Automatic lake surface garbage cleaning system

Abstract

The invention relates to an automatic lake surface garbage cleaning system which comprises a robot and a multifunctional wharf. The robot comprises a ship body, a small garbage can arranged on the ship body and a power module used for driving the ship body to advance, and the small garbage can is detachably installed on the ship body through a quick disassembly mechanism; the multifunctional wharf comprises a wharf body, a large garbage can and a dumping mechanism, the two ends of the wharf body in the length direction of the wharf body are provided with a parking cabin with a side opening and a storage cabin with the top opening correspondingly, and the robot can be parked in the parking cabin; and the dumping mechanism is used for disassembling and grabbing the small garbage can and enabling the small garbage can to reciprocate between the parking cabin and the large garbage can. By integrating the robot capable of collecting the garbage and the multifunctional wharf capable of recycling and treating the garbage, the full-automatic process of lake surface garbage cleaning is achieved, the cleaning efficiency is greatly improved, and the manpower demand is reduced.

Description

Technical Field

[0001] The invention relates to the field of environmental protection equipment, and in particular to an automatic lake garbage cleaning system. Background Art

[0002] With the rapid advancement of industrialization and urbanization, the impact of human activities on the water environment has become increasingly severe, and the problem of water pollution has become more prominent. Whether it is the city's inland rivers, lakes, or the vast ocean, they are all facing the dilemma of garbage accumulation. Especially for small and medium-sized lakes in tourist attractions, garbage accumulation not only destroys the natural beauty, but may also cause long-term harm to aquatic ecosystems, such as polluting water quality and threatening the survival of fish and other aquatic organisms. At present, most of the cleaning of lake garbage needs to rely on manual cleaning, which has the problems of low efficiency and high cost. Manual cleaning requires the employment of a large number of cleaning staff, and is limited by the weather, lake area and garbage distribution range, so the cleaning efficiency is difficult to guarantee. In addition, manual cleaning also has certain safety risks, especially in deep water areas or in severe weather conditions. Summary of the invention

[0003] In view of this, the present invention provides an automatic lake garbage cleaning system which can effectively reduce labor costs and can clean up garbage efficiently.

[0004] The purpose of the present invention is achieved through the following technical solutions: An automatic lake garbage cleaning system, including a robot and a multifunctional dock; The robot comprises a hull, a small trash bin arranged on the hull, and a power module for driving the hull forward; a material receiving port is arranged at the front portion of the hull in the forward direction; the small trash bin is detachably mounted on the hull through a quick-release mechanism, and the small trash bin is provided with a material feeding port opposite to the material receiving port; a battery module for supplying power to the power module is arranged at the bottom of the hull; The multifunctional wharf comprises a wharf body, a large trash bin, and a dumping mechanism. The wharf body is provided with a side-opening docking cabin and a top-opening storage cabin at both ends along its length direction, respectively. The robot can be docked in the docking cabin. The large trash bin is open at the top and is detachably arranged in the storage cabin. The dumping mechanism is used to disassemble and grab the small trash bin, and make the small trash bin move back and forth between the docking cabin and the large trash bin.

[0005] In the above technical solution, by integrating robots and multifunctional docks, a fully automated process for lake garbage cleaning is realized, which greatly improves cleaning efficiency and reduces manpower requirements. Among them, the robot can continuously and uninterruptedly collect garbage in designated waters, while the multifunctional dock is responsible for quickly and accurately replacing or cleaning small garbage bins, ensuring the continuous and efficient operation of the entire system.

[0006] When the robot is running, the power module drives the hull forward and approaches the location of the garbage on the lake. At this time, through the receiving port set on the hull and the feeding port set on the large garbage bin, the garbage on the lake surface passes through the receiving port and the feeding port in turn, so that the garbage on the lake surface can be collected into the large garbage bin, completing the cleaning work of the garbage on the lake surface.

[0007] When the robot docks at the multi-functional wharf, the robot's precise positioning is achieved by designing a docking cabin with a side opening. Then the dumping mechanism grabs the small trash can on the robot and moves the small trash can to the large trash can. The trash in the small trash can is dumped into the large trash can, or the small trash can is directly replaced. In this way, the garbage collected by the robot can be automatically cleaned, which improves the efficiency and safety of garbage disposal.

[0008] Optionally, in a possible implementation, the quick-release mechanism includes a base disposed at the bottom of the small trash can, two groups of elastic clamps symmetrically disposed on the base, a fixed seat disposed at the bottom of the hull, and a limiting member disposed on the fixed seat, and the two groups of elastic clamps can be clamped on the limiting member.

[0009] In the above technical solution, when installing the small trash bin, align the middle position of the two sets of elastic clamps with the limiter, then press the small trash bin downward and make the limiter squeeze the two sets of elastic clamps, thereby stretching the two sets of elastic clamps until they are clamped on the limiter to complete the fixation of the small trash bin. Under normal working conditions, the elastic clamps can be tightly clamped on the limiter, providing a stable connection, effectively preventing the small trash bin from shifting or falling off during the movement of the hull, and ensuring the safety of the operation.

[0010] Optionally, in a possible implementation, the limiting member includes a support block arranged on the fixed seat, a pressure block arranged on the support block close to one end of the small trash can, and a sliding block slidably arranged on the support block, the surface of the pressure block opposite to the small trash can is an arc-shaped surface, and the opposite sides of the sliding block are provided with a first inclined surface that can be connected with the edge of the arc-shaped surface.

