CN211275781U - Full-automatic cleaning robot for standard circular amplitude-flow type secondary sedimentation tank - Google Patents

Abstract

The utility model relates to a full self-cleaning robot in two heavy ponds of standard circular width of cloth STREAMING, it is high when having solved clearance two heavy ponds, operation factor of safety is low, waste time and energy's technical problem, it is equipped with the skeleton board, be equipped with elastic compensation brush mechanism on the skeleton board, tight positioning mechanism and the automatic mechanism that charges that slides rise, elastic compensation brush mechanism is equipped with main vertical spiral elastic compensation brush device, terminal surface elastic compensation brush device, side spiral elastic compensation brush device and bottom elastic compensation brush device, tight positioning mechanism that rises is equipped with and bears the driving wheel subassembly, bear driven wheel subassembly, the tight driving wheel subassembly that rises, the tight driven wheel subassembly and the tight fixed pulley subassembly that rise, the automatic mechanism that charges that slides is equipped with removes charging case and fixed charging case. The utility model discloses but wide application in the heavy pond cleaning equipment field of sewage treatment.

Description

Full-automatic cleaning robot for standard circular amplitude-flow type secondary sedimentation tank

Technical Field

The utility model belongs to the technical field of sewage treatment heavy pond cleaning equipment and specifically relates to a full self-cleaning robot in heavy pond of standard circular width of cloth STREAMING two.

Background

Two heavy pond overflow cofferdams of sewage treatment plant, runner wall clearance need regularly people's clearance at present stage, take time, hard, have some places moreover like the artifical unable clearance of runner bottom running water degree of depth, workman's operation intensity of labour, the operational environment is abominable, need get into the overflow runner during the clearance, because of the velocity of flow increases, have the danger that the slip was washed away, have certain potential safety hazard.

Disclosure of Invention

The utility model discloses be exactly for solve the problem among the above-mentioned background art, provide an automatic, full self-cleaning robot in circular width of cloth STREAMING secondary sedimentation pond of efficient standard.

Therefore, the utility model provides a full self-cleaning robot in standard circular width of cloth STREAMING two heavy ponds, it is equipped with the skeleton board, be equipped with elastic compensation brush mechanism on the skeleton board, tight positioning mechanism and the automatic charging mechanism that slides rise, elastic compensation brush mechanism is equipped with main vertical spiral elastic compensation brush device, terminal surface elastic compensation brush device, side spiral elastic compensation brush device and bottom elastic compensation brush device, the tight positioning mechanism that rises is equipped with bearing action wheel device, the bearing is from driving wheel device, the tight action wheel device that rises, the tight driven wheel device and the tight fixed pulley subassembly of following, the automatic charging mechanism that slides is equipped with removes charging case and fixed charging case.

Preferably, the main vertical spiral elastic compensation brush device is provided with a main vertical spiral elastic compensation brush, a first motor and a first wheel axle body, the main vertical spiral elastic compensation brush is provided with a main central shaft, the upper end of the main central shaft is connected with the first motor and is connected with the first motor, the main central shaft is provided with a plurality of groups of first elastic compensation brush assemblies which are spirally arranged, and each first elastic compensation brush assembly is provided with a square brush, a brush fixing plate and a first elastic assembly.

Preferably, the lower end of the main central shaft is connected with a brush bottom plate, three second elastic compensation brush assemblies with the same interval are arranged below the brush bottom plate, and each second elastic compensation brush assembly is provided with a second elastic assembly, a triangular fixing plate and a trapezoidal brush.

Preferably, the end face elastic compensation brush device is provided with an end face elastic compensation brush component and a driving component, the driving component is provided with a fourth motor, a gearbox is connected below the fourth motor, the gearbox is fixed on the end face motor support plate, the end face elastic compensation brush component is connected below the end face motor support plate, the end face elastic compensation brush component is provided with a circular shaft support, the circular shaft support fixes the first elastic compensation brush component and the second elastic compensation brush component, and the first elastic compensation brush component is perpendicular to the second elastic compensation brush component.

