CN113145576A - Automatic cleaning machines people that picks up of artifical wetland pond water pipe - Google Patents
Automatic cleaning machines people that picks up of artifical wetland pond water pipe Download PDFInfo
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- CN113145576A CN113145576A CN202110474155.9A CN202110474155A CN113145576A CN 113145576 A CN113145576 A CN 113145576A CN 202110474155 A CN202110474155 A CN 202110474155A CN 113145576 A CN113145576 A CN 113145576A
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- Prior art keywords
- frame
- water pipe
- clamping
- cleaning
- motor
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- 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
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- 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
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
- B08B9/0436—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes provided with mechanical cleaning tools, e.g. scrapers, with or without additional fluid jets
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B5/00—Drying solid materials or objects by processes not involving the application of heat
- F26B5/14—Drying solid materials or objects by processes not involving the application of heat by applying pressure, e.g. wringing; by brushing; by wiping
Abstract
The invention discloses an automatic picking and cleaning robot for a water pipe of an artificial wetland pool, which comprises: the device comprises a travelling mechanism, a conveying mechanism, a clamping mechanism, a sludge wiping mechanism and a cleaning mechanism; the traveling mechanisms are slidably mounted on two sides of the frame and are in charge of moving and steering of the robot; the sludge wiping mechanism is arranged at the top of the frame through a supporting frame arranged on the sludge wiping mechanism and is used for wiping water stains on the surface of the water pipe; a sliding seat is slidably arranged in the supporting frame; the clamping mechanism is arranged at the front end of the sliding seat through a connecting plate arranged on the clamping mechanism and is used for clamping the water pipe and conveying the water pipe to the conveying mechanism; the conveying mechanism is positioned below the primary sludge wiping mechanism and is arranged at the bottom of the frame; the cleaning mechanism is arranged at the tail part of the conveying mechanism and used for cleaning and guiding the cleaned water pipe into the artificial wetland pool; through the cooperation between each mechanism, can accomplish to pick up the collection to water pipe in the artifical wetland pond, can clear up silt and the dirt in the water pipe again, improve work efficiency.
Description
Technical Field
The invention belongs to the technical field of artificial wetland protection, and particularly relates to an automatic picking and cleaning robot for a water pipe of an artificial wetland pool.
Background
With the progress of society and the development of times, the artificial wetland treatment tank is an artificial ecosystem which is built by artificially optimizing and simulating a wetland system and has natural ecosystem and comprehensive degradation and purification functions; under the artificial supervision, the system for controlling the wastewater treatment is a wastewater treatment technology integrating physical, chemical and biochemical reactions, and is a composite process combining natural purification and artificial treatment; at the present stage, people put emphasis on the treatment of sewage and sludge in the artificial wetland pool, but neglect that the water pipe in the artificial wetland pool is easily affected by sewage and cannot clean the sludge and dirt on the water pipe in time, and the water pipe needs to be replaced and cleaned urgently in the past.
Therefore, it is urgently needed to design an automatic picking and cleaning robot for a water pipe of an artificial wetland pool, which can realize the cleaning of sludge and dirt on the water pipe, so as to solve the problems.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic picking and cleaning robot for a water pipe of an artificial wetland pool, which solves the problem that the water pipe of the pool in the artificial wetland is affected by sewage to cause sludge and dirt, but is complicated to replace and clean through the cooperation of a travelling mechanism, a conveying mechanism, a clamping mechanism, a conveying mechanism, a sludge wiping mechanism and a cleaning mechanism.
The technical scheme adopted by the invention is as follows: an automatic pick-up and cleaning robot for a water pipe of an artificial wetland pool, comprising: the device comprises a travelling mechanism, a conveying mechanism, a clamping mechanism, a conveying mechanism, a sludge wiping mechanism, a cleaning mechanism and a frame; the sludge wiping mechanism is arranged at the top of the rack through a supporting frame arranged on the sludge wiping mechanism; a sliding seat is slidably arranged in the supporting frame; the clamping mechanism is arranged at the front end of the sliding seat through a connecting plate arranged on the clamping mechanism; the conveying mechanism is positioned below the sludge wiping mechanism and is arranged in the frame; the cleaning mechanism is arranged at the tail part of the conveying mechanism; the two groups of walking mechanisms are arranged and are slidably mounted on two sides of the frame and are responsible for the movement and steering of the robot; the conveying mechanism is arranged at the front end of the frame.
