A modular amphibious intelligent cleaning robot capable of multi-machine collaboration

Abstract

The present invention discloses a modular amphibious intelligent cleaning robot capable of realizing multi-machine coordination, which is mainly composed of a hull module, a drive module and a salvage module. The hull module is composed of two cabins arranged in parallel on the left and right sides, and the rear cabin bodies of the two cabins are fixedly connected by a cabin connecting frame. The drive module is composed of a paddle wheel mechanism installed on the rear cabin bodies of the left and right cabins through a cantilever mechanism, and the cantilever mechanism is driven by a motor and a worm gear reducer. The salvage module drops the salvaged objects into a collection box through a salvage conveyor belt mechanism. The present invention has the following advantages: the robot adopts a modular design for easy implementation, the integrated paddle wheel design saves space, the height of the paddle wheel can be changed by adjusting the angle of the cantilever, the self-locking property of the worm gear enables the cantilever to maintain its posture when the motor is powered off, and no manual assistance is required during the salvage work.

Description

Technical Field

[0001] The present invention relates to a robot, in particular to an amphibious intelligent cleaning robot. Background Art

[0002] To ensure safety, intelligent robots are needed to replace manual salvage and recovery of floating debris. Amphibious intelligent cleaning robots require considerable adaptability and sensitivity to varying river conditions, as river conditions vary from one basin to another. Current cleaning robots are mostly large and designed for large rivers. These robots are difficult to transport, expensive, and operate, making them inefficient in complex river conditions. Furthermore, they cannot operate on land, even in difficult transport situations. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a modular amphibious intelligent cleaning robot that increases the stability of the robot in water and on land, increases the maneuverability of the robot in the field, and is stable and reliable and can realize multi-machine collaboration.

[0004] A modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration of the present invention comprises a hull, wherein the hull comprises left and right cabins arranged in parallel, a wheel is connected to the front cabin body of the left and right cabins respectively, the wheel adopts a shock-absorbing wheel, a paddle wheel mechanism is connected to the rear cabin body of the left cabin and the right cabin respectively through a cantilever mechanism, the rear cabin bodies of the left cabin and the right cabin are fixedly connected by a cabin connecting frame, a bracket is connected to the top wall of the rear part between the left cabin and the right cabin, a salvage conveyor belt mechanism is installed between the front cabin bodies of the left cabin and the right cabin, and a front end of a collection box conveyor belt mechanism is located below the tail end of the salvage conveyor belt mechanism;

[0005] The salvage conveyor belt mechanism and the collection box conveyor belt mechanism both include left and right conveyor belt bodies arranged in parallel and spaced apart, an input shaft and an output shaft are respectively connected in the horizontal direction at the front and rear sides between the left and right conveyor belt bodies, a plurality of support shafts are connected between the left and right conveyor belt bodies between the input shaft and the output shaft, the left and right ends of the input shaft, the output shaft and the plurality of support shafts are respectively connected to the main bearings installed on the left and right conveyor belt bodies, a sprocket is respectively installed at the left and right ends of the input shaft and the output shaft, and the main shaft is connected to the left or right main shaft. Positioning sleeves are respectively installed on the output shaft and input shaft between the body bearing and the sprocket, and chains are respectively looped on the two sprockets on the left and the two sprockets on the right. A conveyor belt is composed of multiple conveyor plates that are parallel to each other and spaced apart. The left and right ends of each conveyor plate are respectively fixedly connected to the left and right chains by pins passing through the conveyor plates. The left end or the right end of the input shaft is fixedly connected to the output shaft of the salvage conveyor motor through a worm gear reducer. The worm gear reducer is fixed to one side of the conveyor belt body through a mounting flange, and the salvage conveyor motor is fixed to the worm gear reducer.