Preferably, a bearing driving wheel device is arranged behind the main vertical spiral elastic compensation brush device, the bearing driving wheel device is provided with a bearing driving wheel, connecting plates are fixed on two sides of the bearing driving wheel, the connecting plates are vertically fixed on a bearing bottom plate, a wheel shaft connecting rod is arranged in the center of the bearing driving wheel, and the wheel shaft connecting rod is connected with a fifth motor fixed on the bearing bottom plate;

and a bearing driven wheel device is arranged behind the end face elastic compensation brush device, a bearing driven wheel is arranged on the bearing driven wheel device, two ends of the bearing driven wheel are fixed on a driven wheel support frame, the driven wheel support frame is fixed on a bearing bottom plate, and a sixth motor is fixed at the upper end of the bearing bottom plate.

Preferably, the tension driven wheel device is arranged on the left side of the middle of the framework plate and is located between the bearing driving wheel device and the end face elastic compensation brush device, the tension driven wheel device is provided with a tension driven wheel, the tension driven wheel is fixed on the tension support plate, the tension support plate is fixed on the framework plate, two pressure spring assemblies which are horizontally arranged in parallel are fixed on the tension support, the other end of each pressure spring assembly is fixed with a pressure spring seat, and two plates of each pressure spring seat are respectively fixed on two plates of the tension support plate.

Preferably, the fixed wheel assembly is arranged on the right side of the middle of the framework plate and behind the main vertical spiral elastic compensation brush device, the fixed wheel assembly is provided with a fixed wheel, a fixed wheel shaft is arranged at the center of the fixed wheel, the upper end of the fixed wheel shaft is fixed on the support frame, and the support frame is fixed on the framework plate.

Preferably, the bearing driven wheel device is connected with the tension driving wheel device, the tension driving wheel device is provided with a positioning driving wheel assembly and two compression spring assemblies, the positioning driving wheel assembly is provided with anti-skidding wheels, the anti-skidding wheels are fixed on the sliding plate, the sliding plate is connected with the compression spring assemblies, and the two compression spring assemblies are vertically and parallelly arranged.

Preferably, the mobile charging box is provided with a carbon sliding block, the fixed charging box is provided with a semicircular carbon sliding block, the carbon sliding block is connected with the semicircular carbon sliding block in a sliding mode, and spring assemblies are arranged in the fixed charging box and the mobile charging box.

Preferably, the framework plate is provided with an outer cover, and the outer cover is in a shuttle shape with a pointed upper part and a wide lower part.

The utility model has the advantages that:

(1) the utility model discloses be equipped with main vertical spiral elastic compensation brush device, it mainly is equipped with first elastic compensation brush subassembly and second elastic compensation brush subassembly, and first elastic compensation brush subassembly is equipped with square brush, brush fixed plate and first elastic component, and first elastic compensation brush subassembly anticlockwise rotates under drive arrangement drives for wash the side part. When the convex object is met, the square brush is avoided under the action of the first torsion spring, so that rigid collision can be avoided, and the square brush is prevented from being damaged; when meeting the concave position, the square brush is under the action of the second torsion spring, and the vertical angle of the square brush is increased, so that the concave position can be cleaned.

(2) The second elastic compensation brush component is provided with a trapezoidal brush, a triangular fixing plate and a second elastic component, and the second elastic compensation brush component rotates anticlockwise under the driving of the driving device and is used for cleaning the bottom surface and the end surface. When the salient points are met, the trapezoidal hairbrush is twisted upwards under the action of the second torsion spring, so that the acting force of the trapezoidal hairbrush on the overflow flow channel is kept, and the trapezoidal hairbrush is prevented from being damaged by collision; when meeting the concave point, the trapezoidal brush twists downwards under the action of the second torsion spring so as to keep the acting force of the trapezoidal brush on the overflow flow channel and increase the cleaning effect of the trapezoidal brush.

