CN112090893A

CN112090893A - Underwater cleaning robot

Info

Publication number: CN112090893A
Application number: CN202010865102.5A
Authority: CN
Inventors: 郑浩; 史伟杰; 李再奎
Original assignee: Huihe Intelligent Technology Shanghai Co ltd
Current assignee: Huihe Intelligent Technology Shanghai Co ltd
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2020-12-18

Abstract

The invention provides an underwater cleaning robot which comprises a sewage suction pump, roller brushes and driving devices, wherein the sewage suction pump is provided with a sewage suction port and a sewage discharge port, the roller brushes and the driving devices are symmetrically arranged at the front end and the rear end of the sewage suction pump, and the sewage discharge port is provided with a filtering device and a clamping device for replacing a filter element in the filtering device. The cleaning robot has the advantages that all functional parts are integrated, functions of stirring, sucking, filtering, pressure drop detection, filter element replacement, advancing, emptying, remote control over the water surface and the like of radioactive waste resin or sludge at the bottom of the pool can be realized, the structure is compact and light, and meanwhile, the remote control of the cleaning robot at the bottom of the pool is also realized.

Description

Underwater cleaning robot

Technical Field

The invention relates to the technical field of sludge treatment devices at the bottom of a pool, in particular to an underwater cleaning robot.

Background

Nuclear power generation is increasingly used as a clean energy source, and nuclear power plants inevitably produce spent fuel during operation. The spent fuel is stored in a spent fuel pool by a wet storage method. The purification treatment of the coolant of the primary loop of the reactor of the nuclear power plant and the water of the fuel discharge water pool is carried out by using ion exchange resin, and a large amount of radioactive waste resin exists in the spent fuel water pool along with the lapse of time. At present, the radioactive waste resin at the bottom of the pool does not have an effective method for collecting.

Disclosure of Invention

The present invention provides an underwater cleaning robot to solve the problems pointed out in the background art.

The technical scheme of the invention is realized as follows:

an underwater cleaning robot, comprising:

the sewage suction pump is provided with a sewage suction port and a sewage discharge port, and a fixing plate is arranged below the sewage suction pump;

the roller brushes are hinged with the fixed plate and symmetrically arranged at the front end and the rear end of the sewage suction pump;

the driving devices are fixed on the fixing plate, symmetrically arranged at the front end and the rear end of the sewage suction pump and used for driving the cleaning robot to move back and forth and the roller brush to rotate;

and the filtering device is arranged at the sewage draining outlet.

The invention is further configured to: the driving device comprises a front driving motor, a front driving wheel, a rear driving motor and a rear driving wheel which are symmetrically arranged at the front end and the rear end of the sewage suction pump, a first synchronous belt is sleeved outside the front driving wheel and the rear driving wheel, and the front driving motor and the rear driving motor are respectively driven by a second synchronous belt to be respectively located at the front end and the rear end of the sewage suction pump.

The invention is further configured to: the fixed plate is provided with an anti-collision support, and the anti-collision support is provided with a guide wheel.

The invention is further configured to: and the anti-collision support is provided with a junction box.

The invention is further configured to: and the sewage suction port and the sewage discharge port are both provided with pressure sensors.

The invention is further configured to: the filter device comprises a filter element and a detachable filter shell, the filter shell is covered on the outer side of the filter element, and the filter shell is provided with a lifting ring.

The invention is further configured to: still include fixture, fixture is used for changing centre gripping during the filter core, clamping device is including splint, sliding seat, actuating lever, connecting rod, the tongs that the symmetry set up, sliding seat and actuating lever fixed connection, just sliding seat and the equal sliding connection of actuating lever are in between the splint, the tongs is articulated to be set up between the splint, the end position at connecting rod both ends respectively in with actuating lever, change the articulated connection of hand.

The invention is further configured to: the clamping plate is provided with a guide groove, the sliding seat is fixedly connected with the driving rod, the connecting rod is hinged to the driving rod, and guide rods are arranged at the hinged positions of the sliding seat and the driving rod and are connected with the guide groove in a sliding mode.

The invention is further configured to: still including being used for the transportation cleaning machines people's transportation shallow, be equipped with the control box on the transportation shallow, the control box with soil pick-up pump, drive arrangement electricity are connected.

In conclusion, the beneficial effects of the invention are as follows:

(1) the underwater cleaning robot provided by the invention integrates all functional components, can realize the functions of stirring, sucking, filtering and filtering pressure drop detection, filter element replacement, advancing, emptying, remote control over the water surface and the like of the bottom of the pool, has compact and light structure, and simultaneously realizes the remote control of the bottom of the pool cleaning robot.

(2) The underwater cleaning robot provided by the invention has the advantages of compact integral structure, small volume and low noise, can flexibly advance and turn on a narrow pool bottom walkway, does not need to add additional equipment, can work by directly submerging in water, and greatly reduces the construction cost.

(3) The underwater cleaning robot is provided with the lifting ring, the filter element is convenient to install, the replacement action is simple and rapid, the filter element is convenient to lift and replace remotely, a special clamp is arranged during replacement of the filter element, so that the filter element is convenient to replace remotely, and the phenomenon that hands are in direct contact with the filter element is avoided.

