An integrated device for sorting and recycling plastic waste on water surface

Abstract

The present invention discloses an integrated device for sorting and recycling plastic waste on water surfaces. The device comprises a collection robot and a base station. The collection robot comprises a hull, a collection device, a sorting device, and a lifting device mounted on the hull. The base station is fixed in a fixed position and comprises a guide device, a grabbing and moving device, and a storage device. The surface plastic waste is collected by the collection device and sorted and stored by the sorting device. The draft of the collection robot is adjusted by the lifting device based on the amount of waste stored in the sorting device. When the collection robot reaches the upper limit, the guide device enters the base station, and the grabbing and moving device recovers the waste stored in the collection robot and stores it in the storage device. The present invention can identify, sort, collect, transport, and store surface plastic waste.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage collection, and in particular to an integrated device for sorting and recycling plastic garbage on a water surface. Background Art

[0002] Water surface plastic waste pollution is a global emerging environmental issue that has attracted much attention. Water surface plastic waste is not only toxic but also difficult to degrade. It also has serious impacts on aquatic organisms and seriously damages the contemporary ecosystem and ecological environment.

[0003] The current traditional solution to this serious problem is manual salvage, which has the following shortcomings: 1. It is labor-intensive and labor allocation is irrational. 2. It poses safety risks to personnel (falling into the water, contamination from plastic contaminants). 3. It is inefficient and labor-intensive.

[0004] Existing patent applications related to surface plastic salvaging devices include:

[0005] A surface garbage cleaning vessel and parts for a surface garbage cleaning vessel - 202010049081.X;

[0006] Hybrid water surface garbage cleaning device and control method thereof - 202011284184.0;

[0007] A water surface garbage collection device - 202220483029.X;

[0008] The above patent application has the following problems:

[0009] 1. Unable to sort plastic waste or consume a lot of energy when sorting;

[0010] 2. It is impossible to achieve the integration of classification, recycling, replacement and storage of collection devices;

[0011] 3. The robot’s draft depth cannot be adjusted and cannot adapt to various operating environments. Summary of the Invention

[0012] Purpose of the invention: In order to overcome the shortcomings of the background technology, the present invention discloses an integrated device for sorting and recycling plastic waste on the water surface, which can realize the identification, classification, collection, transportation and storage of plastic waste on the water surface.

[0013] Summary of the invention: The integrated device for sorting and recycling plastic waste on water surfaces disclosed in the present invention includes a collection robot and a base station;

[0014] The collection robot includes a hull and a collection device, a classification device and a lifting device arranged on the hull; the base station is placed in a fixed position and includes a guide device, a grabbing and moving device and a storage device; the plastic waste on the water surface is collected by the collection device and classified and stored by the classification device. The draft depth of the collection robot is adjusted by the lifting device according to the amount of garbage stored in the classification device. When the storage capacity of the collection robot reaches the upper limit, the guide device enters the base station and the grabbing and moving device is used to recycle the garbage stored inside the collection robot and place it into the storage device.

[0015] Furthermore, the collection device in the collection robot includes a rotating shaft, a grabbing crawler, a conveyor belt and a collection mesh plate arranged on the hull. The collection mesh plate is open and arranged at the bottom of the hull. Hollow baffles are arranged at intervals on the grabbing crawler. The grabbing crawler is docked with the conveyor belt and driven by their respective rotating shafts to transfer the plastic waste at the end of the collection mesh plate to the end of the conveyor belt.

[0016] Furthermore, the classification device in the collection robot includes a collection box arranged in the hull, and the collection box is divided into a first collection area and a second collection area. The end of the conveyor belt is located at the upper opening of the collection box, corresponding to the first collection area, and a classification baffle is provided at the end of the conveyor belt. A classification slider is provided at the edge of the upper opening of the second collection area. The classification baffle corresponds to the baffle surface of the conveyor belt and is inclined toward the classification slider, guiding plastic waste above the lower edge of the classification baffle to the second collection area, and plastic waste below the lower edge of the classification baffle falls directly into the first collection area. A ship door is provided at the position of the hull corresponding to the collection box.

