Water surface garbage cleaning robot

Abstract

The invention discloses a water surface garbage cleaning robot, and relates to the technical field of water surface garbage cleaning boats, the water surface garbage cleaning robot comprises a floating boat, the floating boat comprises a boat body, the two sides of the boat body are respectively provided with two side grooves, the middle parts of the two side grooves are communicated through a sliding through groove, and the middle part of the front end of the boat body is provided with a front mounting groove; a power groove is formed in the middle of the rear end of the ship body, the buoyancy adjusting system comprises a ship body stable lifting mechanism, a longitudinal buoyancy balance mechanism, a transverse buoyancy balance mechanism, a buoy mounting frame and a buoy, and the power groove is formed in the middle of the rear end of the ship body; according to the water surface garbage cleaning robot, the balance of the ship body can be adjusted, the situation that the ship body inclines to influence comprehensive cleaning of garbage on a cleaning path is avoided, the collected garbage is conveniently cleaned from a ship to a shore edge, and manpower is saved.

Description

Technical Field

[0001] This invention relates to the field of surface garbage cleaning vessel technology, specifically a surface garbage cleaning robot. Background Technology

[0002] Currently, garbage floats on the surface of rivers and lakes, which affects water quality and the aquatic landscape, thus requiring cleanup. Existing technologies for cleaning up surface garbage use either buckets or conveyor belts as collection devices.

[0003] Among them, bucket collection is discontinuous, while conveyor belt collection is continuous and more efficient in garbage collection, and is widely used. However, when cleaning garbage on the water surface, the hull is easily affected by wind and waves and can rock and tilt. Uneven stacking of garbage collected on the hull can also cause the hull to tilt. The tilting of the hull will affect the garbage collection device's ability to collect garbage smoothly, leaving garbage on the cleaning path. Moreover, the collected garbage still needs to be manually shoveled away after the ship docks, which is also quite labor-intensive. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a water surface garbage cleaning robot that can adjust the balance of the hull to keep the hull level, can cope with the impact of wind and waves, and can also avoid the hull tilting caused by uneven garbage accumulation on the hull. This avoids the hull tilting affecting the comprehensive cleaning of garbage along the cleaning path. The collected garbage can be easily cleaned from the ship to the shore, saving manpower and effectively solving the problems in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a water surface garbage cleaning robot, comprising a floating vessel, the floating vessel including a hull, two side grooves respectively formed on both sides of the hull, the middle of the two side grooves being connected by a sliding through groove, a front mounting groove formed at the middle of the front end of the hull, and a power groove formed at the middle of the rear end of the hull, further comprising:

[0006] The buoyancy adjustment system includes a hull smoothing lifting mechanism, a longitudinal buoyancy balancing mechanism, a transverse buoyancy balancing mechanism, a float mounting frame, and floats. The hull smoothing lifting mechanism is installed in the sliding channel. Two longitudinal buoyancy balancing mechanisms are connected to each end of the hull smoothing lifting mechanism. A transverse buoyancy balancing mechanism is installed on each longitudinal buoyancy balancing mechanism. A longitudinal float is installed on each transverse buoyancy balancing mechanism through the float mounting frame.

[0007] The propulsion mechanism is installed inside the power trough;

[0008] The berthing assistance mechanism is installed on both the left and right sides of the front of the hull.

[0009] The docking anchoring mechanism is installed in the front mounting groove, and the garbage collection and discharge mechanism is installed on the docking anchoring mechanism.

