Hydraulic grabbing arm type trash cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to a clamping mechanism and a hydraulic grabbing arm type cleaning robot. A clamping mechanism comprises a first material taking assembly and a second material taking assembly which are used for being connected with a mechanical arm. The first material taking assembly comprises two clamping jaws which can move oppositely and form a clamping interval, and a driving piece used for driving the clamping jaws to move. The second material taking assembly comprises a material taking frame detachably connected to the clamping jaw. The two material taking frames are used for jointly forming a containing groove after the two clamping jaws move relatively, and the containing groove can contain fluid. By means of the second material taking assembly, the clamping mechanism can have multiple clamping forms through the detachable material taking frame, and different clamping forms can be selected to take out different types of pollutants from the water area.

Description

Technical Field

[0001] The present invention relates to the technical field of sewage cleaning robots, and more specifically, to a hydraulic grab-arm type sewage cleaning robot. Background Art

[0002] With the development of artificial intelligence, sewage cleaning robots have subverted the traditional manual sewage cleaning mode and are used for sewage cleaning work in waters such as hydropower stations, reservoirs, lakes, and rivers. They mainly include a vision system and a clamping mechanism. The vision system locates and classifies garbage, and the clamping mechanism installed on the robotic arm grabs the garbage.

[0003] The clamping mechanism of the existing sewage cleaning robots mainly consists of a claw and a driving member. Usually, the claw has multiple teeth, which are either staggered or circumferentially distributed, but it is not convenient to grasp fragile and flowing objects in the water well. Because flowing objects are easy to slip away from between the teeth, and fragile items are easily broken by rigid clamping, which further aggravates pollution. Therefore, when cleaning the above pollutants, it is still necessary for workers to enter the water for cleaning, which is rather troublesome. Summary of the Invention

[0004] The present invention provides a hydraulic grab-arm type sewage cleaning robot, which can overcome the defect that the prior art is not convenient for grasping fragile and flowing objects in the water well.

[0005] According to the hydraulic grab-arm type sewage cleaning robot of the present invention, it includes a main body, which includes a clamping mechanism and a robotic arm for driving the clamping mechanism to move in the water; the clamping mechanism includes a first material-taking component and a second material-taking component; the first material-taking component includes two claws that can move towards each other to form a clamping area, and a driving member for driving the claws to move; The second material-taking component includes a material-taking frame detachably connected to the claws; the two material-taking frames are used to jointly form a receiving groove after the two claws move relative to each other, and the receiving groove can hold fluids.

[0006] Through the second material-taking component of the present invention, the clamping mechanism can have multiple clamping forms through the detachable material-taking frame, and different clamping forms can be selected to take out different types of pollutants from the water. For example, grasping pollutants only by the claws of the first material-taking component is the first clamping form, and the first clamping form can grasp pollutants with a large volume and relatively high strength; installing the material-taking frame of the second material-taking component, and after the claws move relative to each other and the two material-taking frames can jointly form a receiving groove, it is the second clamping form. This form can hold fluids, small or fragile items through the receiving groove, such as fragile and pollutants that are easy to slip away from the gaps between the claws, such as glass bottles, aged plastic parts, overgrown water hyacinths, etc. One end face of the receiving groove is open and the other faces are closed, which can hold the above pollutants and take them out of the water for treatment, without the need for other equipment or workers to enter the water for treatment.

[0007] Preferably, the first material picking assembly also includes a mounting seat; the mounting seat is connected to the robotic arm through one end face; the two clamping jaws are rotatably engaged at the other end face of the mounting seat; the driving member includes two cross-arranged cylinders hinged to the mounting seat, and the output ends of the two cylinders are respectively hinged to the opposite sides of the two clamping jaws; the clamping jaws are composed of a plurality of L-shaped claw teeth arranged at intervals along the length direction of the mounting seat, and the claw teeth of the two clamping jaws are staggered with each other; sealing strips are provided on the side walls where the two material picking frames are in contact.

[0008] In the present invention, by setting the driving member, the two cylinders can drive the two clamping claws and the two material taking frames to move, so that different types of pollutants can be clamped in two clamping forms; wherein the sealing strip can ensure the sealing of the containing groove.

[0009] Preferably, a first positioning member is provided at the clamping jaw; the first positioning member includes two first fixing seats symmetrically arranged on opposite sides of the clamping jaw; the two first fixing seats are spaced apart along the length direction of the mounting seat and are rotated together with a bidirectional screw; a first sliding cavity is provided inside the first fixing seat; two sections of the thread of the bidirectional screw respectively extend into the two first sliding cavities, and are respectively threadedly engaged with a first sliding block that slides with the first sliding cavity; the opposite end of the first sliding block is connected to a first clamping block that can extend out of the first sliding cavity; two fixing blocks are provided on the side of the material picking frame away from the accommodating groove; the two first fixing seats are pressed tightly between the two fixing blocks, and a clamping slot for the first clamping block to extend into is provided at the fixing block.