[0017] Furthermore, the lifting device in the collection robot includes a lower fixed plate and an upper movable plate. The lower fixed plate is fixed on the hull and connected to the upper movable plate through a lifting mechanism. The two sides of the upper movable plate and the lower side of the hull on the side are respectively connected to the first connecting rod and the second connecting rod through a rotating shaft. The ends of the first connecting rod and the second connecting rod are connected by a rotating shaft. A buoy is fixed to the connecting end. According to the change of the weight of the hull, the height of the upper movable plate is adjusted by the lifting mechanism to realize the height adjustment of the buoy and maintain the draft depth of the collection robot.

[0018] Furthermore, a pressure sensor is provided at the bottom of the collection box, which is electrically connected to the lifting mechanism. The lifting and lowering of the buoy is controlled according to the weight change of the collected garbage, thereby maintaining the waterline during operation; an infrared sensor is provided on the hull corresponding to the collection box, which is electrically connected to the lifting mechanism. The lifting and lowering of the buoy is controlled by sensing the height difference between the lowest position of the collection box and the base station, thereby achieving successful docking of the collection robot with the base station.

[0019] Furthermore, the lifting mechanism includes a cross lifting arm connecting the lower fixed plate and the upper movable plate, and a first motor fixed on the lower fixed plate. The driving end of the first motor is connected to the upper movable plate through a screw, and the upper movable plate is lifted and lowered by driving the screw to rotate.

[0020] Furthermore, the grabbing and moving device includes a fixed bracket and a clamping mechanism placed on the fixed bracket through a moving pair, and the clamping mechanism realizes multi-dimensional movement through the moving pair.

[0021] Furthermore, the guide device includes a base station fixing plate and a guide plate placed at one end of the fixed bracket and arranged on both sides thereof. The storage device is placed under the fixed bracket and has multiple groups of collection boxes inside. The collection boxes in the hull are replaced by a clamping mechanism.

[0022] Furthermore, the moving pair includes a transmission belt placed on both sides of the fixed bracket, and the transmission belt is controlled by a pulley and a second motor at both ends. The fixed bracket is provided with a sliding rod across both sides, and the sliding rod is connected to the transmission belt and driven by it. An electric sliding block is provided on the sliding rod, and an electric sliding column is provided vertically downward on the electric sliding block, and a clamping mechanism is provided at the lower extending end of the electric sliding column.

[0023] Furthermore, the top of the hull of the collection robot is provided with a camera component and a lighting component for assisting in identifying garbage based on machine vision, as well as a solar panel connected to a battery.

[0024] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0025] (1) Realize integrated classification and recycling

[0026] Plastic waste (plastic bottles and plastic bags) on the water surface passes through a grabbing track, a conveyor belt, a sorting baffle, and a sorting slider, thus achieving integrated recycling and sorting. The sorted waste is then automatically sorted into different collection bins.

[0027] (2) Physical classification method

[0028] Taking advantage of the certain height of plastic bottles and the stickiness of plastic bags, a sorting device is designed. The physical sorting measure is reliable and effective, is not prone to circuit problems, and does not require additional energy.

[0029] (3) Adaptive adjustment of draft depth

[0030] Electrical signals from two sensors control a motor, which in turn controls the movement of a linkage mechanism connected to the buoy, enabling adaptive buoy lift and lowering. As the device collects trash, a pressure sensor controls the buoy's lift and lowering based on the weight of the collected trash, maintaining the waterline during operation. The buoy's lift and lowering are controlled by sensing the height difference between the collection bin's lowest point and the base station, enabling successful docking of the collection device and the base station.

[0031] (4) Automatic replacement of collection boxes

[0032] When the collection box's lowest position aligns with the base station's height, the collection robot purposefully retreats to the base station's entrance. The rear door opens, and the base station's gripper removes the collection box backward. The gripper then pushes the empty box back into the collection unit, completing automated collection. The rear door then closes, and the collection unit resumes operation.

[0033] (5) Accurate and efficient plastic collection

[0034] The surface plastic collection robot is equipped with a machine vision-based intelligent plastic waste identification module. It can locate the location of plastic waste and identify its type, enabling it to complete its collection tasks accurately and efficiently even in complex working conditions.

