Multifunctional wharf device suitable for lake surface garbage cleaning robot

Abstract

The embodiment of the invention provides a multifunctional wharf device suitable for a lake surface garbage cleaning robot. The multifunctional wharf device comprises a wharf body, a large garbage can, a dumping mechanism, a driving mechanism and a charging mechanism. The wharf body is provided with a parking cabin with a lateral opening and a storage cabin with a top opening. The top of the large garbage can is opened, and the large garbage can is movably arranged in the storage cabin; the dumping mechanism is erected above the wharf main body and comprises a driving assembly and a turnover grabbing assembly, and the driving assembly is used for driving the grabbing assembly to ascend and descend and reciprocates between the parking cabin and the large garbage can; the lifting mechanism is arranged in the storage cabin and used for driving the large garbage can to ascend and descend in the storage cabin; the charging mechanism is arranged on the wharf body and used for charging equipment parked in the parking cabin. The garbage can has the advantages of efficient space utilization, automatic garbage cleaning, convenient equipment charging and the like, automatic garbage cleaning can be achieved, and the automation degree of the equipment is further improved.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a multifunctional dock device suitable for a lake garbage cleaning robot. Background Art

[0002] Garbage on the lake surface, especially plastic garbage, is one of the main sources of water pollution. In order to protect water resources and quickly salvage garbage on the lake surface, the existing robots used to collect garbage on the lake surface generally have garbage collection parts consisting of a hull, a garbage collection box, and a guide plate. The garbage collection box can be movably installed in the hull to temporarily store the collected garbage. However, in actual use, it was found that the garbage collection box could not be replaced automatically, and it was still necessary to manually disassemble and empty the garbage collection box and then reinstall it on the hull, which resulted in high labor costs and low system efficiency. Summary of the invention

[0003] In view of this, the present invention provides a multifunctional dock device which can automatically replace a garbage collection box in a lake garbage cleaning robot.

[0004] The purpose of the present invention is achieved through the following technical solutions: A multifunctional dock device suitable for a lake garbage cleaning robot, comprising: A dock body, wherein the dock body is provided with a docking cabin with a side opening and a storage cabin with a top opening at both ends along its length direction; A large trash bin, which is open at the top and movably disposed in the storage compartment, and is used to store the small trash bins on the robot; A dumping mechanism is mounted above the dock body and includes a driving assembly and a flippable grabbing assembly, wherein the driving assembly is used to drive the grabbing assembly to rise and fall, and to reciprocate between the docking cabin and the large garbage bin; A lifting mechanism, disposed in the storage compartment, for driving the large garbage bin to be lifted and lowered in the storage compartment; The charging mechanism is arranged on the dock body and is used for charging the equipment docked in the docking cabin.

[0005] In the above technical solution, by designing a docking cabin with side openings and a storage cabin with top openings, the multi-dimensional utilization of the main space of the terminal is achieved, which not only meets the docking needs of the garbage cleaning robot, but also provides convenient space for storing and maintaining equipment, thereby improving the overall operational efficiency of the terminal. Secondly, the large garbage bin can be movably arranged in the storage cabin, and combined with the lifting function of the lifting mechanism, it is convenient for the collection, transportation and treatment of garbage, reduces manual operation, and improves the efficiency and manual safety of garbage treatment. In addition, the design of the dumping mechanism realizes the automation of the grabbing of the small garbage bin on the robot, which can accurately grab it into the large garbage bin and dump the garbage into the large garbage bin, effectively improving the speed and accuracy of garbage cleaning and reducing labor costs. At the same time, the charging mechanism is directly integrated into the main body of the terminal, providing instant charging services for equipment docked in the docking cabin, such as the garbage cleaning robot, ensuring the continuous operation capability of the robot equipment, reducing the interruption of operations due to insufficient power, and enhancing the overall operation continuity of the terminal.

[0006] Therefore, the multifunctional dock device suitable for the lake garbage cleaning robot of the present invention has the advantages of efficient space utilization, automated garbage removal, and convenient equipment charging. It can realize automatic cleaning of the garbage collection box on the unmanned ship equipment without the need for manual cleaning by staff, further improving the automation level of the equipment, simplifying the operating process, and improving the overall operating efficiency.

