A multifunctional dock device suitable for lake garbage cleaning robots

Abstract

The present invention relates to a multifunctional dock device suitable for a lake garbage cleaning robot, comprising: a dock body, a large garbage bin, a dumping mechanism, a driving mechanism, and a charging mechanism. The dock body is provided with a side-opening docking compartment and a top-opening storage compartment. The large garbage bin is top-opening and movably located within the storage compartment. The dumping mechanism is mounted above the dock body and includes a driving assembly and a reversible grabbing assembly. The driving assembly is used to drive the grabbing assembly to rise and fall, and to move back and forth between the docking compartment and the large garbage bin. The lifting mechanism is located within the storage compartment and is used to drive the large garbage bin to rise and fall within the storage compartment. The charging mechanism is located on the dock body and is used to charge the device docked within the docking compartment. The present invention has the advantages of efficient space utilization, automated garbage cleaning, and convenient device charging. It can realize automatic garbage cleaning and further improve the degree of automation of the device.

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] Lake trash, especially plastic waste, is a major source of water pollution. To protect water resources and facilitate the rapid removal of lake trash, existing robots for collecting lake trash typically consist of a hull, a trash collection box, and a deflector. The trash collection box can be flexibly installed within the hull to temporarily store collected trash. However, in actual use, it was found that the trash collection box could not be automatically replaced and still had to be manually disassembled, emptied, and then reinstalled on the hull. This 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 that 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:

[0005] A multifunctional dock device suitable for a lake garbage cleaning robot, comprising:

[0006] The dock body is provided with a docking cabin with a side opening and a storage cabin with a top opening at both ends of the dock body along its length direction;

[0007] a large trash bin, which is open at the top and movably arranged in the storage compartment, and is used to store the small trash bins on the robot;

[0008] A dumping mechanism is mounted above the dock body and includes a drive assembly and a reversible grab assembly, wherein the drive assembly is used to drive the grab assembly to rise and fall, and to move back and forth between the docking cabin and the large garbage bin;

[0009] A lifting mechanism is provided in the storage compartment, and is used to drive the large garbage bin to rise and fall in the storage compartment;

[0010] The charging mechanism is provided on the dock body and is used for charging the equipment docked in the docking cabin.

[0011] In the above technical solution, by designing a docking compartment with side openings and a storage compartment with top openings, a multi-dimensional utilization of the main terminal space is achieved. This 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 set in the storage compartment. Combined with the lifting function of the lifting mechanism, it facilitates the collection, transportation and processing of garbage, reduces manual operations, and improves the efficiency and safety of garbage processing. In addition, the design of the dumping mechanism realizes the automation of the grabbing of small garbage bins on the robot, which can accurately grab them and dump the garbage into the large garbage bin, effectively improving the speed and accuracy of garbage collection and reducing labor costs. At the same time, the charging mechanism is directly integrated into the main terminal body, providing instant charging services for equipment docked in the docking compartment, such as the garbage cleaning robot, ensuring the continuous operation of the robot equipment, reducing operation interruptions caused by insufficient power, and enhancing the overall operational continuity of the terminal.

[0012] Therefore, the multifunctional dock device suitable for lake garbage cleaning robots of the present invention has the advantages of efficient space utilization, automated garbage removal, and convenient equipment charging. It can realize automatic cleaning of garbage collection boxes on unmanned ship equipment without the need for manual cleaning by staff, further improving the degree of automation of the equipment, simplifying the operating process, and improving overall operating efficiency.

[0013] Optionally, in a possible implementation, the grasping assembly includes a flipping unit, a clamping unit and a 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 cover is located in front of the flipping unit and the clamping unit.

[0014] 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 open end of the small trash can to prevent the garbage on the open side from falling out due to the movement of the small trash can; and through the drive of the flipping unit, the gripper unit can rotate to a certain angle, thereby dumping the garbage in the garbage collection box into the large trash can, realizing automatic garbage recycling.

[0015] Optionally, in a possible implementation, the flip unit includes a fixed shell arranged at the output end of the drive assembly, and a first rotating drive member and a transmission member arranged at the fixed shell, and the clamping unit is connected to the output end of the first rotating drive member through the transmission member.

[0016] In this technical solution, the fixed housing provides stable support and protection for the first rotary drive member and the transmission member, effectively preventing external interference and damage to the internal mechanical structure, thereby improving the reliability and service life of the entire flip unit. Furthermore, the first rotary drive member, through the transmission member, drives the flipping of the gripper unit, ensuring efficient and stable flipping of the gripper unit.