(4) The underwater cleaning robot provided by the invention is provided with the transport trolley, and the control box and the transport trolley are integrated into a whole, so that the whole cleaning robot is convenient to transport.

(5) The underwater cleaning robot provided by the invention is provided with the pressure sensor, the filtering pressure drop is monitored in real time, when the pressure drop exceeds the limit pressure drop, the failure of the filter element is judged, the sewage suction pump and the driving device stop working, and the underwater cleaning robot is continuously used after the filter element is replaced.

(6) According to the underwater cleaning robot provided by the invention, when the current or the output power of the driving motor exceeds the protection limit value, the driving motor stops working, and the safety and the reliability of operation are ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of another embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a driving device according to the present invention;

FIG. 4 is a schematic view of the structure of the filter device of the present invention;

FIG. 5 is a schematic view of a clamping mechanism according to the present invention

FIG. 6 is a schematic view of the internal structure of the clamping mechanism of the present invention.

Reference numerals: 1. a sewage suction pump; 101. a sewage suction port; 102. a sewage draining outlet; 2. roller brushing; 3. a filtration device; 301. a filter element; 302. a filter shell; 303. a hoisting ring; 4. a clamping mechanism; 401. a splint; 402. a sliding seat; 403. a drive rod; 404. a connecting rod; 405. a gripper; 406. a guide groove; 407. a guide bar; 5. a transport cart; 6. a fixing plate; 7. a control box; 8. a front drive motor; 9. a front drive wheel; 901. a first front drive wheel; 902. a second front drive wheel; 10. a rear drive motor; 11. a rear drive wheel; 111. a first rear drive wheel; 112. a second rear drive wheel; 12. a first synchronization belt; 13. a second synchronous belt; 14. an anti-collision support; 141. a junction box; 15. a guide wheel; 16. a pressure sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention is described below with reference to fig. 1-6:

the utility model provides an underwater cleaning robot, as shown in fig. 1-2, including soil pick-up pump 1, the roller brush 2, drive arrangement, filter equipment 3, fixture 4, transportation shallow 5, soil pick-up pump 1 is equipped with soil pick-up mouth 101 and drain 102, soil pick-up pump 1 below is equipped with fixed plate 6, roller brush 2 symmetry sets up in soil pick-up pump 1 preceding, back both ends and with fixed plate 6 articulated connection, drive arrangement fixes at fixed plate 6 to the symmetry sets up in soil pick-up pump 1 preceding, back both ends, drive arrangement is located between soil pick-up pump 1 and the roller brush 2. The transport trolley 5 is provided with a control box 7, and the control box 7 is electrically connected with the sewage suction pump 1 and the driving device so as to realize the remote control of the cleaning robot.

As shown in fig. 1 and 3, the driving device includes a front driving motor 8, a front driving wheel 9, a rear driving motor 10, and a rear driving wheel 11 symmetrically disposed at the front and rear ends of the sewage suction pump 1, the front driving wheel 9 includes a first front driving wheel 901 and a second front driving wheel 902, the first front driving wheel 901 is fixed to a motor shaft of the front driving motor 8 and is located at the right side of the sewage suction pump 1, the second front driving wheel 902 is hinged to the rear end of the front driving motor 8, the rear driving wheel 11 includes a first rear driving wheel 111 and a second rear driving wheel 112, the first rear driving wheel 111 is fixed to the motor shaft of the rear driving motor 10, the second rear driving wheel 112 is hinged to the rear end of the rear driving motor 10 and is located at the left side of the sewage suction pump 1, a first synchronous belt 12 is sleeved outside the front driving wheel 9 and the rear driving wheel 11, the front driving motor 8 and the rear driving motor 10 both use a second synchronous belt 13 and a synchronous gear (not labeled in the figures) structure to drive the front and, The roller brushes 2 at the rear ends rotate.

By adopting the technical scheme, the front driving motor 8 drives the front driving wheel 9 and the roller brush 2 positioned at the front end of the sewage suction pump 1 to rotate, the rear driving motor 10 drives the rear driving wheel 11 and the roller brush 2 positioned at the rear end of the sewage suction pump 1 to rotate, the rotating speeds of the front driving motor 8 and the rear driving motor 10 are the same, and when the front driving motor 8 and the rear driving motor 10 rotate towards the same direction, the cleaning robot moves forwards or backwards according to the rotating directions of the front driving motor 8 and the rear driving motor 10; when the front drive motor 8 and the rear drive motor 10 rotate in opposite directions, the cleaning robot realizes a pivot 360-degree turning according to the rotation direction of the drive motors. The roller brush 2 at the front end and the rear end of the sewage suction pump 1 rotates to slightly disturb impurities at the bottom of the tank, so that the impurities are suspended, and under the adsorption action of the sewage suction pump 1, water flow and suspended matters enter the sewage suction port 101 and then enter the filtering device 3 through the sewage discharge port 102 to be filtered.

As shown in fig. 3, the fixing plate 6 is provided with a crash bracket 14, and the crash bracket 14 is provided with a guide wheel 15. The crash brace 14 is provided with a junction box 141.

