Filtering and garbage recycling device of mobile water surface cleaning robot

Abstract

The invention discloses a garbage filtering and recycling device of a movable water surface cleaning robot. The garbage filtering and recycling device comprises a filter screen cabin used for filtering, collecting and storing garbage, an electronic cabin used for controlling navigation and a floating body used for guaranteeing stable floating on the water surface. The device is characterized in that the top of the filter screen cabin is open, a screen barrel and a disposable filter screen are placed in the filter screen cabin, and a basin-shaped floater chamber and a normally closed air valve for adjusting the buoyancy of the screen barrel are mounted at the bottom of the screen barrel; the electronic cabin and the floating body are both of a sealed structure, and an electronic module, an air valve controller and a miniature air pump are arranged in the electronic cabin; the floating bodies are fixedly installed on the two sides of the filter screen cabin, and the immersion depth of the cleaning robot can be adjusted. Symmetrical drainage propelling pipelines are arranged on two sides of the filter screen cabin and are respectively communicated with the two propellers; the drainage opening in the bottom of the screen barrel and the propeller integrate a suction filtering device and a propelling device, the mechanism is simple, and the obvious cleaning effect is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of water surface pollution removal equipment, and in particular is a filtering and garbage recovery device of a mobile cleaning robot for floating foam on the water surface of an industrial pool. Background Art

[0002] Industrial pools are important storage facilities for industrial water. The management of water quality and the cleaning and maintenance of the water surface are directly related to industrial operations and the efficiency of water resource use. In a complex and relatively harsh industrial environment, after long-term operation, floating objects such as foam and debris will accumulate on the surface of the pool. If it is not cleaned for a long time, it will not only cause water pollution, but also floating garbage may be introduced for use, thereby reducing the efficiency of water resource utilization and affecting the process flow of factory production operations. Therefore, it is necessary to clean the floating objects in industrial pools from time to time. At the same time, for high-radiation and heavily polluted industrial pools, such as the "spent fuel" pools of the nuclear industry and factory cooling pools, the hazards caused by manual cleaning need to be considered. Therefore, it is also necessary to study a non-contact mobile method for cleaning floating objects on the water surface.

[0003] At present, the mainstream surface cleaning robots usually use conveyor belt salvage or garbage guide plate scooping and water level difference circulation filtration. The design of the filter is similar to that of traditional fixed garbage collectors. The operation and installation steps are complicated and still require manual intervention. It is not suitable for cleaning floating garbage on the surface of heavily polluted waters. The conveyor belt salvage method is mainly used for large floating garbage, and the cleaning effect of floating garbage such as floating foam and debris is poor. In addition, the cleaning effect of salvage methods such as garbage guide plate scooping and water level difference circulation is not significant enough. Although the garbage guide plate scooping method has a certain cleaning effect on large floating garbage and debris garbage, it is not significant enough for cleaning floating foam on the water surface. The water level difference circulation filtration method has a good effect on cleaning floating foam and debris garbage on the water surface, but the introduction of the discharge pump and the booster pump will greatly increase the system power consumption, which greatly reduces the work efficiency.

[0004] Based on the above technical background, this solution is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a filtering and garbage recycling device for a mobile water surface cleaning robot, which has the functions of an automatically lifting filter residue bucket and a vortex-type integrated adsorption and cleaning of floating garbage. At the same time, it can realize functions such as autonomous cruising operation on the water surface, automatic control of the water level height of the cleaning robot, and automatic avoidance of obstacles.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A filtering and garbage recycling device for a mobile water surface cleaning robot, comprising at least a filter cabin for filtering and storing garbage, an electronic cabin for controlling navigation, and a floating body for ensuring stable floating on the water surface, characterized in that: the top of the filter cabin is open, and a stainless steel screen barrel and a disposable filter are placed inside; an inverted basin-shaped float chamber and a normally closed air valve for adjusting buoyancy are installed at the bottom of the screen barrel, the disposable filter is placed in the screen barrel, and symmetrical drainage and propulsion pipes are provided on both sides of the bottom of the filter cabin, which are respectively connected to two propellers; the normally closed air valve is installed on the vent hole on the top of the basin-shaped float chamber; the electronic cabin and the floating body are both sealed structures, and the electronic cabin and the floating body are installed and fixed on the side of the filter cabin; an electronic control module and a micro air pump are placed inside the electronic cabin; the floating body can adjust the draft of the cleaning robot through a counterweight.