[0017] Optionally, in a possible implementation, the clamping unit includes a rotating seat connected to the transmission member, a second rotating driving member provided on the rotating seat, and two mechanical claws slidably provided 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 engaged with the synchronous gear.

[0018] In the above technical solution, the rotation of the synchronous gear is precisely controlled by the second rotating drive member. Since the synchronous gear is engaged with the two synchronous racks respectively, the two mechanical claws can be ensured to 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.

[0019] 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.

[0020] In the above technical solution, the two-way movement of the grabbing component is realized through the combination of the vertical drive unit and the horizontal drive unit, that is, it moves up and down in the vertical direction to approach or move away from the small trash can of the garbage cleaning robot, and 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.

[0021] Optionally, in a possible implementation, the vertical drive unit includes two first linear modules installed on opposite sides of the length direction of the dock body, and a lifting plate provided 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.

[0022] In the above technical solution, the lifting plates are synchronously driven by two first linear modules on opposite sides of the length direction of the terminal 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.

[0023] Optionally, in a possible implementation, the horizontal driving unit includes a connecting plate mounted on the lifting plate, and a second linear module provided on the connecting plate, and the grabbing assembly is provided at an output end of the second linear module.

[0024] In the above technical solution, through the horizontal driving of the second linear module combined with the vertical movement of the vertical driving unit, the entire driving 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.

[0025] Optionally, in a possible implementation, 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 a lifting drive member.

[0026] In this technical solution, the scissor-type telescopic frame design achieves efficient lifting and lowering of the lifting mechanism. When the lifting drive element drives one of the fulcrums to slide on the bottom plate, the scissor-type telescopic frame changes shape, thereby driving the top plate up or down. This mechanism is not only simple and compact in structure, but also provides a smooth and fast lifting process, improving operational efficiency.

[0027] 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 bottom of the large trash bin has rolling wheels and the top is provided with a handle.

[0028] In the above technical solution, the design of the drainage holes ensures that the structure within the storage compartment has excellent drainage properties. These holes can promptly drain accumulated water, reducing the overall weight of the garbage, making handling and processing easier and more efficient. Furthermore, the design of the drainage holes makes the large garbage bin and storage compartment easier to clean and maintain. When the interior needs to be cleaned, the drainage holes can be used to conveniently flush and drain the dirt, reducing the difficulty and time of cleaning. Furthermore, the handles facilitate the gripping of garbage collection vehicles, making them compatible with conventional garbage collection vehicles, facilitating transportation, and improving garbage collection capacity.

[0029] Optionally, in a possible implementation, a covering mechanism is further included, wherein the covering mechanism includes a cover plate, a first connecting rod, a second connecting rod and a covering drive, wherein the two ends of the first connecting rod are respectively connected to the dock body and the cover plate, and the 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.

[0030] In the above technical solution, the covering mechanism effectively shields the top opening of the storage bin or large trash bin through the cover plate, preventing debris from entering the bin when not in use and reducing safety hazards. Furthermore, the cover drive simply drives the rotation of the second connecting rod to open and close the cover plate, making operation simple and efficient, and eliminating the need for manual opening of the cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a schematic diagram of the overall structure of an embodiment.

[0033] Figure 2 This is a structural diagram of the terminal body according to an embodiment.

[0034] Figure 3 Schematic diagram of the structure of a grabbing component according to an embodiment.

[0035] Figure 4 Schematic diagram of the structure of a vertical drive unit according to an embodiment.

[0036] Figure 5 FIG. 4 is a structural diagram of a horizontal driving unit according to an embodiment.

[0037] Figure 6 It is a structural diagram of a lifting structure and a covering structure in one embodiment.

[0038] Figure 7 It is a structural schematic diagram of a large garbage bin according to an embodiment.

[0039] Reference numerals: 1- dock body; 11- docking cabin; 111- inclined surface; 12- storage compartment; 2- large trash 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- grabbing assembly; 41- flip unit; 411- fixed housing; 412-first rotary drive member; 413-transmission member; 4131-driving wheel; 4132-driven wheel; 4133-transmission belt; 42-gripping claw unit; 421-rotating seat; 422-second rotary drive member; 423-mechanical claw; 424-synchronizing gear; 425-synchronizing 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 drive member; 8-small trash can. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0041] 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 protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0042] 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; the large garbage bin 2 is open at the top and is movably arranged in the storage cabin 12; the dumping mechanism is mounted above the dock body 1, and comprises a driving assembly 3 and a flippable grabbing assembly 4, the driving assembly 3 is used to drive the grabbing assembly 4 to rise and fall, and to move back and forth 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 shrinks from the outside to the inside, thereby ensuring that the equipment is docked at the center of the docking cabin 11 and achieving precise positioning of the equipment.