[0007] Optionally, in a possible implementation, the grasping assembly includes a flipping unit, a clamping unit and a baffle cover, the flipping unit is installed at the output end of the driving assembly, and the flipping unit is used to drive the rotation of the clamping unit, and the baffle cover is located in front of the flipping unit and the clamping unit.

[0008] In the above technical solution, the gripper unit is driven by the driving component to grab the small trash can on the garbage cleaning robot. At the same time, when the gripper unit approaches the small trash can and grabs it, the blocking cover on the dumping mechanism will be inserted into the opening end of the small trash can to prevent the garbage on the opening side from falling out due to the movement of the small trash can. The gripper unit can rotate at a certain angle through the drive of the flipping unit, thereby dumping the garbage in the garbage collection box into the large trash can, thereby realizing automatic garbage recycling.

[0009] Optionally, in a possible implementation, the flip unit includes a fixed shell arranged at the output end of the driving assembly, and a first rotating driving member and a transmission member arranged at the fixed shell, and the clamping unit is connected to the output end of the first rotating driving member through the transmission member.

[0010] In the above technical solution, the fixed housing provides a stable support and protection for the first rotating drive member and the transmission member, effectively preventing the external environment from interfering with and damaging the internal mechanical structure, thereby improving the reliability and service life of the entire flip unit. In addition, the first rotating drive member drives the flipping of the clamping unit through the action of the transmission member, ensuring that the clamping unit can be flipped efficiently and stably.

[0011] Optionally, in a possible implementation, the clamping unit includes a rotating seat connected to the transmission member, a second rotating driving member arranged on the rotating seat, and two mechanical claws slidably arranged on the rotating seat, the output end of the second rotating driving member is connected to a synchronous gear, the two mechanical claws are connected to a synchronous rack, and the two synchronous racks are respectively meshed and connected with the synchronous gear.

[0012] In the above technical solution, the rotation of the synchronous gear is precisely controlled by the second rotating driving member. Since the synchronous gear is respectively meshed with the two synchronous racks, it can ensure that the two mechanical claws move toward each other synchronously and precisely, thereby achieving stable and high-precision clamping of the workpiece. Moreover, since the two mechanical claws are linked to the same synchronous gear through the rack, when the synchronous gear rotates, the two mechanical claws will move in opposite directions, which can effectively increase the resultant force during clamping.

[0013] Optionally, in a possible implementation, the driving assembly includes a vertical driving unit and a horizontal driving unit, the vertical driving unit is arranged on the dock body, the horizontal driving unit is arranged at the output end of the vertical driving unit, and the grabbing assembly is arranged at the output end of the horizontal driving unit.

[0014] In the above technical solution, through the combination of the vertical drive unit and the horizontal drive unit, the two-way movement of the grabbing component is realized, that is, it is lifted and lowered in the vertical direction to approach or move away from the small trash can of the garbage cleaning robot, and it moves linearly in the horizontal direction to move back and forth between the robot and the large trash can, so that the grabbing component can accurately reach the preset position on the dock body.

[0015] Optionally, in a possible implementation, the vertical drive module includes two first linear modules installed on opposite sides of the length direction of the dock body, and a lifting plate arranged at the output ends of the two first linear modules, a avoidance gap is provided between the two lifting plates, and the horizontal drive unit is installed on the lifting plate and straddles the avoidance gap.

[0016] In the above technical solution, the lifting plate is synchronously driven by two first linear modules on opposite sides of the length direction of the dock body, thereby achieving load balancing, effectively avoiding structural stress concentration and vibration caused by single-point drive, and improving the stability and durability of the entire drive assembly.

[0017] Optionally, in a possible implementation, the horizontal driving unit includes a connecting plate mounted on the lifting plate, and a second linear module arranged on the connecting plate, and the grabbing assembly is arranged at an output end of the second linear module.

