All-terrain garbage sorting and classifying intelligent machine vehicle

Abstract

The invention discloses an all-terrain garbage sorting and classifying intelligent machine vehicle, and relates to the technical field of intelligent machine vehicles, the all-terrain garbage sorting and classifying intelligent machine vehicle comprises a vehicle body, the top surface of the vehicle body is connected with a main arm, the main arm is provided with a chuck, the chuck is connected with a camera, two sides of the vehicle body are provided with side wheels, the side wheels are provided with side crawlers, and the side crawlers are connected with the camera. The side tracks are arranged in a hollow mode, and the side tracks are filled with air bags; in the invention, the wave-resistant plate can adaptively slide up and down according to the size and direction of waves, and flexibly cope with wave impact of different angles and strengths through a lever principle and spring buffering, so that the machine vehicle can keep stable running and continuously carry out garbage sorting work in a complex water area environment, such as an open water area with irregular waves; and the operation adaptability and reliability of the robot vehicle under different water area conditions are greatly enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robotic vehicles, specifically an all-terrain intelligent robotic vehicle for garbage sorting and classification. Background Art

[0002] In the current field of garbage disposal, the cleaning of water area garbage is crucial, especially in some complex water area environments, such as open waters with irregular waves.

[0003] Existing garbage sorting equipment exposes many limitations when dealing with such complex water areas.

[0004] Most traditional garbage sorting robotic vehicles lack effective anti-wave designs. Their anti-wave structures are simple and fixed, and it is difficult to adjust adaptively according to the size and direction of waves.

[0005] In open waters, the impact direction and intensity of irregular waves are constantly changing. When facing wave impacts at different angles and intensities, the vehicle stability is greatly challenged, and it is extremely easy to shake or even roll over, seriously affecting the normal development of garbage sorting work.

[0006] In view of this, this application is specifically proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide an all-terrain intelligent robotic vehicle for garbage sorting and classification to solve the problems raised in the above background art.

[0008] To solve the above technical problems, the all-terrain intelligent robotic vehicle for garbage sorting and classification provided by the present invention includes a vehicle body. A main arm is connected to the top surface of the vehicle body. A chuck is provided on the main arm, and a camera is connected to the chuck. Side wheels are provided on both sides of the vehicle body, and side tracks are provided on the side wheels. The side tracks are hollow, and air bags are filled in the side tracks. An anti-wave box is provided on the bottom surface of the vehicle body. Anti-wave plates are slidably connected to both sides of the bottom surface of the anti-wave box. An installation frame is provided in the anti-wave box. The center of the top surface of the installation frame is connected to one end of a connecting rod, and both ends of the connecting rod are rotatably connected to the anti-wave plates. Springs are provided between the anti-wave box and the anti-wave plates.

[0009] Further, a connecting shaft is provided on the top surface of the anti-wave plate. A sealing sleeve is provided in the anti-wave box. The connecting shaft is slidably connected in the sealing sleeve. The spring is provided between the connecting shaft and the sealing sleeve. The top surface of the connecting shaft is rotatably connected to the connecting rod.

[0010] Further, a connecting column is provided on the top surface of the connecting shaft. The top end of the connecting column is rotatably connected to the connecting rod. The connecting column is made of a damping material.

[0011] Further, a sealing piece is provided on the top surface of the connecting shaft.

[0012] Further, the side surface of the connecting shaft is provided with threads, and a water wheel threadedly connected to the connecting shaft is rotatably connected to the vehicle body. A protective cover having the same height as the water wheel is arranged outside the water wheel.

[0013] Further, a first chamfer is provided on the front surface of the wave-resistant plate, and a second chamfer is provided on the side surface of the wave-resistant plate.

[0014] Further, there are four of the mounting brackets, connecting rods, connecting shafts, water wheels and protective covers, which are arranged at equal intervals in a linear array.

[0015] Further, a front vehicle body is connected to the front surface of the vehicle body. A triangular wheel is rotatably connected to the side surface of the front vehicle body. A triangular crawler belt is arranged on the triangular wheel. A garbage collection box is connected to the front surface of the front vehicle body.

