Dumping device for dumping items in a box body, design method of a cam groove, and salvage ship

Abstract

The present invention discloses a dumping device for dumping the items in a box body, which comprises link assemblies arranged on the left and right sides of the box body. A support plate is arranged on the side of each link assembly away from the box body. The link assembly includes a driven rod and a driving rod driven by a driving assembly. The upper end of the driving rod is hinged to the middle of the upper end of the box body, and the upper end of the driven rod is hinged to a position near the front side of the upper end of the box body. The lower ends of the driving rod and the driven rod are both hinged to the driving assembly, and the lower end of the driving rod is located in front of the front end of the driven rod. A cam groove is arranged on the support plate, and a roller capable of rolling in the cam groove is arranged on the driving rod through a roller shaft. At the same time, a design method for the cam groove in a dumping device for dumping the items in a box body and a salvage ship are also disclosed. The overall structure is simple and ingenious, the use of motors is reduced, the box body first rises and then dumps, the occupied area of the box body in the ship body is reduced, and the dumping angle of the box body exceeds 90°, which can ensure that all the garbage in the box body is dumped out.

Description

Technical Field

[0001] The present invention belongs to the technical field of surface garbage collection, and particularly relates to a dumping device for dumping articles in a dumping box, a design method for a cam groove, and a salvage ship. Background Art

[0002] In order to facilitate the cleaning of surface garbage and improve the surface environment, various fully automatic surface garbage salvage ships have emerged, all aiming to improve the salvage efficiency and reduce potential safety hazards. In the prior art, although the salvage ship salvages garbage automatically, it is still necessary to manually dump the garbage located in the salvage ship for treatment, or directly replace the garbage bin on the salvage ship. Summary of the Invention

[0003] The present invention intends to provide a dumping device for dumping articles in a dumping box, which has a simple structure, can realize the automatic dumping of the box body, and can return to its original position after dumping.

[0004] For this purpose, the technical solution adopted by the present invention is as follows: A dumping device for dumping articles in a dumping box includes link assemblies arranged on the left and right sides of the box body. A support plate is arranged on the side of each link assembly away from the box body. The link assembly includes a driving rod and a driven rod. The upper end of the driving rod is hinged to the middle of the upper end of the box body, and the upper end of the driven rod is hinged to a position near the front side of the upper end of the box body. The lower ends of the driving rod and the driven rod are both hinged to a driving assembly, and the lower end of the driving rod is located in front of the front end of the driven rod. A cam groove is arranged on the support plate, and the center of the cam groove is located below the cam groove. A roller shaft facing the corresponding side cam groove is arranged on the driving rod, and a roller capable of rolling in the cam groove is sleeved on the roller shaft. The driving assembly is used to drive the driving rod to act, so as to realize the dumping of the box body through the link assembly.

[0005] As a preference in the above solution, the driving assembly includes a translation plate. The lower end of the driving rod is hinged to the front end of the translation plate, and the lower end of the driven rod is hinged to the rear end of the translation plate. The translation plate is moved up and down through a pushing assembly.

[0006] Further preferably, guiding grooves extending vertically are arranged on the support plate at intervals in the front-rear direction. The translation plate is hinged to the driven rod through a first hinge shaft, and the translation plate is hinged to the driving rod through a second hinge shaft. Guide wheels capable of rolling up and down in the guiding grooves are sleeved on the ends of the first hinge shaft and the second hinge shaft away from the box body.

[0007] Further preferably, the box body is arranged in a frustum structure with a larger upper part and a smaller lower part.

[0008] At the same time, a design method for a cam groove in a dumping device for dumping articles in a dumping box is also provided, including the following steps:

[0009] S1: Device simplification: The above dumping device is simplified into a schematic diagram of the mechanism;

[0010] S2: Mechanism position mark; the positions of the hinge points where the box is hinged to the active rod and the driven rod are marked by function equations;

[0011] S3: simulation; the function equation in S2 is iterated by the software to obtain the simulation result, and the turning angle of the box simulated by the connecting rod is greater than 90°;

[0012] S4: Extraction of expected trajectory: The schematic diagram of the mechanism obtained in S1 is made into a physical scissor-type five-bar mechanism, and the scissor-type five-bar mechanism is manually driven to move so that the connecting rod representing the box moves according to the expected trajectory, and the motion trajectory during manual driving is extracted through software;

[0013] S5: trajectory fitting; the motion trajectory extracted in S4 is imported into the software for polynomial fitting, so as to obtain the fitting curve of the cam, and the cam groove is designed according to the fitting curve.