[0010] The hull provides the main buoyancy and serves as a carrier for installing other devices, the propulsion mechanism provides power for the forward movement of the hull and can also control the turning of the hull, the hull stabilizing lifting mechanism can change the width of the water surface garbage cleaning robot, increase the width to reduce the left and right sway of the hull, and the water surface garbage cleaning robot can move more stably in the wind and waves, and after the width is reduced, the water surface garbage cleaning robot can pass through narrow places, the longitudinal buoyancy balancing mechanism is used to change the buoyancy of the front and rear sides of the hull, so as to keep the front and rear of the hull horizontal, the transverse buoyancy balancing mechanism is used to change the height of the two sides of the hull, change the volume of the two sides of the hull sinking into the water, and provide different buoyancy for the two sides of the hull, so as to keep the left and right of the hull horizontal, maintain the horizontal state of the hull, avoid the uneven bearing or the wind and waves causing the hull to tilt, avoid the hull in the tilted state and cannot use the garbage collection and discharge mechanism to clean the water surface garbage on the moving path, if the two transverse buoyancy balancing mechanisms change the height of the two sides of the hull synchronously, the volume of the two sides of the hull sinking below the water surface is changed, and different buoyancy can also be provided for the hull, so as to change the draft of the hull, so as to change the height of the docking auxiliary mechanism, the docking anchoring mechanism and the garbage collection and discharge mechanism, the docking auxiliary mechanism is used to buffer the impact force when the front end of the hull docks, the height change of the docking auxiliary mechanism can be matched with the shore more closely, so that the docking auxiliary mechanism can abut against the solid shore part, and the shore facilities are avoided from being damaged, the docking anchoring mechanism drives the front end of the garbage collection and discharge mechanism to move downward when cleaning the water surface garbage, so that the front end of the garbage collection and discharge mechanism sinks into the water, the garbage collection and discharge mechanism can transport the water surface garbage to the upper side of the hull along with the forward movement of the hull, when the upper side of the hull is full of garbage, the docking anchoring mechanism drives the front end of the garbage collection and discharge mechanism to rise, the hull docks, the docking auxiliary mechanism contacts the shore to buffer the impact force of the hull moving inertia, and then the front end of the docking anchoring mechanism descends, the bottom of the front end of the docking anchoring mechanism contacts the upper side of the shore, so that the hull is anchored on the shore, the garbage collection and discharge mechanism works in reverse, can transport the garbage on the hull to the shore, can save the manpower of shoveling the garbage on the hull, when the hull is cleaned of garbage, the front end of the docking anchoring mechanism moves upward, the docking auxiliary mechanism resets and rebounds, and pushes the hull away from the shore, so as to complete the cleaning work of the water surface garbage and the cleaning work of the garbage on the hull to the shore.

[0011] Further, the hull stabilizing lifting mechanism comprises a mutual moving control assembly and sliding plates, two sliding plates are respectively slidably connected to the left and right ends of the sliding channel in a transverse manner, and the two sliding plates are connected with the mutual moving control assembly. The mutual moving control assembly is used to drive the two sliding plates to move closer to or farther away from each other in the sliding channel, and the movement of the two sliding plates drives the two longitudinal floating force balancing mechanisms and the two floats to move closer to or farther away from each other, so that the distance between the two floats is changed to change the width of the water surface garbage cleaning robot. When the two floats move farther away from each other to increase the width of the water surface garbage cleaning robot, the water surface garbage cleaning robot runs stably in the wind and waves, and when a narrow waterway is encountered, the two floats move closer to each other to reduce the width of the water surface garbage cleaning robot.

[0012] Further, the longitudinal floating force balancing mechanism comprises a longitudinal moving control assembly and an adjusting movable frame, two longitudinal mounting frames are respectively fixedly connected to one end of the two sliding plates in the side recess, and two adjusting movable frames are respectively connected with the two mounting frames through the longitudinal moving control assembly. The longitudinal moving control assembly is used to drive the adjusting movable frames to move forward and backward along the longitudinal mounting frames, so as to change the front and rear positions of the floats relative to the hull, control the change of the floating force of the front and rear ends of the hull, avoid the height difference of the front and rear ends of the hull due to the uneven weight of the garbage contained, and maintain the longitudinal balance of the hull.

[0013] Further, the transverse floating force balancing mechanism comprises a floating force adjusting swing arm and a floating force adjusting hydraulic cylinder, the bottom end of each adjusting movable frame is movably connected to one end of the floating force adjusting swing arm, the other end of the floating force adjusting swing arm is fixedly connected to the float mounting frame, the upper side of the floating force adjusting swing arm is movably connected to one end of the floating force adjusting hydraulic cylinder, and the other end of the floating force adjusting hydraulic cylinder is movably connected to the top end of the adjusting movable frame. The extension and retraction of the floating force adjusting hydraulic cylinder can drive the floating force adjusting swing arm to swing up and down, so as to change the volume of the float submerged in water, thereby providing different floating forces for the two sides of the hull and making the hull more balanced left and right. When the floating force adjusting hydraulic cylinder is elongated, the floating force adjusting hydraulic cylinder swings downward, the volume of the float submerged in water on the float mounting frame at the end of the floating force adjusting hydraulic cylinder increases, and vice versa. When the volumes of the two floats submerged in water on the two sides of the hull are increased, the draft of the hull is reduced.

