An unmanned intelligent water surface garbage cleaning robot applied to narrow water area

Abstract

The application provides an unmanned intelligent water surface garbage cleaning robot applied to narrow water areas, which comprises a water surface garbage cleaning robot body, an intelligent control system and a data acquisition system are arranged on the water surface garbage cleaning robot body, a fixing frame is arranged at the front end of the water surface garbage cleaning robot body, a garbage dispersing mechanism and a garbage adjusting mechanism are arranged on the fixing frame, the garbage adjusting mechanism is arranged on the left and right sides of the garbage dispersing mechanism, a garbage conveying mechanism is arranged in the water surface garbage cleaning robot body, the front end of the garbage conveying mechanism is arranged on the rear side of the garbage dispersing mechanism, a garbage compressing mechanism is arranged at the rear end of the garbage conveying mechanism, and a garbage collecting bin is arranged at the rear end of the garbage compressing mechanism. Through the work of the two groups of conveying belts with opposite movement directions and the garbage dispersing mechanism, the garbage focused together is dispersed, and the problem that the existing large garbage cleaning equipment cannot enter narrow water areas for cleaning work is solved.

Description

Technical Field

[0001] This invention relates to the technical field of surface debris cleaning, and in particular to an unmanned intelligent surface debris cleaning robot applicable to narrow waterways. Background Technology

[0002] Currently, most of the trash in the water comes from land-based waste, primarily plastics. These plastics not only pollute the water but also seriously harm aquatic life. However, once these plastics enter the water, they don't immediately sink to the bottom but float on the surface for a period of time. This period is the optimal time to clean up this surface trash, which is generally handled by automated or manual methods.

[0003] The most common manual cleanup method involves cleaning staff or security guards from various units making simple retrieval devices to manually remove trash from the water surface. Some of these devices are discarded after use, while others break during retrieval due to weak connections, falling into the water and creating new trash. Furthermore, some artificial rock formations and caves are too far away for these simple devices to reach, and even if they are, cleaning staff often struggle to apply sufficient force. Therefore, this method is not very effective.

[0004] Automated cleaning typically employs aquatic cleaning robots, a type of intelligent water conservancy and environmental protection equipment. These robots are automated or semi-automatic machines that participate in and execute the process of cleaning floating debris on the water surface. Aquatic cleaning robots utilize existing hydraulic systems, intelligent control systems, and data acquisition systems to perform all or part of the functions of identifying, collecting, salvaging, cutting, compressing, packaging, stacking, and transferring floating debris, ultimately completing the cleaning of the floating debris. However, existing cleaning robots may only be able to absorb small pieces of debris during the garbage collection process, making it difficult for them to achieve a large-area garbage capacity. They may only collect a portion of the garbage, unable to collect large quantities. A relatively common type of aquatic cleaning robot is the remote-controlled water cleaning boat. These boats are mostly designed for artificial or natural lakes in parks or large water recreation areas. They can clean larger pieces of debris on the water surface and have built-in garbage bins. However, these products have difficulty accessing hard-to-reach areas such as artificial hills and caves to clean up debris. Summary of the Invention

[0005] This invention provides an unmanned intelligent water surface garbage cleaning robot applicable to narrow water areas, comprising a water surface garbage cleaning robot body, an intelligent control system and a data acquisition system on the water surface garbage cleaning robot body, a fixed frame at the front end of the water surface garbage cleaning robot body, a garbage dispersing mechanism and a garbage adjusting mechanism on the fixed frame, the garbage adjusting mechanism being located on the left and right sides of the garbage dispersing mechanism, a garbage conveying mechanism inside the water surface garbage cleaning robot body, the front end of the garbage conveying mechanism being located behind the garbage dispersing mechanism, a garbage compression mechanism at the rear end of the garbage conveying mechanism, and a garbage collection bin at the rear end of the garbage compression mechanism.

[0006] Preferably, the waste dispersing mechanism includes a set of first waste conveying devices, the front end of which is provided with a dispersing device, and the first waste conveying devices are connected to the fixed frame.

[0007] Preferably, the first waste conveying device includes a first conveying device mounting frame, with first conveying rollers at both the front and rear ends of the first conveying device mounting frame, a first conveyor belt sleeved on the outer side of the first conveying rollers, a set of first conveying plates on the outer side of the first conveyor belt, a first drive motor on the upper side of the first conveying rollers, the first drive motor being disposed on the upper side of the fixed frame, and the output end of the first drive motor being fixedly connected to the first conveying rollers.

[0008] Preferably, the dispersing device includes a set of first fixed discs and a set of second fixed discs. The first fixed discs are rotatably connected to the first conveying device mounting frame via a rotating shaft. The second fixed discs are connected to the central shaft of the first conveying roller at the front end of the first waste conveying device. Connecting rods are provided on the outer sides of the first and second fixed discs, and dispersing forks are provided at the front ends of the connecting rods.