Further, the traveling mechanism includes: steering motor, swing rod, toothed rod, bogie, wheel and wheel support; the swing rod is rotatably arranged on the outer side of the frame; the steering motor is fixedly arranged on the frame and drives the swinging rod to swing; the middle part of the toothed rod piece is hinged with the bottom of the swinging rod, and two ends of the toothed rod piece are connected with bogies in a sliding manner; the bogie is fixedly connected with the frame; the wheel bracket is sleeved in the bogie, and a gear arranged on the surface of the wheel bracket is meshed with the end part of the toothed rod piece; the wheels are rotatably arranged at the bottom of the wheel bracket and are driven to rotate by the wheel motor.
Further, the method comprises the following steps of; the transfer mechanism includes: a conveying motor, a roller and a front frame; the front frame is fixedly arranged at the front end of the frame, and the rollers are rotatably arranged in the front frame and driven by the conveying motor for guiding the water pipe.
Further, the method comprises the following steps of; the gripping mechanism further comprises: the clamping stroke motor, the disc seat, the gear wheel, the clamping cylinder and the clamping claw are arranged on the clamping cylinder; the disc seat is fixedly arranged at the front end of the connecting plate, and the surface of the disc seat is provided with a plurality of sliding grooves; the connecting rod is slidably arranged in a sliding groove arranged on the disc seat; the large gear is rotatably arranged in the middle of the disc seat, and an arc-shaped sliding rail arranged on the surface of the large gear is connected with one end of the connecting rod in a sliding manner through a pin shaft; a pinion is rotatably arranged at the edge of the disc seat; the small gear is driven to move by the clamping stroke motor and is meshed with the large gear; the connecting rod is rotatably connected with the clamping support through a connecting block, the clamping support is driven to rotate through a clamping rotating motor, and at least two clamping claws are slidably arranged on the surface of the clamping support; the clamping claw is driven by the clamping cylinder to perform clamping action.
Further, the method comprises the following steps of; the sludge wiping mechanism further includes: the device comprises a gear rack mechanism, a gear motor, a wiping bracket, a crankshaft and a wiping sponge; the gear motor is fixedly arranged on the support frame and drives the sliding seat to slide through the gear rack mechanism; the at least two wiping brackets are fixedly arranged inside the sliding seat in an aligned mode, and the crankshaft is rotatably arranged inside the wiping brackets and is driven to rotate by the crankshaft motor; the wiping sponge is rotatably arranged in the middle of the crankshaft through a bracket.
Further, the method comprises the following steps of; the transport mechanism further comprises: the device comprises a fixed frame, a mounting frame, a concave plate, a supporting plate and an inclined plate; the fixed frame is fixedly arranged at the bottom of the frame; the supporting plate is arranged in the fixed frame in a sliding mode and is driven to slide by the advancing cylinder; the mounting frame is fixedly arranged at the top of the fixing frame, and a plurality of concave plates are slidably arranged in the mounting frame; the conveying cylinders are fixedly arranged at the front end and the rear end of the supporting plate, and the output end drives the concave plate to move, so that the conveying work of the water pipe is realized; the inclined plate is fixedly arranged at the tail part of the mounting frame.
Further, the method comprises the following steps of; the safety frame is characterized in that guardrails are arranged on two sides of the safety frame and used for preventing the water pipe from falling off in the conveying process.