[0010] In the present invention, the second material picking component can be detachably connected by setting the first positioning piece; the two first clamping blocks can be driven to extend and retract by rotating the bidirectional screw, and cooperate with the clamping slot at the material picking frame to realize disassembly and assembly of the material picking frame; wherein the first clamping block and the clamping slot are polygonal, and when only the first clamping form, i.e., the clamping claw is used to clamp the pollutant, there is no need to remove the second material picking component, and the flipping angle of the second material picking component can be changed so that the clamping claw is not interfered with by the second material picking component when clamping the pollutant. In this way, there is no need to frequently pick up and put the second material picking component, and the operation can be directly performed at the clamping claw when switching the form.

[0011] Preferably, a first sliding groove penetrating the first sliding cavity is provided on the side wall of the first fixed seat; a first lever passing through the first sliding groove is detachably connected to the side wall of the first sliding block; a polygonal fixing ring is coaxially connected to the bidirectional screw; and the fixing ring is located between the two first fixed seats.

[0012] In the present invention, the first lever is arranged so that the first clamping block will not be separated from the first sliding cavity due to excessive rotation of the bidirectional screw, thereby playing a limiting role; wherein the polygonal fixing ring can more conveniently rotate the bidirectional screw.

[0013] Preferably, the bottom of the material taking frame is provided with a plurality of through holes communicating with the accommodating groove and grooves communicating with the through holes; a sealing assembly for controlling the opening and closing of the through holes is provided at the material taking frame; the sealing assembly includes a sealing plate commonly connected to two fixed blocks; the sealing plate includes a connecting plate and a rubber plate stacked; a rotating shaft is connected to the connecting plate, and a connecting hole for the rotating shaft to rotate and cooperate is provided at the fixed block; the rubber plate is used for cooperating with the groove.

[0014] In the present invention, through the arrangement of the through holes and the sealing assembly, the clamping mechanism can also have a third clamping form; the third clamping form is used for pollutants with light weight and easy to float on the water surface, such as paper pieces, leaves and other pollutants; since the second clamping form can place the water and pollutants together in the accommodating groove, and the above-mentioned paper pieces, leaves and other pollutants will separate from the water surface of the accommodating groove and fall back into the water area during the movement of the robotic arm, affecting the cleaning efficiency. Therefore, when using the third clamping form, the excess water will flow out from the through holes so that the pollutants remain in the accommodating groove. In this way, when the robotic arm moves, it can ensure that the pollutants always stay in the accommodating groove and are taken back to the ground; the rubber plate of the sealing plate can cooperate with the groove to seal the through hole, so that the clamping mechanism returns to the second clamping form. Therefore, the sealing assembly is used for the switching between the second clamping form and the third clamping form.

[0015] Preferably, a second positioning member is provided at the material taking frame; the second positioning member includes a second fixed seat connected to the material taking frame and close to one end of the rotating shaft; a second sliding cavity is provided inside the second fixed seat; a second slider capable of extending out of the second sliding cavity is slidably fitted inside the second sliding cavity; a polygonal second clamping block is connected to the side wall of the second slider; a clamping groove for the second clamping block to cooperate is provided at one end of the rotating shaft; a first compression spring pressing against the second slider is provided inside the second sliding cavity; the first compression spring is used to enable the second clamping block to keep cooperating with the clamping groove; a second sliding groove communicating with the second sliding cavity is provided on the side wall of the second fixed seat; the second slider is connected with a second lever passing through the second sliding groove.

[0016] In the present invention, through the arrangement of the second positioning member, the sealing plate of the sealing assembly can be positioned after being turned at different angles, so as to prevent the rubber plate from not being able to seal and cooperate with the groove due to cold shrinkage, or prevent the height of the sealing plate from being lower than that of the material taking frame after keeping vertical due to gravity, which affects the material taking of the material taking frame; the second clamping block and the clamping groove are polygonal. During use, slide the second lever to make the second clamping block disengage from the clamping groove and compress the first compression spring, then turn the sealing plate to a suitable angle, and release the second lever. The spring restores to make the second clamping block cooperate with the clamping groove. At this time, the sealing plate can be positioned at a suitable angle.

[0017] Preferably, a protection component is provided at the second fixing seat; the protection component includes a sealing cover hinged to the side wall of the second fixing seat; a groove body is formed on one side of the sealing cover, and the groove body can cover the side of the second fixing seat having the second sliding groove; a plurality of limiting plates are arranged at intervals inside the groove body; a torsion spring is arranged at the hinge of the sealing cover, and the torsion spring is used to keep the sealing cover in close contact with the second fixing seat.