[0018] In the above technical solution, by driving the second linear module in the horizontal direction and combining the movement of the vertical drive unit in the vertical direction, the entire drive assembly can realize flexible operation in three-dimensional space and can effectively meet the movement requirements of the grasping assembly in the vertical and horizontal directions.

[0019] Optionally, in a possible implementation, the lifting mechanism includes a bottom plate, a top plate, and a scissors-type telescopic frame for connecting the bottom plate and the top plate, the bottom of the scissors-type telescopic frame has two fulcrums, one of which is rotatably mounted on the bottom plate, and the other fulcrum is slidably clamped on the bottom plate and moved by the drive of a lifting drive member.

[0020] In the above technical solution, the design of the scissor-type telescopic frame realizes efficient lifting of the lifting mechanism. When the lifting drive drives one of the fulcrums to slide on the bottom plate, the shape of the scissor-type telescopic frame changes, thereby driving the top plate to rise or fall. This mechanism is not only simple and compact in structure, but also has a smooth and fast lifting process, which improves the working efficiency.

[0021] Optionally, in a possible implementation, the bottom of the large trash bin, the bottom plate, the top plate and the bottom of the storage compartment are respectively provided with a plurality of drainage holes; and the large trash bin has rolling wheels at the bottom and a handle at the top.

[0022] In the above technical solution, the design of the water leakage holes enables the structure in the storage compartment to have excellent drainage performance. These water leakage holes can timely discharge the water accumulated inside, reduce the overall weight of the garbage, and make handling and processing easier and more efficient. In addition, the design of the water leakage holes also makes the large garbage bin and storage compartment easier to clean and maintain. When it is necessary to clean the inside, the dirt can be easily flushed and discharged through the water leakage holes, reducing the difficulty and time of cleaning work. In addition, the handle is convenient for the garbage collection vehicle to clamp, which is compatible with conventional garbage collection vehicles, convenient for transportation, and improves the garbage collection capacity.

[0023] Optionally, in a possible implementation, it also includes a covering mechanism, which includes a cover plate, a first connecting rod, a second connecting rod and a covering drive, wherein two ends of the first connecting rod are respectively connected to the dock body and the cover plate, and two ends of the second connecting rod are respectively connected to the output end of the covering drive and the cover plate, and the covering drive is used to drive the rotation of the second connecting rod.

[0024] In the above technical solution, the covering mechanism can effectively cover the opening of the top of the storage bin or large garbage bin through the cover plate, preventing other debris from entering the inside when not in use, while reducing safety hazards. In addition, the covering drive member can realize the opening and closing of the cover plate by only driving the rotation of the second connecting rod, which is simple and efficient to operate without manual opening of the cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment.

[0027] Figure 2 It is a structural schematic diagram of the terminal body according to an embodiment.

[0028] Figure 3 It is a structural schematic diagram of a grabbing component according to an embodiment.

[0029] Figure 4 Schematic diagram of the structure of a vertical drive unit according to an embodiment.

[0030] Figure 5 FIG. 4 is a schematic structural diagram of a horizontal driving unit according to an embodiment.

[0031] Figure 6 It is a schematic structural diagram of a lifting structure and a covering structure in one embodiment.

[0032] Figure 7 It is a schematic structural diagram of a large garbage bin according to an embodiment.