[0011] In the above technical scheme, when installing the small trash can, the two sets of elastic claws first pass through the pressing block and are spread out along the arc-shaped surface at the upper end of the pressing block, and then continue to press down until they contact the sliding block. At this time, the small trash can is fixed, and the elastic claws are restricted between the pressing block and the sliding block, the sliding block supports the elastic claws, and the pressing block limits the elastic claws; when disassembling the small trash can, it is necessary to further press down the small trash can so that the elastic claws continue to slide along the sliding block until the elastic claws slide to the bottom of the sliding block, and then lift the small trash can in the opposite direction. At this time, the elastic claws will drive the sliding block to move up and contact the pressing block, and because the first inclined surfaces on both sides of the sliding block can be connected with the edge of the arc-shaped surface of the pressing block, continuing to lift the small trash can at this time will cause the elastic claws to spread out along the first inclined surface until they are separated from the sliding block and the pressing block, thereby realizing the disassembly of the small trash can.

[0012] Optionally, in a possible implementation, the battery module includes an outer shell arranged on the hull, a battery pack arranged in the outer shell, and a heat dissipation pipe arranged around the outer periphery of the battery pack, and the water inlet end of the heat dissipation pipe is located at the front end of the forward direction of the hull; a steering gear is also provided on the outer shell at the rear end of the forward direction of the hull, and the output end of the steering gear is connected to a rudder.

[0013] In the above technical solution, by setting the water inlet end of the heat dissipation water pipe at the front end of the forward direction of the hull, the natural wind pressure or water flow power generated by the hull when traveling can be used to make water flow through the heat dissipation water pipe and enhance the flow effect of the cooling water. This not only improves the heat dissipation efficiency, but also effectively utilizes environmental resources and reduces energy consumption. In addition, the steering gear, as an electric drive device, can accurately control the rotation angle and speed of the rudder, thereby realizing accurate adjustment of the robot's navigation direction.

[0014] Optionally, in a possible implementation, the hull includes a hull frame, a streamlined bottom plate arranged at the bottom of the hull frame, and floats arranged at opposite sides of the hull frame, two doors are rotatably installed on the hull frame, and the top of the hull frame is rotatably connected to a multifunctional storage cabin, and the multifunctional storage cabin is provided with a control module and a visual module.

[0015] In the above technical solution, the design of the streamlined bottom plate significantly reduces the resistance of the hull in the water, improves the navigation speed and efficiency of the robot, and the setting of the float increases the buoyancy of the hull, so that the robot can remain stable under load or bad weather conditions. The two doors can also play a diversion role at the same time, better guiding the garbage into the large garbage bin. The setting of the multi-functional storage compartment can store some electronic devices required to drive the normal operation of the hull, such as circuit boards, control systems and sensor modules, while the camera can be used to scan the distribution of garbage in front of the hull for precise salvage.

[0016] Optionally, in a possible implementation, the dumping mechanism is erected above the dock body, and includes a driving assembly and a flippable grabbing assembly, wherein the driving assembly is used to drive the lifting and lowering of the grabbing assembly and to reciprocate between the docking cabin and the large garbage bin, and the grabbing assembly is used to grab the small garbage bin.

[0017] In the above technical solution, the design of the dumping mechanism realizes the automation of grabbing the small trash can on the robot, and can accurately grab it into the large trash can and dump the trash into the large trash can, effectively improving the speed and accuracy of garbage cleaning and reducing labor costs.

[0018] 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.

[0019] In the above technical solution, the gripper unit is driven by the driving assembly to grab the small trash can on the 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. The gripper unit can be driven by the flipping unit to rotate at a certain angle, thereby dumping the garbage in the small trash can into the large trash can, thereby realizing automatic garbage recycling.

[0020] 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.

[0021] In the above technical solution, the fixed shell 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.

[0022] 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.

[0023] 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.

[0024] Optionally, in a possible implementation, it further includes a lifting mechanism and a covering mechanism, wherein the lifting mechanism is disposed in the storage compartment to drive the lifting and lowering of the large garbage bin in the storage compartment; the covering mechanism is disposed in the dock body to close the storage compartment.

[0025] In the above technical solution, the lifting mechanism can drive the lifting of the large garbage bin, which is convenient for the collection, transportation and treatment of garbage. The covering mechanism can effectively cover the opening of the storage bin or the top of the large garbage bin through the cover plate, so as to prevent other debris from entering the interior when not in use, and reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment.

[0028] Figure 2 Schematic diagram of the structure of a robot according to an embodiment.

[0029] Figure 3 It is a structural explosion diagram of a robot according to an embodiment.

[0030] Figure 4 Schematic diagram of a partial structure of a robot according to an embodiment.

[0031] Figure 5 The figure is a schematic diagram of the structure of a fixed seat and a limiting member in a robot according to an embodiment.

[0032] Figure 6 It is a schematic diagram of the structure of a large trash bin and a base in a robot according to an embodiment.

[0033] Figure 7 for Figure 6 Enlarged view of part C in the middle.

[0034] Figure 8Schematic diagram of the structure of a battery module in a robot according to an embodiment.

[0035] Fig. 9 The figure is a schematic diagram of the overall structure of the rear part of the robot according to an embodiment.

[0036] Fig.10 The figure is a partial structural diagram of the rear part of a robot according to an embodiment.

[0037] Fig.11 It is a schematic structural diagram of a multifunctional wharf according to an embodiment.