[0018] In the present invention, through the arrangement of the protection component, the sealing cover can prevent tiny impurities in the water area from entering the second sliding cavity and affecting the telescopic movement of the spring and the sliding of the second slider. Among them, the torsion spring can ensure that the sealing cover always covers the second lever and the second sliding groove; the distance between every two limiting plates matches the width of the second lever. Since a plurality of second positioning members can be provided and it is inconvenient for a single person to keep a plurality of second clamping blocks disengaged from the clamping grooves at the same time, after one hand lifts the sealing cover and slides the second lever to disengage the second clamping block from the clamping groove, the other hand blocks the end of the second clamping block. After releasing the sealing cover and the second lever, the fitting of the sealing cover and the second fixing seat will place the second lever between two limiting plates at the corresponding position. At this time, one second positioning member is released, and other second positioning members can be released in sequence so that the sealing plate can be freely flipped.

[0019] Preferably, the recognition mechanism includes a bracket for connecting with the robotic arm; the bracket is arranged perpendicular to the length direction of the mounting seat and is hinged with a turning frame; a motor for driving the turning frame to tilt is provided on the bracket; a machine vision camera is connected to one end face of the turning frame, and the machine vision camera is connected with a mounting plate, and the mounting plate is detachably connected to the turning frame through a fastener.

[0020] In the present invention, through the arrangement of the recognition mechanism, the situation of the corresponding water area can be observed through the machine vision camera, and the machine vision camera can distinguish the types of garbage. Thus, when the clamping mechanism is in the above different clamping forms, corresponding types of pollutants can be grabbed or clamped, and after the pollutants are taken ashore, they can be placed in different areas for garbage classification for subsequent treatment.

[0021] Preferably, a protective cover for covering the machine vision camera is provided at one end face of the flipping frame, and a third positioning member for connecting the protective cover is provided at the other end face; the protective cover is hemispherical, and a concentric limiting groove is provided at the opening, and the limiting groove is fitted with a sealing ring; the third positioning member includes a third fixing seat connected to the end face of the flipping frame away from the machine vision camera; a third sliding cavity is provided inside the third fixing seat along the length direction of the third fixing seat; two third sliding blocks are slidably fitted in the third sliding cavity; a second compression spring is pressed between the two third sliding blocks; a third clamping block extending out of the third sliding cavity is provided at the opposite ends of the third sliding blocks; two insertion openings penetrating through both end faces are provided on the flipping frame; a plug board capable of passing through the insertion openings is connected to the opening of the protective cover; a positioning opening for the third clamping block to pass through is provided on the plug board; a third sliding groove communicating with the third sliding cavity is provided on the side wall of the third fixing seat away from the flipping frame; a dial connected to the third sliding block and passing through the third sliding groove is provided.

[0022] In the present invention, through the arrangement of the protective cover and the third positioning member, the protective cover can be quickly disassembled and assembled at the machine vision camera to protect the machine vision camera and prevent pollutants and impurities from affecting it; when the third positioning member is in use, only need to pinch the dials towards each other to make the third clamping block cooperate with the positioning opening of the plug board, then the quick disassembly and assembly of the protective cover can be realized; the sealing ring is embedded in the limiting groove, when the opening of the protective cover fits with the flipping frame, the sealing ring can prevent water and impurities from entering the inside of the protective cover, playing a certain sealing and protecting effect; the motor can drive the flipping frame to rotate, and the flipping frame can be flipped to observe the situation of the water area and the situation at the clamping jaw and the receiving groove. During the sewage cleaning process, first observe the situation of pollutants in the water area through the machine vision camera, after grasping or clamping, flip the angle of the machine vision camera to observe the situation at the clamping jaw and the receiving groove, and it can be observed whether the pollutants are grasped or clamped by the clamping mechanism. After confirmation, the pollutants can be taken to the shore for treatment by the robotic arm.

[0023] Preferably, the body further includes a linear module for enabling the robotic arm to move linearly.

[0024] In the present invention, through the arrangement of the linear module, the robotic arm can move through the linear module, so that the robotic arm, the clamping mechanism and the recognition mechanism can move to different positions of the water area. The linear module can be installed on the shore or on the mobile vehicle body, and the sewage cleaning robot can reach each water area for sewage cleaning work through the mobile vehicle. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the body; Figure 2 It is a schematic diagram of the first clamping form of the clamping mechanism; Figure 3 It is a schematic diagram of the second clamping form of the clamping mechanism when it is opened; Figure 4 Schematic diagram of the second clamping configuration of the clamping mechanism being closed; Figure 5 Schematic diagram of the third clamping configuration of the clamping mechanism; Figure 6 Schematic diagram of the second material taking component after the gripper is disassembled; Figure 7 Schematic diagram after the through hole is opened; Figure 8 Schematic diagram of the identification mechanism; Figure 9 Schematic diagram of the protective cover and the sealing ring after disassembly; Figure 10 Schematic diagram at the third positioning member; Figure 11 For Figure 6 Enlarged schematic diagram at location A of Figure 12 For Figure 7 Enlarged schematic diagram at location B of Specific implementation manner

[0026] To further understand the content of the present invention, the present invention will be described in detail in combination with embodiments. It should be understood that the embodiments are only for explaining the present invention and not for limiting it.