[0033] Figure numerals: 1- dock body; 11- docking cabin; 111- inclined surface; 12- storage cabin; 2- large garbage bin; 21- rolling wheel; 22- handle; 3- driving assembly; 31- vertical driving unit; 311- first linear module; 3111- supporting frame; 3112- first guide rail; 3113- lifting block; 3114- first screw rod; 3115- lifting motor; 312- lifting plate; 32- horizontal driving unit; 321- connecting plate; 322- second linear module; 3221- supporting block; 3222- second guide rail; 3223- second screw rod; 3224- slide; 3225- horizontal motor; 4- grab assembly; 41- flip unit; 411- fixed shell ;412-first rotating drive member;413-transmission member;4131-driving wheel;4132-driven wheel;4133-transmission belt;42-gripping claw unit;421-rotating seat;422-second rotating drive member;423-mechanical claw;424-synchronous gear;425-synchronous rack;426-rotating arm;43-blocking cover;5-lifting mechanism;51-bottom plate;511-slide;52-scissor-type telescopic frame;53-lifting drive member;531-lifting motor;532-lifting gear;533-lifting rack;54-top plate;6-charging mechanism;7-covering mechanism;71-cover plate;72-first connecting rod;73-second connecting rod;74-covering motor;8-small trash can. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0036] Please refer to Figure 1 , Figure 2 and Figure 6The present embodiment provides a multifunctional dock device suitable for a lake garbage cleaning robot, comprising: a dock body 1, a large garbage bin 2, a dumping mechanism, a lifting mechanism 5 and a charging mechanism 6; the dock body 1 is provided with a side-opening docking cabin 11 and a top-opening storage cabin 12 at both ends along its length direction; the large garbage bin 2 is open at the top and is movably arranged in the storage cabin 12; the dumping mechanism is erected above the dock body 1, and comprises a driving component 3 and a flippable grabbing component 4, the driving component 3 is used to drive the grabbing component 4 to rise and fall, and to reciprocate between the docking cabin 11 and the large garbage bin 2; the lifting mechanism 5 is arranged in the storage cabin 12, and is used to drive the large garbage bin 2 to rise and fall in the storage cabin 12; the charging mechanism 6 is arranged on the dock body 1, and is used to charge the equipment docked in the docking cabin 11. The two inner side surfaces of the docking cabin 11 are inclined surfaces 111, so that the opening of the docking cabin 11 gradually decreases from the outside to the inside, thereby ensuring that the equipment is docked at the center of the docking cabin 11 and achieving accurate positioning of the equipment.

[0037] This embodiment realizes the multi-dimensional utilization of the space of the dock body 1 by designing a docking cabin 11 with side openings and a storage cabin 12 with top openings, which not only meets the docking needs of the robot, but also provides a convenient space for storing and maintaining equipment, thereby improving the overall operational efficiency of the dock. Secondly, the large garbage bin 2 can be movably arranged in the storage cabin 12, and combined with the lifting function of the lifting mechanism 5, it is convenient for the collection, transportation and treatment of garbage, reduces manual operation, and improves the efficiency and safety of garbage treatment. In addition, the design of the dumping mechanism realizes the automatic grabbing of the small garbage bin 8 on the robot, which can accurately grab it into the large garbage bin 2 and dump the garbage into the large garbage bin 2, effectively improving the speed and accuracy of garbage cleaning and reducing labor costs. At the same time, the charging mechanism 6 is directly integrated into the dock body 1, providing instant charging services for equipment such as robots docked in the docking cabin 11, ensuring the continuous operation capability of the equipment, reducing the operation interruption caused by insufficient power, and enhancing the overall operation continuity of the dock.

[0038] Therefore, the multifunctional dock device of this embodiment has the advantages of efficient space utilization, automated garbage removal, and convenient equipment charging. It can realize automatic cleaning of the garbage collection box on the unmanned ship equipment without the need for manual cleaning by staff, further improving the automation level of the equipment, simplifying the operating process, and improving overall operating efficiency.

[0039] In this embodiment, the grabbing assembly 4 includes a flipping unit 41, a clamping unit 42 and a cover 43. The flipping unit 41 is installed at the output end of the driving assembly 3, and the flipping unit 41 is used to drive the rotation of the clamping unit 42. The cover 43 is located in front of the flipping unit 41 and the clamping unit 42.

[0040] The gripper unit 42 is driven by the driving assembly 3 to grab the small trash bin 8 on the garbage cleaning robot. At the same time, when the gripper unit 42 approaches the small trash bin 8 and grabs it, the cover 43 on the dumping mechanism will be inserted into the open end of the small trash bin 8 to prevent the garbage on the opening side from falling out due to the movement of the small trash bin 8. The gripper unit 42 can rotate at a certain angle through the driving of the flip unit 41, so as to dump the garbage in the small trash bin 8 into the large trash bin 2, thereby realizing automatic recycling of the garbage. In addition, the cover 43 of this embodiment is provided with a plurality of notches to facilitate drainage, and the thickness of the cover 43 is a circular arc-shaped gradual structure with a large top and a small bottom. The bottom thickness of the cover 43 is the smallest, and when the cover 43 closes the opening of the small trash bin 8, a certain gap is left between its bottom and the bottom of the opening of the small trash bin 8, thereby avoiding squeezing of the garbage in the opening. At the same time, the circular arc gradual structure can also squeeze the garbage in the opening toward the inside.