[0038] Fig.12 It is a schematic structural diagram of a dock body in a multifunctional dock according to an embodiment.

[0039] Fig.13 It is a schematic diagram of the structure of a grabbing component in a multifunctional dock according to an embodiment.

[0040] Fig.14 It is a schematic structural diagram of a vertical drive unit in a multifunctional dock according to an embodiment.

[0041] Fig.15 It is a schematic structural diagram of a horizontal driving unit in a multifunctional dock according to an embodiment.

[0042] Fig.16 It is a schematic structural diagram of a lifting structure and a covering structure in a multifunctional wharf according to an embodiment.

[0043] Reference numerals: A-robot; a1-hull; a11-hull frame; a111-receiving port; a112-installation port; a113-equipment compartment; a114-wireless charging plate; a12-streamlined bottom plate; a13-floating; a2-small trash can; a21-feeding port; a3-thruster; a4-quick release mechanism; a41-base; a411-connecting plate; a412-spring; a42-elastic clamp; a421-second inclined plane; a43-fixed seat; a44-limiting piece; a441-support block; a44 2-pressing block; a4421-arc surface; a443-sliding block; a4431-first inclined surface; a5-battery module; a51-housing; a511-steering gear; a512-rudder; a52-battery pack; a53-heat dissipation pipe; a54-water inlet manifold; a55-water outlet manifold; a6-ship door; a61-fish scale-shaped through hole; a62-first hydraulic mechanism; a7-multi-functional storage compartment; a71-camera assembly; a72-second hydraulic mechanism; a8-oil tank; a81-distribution valve; Multi-purpose terminal; b1- dock body; b11- docking cabin; b111- inclined surface; b12- storage cabin; b2- large garbage bin; b3- driving assembly; b31- vertical driving unit; b311- first linear module; b312- lifting plate; b32- horizontal driving unit; b321- connecting plate; b322- second linear module; b4- grabbing assembly; b41- flip unit; b411- fixed shell; b412- first rotating driving member; b413- transmission member; b4131- driving wheel; b4132- driven wheel; b4133- transmission belt; b42- Gripper unit; b421-rotating seat; b422-second rotating drive member; b423-mechanical claw; b424-synchronous gear; b425-synchronous rack; b426-rotating arm; b5-lifting mechanism; b51-bottom plate; b511-slide; b52-scissor-type telescopic frame; b53-lifting drive member; b531-lifting motor; b532-lifting gear; b533-lifting rack; b54-top plate; b6-wireless charging seat; 7-covering mechanism; b71-cover plate; b72-first connecting rod; b3-second connecting rod; b74-covering drive member. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] Please refer to Figure 1 , Figure 2 , Fig.11 and Fig.12 This embodiment provides an automatic lake garbage cleaning system, including a robot A and a multifunctional dock B.

[0047] The robot A comprises a hull a1, a small trash bin a2 arranged on the hull a1, and a power module for driving the hull a1 forward. A receiving port a111 is arranged at the front part of the hull a1 in the forward direction, the power module is arranged at the rear part of the hull a1 in the forward direction, a mounting port a112 is arranged at the top of the hull a1, the small trash bin a2 is detachably mounted on the hull a1 through a quick-release mechanism a4, and the small trash bin a2 is provided with a feeding port a21 opposite to the receiving port a111; a battery module a5 for supplying power to the power module is arranged at the bottom of the hull a1; the small trash bin a2 can be placed in the hull a1 from the mounting port a112; in addition, the small trash bin a2 and the hull a1 are both provided with a plurality of drainage ports to prevent water from gathering in the small trash bin a2 or the hull a1 when the hull a1 is traveling on the lake, and at the same time, the resistance of the water flow can also be effectively reduced.

[0048] The multifunctional dock B includes a dock body b1, a large garbage bin b2, and a dumping mechanism. The dock body b1 is provided with a docking cabin b11 with a side opening and a storage cabin b12 with a top opening at both ends along its length direction. The robot A can be docked in the docking cabin b11. The large garbage bin b2 is open at the top and is detachably arranged in the storage cabin b12. The dumping mechanism is used to disassemble and grab the small garbage bin a2, and make the small garbage bin a2 move back and forth between the docking cabin b11 and the large garbage bin b2. Among them, the inner two side surfaces of the docking cabin b11 are inclined surfaces b111, that is, the opening of the docking cabin b11 is gradually reduced from the outside to the inside, so that the equipment can be ensured to be docked at the center of the docking cabin b11, and the precise positioning of the robot A can be achieved.

[0049] This embodiment realizes a fully automated process of lake garbage cleaning by integrating robot A and multifunctional dock B, greatly improving cleaning efficiency and reducing manpower requirements. Among them, robot A can continuously and uninterruptedly collect garbage in the designated waters, while multifunctional dock B is responsible for quickly and accurately completing the replacement or cleaning of small garbage bin a2, ensuring the continuous and efficient operation of the entire system. It should be noted that robot A and multifunctional dock B realize collaborative control through wireless communication modules, and the central processor uniformly schedules the operation process.

[0050] When robot A is running, the power module drives the hull a1 to move forward and approach the location of the garbage on the lake surface. At this time, through the receiving port a111 set on the hull a1 and the feeding port a21 set on the large garbage bin b2, the garbage on the lake surface passes through the receiving port a111 and the feeding port a21 in turn, so that the garbage on the lake surface can be collected into the large garbage bin b2, completing the cleaning work of the garbage on the lake surface.