[0009] Preferably, the waste adjustment mechanism includes a set of telescopic devices, the output end of which is connected to a second waste conveying device, and the second waste conveying device is rotatably connected to the fixed frame.

[0010] Preferably, the second waste conveying device includes a second conveying device mounting frame, with second conveying rollers at both ends of the second conveying device mounting frame, a second conveyor belt sleeved on the outer side of the second conveying rollers, a set of second conveying plates on the outer side of the second conveyor belt, a second drive motor on the upper side of the second conveying rollers, the second drive motor being disposed on the upper side of the fixed frame, and the output end of the second drive motor being fixedly connected to the second conveying rollers.

[0011] Preferably, the waste conveying mechanism includes a third conveying roller, a fourth conveying roller, and a fifth conveying roller. A third conveyor belt is sleeved on the outer side of the third, fourth, and fifth conveying rollers. A third conveying plate is provided on the outer side of the third conveyor belt. The central shaft of the third conveying roller is connected to a third drive motor, which is connected to the outer side of the water surface waste cleaning robot body.

[0012] Preferably, the third and fourth conveying rollers are arranged in parallel, and the fifth conveying roller is arranged on the lower side of the waste dispersing mechanism.

[0013] Preferably, the waste compression mechanism includes a drive roller and a driven roller, the drive roller and the driven roller are meshed together, and the drive roller is connected to a third conveying roller via a transmission belt.

[0014] Preferably, the waste dispersing mechanism and the waste adjusting mechanism have opposite conveying directions.

[0015] The beneficial effects of this invention are as follows: This invention is equipped with a waste dispersion mechanism and a waste adjustment mechanism in the robot head. During use, the waste dispersion mechanism disperses the waste in the robot head through its internal conveying device, and then cleans the waste in the robot head inward. The waste dispersion mechanism also cleans the waste that is lingering on the outside of the robot inward. Through the work of two sets of conveyor belts moving in opposite directions and the waste dispersion mechanism, the waste that has been focused together is dispersed and prevented from clogging the collection inlet. Furthermore, this invention also overcomes the problem that existing large-scale waste cleaning equipment cannot enter narrow waters to carry out efficient surface waste cleaning operations. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] in:

[0018] Figure 1 This is a perspective view of the present invention;

[0019] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0020] Figure 3 A three-dimensional diagram of the waste dispersal and waste adjustment mechanisms;

[0021] Figure 4A 3D diagram of a waste transportation and waste compression system.

[0022] Icons: 1-Water surface garbage cleaning robot body; 2-Fixed frame; 3-Garbage dispersing mechanism; 4-Garbage adjusting mechanism; 5-Garbage transport mechanism; 6-Garbage compression mechanism; 7-Garbage collection bin; 3.1-First garbage conveying device; 3.2-Dispersing device; 4.1-Telescopic device; 4.2-Second garbage conveying device; 5.1-Third conveyor roller; 5.2-Fourth conveyor roller; 5.3-Fifth conveyor roller; 5.4-Third conveyor belt; 5.5-Third conveyor plate; 5.6-Third drive motor; 6.1-Drive roller; 6. 2-Driven roller; 6.3-Drive belt; 6.4-Pressure teeth; 3.11-First conveyor mounting frame; 3.12-First conveyor roller; 3.13-First conveyor belt; 3.14-First transport piece; 3.15-First drive motor; 3.21-First fixed disc; 3.22-Second fixed disc; 3.23-Connecting rod; 3.24-Dispersing fork; 4.21-Second conveyor mounting frame; 4.22-Second conveyor roller; 4.23-Second conveyor belt; 4.24-Second transport piece; 4.25-Second drive motor. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0026] refer to Figure 1 and Figure 2 As shown, an unmanned intelligent water surface garbage cleaning robot for use in narrow waters includes a water surface garbage cleaning robot body 1. The water surface garbage cleaning robot body 1 is equipped with an intelligent control system and a data acquisition system. The data acquisition system is an image acquisition and transmission system. During use, the information acquired by the image acquisition and transmission system is transmitted to the intelligent control system. The intelligent control system identifies the data, thereby controlling the robot body to avoid obstacles and work. The overall automation level of this device is relatively high.

