1 is a schematic diagram of the general structure of the present invention;
fig. 2 and 3 are schematic structural views of the robot body including cables from different viewing angles in the invention;
fig. 4 is a schematic diagram of the application of the present invention.
In the figure: 1-a control cabinet, 2-a cable, 2.1-a cable fixing ring pulley, 3-a robot body, 3.1-a traveling mechanism, 3.1.1-a traveling mechanism driving motor, 3.1.2-a gear, 3.1.3-a position sensor, 3.1.4-a roller, 3.2-a lifting mechanism, 3.2.1-a lifting mechanism driving motor, 3.3-a rotary avoiding mechanism, 3.4-a dredging mechanism, 3.4.1-a dredging mechanism driving motor, 3.4.2-a dredging rod, 3.5-a tightening mechanism, 3.5.1-a friction plate, 3.6-a video monitoring device, 4-a guide rail, 4.1-a rack, 4.2-a positioning device, 4.3-a pulley guide rail, 5-a garbage pool and 5.1-a garbage pool water grate.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 3, the dredging device for percolate in a garbage pool is used for dredging a water grate on the side wall of the garbage pool 5 and comprises a control cabinet 1, a robot body 3 and a guide rail 4, wherein the guide rail 4 is installed on a gallery in the garbage pool 5, the robot body 3 is arranged on the guide rail 4 and moves along the guide rail 4, the control cabinet 1 is connected with the robot body 3 through a power cable and a signal cable, sends a local action instruction to the robot body 3 and receives data and images fed back by the robot body 3, and the control cabinet 1 is connected with a remote operation station through a signal line and receives a control instruction and feedback data from the remote operation station to the remote operation station.
The robot body 3 comprises a travelling mechanism 3.1, a lifting mechanism 3.2, a rotary avoiding mechanism 3.3 and a dredging mechanism 3.4 provided with a dredging rod 3.4.2, wherein all mechanisms in the robot body 3 are connected with the control cabinet 1 through power cables and signal cables. The running gear 3.1 is arranged on the guide rail 4, the fixed end of the lifting gear 3.2 is fixed on the running gear 3.1, the lifting free end of the lifting gear 3.2 is fixedly connected with the fixed end of the rotary avoiding gear 3.3, and the rotary free end of the rotary avoiding gear 3.3 is fixedly connected with the dredging gear 3.4. The lifting mechanism 3.2 and the rotary avoiding mechanism 3.3 adjust the position of the dredging mechanism 3.4, the dredging rod 3.4.2 of the dredging mechanism 3.4 is aligned with the water grate, and the dredging rod 3.4.2 reciprocates and dredges the water grate.
The traveling mechanism 3.1 executes a traveling instruction of the robot on the corridor track and feeds back traveling position information, and the lifting mechanism 3.2 executes a lifting height adjusting instruction of the robot and feeds back height position information; the rotary avoiding mechanism 3.3 executes an angle adjusting instruction before the robot walks, the dredging mechanism 3.4 does not interfere with the side wall of the garbage pool 5 and the rail support column when the robot walks, and the angle is adjusted until the dredging rod 3.4.2 in the dredging mechanism 3.4 is over against the side wall water grate of the garbage pool before the robot is positioned for dredging. The dredging mechanism 3.4 carries out dredging operation of the water grate 5.1 of the garbage pool; during dredging operation, the dredging rod 3.4.2 makes linear displacement towards the water grate 5.1 of the garbage tank to realize dredging operation; when the dredging operation is finished, the dredging lever 3.4.2 is stored in the minimum size.
The guide rails 4 are double guide rails arranged in parallel, and a belt rack 4.1 is arranged on the lower end face of each guide rail 4.
Running gear 3.1 includes the base and locates running gear driving motor 3.1.1 on the base, gear 3.1.2, gyro wheel 3.1.4 and absolute encoder, a gear 3.1.2 and a gyro wheel 3.1.4 constitute a wheelset unit, four wheelset units are every two to be a set of and correspond respectively and arrange two guide rails 4 one side in, and gyro wheel 3.1.4 in every wheelset unit supports on the track face of guide rail 4, gear 3.1.2 meshes with rack 4.1 on the guide rail 4 mutually.