[0007] Furthermore, the filter compartment shell is composed of a round barrel that is larger at the top and smaller at the bottom, and the top of the barrel mouth is open; an inverted basin-shaped float chamber is installed at the bottom of the screen barrel placed inside.

[0008] Furthermore, the air outlet of the micro air pump inside the electronic compartment is connected to the filter compartment through a hose, and the air pump inflates the basin-shaped float chamber to raise the screen barrel, making it easy to recycle the disposable filter and garbage.

[0009] Furthermore, the air outlet of the air valve is installed on the exhaust hole on the top of the basin-shaped float chamber and is connected to the control circuit of the electronic cabin through a cable; after replacing the filter, the air valve is opened, the basin-shaped float chamber is exhausted, and the screen bucket is lowered back to its original position.

[0010] Furthermore, the two drainage and propulsion pipes are respectively connected to a propeller. The suction force of the propeller draws water and garbage into the top of the filter cabin, and the water and garbage are discharged by the propeller after passing through the screen barrel and the disposable filter, thereby generating the robot's navigation power.

[0011] The advantages of the present invention are: compared with the current mainstream mobile water surface cleaning robot's filtering and garbage recycling device, the screen barrel designed in this solution can be automatically lifted and lowered, and a disposable filter screen is used, which can realize contactless lifting and replacement of the filter screen, which is convenient for the transportation of floating garbage and the later maintenance of the screen barrel, and can also avoid the risk of manual operation to replace the filter screen in a heavily polluted environment. The propeller is used to drain the filter compartment, so that the power propulsion and filtering drainage are integrated, and a top-down water flow will be formed in the filter compartment, and then a water flow vortex will be formed, which not only improves the working efficiency of the whole machine, but also has a more obvious cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of the three-dimensional structure of a filtering and garbage recycling device of a mobile water surface cleaning robot according to the present invention; Figure 2 for Figure 1 A top view schematic diagram of a filtering and garbage recycling device of a mobile water surface cleaning robot; Figure 3 for Figure 1 A side cross-sectional schematic diagram of a filtering and garbage recycling device of a mobile water surface cleaning robot; Figure 4 for Figure 1 A schematic diagram of the structure of a filter compartment of a filtering and garbage recycling device of a mobile water surface cleaning robot; Figure 5 for Figure 1 A schematic diagram of a screen recovery device of a filtration and garbage recovery device of a mobile water surface cleaning robot; Description of symbols Filter cabin 1, screen barrel 101, columnar filter cartridge 102, basin-shaped float chamber 103, filter edge 104, disposable filter 105, propeller 106, mesh locking electromagnet 107, air valve 108, drain port 109, exhaust port 110, drainage propulsion pipeline 111, disposable filter lifting ring 112, waterproof plug 113, spring wire 114; Electronic cabin 2, laser radar 201, electronic control module 202, micro air pump 203, power battery 204; Floating body 3, water level sensor 301, infrared obstacle avoidance sensor 302, and balance block 303. DETAILED DESCRIPTION

[0013] Next, the specific implementation of the present invention is described in depth and detail in conjunction with the accompanying drawings and embodiments.

[0014] This embodiment provides a filtering and garbage recycling device for a mobile water surface cleaning robot, such as Figures 1 to 3 As shown in the figure, the overall structure of the cleaning robot consists of a filter compartment, an electronic compartment and two floats. Figure 3 As shown in the structural diagram of the filter compartment of the filtering and garbage recycling device of a mobile water surface cleaning robot, a screen barrel 101 is placed inside the screen compartment 1, and a disposable filter 105 for filtering out garbage is placed inside the screen barrel 101. There are two filter rings 112 for contactlessly lifting the disposable screen 105 at the top opening of the disposable filter 105. The screen barrel 101 is composed of a filter edge 104, a cylindrical filter cartridge 102 with an outer diameter the same as the inner diameter of the cylinder at the bottom of the filter compartment 101, and an inverted basin-shaped float chamber 103. The screen barrel 101 is used to filter out floating garbage that is filtered by the disposable filter 105 and leads to the drainage propulsion pipe 111, realizing a secondary filtration function to prevent it from flowing through the propeller 106 and clogging the blades.