[0043] This embodiment achieves multi-dimensional utilization of the space of the terminal body 1 by designing a side-opening docking compartment 11 and a top-opening storage compartment 12. This not only meets the docking needs of robots, but also provides convenient space for storing and maintaining equipment, thereby improving the overall operational efficiency of the terminal. Secondly, the large garbage bin 2 can be movably arranged in the storage compartment 12. Combined with the lifting function of the lifting mechanism 5, it facilitates the collection, transportation, and processing of garbage, reduces manual operations, and improves the efficiency and safety of garbage processing. In addition, the design of the dumping mechanism realizes the automation of the grabbing of the small garbage bin 8 on the robot, which can accurately grab it 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 terminal body 1, providing instant charging services for equipment docked in the docking compartment 11, such as robots, ensuring the continuous operation of the equipment, reducing operation interruptions caused by insufficient power, and enhancing the overall operational continuity of the terminal.

[0044] 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 the automatic cleaning of the garbage collection box on the unmanned ship equipment without the need for manual cleaning by staff, further improving the degree of automation of the equipment, simplifying the operating process, and improving the overall operating efficiency.

[0045] In this embodiment, the grasping 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.

[0046] Driven by the drive assembly 3, the gripper unit 42 is used 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. Driven by the flip unit 41, the gripper unit 42 can rotate to a certain angle, thereby dumping the garbage in the small trash bin 8 into the large trash bin 2, realizing automatic garbage recycling. In addition, the cover 43 of this embodiment is provided with multiple notches to facilitate drainage, and the thickness of the cover 43 is a circular arc-shaped gradient structure with a larger top and a smaller 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 preventing the garbage in the opening from being squeezed. At the same time, the circular arc gradient structure can also squeeze the garbage in the opening inward.

[0047] 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 drive assembly 3, and a first rotary drive member 412 and a transmission member 413 disposed on the fixed housing 411. The clamping jaw unit 42 is connected to the output end of the first rotary drive member 412 via the transmission member 413. The first rotary drive member 412 is a stepping motor. 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. The driving wheel 4131 can be mounted via a shaft and a bearing. The first rotary drive member 412 is connected to the shaft for mounting the driving wheel 4131 via a coupling. In this way, the first rotary drive member 412 can drive the rotation of the driving wheel 4131 and synchronously drive the rotation of the driven wheel 4132 via 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. Furthermore, the driving wheel 4131 and the driven wheel 4132 may also be sprockets, in which case the transmission belt 4133 may be a chain. Alternatively, the driving wheel 4131 and the driven wheel 4132 may also be gears, in which case the transmission belt 4133 may be a toothed belt.

[0048] The fixed housing 411 of this embodiment provides stable support and protection for the first rotary drive member 412 and the transmission member 413, effectively preventing external interference and damage to the internal mechanical structure, thereby improving the reliability and service life of the entire flip unit 41. Furthermore, the first rotary drive member 412 drives the flipping of the gripping unit 42 through the action of the transmission member 413, ensuring efficient and stable flipping of the gripping unit 42.

[0049] Please continue to refer to Figure 3 In this embodiment, the gripper unit 42 includes a rotating base 421 connected to the transmission member 413, a second rotating drive member 422 disposed on the rotating base 421, and two mechanical claws 423 slidably disposed on the rotating base 421. The output end of the second rotating drive member 422 is connected to a synchronization gear 424, and the two mechanical claws 423 are each connected to a synchronization rack 425, which are respectively meshed with the synchronization gear 424. Specifically, the rotating base 421 is rotatably connected to the fixed housing 411 via a rotating arm 426. One end of the rotating arm 426 is fixed to the rotating base 421, and the other end is fixedly connected to the driven wheel 4132 in the transmission member 413. The rotating arm 426 is also rotatably connected to the fixed housing 411 via a rotating shaft. In this way, when the driving wheel 4131 drives the driven wheel 4132 to rotate, the driven wheel 4132 synchronously drives the rotating arm 426 to rotate relative to the fixed housing 411, thereby synchronously driving the rotation of the rotating base 421.

