Octopus bionic wave energy sea surface cleaning device

Abstract

The invention provides an octopus bionic wave energy sea surface cleaning device. The octopus bionic wave energy sea surface cleaning device comprises a cleaning device body and an octopus antenna type moving mechanism; the octopus antenna type moving mechanism comprises a plurality of mechanical arms, a plurality of transmission beams and a disc type hollow motor; the disc type hollow motor is fixed to the cleaning device body, the multiple mechanical arms are arranged around the disc type hollow motor at equal intervals, and the tail end of each mechanical arm is connected with the surface of a rotor of the disc type hollow motor through a transmission beam. A collision sensor is arranged at the head end of the side, away from the transmission beam, of the mechanical arm. When the mechanical arm of the cleaning device encounters an obstacle, movement reversing and operation radius adjustment are achieved through bending control over the mechanical arm, and the cleaning device is suitable for flexible operation in various narrow sea areas; meanwhile, in the operation process of the mechanical arm similar to an octopus antenna, the bent end of the mechanical arm can store the garbage into the turning radius of the device, and therefore the garbage collecting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine environmental protection, and particularly to a device for cleaning the sea surface. Background Art

[0002] Currently, with the country's emphasis on marine protection, a variety of automated sea surface garbage cleaning devices have emerged. Currently in China, there are: 1. Wheeled garbage cleaning robots, 2. Conveyor belt type garbage cleaning unmanned ships, 3. Fixed waterborne trash cans. However, the existing robots are generally large in size and cannot be applied to narrow and obstacle-rich fishing ports, mangroves and other sea areas, and generally cannot achieve synchronous removal of harmful algae. Summary of the Invention

[0003] The purpose of the present invention is to provide a flexible and efficient sea surface cleaning device that can automatically remove sea surface garbage in narrow and obstacle-rich garbage-dense sea areas.

[0004] To achieve the above purpose, the present invention provides an octopus bionic wave energy sea surface cleaning device, including a cleaning device body and an octopus tentacle type moving mechanism; The octopus tentacle type moving mechanism includes multiple robotic arms, multiple transmission beams and a disc type hollow motor; the disc type hollow motor is fixed on the cleaning device body, and multiple robotic arms are arranged equidistantly around the circumference of the disc type hollow motor, and the end of each robotic arm is connected to the surface of the rotor of the disc type hollow motor through a transmission beam; The robotic arm is provided with multiple joints, each joint is controlled by an independent servo motor, and a collision sensor is provided at the head end of the robotic arm on the side away from the transmission beam.

[0005] Further, the joints are arranged parallel to the horizontal plane.

[0006] Further, an ultrasonic generator is also provided on the robotic arm.

[0007] Further, each robotic arm includes three joints; The first joint is located in the middle section of the whole robotic arm, and the first joint divides the robotic arm into a fixed section and a movable section, and the fixed section connects the transmission beam and the movable section; The second joint and the third joint are both located in the movable section, and the movable section is divided into three movable arms.

[0008] Further, the transmission beams are firmly connected by stirrups.

[0009] Further, the cleaning device body includes an engine room, a propeller and a collection bucket; The collection bucket is connected to the end of the engine room through a hydraulic telescopic tube, and the propeller is arranged at the end of the engine room and is disposed opposite to the bottom of the collection bucket; the collection bucket adopts a metal mesh collection bucket.

[0010] Furthermore, the collection bucket is located at the central position of the octopus tentacle type moving mechanism; Driven by the hydraulic telescopic pipe, the opening plane of the collection bucket protrudes or is lower than the plane of the robotic arm.

[0011] Furthermore, the engine room is a sealed conical cabin, and inside the cabin, a wave energy power generation module, a buoyancy adjustment module, a power supply module, and a control module are integrated; The wave energy power generation module is connected to the power supply module, the power supply module is electrically connected to each power-consuming module, and the control module is signal-connected to each joint drive motor, the buoyancy adjustment module, the disc hollow motor, the hydraulic telescopic pipe, the collision sensor, the ultrasonic generator, and the remote terminal.