[0051] When robot A docks at the multi-functional wharf B, the precise positioning of robot A is achieved by designing a docking cabin b11 with a side opening, and then the dumping mechanism grabs the small garbage bin a2 located on the robot A, and grabs the small garbage bin a2 to the large garbage bin b2, and dumps the garbage in the small garbage bin a2 into the large garbage bin b2, or directly replaces the small garbage bin a2, so that the garbage collected by robot A can be automatically cleaned, thereby improving the efficiency and safety of garbage disposal.

[0052] In this embodiment, a wireless charging plate a114 is provided on the hull a1, and a wireless charging seat b6 is provided on the dock body b1. The wireless charging seat b6 can charge the battery module a5 through the wireless charging plate a114. The wireless charging plate a114 is arranged on the top of the hull a1, and the wireless charging seat b6 extends toward the inside of the docking cabin b11, and a coil for charging is provided on the wireless charging seat b6. When the robot A is docked in the docking cabin b11, the wireless charging plate a114 can be docked with the wireless charging seat b6, thereby realizing wireless charging, which greatly improves the convenience of charging the device.

[0053] Please refer to Figure 3 In this embodiment, the quick-release mechanism a4 includes a base a41 disposed at the bottom of the small trash can a2, two groups of elastic clamps a42 symmetrically disposed on the base a41, a fixing seat a43 disposed at the bottom of the hull a1, and a limiter a44 disposed on the fixing seat a43, and the two groups of elastic clamps a42 can be clamped on the limiter a44. Specifically, a avoidance space is provided on the base a41, and the two groups of elastic clamps a42 are symmetrically disposed in the avoidance space. The fixing seat a43 is fixed to the hull a1 by two aluminum tubes, and the two aluminum tubes are respectively located on opposite sides of the base a41 to avoid motion interference with the base a41. When the two groups of elastic clamps a42 are clamped on the limiter a44, they can respectively abut on opposite sides of the limiter a44.

[0054] When installing the small trash bin a2, align the middle position of the two sets of elastic clamps a42 with the limiter a44, then press the small trash bin a2 downward and make the limiter a44 squeeze the two sets of elastic clamps a42, thereby stretching the two sets of elastic clamps a42 until they are clamped on the limiter a44 to complete the fixation of the small trash bin a2, and use the elastic force of the two sets of elastic clamps a42 to lock the base a41. Under normal working conditions, the elastic clamps a42 can be tightly clamped on the limiter a44, providing a stable connection, effectively preventing the small trash bin a2 from shifting or falling off during the movement of the hull a1, and ensuring the safety of the operation.

[0055] Please refer to Figure 4 and Figure 5In this embodiment, the limiting member a44 includes a supporting block a441 arranged on the fixing seat a43, a pressing block a442 arranged on the supporting block a441 close to one end of the small trash bin a2, and a sliding block a443 slidably arranged on the supporting block a441, and the side of the pressing block a442 opposite to the small trash bin a2 is an arcuate surface a4421, and the opposite sides of the sliding block a443 are provided with a first inclined surface a4431 which can be connected with the edge of the arcuate surface a4421. Specifically, the pressing block a442 and the supporting block a441 are integrally formed structures, the upper surface of the pressing block a442 is set as an arc surface a4421, and the lower surface is set as a symmetrical groove structure. Correspondingly, symmetrical protrusions matching the symmetrical groove structure are set on both sides of the upper surface of the slider a443, so that the slider a443 can be completely fitted on the pressing block a442, ensuring that the side of the slider a443 can dock with the outer edge of the arc surface a4421, so that the slider a443 can be embedded in the pressing block a442, thereby further improving the alignment accuracy of the two. In addition, the supporting block a441 and the fixing seat a43 are split structures, and the two can be fixed by screws and realize a detachable connection.

[0056] When installing the small trash can a2, the two sets of elastic clamping claws a42 first pass through the pressing block a442 and are stretched along the arc surface a4421 at the upper end of the pressing block a442, and then continue to be pressed down until they contact with the sliding block a443. At this time, the small trash can a2 is fixed, and the elastic clamping claws a42 are restricted between the pressing block a442 and the sliding block a443. The sliding block a443 supports the elastic clamping claws a42, and the pressing block a442 limits the elastic clamping claws a42. When disassembling the small trash can a2, it is necessary to further press down the small trash can a2 so that the elastic clamping claws a42 continue to slide along the sliding block a443. At this time, the sliding block a443 The movement will be restricted by the fixed seat a43 and the two sets of elastic clamps a42 will be squeezed until the elastic clamps a42 slide to the bottom of the slide plate, and then the small trash can a2 will be lifted up in the opposite direction. At this time, the elastic clamps a42 will drive the slider a443 to move up and contact the pressing block a442. Since the first inclined surfaces a4431 on both sides of the slider a443 can be docked with the edges of the arc-shaped surfaces a4421 of the pressing block a442, the small trash can a2 will be lifted up continuously at this time. The elastic clamps a42 will be stretched along the first inclined surfaces a4431 until they are separated from the slider a443 and the pressing block a442, thereby realizing the disassembly of the small trash can a2. Therefore, the position limiting member a44 of this embodiment can not only realize the rapid installation and disassembly of the small trash can a2, but also effectively improve the stability of the fixing of the small trash can a2, and prevent the small trash can a2 from detaching from the hull a1.