[0050] In addition, the second rotary drive member 422 is a stepper motor that can realize the forward and reverse rotation of the main shaft. The synchronous gear 424 is fixed to the output end of the second rotary drive member 422. Two synchronous racks 425 are arranged in parallel and respectively fixed to the two mechanical claws 423. The two mechanical claws 423 are arranged opposite each other and are slidably mounted on the rotating base 421 via a connecting rod. In this way, when the second rotary drive member 422 rotates, the synchronous gear 424 will synchronously drive the two synchronous racks 425 to move toward or away from each other, thereby driving the two mechanical claws 423 to move closer or farther away.

[0051] In this embodiment, the rotation of the synchronization gear 424 is precisely controlled by the second rotary drive member 422. Since the synchronization gear 424 is respectively engaged with the two synchronization 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 synchronization gear 424 through the rack, when the synchronization gear 424 rotates, the two mechanical claws 423 will move in opposite directions, which can effectively increase the resultant force during clamping.

[0052] In this embodiment, the drive assembly 3 includes a vertical drive unit 31 and a horizontal drive unit 32. The vertical drive unit 31 is provided on the dock body 1, and the horizontal drive unit 32 is provided at the output end of the vertical drive unit 31. The grabbing assembly 4 is provided at the output end of the horizontal drive unit 32. The combination of the vertical drive unit 31 and the horizontal drive unit 32 enables bidirectional movement of the grabbing assembly 4, namely, vertical lifting movement to approach or move away from the garbage collection bin on the unmanned marine equipment, and horizontal linear movement to reciprocate between the lake garbage cleaning robot and the large garbage bin 2, allowing the grabbing assembly 4 to accurately reach a preset position on the dock body 1.

[0053] For details, please refer to Figure 4 The vertical drive 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 provided at the output ends of the two first linear modules 311. A avoidance gap is provided between the two lifting plates 312. The horizontal drive 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 slidingly 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.

[0054] 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 drive assembly 3.

[0055] Please refer to Figure 5 In this embodiment, the horizontal drive 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. The gripping assembly 4 is disposed at the output end of the second linear module 322. Through the horizontal drive of the second linear module 322, combined with the vertical movement of the vertical drive unit 31, the entire drive assembly 3 can achieve flexible operation in three-dimensional space, effectively meeting the vertical and horizontal movement requirements of the gripping assembly 4.

[0056] The second linear module 322 includes two support blocks 3221 disposed relative to each other on the connecting plate 321, and a plurality of second guide rails 3222 disposed on the connecting plate 321. A second screw rod 3223 is rotatably mounted between the two support blocks 3221. A slide 3224 is slidably mounted on the second guide rail 3222. One end of the second screw rod 3223 is driven for rotation by a horizontal motor 3225. The second screw rod 3223 is threadedly connected to the slide 3224, and the gripping assembly 4 is mounted on the slide 3224. Therefore, when the horizontal motor 3225 drives the second screw rod 3223 to rotate, the slide 3224 is threadedly connected to the second screw rod 3223 and simultaneously slidably connected to the second guide rail 3222, so that the slide 3224 moves directionally along the second guide rail 3222.

[0057] Please refer to Figure 6 In this embodiment, the lifting mechanism 5 includes a base plate 51, a top plate 54, and a scissor-type telescopic frame 52 for connecting the base 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 base plate 51, and the other fulcrum is slidably fixed to the base plate 51 and moved by the drive of the lifting drive 53. The scissor-type telescopic frame 52 includes multiple groups of cross bars connected in sequence, each group of cross bars includes two support bars connected by a central rotation, and the two adjacent support bars 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 meshing 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 base plate 51, and the lifting rack 533 is slidably fixed in the slide groove 511. Thus, when the lifting motor 531 drives the lifting gear 532 to rotate, the lifting rack 533 slides along the bottom plate 51 so that the two supporting points of the scissor-type telescopic frame 52 can move closer to or farther away from each other.

[0058] This embodiment utilizes the scissor-like telescopic frame 52 to achieve efficient lifting of the lifting mechanism 5. When the lifting drive 53 drives one of its fulcrums to slide on the bottom plate 51, the scissor-like telescopic frame 52 changes shape, thereby driving the top plate up or down. This mechanism is not only simple and compact in structure, but also provides a smooth and rapid lifting process, improving operational efficiency.

[0059] It should be noted that the scissor-type telescopic frame 52 and the lifting drive member 53 are two symmetrically arranged groups. Through the synchronous action of the two groups of scissor-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.