(3) The utility model discloses be equipped with and rise tightly from driving wheel device and tight pulley assembly, through the cooperation of rising tightly from driving wheel device and tight pulley assembly, be used for adjusting and rise tightly from the wheel base between driving wheel and the tight pulley, adapt to the width of different overflow runners.

(4) The utility model discloses be equipped with the tight action wheel device that rises and fix a position the initiative wheel subassembly, the tight action wheel device that rises is connected from the driving wheel device with right bearing, fixes a position initiative wheel subassembly and left bearing from the driving wheel device. The left bearing driven wheel and the right bearing driven wheel are controlled to steer by providing power through the tensioning driving wheel device and the positioning driving wheel assembly.

(5) The utility model discloses a housing design accords with hydrodynamics completely for the fusiformis, greatly reduces the windage of all directions, strengthens the stability of cleaning machine.

Drawings

Fig. 1 is a bottom view of the present invention;

FIG. 2 is a schematic view of the bottom perspective structure of the present invention;

FIG. 3 is a schematic view of a first resilient compensation brush assembly according to the present invention;

FIG. 4 is a schematic view of a second resilient compensation brush assembly according to the present invention;

fig. 5 is a schematic top view of the three-dimensional structure of the present invention;

FIG. 6 is a schematic structural view of the cleaning secondary sedimentation tank of the present invention in use;

reference numerals:

1. a main vertical spiral elastic compensation brush device; 11. a main central shaft; 12. a brush rotating shaft; 13. a square brush; 14. a brush fixing plate; 15. a first elastic member; 151. a first pin shaft; 152. a first torsion spring; 153. a first torsion spring holder; 16. a brush base plate; 17. a triangular fixing plate; 18. a trapezoidal brush; 19. a second elastic member; 191. a second pin shaft; 192. a second torsion spring; 193. a second torsion spring frame;

2. the side-standing spiral elastic compensation brush device; 20. a second bearing body; 21. a second motor; 22. a side motor mounting plate; 23. a side central axis;

3. the end face elastic compensation brush device; 31. end face motor support plates; 32. a fourth motor; 33. a gearbox; 34. a circular shaft support; 35. a fourth bearing body;

4. a load-bearing drive wheel device; 40. a left load-bearing drive wheel device; 41. a right load-bearing drive wheel device; 42. a bearing driving wheel; 43. a yoke plate; 44. a load-bearing floor; 45. a protective cover;

5. a load bearing driven wheel device; 50. a left load bearing driven wheel device; 51. a right load bearing driven wheel device; 52. a load bearing driven wheel; 53. a driven wheel support frame;

6. a driven wheel device is tensioned; 60. tensioning the driven wheel; 61. tensioning the bracket plate; 62. a long positioning hole; 63. a pressure spring bracket; 64. a compression spring assembly; 65. a pressure spring seat;

7. a tension driving wheel device; 70. positioning a driving wheel assembly; 71. anti-skid wheels; 72. a sliding plate; 73. a sliding seat;

8. a sliding automatic charging mechanism; 80. moving the charging box; 81. fixing a charging box; 82. a semicircular carbon slider; 83. a carbon slider; 84. a connecting plate; 85. a spring assembly;

9. a fixed wheel assembly; 90. a fixed wheel; 91. fixing the wheel shaft; 92. a support frame;

10. a bottom elastic compensation brush device; 100. a connecting rod;

111. a housing; 112. a framework plate; 113. a sewage fence; 114. an overflow weir; 115. a pool wall; 116. an overflow passage.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention and are not limited to the present invention.

The utility model relates to a full self-cleaning robot in standard circular width of cloth STREAMING two heavy ponds, as shown in fig. 1, it is equipped with skeleton board 112, is equipped with elastic compensation brush mechanism, rises and tightly positioning mechanism and the automatic mechanism that charges that slides on the skeleton board 112. The elastic compensation brush mechanism is provided with a main vertical spiral elastic compensation brush device 1, an end face elastic compensation brush device 3, a side face spiral elastic compensation brush device 2 and a bottom elastic compensation brush device 10. The tensioning positioning mechanism is provided with a bearing driving wheel device 4, a bearing driven wheel device 5, a tensioning driving wheel device 7, a tensioning driven wheel device 6 and a fixed wheel device 9. The sliding automatic charging mechanism is provided with a movable charging box 80 and a fixed charging box 81.