Further, the method comprises the following steps of; the cleaning mechanism includes: a pipe washing cylinder, a washing bracket, a limiting rod cylinder, a limiting rod, a spray pipe and a pipe washing inner wall sponge; the cleaning bracket is fixedly arranged at the tail part of the mounting frame, and at least two sponge brushes are rotatably arranged in the cleaning bracket; one of the sponge brushes is tightly attached to the inclined plate and is driven to rotate by the sponge brush motor; the limiting rod is slidably arranged at one end of the top of the cleaning bracket and is driven to move by a limiting rod cylinder; the sponge on the inner wall of the washing pipe is slidably arranged at the other end of the top of the washing bracket and is driven by the washing pipe cylinder to wipe the inner wall of the pipeline; the water spraying pipe is fixedly arranged at the bottom of the cleaning support, and water spraying operation is carried out in the cleaning process.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) according to the invention, through the cooperation of the travelling mechanism, the conveying mechanism, the clamping mechanism, the sludge wiping mechanism and the cleaning mechanism, the travelling mechanism is responsible for the movement and steering of the robot, and the water pipe shoveled at the front end of the frame is conveyed to the position below the clamping mechanism by the roller on the conveying mechanism; the clamping mechanism clamps a water pipe through the clamping arm, the conveying mechanism conveys the water pipe to the position below the sludge wiping mechanism, the sludge wiping mechanism wipes water stains on the surface of the water pipe through wiping sponges in the swinging process, and the cleaning mechanism can clean the water pipe and guide the cleaned water pipe into the artificial wetland pool; realized can accomplishing to pick up the collection to water pipe in the artifical wetland pond, can clear up silt and dirt in the water pipe again, solved artifical wetland pond water pipe and collected the problem of wasing the complicacy, improved work efficiency.
(2) According to the invention, the conveying mechanism 4 is designed, so that in the process of conveying the water pipe, the conveying cylinder 406 drives the concave plate 403 to move upwards to lift the water pipe, then the advancing cylinder 408 drives the supporting plate 405 to slide for a groove distance, further the concave plate 403 for lifting the water pipe is driven to move, the water pipe is conveyed to the inclined plate 407 in a primary-stage and primary-stage manner, and the water pipe can be prevented from falling and being damaged due to rolling.
(3) The guardrails are arranged on two sides of the fixing frame in the conveying mechanism 4, so that the water pipe can be prevented from falling off in the conveying process.
Drawings
Fig. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic structural diagram of the travelling mechanism and the frame of the invention.
Fig. 3 is an enlarged view of fig. 2 at a.
FIG. 4 is a schematic structural diagram of a conveying mechanism according to the present invention.
Fig. 5 is a schematic structural view of the gripping mechanism of the present invention.
Fig. 6 is a schematic view showing the structure of the gripping mechanism part of the present invention.
Fig. 7 is a schematic structural view of the gripping arm of the present invention.
Fig. 8 is a schematic structural view of the carrying mechanism and the cleaning mechanism of the present invention.
Fig. 9 is a schematic structural view of the conveying mechanism of the present invention.
Fig. 10 is a schematic view of an angle of the sludge wiping mechanism of the present invention.
Fig. 11 is a schematic view of another angle of the sludge wiping mechanism of the present invention.
Fig. 12 is a schematic structural view of a sludge wiping mechanism portion of the present invention.
FIG. 13 is a schematic view of the cleaning mechanism of the present invention.
Fig. 14 is a partial structural schematic view of a sludge wiping mechanism of the present invention.
Reference numerals: 1-a traveling mechanism; 101-a steering motor; 102-a sway bar; 103-toothed bar; 104-a bogie; 105-a wheel; 107-wheel motor; 108-a wheel carrier; 2-a transfer mechanism; 201-a transfer motor; 202-a roller; 203-front frame; 204-a turntable; 205-a cartridge; 3-a gripping mechanism; 301-connecting plate; 302-gripping travel motor; 303-disc seat; 304-a pinion gear; 305-a bull gear; 306-a gripping rotating motor; 307-connecting rod; 309-gripping a stent; 311-gripping cylinder; 312-gripping jaws; 4-a conveying mechanism; 401-a mount; 402-a mounting frame; 403-concave plate; 405-a support plate; 406-a transport cylinder; 407-inclined plate; 408-a travel cylinder; 409-telescopic column; 5-a wiping mechanism; 501-a support frame; 502-a slide mount; 503-a rack and pinion mechanism; 50301-Gear Motor; 504-wiping the holder; 50401-crankshaft motor; 50402-a crankshaft; 50403-wiping sponge; 505-side panels; 6-a cleaning mechanism; 601-a wash pipe cylinder; 602-cleaning the stent; 603-a sponge brush; 604-sponge brush motor; 605-a stop lever cylinder; 606-a stop lever; 607-a water spray pipe; 608-washing the inner wall of the tube with sponge; 7-vehicle frame.