[0035] (6) Energy conservation and environmental protection

[0036] The surface plastic collection robot is equipped with a solar panel group, which can realize the interactive supplementary supply of dual energy (batteries and solar energy), maximize energy utilization, save energy, and be more environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a schematic structural diagram of the collection robot of the present invention;

[0039] Figure 3 is a schematic structural diagram of a base station of the present invention;

[0040] Figure 4 It is a schematic structural diagram of the collecting device of the present invention;

[0041] Figure 5 It is a schematic structural diagram of the classification device of the present invention;

[0042] Figure 6 It is a schematic structural diagram of the lifting device of the present invention;

[0043] Figure 7 It is a structural schematic diagram of the mobile grasping device of the present invention;

[0044] Figure 8 It is a schematic structural diagram of the guide device of the present invention;

[0045] Figure 9 It is a schematic structural diagram of the storage device of the present invention;

[0046] Figure 10 Schematic diagram of the machine vision module of the present invention. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0048] like Figure 1 The integrated device for sorting and recycling plastic waste on the water surface shown includes a collection robot 1 and a base station 2.

[0049] like Figure 2 and 3 As shown, the collection robot 1 includes a hull 101 and a collection device 102, a sorting device 103, and a lifting device 104 mounted thereon. The base station 2 is located at a fixed position on land and on the water surface and includes a guide device 201, a grabbing and moving device 202, and a storage device 203. Plastic waste on the water surface is collected by the collection device 102 and sorted and stored by the sorting device 103. The draft of the collection robot 1 is adjusted by the lifting device 104 based on the amount of waste stored in the sorting device 103. When the collection robot 1 reaches the upper limit of its storage capacity, the guide device 201 enters the base station 2, and the grabbing and moving device 202 recycles the waste stored in the collection robot 1 and stores it in the storage device 203.

[0050] like Figure 4 As shown, the collecting device 102 in the collecting robot 1 includes a rotating shaft 102-1, a grabbing crawler 102-2, a conveyor belt 102-3 and a collecting mesh plate 102-4 arranged on the hull 101. The collecting mesh plate 102-4 is open and arranged at the bottom of the hull 101. Hollow baffles are provided at intervals on the grabbing crawler 102-2. The grabbing crawler 102-2 is docked with the conveyor belt 102-3 and is driven by its respective rotating shaft 102-1 to transfer the plastic waste at the end of the collecting mesh plate 102-4 to the end of the conveyor belt 102-3.

[0051] like Figure 5As shown, the classification device 103 in the collection robot 1 includes a collection box 103-1 arranged in the hull 101, and the collection box 103-1 is divided into a first collection area and a second collection area. The conveying end of the conveyor belt 102-3 is located at the upper opening of the collection box 103-1, corresponding to the first collection area, and a classification baffle 103-2 is provided at the end of the conveyor belt 102-3, and a classification slider 103-3 is provided at the edge of the upper opening of the second collection area. The classification baffle 103-2 corresponds to the baffle surface of the conveyor belt 102-3 and is inclined toward the classification slider 103-3, so that plastic garbage above the lower edge of the classification baffle 103-2 is guided to the second collection area, and plastic garbage below the lower edge of the classification baffle 103-2 falls directly into the first collection area, so that plastic bottles and plastic tapes in the surface garbage can be distinguished and stored, and a ship door 103-4 is provided at the position of the hull 101 corresponding to the collection box 103-1, which can be opened and closed by electric control.

[0052] like Figure 6 As shown, the lifting device 104 in the collection robot 1 includes a lower fixed plate 104-1 and an upper movable plate 104-2, the lower fixed plate 104-1 is fixed on the hull 101, and is connected to the upper movable plate 104-2 through a lifting mechanism, and the two sides of the upper movable plate 104-2 and the lower side of the hull 101 on the side are respectively connected to the first connecting rod 104-3 and the second connecting rod 104-4 through a rotating shaft, and the ends of the first connecting rod 104-3 and the second connecting rod 104-4 are connected by a rotating shaft, and the connecting end is fixed with a buoy 104-5. According to the weight change of the hull 101, the height of the upper movable plate 104-2 is adjusted by the lifting mechanism to realize the height adjustment of the buoy 104-5 and maintain the draft depth of the collection robot 1.

[0053] The lifting mechanism includes a cross lifting arm 104-6 connecting the lower fixed plate 104-1 and the upper movable plate 104-2, and a first motor 104-7 fixed on the lower fixed plate 104-1. The driving end of the first motor 104-7 is connected to the upper movable plate 104-2 through a screw 104-8. The upper movable plate 104-2 is lifted and lowered by driving the screw 104-8 to rotate.