[0057] It should be noted that the fixing seat a43 of this embodiment is a plate-like structure, the support block a441 is a long block-like structure, and the pressing block a442 extends along the length direction of the support block a441 and can be the same length as the support block a441. The two groups of elastic clamping claws a42 are respectively arranged on both sides of the length direction of the pressing block a442, and each group of elastic clamping claws a42 is a plurality of clamping claws arranged at intervals along the length direction of the pressing block a442.

[0058] Please refer to Figure 6 and Figure 7 In this embodiment, the elastic clamp a42 is movably mounted on the base a41 through an elastic member a422, and a second inclined surface a421 is provided at one end of the elastic clamp a42 close to the pressing block a442. The elastic member is preferably a metal spring, and the elastic clamp a42 is movably clamped on the base a41, and the second inclined surface a421 is perpendicular to the first inclined surface a4431.

[0059] Since the elastic clamp a42 is installed through an elastic part, it has a certain elasticity and range of motion, and therefore has a certain adaptive function, and can better adapt to the shape of the pressing block a442. The design of the second inclined surface a421 enables the force to be more effectively transmitted to the elastic clamp a42 when the pressing block a442 is squeezed, causing the clamp to fit closely to the curved surface a4421 of the pressing block a442, thereby facilitating the opening of the two sets of elastic clamps a42.

[0060] In addition, in order to improve the structural stability of the small trash bin a2 after installation, the present embodiment is further provided with a connecting plate a411 and a plurality of springs a412 on the fixing seat a43, and the plurality of springs a412 jointly support the bottom of the small trash bin a2. Specifically, after the elastic clamp a42 is clamped between the pressing block a442 and the sliding block a443, in order to prevent the small trash bin a2 from continuously exerting pressure on the sliding block a443 due to the increase in weight, which may cause the sliding block a443 to open the two sets of elastic clamps a42, a spring is added, and the spring exerts elastic force on the bottom of the small trash bin a2, thereby squeezing the elastic clamp a42 at the bottom of the pressing block a442. At this time, the second inclined surface a421 on the elastic clamp a42 will not contact the sliding block a443, which effectively prevents the sliding block a443 from opening the two sets of elastic clamps a42.

[0061] Please refer to Figure 3 and Figure 8In this embodiment, the battery module a5 includes a shell a51 disposed on the hull a1, a battery pack a52 disposed in the shell a51, and a heat dissipation pipe a53 disposed around the outer periphery of the battery pack a52, and the water inlet end of the heat dissipation pipe a53 is located at the front end of the forward direction of the hull a1; a steering gear a511 is also provided at the rear end of the shell a51 located in the forward direction of the hull a1, and the output end of the steering gear a511 is connected to the rudder a512. Specifically, the shell a51 is divided into two detachable upper and lower parts, which can be sealed by screws and waterproof rubber rings during assembly. The water inlet ends of multiple heat dissipation water pipes can be fixed by the water inlet manifold a54, and the water outlet ends can be fixed by the water outlet manifold a55 and can be arranged at the rear end or side of the shell a51.

[0062] The housing a51 is used to protect the battery pack a52 and prevent the battery pack a52 from short-circuiting when it encounters water. In addition, by setting the water inlet end of the heat dissipation water pipe at the front end of the forward direction of the hull a1, the natural wind pressure or water flow power generated by the hull a1 when traveling can be used to make water flow through the heat dissipation water pipe and enhance the flow effect of the cooling water. This not only improves the heat dissipation efficiency, but also effectively utilizes environmental resources and reduces energy consumption. At the same time, multiple heat dissipation water pipes are evenly distributed on the periphery of the battery pack a52, ensuring that the heat of each part of the battery pack a52 can be dissipated in time, avoiding the occurrence of local overheating.

[0063] Please refer to Fig. 9 It should be noted that the power module of this embodiment includes a plurality of propellers a3, which are arranged at intervals at the rear end of the forward direction of the ship 1, and the battery pack a52 can be connected to the propellers a3 through components such as wires and circuit boards to control the actions of the propellers a3. Among them, the propeller a3 mainly includes a housing a51, fan blades and a motor.

[0064] Please refer to Figure 2 In this embodiment, the hull a1 includes a hull frame a11, a streamlined bottom a112 disposed at the bottom of the hull frame a11, and floats a13 disposed on opposite sides of the hull frame a11, and the receiving port a111 and the installation port a112 are both located on the hull frame a11. Specifically, the streamlined bottom a112 can be set to two, the two streamlined bottoms a112 are arranged at intervals, and the battery module a5 is arranged between the two streamlined bottoms a112. In addition, the propeller a3 can also be set to two, and the two propellers a3 are respectively arranged on the two streamlined bottoms a112.

[0065] The design of the streamlined bottom a112 significantly reduces the resistance of the hull a1 in the water, improving the navigation speed and efficiency of the robot A. The setting of the float a13 increases the buoyancy of the hull a1, allowing the robot A to remain stable under load or in bad weather conditions. The hull frame a11, as the main supporting structure of the hull a1, adopts a frame structure, which can facilitate the installation of equipment such as the small garbage box a2 and the power module.