Detailed Description
The invention discloses an automatic picking and cleaning robot for a water pipe of an artificial wetland pool, which can pick and clean the water pipe of the artificial wetland pool. The technical solutions in the embodiments of the present invention are 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 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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Embodiment, as shown in fig. 1 to 14, an automatic pick-up and washing robot for a water pipe of an artificial wetland pool comprises: the device comprises a travelling mechanism 1, a conveying mechanism 2, a clamping mechanism 3, a conveying mechanism 4, a sludge wiping mechanism 5, a cleaning mechanism 6 and a frame 7; the sludge wiping mechanism 5 is arranged at the top of the frame 7 through a supporting frame 501 arranged on the sludge wiping mechanism; a sliding seat 502 is slidably mounted in the supporting frame 501; the clamping mechanism 3 is arranged at the front end of the sliding seat 502 through a connecting plate 301 arranged on the clamping mechanism; the conveying mechanism 4 is positioned below the sludge wiping mechanism 5 and is arranged inside the frame 7; the cleaning mechanism 6 is arranged at the tail part of the conveying mechanism 4; the two groups of walking mechanisms 1 are arranged and are arranged on two sides of the frame 7 in a sliding manner and are responsible for the movement and steering of the robot; the transmission mechanism 2 is mounted on the front end of the frame 7.
In order to realize the walking of the present invention, and the steering angle is more precisely controllable, in an optional embodiment of the present invention, as shown in fig. 2 and 3, the walking mechanism 1 includes: steering motor 101, oscillating rod 102, toothed rod 103, bogie 104, wheel 105, wheel bracket 108; the swing rod 102 is rotatably arranged on the outer side of the frame 7; the steering motor 101 is fixedly arranged on the frame 7 and drives the swing rod 102 to swing; the middle part of the toothed rod piece 103 is hinged with the bottom of the swinging rod 102, and two ends of the toothed rod piece are connected with a bogie 104 in a sliding manner; the bogie 104 is fixedly connected with the frame 7; the wheel bracket 108 is sleeved inside the bogie 104, and a gear arranged on the surface of the wheel bracket is meshed with the end part of the toothed rod 103; the wheels 105 are rotatably arranged at the bottom of the wheel bracket 108 and driven to rotate by a wheel motor 107; the wheels 105 are rotatably arranged at the bottom of the wheel bracket 108 and driven to rotate by a wheel motor 107; when steering, the steering motor 101 drives the swing rod 102 to swing, and further drives the wheel bracket 108 to rotate through the toothed rod 103, so as to realize steering action.
In order to be able to perform the guiding of the water pipes before they are collected, in an alternative embodiment of the invention, as shown in fig. 4, the transfer mechanism 2 comprises: a conveying motor 201, a roller 202 and a front frame 203; the front frame 203 is fixedly arranged at the front end of the frame 7, and the rollers 202 are rotatably arranged in the front frame 203 and driven by the conveying motor 201 for guiding the water pipe; a turntable 204 is arranged behind the front frame 203 and is rotationally connected with the frame 7, and a fixture block 205 is slidably arranged in the center of the turntable 204; the roller 202 is driven by the conveying motor 201 to rotate, the water pipe is guided by the roller 202 after entering the front frame 203, and when the water pipe passes through the front frame 203 and is conveyed to the clamping block 205, the water pipe can be placed at a proper clamping angle by the rotating turntable 204.