[0015] A mesh locking electromagnet 107 is installed between the inner bottom surface of the filter cabin 1 and the basin-shaped float chamber 103. The mesh locking electromagnet 107 is composed of three equidistant electromagnets installed on an annular plastic disc and is fixed to the inner bottom surface of the filter cabin 1 for adsorbing and stabilizing the screen barrel 101. An exhaust port 110 is provided on the top plane of the inverted basin-shaped float chamber 103. The air outlet of the air valve 108 inside the basin-shaped float chamber 103 is connected to the exhaust port 110 on the top plane of the basin-shaped float chamber 103. The air inlet of the air valve 108 is connected to the micro air pump 203. The air valve 108 is fixedly mounted on the exhaust port 110 on the top plane of the basin-shaped float chamber 103.

[0016] When the garbage collected by the robot is recycled, the locking electromagnet 107 is powered on and demagnetized, and the screen barrel 101 is freed from the magnetic attraction. At this time, the micro air pump 203 fills air into the bottom of the basin-shaped float chamber 103, and the screen barrel 101 continues to rise under the action of the air at the bottom of the basin-shaped float chamber until it floats to the surface, completing the net lifting process and then recycling the garbage. Then, the air valve 108 is controlled to communicate with the exhaust port 110 to exhaust the air at the bottom of the basin-shaped float chamber 103, so that the screen barrel 101 falls back naturally, and the locking electromagnet 107 is controlled to restore the magnetic force, so that the screen barrel 101 returns to the initial position, completing the net lowering process.

[0017] A drainage port 109 is provided on the bottom side of the screen barrel 101, wherein each drainage port 109 is connected to a propeller 106 through a drainage propulsion pipe 111, the purpose of which is to discharge the water inside the filter cabin 1 out of the cabin while using the propeller 106 to propel the robot to sail, thereby forming a top-down water flow inside the filter cabin 1, thereby forming a vortex in the cabin, sucking floating garbage on the water surface into the disposable filter 105, and realizing the integrated function of filtering and draining the filter cabin 1 and the robot power propulsion. Because the electronic cabin 2 is a heavy cabin, the center of gravity of the cleaning robot will tilt backward as a whole, and the drainage pipe connected to the propeller 106 is designed in a "Z" shape to increase stability.

[0018] The electronic compartment 2 and the two floats 3 are fixed to the side of the filter compartment 1 through stainless steel bayonet mountings.

[0019] The working principle of the filtering and garbage recycling device of a mobile water surface cleaning robot is as follows: Put the robot into the pool, put the disposable filter 105 into the screen barrel 101 in the filter cabin 1, put the balance block 303 in the float 3, make the hatch on the top of the filter cabin 1 slightly lower than the water surface, and adjust the water level sensor to make the sensed water level slightly higher than the water surface. Turn on the power of the equipment, turn on the propeller 106 and start the autonomous movement to operate. The cleaning robot sails on the water surface under the action of the propeller 106; its cleaning principle is to use the propeller 106 to discharge the water in the filter cabin 1, thereby forming a top-down water flow in the filter cabin 1, and then forming a vortex in the center of the filter cabin 1 to draw in the floating garbage on the water surface. The specific implementation process is: under the action of the propeller 106, the water in the filter cabin 1 will be filtered through the disposable filter 105 and the screen barrel 101, and then discharged through the drainage propulsion pipe 111 and the propeller 106. While draining, since the hatch of the filter cabin 1 is slightly lower than the water surface, water will continue to flow into the filter cabin. Therefore, during the navigation of the cleaning robot, water will continue to enter and drain from the filter cabin 1, and a vortex will be formed in the center of the filter cabin 1. Floating garbage on the water surface of the area passed by the cleaning robot will be sucked in and accumulated in the disposable filter 105 in the screen barrel 101 of the filter cabin 1.