Two or four traveling mechanism driving motors 3.1.1 are arranged, and one traveling mechanism driving motor 3.1.1 drives the gear 3.1.2 in one wheel set unit to rotate. The driving motor 3.1.1 of the traveling mechanism is a servo motor and is provided with a band-type brake device, and the synchronous operation is realized. The signal input end of the absolute encoder is connected with a driving motor 3.1.1 of the walking mechanism, the output end of the absolute encoder is connected with the control cabinet 1, and the real-time position of the detected robot on the guide rail 4 is transmitted to the control cabinet 1. The lifting mechanism 3.2 is fixed on the base.
Be equipped with position sensor 3.1.3 on the base, position sensor 3.1.3 closes on guide rail 4 and sets up, is equipped with positioner 4.2 on guide rail 4, and when running gear 3.1 walked, position sensor 3.1.3 and positioner 4.2 response, positioner 4.2 set up and move starting point, mediation work position, operation terminal point on track 4, mediation work position is one or more, position sensor 3.1.3 signal output part connect switch board 1, will correspond detection position promptly and confirm that information is carried for switch board 1.
The lifting mechanism 3.2 is a scissor type lifting mechanism, a lifting mechanism driving motor 3.2.1 in the scissor type lifting mechanism is a servo motor, an absolute encoder is arranged in the lifting mechanism 3.2, the signal input end of the absolute encoder is connected with the lifting mechanism driving motor 3.2.1, the output end of the absolute encoder is connected with the control cabinet 1, and the absolute encoder detects the real-time height of the lifting free end of the lifting mechanism 3.2 and transmits height position information to the control cabinet 1.
The robot body 3 further comprises a telescopic jacking mechanism 3.5, the upper fixed end of the jacking mechanism 3.5 is fixedly connected to the rotating free end of the rotating avoiding mechanism 3.3 or the shell of the dredging mechanism 3.4, and the lower free end of the jacking mechanism 3.5 is fixedly provided with a friction plate 3.5.1. Before the dredging mechanism 3.4 works, the jacking mechanism 3.5 extends to enable the friction plate 3.5.1 to be in contact with and tightly press the contact surface of the bottom of the garbage pool, a pressure sensor in the jacking mechanism 3.5 feeds back a pressure signal to the control cabinet 1, and the jacking mechanism 3.5 does not act any more when the jacking force reaches a set value; after the dredging mechanism 3.4 finishes dredging, the jacking mechanism releases jacking and recovers.
The jacking mechanism 3.5 is a parallel and symmetrical double-connecting-rod mechanism, two connecting rods are connected through a crankshaft, and the crankshaft is connected with a screw rod driven by a servo motor. The telescopic motion of the double-link mechanism is driven by a motor and a lead screw, four points at the upper end of the double-link mechanism are fixedly connected with the rotating free end of a rotating avoiding mechanism 3.3 or a dredging mechanism 3.4 shell, and the lower end of the double-link mechanism is fixedly connected with a friction plate 3.5.1 (the structure of the double-link mechanism and the driving mode of the double-link mechanism by the motor and the connecting rod in the invention are the prior art, so the content of the part is not described again in the invention).
The dredging rod 3.4.2 in the dredging mechanism 3.4 is driven by the dredging mechanism driving motor 3.4.1 to drive the screw rod and then drive the nut to be converted into linear motion, and the dredging rod 3.4.2 is connected with the nut, so that the nut is convenient to disassemble and replace; the dredging mechanism driving motor 3.4.1 is a servo motor, is connected with an absolute encoder, and is used for detecting and feeding back the real-time position of the dredging rod 3.4.2 in real time, and meanwhile, a limiting device on the screw rod is used for in-place protection; the dredging mechanism driving motor has torque protection, the protection is opened when the dredging force is too large, and the dredging rod 3.4.2 is in a minimum state and is dredged by changing the position.
The front end of dredging mechanism 3.4 is equipped with video monitoring device 3.6, and video monitoring device 3.6's signal output part connects control cabinet 1, and video monitoring device 3.6 is used for gathering operational environment and the video signal of real time monitoring rubbish pond filtration liquid mediation state.