As shown in fig. 2, the main vertical spiral elastic compensation brush device 1 is disposed on the upper portion of the frame plate 112, and the main vertical spiral elastic compensation brush device 1 includes a main vertical spiral elastic compensation brush assembly, a first motor, and a first bearing body. The main vertical spiral elastic compensation brush component is provided with a main central shaft 11, the upper end of the main central shaft 11 is connected with a brush rotating shaft 12, and the brush rotating shaft 12 is connected with a first motor through a first bearing body and used for driving the main central shaft 11 to rotate so as to drive the main vertical spiral elastic compensation brush component to rotate.

The main central shaft 11 is provided with a plurality of first elastic compensation brush assemblies which are arranged in a spiral structure. As shown in fig. 3, the first elasticity-compensating brush assembly is provided with a square brush 13, a brush fixing plate 14, and a first elastic assembly provided with a first pin 151, a first torsion spring 152, and a first torsion spring holder 153. When the cleaning robot moves to drive the first elastic compensation brush assembly to move forward along the pool wall 115, the main vertical spiral elastic compensation brush assembly is driven by the first motor to rotate counterclockwise. Because the first elastic compensation brush assemblies are spirally arranged on the main central shaft 11, the maximum number of the first elastic compensation brush assemblies can be assembled in a limited space, and under the condition that the first motor drives the main central shaft 11 to rotate, the multiple groups of the first elastic compensation brush assemblies form 360-degree all-directional cleaning. In the actual cleaning process, when a convex object is encountered, the square brush 13 avoids under the action of the first torsion spring 152, so that rigid collision can be avoided, and the square brush 13 is prevented from being damaged; when meeting the concave, the square brush 13 is under the action of the first torsion spring 152, and the square brush 13 increases the vertical angle, so that the concave can be cleaned.

Further, the lower end of the main central shaft 11 is connected with a brush bottom plate 16, and three second elastic compensation brush assemblies with the same interval are arranged below the brush bottom plate 16. The included angle of every two second elastic compensation brush assemblies is 120 degrees. As shown in fig. 4, the second elastic compensating brush assembly is provided with a second elastic member 19, a triangle fixing plate 17 and a trapezoidal brush 18. The second elastic assembly is provided with a second pin 191, a second torsion spring 192 and a second torsion spring frame 193. When the overflow channel 116 is bumped, the trapezoidal brush 18 is twisted upwards under the action of the second torsion spring 192, so that the acting force of the trapezoidal brush 18 on the overflow channel 116 is kept, and the trapezoidal brush 18 is prevented from being damaged by collision; when the concave point of the overflow path 116 is encountered, the trapezoidal brush 18 is twisted downward by the second torsion spring 192 to maintain the acting force of the trapezoidal brush 18 on the overflow path 116, and the cleaning effect of the trapezoidal brush 18 is increased, thereby ensuring the adaptability to the uneven overflow path 116.

The inclined side end of each main vertical spiral elastic compensation brush device 1 is provided with a side vertical spiral elastic compensation brush device 2. The two lateral vertical spiral elastic compensation brush devices 2 have the same structure and are symmetrically arranged at the outer ends of the framework plates 112. The two side-standing spiral elastic compensation brush devices 2 are respectively used for cleaning the inner side of the sewage barrier 113 and the outer side of the overflow weir 114. The side-standing spiral elastic compensation brush device 2 is provided with a side-standing spiral elastic compensation brush component, a second bearing body 20 and a second motor 21, wherein the second motor 21 is fixed on a side motor support plate 22, and the side motor support plate 22 is fixed on the side end surface of the upper part of the framework plate 112; the lower end surface of the side motor support plate 22 is connected with the second bearing body 20 and the side vertical spiral elastic compensation brush assembly. The side-standing spiral elastic compensation brush assembly is provided with a side central shaft 23, the upper end of the side central shaft 23 is connected with a second bearing body 20, and the second bearing body 20 is connected with a second motor 21, so that the second motor 21 drives the side-standing spiral elastic compensation brush assembly to rotate.