[0006] The left and right conveyor belt bodies of the salvage conveyor belt mechanism are arranged in an inclined direction, the lower parts of the left and right conveyor belt bodies of the salvage conveyor belt mechanism are respectively fixed to the inner walls of the front cabin bodies of the left and right cabins that are opposite to each other, and the rear ends are fixed to the brackets, and the front ends of the left and right conveyor belt bodies of the collection box conveyor belt mechanism are fixed to the brackets, and the salvaged objects output from the rear end of the conveyor plate of the salvage conveyor belt mechanism fall into the front end of the collection box conveyor belt mechanism;

[0007] The cam is fixed to the left side of the hull with a plurality of cams, and the cams are fixed to the cam by a plurality of cams, and the cams are fixed to the cam by a plurality of cams.

[0008] A lower cantilever arranged in a vertical direction has a cylindrical structure at the lower portion and an annular structure at the upper portion. The annular structure is inserted into the vertical sleeve of the T-shaped upper cantilever. A cylindrical fixing nut is sleeved on the upper portion of the cylindrical structure through a hole opened in the middle of the bottom wall of the cylindrical fixing nut and is tightened with a thread on the outer wall of the lower portion of the vertical sleeve. The lower portion of the lower cantilever is connected to the dust cover through a key and the bottom of the lower cantilever extending out of the dust cover is connected to a locking nut to fix the lower cantilever and the dust cover. A spring is installed between the bottom wall of the annular structure and the top wall of the vertical sleeve. The lower cantilever can move up and down in the vertical sleeve under the action of the spring.

[0009] Each of the paddle wheel mechanisms includes a hub, a rubber tire is installed on the outer ring of the hub, a box is installed in the middle of the hub, a paddle wheel drive motor is installed on the inner side of the box, the output shaft of the paddle wheel drive motor is arranged in the horizontal direction and a first sun gear is fixed on the output shaft, the first sun gear is meshed with three first planetary gears surrounding the first sun gear, the three first planetary gears and the second sun gear are respectively arranged on both sides of the asteroid carrier, the three second planetary gears surround the second sun gear and mesh with the second sun gear, each of the first planetary gear, the second planetary gear and the second sun gear are respectively It is fixed on the outer ring of the rolling bearing, the inner ring of each rolling bearing is fixed on the connecting shaft, the inner end of the connecting shaft connected to each first planetary gear is fixed to the small planet carrier, and the inner end of the connecting shaft connected to each second planetary gear and the second sun gear is fixed to the boss on the large planet carrier, the inner end of each rolling bearing is pressed against the boss and the outer end is pressed through a locking nut connected to the connecting shaft, a sealing cylinder is installed between the large planet carrier and the wheel hub, the overall structure inside the sealing cylinder is fixed to the wheel hub through the large planet carrier and the sealing cylinder, the first planetary gear and the second planetary gear are meshed with the ring gear, and the ring gear is fixed to the housing of the paddle wheel drive motor by bolts.

[0010] Compared with the prior art, the present invention has the following effects:

[0011] 1. The paddle wheel mechanism of the present invention adopts an integrated design. The drive motor and transmission mechanism are hidden in the wheel hub. The paddle wheel is sealed by a dust cover and a sealing cylinder, which can save space for other modules and increase the stability of the robot in water and on land.

[0012] 2. The cantilever mechanism of the present invention is driven by a motor and a worm gear reducer. The height of the paddle wheel can be adjusted by adjusting the angle of the cantilever. Moreover, the self-locking property of the worm gear itself enables the cantilever to maintain its posture when the motor is powered off.

[0013] 3. The paddle wheel of the present invention adopts a special structure and is improved on the basis of the traditional paddle wheel. It can not only work in water, but also move freely on land without using any auxiliary devices, thereby increasing the maneuverability of the robot in the field.

[0014] 4. The present invention adopts a modular design, in which each module is processed and assembled separately and then assembled together. The structure is reasonable and ingenious, easy to implement, and suitable for robots used in river cleaning work.

[0015] 5. The collection box of the present invention is internally designed with a stable and reliable conveying device, which can recover floating objects on the shore without manual assistance.

