Garbage sorting storage bin for water surface cleaning robot

Abstract

The invention relates to the technical field of garbage sorting, and particularly discloses a garbage sorting storage bin for a water surface cleaning robot, which comprises a catamaran main body, the top of the catamaran main body is fixedly connected with a storage bin, and the surface of the storage bin is fixedly connected with an inclined sliding plate; first electric sliding rails are fixedly connected to the two sides of the inner top wall of the storage bin correspondingly, first sliding blocks are slidably connected to the inner walls of the two first electric sliding rails correspondingly, and the two first sliding blocks are connected through a transverse plate. Through the arrangement of the storage bin, the first electric sliding rail, the transverse plate, the first servo motor, a connecting plate, a mechanical arm, a clamp, a second servo motor and a camera, automatic grabbing and precise sorting of garbage are achieved, an electric sliding rail system provides the three-dimensional moving capacity, the servo motors and the mechanical arm cooperate to complete flexible operation, the camera assists in intelligent recognition, and the working efficiency is improved. And therefore, the effects of efficient sorting and classified storage are achieved, and the garbage treatment efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of garbage sorting, and in particular relates to a garbage sorting storage bin for a water surface cleaning robot. Background Art

[0002] In recent years, with the rapid development of robotics and automated control technologies, surface cleaning robots, as an efficient and intelligent cleaning tool, have gradually demonstrated their unique advantages in water environment maintenance. Traditional manual salvage methods are not only inefficient but also labor-intensive, making it difficult to meet the needs of large-scale water cleaning. In contrast, surface cleaning robots are equipped with advanced sensors, recognition systems, robotic arms and other devices to automatically identify, grab and collect surface garbage, greatly improving cleaning efficiency.

[0003] However, although existing surface cleaning robots have made certain progress in garbage collection, there are still significant deficiencies in garbage sorting and storage. Specifically, most existing technologies focus on the overall collection of garbage and ignore the classification and processing of garbage. This defect causes the collected garbage to often be mixed together, making subsequent processing difficult and not conducive to resource recycling. In addition, due to the lack of an effective sorting mechanism, robots often find it difficult to accurately grasp and classify garbage of different types, sizes and shapes, which further affects the cleaning effect and resource utilization efficiency. Therefore, staff need to improve it. Summary of the Invention

[0004] The purpose of the present invention is to provide a garbage sorting and storage bin for a water surface cleaning robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A garbage sorting and storage bin for a water surface cleaning robot, comprising:

[0007] Catamaran body;

[0008] The top of the catamaran body is fixedly connected to a storage bin, and the surface of the storage bin is fixedly connected to an inclined slide plate;

[0009] Both sides of the inner top wall of the storage bin are fixedly connected to a first electric slide rail, the inner walls of the two first electric slide rails are slidably connected to a first sliding block, the two first sliding blocks are connected by a transverse plate, the inner wall of the transverse plate is fixedly connected to a second electric slide rail, the inner wall of the second electric slide rail is slidably connected to a second sliding block, the bottom of the second sliding block is fixedly connected to a mounting frame, the inner wall of the mounting frame is fixedly connected to a first servo motor, a driving rod is installed at the output end of the first servo motor, the bottom end of the driving rod is fixedly connected to a connecting plate, the bottom of the connecting plate is fixedly connected to a mechanical arm, and the front end of the mechanical arm is fixedly connected to a clamp;

[0010] The bottom of the connecting plate is located on one side of the robotic arm and is fixedly connected to a mounting clamp, the inner wall of the mounting clamp is fixedly connected to a second servo motor, a transmission rod is installed at the output end of the second servo motor, and the bottom end of the transmission rod is fixedly connected to a camera.

[0011] Preferably, the inner wall of the storage bin is fixedly connected with a partition board, the surface of the partition board is connected to the inner wall of the storage bin via a placement net, and the surface of the partition board and the inner wall of the storage bin located below the placement net are fixedly connected with an assembly frame.