Further, the side central shafts 23 of the side vertical spiral elastic compensation brush assemblies are spirally distributed with a plurality of groups of first elastic compensation brush assemblies, but the number of the first elastic compensation brush assemblies on the side central shafts 23 is less than that of the first elastic compensation brush assemblies on the main central shaft 11, and the length of the side central shafts 23 is also shorter than that of the main central shaft 11.

As shown in fig. 6, the top end of the dirt barrier 113 is serrated, and when the two lateral vertical spiral elastic compensation brush devices move to the convex point position, the square brush 13 avoids under the action of the first torsion spring 152, so that rigid collision can be avoided, and the square brush 13 is prevented from being damaged; when meeting the concave part, the square brush 13 is under the action of the first torsion spring 152, the square brush 13 increases the vertical angle, and the concave part is cleaned.

A bottom elastic compensation brush device 10 is arranged between the two side-standing elastic compensation brush devices 2, and the bottom elastic compensation brush device 10 is positioned in the middle of the upper part of the framework plate 112. The bottom elastic compensation brush means 10 is provided with a second elastic compensation brush assembly, a third motor, a connecting rod 100 and a third bearing body. The third motor is fixed on the framework plate 112, the third motor is connected with the connecting rod 100 through a third bearing body positioned at the lower end of the framework plate 112, the connecting rod 100 is connected with the brush bottom plate 16, and three second elastic compensation brush assemblies with equal intervals are arranged at the lower end of the brush bottom plate 16.

The two end face elastic compensation brush devices 3 are symmetrically distributed at both ends of the middle part of the frame plate 112, and are used for cleaning the upper surface of the pool wall 115 and the inner side wall of the overflow weir 114. As shown in fig. 5, the end surface elastic compensation brush device 3 has an end surface elastic compensation brush assembly 31 and a driving assembly, the driving assembly has a fourth motor 32, a gear box 33 is connected below the fourth motor 32, the gear box 33 is fixed on an end surface motor support plate 36, a fourth bearing body 35 is connected below the end surface motor support plate 36, and the fourth bearing body 35 is connected with the end surface elastic compensation brush assembly. The end face elastic compensation brush assembly is provided with a round shaft support 34, and the round shaft support 34 fixes the first elastic compensation brush assembly and the second elastic compensation brush assembly. The first elastic compensation hairbrush component and the second elastic compensation hairbrush component are vertical to each other. Wherein the first brush assembly is used to clean the inner sidewall of the overflow weir 114 and the second brush assembly is used to clean the upper surface of the sump wall 115.

A bearing driving wheel device 4 is arranged behind the main vertical spiral elastic compensation brush device 1, the bearing driving wheel device 4 is divided into a left bearing driving wheel device 40 and a right bearing driving wheel device 41, and the left bearing driving wheel device 40 and the right bearing driving wheel device 41 are used for driving the cleaning robot to move in the secondary sedimentation tank. The left bearing driving wheel device 40 is close to the tensioning driven wheel device 6, and the right bearing driving wheel device 41 is close to the fixed wheel assembly 9. On the one hand, the tension driven wheel device 6 and the fixed wheel assembly 9 respectively provide wall supporting force for the left bearing driving wheel device 40 and the right bearing driving wheel device 41, so that the cleaning robot can stably run in the secondary sedimentation tank. On the other hand, the wheel track between the tension driven wheel 60 and the fixed wheel 90 is adjusted to adapt to the overflow channels 116 with different widths.

Specifically, the right driving bearing wheel device 41 is provided with a driving bearing wheel 42, two sides of the driving bearing wheel 42 are fixed with the connecting plates 43, the connecting plates 43 are vertically fixed on the bottom bearing plate 44, and a part of the bottom bearing plate 44 is positioned outside the framework plate 112. The bearing driving wheel 42 is provided with a wheel shaft connecting rod at the center, the wheel shaft connecting rod is connected with a fifth motor fixed on a bearing bottom plate 44, and the wheel shaft connecting rod and the fifth motor are externally sleeved with a protective cover 45 to play a protective role.