[0027] Embodiment 1 As Figures 1-12 shown, this embodiment provides a hydraulic grab-arm type sewage cleaning robot, which includes a main body 100. The main body 100 includes a clamping mechanism 120 and a robotic arm 110 for driving the clamping mechanism 120 to move in water; the clamping mechanism 120 includes a first material taking component 223 and a second material taking component 224; the first material taking component 223 includes two grippers 2230 that can move towards each other to form a clamping interval 2232, and a driving member 222 for driving the movement of the grippers 2230; The second material taking component 224 includes a material taking frame 2240 detachably connected to the grippers 2230; the two material taking frames 2240 are used to jointly form a receiving groove 2246 after the two grippers 2230 move relative to each other, and the receiving groove 2246 can accommodate fluid.

[0028] Through the second material taking component 224 in this embodiment, the clamping mechanism 120 can have multiple clamping forms through the detachable material taking frame 2240, and different clamping forms can be selected to take out different types of pollutants from the water area. For example, only grasping the pollutant by the clamping jaw 2230 of the first material taking component 223 is the first clamping form, and the first clamping form can grasp pollutants with large volume and relatively high strength; adding the material taking frame 2240 of the second material taking component 224, and after the two material taking frames 2240 can jointly form a receiving groove 2246 after the relative displacement of the clamping jaws 2230, it is the second clamping form. This form can accommodate fluids, small or fragile items through the receiving groove 2246, such as glass bottles, aged plastic parts, overgrown water floating plants, river silt and other fragile pollutants that are easy to slip through the gaps of the clamping jaws 2230. One end face of the receiving groove 2246 is open and the other faces are closed, which can accommodate the above-mentioned pollutants and take them away from the water area for treatment without the need for other equipment or manual entry into the water area for treatment.

[0029] In this embodiment, the first material taking component 223 further includes a mounting seat 221; the mounting seat 221 is connected to the robotic arm 110 through one end face; two clamping jaws 2230 are rotatably fitted at the other end face of the mounting seat 221; the driving member 222 includes two cylinders 2220 that are cross - arranged and hinged to the mounting seat 221, and the output ends of the two cylinders 2220 are respectively hinged to the facing surfaces of the two clamping jaws 2230; the clamping jaw 2230 is composed of a plurality of L - shaped claw teeth 2231 that are arranged at intervals along the length direction of the mounting seat 221, and the claw teeth 2231 of the two clamping jaws 2230 are arranged in an interlaced manner; sealing strips 2241 are provided at the side walls where the two material taking frames 2240 are in contact with each other.

[0030] Through the setting of the driving member 222 in this embodiment, the two cylinders 2220 can drive the two clamping jaws 2230 and the two material taking frames 2240 to move, so that different types of pollutants can be clamped in two clamping forms; among them, the sealing strip 2241 can ensure the sealing performance of the receiving groove 2246.

[0031] In this embodiment, a first positioning member 225 is provided at the clamping jaw 2230; the first positioning member 225 includes two first fixing seats 11250 symmetrically arranged on opposite sides of the clamping jaw 2230; the two first fixing seats 11250 are arranged at intervals along the length direction of the mounting seat 221, and are rotated together with a bidirectional screw 11252; a first sliding cavity 11251 is provided inside the first fixing seat 11250; two sections of the thread of the bidirectional screw 11252 extend into the two first sliding cavities 11251 respectively , and are respectively threadedly matched with a first sliding block 11254 that slides with the first sliding cavity 11251; the opposite end of the first sliding block 11254 is connected with a first clamping block 11256 that can extend out of the first sliding cavity 11251; two fixing blocks 7242 are provided on the side of the material taking frame 2240 away from the accommodating groove 2246; the two first fixing seats 11250 are tightly pressed between the two fixing blocks 7242, and the fixing blocks 7242 are provided with a bayonet 7243 for the first clamping block 11256 to extend into.

[0032] By setting the first positioning piece 225 in the present embodiment, the second material picking component 224 can be detachably connected; by rotating the bidirectional screw 11252, the two first clamping blocks 11256 can be driven to extend and retract, and cooperate with the clamping slot 7243 at the material picking frame 2240, so that the material picking frame 2240 can be disassembled and assembled; wherein the first clamping block 11256 and the clamping slot 7243 are polygonal, and when only the first clamping form, i.e., the clamping jaw 2230 is used to clamp the pollutant, there is no need to remove the second material picking component 224, and the flipping angle of the second material picking component 224 can be changed so that the clamping jaw 2230 is not interfered with by the second material picking component 224 when clamping the pollutant. In this way, there is no need to frequently take and put the second material picking component 224, and the operation can be directly performed at the clamping jaw 2230 when switching the form.