With reference to fig. 4, the track is along the side wall direction of the garbage pit, and the robot body is hung upside down on the track and is connected with the control cabinet through a drag chain type cable. The side wall of the garbage pit is provided with a plurality of water grates needing to be dredged. The invention aims at the working process of dredging the water grate as follows:
the control cabinet sends an action instruction to the robot body, the walking mechanism drives the robot body to walk, the rotating mechanism adjusts the angle after the robot body reaches the designated position, the lifting mechanism adjusts the height of the dredging mechanism to the designated position after the dredging mechanism is over against the side wall water grate of the garbage pool, then the jacking mechanism jacks to the ground to ensure that the dredging mechanism is stable during dredging operation, and finally the dredging mechanism returns to the minimum state after the dredging mechanism acts to execute a dredging stroke. Then the jacking mechanism is retracted, the lifting mechanism is retracted, the rotating avoiding mechanism executes an angle adjusting instruction until the dredging mechanism does not interfere with the side wall of the garbage pool and the rail support column when the robot walks, and then dredging work of the next position is executed.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (10)
1. The utility model provides a rubbish pond filtration liquid pull throughs, the pull throughs is used for dredging the water grate of rubbish pond (5) lateral wall, its characterized in that: the garbage can comprises a control cabinet (1), a robot body (3) and a guide rail (4), wherein the guide rail (4) is installed on a gallery in a garbage pool (5), the robot body (3) is arranged on the guide rail (4) and moves along the guide rail (4), the control cabinet (1) is connected with the robot body (3) through a power cable and a signal cable, sends a local action instruction to the robot body (3), and receives data and images fed back by the robot body (3);
the robot body (3) comprises a travelling mechanism (3.1), a lifting mechanism (3.2), a rotary avoiding mechanism (3.3) and a dredging mechanism (3.4) provided with a dredging rod (3.4.2), wherein the travelling mechanism (3.1) is arranged on the guide rail (4), the fixed end of the lifting mechanism (3.2) is fixed on the travelling mechanism (3.1), the lifting free end of the lifting mechanism (3.2) is fixedly connected with the fixed end of the rotary avoiding mechanism (3.3), and the rotary free end of the rotary avoiding mechanism (3.3) is fixedly connected with the dredging mechanism (3.4); the lifting mechanism (3.2) and the rotary avoiding mechanism (3.3) adjust the position of the dredging mechanism (3.4), the dredging rod (3.4.2) of the dredging mechanism (3.4) is aligned with the water grate, and the dredging rod (3.4.2) reciprocates and dredges the water grate.
2. The landfill leachate dredging device of claim 1, wherein: the guide rails (4) are double guide rails arranged in parallel, and a belt rack (4.1) is arranged on the lower end face of each guide rail (4).
3. The landfill leachate dredging device of claim 2, wherein: the traveling mechanism (3.1) comprises a base, a traveling mechanism driving motor (3.1.1), gears (3.1.2), rollers (3.1.4) and an absolute encoder, wherein the traveling mechanism driving motor (3.1.1), the gears (3.1.2) and the rollers (3.1.4) are arranged on the base, a wheel set unit is formed by one gear (3.1.2) and one roller (3.1.4), every two of the four wheel set units are respectively and correspondingly arranged on one side of two guide rails (4) in a group, the rollers (3.1.4) in each wheel set unit are supported on the rail surface of the guide rails (4), the gears (3.1.2) are meshed with racks (4.1) on the guide rails (4), the traveling mechanism driving motor (3.1.1) drives the gears (3.1.2) in the wheel set units to rotate, the signal input end of the absolute encoder is connected with the traveling mechanism driving motor (3.; the lifting mechanism (3.2) is fixed on the base.
4. The landfill leachate dredging device of claim 3, wherein: be equipped with position sensor (3.1.3) on the base, position sensor (3.1.3) are located guide rail (4) one side, are equipped with positioner (4.2) on guide rail (4), and position sensor (3.1.3) and positioner (4.2) response, position sensor (3.1.3) signal output part connection switch board (1) to will detect the position and confirm that information carries for switch board (1).
5. The landfill leachate dredging device of claim 1, wherein: elevating system (3.2) are for cutting fork elevating system, cut elevating system driving motor (3.2.1) among the fork elevating system and be servo motor, are equipped with absolute encoder in elevating system (3.2), absolute encoder signal input part is connected with elevating system driving motor (3.2.1), output connection switch board (1), and absolute encoder detects the real-time height of elevating system (3.2) lift free end to carry high position information for switch board (1).