Further, the fixed wheel assembly 9 is closely adjacent to the right bearing driving wheel device 41, and when the right bearing driving wheel device 41 slides on the wall surface of the pool, the fixed wheel assembly 9 supports the wall, so that the cleaning robot is prevented from falling into the pool when moving. The fixed wheel assembly 9 is provided with a fixed wheel 90 for supporting the wall 115 of the water pool, the center of the fixed wheel 90 is provided with a fixed wheel shaft 91, the upper end of the fixed wheel shaft 91 is fixed on a support frame 92, and the support frame 92 is fixed on the framework plate 112.

The left load-bearing driving wheel device 50 and the right load-bearing driving wheel device 51 have the same structure, and repeated description is not repeated here. The left load-bearing drive wheel assembly 50 allows the cleaning robot to slide on the left pool wall surface. The driven tensioning wheel device 6 is used for supporting the left pool wall 115 and preventing the cleaning robot from falling into the pool when the left bearing driving wheel device 50 moves on the left pool wall 115. The tension driven wheel device 6 is provided with a tension driven wheel 60, the tension driven wheel 60 is fixed on a tension support plate 61, the tension support plate 61 is fixed on the framework plate 112, a bottom plate of the tension support plate 61 is provided with a long positioning hole 62, a bolt is arranged in the long positioning hole 62 and used for connecting a pressure spring support 63, and the pressure spring support 63 is connected with the tension driven wheel 60. A pressure spring assembly 64 is fixed on the tensioning support plate 61, and the pressure spring assembly 64 is provided with a pressure spring rod, an adjusting nut and a pressure spring. The number of the pressure spring assemblies is two, the two pressure spring assemblies are horizontally arranged up and down, and the tension force is controlled by adjusting the compression amount of the pressure spring through the adjusting nut, so that the pressure and the friction force between the tension driven wheel 60 and the pool wall 115 are controlled. The other end of the pressure spring assembly 64 is fixed to the pressure spring seat 65, and two plates of the pressure spring seat 65 are respectively fixed to two plates of the tension support plate 61.

And a bearing driven wheel device 5 is arranged behind the end face elastic compensation brush device 3, the bearing driven wheel device 5 is divided into a left bearing driven wheel device 50 and a right bearing driven wheel device 51, and the bearing driven wheel device 5 is used for realizing the steering function of the cleaning robot. The left bearing driven wheel device 50 is connected with the positioning driving wheel assembly 70, the right bearing driven wheel device 51 is connected with the tensioning driving wheel device 7, and the positioning driving wheel assembly 70 and the tensioning driving wheel device 7 are used for providing steering force for the cleaning robot to steer.

Further, the right driven bearing wheel device 51 is provided with a driven bearing wheel 52, two ends of the driven bearing wheel 52 are fixed on a driven wheel support frame 53, and the driven wheel support frame 53 is fixed on the bearing bottom plate 44. The adjacent side of the bearing driven wheel 52 is provided with a tension driving wheel device 7. The tension driving wheel device 7 is provided with a positioning driving wheel assembly 70 and a pressure spring assembly 71, the positioning driving wheel assembly 70 is provided with an anti-slip wheel 71, the upper end of the anti-slip wheel 71 is connected with a sixth bearing body, the sixth bearing body is fixed on a sliding plate 72, two sides of the sliding plate 72 are connected with a sliding seat 73, and the sliding plate 72 is in sliding connection with the sliding seat 703. The sliding plate 72 is also connected with two compression spring assemblies 64, and the two compression spring assemblies 64 are vertically arranged in parallel.