[0033] In this embodiment, a first sliding groove 11253 that passes through the first sliding cavity 11251 is provided on the side wall of the first fixed seat 11250; a first lever 11257 that passes through the first sliding groove 11253 is detachably connected to the side wall of the first sliding block 11254; a polygonal fixing ring 11255 is coaxially connected to the bidirectional screw 11252; and the fixing ring 11255 is located between the two first fixed seats 11250.

[0034] By setting the first lever 11257 in this embodiment, the first blocking block 11256 will not be separated from the first sliding cavity 11251 due to excessive rotation of the bidirectional screw 11252, thereby playing a limiting role; wherein the polygonal fixing ring 11255 can make it easier to rotate the bidirectional screw 11252.

[0035] In this embodiment, the body 100 further includes a linear module 140 , and the linear module 140 is used to enable the robot arm 110 to move linearly.

[0036] Through the setting of the linear module 140 in this embodiment, the robotic arm 110 can move through the linear module 140, so that the robotic arm 110, the clamping mechanism 120, and the recognition mechanism 130 can move to different positions of the water area. The linear module 140 can be installed on the shore or on the moving vehicle body. The sewage cleaning robot can reach each water area for sewage cleaning work through the moving vehicle. The linear module 140 is a prior art, mainly composed of a motor, a lead screw, a nut, and a slide table. The robotic arm 110 is connected to the slide table and is driven by the motor to move. The robotic arm 110 is a robotic arm 110 with a hydraulic system drive commonly used in the prior art. The clamping mechanism 120 and the recognition mechanism 130 are installed at the end of the robotic arm 110 and can extend into the water area.

[0037] Embodiment 2 In this embodiment, it further includes that the bottom of the material taking frame 2240 is provided with a plurality of through holes 2244 communicating with the accommodating groove 2246, and a groove 2245 communicating with the through holes 2244; a sealing component 226 for controlling the opening and closing of the through holes 2244 is provided at the material taking frame 2240; the sealing component 226 includes a sealing plate 5260 commonly connected to two fixing blocks 7242; the sealing plate 5260 includes a connecting plate 5261 and a rubber plate 5262 stacked; a rotating shaft 12263 is connected to the connecting plate 5261, and a connecting hole 12247 for the rotating shaft 12263 to rotate and cooperate is provided at the fixing block 7242; the rubber plate 5262 is used to cooperate with the groove 2245.

[0038] Through the setting of the through holes 2244 and the sealing component 226 in this embodiment, the clamping mechanism 120 can also have a third clamping form; the third clamping form is used for pollutants with light weight and easy to float on the water surface, such as paper scraps, leaves and other pollutants; because the second clamping form can place the water and pollutants together in the accommodating groove 2246, and the above-mentioned paper scraps, leaves and other pollutants will separate from the water surface of the accommodating groove 2246 and fall back into the water area during the movement of the robotic arm 110, affecting the sewage cleaning efficiency. Therefore, when using the third clamping form, the excess water will flow out from the through holes 2244, leaving the pollutants in the accommodating groove 2246. In this way, when the robotic arm 110 moves, it can ensure that the pollutants always stay in the accommodating groove 2246 and are brought back to the ground; the rubber plate 5262 of the sealing plate 5260 can cooperate with the groove 2245, so as to seal the through holes 2244 and make the clamping mechanism 120 return to the second clamping form. Therefore, the sealing component 226 is used for the switching between the second clamping form and the third clamping form.

[0039] In this embodiment, a second positioning member 327 is provided at the material taking frame 2240; the second positioning member 327 includes a second fixing base 12270 connected to the material taking frame 2240 and near one end of the rotating shaft 12263; a second sliding cavity 12271 is provided inside the second fixing base 12270; a second slider 13374 that can extend out of the second sliding cavity 12271 is slidably fitted inside the second sliding cavity 12271; a polygonal second clamping block 12276 is connected to the side wall of the second slider 13374; a clamping groove 12264 for the second clamping block 12276 to cooperate with is provided at one end of the rotating shaft 12263; a first compression spring 12272 that abuts against the second slider 13374 is provided inside the second sliding cavity 12271; the first compression spring 12272 is used to enable the second clamping block 12276 to remain in cooperation with the clamping groove 12264; a second sliding groove 12273 that communicates with the second sliding cavity 12271 is provided at the side wall of the second fixing base 12270; the second slider 13374 is connected with a second lever 12275 that passes through the second sliding groove 12273.