[0012] Preferably, the inner wall of the assembly frame is fixedly connected to a telescopic motor, a telescopic rod is installed at the output end of the telescopic motor, the top of the telescopic rod is fixedly connected to a connecting frame, the top of the connecting frame is fixedly connected to multiple groups of tilting rods, the top of the tilting rod is fixedly connected to an arc plate, and the top of the arc plate is overlapped with the bottom of the placement net.

[0013] Preferably, a plurality of injection pipes are fixedly connected to the top of the partition plate, a collection box is plugged into the inner wall of the partition plate, and a handle is fixedly connected to the back of the collection box.

[0014] Preferably, the inner wall of the collection box is fixedly connected to an air pump, the surface of the collection box is fixedly connected to an air bag, and the output end of the air pump is fixedly connected to the back of the air bag, the surface of the air bag is plugged into the inner wall of the storage bin, and the surface of the collection box is slidably connected to the back of the storage bin and plugged into the inner wall of the storage bin.

[0015] Preferably, underwater thrusters are fixedly connected to both sides of the bottom of the catamaran body, a support frame is fixedly connected to the top of the catamaran body, a system control compartment is fixedly connected to the top of the support frame, and a visual module is fixedly connected to the top of the support frame on one side of the system control compartment.

[0016] Preferably, the inner wall of the catamaran body is located at the front side of the storage bin and is fixedly connected to a group of positioning plates, the inner wall of the positioning plates is rotatably connected to a conveyor belt, and the surface of the conveyor belt is fixedly connected to connecting teeth.

[0017] Preferably, the inner wall of the positioning plate is fixedly connected to a driving mechanism, and the output end of the driving mechanism is rotatably connected to the inner wall of the conveyor belt, and the front ends of the two positioning plates are fixedly connected to a gathering net.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] (1) Through the arrangement of the catamaran body, storage bin, tilting slide, first electric slide, first sliding block, transverse plate, second sliding block, mounting frame, first servo motor, driving rod, connecting plate, robotic arm, clamp, mounting clamp, second servo motor, transmission rod and camera, the automatic grabbing and precise sorting of garbage are realized: the electric slide system provides three-dimensional movement capability, the servo motor and robotic arm cooperate to complete flexible operation, and the camera assists intelligent recognition, thereby achieving the effect of efficient sorting and classified storage, and significantly improving the efficiency of garbage disposal.

[0020] (2) Through the setting of storage bins, partition boards, placement nets, assembly frames, telescopic motors, telescopic rods, connecting frames, tilting rods and arc-shaped plates, automatic screening and solid-liquid separation of garbage is realized: the telescopic motor drives the arc-shaped plate to lift the placement net to form vibration, accelerate the screening and drainage of garbage, and prevent the mesh from being blocked, thereby achieving the effect of efficiently separating solid garbage and liquid, ensuring the smoothness of the sorting process.

[0021] (3) The setting of the injection tube, collection box, handle and air bag realizes the sealed storage and leakage prevention of garbage: the air pump inflates the air bag tightly against the inner wall of the storage bin, fixes the position of the collection box and blocks the infiltration of water, thereby achieving the effect of complete isolation of garbage and sewage, facilitating subsequent cleaning and keeping the interior of the storage bin dry. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A perspective view of the present invention;

[0023] Figure 2 A perspective view of a storage bin according to the present invention;

[0024] Figure 3 is a perspective view of the first electric slide rail of the present invention;

[0025] Figure 4 is a three-dimensional diagram of the robotic arm of the present invention;

[0026] Figure 5 A perspective view of placing a net according to the present invention;

[0027] Figure 6 A perspective view of the telescopic motor of the present invention;

[0028] Figure 7 is a perspective view of the airbag of the present invention;