[0016] Further, a support arm is rotatably connected to the main arm, a rotating arm is rotatably connected to the support arm, a chuck is rotatably connected to the rotating arm, a driving motor is arranged on the chuck, clamping plates are arranged on both sides of the chuck, a gear transmission member is arranged between the driving motor and the clamping plates, and a transmission belt is arranged between the clamping plates.

[0017] Further, a two-stage claw is rotatably connected to the driving motor. A shaft is arranged on the two-stage claw. A synchronous belt is arranged between the shaft and the two-stage claw. A claw pad is arranged on the inner side of the two-stage claw.

[0018] Further, a two-stage claw is rotatably connected to the chuck. A shaft is arranged on the chuck. A synchronous belt is arranged between the shaft and the two-stage claw. A claw pad is arranged on the inner side of the two-stage claw.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] (1) In the present invention, the wave-resistant plate can slide up and down adaptively according to the size and direction of the waves. Through the lever principle and spring buffering, it can flexibly cope with wave impacts at different angles and intensities. This enables the machine vehicle to maintain stable driving in complex water environments, such as open waters with irregular waves, and continuously carry out garbage sorting work, greatly enhancing the operation adaptability and reliability of the machine vehicle under different water conditions.

[0021] (2) In the present invention, during the process of using the resistance of water flow to the water wheel to generate a reverse acting force, the water wheel actually converts part of the kinetic energy of the water flow into energy to resist wave impact. To a certain extent, this utilizes the natural energy of the water flow, reduces the energy consumed by the vehicle itself to resist wave swaying, and improves the energy utilization efficiency. Especially when conducting long-term garbage sorting operations in large areas of water, it can reduce the energy consumption cost and extend the endurance time of the machine vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of an all-terrain garbage sorting and classification intelligent machine vehicle;

[0023] Figure 2 is a schematic diagram of the chuck structure of an all-terrain garbage sorting and classification intelligent machine vehicle;

[0024] Figure 3 is a schematic diagram of the wave-resistant box structure of an all-terrain garbage sorting and classification intelligent machine vehicle;

[0025] Figure 4 is a schematic diagram of the sectional structure of an all-terrain garbage sorting and classification intelligent machine vehicle;

[0026] Figure 5 is a schematic diagram of the bottom surface structure of the wave-resistant box of an all-terrain garbage sorting and classification intelligent machine vehicle;

[0027] Figure 6 is Figure 4 an enlarged view of part A in

[0028] Figure 7 is Figure 5 an enlarged view of part B in

[0029] Figure 8 is a schematic diagram of the gear transmission part structure of the present invention.

[0030] In the figure:

[0031] 1, vehicle body; 11, side wheels; 12, side tracks;

[0032] 2, front vehicle body; 21, triangular wheels; 22, triangular tracks; 23, garbage collection box;

[0033] 3, main arm; 31, support arm; 32, rotating arm;

[0034] 4, chuck; 41, drive motor; 42, clamping plate; 43, gear transmission part; 44, transmission belt; 45, two-stage clamping jaw; 46, synchronous belt; 47, clamping jaw pad;

[0035] 5, camera;

[0036] 6, wave-resistant box; 61, mounting frame; 62, connecting rod;

[0037] 7. Anti-wave plate; 71. Connecting shaft; 72. Sealing sleeve; 73. Spring; 74. Connecting column; 75. First chamfer; 76. Second chamfer;

[0038] 8. Water wheel; 81. Protective cover. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0040] Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] Please refer to Figure 1-7 , the present invention provides a technical solution:

[0042] An all-terrain garbage sorting and classification intelligent robot vehicle, including a vehicle body 1, side wheels 11 are arranged on both sides of the vehicle body 1, side crawlers 12 are arranged on the side wheels 11, a front vehicle body 2 is connected to the front of the vehicle body 1, a triangular wheel 21 is rotatably connected to the side of the front vehicle body 2, a triangular crawler 22 is arranged on the triangular wheel 21, and a garbage collection box 23 is connected to the front of the front vehicle body 2.

[0043] The triangular wheel 21 rotates under the action of a driving device, such as a motor cooperating with a gear transmission system.