[0016] 6. The internal structure of the guide wheel of the present invention is simple, which can effectively avoid jamming or damage during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall structural diagram of a modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to the present invention;

[0018] Figure 2 It is a structural diagram of the salvage conveyor belt of the present invention;

[0019] Figure 3 It is a structural diagram of the input shaft of the salvage conveyor belt of the present invention;

[0020] Figure 4 is a structural diagram of the driving paddle wheel module of the present invention;

[0021] Figure 5 It is a structural diagram of the guide wheel of the present invention;

[0022] Figure 6 It is a structural diagram of the sun gear and planetary gear of the present invention;

[0023] Figure 7 It is a structural diagram of the cantilever system driving device of the present invention;

[0024] Figure 8 is a structural diagram of the asteroid carrier of the present invention;

[0025] Figure 9 It is a structural diagram of the planetary carrier of the present invention. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of protection of the present invention.

[0027] As shown in the accompanying drawings, the present invention discloses a modular amphibious intelligent cleaning robot capable of achieving multi-machine collaboration, comprising a hull 1. The hull 1 includes left and right cabins arranged in parallel. A wheel 5 is connected to the front cabin body of each of the left and right cabins, and the wheel 5 is a shock-absorbing wheel. A paddle wheel mechanism is connected to the rear cabin body of the left cabin and the right cabin respectively via a cantilever mechanism. The rear cabin bodies of the left cabin and the right cabin are fixedly connected by a cabin connecting frame. A bracket 3 is connected to the top wall of the rear portion between the left and right cabins. A salvage conveyor belt mechanism 6 is installed between the front cabin bodies of the left and right cabins. The front end of a collection box conveyor belt mechanism 4 is located below the rear end of the salvage conveyor belt mechanism 6, so that salvaged objects output from the rear end of the salvage conveyor belt mechanism 6 fall into the front end of the collection box conveyor belt mechanism 4.

[0028] The salvage conveyor belt mechanism 6 and the collection box conveyor belt mechanism 4 each include a conveyor belt body 6-2 arranged parallel to each other. An input shaft 6-4 and an output shaft 6-10 are horizontally connected to the front and rear sides of the left and right conveyor belt bodies 6-2, respectively. Multiple support shafts are connected between the left and right conveyor belt bodies 6-2 between the input shaft 6-4 and the output shaft 6-10. The left and right ends of the input shaft 6-4, the output shaft 6-10, and the multiple support shafts are respectively connected to main bearings (such as deep groove ball bearings) 6-11 installed on the left and right conveyor belt bodies. A sprocket 6-3 is installed on the left and right ends of the input shaft 6-4 and the output shaft 6-10, respectively. The sprockets 6-3 can be connected via a flat key. A positioning sleeve 6-14 is installed on the output shaft and the input shaft, respectively, between the main bearing 6-11 and the sprocket 6-3 located on the left or right side. Chains 6-9 are looped around the two sprockets 6-3 on the left and two sprockets 6-3 on the right. A conveyor belt is composed of multiple parallel and spaced conveyor plates 6-8, with the gaps between adjacent conveyor plates set to allow water to flow through. The left and right ends of each conveyor plate are fixedly connected to the left and right chains 6-9 via pins passing through the conveyor plates. The left or right end of the input shaft 6-4 is fixedly connected to the output shaft of the salvage conveyor motor 6-7 via a worm gear reducer 6-6. The worm gear reducer is fixed to one side of the conveyor belt body 6-2 via a mounting flange 6-5, and the salvage conveyor motor 6-7 is fixed to the worm gear reducer 6-6.

[0029] The left and right conveyor belt bodies 6-2 of the salvage conveyor belt mechanism 6 are arranged in an inclined direction, and the lower parts of the left and right conveyor belt bodies 6-2 of the salvage conveyor belt mechanism 6 are respectively fixed on the inner walls of the front cabin bodies of the left and right cabins that are arranged opposite to each other and the rear ends are fixed on the bracket 3. The front ends of the left and right conveyor belt bodies 6-2 of the collection box conveyor belt mechanism 4 are fixed on the bracket 3, and the salvaged objects output from the tail end of the conveying plate of the salvage conveyor belt mechanism 6 fall into the front end of the collection box conveyor belt mechanism 4.