[0012] Furthermore, the conical surface of the engine room faces downward, and a circular tabletop is installed on the upper end surface of the engine room through a cylindrical shaft, and the disc hollow motor is arranged between the circular tabletop and the end of the engine room.

[0013] Compared with the prior art, the advantages of the present invention are as follows: 1. The present invention adopts an octopus tentacle type moving mechanism, and the robotic arm combined with the collision sensor can effectively sense path obstacles. When encountering obstacles, the moving direction can be changed and the operating radius can be adjusted by controlling the bending of the robotic arm, which is suitable for flexible operation in various narrow sea areas. At the same time, during the operation of the robotic arm similar to an octopus tentacle, the bent end of the robotic arm can collect garbage within the turning radius of the device, facilitating subsequent garbage collection and improving the garbage collection efficiency.

[0014] 2. The sea surface cleaning device of the present invention imitates the shape of an octopus and has high running stability in the sea without situations such as rollover.

[0015] 3. The present invention uses the vortex generated by the propeller to collect garbage in the collection bucket, which is different from the traditional robotic arm picking, with lower cost and good garbage collection effect.

[0016] 4. The sea surface cleaning device of the present invention uses wave energy to supplement energy, with a long endurance time, strong practicability, and low energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the sea surface cleaning device in the embodiment of the present invention.

[0018] Figure 2 It is a top view of the sea surface cleaning device in the embodiment of the present invention.

[0019] Figure 3 It is a side view of the sea surface cleaning device in the embodiment of the present invention.

[0020] Figure 4Schematic diagram of the working of the sea surface cleaning device in the embodiment of the present invention.

[0021] Figure 5 Schematic cross-sectional view of the engine room part of the sea surface cleaning device in the embodiment of the present invention.

[0022] Figure 6 Schematic diagram of the function of the control module of the present invention.

[0023] Figure 7 Schematic diagram of obstacle avoidance principle of the sea surface cleaning device in the embodiment of the present invention. Detailed implementation manners

[0024] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be further described below.

[0025] As Figures 1-3 shown, the present invention provides an octopus biomimetic wave energy sea surface cleaning device, which is composed of a mobile structure 4 in the form of octopus tentacles and a cleaning device body.

[0026] In the cleaning device body, in order to reduce the running resistance, the engine room 1 is integrally a sealed conical cylinder. As Figure 5 shown, a buoyancy adjustment module 10, a control module 8, a power supply module 7 and a wave energy power generation module 9 are integrally arranged in the cabin from top to bottom. In actual application, the up-and-down order of several modules can be adjusted on the premise of meeting the working requirements of the device.

[0027] In this embodiment, the buoyancy adjustment module 10 is a sealed air chamber filled with a gas with low density and chemically inactive properties, and is internally provided with a gas compressor, which can adjust the buoyancy of the entire device by adjusting the air pressure; the gas is nitrogen or helium. The power supply module 7 is a battery pack sealed in the engine room 1 to supply power to the entire device. The wave energy power generation module 9 adopts a common double-wing flywheel design. When the device floats up and down, the inertial flywheel moves up and down relative to the spiral shaft, cuts the magnetic induction line to generate electricity, and supplies power to the power supply module 7, effectively improving the endurance of the device. The control module 8 is connected with a 5G communication module and a positioning module, and signal connections are realized between the control module 8 and each module, and it can receive remote control signals to control operations such as the movement route of the device.