[0044] The unique tooth shape of the triangular wheel 21 is accurately engaged with the triangular crawler 22, driving the triangular crawler 22 to continuously rotate around the triangular wheel 21 in a cycle.

[0045] This process pushes the front vehicle body 2 forward, and then drives the entire vehicle body 1 connected to the front vehicle body 2 to move.

[0046] Relying on the special triangular shape of the triangular crawler 22, when the vehicle faces rough terrains such as mountains and hills, it can flexibly fit the ground undulation and effectively cross obstacles such as stones and gullies.

[0047] The side wheels 11 on both sides of the vehicle body 1 are also driven to rotate by a driving device, and the rotation of the side wheels 11 causes the side crawlers 12 sleeved thereon to move in a cycle accordingly.

[0048] The side crawlers 12 play an auxiliary supporting and propelling role during the movement of the vehicle.

[0049] When the vehicle is driving on soft ground, such as sandy land and muddy land, the larger grounding area of the side crawlers 12 can disperse the vehicle weight, reduce the pressure on the ground, avoid the wheels from sinking, and ensure the stable forward movement of the vehicle.

[0050] Moreover, when the vehicle turns, the side track 12 and the triangular track 22 work together to achieve flexible steering of the vehicle by adjusting the rotational speed difference between different tracks.

[0051] When the machine vehicle arrives at the garbage stacking area, the staff operates the vehicle to approach the garbage.

[0052] The garbage storage bin 23 is located in the front of the front vehicle body 2, and this position design facilitates garbage collection.

[0053] The staff can directly carry the garbage to the storage bin. If the vehicle is equipped with other garbage grabbing devices, the garbage can also be conveniently sent into it. The garbage storage bin 23 serves as a temporary storage for garbage. After it is full, the machine vehicle transports the garbage to the designated garbage disposal site.

[0054] The triangular shape of the triangular track 22 endows the vehicle with excellent obstacle-crossing ability. In complex terrains such as mountains and hills, it can easily cross large obstacles, reducing the risk of the vehicle being trapped.

[0055] The side track 12 and the triangular track 22 cooperate with each other to further improve the vehicle's passability on various terrains.

[0056] On soft ground, the larger contact area of the side track 12 can effectively disperse the vehicle's weight, prevent the wheels from sinking, and ensure the vehicle's continuous and stable driving.

[0057] The side track 12 and the triangular track 22 work together to enable the vehicle to turn flexibly by adjusting the rotational speed difference. Whether it is turning in narrow streets or complex terrains, it can easily handle, improving the vehicle's controllability in different scenarios.

[0058] The garbage storage bin 23 is set in the front of the front vehicle body 2, with a prominent position and easy access.

[0059] This layout greatly facilitates the garbage collection operation. Whether it is directly manually putting the garbage or using auxiliary garbage grabbing tools, the garbage can be efficiently sent into the storage bin.

[0060] The layout of the front-mounted storage bin does not occupy too much internal space of the vehicle body 1, ensuring the compactness and rationality of the overall structure of the machine vehicle. At the same time, it also provides convenience for subsequent cleaning and maintenance of the garbage storage bin 23.

[0061] The top surface of the vehicle body 1 is connected with a main arm 3. A chuck 4 is arranged on the main arm 3. A camera 5 is connected to the chuck 4. The main arm 3 is rotatably connected with a support arm 31. The support arm 31 is rotatably connected with a rotating arm 32. The rotating arm 32 is rotatably connected with the chuck 4. A driving motor 41 is arranged on the chuck 4. Clamping plates 42 are arranged on both sides of the chuck 4. A gear transmission member 43 is arranged between the driving motor 41 and the clamping plates 42. A transmission belt 44 is arranged between the clamping plates 42;

[0062] A two-stage jaw 45 is rotatably connected to the driving motor 41. A shaft is arranged on the two-stage jaw 45. A synchronous belt 46 is arranged between the shaft and the two-stage jaw 45. A jaw pad 47 is arranged on the inner side of the two-stage jaw 45.

[0063] The camera 5 is connected to the chuck 4 to collect real-time image information of the surrounding environment.