[0030] Preferably, a plurality of salvage plates 6-13 are connected on the left and right sides of the conveyor belt of the salvage conveyor belt mechanism 6 and along the axial direction of the input shaft 6-4. The plurality of salvage plates 6-13 on each side are arranged at predetermined intervals and the bottoms are welded to the conveyor plate. Preferably, there are 10 conveyor plates 6-8 between the two adjacent salvage plates 6-13.

[0031] Further preferably, a collecting plate 6-1 is connected to the front end of the left and right conveyor belt bodies 6-2 of the salvage conveyor belt mechanism 6 and toward the front of the left and right cabins respectively, and the two collecting plates form a V-shaped opening to gather floating objects in front of the robot in front of the conveyor belt.

[0032] This arrangement uses a chain drive to drive the transmission belt to salvage floating objects on the water surface and transmit them to a collection box. At the same time, the self-locking performance of the worm gear reducer can be used to achieve mechanical self-locking, eliminating the need for a power-loss brake. The larger transmission ratio of the worm gear reducer also allows the transmission belt to obtain a larger torque.

[0033] Each of the cantilever mechanisms includes a flange 2-8 relatively fixed on the inner and outer walls of the left cabin or the inner and outer walls of the right cabin, a cover 2-4 is fixed to the flange 2-8 by bolts, a rotating shaft bearing 2-5 is installed in the flange, a T-shaped upper cantilever 2-3 is composed of a horizontal sleeve and a vertical sleeve connected to each other, one end of the horizontal sleeve of the T-shaped upper cantilever 2-3 is tightly pressed against the outer wall of the cover 2-4, and the outer end of a rotating shaft 2-7 arranged in the horizontal direction passes through the rotating shaft bearing 2-5, the cover 2-4 and the horizontal sleeve. The outer ends of the rotating shaft 2-7 are fixed to the horizontal sleeves on the corresponding sides by nuts. The inner wall of the horizontal sleeve is connected to the rotating shaft 2-7 by a sleeve key 2-11. The inner end of the rotating shaft 2-7 located inside the hull is connected to the output end of the worm gear reducer 2-25 by a flat key 2-6. The output shaft of the shaft drive motor 2-26 is connected to the worm gear reducer by a flat key. Shaft shoulders are respectively provided on the left and right sides of the rotating shaft 2-7. The shaft shoulders on the left and right sides can respectively press against the inner wall of the inner ring of the rotating shaft bearing 2-5 of the corresponding cantilever mechanism. Preferably, a first sealing ring 2-9 and a second sealing ring 2-10 are respectively provided on the rotating shaft 2-7 between the rotating shaft 2-7 and the flange and between the rotating shaft 2-7 and the cover 2-4. Due to the characteristics of the worm gear reducer itself, the upper cantilever 2-3 can still maintain the state before power failure when the power is cut off, and the worm gear reducer has a high transmission ratio, which can provide a higher torque for the upper cantilever 2-3.

[0034] A lower cantilever 2-1 arranged in the vertical direction has a cylindrical structure at the bottom and an annular structure at the top. The annular structure is inserted into the vertical sleeve of the T-shaped upper cantilever 2-3. A cylindrical fixing nut 2-12 is inserted into the upper part of the cylindrical structure through a hole in the middle of the bottom wall of the cylindrical fixing nut and is tightened with the thread on the outer wall of the lower part of the vertical sleeve. Preferably, a nut sealing ring 2-13 is installed on the bottom wall inside the cylindrical fixing nut and is pressed between the bottom wall of the vertical sleeve and the bottom wall of the cylindrical fixing nut. The lower part of the lower cantilever 2-1 is connected to the dust cover 2-24 via a key 2-27, and the bottom of the lower cantilever 2-1 extending out of the dust cover 2-24 is connected to a locking nut to fix the lower cantilever 2-1 and the dust cover 2-24.