[0028] In this embodiment, as Figure 1 , Figure 2 and Figure 3 shown, the octopus tentacle-like mobile structure 4 is composed of 8 robotic arms 14 and a disk-shaped hollow motor 12. In actual application, the number of robotic arms 14 can be adjusted according to the actual situation. The disk-shaped hollow motor 12 is sleeved on the engine room 1. Specifically, as Figure 5As shown, the conical surface of the engine nacelle 1 is in a downward attitude. A circular platform 6 is installed on the upper end surface of the engine nacelle 1 through a cylindrical shaft 5. There is a clearance reserved between the circular platform 6 and the upper end surface of the engine nacelle 1. The disc-type hollow motor 12 is just sleeved in the clearance position to achieve fixation. After the disc-type hollow motor 12 is fixed, 8 robotic arms 14 are arranged at equal intervals around the disc-type hollow motor 12. The end of each robotic arm 14 is connected to the surface of the rotor of the disc-type hollow motor 12 through a transmission beam 13. To further ensure the structural stability, as Figure 3 shown, the 8 transmission beams 13 are connected through stirrups to effectively prevent deformation. In addition, the acute angle between the transmission beam 13 and the engine nacelle 1 is 45°-60° to ensure the stable motion attitude of the device.

[0029] In this embodiment, the robotic arm 14 is designed in multiple segments, and the segments are connected by hinges and can rotate horizontally. Specifically, as Figure 1 shown, each robotic arm 14 includes three joints; the first joint 15 is located in the middle section of the whole robotic arm 14. The first joint 15 divides the robotic arm 14 into a fixed section and a movable section. The fixed section connects the transmission beam 13 and the head of the movable section. The second joint and the third joint are both located in the movable section, dividing the movable section into three movable arms. The multi-segment structure makes the robotic arm 14 more flexible in bending and adaptable to various environments. Each joint is controlled by an independent servo motor. A collision sensor 17 is installed on the movable arm at the head, and an ultrasonic generator 16 is provided on the robotic arm 14 in the middle section. The shell of the robotic arm 14 is made of corrosion-resistant soft plastic material.

[0030] In this embodiment, the collection of garbage is mainly achieved by the propeller 2 to collect the garbage into the collection bucket 3. As Figure 1 and Figure 3 shown, the collection bucket 3 is a metal mesh collection bucket 3, which is located at the central position of the octopus tentacle-type mobile structure 4. The collection bucket 3 is connected to the circular platform 6 at the end of the engine nacelle 1 through a hydraulic telescopic pipe 11. The collection bucket 3 can be operated to make the opening horizontal plane higher or lower than the horizontal plane of the robotic arm 14 under the drive of the hydraulic telescopic pipe 11. The propeller 2 is fixed on the surface of the circular platform 6 and is located directly below the collection bucket 3.

[0031] In this embodiment, as Figure 6 shown, the control module 8 is connected to the joint drive motor of the robotic arm 14, the buoyancy adjustment module 10, the disc-type hollow motor 12, the hydraulic telescopic pipe 11, the collision sensor 17, the ultrasonic generator 16, and the remote terminal through signals; it realizes operations including the motion control of the robotic arm 14, the buoyancy adjustment of the device, the up and down position adjustment of the collection bucket 3, collision detection, the start and stop of the ultrasonic wave, and the remote signal reception from external devices.

[0032] For the convenience of further understanding by those skilled in the art, the working principle of the present invention is as follows: The buoyancy adjustment module 10 automatically adjusts the buoyancy so that the upper edge of the collection bucket 3 is above the water surface and the robotic arm 14 is just at the water surface, as shown in Figure 4 . The control module 8 controls all the robotic arms 14 to bend, as shown in Figure 2 . When viewed from above, it is in the shape of a hub. The disc-type hollow motor 12 drives the transmission beam 13 and the robotic arm 14 to rotate, enabling the device to move on the water surface. Meanwhile, the marine garbage is surrounded by the robotic arm 14 around the collection bucket 3. The garbage collection process is started at regular intervals. When collecting garbage, the hydraulic telescopic tube 11 pulls down the collection bucket 3 to completely immerse it in the water surface, and then the propeller 2 is started to rotate rapidly to form a vortex in the water, and the garbage is sucked into the collection bucket 3. As shown in Figure 4 , after collecting for a certain period of time, the hydraulic telescopic tube 11 resets, the upper edge of the collection bucket 3 returns to its original position, and the propeller 2 is turned off, completing one garbage collection. This process is repeated to complete the collection of marine garbage.