[0064] These images are transmitted to the control system of the robotic vehicle. The system uses image recognition technology to analyze and judge key information such as the type, size, and position of the garbage.

[0065] For example, by recognizing features such as color, shape, and texture, different types of garbage such as plastic bottles, paper, and metal cans are distinguished.

[0066] Such as Figure 8 As shown, the gear transmission member 43 includes a gear fixedly connected to the output shaft of the driving motor 41 and two gears fixedly connected to the clamping plates 42. The two gears fixedly connected to the clamping plates 42 mesh with each other. The gear fixedly connected to the output shaft of the driving motor 41 meshes with one of the gears fixedly connected to the clamping plates 42.

[0067] After the driving motor 41 is started, the output power is transmitted to the clamping plates 42 through the gear transmission member 43. The gear transmission member 43 converts the rotational motion of the motor into the opening and closing linear motion of the clamping plates 42.

[0068] A transmission belt 44 is arranged between the clamping plates 42, which ensures that the two clamping plates 42 can move synchronously to accurately clamp the garbage.

[0069] When the control system determines that a certain piece of garbage needs to be clamped according to the information fed back by the camera 5, the driving motor 41 operates to drive the clamping plates 42 to close, realizing the grasping of the garbage.

[0070] While the driving motor 41 drives the clamping plates 42 to act, the two-stage jaw 45 is connected to the shaft through the synchronous belt 46. The shaft is coaxially arranged with the gear connected to the clamping plates 42. The rotation of the driving motor 41 causes the synchronous belt 46 to drive the two-stage jaw 45 to rotate, thereby transmitting the rotational force to the two-stage jaw 45.

[0071] The gripper pad 47 provided inside the two-stage gripper 45 can increase the friction with the garbage when picking up the garbage, preventing the garbage from slipping.

[0072] When the main gripper 4 picks up larger garbage, the two-stage gripper 45 can further adjust the angle to firmly grip the garbage from different directions, ensuring the reliability of the pick-up.

[0073] The main arm 3, as a basic support structure, can be extended, retracted, and rotated at a certain angle.

[0074] The support arm 31 is rotatably connected to the main arm 3 and can adjust the angle in the vertical plane, expanding the working range of the gripper 4.

[0075] The rotating arm 32 is rotatably connected to the support arm 31 and can rotate 360 degrees, enabling the gripper 4 to reach different positions flexibly.

[0076] Through the coordinated movement of the main arm 3, the support arm 31, and the rotating arm 32, the gripper 4 can move freely in the space around the machine vehicle, achieving precise picking of garbage at different positions.

[0077] The camera 5 can collect images in real time and, with the help of advanced image recognition technology, quickly and accurately identify the types and positions of the garbage, providing precise information support for subsequent picking operations and greatly improving the efficiency and accuracy of garbage sorting.

[0078] The clamping plate 42 is connected to the driving motor 41 through a gear transmission member 43 and realizes synchronous opening and closing with the help of a transmission belt 44. This design can stably and precisely control the picking force and position, adapting to the picking requirements of garbage of different sizes and shapes.

[0079] The linkage design of the two-stage gripper 45 and the driving motor 41, as well as the application of the synchronous belt 46, enable it to flexibly adjust the angle and cooperate with the main gripper 4 to grip the garbage more firmly. The gripper pad 47 increases the friction and effectively prevents the garbage from slipping during transportation, improving the reliability of garbage picking.

[0080] The robotic arm system composed of the main arm 3, the support arm 31, and the rotating arm 32 enables the gripper 4 to cover a large space range around the machine vehicle through their respective rotations and extensions.

[0081] Whether it is scattered garbage on the ground or garbage placed at high places or in corners, it can be easily reached and picked up through the coordinated movement of the robotic arm, greatly enhancing the applicability and flexibility of the machine vehicle in garbage sorting work.

[0082] The side track 12 is hollow, filled with airbags. An anti-wave box 6 is provided on the bottom surface of the vehicle body 1. Both sides of the bottom surface of the anti-wave box 6 are slidably connected with anti-wave plates 7. An installation frame 61 is provided in the anti-wave box 6. The top surface of the installation frame 61 is connected to the center of a connecting rod 62. Both ends of the connecting rod 62 are rotatably connected to the anti-wave plates 7. A spring 73 is provided between the anti-wave box 6 and the anti-wave plates 7.