[0035] A spring 2-2 is installed between the bottom wall of the annular structure and the top wall of the vertical sleeve. The lower cantilever, activated by spring 2-2, is able to move up and down within the vertical sleeve. This arrangement, combined with the damping spring between the upper and lower cantilever arms, reduces impact when the robot is traveling on land. By adjusting the cantilever arm's angle, the paddle wheel can be moved up and down, varying its height to adapt to varying watershed environments and terrains.

[0036] Each paddle wheel mechanism includes a hub 2-20, with a rubber tire 2-22 mounted on the outer ring of the hub 2-20. A housing is mounted in the middle of the hub 2-20, and a paddle wheel drive motor 2-23 is mounted inside the housing. The output shaft of the paddle wheel drive motor 2-23 is arranged horizontally, and a first sun gear 2-19 is fixed to the output shaft. The first sun gear 2-19 is meshed with three first planetary gears 2-28 surrounding the first sun gear. To save installation space, the first sun gear 2-19 is directly fixed to the output shaft of the motor. The three first planetary gears 2-28 and the second sun gear 2-18 are respectively arranged on both sides of the asteroid carrier 2-29. The three second planetary gears 2-16 surround the second sun gear and mesh with the second sun gear 2-18. Each first planetary gear, second planetary gear, and second sun gear is respectively fixed to the outer ring of a rolling bearing 2-15. The inner ring of each rolling bearing 2-15 is fixed to a connecting shaft. The inner end of the connecting shaft connected to each first planetary gear is fixedly connected to the small planet carrier, and the inner end of the connecting shaft connected to each second planetary gear and the second sun gear is fixedly connected to a boss 2-30 on the large planet carrier. The inner end of each rolling bearing is pressed against the boss, and the outer end is compressed by a locking nut 2-31 connected to the connecting shaft. A sealing cylinder 2-14 is installed between the large planet carrier 2-17 and the wheel hub 2-20. The entire structure within the sealing cylinder is fixed to the wheel hub 2-20 via the large planet carrier 2-17 and the sealing cylinder. The first planetary gear 2-28 and the second planetary gear 2-16 are meshed with the ring gear 2-21, which is bolted to the housing of the paddle wheel drive motor 2-23.

[0037] With this arrangement, the drive motor and transmission mechanism are hidden in the wheel hub with a compact structure. The paddle wheel is sealed by a dust cover and a sealing cylinder, which can save space for other modules and increase the stability of the robot in water and on land.

[0038] As an embodiment of the present invention, the wheel 5 includes a guide hub 5-10, a rubber tire 5-9 is fixed on the outer ring of the guide hub 5-10, a bearing seat is installed in the middle of the guide hub 5-10, a first rolling bearing 5-12 is installed in the bearing seat, a wheel shaft 5-8 arranged in the horizontal direction passes through the inner ring of the first rolling bearing 5-12, an inner flange plate and an outer flange plate of an N-shaped frame 5-6 are respectively sleeved on the left and right ends of the wheel shaft 5-8 passing through the rolling bearing 5-12, and a fastening nut 5-11 is threadedly connected to the wheel shaft 5-8 on the outside of the inner flange plate, the inner wall of the fastening nut 5-11 is pressed against the outer wall of the inner flange plate, and a boss is provided at the outer end of the wheel shaft 5-8 located outside the outer flange plate, and the inner wall of the boss presses the outer flange plate to fix the outer flange plate.

[0039] A second rolling bearing 5-13 is mounted between the webs of the N-shaped frame 5-6. A vertically disposed piston 5-5 has its lower portion fixedly connected to the inner ring of the second rolling bearing 5-13. For example, a nut can be threaded onto the bottom of the piston 5-5, which compresses the inner ring of the second rolling bearing 5-13 to secure the piston to the inner ring. A piston ring support is located on the top of the piston 5-5.

[0040] The upper portion of a damping sleeve 5-2 is fixedly connected to the front outer wall of the cabin. The piston ring is inserted into the lower portion of the damping sleeve 5-2. A cylindrical sealing nut 5-1 is inserted through a hole in the middle of the bottom wall of the cylindrical sealing nut and is screwed into the upper portion of the piston 5-5. The cylindrical sealing nut 5-1 is preferably installed on the bottom wall of the cylindrical sealing nut 5-1 and is compressed between the bottom walls of the damping sleeve 5-2 and the cylindrical sealing nut 5-1. A damping spring 5-3 is installed in the damping sleeve. The lower portion of the damping spring 5-3 is inserted into the piston ring. The piston 5-5 can move up and down within the damping sleeve 5-2 under the action of the damping spring 5-3.