[0041] For details, please refer to Figure 3 and Figure 5 The flip unit 41 includes a fixed housing 411 disposed at the output end of the driving assembly 3, and a first rotating driving member 412 and a transmission member 413 disposed at the fixed housing 411. The clamping jaw unit 42 is connected to the output end of the first rotating driving member 412 through the transmission member 413. The first rotating driving member 412 is a stepping motor, and the transmission member 413 includes a driving wheel 4131 rotatably mounted on the fixed housing 411, a driven wheel 4132 fixedly mounted on the clamping jaw unit 42, and a transmission belt 4133 for connecting the driving wheel 4131 and the driven wheel 4132, wherein the driving wheel 4131 can be mounted through a shaft body and a bearing, and the first rotating driving member 412 is connected to the shaft body for mounting the driving wheel 4131 through a coupling, so that the first rotating driving member 412 can drive the rotation of the driving wheel 4131, and synchronously drive the rotation of the driven wheel 4132 through the transmission belt 4133, thereby driving the rotation of the clamping jaw unit 42. It should be noted that the driving wheel 4131 and the driven wheel 4132 may be pulleys, in which case the transmission belt 4133 may be a belt. In addition, the driving wheel 4131 and the driven wheel 4132 may also be sprockets, in which case the transmission belt 4133 is a chain. Alternatively, the driving wheel 4131 and the driven wheel 4132 may also be gears, in which case the transmission belt 4133 is a toothed belt.

[0042] The fixed housing 411 of this embodiment provides a stable support and protection for the first rotating driving member 412 and the transmission member 413, effectively preventing the external environment from interfering with and damaging the internal mechanical structure, thereby improving the reliability and service life of the entire flip unit 41. In addition, the first rotating driving member 412 drives the flipping of the clamping jaw unit 42 through the action of the transmission member 413, ensuring that the clamping jaw unit 42 can be flipped efficiently and stably.

[0043] Please continue to refer to Figure 3 In this embodiment, the clamping unit 42 includes a rotating seat 421 connected to the transmission member 413, a second rotating driving member 422 disposed on the rotating seat 421, and two mechanical claws 423 slidably disposed on the rotating seat 421. The output end of the second rotating driving member 422 is connected to a synchronous gear 424, and the two mechanical claws 423 are both connected to synchronous racks 425, and the two synchronous racks 425 are respectively meshed and connected with the synchronous gear 424. Specifically, the rotating seat 421 can be rotatably connected to the fixed housing 411 through a rotating arm 426, one end of the rotating arm 426 is fixed on the rotating seat 421, and the other end is fixedly connected to the driven wheel 4132 in the transmission member 413 and is rotatably connected to the fixed housing 411 through a rotating shaft. In this way, when the driving wheel 4131 drives the driven wheel 4132 to rotate, the driven wheel 4132 will synchronously drive the rotating arm 426 to rotate relative to the fixed housing 411, thereby synchronously driving the rotation of the rotating seat 421.

[0044] In addition, the second rotating drive member 422 is a stepping motor, which can realize the forward and reverse rotation of the main shaft, the synchronous gear 424 is fixed to the output end of the second rotating drive member 422, and the two synchronous racks 425 are arranged in parallel and respectively fixed on the two mechanical claws 423. The two mechanical claws 423 are arranged opposite to each other and are slidably arranged on the rotating seat 421 through a connecting rod. In this way, when the second rotating drive member 422 rotates, the synchronous gear 424 will synchronously drive the two synchronous racks 425 to move relative to or away from each other, thereby driving the two mechanical claws 423 to move closer or farther away.