[0066] In this embodiment, two doors a6 are rotatably mounted on the hull frame a11, and the two doors a6 are used to close the material receiving port a111. A plurality of fish-scale through holes a61 are arranged at intervals on the door a6. The arrangement of the door a6 allows the robot A to better protect the internal equipment when not in use. In addition, during navigation, the fish-scale through holes a61 arranged on the door a6 help disperse the impact force of the water flow on the door a6, reduce the water flow resistance, and thus improve the navigation speed and efficiency of the hull a1. At the same time, the two doors a6 can also play a diversion role at the same time, better guiding the garbage into the small garbage bin a2.

[0067] In addition, the top of the hull frame a11 is also rotatably connected to a multifunctional storage compartment a7, on which a control module and a visual module are provided. The visual module includes a camera assembly a71, which is located at the front end of the multifunctional storage compartment 8. The multifunctional storage compartment a7 can store the control module that drives the normal operation of the hull a1, and the control module includes a control system, various sensor modules, and circuit boards. The multifunctional storage compartment a7 is arranged on the top of the hull frame a11, which can also effectively prevent water from entering the interior, and the camera assembly a71 can be used to scan the distribution of garbage in front of the hull a1 for accurate salvage; on the other hand, it can also be used to limit the displacement of the small garbage bin a2, that is, cooperate with the limiter a44 to limit the small garbage bin a2 to prevent it from leaving the hull a1.

[0068] Please refer to Fig. 9 and Fig.10 It should be noted that the door a6 is driven to rotate by the first hydraulic mechanism a62, the multifunctional storage compartment a7 is driven to rotate by the second hydraulic mechanism a72, and an equipment compartment a113 is also provided on the hull frame a11. The equipment compartment a113 is provided with an oil tank a8 and a distribution valve a81 connected to the oil tank a8, and the distribution valve a81 is respectively connected to the first hydraulic mechanism a62 and the second hydraulic mechanism a72.

[0069] Specifically, the first hydraulic mechanism a62 and the second hydraulic mechanism a72 are both hydraulic rod structures, wherein the first hydraulic mechanism a62 is set to two groups, and the two groups of first hydraulic mechanisms a62 are respectively used to control the opening and closing of the two ship doors a6. The second hydraulic mechanism a72 can also be set to two groups, which can be connected to the two sides of the multifunctional storage compartment a7 respectively. The design of integrating the oil tank a8 and the distribution valve a81 in the equipment compartment a113 realizes the centralized management of the hydraulic system, and can control the rotation of the ship door a6 or the multifunctional storage compartment a7 according to the actual received needs, which not only simplifies the structure of the hydraulic system, but also improves the operating efficiency of the system.

[0070] Please refer to Fig.11 In this embodiment, the dumping mechanism is installed above the dock body b1, including a driving component b3 and a flippable grabbing component b4. The driving component b3 is used to drive the grabbing component b4 to rise and fall, and to move back and forth between the docking cabin b11 and the large garbage bin b2. The grabbing component b4 is used to grab the small garbage bin a2.

[0071] Please continue to refer to Fig.11 The grabbing assembly b4 includes a flipping unit b41, a clamping unit b42 and a blocking cover b43. The flipping unit b41 is installed at the output end of the driving assembly b3, and the flipping unit b41 is used to drive the rotation of the clamping unit b42. The blocking cover b43 is located in front of the flipping unit b41 and the clamping unit b42.

[0072] The gripper unit b42 is driven by the driving component b3 to grab the small trash can a2 on the robot A. At the same time, when the gripper unit 42 approaches the small trash can a2 and grabs it, the cover b43 on the dumping mechanism will be inserted into the open end of the small trash can a2 to prevent the garbage on the opening side from falling out due to the movement of the small trash can a2; and through the driving of the flip unit b41, the gripper unit b42 can rotate at a certain angle, so as to dump the garbage in the small trash can a2 into the large trash can b2, so as to realize the automatic recycling of garbage. In addition, the cover b43 of this embodiment is provided with a plurality of notches to facilitate drainage, and the thickness of the cover b43 is a circular arc-shaped gradual structure with a large top and a small bottom. The bottom thickness of the cover b43 is the smallest and when the cover b43 closes the opening of the small trash can a2, a certain gap is left between its bottom and the bottom of the opening of the small trash can a2, so as to avoid squeezing the garbage in the opening. At the same time, the circular arc gradual structure can also squeeze the garbage in the opening to the inside.

[0073] For details, please refer to Fig.13 and Fig.15The flip unit b41 includes a fixed shell b411 arranged at the output end of the driving component b3, and a first rotating driving member b412 and a transmission member b413 arranged at the fixed shell b411. The clamping unit b42 is connected to the output end of the first rotating driving member b412 through the transmission member b413. The first rotating driving member b412 is a stepping motor, and the transmission member b413 includes a driving wheel b4131 rotatably mounted on the fixed shell b411, a driven wheel b4132 fixedly mounted on the clamping jaw unit b42, and a transmission belt b4133 for connecting the driving wheel b4131 and the driven wheel b4132, wherein the driving wheel b4131 can be installed through a shaft and a bearing, and the first rotating driving member b412 is connected to the shaft for installing the driving wheel b4131 through a coupling, so that the first rotating driving member b412 can drive the rotation of the driving wheel b4131, and synchronously drive the rotation of the driven wheel b4132 through the transmission belt b4133, thereby driving the rotation of the clamping jaw unit b42. It should be noted that the driving wheel b4131 and the driven wheel b4132 can be pulleys, and the transmission belt b4133 can be a belt.