[0041] The working process of this device is as follows:

[0042] When recovering floating objects in the water, the cleaning robot can enter recovery mode. In this mode, the SDGA-04C11BD24 model motor and reducer are directly connected to drive the rotating shaft 2-7. The rotating shaft 2-7 drives the upper cantilever 2-3 via key 2-11, which rotates the upper cantilever 2-3 to adjust the paddle wheel to the appropriate position on the water surface. The paddle wheel drive motor 2-23 drives the first sun gear 2-19, which drives the three first planetary gears 2-28 to rotate around the first sun gear. The first planetary gears 2-28 drive the second sun gear 2-18, which drives the second planetary gears 2-16 to rotate around the second sun gear. The second planetary gears 2-16 drive the large planetary carrier 2-17, which in turn drives the paddle wheel hub. The cleaning robot can adjust the required deflection angle through differential speed. The paddle wheel drive motors 2-23 on both sides rotate at different speeds, creating a speed difference. This speed difference allows the cleaning robot to adjust its direction of travel. When differential turning is required, the paddle wheel drive motor on one side can be made to rotate forward at a certain speed, and the paddle wheel drive motor on the other side can be made to reverse at the opposite speed, so that the cleaning robot can achieve differential turning or turning in place.

[0043] When the cleaning robot moves forward, the salvage transmission motor 6-7 rotates, and the salvage transmission motor 6-7 drives the input shaft 6-4 to rotate. The input shaft 6-4 drives the sprocket 6-3 to rotate using the key 6-12. The sprocket 6-3 drives the chain 6-9 to rotate. The chain 6-9 drives the transmission belt to work and salvage the floating objects in front into the collection box.

[0044] When driving on land, the robot enters land driving mode. In this mode, the lower cantilever can be moved up and down in the vertical sleeve by spring 2-2 to adjust the height of the paddle wheel. The hull 1 is adjusted to a horizontal state, and the paddle wheel drive motor is adjusted to rotate to drive the robot on land.

[0045] It is worth noting that although the preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned implementation methods are merely illustrative and not restrictive. Relevant technical personnel in this field can be inspired by the present invention and make many forms without departing from the purpose of the present invention and the scope of protection of the claims. These all fall within the scope of protection of the present invention.