6. The landfill leachate dredging device of claim 1, wherein: the robot body (3) further comprises a telescopic jacking mechanism (3.5), the upper fixed end of the jacking mechanism (3.5) is fixedly connected to the rotating free end of the rotating avoiding mechanism (3.3) or the shell of the dredging mechanism (3.4), the lower free end of the jacking mechanism (3.5) is fixedly provided with a friction plate (3.5.1), before the dredging mechanism (3.4) works, the jacking mechanism (3.5) extends to enable the friction plate (3.5.1) to be in contact with and tightly pressed against the contact surface of the bottom of the garbage pool, a pressure sensor in the jacking mechanism (3.5) feeds back a pressure signal to the control cabinet (1), and the jacking mechanism (3.5) does not move any more when the jacking force reaches a set value; after the dredging mechanism (3.4) finishes dredging, the jacking mechanism releases jacking and recovers.
7. The landfill leachate dredging device of claim 6, wherein: the jacking mechanism (3.5) is a parallel and symmetrical double-link mechanism, the telescopic motion of the double-link mechanism is driven by a motor and a lead screw, four points at the upper end of the double-link mechanism are fixedly connected with the rotating free end of the rotating avoiding mechanism (3.3) or the shell of the dredging mechanism (3.4), and the lower end of the double-link mechanism is fixedly connected with a friction plate (3.5.1).
8. The landfill leachate dredging device of claim 1, wherein: and a dredging rod (3.4.2) in the dredging mechanism (3.4) realizes linear motion by a screw rod and nut structure.
9. The landfill leachate dredging device of claim 1, wherein: the front end of the dredging mechanism (3.4) is provided with a video monitoring device (3.6), and the signal output end of the video monitoring device (3.6) is connected with the control cabinet (1).
10. The dredging device for percolate in garbage pool according to any one of claims 1 to 9, characterized in that: cable (2) adopt to drag chain formula arrangement structure, and guide rail (4) avris is equipped with pulley guide rail (4.3), sets up solid fixed ring pulley of cable (2.1) on pulley guide rail (4.3), moves in pulley guide rail (4.3) through solid fixed ring pulley of cable (2.1) and makes cable (2) can follow the robot and remove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910159865.5A CN109837976B (en) | 2019-03-04 | 2019-03-04 | Garbage pool leachate pull throughs |
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| CN201910159865.5A CN109837976B (en) | 2019-03-04 | 2019-03-04 | Garbage pool leachate pull throughs |
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| CN109837976B true CN109837976B (en) | 2020-08-14 |
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| CN110466647A (en) * | 2019-09-10 | 2019-11-19 | 中国矿业大学 | A kind of refuse-burning plant garbage pool Leachate site flase floor dredging robot and working method |
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| CH689426A5 (en) * | 1992-07-24 | 1999-04-15 | Werner Nill | Siebrechenanordnung for Stormwater Overflow. |
| KR100866028B1 (en) * | 2008-01-21 | 2008-10-30 | 이원규 | Dredging machine for sludge disposal of underdrain box |
| CN106320512B (en) * | 2016-08-30 | 2019-03-26 | 中国矿业大学 | Garbage pool Leachate site filtrate hole dredging machine and its frame driving device |
| CN106436888B (en) * | 2016-08-30 | 2019-05-17 | 中国矿业大学 | The hydraulic automatic dredging machine of Leachate site filtrate hole |
| CN108636867B (en) * | 2018-04-10 | 2021-01-22 | 江苏建筑职业技术学院 | Cleaning actuator for blocking of distributed holes on multi-row steel plates for water seepage at inner side of enclosure wall of garbage pool |
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Address after: Water Pavilion Road Jiangning District moling street Nanjing City, Jiangsu province 211100 No. 1266 Applicant after: Nanjing Keyuan Intelligent Technology Group Co.,Ltd. Address before: Water Pavilion Road Jiangning District moling street Nanjing City, Jiangsu province 211100 No. 1266 Applicant before: NANJING SCIYON AUTOMATION GROUP Co.,Ltd. |
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