[0029] In the figure: 1. catamaran body; 2. storage compartment; 3. tilting skateboard; 4. first electric slide rail; 5. first sliding block; 6. transverse plate; 7. second sliding block; 8. mounting frame; 9. first servo motor; 10. driving rod; 11. connecting plate; 12. robotic arm; 13. clamp; 14. mounting clamp; 15. second servo motor; 16. transmission rod; 17. camera; 18. partition board; 19. placement net; 20. assembly frame; 21. telescopic motor; 22. telescopic rod; 23. connecting frame; 24. tilting rod; 25. curved plate; 26. injection pipe; 27. collection box; 28. handle; 29. airbag; 30. underwater thruster; 31. support frame; 32. system control compartment; 33. visual module; 34. positioning plate; 35. conveyor belt; 36. gathering net. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Example 1:

[0032] See also Figures 1 to 7 As shown, a garbage sorting and storage bin for a water surface cleaning robot comprises: a catamaran body 1;

[0033] The top of the catamaran body 1 is fixedly connected to a storage bin 2, and the surface of the storage bin 2 is fixedly connected to an inclined slide 3;

[0034] Both sides of the inner top wall of the storage bin 2 are fixedly connected with a first electric slide rail 4, the inner walls of the two first electric slide rails 4 are slidably connected with a first sliding block 5, the two first sliding blocks 5 are connected by a transverse plate 6, the inner wall of the transverse plate 6 is fixedly connected with a second electric slide rail, the inner wall of the second electric slide rail is slidably connected with a second sliding block 7, the bottom of the second sliding block 7 is fixedly connected with a mounting frame 8, the inner wall of the mounting frame 8 is fixedly connected with a first servo motor 9, the output end of the first servo motor 9 is installed with a driving rod 10, the bottom end of the driving rod 10 is fixedly connected with a connecting plate 11, the bottom of the connecting plate 11 is fixedly connected with a robotic arm 12, and the front end of the robotic arm 12 is fixedly connected with a clamp 13;

[0035] The bottom of the connecting plate 11 is located on one side of the robotic arm 12 and is fixedly connected to a mounting clamp 14. The inner wall of the mounting clamp 14 is fixedly connected to a second servo motor 15. A transmission rod 16 is installed at the output end of the second servo motor 15, and the bottom end of the transmission rod 16 is fixedly connected to a camera 17.

[0036] When in use, the catamaran body 1 provides buoyancy and a mobile platform, and the fixed storage bin 2 on its top serves as the core loading space. The inclined slide 3 guides the garbage into the bin, and the first electric slide rail 4 and the first sliding block 5 on both sides of the top wall of the storage bin 2 form a horizontal movement mechanism, driving the horizontal plate 6 to slide horizontally; the horizontal plate 6 is embedded with the second electric slide rail and the second sliding block 7 to achieve longitudinal movement. The two cooperate to accurately position the installation frame 8, and the first servo motor 9 in the installation frame 8 controls the rotation angle of the connecting plate 11 through the driving rod 10. The mechanical arm 12 and the clamp 13 at the bottom of the connecting plate 11 complete the grabbing and sorting actions; the second servo motor 15 in the mounting clamp 14 adjusts the pitch angle of the camera 17 through the transmission rod 16 to identify the type of garbage in real time, thereby realizing the automatic grabbing, accurate sorting and classified storage of garbage: the electric slide rail system provides three-dimensional movement capability, the servo motor and the mechanical arm ensure flexible operation, and the camera assists in intelligent recognition, and finally achieves efficient storage through the partition design of the storage bin 2.

[0037] Example 2:

[0038] See also Figures 1 to 7 As shown, the inner wall of the storage bin 2 is fixedly connected with a partition plate 18, the surface of the partition plate 18 is connected to the inner wall of the storage bin 2 through a placement net 19, the surface of the partition plate 18 and the inner wall of the storage bin 2 located below the placement net 19 are fixedly connected with an assembly frame 20, the inner wall of the assembly frame 20 is fixedly connected with a telescopic motor 21, the output end of the telescopic motor 21 is installed with a telescopic rod 22, the top of the telescopic rod 22 is fixedly connected with a connecting frame 23, the top of the connecting frame 23 is fixedly connected with multiple groups of tilting rods 24, the top of the tilting rod 24 is fixedly connected with an arc plate 25, and the top of the arc plate 25 is overlapped with the bottom of the placement net 19.