In order to collect the water pipes in the conveying mechanism 2, in an alternative embodiment of the present invention, as shown in fig. 5 and 6, the gripping mechanism 3 further includes: a clamping stroke motor 302, a disc seat 303, a large gear 305, a clamping cylinder 311 and a clamping claw 312; the disc seat 303 is fixedly arranged at the front end of the connecting plate 301, and the surface of the disc seat is provided with a plurality of sliding grooves; the connecting rod 307 is slidably mounted in a sliding groove formed in the disc base 303; the bull gear 305 is rotatably mounted in the middle of the disc base 303, and an arc-shaped sliding rail arranged on the surface of the bull gear is slidably connected with one end of the connecting rod 307 through a pin shaft; a pinion 304 is rotatably arranged at the edge of the disc seat 303; the small gear 304 is driven to move by the clamping stroke motor 302 and is meshed with the large gear 305; the connecting rod 307 is rotatably connected with the clamping bracket 309 through a connecting block, the clamping bracket 309 is driven to rotate by the clamping rotating motor 306, and at least two clamping claws 312 are slidably arranged on the surface of the clamping bracket; the clamping claw 312 is driven by the clamping cylinder 311 to perform clamping action; after transport mechanism 2 puts the water pipe neatly, press from both sides and get stroke motor 302 and rotate through driving pinion 304, and then drive connecting rod 307 through gear wheel 305 and disc seat 303 and slide forward in the spout that disc seat 303 set up to the support 309 forward motion is got to the realization clamp, later press from both sides and get rotating electrical machines 306 and drive to press from both sides and get support 309 and carry out 90 degrees rotations, press from both sides and get cylinder 311 and drive to press from both sides and get claw 312 and open and shut and press from both sides and get the water pipe, then press from both sides and get rotating electrical machines 306 and drive to press from both sides and get support 309 and carry out 90 degrees rotations again.
In order to perform preliminary wiping on the collected water pipe surface, in an alternative embodiment of the present invention, as shown in fig. 10, 11 and 12, the sludge wiping mechanism 5 further includes: a rack and pinion mechanism 503, a gear motor 50301, a wiping bracket 504, a crankshaft 50402, and a wiping sponge 50403; the gear motor 50301 is fixedly arranged on the support frame 501, and drives the sliding seat 502 to slide through a gear rack mechanism 503; at least two wiping brackets 504 are aligned and fixedly arranged inside the sliding seat 502, and the crankshaft 50402 is rotatably arranged inside the wiping brackets 504 and is driven to rotate by a crankshaft motor 50401; the wiping sponge 50403 is rotatably arranged in the middle of the crankshaft 50402 through a bracket;
in order to transport the wiped water pipe to the cleaning mechanism 6 without the water pipe rolling during the transportation, an alternative embodiment of the present invention, as shown in fig. 8 and 9, the transportation mechanism 4 further includes: a fixed frame 401, a mounting frame 402, a concave plate 403, a concave frame 404, a support plate 405 and a sloping plate 407; the fixed frame 401 is fixedly arranged at the bottom of the frame 7; the supporting plate 405 is slidably mounted inside the fixing frame 401 and is driven to slide by the traveling cylinder 408; the mounting frame 402 is fixedly arranged at the top of the fixing frame 401, and two concave plates 403 are slidably arranged in the mounting frame; the conveying cylinders 406 are fixedly arranged at the front end and the rear end of the supporting plate 405, and the output end drives the concave plate 403 to move, so that the water pipe is conveyed; the inclined plate 407 is fixedly mounted at the tail part of the mounting frame 402; when the clamping claw 312 clamps the water pipe, the gear motor 50301 drives the sliding seat 502 to slide backwards through the rack-and-pinion mechanism 503, and further drives the clamping mechanism 3 to move backwards, the clamping stroke motor 302 rotates backwards to drive the clamping support 309 to move backwards, the water pipe is placed into the conveying mechanism 4, then the crankshaft motor 50401 drives the crankshaft 50402 to rotate, and further drives the wiping sponge 50403 to wipe water stains on the surface of the water pipe, after wiping is completed, the conveying cylinder 406 drives the concave plate 403 to move upwards to lift the water pipe, then the advancing cylinder 408 drives the supporting plate 405 to slide for a groove distance, and further drives the concave plate 403 to move, and the water pipe is conveyed to the inclined plate 407 in a first stage.