[0014] At the same time, a fully automatic surface garbage salvaging ship is also provided, including a hull and the above-mentioned dumping device, the support plate is arranged on the hull, and the hull is provided with a mechanical arm for scooping up surface garbage and a conveyor belt for garbage transportation, one end of the conveyor belt is located below the mechanical arm, and the other end is arranged near the upper end of the box body, and a plurality of first leakage holes for water leakage are arranged at intervals on the conveyor belt, and a water collector with a larger upper part and a smaller lower part and used for collecting water leaking from the first leakage holes is arranged below the conveyor belt, and a discharge pipe that can discharge water to the water surface is arranged at the lower end of the water collector.

[0015] The beneficial effects of the present invention are as follows: the box can be raised and dumped by only providing a driving mechanism for realizing the raising of the translation plate, and it can automatically return to its original position after dumping. The overall structure is simple and ingenious, and the use of motors is reduced; when the entire device is used on a fully automatic surface garbage salvaging ship, the box can be raised first and then dumped, reducing the area occupied by the box in the hull; and the dumping angle of the box exceeds 90°, which can ensure that all the garbage in the box is poured out, so that the salvaged garbage does not require any manual assistance when leaving the hull, thereby realizing the full automation of the salvage ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the dumping device in the present invention Figure 1 .

[0017] Figure 2 Schematic diagram of the dumping device in the present invention Figure 2 (After removing one of the support plates).

[0018] Figure 3It is a schematic diagram of the linkage assembly and the box body on one side in the present invention.

[0019] Figure 4 For Figure 3 The mechanism is subjected to frame iteration to obtain the motion simulation trajectory of the linkage representing the box body.

[0020] Figure 5 It is a schematic diagram of the linkage assembly, the drive assembly and the box body on one side in the present invention.

[0021] Figure 6 For Figure 5 The mechanism is subjected to frame iteration to obtain the motion simulation trajectory of the linkage representing the box body.

[0022] Figure 7 For Figure 5 The mechanism is subjected to frame iteration to obtain the motion simulation trajectory of the point representing the roller shaft.

[0023] Figure 8 It is the fitting result of this embodiment.

[0024] Figure 9 It is a schematic diagram of the overall robotic arm in the present invention.

[0025] Figure 10 It is a schematic diagram of the right robotic arm in the present invention.

[0026] Figure 11 It is a schematic diagram of the fixed seat in the present invention.

[0027] Figure 12 It is a schematic diagram of the rotating seat in the present invention.

[0028] Figure 13 It is a schematic diagram of the telescopic spring pin in the present invention.

[0029] Figure 14 It is a schematic diagram of the mechanism on the left side of the robotic arm in the present invention Figure 1 (with a power mechanism).

[0030] Figure 15 It is a schematic diagram of the mechanism on the left side of the robotic arm in the present invention Figure 2 (without a power mechanism). Detailed implementation manners

[0031] The present invention will be further described below through embodiments in conjunction with the accompanying drawings:

[0032] As Figure 1-2 shown, a dumping device for dumping the contents of a box body mainly consists of a linkage assembly and a drive assembly. Linkage assemblies are provided on both the left and right sides of the box body, and the linkage assembly can achieve the dumping of the box body 11. The drive assembly is used to drive the linkage assembly to act, thereby realizing the dumping of the box body.

[0033] The specific structure of the connecting rod assembly includes a driving rod 13 and a driven rod 14. The upper end of the driving rod 13 is hinged to the middle of the upper end of the box body 11, and the upper end of the driven rod 14 is hinged to the position near the front side of the upper end of the box body 11. The lower ends of both the driving rod 13 and the driven rod 14 are hinged to the driving assembly, and the lower end of the driving rod 13 is located at the front end of the driven rod 14, that is, the driving rod and the driven rod are in a crossed state. To achieve the tipping of the box body, a support plate 12 is provided on one side of each connecting rod assembly away from the box body 11. A cam groove 12a is provided on the support plate 12, and the center of the cam groove 12a is located below the cam groove 12a. At the same time, a roller shaft 13a facing the corresponding side cam groove 12a is provided on the driving rod 13, and a roller 15 capable of rolling in the cam groove 12a is sleeved on the roller shaft 13a.