[0039] When in use, the storage bin 2 is used as the core loading space, and the interior is divided into functional areas by partition boards 18. A placement net 19 is set between the partition board 18 and the inner wall of the storage bin 2 for preliminary filtering of garbage and separating solids and liquids. A telescopic motor 21 is installed in the assembly frame 20 below the placement net 19, and the telescopic rod 22 at its output end drives the connecting frame 23 to move up and down. The connecting frame 23 is connected to the arc plate 25 through multiple groups of inclined rods 24. When the telescopic motor 21 is started, the arc plate 25 lifts the placement net 19 to form a vibration effect, which promotes the screening and drainage of garbage and realizes the automatic screening function of garbage: the placement net 19 completes the solid-liquid separation, and the telescopic motor 21 drives the arc plate 25 to vibrate, accelerating the filtration of fine garbage and the discharge of water, while preventing the mesh from being blocked, ensuring the sorting efficiency, and the partition board 18 further divides the storage bin 2 into different areas, which is convenient for the classification and storage of different types of garbage.

[0040] Example 3:

[0041] See also Figures 1 to 7As shown, multiple groups of injection tubes 26 are fixedly connected to the top of the partition plate 18, a collection box 27 is inserted into the inner wall of the partition plate 18, a handle 28 is fixedly connected to the back of the collection box 27, an air pump is fixedly connected to the inner wall of the collection box 27, an air bag 29 is fixedly connected to the surface of the collection box 27, and the output end of the air pump is fixedly connected to the back of the air bag 29, the surface of the air bag 29 is inserted into the inner wall of the storage bin 2, and the surface of the collection box 27 is slidably connected to the back of the storage bin 2 and inserted into the inner wall of the storage bin 2.

[0042] During use, the injection tube 26 is fixed to the top of the partition plate 18 and is used to introduce garbage into the storage bin 2; the collection box 27 is inserted into the storage bin 2 through the inner wall of the partition plate 18, and the handle 28 provided on the back is convenient for manual pulling and placing. After the air pump in the box is started, the air bag 29 attached to the surface is inflated, so that the air bag 29 is tightly pressed against the inner wall of the storage bin 2, which not only fixes the position of the collection box 27, but also blocks the infiltration of external water through air pressure sealing. At the same time, the air pump on the inner wall of the collection box 27 continuously maintains the pressure of the air bag 29, ensuring complete isolation of garbage and water during operation.

[0043] Example 4:

[0044] See also Figures 1 to 7 As shown, underwater thrusters 30 are fixedly connected to both sides of the bottom of the catamaran body 1, a support frame 31 is fixedly connected to the top of the catamaran body 1, a system control compartment 32 is fixedly connected to the top of the support frame 31, a visual module 33 is fixedly connected to the top of the support frame 31 on one side of the system control compartment 32, and the inner wall of the catamaran body 1 is located on the front side of the storage compartment 2 and is fixedly connected to a group of positioning plates 34, the inner wall of the positioning plate 34 is rotatably connected to a conveyor belt 35, the surface of the conveyor belt 35 is fixedly connected to connecting teeth, the inner wall of the positioning plate 34 is fixedly connected to a driving mechanism, and the output end of the driving mechanism is rotatably connected to the inner wall of the conveyor belt 35, and the front ends of the two positioning plates 34 are fixedly connected to a gathering net 36.

[0045] When in use, the underwater thrusters 30 are symmetrically installed on both sides of the bottom of the catamaran body 1 to provide power to drive the hull to move; the support frame 31 is fixed to the top of the hull, and the system control cabin 32 is installed above it to centrally process the instructions of each module. The adjacent visual module 33 uses the OpenMV image processing unit to identify the type of surface garbage and locate it in real time; the positioning plate 34 is installed on the front side of the storage bin 2, and its internal conveyor belt 35 grabs the garbage through the surface connecting teeth and transports it to the storage bin, and the front-end gathering net 36 guides the floating garbage into the transmission area. The entire system coordinates the moving path of the thruster 30, the recognition feedback of the visual module 33 and the operating rhythm of the conveyor belt 35 through the control bin 32 to realize the full process automation of autonomous cruising, garbage identification, collection and storage.