In order to prevent the water pipe from falling off during transportation, in an alternative embodiment of the present invention, as shown in fig. 8 and 9, guard rails are provided on both sides of the mounting frame 402 to prevent the water pipe from falling off during transportation.
In order to be able to clean the water pipes, in an alternative embodiment of the invention, as shown in fig. 8 and 13, the cleaning mechanism 6 comprises: a pipe washing cylinder 601, a washing bracket 602, a limiting rod cylinder 605, a limiting rod 606, a water spraying pipe 607 and a pipe washing inner wall sponge 608; the cleaning bracket 602 is fixedly arranged at the tail part of the mounting frame 402, and at least two sponge brushes 603 are rotatably arranged in the cleaning bracket; one of the sponge brushes 603 clings to the inclined plate 407 and is driven to rotate by the sponge brush motor 604; the limiting rod 606 is slidably mounted at one end of the top of the cleaning bracket 602 and is driven to move by a limiting rod cylinder 605; the washing tube inner wall sponge 608 is slidably mounted at the other end of the top of the washing bracket 602 and is driven by the washing tube cylinder 601 to perform the pipeline inner wall wiping work; spray pipe 607 fixed mounting is in washing support 602 bottom, the operation of spraying water in the cleaning process, when the water pipe was transported to swash plate 407 on, the water pipe can freely roll to between the sponge brush 603, gag lever post cylinder 605 drives gag lever post cylinder 605 and grasps the water pipe, prevent water pipe side to side motion, spray pipe 607 blowout water, sponge brush motor 604 drives sponge brush 603 and rotates the completion to the cleaning work of water pipe, wash tub cylinder 601 and drive and wash tub inner wall sponge 608 and carry out the work of cleaning of pipeline inner wall.
The working principle of the invention is as follows:
the wheel motor 107 drives the wheel 105 to rotate to search for a water pipe, when the water pipe is turned, the steering motor 101 drives the swing rod 102 to swing, and then the wheel support 108 is driven to rotate through the toothed rod piece 103, so that the steering action is realized; when the water pipe enters the conveying mechanism 2, the conveying motor 201 drives the roller 202 to rotate, the water pipe is conveyed to the turntable 204, and the turntable 204 rotates to place the water pipe into a proper clamping angle;
after the water pipes are placed orderly by the conveying mechanism 2, the clamping stroke motor 302 drives the pinion 304 to rotate, and then drives the connecting rod 307 to slide forwards in a sliding groove arranged in the disc seat 303 through the gearwheel 305 and the disc seat 303, so that the clamping support 309 moves forwards, then the clamping rotary motor 306 drives the clamping support 309 to rotate 90 degrees, the clamping cylinder 311 drives the clamping claw 312 to open and close to clamp the water pipes, and then the clamping rotary motor 306 drives the clamping support 309 to rotate 90 degrees; when the clamping claw 312 clamps the water pipe, the gear motor 50301 drives the sliding seat 502 to slide backwards through the gear rack mechanism 503, and further drives the clamping mechanism 3 to move backwards, the clamping stroke motor 302 rotates backwards to drive the clamping support 309 to move backwards, the water pipe is placed into the conveying mechanism 4, then the crankshaft motor 50401 drives the crankshaft 50402 to rotate, and further drives the wiping sponge 50403 to wipe water stains on the surface of the water pipe, after wiping is completed, the conveying cylinder 406 drives the concave plate 403 to move upwards to lift the water pipe, then the advancing cylinder 408 drives the support plate 405 to slide for a groove distance, and further drives the concave plate 403 to lift the water pipe to move, and the water pipe is conveyed to the inclined plate 407 in a stage by stage; when the water pipe was transported to swash plate 407 on, the water pipe can freely roll and fall to between the sponge brush 603, and gag lever post cylinder 605 drives gag lever post cylinder 605 and grasps the water pipe, prevents water pipe side-to-side movement, spray pipe 607 blowout water, and sponge brush motor 604 drives sponge brush 603 and rotates the completion to the cleaning of water pipe, washes a tub cylinder 601 and drives and wash tub inner wall sponge 608 and carry out the work of wiping of pipeline inner wall.