[0020] When the cleaning operation is completed, the disposable filter screen 105 needs to be replaced. At this time, under the premise that the locking electromagnet 107 is turned off, the micro air pump 203 is turned on. Under the action of the micro air pump 203, the basin-shaped float chamber 103 at the bottom of the screen barrel 101 in the filter cabin 1 will continue to be filled with air. Under the action of the air, the screen barrel 101 will gradually rise until it floats to the surface. Figure 4 Schematic diagram of the screen recovery of the filtering and garbage recovery device of the mobile water surface cleaning robot. At this moment, the disposable filter 105 can be taken out by hook extraction, and then a new disposable filter 105 can be put back in, and then the micro air pump 203 is turned off, and the locking electromagnet 107 is turned on, and the screen barrel 101 will gradually drop to the initial position.

[0021] To sum up, the embodiment of the present invention provides a filtering and garbage recycling device for a mobile water surface cleaning robot, the main feature of which is that the screen barrel 101 can be automatically raised and lowered, which is convenient for the contactless replacement of the disposable filter 105 and the later disassembly and maintenance of the screen barrel 101; the water flowing into the filter cabin 1 is filtered through the disposable filter 105 and the screen barrel 101, and then discharged from the drainage propulsion pipe 111 and the propeller 106, forming a vortex in the filter cabin 1 to draw in the surface garbage, which has a more significant cleaning effect; the propeller 106 has both propulsion assist function and drainage function, and has lower power consumption than traditional cleaning robots.

[0022] The above content is only used to explain and illustrate the concept of the present invention. Based on the basic principles of the technology of the present invention, improvements and replacements can be made to the salvaging method, structural arrangement or control method of the cleaning robot. If the changes are non-substantial, they will be deemed to be within the scope of protection of the present invention.

Claims

1. A filtering and garbage collection device for a mobile water surface cleaning robot, comprising at least a filter cabin for filtering and storing garbage, an electronic cabin for controlling navigation, and a buoy for ensuring stable floating on the water surface, characterized in that: The top of the filter cabin is open, and a stainless steel screen barrel and a disposable filter are placed inside. An inverted basin-shaped float chamber and a normally closed air valve for adjusting buoyancy are installed at the bottom of the screen barrel. The disposable filter is placed in the screen barrel, and symmetrical drainage and propulsion pipes are provided on both sides of the bottom of the filter cabin, which are respectively connected to two thrusters; the normally closed air valve is installed on the vent hole on the top of the basin-shaped float chamber; the electronic cabin and the float are both sealed structures, and the electronic cabin and the float are installed and fixed on the side of the filter cabin; an electronic control module and a micro air pump are placed inside the electronic cabin; the float can adjust the draft depth of the cleaning robot through the counterweight.

2. The filtering and garbage recycling device of a mobile water surface cleaning robot according to claim 1, characterized in that: The filter cabin shell is composed of a round barrel that is larger at the top and smaller at the bottom, and the top of the barrel mouth is open; an inverted basin-shaped float chamber is installed at the bottom of the screen barrel placed inside.

3. The filtering and garbage recycling device of a mobile water surface cleaning robot according to claim 1, characterized in that: The air outlet of the micro air pump inside the electronic cabin is connected to the filter cabin through a hose, and the air pump is used to inflate the basin-shaped float chamber to raise the screen barrel, so that the disposable filter and garbage can be recycled.

4. The filtering and garbage recycling device of a mobile water surface cleaning robot according to claim 1, characterized in that: The air outlet of the air valve is installed on the exhaust hole on the top of the basin-shaped float chamber and is connected to the control circuit of the electronic cabin through a cable; after replacing the filter, the air valve is opened, the basin-shaped float chamber is exhausted, and the screen barrel is lowered back to its original position.

5. The filtering and garbage recycling device of a mobile water surface cleaning robot according to claim 1, characterized in that: The two drainage and propulsion pipes are respectively connected to a propeller. The suction force of the propeller draws water and garbage into the filter compartment from the top, and then is discharged by the propeller after passing through the screen barrel and the disposable filter, thereby generating the robot's navigation power.

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