Claims

1. A modular amphibious intelligent cleaning robot capable of realizing multi-machine coordination, comprising a hull (1), wherein the hull comprises left and right cabins arranged in parallel, characterized in that: A wheel (5) is connected to the front cabin body of the left and right cabins respectively, and the wheel is a shock-absorbing wheel. A paddle wheel mechanism is connected to the rear cabin body of the left cabin and the right cabin respectively through a cantilever mechanism. The rear cabin bodies of the left cabin and the right cabin are fixedly connected through a cabin connecting frame. A bracket (3) is connected to the top wall of the rear part between the left cabin and the right cabin. A salvage conveyor belt mechanism (6) is installed between the front cabin bodies of the left cabin and the right cabin. The front end of a collection box conveyor belt mechanism (4) is located below the tail end of the salvage conveyor belt mechanism. The salvage conveyor belt mechanism and the collection box conveyor belt mechanism both include conveyor belt bodies (6-2) arranged in parallel and spaced relation on the left and right sides, an input shaft (6-4) and an output shaft (6-10) are connected horizontally at the front and rear sides between the left and right conveyor belt bodies, a plurality of support shafts are connected between the left and right conveyor belt bodies between the input shaft and the output shaft, the left and right ends of the input shaft, the output shaft and the plurality of support shafts are respectively connected to the main bearings (6-11) installed on the left and right conveyor belt bodies, a sprocket (6-3) is respectively installed at the left and right ends of the input shaft and the output shaft, and a sprocket is installed between the main bearings and the sprockets located on the left or right side. Positioning sleeves (6-14) are respectively installed on the output shaft and input shaft between the two, chains (6-9) are respectively looped on the two sprockets on the left and the two sprockets on the right, a conveyor belt is composed of multiple conveyor plates (6-8) parallel to each other and spaced apart, the left and right ends of each conveyor plate are respectively fixedly connected to the two chains (6-9) on the left and right via pins passing through the conveyor plates, the left end or the right end of the input shaft is fixedly connected to the output shaft of the salvage conveying motor (6-7) via a worm gear reducer (6-6), the worm gear reducer is fixed to one side of the conveyor belt body (6-2) via a mounting flange (6-5), and the salvage conveying motor is fixed to the worm gear reducer; The left and right conveyor belt bodies of the salvage conveyor belt mechanism are arranged in an inclined direction, the lower parts of the left and right conveyor belt bodies of the salvage conveyor belt mechanism are respectively fixed to the inner walls of the front cabin bodies of the left and right cabins that are opposite to each other, and the rear ends are fixed to the brackets, and the front ends of the left and right conveyor belt bodies of the collection box conveyor belt mechanism are fixed to the brackets, and the salvaged objects output from the rear end of the conveyor plate of the salvage conveyor belt mechanism fall into the front end of the collection box conveyor belt mechanism; Each of the cantilever mechanisms comprises a flange (2-8) fixed relatively to the inner and outer walls of the left cabin or the inner and outer walls of the right cabin, a cover (2-4) fixed to the flange by bolts, a rotating shaft bearing (2-5) installed in the flange, a T-shaped upper cantilever (2-3) composed of a horizontal sleeve and a vertical sleeve connected to each other, one end of the horizontal sleeve of the T-shaped upper cantilever is pressed against the outer wall of the cover, and the outer end of a rotating shaft (2-7) arranged in the horizontal direction passes through the rotating shaft bearing, the cover and the water pipe. A flat sleeve, the outer ends of the rotating shaft are respectively fixed to the horizontal sleeves on the corresponding sides by nuts, the inner wall of the horizontal sleeve is connected to the rotating shaft by a sleeve key (2-11), the inner end of the rotating shaft located in the hull is connected to the output end of the worm gear reducer by a flat key, the output shaft of the shaft drive motor is connected to the worm gear reducer by a flat key, and shaft shoulders are respectively provided on the left and right sides of the rotating shaft, and the shaft shoulders on the left and right sides can respectively press the inner wall of the inner ring of the rotating shaft bearing of the corresponding cantilever mechanism; A lower cantilever (2-1) arranged in a vertical direction has a columnar structure at its lower portion and an annular structure at its upper portion. The annular structure is inserted into a vertical sleeve of a T-shaped upper cantilever (2-3). A cylindrical fixing nut (2-12) is sleeved on the upper portion of the columnar structure through a hole opened in the middle of the bottom wall of the cylindrical fixing nut and is screwed together with a thread on the outer wall of the lower portion of the vertical sleeve. The lower portion of the lower cantilever is connected to a dust cover (2-24) via a key (2-27). The lower cantilever extends out of the bottom of the dust cover and is connected to a locking nut to fix the lower cantilever and the dust cover. A spring (2-2) is installed between the bottom wall of the annular structure and the top wall of the vertical sleeve. The lower cantilever can move up and down in the vertical sleeve under the action of the spring. Each of the paddle wheel mechanisms includes a hub (2-20), a rubber tire (2-22) is installed on the outer ring of the hub, a box is installed in the middle of the hub, and a paddle wheel drive motor (2-23) is installed on the inner side of the box, the output shaft of the paddle wheel drive motor is arranged in the horizontal direction and a first sun gear (2-19) is fixed on the output shaft, the first sun gear is meshed with three first planetary gears (2-28) surrounding the first sun gear, the three first planetary gears and the second sun gear are respectively arranged on both sides of the asteroid carrier (2-29), the three second planetary gears (2-16) surround the second sun gear and mesh with the second sun gear, and each of the first planetary gear, the second planetary gear and the second sun gear is respectively The invention relates to a method for manufacturing a paddle wheel drive motor comprising: fixing the paddle wheel drive motor and the first planetary gear to the first planetary gear, fixing the paddle wheel drive motor and the second planetary gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the paddle wheel drive motor; fixing the paddle wheel drive motor and the first planetary gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun ... second sun gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the second sun gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the second sun gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the second sun gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the second sun gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the paddle wheel drive motor and the second sun gear to the second sun gear, fixing the paddle wheel drive motor and the second sun gear to the first planetary gear, fixing the p 2. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to claim 1 is characterized in that: A plurality of salvage plates (6-13) are connected on the left and right sides of the conveyor belt of the salvage conveyor belt mechanism and along the axial direction of the input shaft (6-4). The plurality of salvage plates on each side are arranged at predetermined intervals and their bottoms are welded to the conveyor plate.

3. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to claim 2 is characterized in that: There are 10 transfer boards between the two adjacent salvage boards.

4. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to any one of claims 1 to 3, characterized in that: A collecting plate is connected to the front ends of the left and right conveyor belt bodies of the salvage conveyor belt mechanism and toward the front of the left and right cabins respectively. The two collecting plates form a V-shaped opening to gather floating objects in front of the robot in front of the conveyor belt.

5. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to claim 4 is characterized in that: The wheel (5) includes a guide hub (5-10), a rubber tire (5-9) is fixed on the outer ring of the guide hub, a bearing seat is installed in the middle of the guide hub, a first rolling bearing (5-12) is installed in the bearing seat, a wheel shaft (5-8) arranged in the horizontal direction passes through the inner ring of the first rolling bearing, an inner flange plate and an outer flange plate of an n-shaped frame (5-6) are respectively sleeved on the left and right ends of the wheel shaft passing through the first rolling bearing (5-12), and a fastening nut (5-11) is threadedly connected to the wheel shaft outside the inner flange plate, the inner wall of the fastening nut is pressed against the outer wall of the inner flange plate, and is located on the outer flange plate. A boss is provided at the outer end of the outer wheel shaft, and the inner wall of the boss presses the outer flange plate to fix the outer flange plate. A second rolling bearing is installed in the middle of the web of the N-shaped frame. The lower part of a piston arranged in the vertical direction is fixedly connected to the inner ring of the second rolling bearing. A nut presses the inner ring of the second rolling bearing (5-13) to fix the piston to the inner ring of the second rolling bearing. A piston ring platform is provided on the top of the piston; the upper part of a shock-absorbing sleeve (5-2) is fixedly connected to the outer wall of the front side of the cabin, and the piston ring platform is inserted into the lower inner part of the shock-absorbing sleeve. A cylindrical sealing nut is sleeved on the upper part of the piston through a hole opened in the middle of the bottom wall of the cylindrical sealing nut and is tightened with the thread on the outer wall of the lower part of the shock-absorbing sleeve.

6. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to claim 5 is characterized in that: A shock-absorbing sealing ring is installed on the bottom wall of the cylindrical sealing nut and is tightly arranged between the bottom wall of the shock-absorbing sleeve and the bottom wall of the cylindrical sealing nut. A shock-absorbing spring is installed in the shock-absorbing sleeve. The lower part of the shock-absorbing spring is inserted into the piston ring platform. The piston can move up and down in the shock-absorbing sleeve under the action of the shock-absorbing spring.

7. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to claim 6 is characterized in that: A first sealing ring (2-9) and a second sealing ring (2-10) are respectively sleeved on the rotating shaft between the rotating shaft and the flange and between the rotating shaft and the cover.

8. The modular amphibious intelligent cleaning robot capable of realizing multi-machine collaboration according to claim 7 is characterized in that: A nut sealing ring (2-13) is installed on the bottom wall inside the cylindrical fixing nut and is tightly arranged between the bottom wall of the vertical sleeve and the bottom wall of the cylindrical fixing nut.

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