The sliding automatic charging mechanism 8 is located at the rear outer side of the frame plate 112 and is connected with the left load-bearing driven wheel device 50 through a connecting plate 84. The movable charging box 80 and the fixed charging box 81 are juxtaposed. The movable charging box 80 is connected with the storage battery and the electric cabinet, a carbon sliding block 83 is arranged in the movable charging box 80, and a semicircular carbon sliding block 82 is arranged in the fixed charging box 81. The carbon slide block 83 is connected with the semicircular carbon slide block 82 in a sliding manner, so that impact cannot be generated in the connection process. In addition, spring assemblies 85 are arranged in the fixed charging box 81 and the movable charging box 80, and under the action of the spring assemblies 85, a long sliding distance exists between the fixed charging box 81 and the movable charging box 80, so that the error of the stop position can be compensated. After the cleaning robot is stopped, the cleaning robot slightly shakes left and right under the action of external wind power, and the spring assembly 87 can move the carbon sliding block 83 of the charging box 80 and the semicircular carbon sliding block 82 of the fixed charging box 81 to be always in contact with each other, so that the circuit is kept complete.

The skeleton plate 112 is provided with an outer cover 111, and the outer cover 111 is in a shuttle shape with a sharp upper end and a wide lower end, which completely accords with the concept of hydrodynamics. By designing into the fusiform, can reduce all directions windage, reinforcing cleaning robot's stability.

The utility model discloses a theory of operation does:

as shown in fig. 6, the cleaning robot is placed in a standard circular width-flow type secondary sedimentation tank, and in the process that the bearing driving wheels 42 at the two sides of the cleaning robot drive the cleaning robot to move, the two main vertical spiral elastic compensation brush assemblies rotate under the driving action of the first motor to respectively clean the tank walls 115 at the two sides; the connecting rod 100 of the bottom elastic compensation brush device 10 cleans the cleaning water overflow channel 116 under the driving action of the third motor, and the side vertical spiral elastic compensation brush component cleans the inner side of the sewage fence 113 and the outer side of the overflow weir 114 under the action of the second motor; the first resilient compensating brush assembly of the end resilient compensating brush means 3 is rotated by the fourth motor to clean the inside of the weir 114, and the second resilient compensating brush assembly is also rotated by the fourth motor to clean the upper end of the pool wall 115. In the operation process of the cleaning robot, the steering function can be realized by the bearing driven wheel devices 5 on the two sides. In addition, when the cleaning robot moves to the position of the fixed charging box 81, if the cleaning robot has enough electric quantity and does not need to be charged, the PLC control system does not send out a stop instruction, and the cleaning robot moves across the charging position to continue working. When cleaning robot need charge, its PLC control system sends the instruction of shutting down, and the carbon slider 83 in the removal charging case 80 contacts with semicircle carbon slider 82 on the fixed charging case 81 this moment, constitutes complete charging loop, under spring assembly 85's cushioning effect separately, carbon slider 83 leans out under spring assembly 85's effect, and be sliding contact between carbon slider 83 and the semicircle carbon slider 82, does not have the impact, and cleaning robot can automatic charging.

It is noted that, herein, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The full-automatic cleaning robot is provided with a framework plate and is characterized in that an elastic compensation hairbrush mechanism, a tensioning positioning mechanism and a sliding automatic charging mechanism are arranged on the framework plate, the elastic compensation hairbrush mechanism is provided with a main vertical spiral elastic compensation hairbrush device, an end face elastic compensation hairbrush device, a side face spiral elastic compensation hairbrush device and a bottom elastic compensation hairbrush device, the tensioning positioning mechanism is provided with a bearing driving wheel device, a bearing driven wheel device, a tensioning driving wheel device, a tensioning driven wheel device and a fixed wheel assembly, and the sliding automatic charging mechanism is provided with a movable charging box and a fixed charging box.

2. The full automatic cleaning robot for standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 1, wherein the main vertical spiral elastic compensation brush device is provided with a main vertical spiral elastic compensation brush, a first motor, a first wheel axle body, the main vertical spiral elastic compensation brush is provided with a main central shaft, the upper end of the main central shaft is connected with the first motor, the main central shaft is provided with a plurality of groups of first elastic compensation brush assemblies which are arranged spirally, and the first elastic compensation brush assemblies are provided with square brushes, brush fixing plates and first elastic assemblies.