[0034] The specific structure of the driving assembly includes a translation plate 16. The translation plate 16 is moved up and down by a pushing assembly 20. Correspondingly, the lower end of the driving rod 13 is hinged to the front end of the translation plate 16, and the lower end of the driven rod 14 is hinged to the rear end of the translation plate 16. In this embodiment, the pushing assembly is any linear mechanism capable of driving the translation plate up and down, such as a telescopic cylinder, a lead screw nut mechanism, or an electric push rod.

[0035] The translation plate 16 is hinged to the driven rod 14 through a first hinge shaft 18, and the translation plate 16 is hinged to the driving rod 13 through a second hinge shaft 19. To ensure the up and down movement of the translation plate, guiding grooves 12b extending up and down are arranged at intervals in the front and rear directions on the support plate 12. At the same time, guiding wheels 17 capable of rolling up and down in the guiding grooves 12b are sleeved on the ends of the first hinge shaft 18 and the second hinge shaft 19 away from the box body 11.

[0036] When the translation plate moves upward under the action of the pushing assembly, the guiding wheels move upward in the guiding grooves, causing the box body and the connecting rods to move upward. At the same time, since the rollers can only move in the cam grooves, the box body is tipped under the action of the connecting rod assembly. When the translation plate moves downward under the action of the pushing assembly, the box body returns to its original position.

[0037] In order to prevent the box body from having a spatial position interference with the floating object recovery belt on the front hull during the up and down working process, the box body 11 is set as a frustum structure with a larger upper part and a smaller lower part.

[0038] To ensure that the tipping angle of the box body exceeds 90°, special design of the cam groove is required. The design method of the cam groove is as follows:

[0039] The first step: Device simplification; Simplify the above-mentioned connecting rod assembly into a mechanism schematic diagram as shown in Figure 3 shown.

[0040] Step 2: Mark the position of the mechanism; mark the positions of the hinge points where the box is hinged to the active rod and the driven rod respectively through function equations. The specific function equations are as follows:

[0041]

[0042] Among them, CX is the horizontal coordinate of point C; CY is the vertical coordinate of point C; EX is the horizontal coordinate of point E; EY is the vertical coordinate of point E, FX is the horizontal coordinate of point F; FY is the vertical coordinate of point F, V is the pushing speed of BD rod; t is the running time of the push rod.

[0043] Step 3: Simulation: Use MATAB software to iterate the above function equations and get the following results: Figure 4 The simulation results shown show that the flip angle of the box EF simulated by the connecting rod is greater than 90°, that is, the structure can realize the pouring out of all objects in the box.

[0044] Since the dumping device is used in a fully automatic surface garbage salvaging ship, the box cannot be dumped in situ, and needs to be raised to be higher than the back of the ship before dumping. In order to achieve this purpose and reduce the number of motors, this embodiment provides a translation plate in the driving assembly of the dumping device, and the translation plate can be driven to move up and down by the pushing assembly, so the dumping device can be simplified as follows: Figure 5 A schematic diagram of the mechanism is shown.

[0045] Step 4: Extraction of expected trajectory; Since the box body needs to rise and fall, the motion trajectory of the box body is a more complex curve motion. In order to simplify the problem and better fit the trajectory of the box body, the mechanism diagram obtained in the first step is made into a physical scissor-fork five-bar mechanism, and the scissor-fork five-bar mechanism is manually driven to move so that the connecting rod representing the box body can move according to the expected trajectory. Then, the motion process of the physical scissor-fork five-bar structure is recorded, and the motion trajectory of the points on the active rod is extracted through Tracker software.

[0046] Step 5: Trajectory fitting: Import the motion trajectory extracted in the fourth step into the MATAB software, and use the function equation to Figure 5 The position of the connecting rod representing the box and the point representing the roller axis are marked, and then the function equation is iterated frame by frame in the MATAB software to obtain the following: Figure 6 and Figure 7 Then, the simulation result of the point representing the roller axis is polynomially fitted with the motion trajectory of the point extracted in the fourth step, so that the fitting curve of the cam can be obtained. The specific fitting structure is as follows: Figure 8 As shown, the fitted quintic polynomial is as follows:

[0047] y=3.38×10 -5 x5 -0.004455x 4 +0.2275x 3 -5.648x 2 +69.5x-301.4

[0048] According to the obtained fitting curve, the motion trajectory of the roller shaft, that is, the cam groove, is designed. In actual operation, the fitting curve is input into the corresponding 3D software such as SolidWorks or NX, and the following can be obtained: Figure 2 The cam groove shown in the figure enables the box to rise and tip when the tipping device moves up on the translation plate.