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. An automatic pick-up and cleaning robot for a water pipe of an artificial wetland pool, comprising: a frame (7); it is characterized by also comprising: the device comprises a travelling mechanism (1), a conveying mechanism (2), a clamping mechanism (3), a conveying mechanism (4), a sludge wiping mechanism (5) and a cleaning mechanism (6); the sludge wiping mechanism (5) is arranged at the top of the rack (7) through a supporting frame (501) arranged on the sludge wiping mechanism; a sliding seat (502) is slidably mounted in the supporting frame (501); the clamping mechanism (3) is arranged at the front end of the sliding seat (502) through a connecting plate (301) arranged on the clamping mechanism; the conveying mechanism (4) is positioned below the sludge wiping mechanism (5) and is arranged in the frame (7); the cleaning mechanism (6) is arranged at the tail part of the conveying mechanism (4); the two groups of walking mechanisms (1) are arranged and are slidably mounted on two sides of the frame (7) and are responsible for the movement and steering of the robot; the conveying mechanism (2) is arranged at the front end of the frame (7).
2. An artificial wetland pool water pipe automatic picking and washing robot according to claim 1, characterized in that the walking mechanism (1) comprises: the device comprises a steering motor (101), a swinging rod (102), a toothed rod piece (103), a bogie (104), wheels (105) and a wheel bracket (108); the swing rod (102) is rotatably arranged on the outer side of the frame (7); the steering motor (101) is fixedly arranged on the frame (7) and drives the swinging rod (102) to swing; the middle part of the toothed rod piece (103) is hinged with the bottom of the swinging rod (102), and two ends of the toothed rod piece are connected with a bogie (104) in a sliding manner; the bogie (104) is fixedly connected with the frame (7); the wheel support (108) is sleeved in the bogie (104), and a gear arranged on the surface of the wheel support is meshed with the end part of the toothed rod piece (103); the wheels (105) are rotatably arranged at the bottom of the wheel bracket (108) and are driven to rotate by a wheel motor (107).
3. An artificial wetland pool water pipe automatic picking and cleaning robot according to claim 1, characterized in that the conveying mechanism (2) comprises: a transmission motor (201), a roller (202) and a front frame (203); the front frame (203) is fixedly arranged at the front end of the frame (7), and the rollers (202) are rotatably arranged in the front frame (203) and driven by a conveying motor (201) and used for guiding a water pipe.
4. The automatic pick-up and cleaning robot for the artificial wetland pool water pipe according to claim 1, wherein the gripping mechanism (3) further comprises: a clamping stroke motor (302), a disc seat (303), a large gear (305), a clamping cylinder (311) and a clamping claw (312); the disc seat (303) is fixedly arranged at the front end of the connecting plate (301), and the surface of the disc seat is provided with a plurality of sliding grooves; the connecting rod (307) is slidably arranged in a sliding groove arranged in the disc seat (303); the large gear (305) is rotatably arranged in the middle of the disc seat (303), and an arc-shaped sliding rail arranged on the surface of the large gear is connected with one end of the connecting rod (307) in a sliding manner through a pin shaft; a pinion (304) is rotatably arranged at the edge of the disc seat (303); the small gear (304) is driven to move by a clamping stroke motor (302) and is meshed with the large gear (305); the connecting rod (307) is rotatably connected with the clamping support (309) through a connecting block, the clamping support (309) is driven to rotate by the clamping rotating motor (306), and at least two clamping claws (312) are slidably mounted on the surface of the clamping support; the clamping claw (312) is driven by the clamping cylinder (311) to perform clamping action.