[0040] Through the setting of the second positioning member 327 in this embodiment, the sealing plate 5260 of the sealing assembly 226 can be positioned after being flipped at different angles, so as to prevent the rubber plate 5262 from not being hermetically fitted with the groove 2245 due to cold shrinkage, or prevent the height of the sealing plate 5260 from being lower than the material taking frame 2240 after it remains vertical due to gravity, which affects the material taking of the material taking frame 2240; wherein the second clamping block 12276 and the clamping groove 12264 are polygonal. During use, slide the second lever 12275 to disengage the second clamping block 12276 from the clamping groove 12264 and compress the first compression spring 12272, then rotate the sealing plate 5260 to a suitable angle, and release the second lever 12275. The spring restores to enable the second clamping block 12276 to cooperate with the clamping groove 12264. At this time, the sealing plate 5260 can be positioned at a suitable angle.

[0041] In this embodiment, a protection assembly 728 is provided at the second fixing base 12270; the protection assembly 728 includes a sealing cover 12280 hinged to the side wall of the second fixing base 12270; a groove body that can cover the side of the second fixing base 12270 with the second sliding groove 12273 is formed on one side of the sealing cover 12280; a plurality of spaced limiting plates 12281 are provided inside the groove body; a torsion spring 12282 is provided at the hinge of the sealing cover 12280, and the torsion spring 12282 is used to enable the sealing cover 12280 to remain in contact with the second fixing base 12270.

[0042] Through the setting of the protection component 728 in this embodiment, the sealing cover 12280 can prevent tiny impurities in the water area from entering the second sliding cavity 12271 and affecting the expansion and contraction of the spring and the sliding of the second slider 13374. Among them, the torsion spring 12282 can ensure that the sealing cover 12280 always covers the second toggle lever 12275 and the second chute 12273. The distance between every two limiting plates 12281 matches the width of the second toggle lever 12275. Since multiple second positioning members 327 can be provided and it is inconvenient for a single person to keep multiple second locking blocks 12276 disengaged from the card slots 12264 at the same time, after one hand lifts the sealing cover 12280 and slides the second toggle lever 12275 to disengage the second locking block 12276 from the card slot 12264, the other hand blocks the end of the second locking block 12276. After releasing the sealing cover 12280 and the second toggle lever 12275, the fitting of the sealing cover 12280 and the second fixed seat 12270 will place the second toggle lever 12275 between the two limiting plates 12281 at the corresponding position. At this time, one second positioning member 327 is released, and other second positioning members 327 can be released in sequence so that the sealing plate 5260 can be freely flipped.

[0043] Embodiment 3 What is different about this embodiment from Embodiment 1 or Embodiment 2 is that in this embodiment, the recognition mechanism 130 includes a bracket 731 for connecting to the robotic arm 110. The bracket 731 is arranged perpendicular to the length direction of the mounting base 221 and is hinged with a flipping frame 732. A motor 733 for driving the flipping frame 732 to tilt is provided at the bracket 731. A machine vision camera 735 is connected to one end face of the flipping frame 732. The machine vision camera 735 is connected with a mounting plate 734, and the mounting plate 734 is detachably connected to the flipping frame 732 through fasteners.

[0044] Through the setting of the recognition mechanism 130 in this embodiment, the situation of the corresponding water area can be observed through the machine vision camera 735, and the machine vision camera 735 can distinguish the categories of garbage. Thus, when the clamping mechanism 120 is in the above different clamping forms, corresponding categories of pollutants can be grabbed or clamped, and after the pollutants are brought ashore, they can be placed in different areas for garbage classification for subsequent treatment.

[0045] In this embodiment, a protective cover 736 for covering the machine vision camera 735 is provided at one end face of the flipping frame 732, and a third positioning member 738 for connecting the protective cover 736 is provided at the other end face; the protective cover 736 is hemispherical, and a concentric limiting groove 8360 is provided at the opening, and the limiting groove 8360 is fitted with a sealing ring 737; the third positioning member 738 includes a third fixed seat 10382 connected to the end face of the flipping frame 732 away from the machine vision camera 735; a third sliding cavity 10383 is provided inside the third fixed seat 10382 along the length direction of the third fixed seat 10382; two third sliders 10388 are slidably fitted in the third sliding cavity 10383; a second compression spring 10385 is pressed between the two third sliders 10388; third clamping blocks 10387 extending out of the third sliding cavity 10383 are provided at the opposite ends of the third sliders 10388; two through holes 7320 penetrating both end faces are provided on the flipping frame 732; a plug board 7380 capable of passing through the through holes 7320 is connected to the opening of the protective cover 736; a positioning port 7381 for the third clamping blocks 10387 to pass through is provided on the plug board 7380; a third sliding groove 10386 communicating with the third sliding cavity 10383 is provided on the side wall of the third fixed seat 10382 away from the flipping frame 732; a dial 10384 passing through the third sliding groove 10386 is connected to the third slider 10388.