[0083] The side track 12 is designed to be hollow and filled with airbags. When the machine vehicle drives from land into the water, the buoyancy of the water acts on the airbags.

[0084] Since the density of the gas in the airbag is less than that of water, an upward lifting force is generated. Numerous airbags are evenly distributed in the side track 12, providing a large area and relatively balanced buoyancy support for the vehicle body 1, helping the vehicle to float smoothly on the water, initially ensuring the stability of the vehicle on the water, and reducing the risk of rollover caused by uneven buoyancy.

[0085] The anti-wave box 6 is fixed to the bottom surface of the vehicle body 1. The anti-wave plates 7 on both sides of its bottom surface are slidably connected to the anti-wave box 6. Taking the installation frame 61 as the fulcrum, the connecting rod 62 is like a lever, with both ends connected to the anti-wave plates 7 respectively.

[0086] When one side of the anti-wave plate 7 is impacted by a wave and moves upward, the connecting rod 62 rotates around the installation frame 61, driving the other side of the anti-wave plate 7 to move downward, forming a counteracting effect.

[0087] In this process, the spring 73 connecting the anti-wave box 6 and the anti-wave plates 7 plays a key role. When the anti-wave plate 7 moves upward, the spring 73 is stretched, absorbing the kinetic energy of the wave impact; when the anti-wave plate 7 moves downward, the spring 73 is compressed, absorbing energy again.

[0088] The spring 73 converts the kinetic energy of the wave impact into elastic potential energy through elastic deformation, effectively buffering the impact force of the wave on the vehicle body 1 and reducing the vehicle's shaking.

[0089] The airbags in the side track 12 provide sufficient and uniform buoyancy for the vehicle, making the vehicle float more smoothly on the water, greatly reducing the risk of the vehicle sinking or rolling over on the water due to insufficient buoyancy or uneven distribution.

[0090] This not only improves the safety of the machine vehicle when driving on the water, but also broadens its working water area range. Whether it is a calm lake or a river with slow flow, it can easily cope with.

[0091] The design of the anti-wave plate 7 based on the lever principle, combined with the energy absorption mechanism of the spring 73, can efficiently cope with the impact of water surface waves.

[0092] One side of the anti-wave plate 7 is impacted and rises, while the other side pats down to form a counteraction, effectively dispersing the wave impact force.

[0093] The buffering effect of the spring 73 further absorbs wave energy, significantly reducing the transmission of wave impact force to the vehicle body 1 and decreasing the sway amplitude of the vehicle when driving on the water surface.

[0094] This not only prevents the garbage from falling out of the chuck 4 or the garbage collection bin 23 due to the vehicle sway, ensuring the continuity of the garbage sorting work, but also extends the service life of the machine vehicle and the equipment on it, reducing component wear and damage caused by frequent swaying.

[0095] The wave-resistant board 7 can slide up and down adaptively according to the size and direction of the waves. Through the lever principle and the buffering of the spring 73, it can flexibly cope with wave impacts at different angles and intensities.

[0096] This enables the machine vehicle to maintain stable driving in complex water environments, such as open waters with irregular waves, and continuously carry out garbage sorting work, greatly enhancing the operation adaptability and reliability of the machine vehicle under different water conditions.

[0097] The stable water surface driving performance and high-efficient wave-resistant ability create good conditions for garbage sorting operations.

[0098] When the chuck 4 grabs the garbage, the stable vehicle platform can improve the grasping accuracy, reducing garbage dropping or sorting errors caused by vehicle sway, thereby enhancing the efficiency and quality of garbage sorting.

[0099] In the garbage sorting work in large-area waters, it can complete the task more efficiently, saving operation time and costs.