By adopting the technical scheme, the anti-collision support 14 and the guide wheel 15 are used for protecting the cleaning robot and preventing the cleaning robot from colliding with the side wall of the pool bottom.

As shown in fig. 4, the filtering device 3 is provided at the drain port 102. The filtering device 3 comprises a filter element 301 and a detachable filter shell 302, the filter shell 302 is covered on the outer side of the filter element 301, and the filter shell 302 is provided with a lifting ring 303 which is convenient for lifting the cleaning robot from the bottom of the pool. Pressure sensors 16 are provided at the sewage suction port 101 and the sewage discharge port 102.

By adopting the technical scheme, the replacement time of the filter element 301 is determined by calculating the difference value between the pressure sensors 16 arranged at the sewage suction port 101 and the sewage discharge port 102.

As shown in fig. 5 and 6, the clamping mechanism 4 is used for clamping the filter element 301 when replacing the filter element 301, the clamping device includes clamp plates 401, sliding seats 402, driving rods 403, connecting rods 404 and hand grips 405, which are symmetrically arranged, the sliding seats 402 are fixedly connected with the driving rods 403, the sliding seats 402 and the driving rods 403 are both slidably connected between the clamp plates 401, the hand grips 405 are hinged between the clamp plates 401, and end portions of two ends of the connecting rods 404 are respectively hinged with the driving rods 403 and the rotary hands. The clamp plate 401 is provided with a guide groove 406, the sliding seat 402 is fixedly connected with the driving rod 403, the hinged part of the connecting rod 404 and the driving rod 403 is provided with a guide rod 407, and the guide rod 407 is slidably connected with the guide groove 406.

By adopting the technical scheme, the filter shell 302 is opened, the sliding seat 402 and the driving rod 403 are pulled to slide between the clamping plates 401, so that the driving rod 403 drives the connecting rod 404 to rotate, the connecting rod 404 drives the gripper 405 to rotate when rotating, the gripper 405 is controlled to be closed and opened, and the filter core 301 is taken and placed to replace the filter core 301.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An underwater cleaning robot, comprising:

the sewage suction pump (1), the sewage suction pump (1) is provided with a sewage suction port (101) and a sewage discharge port (102), and a fixing plate (6) is arranged below the sewage suction pump (1);

the roller brushes (2) are hinged with the fixed plate (6) and symmetrically arranged at the front end and the rear end of the sewage suction pump (1);

the driving devices are fixed on the fixing plate (6) and symmetrically arranged at the front end and the rear end of the sewage suction pump (1), and are used for driving the cleaning robot to move back and forth and the roller brush (2) to rotate;

the filtering device (3) is arranged at the sewage draining outlet (102).

2. An underwater cleaning robot as claimed in claim 1, wherein: the utility model discloses a sewage suction pump, including the symmetry setting be in preceding driving motor (8), front driving wheel (9), back driving motor (10), back drive wheel (11) at preceding, back both ends of sewage suction pump (1), first synchronous belt (12) have been cup jointed in the outside of front driving wheel (9), back drive wheel (11), preceding driving motor (8), back driving motor (10) all adopt second synchronous belt (13) drive to be located respectively the roller brush (2) at preceding, back both ends of sewage suction pump (1).

3. An underwater cleaning robot as claimed in claim 1, wherein: the fixed plate (6) is provided with an anti-collision support (14), and the anti-collision support (14) is provided with a guide wheel (15).

4. An underwater cleaning robot as claimed in claim 3, wherein: and a junction box is arranged on the anti-collision support (14).

5. An underwater cleaning robot as recited in claim 1, wherein: and pressure sensors (16) are arranged at the sewage suction port (101) and the sewage discharge port (102).

6. An underwater cleaning robot as claimed in claim 1, wherein: filter equipment (3) include filter core (301), detachable filter shell (302), it establishes to filter shell (302) cover the outside of filter core (301), be equipped with rings (303) on filtering shell (302).

7. An underwater cleaning robot as claimed in claim 6, wherein: still include fixture (4), fixture (4) are used for changing centre gripping during filter core (301), clamping device is including splint (401), sliding seat (402), actuating lever (403), connecting rod (404), tongs (405) that the symmetry set up, sliding seat (402) and actuating lever (403) fixed connection, just sliding seat (402) and the equal sliding connection of actuating lever (403) are in between splint (401), tongs (405) articulated the setting is in between splint (401), the end position at connecting rod (404) both ends respectively in with actuating lever (403), change the articulated connection of hand.

8. An underwater cleaning robot as claimed in claim 7, wherein: the clamp plate (401) is provided with a guide groove (406), the fixed connection position of the sliding seat (402) and the driving rod (403) and the hinged position of the connecting rod (404) and the driving rod (403) are both provided with a guide rod (407), and the guide rod (407) is in sliding connection with the guide groove (406).

9. An underwater cleaning robot as claimed in claim 1, wherein: still including being used for the transportation cleaning machines people's transport trolley (5), be equipped with control box (7) on transport trolley (5), control box (7) with soil pick-up pump (1), drive arrangement electricity are connected.