[0027] The front end of the water surface garbage cleaning robot body 1 is equipped with a fixed frame 2. The fixed frame 2 is equipped with a garbage dispersion mechanism 3 and a garbage adjustment mechanism 4. The garbage dispersion mechanism 3 and the garbage adjustment mechanism 4 have opposite conveying directions. The garbage adjustment mechanism 4 is set on the left and right sides of the garbage dispersion mechanism 3. Through the operation of the garbage dispersion mechanism 3 with two sets of conveyor belts moving in opposite directions, the garbage that has been gathered together is dispersed and prevented from clogging the collection inlet. The inside of the water surface garbage cleaning robot body 1 is equipped with a garbage conveying mechanism 5. The front end of the garbage conveying mechanism 5 is set behind the garbage dispersion mechanism 3. The rear end of the garbage conveying mechanism 5 is equipped with a garbage compression mechanism 6. The rear end of the garbage compression mechanism 6 is equipped with a garbage collection bin 7. During use, the garbage dispersion mechanism 3 and the garbage adjustment mechanism 4 are responsible for collecting garbage on the water surface and conveying the garbage to the garbage conveying mechanism 5. The garbage is then conveyed to the garbage compression mechanism 6. After being processed by the garbage compression mechanism 6, the garbage enters the garbage collection bin 7.

[0028] refer to Figure 1 and Figure 3As shown, the waste dispersing mechanism 3 includes a set of first waste conveying devices 3.1. The front end of the first waste conveying device 3.1 is provided with a dispersing device 3.2. The first waste conveying device 3.1 is connected to the fixed frame 2. The first waste conveying device 3.1 includes a first conveying device mounting frame 3.11. The front and rear ends of the first conveying device mounting frame 3.11 are provided with first conveying rollers 3.12. The outer side of the first conveying rollers 3.12 is sleeved with a first conveyor belt 3.13. The outer side of the first conveyor belt 3.13 is detachably connected with a set of first transport plates 3.14. The first transport plates 3.14 can drive water flow to improve conveying efficiency. The upper side of the first conveying rollers 3.12 is provided with a first drive motor 3.15. The first drive motor 3.15 is located on the upper side of the fixed frame 2, and the output end of the first drive motor 3.15 is fixedly connected to the first conveying rollers 3.12.

[0029] The dispersing device 3.2 includes a set of first fixed discs 3.21 and a set of second fixed discs 3.22. The first fixed discs 3.21 are rotatably connected to the first conveying device mounting frame 3.11 via a rotating shaft. The second fixed discs 3.22 are connected to the central shaft of the first conveying roller 3.12 at the front end of the first waste conveying device 3.1. A connecting rod 3.23 is provided on the outer side of the first fixed discs 3.21 and the second fixed discs 3.22. The connection point between the connecting rod 3.23 and the first fixed discs 3.21 and the second fixed discs 3.22 is at the outer circumference of the disc. A dispersing fork 3.24 is provided at the front end of the connecting rod 3.23. During use, the rotation of the first conveying roller 3.12 drives the first discs 3.21 to rotate, and the rotation of the first discs 3.21 drives the connecting rod 3.23 to make linear movements, thereby realizing the work of the dispersing fork 3.24 and dispersing the aggregated waste.

[0030] The waste adjustment mechanism 4 includes two telescopic devices 4.1, which are connected to the fixed frame 2. The output end of the telescopic device 4.1 is connected to the second waste conveying device 4.2. The telescopic device 4.1 is a hydraulic cylinder. The second waste conveying device 4.2 is rotatably connected to the fixed frame 2. During use, the distance between the front end of the second waste conveying device 4.2 and the front end of the first waste conveying device 3.1 can be adjusted by extending and retracting the telescopic device 4.2. This greatly improves the flexibility of the entire device, allowing it to enter narrow waters for efficient surface waste cleaning operations, while also increasing the working area. The second waste conveying device 4.2 includes a second conveying device mounting frame 4.21. The front and rear ends of the second conveying device mounting frame 4.21 are provided with second conveying rollers 4.22. A second conveyor belt 4.23 is sleeved on the outer side of the second conveying rollers 4.22. A set of second transport plates 4.24 is provided on the outer side of the second conveyor belt 4.23. The second transport plates 4.24 can drive water flow to improve conveying efficiency. A second drive motor 4.25 is provided on the upper side of the second conveying rollers 4.22. The second drive motor 4.25 is located on the upper side of the fixed frame 2, and the output end of the second drive motor 4.25 is fixedly connected to the second conveying rollers 4.22.

[0031] refer to Figure 2 and Figure 4 As shown, the waste conveying mechanism 5 includes a third conveying roller 5.1, a fourth conveying roller 5.2, and a fifth conveying roller 5.3. A third conveyor belt 5.4 is sleeved on the outer side of the third conveying roller 5.1, the fourth conveying roller 5.2, and the fifth conveying roller 5.3. A third conveying plate 5.5 is provided on the outer side of the third conveyor belt 5.1. The third conveying plate 5.5 can prevent waste from falling during transportation. The central shaft of the third conveying roller 5.1 is connected to a third drive motor 5.6, which is connected to the outer side of the water surface waste cleaning robot body 1. The third conveying roller 5.1 and the fourth conveying roller 5.2 are arranged in parallel, and the fifth conveying roller 5.3 is located on the lower side of the waste dispersing mechanism 3.