[0045] In this embodiment, the rotation of the synchronous gear 424 is precisely controlled by the second rotating driving member 422. Since the synchronous gear 424 is respectively meshed with the two synchronous racks 425, it can ensure that the two mechanical claws 423 move toward each other synchronously and precisely, thereby achieving stable and high-precision clamping of the workpiece. Moreover, since the two mechanical claws 423 are linked to the same synchronous gear 424 through the rack, when the synchronous gear 424 rotates, the two mechanical claws 423 will move in opposite directions, which can effectively increase the resultant force during clamping.

[0046] In this embodiment, the driving assembly 3 includes a vertical driving unit 31 and a horizontal driving unit 32, the vertical driving unit 31 is arranged on the dock body 1, the horizontal driving unit 32 is arranged at the output end of the vertical driving unit 31, and the grabbing assembly 4 is arranged at the output end of the horizontal driving unit 32. Through the combination of the vertical driving unit 31 and the horizontal driving unit 32, the grabbing assembly 4 can move in both directions, that is, it can move up and down in the vertical direction to approach or move away from the garbage collection box on the unmanned ship equipment, and move linearly in the horizontal direction to reciprocate between the lake garbage cleaning robot and the large garbage box 2, so that the grabbing assembly 4 can accurately reach the preset position on the dock body 1.

[0047] For details, please refer to Figure 4 The vertical driving unit 31 includes two first linear modules 311 installed on opposite sides of the length direction of the dock body 1, and a lifting plate 312 arranged at the output ends of the two first linear modules 311. A avoidance gap is arranged between the two lifting plates 312, and the horizontal driving unit 32 is installed on the two lifting plates 312 and straddles the avoidance gap. Among them, the two first linear modules 311 are arranged opposite to each other, and the two first linear modules 311 have the same structure, both including a vertical support frame 3111, a plurality of first guide rails 3112 installed on the support plate, a lifting block 3113 slidably clamped on the first guide rail 3112, and a first screw rod 3114 rotatably installed on the support frame 3111 and threadedly connected to the lifting block 3113. The first screw rod 3114 is driven to rotate by the lifting motor 3115. When the lifting motor 3115 drives the first screw rod 3114 to rotate, since the lifting block 3113 is threadedly connected to the first screw rod 3114 and is slidingly connected to the first guide rail 3112 at the same time, the lifting block 3113 will move in a directional manner along the first guide rail 3112.

[0048] In this embodiment, two first linear modules 311 synchronously drive the lifting plate 312 on opposite sides of the length direction of the dock body 1, thereby achieving load balancing, effectively avoiding structural stress concentration and vibration caused by single-point driving, and improving the stability and durability of the entire driving assembly 3.

[0049] Please refer to Figure 5 In this embodiment, the horizontal driving unit 32 includes a connecting plate 321 mounted on the lifting plate 312, and a second linear module 322 disposed on the connecting plate 321, and the grabbing assembly 4 is disposed at the output end of the second linear module 322. Through the horizontal driving of the second linear module 322, combined with the vertical movement of the vertical driving unit 31, the entire driving assembly 3 can realize flexible operation in a three-dimensional space, and can effectively meet the movement requirements of the grabbing assembly 4 in the vertical and horizontal directions.

[0050] The second linear module 322 includes two support blocks 3221 relatively arranged on the connecting plate 321, and a plurality of second guide rails 3222 arranged on the connecting plate 321, a second screw rod 3223 is rotatably installed between the two support blocks 3221, a slide 3224 is slidably installed on the second guide rail 3222, one end of the second screw rod 3223 is driven to rotate by a horizontal motor 3225, and the second screw rod 3223 is threadedly connected to the slide 3224, and the grab assembly 4 is installed on the slide 3224. Therefore, when the horizontal motor 3225 drives the second screw rod 3223 to rotate, since the slide 3224 is threadedly connected to the second screw rod 3223 and is slidably connected to the second guide rail 3222 at the same time, the slide 3224 will move directionally along the second guide rail 3222.