[0074] The fixed shell b411 of this embodiment provides a stable support and protection for the first rotating driving member b412 and the transmission member b413, 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 b41. In addition, the first rotating driving member b412 drives the flipping of the clamping unit b42 through the action of the transmission member b413, ensuring that the clamping unit b42 can be flipped efficiently and stably.

[0075] The clamping jaw unit b42 includes a rotating seat b421 connected to the transmission member b413, a second rotating driving member b422 arranged on the rotating seat b421, and two mechanical claws b423 slidably arranged on the rotating seat b421, the output end of the second rotating driving member b422 is connected to a synchronous gear b424, the two mechanical claws b423 are both connected to a synchronous rack wheel b425, and the two synchronous rack wheels b425 are respectively meshed and connected with the synchronous gear b424. Specifically, the rotating seat b421 can be rotatably connected to the fixed shell a51 through a rotating arm b426, one end of the rotating arm b426 is fixed on the rotating seat b421, and the other end is fixedly connected to the driven wheel b4132 in the transmission member b413 and is rotatably connected to the fixed shell a51 through a rotating shaft. In this way, when the driving wheel b4131 drives the driven wheel b4132 to rotate, the driven wheel b4132 will synchronously drive the rotating arm b426 to rotate relative to the fixed shell a51, thereby synchronously driving the rotation of the rotating seat b421.

[0076] In addition, the second rotating driving member b422 is a stepping motor, which can realize the forward and reverse rotation of the main shaft, the synchronous gear b424 is fixed to the output end of the second rotating driving member b422, and the two synchronous rack wheels b425 are arranged in parallel and respectively fixed on the two mechanical claws b423, and the two mechanical claws b423 are arranged opposite to each other and slidably arranged on the rotating seat b421 through a connecting rod. In this way, when the second rotating driving member b422 rotates, the synchronous gear b424 will synchronously drive the two synchronous rack wheels b425 to move relative to or away from each other, thereby driving the two mechanical claws b423 to move closer or farther away.

[0077] In this embodiment, the rotation of the synchronous gear b424 is accurately controlled by the second rotating driving member b422. Since the synchronous gear b424 is respectively meshed with the two synchronous rack wheels b425, it can ensure that the two mechanical claws b423 move toward each other synchronously and accurately, thereby achieving stable and high-precision clamping of the workpiece. Moreover, since the two mechanical claws b423 are linked with the same synchronous gear b424 through the rack, when the synchronous gear b424 rotates, the two mechanical claws b423 will move in opposite directions, which can effectively increase the resultant force during clamping.

[0078] Please refer to Fig.14 In this embodiment, the driving component b3 includes a vertical driving unit b31 and a horizontal driving unit b32. The vertical driving unit b31 is arranged on the dock body b1, the horizontal driving unit b32 is arranged at the output end of the vertical driving unit b31, and the grabbing component b4 is arranged at the output end of the horizontal driving unit b32. Through the combination of the vertical driving unit b31 and the horizontal driving unit b32, the grabbing component b4 can move in both directions, that is, it can move up and down in the vertical direction to approach or move away from the small garbage bin a2 on the robot A, and move linearly in the horizontal direction to reciprocate between the robot A and the large garbage bin b2, so that the grabbing component b4 can accurately reach the preset position on the dock body b1.

[0079] Specifically, the vertical drive unit b31 includes two first linear modules b311 installed on opposite sides of the length direction of the dock body b1, and a lifting plate b312 arranged at the output end of the two first linear modules b311, and a clearance gap is arranged between the two lifting plates b312. The horizontal drive unit b32 is installed on the two lifting plates b312 and straddles the clearance gap. Among them, the two first linear modules b311 are arranged opposite to each other, and the two first linear modules b311 have the same structure, which is a conventional structure in the prior art, so its specific structure is not described here. By synchronously driving the lifting plates b312 on opposite sides of the length direction of the dock body b1 by the two first linear modules b311, load balancing is achieved, structural stress concentration and vibration caused by single-point drive are effectively avoided, and the stability and durability of the entire drive component b3 are improved.

[0080] Please refer to Fig.15 In this embodiment, the horizontal driving unit b32 includes a connecting plate b321 installed on the lifting plate b312, and a second linear module b322 arranged on the connecting plate b321, and the grabbing component b4 is arranged at the output end of the second linear module b322. Through the horizontal driving of the second linear module b322, combined with the vertical movement of the vertical driving unit b31, the entire driving component b3 can realize flexible operation in three-dimensional space, and can effectively meet the movement requirements of the grabbing component b4 in the vertical and horizontal directions. Similarly, the second linear module b322 is also a conventional structure in the prior art, and its specific structure is not repeated here.

[0081] Please refer to Fig.16 The lifting mechanism b5 of this embodiment includes a bottom plate b51, a top plate b54, and a scissor-type telescopic frame b52 for connecting the bottom plate b51 and the top plate b54. The bottom of the scissor-type telescopic frame b52 has two fulcrums, one of which is rotatably mounted on the bottom plate b51, and the other fulcrum is slidably clamped on the bottom plate b51 and moved by the driving of the lifting drive member b53. Among them, the scissor-type telescopic frame b52 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 member b53 includes a lifting motor b531, a lifting gear b532 fixed to the output end of the lifting motor b531, and a lifting rack b533 meshingly connected with the lifting gear b532, one end of the lifting rack b533 is fixedly connected to a fulcrum of the scissor-type telescopic frame b52, and a slide groove is provided on the bottom plate b51, and the lifting rack b533 is slidably clamped in the slide groove. In this way, when the lifting motor b531 drives the lifting gear b532 to rotate, the lifting rack b533 will slide along the bottom plate b51, so that the two supporting points of the scissor-type telescopic frame b52 can approach or move away from each other.