[0100] A connecting shaft 71 is arranged on the top surface of the wave-resistant board 7, a sealing sleeve 72 is arranged in the wave-resistant box 6, the connecting shaft 71 is slidably connected in the sealing sleeve 72, the spring 73 is arranged between the connecting shaft 71 and the sealing sleeve 72, and the top surface of the connecting shaft 71 is rotatably connected to the connecting rod 62;

[0101] A connecting column 74 is arranged on the top surface of the connecting shaft 71, the top end of the connecting column 74 is rotatably connected to the connecting rod 62, the connecting column 74 is made of a damping material, and a sealing piece is arranged on the top surface of the connecting shaft 71, and the sealing piece is adapted to the inner wall of the sealing sleeve 72.

[0102] When the wave impacts the wave-resistant board 7, the wave-resistant board 7 generates displacement under the force.

[0103] The connecting shaft 71 on the top surface of the wave-resistant board 7 slides in the sealing sleeve 72 accordingly. Since the connecting shaft 71 is rotatably connected to the connecting rod 62, the displacement of the wave-resistant board 7 drives the connecting rod 62 to rotate around the mounting frame 61, thereby stretching or compressing the spring 73 between the connecting shaft 71 and the sealing sleeve 72. The spring 73 absorbs the wave impact energy through elastic deformation and buffers the impact force on the vehicle body 1.

[0104] The connecting column 74 on the top surface of the connecting shaft 71, due to its damping material properties, slows down the relative rotation speed between the connecting shaft 71 and the connecting rod 62 when the connecting shaft 71 moves with the wave-resistant plate 7, and suppresses the violent shaking during the movement of the wave-resistant plate 7.

[0105] At the same time, the sealing piece on the top surface of the connecting shaft 71 is closely adapted to the inner wall of the sealing sleeve 72. During the sliding process of the connecting shaft 71, the sealing effect is further strengthened to prevent water from entering the wave-resistant box 6 through the gap between the connecting shaft 71 and the sealing sleeve 72.

[0106] The connecting shaft 71, the sealing sleeve 72, the spring 73 and the connecting column 74 work together to ensure that the wave-resistant plate 7 can slide up and down smoothly and accurately adjust the wave-resistant force when dealing with wave impacts.

[0107] The spring 73 absorbs wave energy, and the damping effect of the connecting column 74 suppresses shaking, effectively reducing the shaking amplitude of the vehicle on the water surface, ensuring the stable driving of the machine vehicle in a complex wave environment, maintaining the smooth progress of the garbage sorting operation, and reducing the risk of garbage falling or equipment damage caused by shaking.

[0108] The sealing sleeve 72 cooperates with the sealing piece, and the double-sealing design effectively prevents water from entering the wave-resistant box 6.

[0109] This avoids the rust and damage of metal components such as the mounting frame 61 and the connecting rod 62 inside the wave-resistant box 6 due to water erosion, extends the service life of each component of the wave-resistant system, reduces the equipment maintenance frequency and cost, ensures the long-term stable operation of the wave-resistant system, and improves the reliability of the machine vehicle in water environment operations.

[0110] The side surface of the connecting shaft 71 is provided with threads. A water wheel 8 that is rotationally connected to the vehicle body 1 and threadedly connected to the connecting shaft 71 is arranged on the vehicle body 1. A protective cover 81 with the same height as the water wheel 8 is arranged on the outside of the water wheel 8.

[0111] When the wave-resistant plate 7 moves upward under the impact of waves, the connecting shaft 71 connecting the wave-resistant plate 7 rises accordingly.

[0112] Since the side surface of the connecting shaft 71 is provided with threads and the water wheel 8 rotationally connected to the vehicle body 1 is threadedly connected thereto, according to the principle of screw drive, the upward movement of the connecting shaft 71 will cause the water wheel 8 to rotate around its rotational connection point with the vehicle body 1.

[0113] During the rotation of the water wheel 8, it will be subject to the resistance of the water flow, and the acting force direction of the water flow on the water wheel 8 is opposite to the rotation direction of the water wheel 8.

[0114] According to Newton's third law, the water wheel 8 will exert a reverse acting force on the connecting shaft 71 and the wave-resistant plate 7 connected thereto.

[0115] This reaction force cancels out part of the acting force of the waves hitting the wave-resistant plate 7, thereby further reducing the amplitude of the sway of the wave-resistant plate 7 caused by the wave impact.