[0054] A pressure sensor is provided at the bottom of the collection box 103-1, which is electrically connected to the lifting mechanism. The lifting and lowering of the buoy 104-5 is controlled according to the weight change of the collected garbage, thereby maintaining the waterline during operation; an infrared sensor is provided on the hull corresponding to the collection box 103-1, which is electrically connected to the lifting mechanism. The lifting and lowering of the buoy 104-5 is controlled by sensing the height difference between the lowest position of the collection box 103-1 and the base station 2, thereby achieving successful docking of the collection robot 1 and the base station 2.

[0055] like Figure 7As shown, the grasping moving device 202 includes a fixed bracket 202-1 and a clamping mechanism 202-2 placed on the fixed bracket 202-1 through a moving pair, and the clamping mechanism 202-2 realizes multi-dimensional movement through the moving pair. The moving pair includes a transmission belt 202-3 placed on both sides of the fixed bracket 202-1, and the transmission is controlled by pulleys 202-4 and a second motor 202-5 at both ends of the transmission belt 202-3. The fixed bracket 202-1 is provided with a sliding rod 202-6 across both sides, and the sliding rod 202-6 is connected to the transmission belt 202-3 and driven by it. An electric sliding block 202-7 is provided on the sliding rod 202-6, and a vertically downward electric sliding column 202-8 is provided on the electric sliding block 202-7. The clamping mechanism 202-2 is provided at the lower extending end of the electric sliding column 202-8.

[0056] like Figure 8 As shown, the guide device 201 includes a base station fixing plate 201-1 and a guide plate 201-2 placed at one end of a fixing bracket 202-1 and arranged on both sides thereof.

[0057] like Figure 9 As shown, the storage device 203 is placed under the fixed bracket 202-1 and is equipped with multiple collection boxes 103-1. The collection boxes 103-1 in the hull 101 are replaced by the clamping mechanism 202. Storage boxes can also be set in the storage device 203 to store the classified garbage in a unified manner.

[0058] like Figure 10 As shown, the top of the hull of the collection robot 1 is provided with a camera component 105 and a lighting component 106 equipped with machine vision-assisted garbage identification, which can locate the position of plastic garbage and identify the type of plastic garbage, so that the surface plastic collection robot can complete the operation tasks under complex working conditions, better realize its collection function, and realize accurate entry and exit guidance functions.

[0059] The top of the hull is also provided with a solar panel 107 connected to a battery.

Claims

1. An integrated device for sorting and recycling plastic waste on a water surface, characterized by: It includes a collection robot (1) and a base station (2); The collecting robot (1) comprises a hull (101) and a collecting device (102), a sorting device (103) and a lifting device (104) arranged on the hull; the base station (2) is placed in a fixed position and comprises a guiding device (201), a grabbing and moving device (202) and a storage device (203); plastic waste on the water surface is collected by the collecting device (102) and sorted and stored by the sorting device (103); the draft of the collecting robot (1) is adjusted by the lifting device (104) according to the amount of waste stored in the sorting device (103); when the storage capacity of the collecting robot (1) reaches an upper limit, the guiding device (201) enters the base station (2), and the waste stored in the collecting robot (1) is recovered by the grabbing and moving device (202) and stored in the storage device (203); The classification device (103) in the collecting robot (1) includes a collection box (103-1) arranged in the hull (101); The lifting device (104) in the collection robot (1) includes a lower fixed plate (104-1) and an upper movable plate (104-2), wherein the lower fixed plate (104-1) is fixed on the hull (101) and connected to the upper movable plate (104-2) via a lifting mechanism, and the lower side of the hull (101) on both sides of the upper movable plate (104-2) and the lower side of the hull (101) on the side thereof are respectively connected to a first connecting rod (104-3) and a second connecting rod (104-4) via a rotating shaft, and the ends of the first connecting rod (104-3) and the second connecting rod (104-4) are connected via a rotating shaft, and a buoy (104-5) is fixed at the connection of the rotating shaft, and the height of the upper movable plate (104-2) is adjusted by the lifting mechanism according to the weight change of the hull (101), thereby realizing the height adjustment of the buoy (104-5) and maintaining the draft depth of the collection robot (1); The bottom of the collection box (103-1) is provided with a pressure sensor, which is electrically connected to the lifting mechanism. The lifting and lowering of the buoy (104-5) is controlled according to the weight change of the collected garbage, thereby maintaining the waterline during operation. The collection box (103-1) is provided with an infrared sensor outside the hull corresponding to the hull, which is electrically connected to the lifting mechanism. The lifting and lowering of the buoy (104-5) is controlled by sensing the height difference between the lowest position of the collection box (103-1) and the base station (2), thereby achieving successful docking of the collection robot (1) and the base station (2).