[0049] At the same time, a fully automatic surface garbage salvaging ship is also provided, which is mainly composed of a hull, a mechanical arm and the above-mentioned dumping device, wherein the mechanical arm is used to realize the collection of surface garbage, the support plate 12 is fixed on the hull, the mechanical arm is also arranged on the hull, and it is best that the dumping device is located at the stern of the hull, the mechanical arm is arranged at the bow of the hull, and a conveyor belt for garbage transportation is also arranged on the hull, one end of the conveyor belt is close to the mechanical arm, and the other end is close to the upper end of the box. In order to facilitate the automatic return of the box after the box is lifted and dumped under the action of the dumping device, a gap is left between the conveyor belt and the upper end of the box. Since the movement direction of the conveyor belt is from the mechanical arm to the box, the garbage will fall into the box under the inertia of the transmission belt, and the garbage will not be unable to be transported into the box.

[0050] Preferably, a plurality of first water leakage holes for water leakage are arranged at intervals on the conveyor belt, and a water collector which is larger at the top and smaller at the bottom and is used to collect water leaking from the first water leakage holes is arranged below the conveyor belt. A discharge pipe which can discharge water to the water surface is arranged at the lower end of the water collector. The water collector can also be arranged on the outside of the hull through a bracket. In this case, water discharge can be achieved by directly opening a hole at the lower end of the water collector.

[0051] like Figures 9-15 As shown, the structure of the mechanical arm is mainly composed of a mechanical claw 1, a movable arm 2, a rotating seat 3, an opening and closing mechanism, a driving mechanism, a covering mechanism and a flipping mechanism, wherein the mechanical claw 1, the movable arm 2, the rotating seat 3, the opening and closing mechanism, the covering mechanism and the flipping mechanism are all arranged oppositely on the left and right, and each mechanical claw 1 is hinged on the corresponding movable arm 2, and the other end of the movable arm 2 is hinged on the rotating seat 3. The arrangement of the movable arm also increases the range of each mechanical claw. Each movable arm 2 is opened and closed by a corresponding opening and closing mechanism, wherein the two opening and closing mechanisms are both driven by the same driving mechanism, a covering mechanism for realizing the covering action of the mechanical claw 1 is arranged on the opening and closing mechanism, and a flipping mechanism for realizing the flipping of the rotating seat 3 is arranged on the rotating seat 3, and the covering mechanism and the flipping mechanism are both realized by the opening and closing mechanism.

[0052] The specific structure of the opening and closing mechanism includes a lead screw 4 driven to rotate by a driving mechanism. A slider 5 is arranged on the lead screw 4, so that the slider and the lead screw form a conventional lead screw-nut mechanism, and the power source at this time is the lead screw. A first connecting rod 6 is hinged to the slider 5, and the other end of the first connecting rod 6 is hinged to the middle of the moving arm 2, so that the slider, the rotating seat, the moving arm and the first connecting rod form a crank-slider mechanism, and the power source at this time is the slider. To facilitate the manufacture of the rotating seat into a lead screw and the sliding of the slider, a sliding groove 3a for accommodating the left and right movement of the slider 5 is arranged on the rotating seat 3. At the same time, one end of the lead screw 4 passes through the sliding groove 3a and is arranged on the rotating seat 3. When the lead screw rotates, the slider moves left and right in the sliding groove, and then the moving arm rotates around the rotating seat through the first connecting rod.

[0053] The specific structure of the enveloping mechanism includes a second connecting rod 7 with one end hinged to the rotating seat 3. A third connecting rod 8 is hinged to the other end of the second connecting rod 7. At the same time, the other end of the third connecting rod 8 is hinged to the moving arm 2, so that the moving arm, the second connecting rod, the third connecting rod and the rotating seat form a connecting rod mechanism, and the power source at this time is the moving arm. To realize the enveloping of the mechanical claw, a driven gear 1a is arranged at one end of the mechanical claw 1 hinged to the moving arm 2, and a driving gear 8a meshing with the driven gear 1a is arranged at the other end of the third connecting rod 8. When the moving arm rotates, since the moving arm, the second connecting rod, the third connecting rod and the rotating seat form a connecting rod mechanism, the third connecting rod also rotates. Then, under the meshing of the driving gear and the driven gear, the mechanical claw also rotates around the moving arm, so as to realize the enveloping and releasing actions of the mechanical claw.