[0046] Embodiment 5:

[0047] See also Figures 1 to 7 As shown in the figure, due to the frequent tourist activities in the scenic lake, plastic bottles, fallen leaves, food packaging and other garbage often float on the water surface. Traditional manual salvage is inefficient and costly. In order to keep the water clean, the management department introduced this water surface cleaning robot, which realizes automatic collection and classification of garbage through its sorting and storage bin.

[0048] The robot cruises along a preset path using the underwater propeller 30 at the bottom of the catamaran body 1, and the visual module 33 (OpenMV) scans the lake surface in real time, identifies the type of garbage (such as plastic bottles, foam, etc.) and locates it.

[0049] The system control cabin 32 plans the optimal path and drives the robot to approach the target garbage area.

[0050] The gathering net 36 at the front end of the positioning plate 34 guides the floating garbage to the conveyor belt 35 area, and the conveyor belt transports the garbage to the entrance of the storage bin 2 through the surface connecting teeth, and slides into the bin through the inclined slide 3.

[0051] After the garbage falls into the placement net 19, the telescopic motor 21 drives the arc plate 25 to lift the net surface to generate vibration, filter out moisture to the lower layer, and the solid garbage remains on the net surface.

[0052] After the camera 17 identifies the type of garbage, the robotic arm 12 is accurately positioned through the coordinated movement of the first electric slide rail 4 and the second electric slide rail. The clamp 13 grabs recyclables such as plastic bottles and puts them into the collection box 27 on the left side of the partition board 18, and organic garbage (such as fallen leaves) falls into the right area.

[0053] The air bag 29 of the collection box 27 is inflated and expands, closely adhering to the inner wall of the storage bin 2 to form a seal, thereby preventing sewage from back seeping.

[0054] After being fully loaded, the robot returns to the shore, and the staff uses the handle 28 to pull out the collection box 27 to clean up the garbage. The air bag 29 is deflated for easy disassembly.

[0055] The injection pipe 26 can be connected to an external device to flush out the residual dirt in the bin to maintain hygiene.

[0056] Working principle: The catamaran body 1 provides a buoyancy platform, and the underwater thrusters 30 on both sides of its bottom drive the robot to cruise. The system control compartment 32 on the support frame 31 coordinates the operation of each module, and the visual module 33 (based on OpenMV) recognizes the type and location of surface garbage in real time; when garbage is found, the gathering net 36 at the front end of the positioning plate 34 guides the floating objects to the conveyor belt 35, and the conveyor belt transports the garbage to the entrance of the storage bin 2 through the surface connecting teeth, and slides into the bin through the inclined slide 3; the first electric slide rail 4 and the second electric slide rail at the top of the storage bin 2 drive the installation frame 8 to move in three dimensions, and the first servo motor 9 adjusts the connecting plate 11 through the drive rod 10 Angle, so that the clamp 13 of the robot arm 12 can accurately grab the garbage, and at the same time, the second servo motor 15 installed in the clamp block 14 adjusts the viewing angle of the camera 17 through the transmission rod 16 to assist in identification; the grabbed garbage is classified and stored through the partition plate 18: the placement net 19 is driven by the telescopic motor 21 to vibrate through the arc plate 25 to achieve solid-liquid separation, liquid water is discharged through the mesh, and solid garbage is sorted to different areas; the collection box 27 is sealed and fixed by inflating the air bag 29 through the air pump to prevent sewage leakage; the entire system realizes the full process automation of autonomous cruising, identification, collection, sorting and storage through intelligent control, which significantly improves the efficiency of water surface cleaning.