[0051] Please refer to Figure 6 In this embodiment, the lifting mechanism 5 includes a bottom plate 51, a top plate 54, and a scissor-type telescopic frame 52 for connecting the bottom plate 51 and the top plate 54. The bottom of the scissor-type telescopic frame 52 has two fulcrums, one of which is rotatably mounted on the bottom plate 51, and the other fulcrum is slidably clamped on the bottom plate 51 and moved by the driving of the lifting drive 53. Among them, the scissor-type telescopic frame 52 includes a plurality of groups of cross rods connected in sequence, each group of cross rods includes two centrally rotatably connected support rods, and two adjacent support rods are rotatably connected. The lifting drive 53 includes a lifting motor 531, a lifting gear 532 fixed to the output end of the lifting motor 531, and a lifting rack 533 meshingly connected with the lifting gear 532, one end of the lifting rack 533 is fixedly connected to a fulcrum of the scissor-type telescopic frame 52, and a slide groove 511 is provided on the bottom plate 51, and the lifting rack 533 is slidably clamped in the slide groove 511. Thus, when the lifting motor 531 drives the lifting gear 532 to rotate, the lifting rack 533 will slide along the bottom plate 51, so that the two supporting points of the scissor-type telescopic frame 52 can be moved closer to or farther away from each other.

[0052] This embodiment realizes efficient lifting of the lifting mechanism 5 through the design of the scissor-type telescopic frame 52. When the lifting drive member 53 drives one of the fulcrums to slide on the bottom plate 51, the shape of the scissor-type telescopic frame 52 changes, thereby driving the top plate to rise or fall. This mechanism is not only simple and compact in structure, but also has a smooth and fast lifting process, thereby improving the working efficiency.

[0053] It should be noted that the scissors-type telescopic frame 52 and the lifting drive member 53 are two symmetrically arranged groups. Through the synchronous action of the two groups of scissors-type telescopic frames 52 and the lifting drive member 53, the balance when lifting the large garbage bin 2 can be improved, and the large garbage bin 2 can be prevented from being offset or unevenly stressed.

[0054] Please refer to Figure 7 In this embodiment, the bottom of the large garbage bin 2, the bottom plate 51, the top plate 54 and the bottom of the storage compartment 12 are respectively provided with a plurality of leakage holes, and the bottom of the large garbage bin 2 is provided with a rolling wheel 21 and the top is provided with a handle 22. The design of the leakage holes enables the structure in the storage compartment 12 to have excellent drainage performance. These leakage holes can timely discharge the water accumulated inside, reduce the overall weight of the garbage, and make the handling and processing easier and more efficient. In addition, the design of the leakage holes also makes the large garbage bin 2 and the storage compartment 12 easier to clean and maintain. When it is necessary to clean the inside, the dirt can be easily rinsed and discharged through the leakage holes, reducing the difficulty and time of the cleaning work. In addition, the handle 22 facilitates the clamping of the garbage removal vehicle, is compatible with conventional garbage removal vehicles, is convenient for transportation, and improves the garbage removal capacity.

[0055] Please refer to Figure 6 The present embodiment further includes a covering mechanism 7, which includes a cover plate 71, a first connecting rod 72, a second connecting rod 73 and a covering driving member 74. The two ends of the first connecting rod 72 are respectively connected to the dock body 1 and the cover plate 71 for rotation, and the two ends of the second connecting rod 73 are respectively connected to the output end of the covering driving member 74 and the cover plate 71. The covering driving member 74 is used to drive the rotation of the second connecting rod 73. The first connecting rod 72 and the second connecting rod 73 have the same structure, both of which are integrated bending structures. One end of the second connecting rod 73 is connected to the dock body 1 for rotation, and the other end is fixedly connected to the covering driving member 74. The covering driving member 74 is a motor.

[0056] The cover mechanism 7 of this embodiment can effectively cover the opening of the top of the storage bin or large garbage bin 2 through the cover plate 71, so as to prevent other debris from entering the inside when not in use, reduce safety hazards, and be used to isolate garbage odors in daily life. In addition, the cover drive member 74 can realize the opening and closing action of the cover plate 71 only by driving the rotation of the second connecting rod 73, which is simple and efficient to operate, and does not require manual opening of the cover.