[0054] The specific structure of the flipping mechanism includes a fixed seat 9 that can be fixed on the fishing device. A rotating groove 9a for accommodating the rotating seat is arranged on the fixed seat 9. Fixed pins 5a are arranged on both the left and right sides of the slider 5, and retractable spring pins 10 are arranged at both the left and right ends of the fixed seat 9. When the slider moves to the right limit, the fixed pin on the right side passes through the rotating seat and pushes out the telescopic section of the retractable spring pin on the right side into the rotating seat. At this time, the lead screw, the rotating seat and the slider are locked. When the lead screw continues to rotate, it will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction and drives the slider to move in the reverse direction, the telescopic section of the retractable spring pin on the left side returns to the rotating seat under the action of the elastic force. When the slider moves to the left limit, the fixed pin on the left side passes through the rotating seat and pushes out the telescopic section of the retractable spring pin on the left side into the rotating seat. At this time, the lead screw, the rotating seat and the slider are locked. When the lead screw continues to rotate, it will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction and drives the slider to move in the reverse direction, the telescopic section of the retractable spring pin on the right side returns to the rotating seat under the action of the elastic force.

[0055] The specific structure of the driving mechanism includes a driving motor, and the output end of the driving motor drives the lead screw 4 to rotate through a speed-changing mechanism, and the speed-changing mechanism realizes speed change through meshing gears. Among them, the lead screws 4 on the two opening and closing mechanisms can adopt two lead screws. At this time, the speed-changing mechanism can be set to have a driving bevel gear at the output end of the driving motor, and a driven bevel gear is arranged at one end where the two lead screws are close to each other. The two lead screws are driven through the meshing of the driving bevel gear and the driven bevel gear. It can also be that the lead screws 4 on the two opening and closing mechanisms are the left and right ends of the same lead screw 4. At this time, the helix directions at both ends of the lead screw 4 are opposite, and the speed-changing mechanism can be set to the meshing of two cylindrical gears, and the lead screw is arranged on the driven cylindrical gear.

[0056] The specific structure of the rotating seat includes a rotating anti-disengagement section 3b, a sliding section 3c, a rotating limiting section 3d and a hinged section 3e. Among them, the sliding groove 3a is arranged on the sliding section 3c, and the moving arm and the second connecting rod are both hinged on the hinged section. Preferably, the hinged section is located outside the rotating groove. To facilitate the rotation of the rotating seat, the outer sides of the rotating anti-disengagement section 3b, the sliding section 3c and the rotating limiting section 3d are all set to be cylindrical. And to prevent the rotating seat from leaving the rotating groove, the outer diameters of the rotating anti-disengagement section 3b and the rotating limiting section 3d are both larger than the outer diameter of the sliding section 3c. At the same time, the rotating groove 9a is also set to a structure with larger diameters at both ends and a smaller middle part.

[0057] For the convenience of installation, the fixed seat 9 includes two fixed blocks 9b arranged opposite to each other front and back. Among them, a positioning column 9c is arranged below one fixed block 9b, and a positioning hole 9d is arranged at the position corresponding to the positioning column below the other fixed block 9b.

[0058] To expand the coverage range of the mechanical claw, a plurality of clamping claws are arranged at intervals front and back at the other end of the mechanical claw 1.