5. The automatic pickup cleaning robot for the artificial wetland pool water pipe according to claim 1, wherein the sludge wiping mechanism (5) further comprises: a gear rack mechanism (503), a gear motor (50301), a wiping bracket (504), a crankshaft (50402) and a wiping sponge (50403); the gear motor (50301) is fixedly arranged on the support frame (501) and drives the sliding seat (502) to slide through the gear rack mechanism (503); the at least two wiping brackets (504) are fixedly arranged inside the sliding seat (502) in an aligned mode, and the crankshaft (50402) is rotatably arranged inside the wiping brackets (504) and is driven to rotate by a crankshaft motor (50401); the wiping sponge (50403) is rotatably arranged in the middle of the crankshaft (50402) through a bracket.
6. An artificial wetland pool water pipe automatic pick-up and washing robot as claimed in any one of claims 1 or 5, characterized in that the transport mechanism (4) further comprises: the device comprises a fixing frame (401), a mounting frame (402), a concave plate (403), a supporting plate (405) and a sloping plate (407); the fixed frame (401) is fixedly arranged at the bottom of the frame (7); the supporting plate (405) is slidably mounted inside the fixing frame (401) and is driven to slide by the advancing cylinder (408); the mounting frame (402) is fixedly arranged at the top of the fixing frame (401), and a plurality of concave plates (403) are slidably arranged in the mounting frame; the conveying cylinders (406) are fixedly arranged at the front end and the rear end of the supporting plate (405), and the output end drives the concave plate (403) to move, so that the water pipe is conveyed; the inclined plate (407) is fixedly arranged at the tail part of the mounting frame (402).
7. The automatic picking and cleaning robot for the water pipe of the artificial wetland pool of claim 6, wherein the two sides of the mounting frame (402) are provided with guardrails for preventing the water pipe from falling off during the transportation process.
8. An artificial wetland pool water pipe automatic pick-up and washing robot as claimed in any one of claims 1 or 7, characterized in that the washing mechanism (6) comprises: a washing pipe cylinder (601), a washing bracket (602), a limiting rod cylinder (605), a limiting rod (606), a spray pipe (607) and a washing pipe inner wall sponge (608); the cleaning support (602) is fixedly arranged at the tail part of the mounting frame (402), and at least two sponge brushes (603) are rotatably arranged in the cleaning support; one of the sponge brushes (603) is tightly attached to the inclined plate (407) and is driven to rotate by a sponge brush motor (604); the limiting rod (606) is slidably mounted at one end of the top of the cleaning bracket (602) and is driven to move by the limiting rod cylinder (605); the inner wall sponge (608) of the washing pipe is slidably mounted at the other end of the top of the washing bracket (602) and is driven by the washing pipe cylinder (601) to wipe the inner wall of the pipeline; the water spraying pipe (607) is fixedly arranged at the bottom of the cleaning bracket (602) and sprays water in the cleaning process.
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| CN202110474155.9A CN113145576B (en) | 2021-04-29 | 2021-04-29 | Automatic cleaning machines people that picks up of artifical wetland pond water pipe |
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| CN202110474155.9A CN113145576B (en) | 2021-04-29 | 2021-04-29 | Automatic cleaning machines people that picks up of artifical wetland pond water pipe |
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| CN204433990U (en) * | 2015-01-30 | 2015-07-01 | 袁已德 | A kind of shaking is irrigated the fields water pipe rolling cleaning Trolley |
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Effective date of registration: 20221124 Address after: Liu Tuan Zhen Shuang Long Cun, Yanshou County, Harbin City, Heilongjiang Province, 150000 Applicant after: Zhang Yanbo Address before: 102600 2 Beijing Lvjing Garden Machinery Co.,Ltd., A23 Shuanghe Beili, Huangcun Town, Daxing District, Beijing Applicant before: Tian Linlong |
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