3. The full automatic cleaning robot for standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 2, wherein the lower end of the main central shaft is connected with a brush bottom plate, three second elastic compensation brush assemblies with the same interval are arranged below the brush bottom plate, and the second elastic compensation brush assemblies are provided with a second elastic assembly, a triangular fixing plate and a trapezoidal brush.

4. The full automatic cleaning robot for standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 1, wherein the end surface elastic compensation brush device is provided with an end surface elastic compensation brush component and a driving component, the driving component is provided with a fourth motor, a gear box is connected below the fourth motor, the gear box is fixed on an end surface motor support plate, the end surface elastic compensation brush component is connected below the end surface motor support plate, the end surface elastic compensation brush component is provided with a circular shaft support, the circular shaft support fixes a first elastic compensation brush component and a second elastic compensation brush component, and the first elastic compensation brush component and the second elastic compensation brush component are perpendicular to each other.

5. The full-automatic cleaning robot for the standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 1, wherein a bearing driving wheel device is arranged behind the main vertical spiral elastic compensation brush device, the bearing driving wheel device is provided with a bearing driving wheel, connecting plates are fixed on two sides of the bearing driving wheel, the connecting plates are vertically fixed on a bearing bottom plate, a wheel shaft connecting rod is arranged in the center of the bearing driving wheel, and the wheel shaft connecting rod is connected with a fifth motor fixed on the bearing bottom plate;

the rear of the end face elastic compensation brush device is provided with a bearing driven wheel device, the bearing driven wheel device is provided with a bearing driven wheel, two ends of the bearing driven wheel are fixed on a driven wheel support frame, the driven wheel support frame is fixed on a bearing bottom plate, and the upper end of the bearing bottom plate is fixed with a sixth motor.

6. The standard circular amplitude-flow type secondary sedimentation tank full-automatic cleaning robot as claimed in claim 1, wherein the tension driven wheel device is arranged on the left side of the middle part of the framework plate and is located between the bearing driving wheel device and the end face elastic compensation brush device, the tension driven wheel device is provided with a tension driven wheel, the tension driven wheel is fixed on a tension support plate, the tension support plate is fixed on the framework plate, two horizontally parallel pressure spring assemblies are fixed on the tension support, a pressure spring seat is fixed at the other end of the pressure spring assembly, and two plates of the pressure spring seat are respectively fixed on two plates of the tension support plate.

7. The full-automatic standard circular amplitude-flow type secondary sedimentation tank cleaning robot as claimed in claim 1, wherein the fixed wheel assembly is arranged on the right side of the middle of the framework plate and behind the main vertical spiral elastic compensation brush device, the fixed wheel assembly is provided with a fixed wheel, a fixed wheel shaft is arranged in the center of the fixed wheel, the upper end of the fixed wheel shaft is fixed on a support frame, and the support frame is fixed on the framework plate.

8. The full-automatic cleaning robot for the standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 1, wherein the load-bearing driven wheel device is connected with a tension driving wheel device, the tension driving wheel device is provided with a positioning driving wheel assembly and a pressure spring assembly, the positioning driving wheel assembly is provided with anti-skid wheels, the anti-skid wheels are fixed on a sliding plate, the sliding plate is connected with two pressure spring assemblies, and the two pressure spring assemblies are vertically arranged in parallel.

9. The full-automatic cleaning robot for the standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 1, wherein the movable charging box is provided with a carbon slider, the fixed charging box is provided with a semicircular carbon slider, the carbon slider is slidably connected with the semicircular carbon slider, and spring assemblies are arranged in the fixed charging box and the movable charging box.

10. The full-automatic cleaning robot for the standard circular amplitude-flow type secondary sedimentation tank as claimed in claim 1, wherein an outer cover is arranged on the framework plate, and the outer cover is in a shuttle shape with a pointed upper part and a wide lower part.

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