2. The integrated device for sorting and recycling plastic waste on water surface according to claim 1 is characterized in that: The collecting device (102) in the collecting robot (1) comprises a rotating shaft (102-1) provided on the hull (101), a grabbing crawler (102-2), a conveyor belt (102-3) and a collecting mesh plate (102-4); the collecting mesh plate (102-4) is provided in an open manner at the bottom of the hull (101); hollow baffles are provided at intervals on the grabbing crawler (102-2); the grabbing crawler (102-2) is docked with the conveyor belt (102-3), and is driven by its respective rotating shafts (102-1) to transfer the plastic waste at the end of the collecting mesh plate (102-4) to the end of the conveyor belt (102-3).

3. The integrated device for sorting and recycling plastic waste on water surface according to claim 2, characterized in that: The collection box (103-1) is divided into a first collection area and a second collection area. The end of the conveyor belt (102-3) is located at the upper opening of the collection box (103-1), corresponding to the first collection area. A classification baffle (103-2) is provided at the end of the conveyor belt (102-3). A classification slider (103-3) is provided at the edge of the upper opening of the second collection area. The baffle surface of the classification baffle (103-2) corresponding to the conveyor belt (102-3) is inclined toward the classification slider (103-3), guiding plastic waste above the lower edge of the classification baffle (103-2) to the second collection area, while plastic waste below the lower edge of the classification baffle (103-2) falls directly into the first collection area. The hull (101) is provided with a ship door (103-4) at a position corresponding to the collection box (103-1).

4. The integrated device for sorting and recycling plastic waste on water surface according to claim 1 is characterized in that: The lifting mechanism comprises a cross lifting arm (104-6) connecting a lower fixed plate (104-1) and an upper movable plate (104-2), and a first motor (104-7) fixed to the lower fixed plate (104-1). The driving end of the first motor (104-7) is connected to the upper movable plate (104-2) via a screw rod (104-8). The upper movable plate (104-2) is lifted and lowered by driving the screw rod (104-8) to rotate.

5. The integrated device for sorting and recycling plastic waste on water surface according to claim 3 is characterized in that: The grabbing and moving device (202) comprises a fixed support (202-1) and a clamping mechanism (202-2) placed on the fixed support (202-1) via a moving pair, wherein the clamping mechanism (202-2) realizes multi-dimensional movement via the moving pair.

6. The integrated device for sorting and recycling plastic waste on water surfaces according to claim 5, characterized in that: The guide device (201) comprises a base station fixing plate (201-1) and a guide plate (201-2) disposed at one end of a fixing bracket (202-1) and arranged on both sides thereof. The storage device (203) is disposed below the fixing bracket (202-1) and contains multiple groups of collection boxes (103-1). The collection boxes (103-1) in the hull (101) are replaced by a clamping mechanism (202).

7. The integrated device for sorting and recycling plastic waste on water surface according to claim 6, characterized in that: The movable pair comprises a transmission belt (202-3) placed on both sides of a fixed bracket (202-1); the transmission is controlled at both ends of the transmission belt (202-3) by a pulley (202-4) and a second motor (202-5); the fixed bracket (202-1) is provided with a sliding rod (202-6) spanning both sides; the sliding rod (202-6) is connected to the transmission belt (202-3) and driven thereby; the sliding rod (202-6) is provided with an electric sliding block (202-7); the electric sliding block (202-7) is provided with an electric sliding column (202-8) extending vertically downward; and a clamping mechanism (202-2) is provided at the lower extending end of the electric sliding column (202-8).

8. The integrated device for sorting and recycling plastic waste on water surface according to claim 1, characterized in that: The top of the hull of the collection robot (1) is provided with a camera assembly (105) and a lighting assembly (106) for assisting in identifying garbage based on machine vision, as well as a solar panel (107) connected to a battery.

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