[0116] At the same time, the protective cover 81 with the same height as the outer side of the water wheel 8 can block the impact of debris in the water on the water wheel 8, ensuring that the water wheel 8 can continuously rotate in a relatively stable environment and maintaining the stable operation of the above working mechanism.

[0117] The threaded connection design between the water wheel 8 and the connecting shaft 71 generates a reaction force to offset part of the wave impact force, greatly improving the wave resistance stability of the vehicle on the water surface.

[0118] Compared with the wave-resistant system that only relies on the wave-resistant plate 7 and the spring 73, this design further reduces the sway of the vehicle in a complex wave environment, provides a more stable platform for the machine vehicle to travel on the water surface and perform garbage sorting operations, reduces the risk of garbage falling or equipment damage caused by the sway of the vehicle, and significantly enhances the safety of the machine vehicle during water surface operations.

[0119] In the process of using the resistance of the water flow to the water wheel 8 to generate a reaction force, the water wheel 8 actually converts part of the kinetic energy of the water flow into energy to resist the wave impact.

[0120] To a certain extent, this utilizes the natural energy of the water flow, reduces the energy consumed by the vehicle itself to resist wave sway, and improves the energy utilization efficiency. Especially when performing long-term garbage sorting operations in large areas of water, it can reduce the energy consumption cost and extend the endurance time of the machine vehicle.

[0121] The protective cover 81 plays a good protective role for the water wheel 8, preventing debris in the water from hitting the water wheel 8 and causing damage.

[0122] The steadily operating water wheel 8 can continuously and stably cooperate with the connecting shaft 71 to work, ensuring the normal operation of the entire wave-resistant auxiliary system.

[0123] This not only reduces the maintenance and replacement frequency of the water wheel 8, reduces the maintenance cost, but also extends the service life of the overall wave-resistant equipment of the machine vehicle, ensuring that the machine vehicle can perform garbage sorting tasks stably in various water environments for a long time.

[0124] By using the reaction force generated by the water wheel 8 to assist in wave resistance, the machine vehicle can more flexibly adjust its wave resistance ability when facing complex waters with different water flow speeds and wave intensities.

[0125] In areas with rapid water flow and large waves, the reaction force generated by the water wheel 8 is stronger, which can better cope with the violent wave impact; in areas with gentle water flow, it can also maintain a certain wave-resistant auxiliary effect.

[0126] This adaptive ability further broadens the operating water area range of the robotic vehicle and improves its operating adaptability and reliability in various complex water environments.

[0127] A first chamfer 75 is provided on the front surface of the wave-resistant plate 7, and a second chamfer 76 is provided on the side surface of the wave-resistant plate 7.

[0128] The design of the first chamfer 75 and the second chamfer 76 significantly reduces the water flow resistance suffered by the wave-resistant plate 7 when moving in water.

[0129] The water flow can bypass the wave-resistant plate 7 more smoothly, making the robotic vehicle move more smoothly on the water surface and reducing energy loss.

[0130] This means that the robotic vehicle can travel faster with the same power output, or when maintaining the same speed, it reduces energy consumption, improves energy utilization efficiency. Especially when performing garbage sorting operations in large water areas, it can effectively reduce operating costs.

[0131] By dispersing the impact force of the water flow and waves, the first chamfer 75 and the second chamfer 76 reduce the overall pressure borne by the wave-resistant plate 7.

[0132] This not only reduces the risk of deformation or damage to the wave-resistant plate 7 due to excessive impact force, extends the service life of the wave-resistant plate 7, but also ensures that the wave-resistant plate 7 can always maintain good wave-resistant performance during long-term use.

[0133] The stable performance of the wave-resistant plate 7 further guarantees the stability of the robotic vehicle on the water surface, reduces the possibility of increased vehicle shaking or rollover caused by damage to the wave-resistant plate 7, and improves the safety of garbage sorting operations.

[0134] There are four mounting brackets 61, connecting rods 62, connecting shafts 71, water wheels 8 and protective covers 81, which are arranged at equal intervals in a linear array.

[0135] The four mounting brackets 61 are evenly distributed, providing a stable support structure for the wave-resistant system, dispersing the pressure transmitted by the wave-resistant plate 7, and preventing damage to the wave-resistant box 6 due to excessive local stress.