[0057] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A garbage sorting and storage bin for a water surface cleaning robot, characterized in that: include: Catamaran body (1); The top of the catamaran body (1) is fixedly connected to a storage bin (2), and the surface of the storage bin (2) is fixedly connected to an inclined slide plate (3); Both sides of the inner top wall of the storage bin (2) are fixedly connected with a first electric slide rail (4), the inner walls of the two first electric slide rails (4) are slidably connected with a first sliding block (5), the two first sliding blocks (5) are connected through a transverse plate (6), the inner wall of the transverse plate (6) is fixedly connected with a second electric slide rail, the inner wall of the second electric slide rail is slidably connected with a second sliding block (7), the bottom of the second sliding block (7) is fixedly connected with a mounting frame (8), the inner wall of the mounting frame (8) is fixedly connected with a first servo motor (9), the output end of the first servo motor (9) is installed with a driving rod (10), the bottom end of the driving rod (10) is fixedly connected with a connecting plate (11), the bottom of the connecting plate (11) is fixedly connected with a mechanical arm (12), and the front end of the mechanical arm (12) is fixedly connected with a clamp (13); The bottom of the connecting plate (11) is located on one side of the mechanical arm (12) and is fixedly connected to a mounting clamp (14); the inner wall of the mounting clamp (14) is fixedly connected to a second servo motor (15); a transmission rod (16) is installed at the output end of the second servo motor (15); and the bottom end of the transmission rod (16) is fixedly connected to a camera (17).

2. The garbage sorting and storage bin for a water surface cleaning robot according to claim 1, characterized in that: The inner wall of the storage bin (2) is fixedly connected to a partition plate (18), the surface of the partition plate (18) and the inner wall of the storage bin (2) are connected via a placement net (19), and the surface of the partition plate (18) and the inner wall of the storage bin (2) located below the placement net (19) are both fixedly connected to an assembly frame (20).

3. The garbage sorting and storage bin for a water surface cleaning robot according to claim 2, characterized in that: The inner wall of the assembly frame (20) is fixedly connected to a telescopic motor (21), the output end of the telescopic motor (21) is installed with a telescopic rod (22), the top end of the telescopic rod (22) is fixedly connected to a connecting frame (23), the top of the connecting frame (23) is fixedly connected to multiple groups of tilting rods (24), the top end of the tilting rod (24) is fixedly connected to an arc plate (25), and the top of the arc plate (25) is overlapped with the bottom of the placement net (19).

4. The garbage sorting and storage bin for a water surface cleaning robot according to claim 2, characterized in that: The top of the partition plate (18) is fixedly connected to a plurality of injection pipes (26), the inner wall of the partition plate (18) is plugged with a collection box (27), and the back of the collection box (27) is fixedly connected to a handle (28).

5. The garbage sorting and storage bin for a water surface cleaning robot according to claim 4, characterized in that: The inner wall of the collection box (27) is fixedly connected to an air pump, the surface of the collection box (27) is fixedly connected to an air bag (29), and the output end of the air pump is fixedly connected to the back of the air bag (29), the surface of the air bag (29) is plugged into the inner wall of the storage bin (2), and the surface of the collection box (27) is slidably connected to the back of the storage bin (2) and plugged into the inner wall of the storage bin (2).

6. The garbage sorting and storage bin for a water surface cleaning robot according to claim 1, characterized in that: Underwater thrusters (30) are fixedly connected to both sides of the bottom of the catamaran body (1), a support frame (31) is fixedly connected to the top of the catamaran body (1), a system control compartment (32) is fixedly connected to the top of the support frame (31), and a visual module (33) is fixedly connected to the top of the support frame (31) on one side of the system control compartment (32).

7. The garbage sorting and storage bin for a water surface cleaning robot according to claim 1, characterized in that: The inner wall of the catamaran body (1) is located at the front side of the storage bin (2) and is fixedly connected to a group of positioning plates (34). The inner wall of the positioning plate (34) is rotatably connected to a conveyor belt (35), and the surface of the conveyor belt (35) is fixedly connected to connecting teeth.

8. The garbage sorting and storage bin for a water surface cleaning robot according to claim 7, characterized in that: The inner wall of the positioning plate (34) is fixedly connected to a driving mechanism, and the output end of the driving mechanism is rotatably connected to the inner wall of the conveyor belt (35). The front ends of the two positioning plates (34) are fixedly connected to a gathering net (36).

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