[0032] The garbage compression mechanism 6 includes a drive roller 6.1 and a driven roller 6.2. The drive roller 6.1 and the driven roller 6.2 are rotatably connected inside the body 1 of the water surface garbage cleaning robot. The drive roller 6.1 and the driven roller 6.2 are meshed together. The drive roller 6.1 is connected to a third conveying roller 5.1 via a transmission belt 6.3. The drive roller 6.1 and the driven roller 6.2 are provided with pressing teeth 6.4 on their outer sides.

[0033] In summary, the present invention has a simple and compact structure, a clear assembly hierarchy, is easy to assemble, facilitates the replacement of easily damaged components, avoids many inconveniences for users in actual use, is highly operable, and is less prone to safety accidents.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned intelligent water surface garbage cleaning robot applied to narrow water area, comprising a water surface garbage cleaning robot body, wherein an intelligent control system and a data acquisition system are arranged on the water surface garbage cleaning robot body, characterized in that: The front end of the water surface garbage cleaning robot body is provided with a fixing frame, the fixing frame is provided with a garbage dispersing mechanism and a garbage adjusting mechanism, the garbage adjusting mechanism is arranged on the left and right sides of the garbage dispersing mechanism, the inside of the water surface garbage cleaning robot body is provided with a garbage transporting mechanism, the front end of the garbage transporting mechanism is arranged on the rear side of the garbage dispersing mechanism, the rear end of the garbage transporting mechanism is provided with a garbage compressing mechanism, and the rear end of the garbage compressing mechanism is provided with a garbage collecting bin; the garbage dispersing mechanism comprises two first garbage conveying devices, the front end of the first garbage conveying device is provided with a dispersing device, and the first garbage conveying device is connected with the fixing frame; the first garbage conveying device comprises a first conveying device mounting frame, first conveying rollers are arranged at the front and rear ends of the first conveying device mounting frame, a first conveying belt is sleeved with the outer sides of the first conveying rollers, a group of first conveying pieces are arranged on the outer sides of the first conveying belt, a first driving motor is arranged on the upper side of the first conveying roller, and the output end of the first driving motor is fixedly connected with the first conveying roller; the dispersing device comprises a group of first fixed discs and a group of second fixed discs, the first fixed disc is rotationally connected with the first conveying device mounting frame through a rotating shaft, the second fixed disc is connected with the central shaft of the front end first conveying roller of the first garbage conveying device, connecting rods are arranged on the outer sides of the first fixed disc and the second fixed disc, the connecting points of the connecting rods with the first fixed disc and the second fixed disc are the outer circles of the discs, and the front end of the connecting rod is provided with a dispersing fork; in the use process, the first disc is driven to rotate through the rotation of the first conveying roller, the connecting rod is driven to move linearly through the rotation of the first disc, so that the work of the dispersing fork is realized, and the garbage gathered together is dispersed; the garbage adjusting mechanism comprises two telescopic devices, the telescopic devices are connected with the fixing frame, the output ends of the telescopic devices are connected with second garbage conveying devices, and the second garbage conveying devices are rotationally connected with the fixing frame; in the use process, the distance between the front end of the second garbage conveying device and the front end of the first garbage conveying device can be adjusted through the extension and contraction of the telescopic devices, so that the second garbage conveying device can enter narrow water areas to perform efficient water surface garbage cleaning work; the second garbage conveying device comprises a second conveying device mounting frame, second conveying rollers are arranged at the front and rear ends of the second conveying device mounting frame, a second conveying belt is sleeved with the outer sides of the second conveying rollers, a group of second conveying pieces are arranged on the outer sides of the second conveying belt, and a second driving motor is arranged on the upper side of the second conveying roller; and the output end of the second driving motor is fixedly connected with the second conveying roller. ​ 2. The unmanned intelligent water surface garbage cleaning robot applied to narrow water area according to claim 1, characterized in that: The garbage transport mechanism comprises a third conveying roller, a fourth conveying roller and a fifth conveying roller, the outer side of the third conveying roller, the fourth conveying roller and the fifth conveying roller is sleeved with a third conveying belt, the outer side of the third conveying belt is provided with a third conveying piece, the central shaft of the third conveying roller is connected with a third driving motor, and the third driving motor is connected on the outer side of the water surface garbage cleaning robot body.

3. The unmanned intelligent water surface garbage cleaning robot applied to narrow water area according to claim 2, characterized in that: The third conveying roller and the fourth conveying roller are arranged in parallel, and the fifth conveying roller is arranged on the lower side of the garbage dispersing mechanism.

4. The unmanned intelligent water surface garbage cleaning robot applied to narrow water area according to claim 2, characterized in that: The garbage compression mechanism comprises a driving roller and a driven roller, the driving roller and the driven roller are engagedly connected, and the driving roller is connected with the third conveying roller through a transmission belt.

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