[0136] The four connecting rods 62 and connecting shafts 71 work together, making the movement of the wave-resistant plate 7 more stable, enhancing the stability of the entire wave-resistant system in the face of complex wave impacts, effectively reducing the vehicle's shaking on the water surface, and improving the safety of the robotic vehicle when driving and operating on the water surface.

[0137] The four water wheels 8 arranged at equal intervals can more comprehensively sense the water flow situation and synchronously adjust the positions of the four wave-resistant plates 7 according to the water flow changes. Compared with a single or a small number of water wheels 8, this layout can more accurately adjust the height of the wave-resistant plates 7 according to the water flow speed and wave size, optimizing the wave-resistant effect.

Claims

1. An all-terrain garbage sorting and classification intelligent robot vehicle, comprising a vehicle body (1), the top surface of the vehicle body (1) being connected to a main arm (3), the main arm (3) being provided with a clamp (4), the clamp (4) being connected to a camera (5), side wheels (11) being provided on both sides of the vehicle body (1), side tracks (12) being provided on the side wheels (11), and characterized in that: The side crawler (12) is hollow and filled with air bags. The bottom surface of the vehicle body (1) is provided with an anti-wave box (6). Both sides of the bottom surface of the anti-wave box (6) are slidably connected with anti-wave plates (7). The anti-wave box (6) is provided with a mounting frame (61). The top surface of the mounting frame (61) is connected with a connecting rod (62). Both ends of the connecting rod (62) are rotatably connected with the anti-wave plates (7). A spring (73) is provided between the anti-wave box (6) and the anti-wave plates (7).

2. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 1 is characterized by: A connecting shaft (71) is provided on the top surface of the anti-wave plate (7), a sealing sleeve (72) is provided in the anti-wave box (6), the connecting shaft (71) is slidably connected in the sealing sleeve (72), and the spring (73) is provided between the connecting shaft (71) and the sealing sleeve (72).

3. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 2 is characterized by: A connecting column (74) is provided on the top surface of the connecting shaft (71), the top end of the connecting column (74) is rotatably connected to the connecting rod (62), and the connecting column (74) is made of a damping material.

4. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 3 is characterized by: A sealing sheet is provided on the top surface of the connecting shaft (71).

5. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 4 is characterized by: The side surface of the connecting shaft (71) is provided with a thread, and a water wheel (8) threadedly connected to the connecting shaft (71) is rotatably connected to the vehicle body (1), and a protective cover (81) of the same height as the water wheel (8) is provided on the outer side of the water wheel (8).

6. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 5 is characterized by: The front side of the anti-wave plate (7) is provided with a first chamfer (75), and the side side of the anti-wave plate (7) is provided with a second chamfer (76).

7. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 6 is characterized by: There are four of each of the mounting frame (61), the connecting rod (62), the connecting shaft (71), the water wheel (8) and the protective cover (81), which are arranged in a linear array with equal spacing.

8. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 7 is characterized by: The front of the vehicle body (1) is connected to a front vehicle body (2), the side of the front vehicle body (2) is rotatably connected to a triangular wheel (21), a triangular crawler (22) is provided on the triangular wheel (21), and the front of the front vehicle body (2) is connected to a garbage storage box (23).

9. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 8 is characterized by: The main arm (3) is rotatably connected to a support arm (31), the support arm (31) is rotatably connected to a rotating arm (32), the rotating arm (32) is rotatably connected to a chuck (4), a driving motor (41) is provided on the chuck (4), clamping plates (42) are provided on both sides of the chuck (4), a gear transmission member (43) is provided between the driving motor (41) and the clamping plates (42), and a transmission belt (44) is provided between the clamping plates (42).

10. The all-terrain garbage sorting and classification intelligent robot vehicle according to claim 9 is characterized in that: The clamping plate (42) is rotatably connected with two-stage clamping jaws (45), the clamping head (4) is provided with a shaft, a synchronous belt (46) is arranged between the shaft and the two-stage clamping jaws (45), and a clamping jaw pad (47) is arranged on the inner side of the two-stage clamping jaws (45).

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