[0057] It should be noted that the charging mechanism 6 of this embodiment includes a charging plate fixed to the dock body 1, the charging plate extends toward the inside of the docking cabin 11, and a coil for charging is provided on the charging plate. When the device is docked in the docking cabin 11, the wireless charging interface of the device itself can be docked with the charging plate, thereby realizing wireless charging, which greatly improves the convenience of charging the device.

[0058] In the description of the present invention, it should be understood that terms such as "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0060] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional dock device suitable for a lake garbage cleaning robot, characterized in that: include: A dock body, wherein the dock body is provided with a docking cabin with a side opening and a storage cabin with a top opening at both ends along its length direction; A large trash bin with an open top and movably disposed in the storage compartment; A dumping mechanism is mounted above the dock body and includes a driving assembly and a flippable grabbing assembly, wherein the driving assembly is used to drive the grabbing assembly to rise and fall, and to reciprocate between the docking cabin and the large garbage bin; A lifting mechanism, disposed in the storage compartment, for driving the large garbage bin to be lifted and lowered in the storage compartment; The charging mechanism is arranged on the dock body and is used for charging the equipment docked in the docking cabin.

2. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 1, characterized in that: The grabbing assembly includes a flip unit, a clamping claw unit and a blocking cover. The flip unit is installed at the output end of the driving assembly and is used to drive the rotation of the clamping claw unit. The blocking cover is located in front of the flip unit and the clamping claw unit.

3. The multifunctional dock device suitable for lake garbage cleaning robot according to claim 2 is characterized in that: The flip unit includes a fixed housing arranged at the output end of the driving assembly, and a first rotating driving member and a transmission member arranged at the fixed housing, and the clamping jaw unit is connected to the output end of the first rotating driving member through the transmission member.

4. The multifunctional dock device suitable for lake garbage cleaning robot according to claim 3 is characterized in that: The clamping claw unit includes a rotating seat connected to the transmission member, a second rotating driving member arranged on the rotating seat, and two mechanical claws slidably arranged on the rotating seat, the output end of the second rotating driving member is connected to a synchronous gear, and the two mechanical claws are connected to synchronous racks, and the two synchronous racks are respectively meshed and connected with the synchronous gears.

5. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 1, characterized in that: The driving assembly comprises a vertical driving unit and a horizontal driving unit, wherein the vertical driving unit is arranged on the dock body, the horizontal driving unit is arranged at the output end of the vertical driving unit, and the grabbing assembly is arranged at the output end of the horizontal driving unit.

6. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 5, characterized in that: The vertical drive module includes two first linear modules installed on opposite sides of the length direction of the dock body, and a lifting plate arranged at the output ends of the two first linear modules, a avoidance gap is arranged between the two lifting plates, and the horizontal drive unit is installed on the lifting plate and straddles the avoidance gap.

7. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 6, characterized in that: The horizontal driving unit includes a connecting plate installed on the lifting plate, and a second linear module arranged on the connecting plate, and the grabbing assembly is arranged at the output end of the second linear module.

8. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 1, characterized in that: The lifting mechanism includes a bottom plate, a top plate, and a scissor-type telescopic frame for connecting the bottom plate and the top plate. The bottom of the scissor-type telescopic frame has two fulcrums, one of which is rotatably mounted on the bottom plate, and the other fulcrum is slidably clamped on the bottom plate and moved by the drive of the lifting drive member.

9. The multifunctional dock device suitable for lake garbage cleaning robot according to claim 8, characterized in that: The bottom of the large garbage bin, the bottom plate, the top plate and the bottom of the storage compartment are respectively provided with a plurality of water leakage holes, and the bottom of the large garbage bin is provided with rolling wheels and the top is provided with a handle.

10. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 1, characterized in that: It also includes a covering mechanism, which includes a cover plate, a first connecting rod, a second connecting rod and a covering drive, wherein two ends of the first connecting rod are respectively connected to the dock body and the cover plate, and two ends of the second connecting rod are respectively connected to the output end of the covering drive and the cover plate, and the covering drive is used to drive the rotation of the second connecting rod.

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