[0059] The working process of the entire robotic arm is as follows: In the initial state, both the mechanical claw and the moving arm are in the retracted state, and at this time, the mechanical claw and the moving arm are out of the water surface. When the driving motor works, the lead screw rotates, driving the two sliders to move towards each other. At this time, the mechanical claw and the moving arm continuously open outwards. When the slider moves to the inner extreme position, the fixed pin just pushes open the inner telescopic spring positioning pin, releasing the restriction of the rotating seat. When the driving motor continues to work and the lead screw rotates a certain angle, the rotating seat drives the moving arm and the mechanical claw to rotate towards the water surface. At the same time, the two telescopic spring positioning pins located on the left and right outer sides return to the rotating seat, realizing the restriction of the rotating seat. Then the driving motor works in the reverse direction, causing the two sliders to move away from each other. During the process, the moving arm and the mechanical claw continuously retract. When the slider moves to the outer extreme position, the fixed pin just pushes open the outer telescopic spring positioning pin, releasing the restriction of the rotating seat. When the driving motor continues to act in the reverse direction and the lead screw rotates a certain angle, the rotating seat drives the moving arm and the mechanical claw to rotate away from the water surface. At the same time, the two telescopic spring positioning pins located on the left and right inner sides return to the rotating seat, realizing the restriction of the rotating seat.

Claims

1. A dumping device for dumping the contents of a box, characterized in that: It includes link assemblies arranged on the left and right sides of the box body (11). A support plate (12) is provided on the side of each link assembly away from the box body. The link assembly includes a driving rod (13) and a driven rod (14). The upper end of the driving rod (13) is hinged to the middle of the upper end of the box body (11), and the upper end of the driven rod (14) is hinged to a position near the front side of the upper end of the box body (11). The lower ends of both the driving rod (13) and the driven rod (14) are hinged to the driving assembly, and the lower end of the driving rod (13) is located at the front end of the driven rod (14). A cam groove (12a) is provided on the support plate (12), and the center of the cam groove (12a) is located below the cam groove (12a). A roller shaft (13a) facing the corresponding side cam groove (12a) is provided on the driving rod (13), and a roller (15) capable of rolling in the cam groove (12a) is sleeved on the roller shaft (13a). The driving assembly is used to drive the driving rod (13) to act, so as to realize the tipping of the box body through the link assembly; The driving assembly includes a translation plate (16). The lower end of the driving rod (13) is hinged to the front end of the translation plate (16), and the lower end of the driven rod (14) is hinged to the rear end of the translation plate (16). The translation plate (16) realizes up and down movement through a pushing assembly (20).

2. The dumping device for dumping the items in the dumping box according to claim 1, characterized in that: Guide grooves (12b) extending vertically are arranged at intervals in the front and rear directions on the support plate (12). The translation plate (16) is hinged to the driven rod (14) through a first hinge shaft (18), and the translation plate (16) is hinged to the driving rod (13) through a second hinge shaft (19). Guide wheels (17) capable of rolling up and down in the guide grooves (12b) are sleeved on the ends of the first hinge shaft (18) and the second hinge shaft (19) far from the box body (11).

3. The dumping device for dumping the items in the dumping box according to claim 1, wherein: The box body (11) is arranged in a frustum structure with a larger upper part and a smaller lower part.

4. A design method for a cam groove in a dumping device for dumping the contents of a box, characterized in that: It includes the following steps: S1: Device simplification; Simplify the tipping device described in any one of claims 1-3 into a mechanism schematic diagram; S2: Mechanism position marking; Mark the positions of the hinge points where the box body is respectively hinged to the driving rod and the driven rod through functional equations; S3: Simulation; Perform frame iteration on the functional equations existing in S2 through software to obtain a simulation result, and obtain that the flipping angle of the box body simulated by the link is greater than 90°; S4: Expected trajectory extraction; Make the mechanism schematic diagram obtained in S1 into a physical scissor five-bar mechanism, manually drive the scissor five-bar mechanism to act, so that the link representing the box body moves along the expected trajectory, and at the same time extract the movement trajectory during manual driving through software; S5: Trajectory fitting; Import the movement trajectory extracted in S4 into software for polynomial fitting, so as to obtain the fitting curve of the cam, and design the cam groove according to the fitting curve.

5. A fully automatic surface garbage collection ship, comprising a hull, characterized in that: It further includes a tipping device according to any one of claims 1-3, the support plate (12) is arranged on the hull, a robotic arm for fishing up surface garbage and a conveyor belt for garbage transfer are arranged on the hull, one end of the conveyor belt is close to the robotic arm, the other end is close to the upper end of the box body, a plurality of first water leakage holes for water leakage are arranged at intervals on the conveyor belt, a water collector with a large upper part and a small lower part for collecting the water leaking from the first water leakage holes is arranged below the conveyor belt, and a discharge pipe capable of discharging water to the water surface is arranged at the lower end of the water collector.

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