[0082] It should be noted that the scissors-type telescopic frame b52 and the lifting drive member b53 are two symmetrically arranged groups. Through the synchronous action of the two groups of scissors-type telescopic frames b52 and the lifting drive member b53, the balance of lifting the large garbage bin b2 can be improved, and the large garbage bin b2 can be prevented from being offset or subjected to uneven force.

[0083] In addition, the bottom of the large garbage bin b2, the bottom plate b51, the top plate b54 and the bottom of the storage compartment b12 are respectively provided with a plurality of drainage holes. The design of the drainage holes enables the structure in the storage compartment b12 to have excellent drainage performance, and these drainage 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.

[0084] The covering mechanism b7 of this embodiment includes a cover plate b71, a first connecting rod b72, a second connecting rod b73 and a covering driving member b74. The two ends of the first connecting rod b72 are respectively connected to the dock body b1 and the cover plate b71 for rotation. The two ends of the second connecting rod b73 are respectively connected to the output end of the covering driving member b74 and the cover plate b7171. The covering driving member b74 is used to drive the rotation of the second connecting rod b73. The first connecting rod b72 and the second connecting rod b73 have the same structure, both of which are integrated bending structures. One end of the second connecting rod b73 is connected to the dock body b1 for rotation, and the other end is fixedly connected to the covering driving member b74. The covering driving member b7474 is a motor.

[0085] The covering mechanism b7 can effectively cover the opening of the top of the storage bin or large garbage bin b2 through the cover plate b71, preventing other debris from entering the interior when not in use, while reducing safety hazards and is used for daily isolation of garbage odor. In addition, the covering drive member b74 can realize the opening and closing of the cover plate b71 by only driving the rotation of the second connecting rod b73, which is simple and efficient to operate without manual opening of the cover.

[0086] 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.

[0087] 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.

[0088] 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. An automatic lake garbage cleaning system, characterized in that: including robots and multi-purpose docks; The robot comprises a hull, a small trash bin arranged on the hull, and a power module for driving the hull forward; a material receiving port is arranged at the front portion of the hull in the forward direction; the small trash bin is detachably mounted on the hull through a quick-release mechanism, and the small trash bin is provided with a material feeding port opposite to the material receiving port; a battery module for supplying power to the power module is arranged at the bottom of the hull; The multifunctional wharf comprises a wharf body, a large trash bin, and a dumping mechanism. The wharf body is provided with a side-opening docking cabin and a top-opening storage cabin at both ends along its length direction, respectively. The robot can be docked in the docking cabin. The large trash bin is open at the top and is detachably arranged in the storage cabin. The dumping mechanism is used to disassemble and grab the small trash bin, and make the small trash bin move back and forth between the docking cabin and the large trash bin.

2. The automatic lake garbage cleaning system according to claim 1 is characterized in that: The quick-release mechanism comprises a base arranged at the bottom of the small trash can, two groups of elastic clamps symmetrically arranged on the base, a fixing seat arranged at the bottom of the hull, and a limiting member arranged on the fixing seat, and the two groups of elastic clamps can be clamped on the limiting member.

3. The automatic lake garbage cleaning system according to claim 2 is characterized in that: The limiting member includes a supporting block arranged on the fixing seat, a pressing block arranged on the supporting block close to one end of the small trash can, and a sliding block slidably arranged on the supporting block, wherein a side of the pressing block opposite to the small trash can is an arc-shaped surface, and opposite sides of the sliding block are provided with a first inclined surface which can be connected with the edge of the arc-shaped surface.

4. The automatic lake garbage cleaning system according to claim 1 is characterized in that: The battery module includes an outer shell arranged on the hull, a battery pack arranged in the outer shell, and a heat dissipation pipe arranged around the outer periphery of the battery pack, wherein the water inlet end of the heat dissipation pipe is located at the front end in the forward direction of the hull; a steering gear is also provided on the outer shell at the rear end in the forward direction of the hull, and the output end of the steering gear is connected to a rudder.

5. The automatic lake garbage cleaning system according to claim 1 is characterized in that: The hull includes a hull frame, a streamlined bottom plate arranged at the bottom of the hull frame, and floats arranged on opposite sides of the hull frame. Two doors are rotatably installed on the hull frame. The top of the hull frame is rotatably connected to a multifunctional storage cabin, and the multifunctional storage cabin is provided with a control module and a visual module.

6. The automatic lake garbage cleaning system according to claim 1 is characterized in that: The dumping mechanism is erected above the dock body and comprises a driving assembly and a flippable 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 cabin and the large garbage bin. The grabbing assembly is used to grab the small garbage bin.

7. The automatic lake garbage cleaning system according to claim 6 is 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.

8. The automatic lake garbage cleaning system according to claim 7 is characterized in that: 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 claw unit is connected to the output end of the first rotating driving member through the transmission member.

9. The automatic lake garbage cleaning system according to claim 7 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.

10. The automatic lake garbage cleaning system according to claim 1 is characterized in that: It also includes a lifting mechanism and a covering mechanism. The lifting mechanism is arranged in the storage compartment and is used to drive the large garbage bin to be lifted and lowered in the storage compartment; the covering mechanism is arranged in the dock body and is used to close the storage compartment.

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