[0060] 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 drainage 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 drainage holes enables the structure in the storage compartment 12 to have excellent drainage performance. These drainage holes can promptly discharge the water accumulated inside, reduce the overall weight of the garbage, and make transportation and processing easier and more efficient. In addition, the design of the drainage 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 interior, the dirt can be conveniently rinsed and discharged through the drainage holes, reducing the difficulty and time of the cleaning work. In addition, the handle 22 is convenient for the garbage collection vehicle to pick up, is compatible with conventional garbage collection vehicles, is convenient for transportation, and improves the garbage collection capacity.

[0061] Please refer to Figure 6 This 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 driver 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. The two ends of the second connecting rod 73 are respectively connected to the output end of the covering driver 74 and the cover plate 71. The covering driver 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 being an integrated bending structure. 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 driver 74, which is a motor.

[0062] The cover mechanism 7 of this embodiment effectively shields the top opening of the storage compartment 12 or large trash bin 2 through the cover plate 71, preventing debris from entering the compartment when not in use, reducing safety hazards, and providing a daily barrier to odors. Furthermore, the cover drive 74 simply drives the rotation of the second connecting rod 73 to open and close the cover plate 71, making operation simple and efficient, and eliminating the need for manual opening.

[0063] 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 into the docking bay 11 and is equipped with a charging coil. When a device is docked in the docking bay 11, the device's wireless charging port can dock with the charging plate, enabling wireless charging, greatly improving the convenience of device charging.

[0064] 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 cannot be understood as limiting the present invention.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0066] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the 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: The dock body is provided with a docking cabin with a side opening and a storage cabin with a top opening at both ends of the dock body along its length direction; The two inner side surfaces of the docking cabin are inclined surfaces, so that the opening of the docking cabin gradually decreases from the outside to the inside; 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 drive assembly and a reversible grab assembly, wherein the drive assembly is used to drive the grab assembly to rise and fall, and to move back and forth between the docking cabin and the large garbage bin; A lifting mechanism is provided in the storage compartment, and is used to drive the large garbage bin to rise and fall in the storage compartment; a charging mechanism, provided on the dock body, for charging equipment docked in the docking compartment; The grabbing assembly includes a flip unit, a gripping claw unit, and a blocking cover. The flip unit is installed at the output end of the driving assembly, and the flip unit is used to drive the rotation of the gripping claw unit. The gripping claw unit is driven by the driving assembly to grab the small trash can on the garbage cleaning robot. The blocking cover is located in front of the flip unit and the gripping claw unit. The blocking cover is provided with multiple notches to facilitate drainage, and the thickness of the blocking cover is an arc-shaped gradient structure with larger top and smaller bottom. The bottom thickness of the blocking cover is the smallest and when the blocking cover closes the opening of the small trash can on the garbage cleaning robot, a certain gap is left between its bottom and the bottom of the opening of the small trash can.

2. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 1, characterized in that: The flip unit includes a fixed housing provided at the output end of the driving assembly, and a first rotating driving member and a transmission member provided at the fixed housing. The clamping claw unit is connected to the output end of the first rotating driving member through the transmission member.

3. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 2, characterized in that: The clamping claw unit includes a rotating base connected to the transmission member, a second rotating driving member arranged on the rotating base, and two mechanical claws slidably arranged on the rotating base, the output end of the second rotating driving member is connected to a synchronous gear, and the two mechanical claws are both connected to a synchronous rack, and the two synchronous racks are respectively engaged with the synchronous gear.

4. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 1, characterized in that: 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.

5. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 4, characterized in that: The vertical drive unit includes two first linear modules installed on opposite sides of the length direction of the dock body, and a lifting plate provided at the output ends of the two first linear modules. A avoidance gap is provided between the two lifting plates. The horizontal drive unit is installed on the lifting plate and straddles the avoidance gap.

6. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 5, characterized in that: The horizontal driving unit includes a connecting plate installed on the lifting plate and a second linear module provided on the connecting plate, and the grabbing assembly is provided at an output end of the second linear module.

7. 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.

8. The multifunctional dock device suitable for lake garbage cleaning robots according to claim 7, characterized in that: 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 water leakage holes, and the bottom of the large trash bin is provided with rolling wheels and the top is provided with a handle.

9. 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. The two ends of the first connecting rod are respectively connected to the dock body and the cover plate, and the two ends of the second connecting rod are respectively connected to the output end of the covering drive and the cover plate. The covering drive is used to drive the rotation of the second connecting rod; the covering mechanism blocks the opening on the top of the storage compartment or the large trash can through the cover plate.

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