[0046] Through the settings of the protective cover 736 and the third positioning member 738 in this embodiment, the protective cover 736 can be quickly disassembled and assembled at the machine vision camera 735 to protect the machine vision camera 735 and prevent pollutants and impurities from affecting it. When the third positioning member 738 is in use, just pinch the paddle 10384 towards each other so that the third latch 10387 cooperates with the positioning port 7381 of the plug board 7380, then the quick disassembly and assembly of the protective cover 736 can be realized. The sealing ring 737 is embedded in the limit groove 8360. After the opening of the protective cover 736 fits with the flipping frame 732, the sealing ring 737 can prevent water and impurities from entering the interior of the protective cover 736, playing a certain sealing and protective role. The motor 733 can drive the flipping frame 732 to rotate, and the flipping frame 732 can be flipped to observe the situation of the water area and the situation at the clamping jaw 2230 and the receiving groove 2246. During the sewage cleaning process, first observe the pollutants in the water area through the machine vision camera 735. After grasping or clamping, flip the angle of the machine vision camera 735 to observe the situation at the clamping jaw 2230 and the receiving groove 2246, and it can be observed whether the pollutants are grasped or clamped by the clamping mechanism 120. After confirmation, the pollutants can be carried to the shore for treatment by the robotic arm 110. The machine vision camera 735 is a part of the existing technology machine vision system. The sewage cleaning robot of the present invention is also configured with a common machine vision system, which includes an imaging module, an image processing module, and an execution module. The imaging module includes the machine vision camera 735 with a lens and a lighting system, which is used to collect images in the water area. The image processing module contains image processing algorithms to distinguish the categories of pollutants. The execution module sends instructions to the hydraulic system of the robotic arm 110 according to the structure of the image processing. For example, after the robotic arm 110 and the clamping mechanism 120 transport the garbage to the shore, according to the classification of the recognition mechanism 130, the garbage is placed in different areas for distinction.

[0047] It is easy to understand that those skilled in the art can combine, split, recombine, etc. the embodiments of the present application based on one or several embodiments provided by the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0048] The above schematically describes the present invention and its implementation manners. This description is not restrictive, and what is shown in the embodiments is only part of the implementation manners of the present invention. The actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments without creative work without departing from the purpose of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A hydraulic grab arm type cleaning robot, characterized in that: The invention comprises a main body (100), wherein the main body (100) comprises a clamping mechanism (120) and a mechanical arm (110) for driving the clamping mechanism (120) to move in a water area; the clamping mechanism (120) comprises a first material taking component (223) and a second material taking component (224); the first material taking component (223) comprises two clamping jaws (2230) that can move towards each other and form a clamping interval (2232), and a driving member (222) for driving the clamping jaws (2230) to move; The second material picking assembly (224) comprises a material picking frame (2240) detachably connected to the clamping jaws (2230); the two material picking frames (2240) are used to jointly form a receiving groove (2246) after the two clamping jaws (2230) move relative to each other, and the receiving groove (2246) can accommodate fluid.

2. A hydraulic grab arm type cleaning robot according to claim 1, characterized in that: The first material-retrieving assembly (223) further comprises a mounting seat (221); the mounting seat (221) is connected to the mechanical arm (110) via one end face; the two clamping claws (2230) are rotatably engaged with the other end face of the mounting seat (221); the driving member (222) comprises two cylinders (2220) which are cross-arranged and hinged to the mounting seat (221), and the output ends of the two cylinders (2220) are respectively hinged to the opposite sides of the two clamping claws (2230); the clamping claws (2230) are composed of a plurality of L-shaped claw teeth (2231) which are arranged at intervals along the length direction of the mounting seat (221), and the claw teeth (2231) of the two clamping claws (2230) are arranged in an interlaced manner; and sealing strips (2241) are provided at the side walls of the two material-retrieving frames (2240) which are in contact with each other.

3. A hydraulic grab arm type cleaning robot according to claim 2, characterized in that: A first positioning member (225) is provided at the clamping jaw (2230); the first positioning member (225) comprises two first fixing seats (11250) symmetrically arranged on opposite sides of the clamping jaw (2230); the two first fixing seats (11250) are arranged at intervals along the length direction of the mounting seat (221) and are rotated together with a bidirectional screw (11252); a first sliding cavity (11251) is provided inside the first fixing seat (11250); two threads of the bidirectional screw (11252) extend into the two first sliding cavities (11251) respectively, and are respectively A first sliding block (11254) is threadedly engaged with the first sliding cavity (11251); the opposite end of the first sliding block (11254) is connected to a first clamping block (11256) capable of extending out of the first sliding cavity (11251); two fixing blocks (7242) are provided on a side of the material taking frame (2240) away from the accommodating groove (2246); the two first fixing seats (11250) are tightly pressed between the two fixing blocks (7242), and a clamping hole (7243) for the first clamping block (11256) to extend into is provided on the fixing block (7242).

4. The hydraulic grab arm type cleaning robot according to claim 3, characterized in that: A first sliding groove (11253) penetrating the first sliding cavity (11251) is provided at the side wall of the first fixed seat (11250); a first lever (11257) passing through the first sliding groove (11253) is detachably connected to the side wall of the first sliding block (11254); a polygonal fixing ring (11255) is coaxially connected to the bidirectional screw (11252); and the fixing ring (11255) is located between the two first fixed seats (11250).