[0033] As shown in Figure 7 , when the device rotates clockwise and moves on the water surface, it collects the garbage along the way at any time. When the robotic arm 14 touches the obstacle 18, the collision sensor 17 works. The control module controls the robotic arm 14 that has collided to quickly expand and contract to bounce the device off, and controls the bending direction of all the robotic arms 14 to make the device rotate counterclockwise, so as to move in other directions and leave the obstacle 18. During the working process of the device, the ultrasonic generator 16 on the robotic arm 14 continuously emits ultrasonic waves into the water to kill the harmful algae around. The control module can receive remote control signals to control the movement route of the device, the start and stop of the ultrasonic generator 16, etc.

[0034] The above is only the preferred embodiment of the present invention and does not impose any limitation on the present invention. Any person skilled in the art, without departing from the technical solution of the present invention, makes any form of equivalent substitution or modification and other changes to the technical solution and technical content disclosed by the present invention, which are still within the content of the technical solution of the present invention and still fall within the protection scope of the present invention.

Claims

1. An octopus-inspired wave energy sea surface cleaning device, characterized in that, It includes a cleaning device body and an octopus tentacle - type moving mechanism; The octopus tentacle - type moving mechanism includes multiple robotic arms, multiple transmission beams, and a disk - type hollow motor; the disk - type hollow motor is fixed on the cleaning device body, and the multiple robotic arms are arranged equidistantly around the circumference of the disk - type hollow motor. The end of each robotic arm is connected to the surface of the rotor of the disk - type hollow motor through a transmission beam; Multiple joints are provided on the robotic arm, and each joint is controlled by an independent servo motor. A collision sensor is provided at the head end of the robotic arm on the side away from the transmission beam.

2. The octopus bionic wave energy sea surface cleaning device according to claim 1, characterized in that, The joints are arranged parallel to the horizontal plane.

3. The octopus bionic wave energy sea surface cleaning device according to claim 1, characterized in that, An ultrasonic generator is also provided on the robotic arm.

4. The octopus bionic wave energy sea surface cleaning device according to claim 1, characterized in that, Each robotic arm includes three joints; The first joint is located in the middle section of the whole robotic arm. The first joint divides the robotic arm into a fixed section and a movable section, and the fixed section connects the transmission beam and the movable section; The second joint and the third joint are both located in the movable section, dividing the movable section into three movable arms.

5. The octopus bionic wave energy sea surface cleaning device according to claim 1, characterized in that, The transmission beams are firmly connected by stirrups.

6. The octopus bionic wave energy sea surface cleaning device according to claim 1, characterized in that, The cleaning device body includes a cabin, a propeller, and a collection bucket; The collection bucket is connected to the end of the cabin through a hydraulic telescopic pipe. The propeller is provided at the end of the cabin and is arranged opposite to the bottom of the collection bucket; the collection bucket is a metal - mesh collection bucket.

7. The octopus bionic wave energy sea surface cleaning device according to claim 6, characterized in that, The collection bucket is located at the central position of the octopus tentacle - type moving mechanism; Driven by the hydraulic telescopic pipe, the opening plane of the collection bucket protrudes or is lower than the plane of the robotic arm.

8. The octopus bionic wave energy sea surface cleaning device according to claim 6, characterized in that, The cabin is a sealed conical cabin body, and a wave energy generation module, a buoyancy adjustment module, a power supply module, and a control module are integrated inside the cabin body; The wave energy generation module is connected to the power supply module, the power supply module is electrically connected to each power - consuming module, and the control module is signal - connected to each joint drive motor, the buoyancy adjustment module, the disk - type hollow motor, the hydraulic telescopic pipe, the collision sensor, the ultrasonic generator, and the remote terminal.

9. The octopus bionic wave energy sea surface cleaning device according to claim 6, characterized in that, The conical surface of the cabin faces downward. A circular tabletop is installed on the upper end surface of the cabin through a cylindrical shaft, and the disk - type hollow motor is provided between the circular tabletop and the end of the cabin.

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