5. The hydraulic grab arm type cleaning robot according to claim 3, characterized in that: The bottom of the material taking frame (2240) is provided with a plurality of through holes (2244) that are in communication with the accommodating grooves (2246), and grooves (2245) that are in communication with the through holes (2244); a sealing assembly (226) for controlling the opening and closing of the through holes (2244) is provided at the material taking frame (2240); the sealing assembly (226) comprises a sealing plate (5260) that is commonly connected to two fixed blocks (7242); the sealing plate (5260) comprises a connecting plate (5261) and a rubber plate (5262) ​​that are stacked; a rotating shaft (12263) is connected to the connecting plate (5261), and a connecting hole (12247) for rotationally cooperating with the rotating shaft (12263) is provided at the fixed block (7242); and the rubber plate (5262) ​​is used to cooperate with the groove (2245).

6. The hydraulic grab arm type cleaning robot according to claim 5, characterized in that: A second positioning member (327) is provided at the material taking frame (2240); the second positioning member (327) comprises a second fixing seat (12270) connected to the material taking frame (2240) and close to one end of the rotating shaft (12263); a second sliding cavity (12271) is provided inside the second fixing seat (12270); a second sliding block (13374) capable of extending out of the second sliding cavity (12271) is slidably matched inside the second sliding cavity (12271); a polygonal second clamping block (12276) is connected to the side wall of the second sliding block (13374); The end of the second fixing seat (12270) is provided with a slot (12264) for the second fixing block (12276) to cooperate with; the interior of the second sliding cavity (12271) is provided with a first compression spring (12272) pressed against the second sliding block (13374); the first compression spring (12272) is used to enable the second fixing block (12276) to maintain cooperation with the slot (12264); the side wall of the second fixing seat (12270) is provided with a second sliding slot (12273) which passes through the second sliding cavity (12271); the second sliding block (13374) is connected to a second lever (12275) which passes through the second sliding slot (12273).

7. The hydraulic grab arm type cleaning robot according to claim 6, characterized in that: A protective component (728) is provided at the second fixed seat (12270); the protective component (728) comprises a sealing cover (12280) hinged to the side wall of the second fixed seat (12270); one side of the sealing cover (12280) forms a groove body capable of covering a side of the second fixed seat (12270) having a second slide groove (12273); a plurality of spaced limiting plates (12281) are provided inside the groove body; a torsion spring (12282) is provided at the hinge of the sealing cover (12280), and the torsion spring (12282) is used to keep the sealing cover (12280) in close contact with the second fixed seat (12270).

8. The hydraulic grab arm type cleaning robot according to claim 2, characterized in that: The identification mechanism (130) comprises a bracket (731) for connecting to the mechanical arm (110); the bracket (731) is arranged perpendicularly to the length direction of the mounting seat (221) and is hingedly connected to a flip frame (732); a motor (733) for driving the flip frame (732) to tilt is provided at the bracket (731); a machine vision camera (735) is connected to one end surface of the flip frame (732), the machine vision camera (735) is connected to a mounting plate (734), and the mounting plate (734) is detachably connected to the flip frame (732) via a fastener.

9. The hydraulic grab arm type cleaning robot according to claim 8, characterized in that: A protective cover (736) for covering a machine vision camera (735) is provided at one end surface of the flip frame (732), and a third positioning member (738) for connecting the protective cover (736) is provided at the other end surface; the protective cover (736) is hemispherical, and a concentric limiting groove (8360) is provided at the opening, and the limiting groove (8360) is matched with a sealing ring (737); the third positioning member (738) includes a third fixing seat (10382) connected to an end surface of the flip frame (732) away from the machine vision camera (735); a third sliding cavity (10383) is provided inside the third fixing seat (10382) and is arranged along the length direction of the third fixing seat (10382); the third sliding cavity (10383) is slidably matched with two third sliding blocks (10388); the two third sliding blocks (10388) is pressed against a second compression spring (10385); a third clamping block (10387) extending out of the third sliding cavity (10383) is provided at the opposite end of the third sliding block (10388); two sockets (7320) penetrating the two end surfaces are provided at the flip frame (732); a plug plate (7380) capable of passing through the plug plate (7320) is connected to the opening of the protective cover (736); a positioning hole (7381) for the third clamping block (10387) to pass through is provided at the plug plate (7380); a third sliding groove (10386) penetrating the third sliding cavity (10383) is provided at the side wall of the third fixing seat (10382) away from the flip frame (732); and a paddle (10384) penetrating the third sliding groove (10386) is connected to the third sliding block (10388).

10. The hydraulic grab arm type cleaning robot according to claim 1, characterized in that: The body (100) further comprises a linear module (140), and the linear module (140) is used to enable the mechanical arm (110) to move linearly.

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