[0014] Further, the docking auxiliary mechanism comprises a buffer degree adjusting assembly, a shore contact plate and a rubber buffer pad, two longitudinal installation grooves are formed in the left and right sides of the upper surface of the front end of the ship body respectively, two rectangular sliding holes are formed in the front side of the ship body at positions corresponding to the middle parts of the two longitudinal installation grooves respectively, two longitudinal sliding beams are slidably connected in the two rectangular sliding holes respectively, the front end of each sliding beam is fixedly connected with the shore contact plate, the front side of the shore contact plate is provided with the rubber buffer pad, the rear end of each sliding beam is connected with the rear end of the corresponding longitudinal installation groove through a longitudinal telescopic rod, a buffer spring is sleeved on the telescopic rod, the front end of the buffer spring abuts against the rear side of the sliding beam, and the rear end of the buffer spring is connected with the buffer degree adjusting assembly. When the ship body needs to be docked, the front end of the ship body is perpendicular to the shore, the propulsion mechanism pushes the ship body to move forward to approach the shore, the rubber buffer pad first contacts the side wall of the shore, and the inertia of the ship body in water is buffered in the first stage, then the shore contact plate and the sliding beam are pushed to move backward along the rectangular sliding hole, the telescopic rod is extruded and shortened, the buffer spring is compressed, and the inertia of the ship body in water is buffered in the second stage, so that the impact during docking is avoided to be too large to damage the ship body or shore facilities, and the buffer degree adjusting assembly is used for changing the compression degree of the buffer spring in advance, so that the toughness of the buffering process is changed.

[0015] Further, the docking anchor mechanism comprises a turnover hydraulic cylinder, the rear end of the front installation groove is rotatably connected with the two sides of the rear end of a plate frame through two turnover shafts, the two sides of the plate frame are fixedly connected with two side blocks respectively, the two side blocks are movably connected with the front ends of two turnover hydraulic cylinders respectively, the rear ends of the two turnover hydraulic cylinders are movably connected with the top ends of two supporting rods respectively, the bottom ends of the two supporting rods are fixedly connected with the two sides of the top of the ship body respectively, the bottom sides of the front ends of the plate frame are provided with anchor inclined rods respectively, the bottom ends of the anchor inclined rods are inclinedly arranged rearward, and the bottom ends of the anchor inclined rods are provided with friction teeth.

[0016] When the ship body is cleaning the water surface garbage, the turnover hydraulic cylinder is elongated, the front end of the frame is moved down, the front end of the frame is sunk into the water, the front end of the garbage collection and discharge mechanism is also sunk into the water, the garbage collection and discharge mechanism can transport the garbage on the water surface to the ship body, when the ship body is full of garbage and needs to be docked, the turnover hydraulic cylinder is shortened, the front end of the frame is moved up, the front end of the frame is directed to the air, the garbage collection and discharge mechanism is also directed to the air, the front end of the ship body is perpendicular to the shore, the buffer spring in the docking auxiliary mechanism is compressed to the bottom, the turnover hydraulic cylinder is elongated again, the bottom end of the anchoring inclined rod contacts the upper side of the shore during the lowering of the front end of the frame, the friction teeth provide greater friction for the contact between the anchoring inclined rod and the upper side of the shore, the ship body is stably close to the shore, at this time, the garbage collection and discharge mechanism works in reverse to transport the garbage on the ship body to the shore, completing the unloading of the garbage on the ship body, when the garbage on the ship body is cleaned, the turnover hydraulic cylinder is shortened, the friction teeth at the bottom of the anchoring inclined rod are away from the upper side of the shore, the ship body loses anchoring, at this time, the buffer spring in the docking auxiliary mechanism is rebounded, pushing the ship body away from the shore, then the ship body has space to turn and continue to work.

[0017] Further, the garbage collection and discharge mechanism comprises a roller shaft, a conveying mesh belt, a non-slip plate, a notch, a horizontal plate, a convex plate and a conveying power assembly, the front and rear ends of the frame are respectively rotatably connected with two transverse roller shafts, the two roller shafts are connected by the conveying mesh belt, the outer side of the conveying mesh belt is provided with transverse non-slip plates at equal distances, the side away from the conveying mesh belt of the non-slip plate is provided with notches at equal distances, the horizontal plate is installed on the top of the rear end in the front mounting groove, the front side of the horizontal plate is provided with a convex plate corresponding to the position of the notch, and the end of the rear roller shaft is connected with the conveying power assembly. The conveying power assembly drives the rear roller shaft to rotate counterclockwise, the roller shaft drives the front roller shaft to rotate counterclockwise through the conveying mesh belt, at this time, the conveying mesh belt rotates counterclockwise, and the non-slip plate transports the garbage floating on the water surface to the rear side of the conveying mesh belt along the top of the conveying mesh belt as the conveying mesh belt moves, when the garbage moves to the top of the rear end of the conveying mesh belt, the convex plate on the horizontal plate passes through the notch on the non-slip plate to leave the garbage on the conveying mesh belt, and the garbage is gradually collected on the top of the ship body as it is pushed backward.

[0018] When the garbage on the top of the ship body needs to be transported to the shore, the front end of the frame is raised, the front end of the conveying mesh belt is also raised, the conveying power assembly drives the rear roller shaft to rotate clockwise, at this time, the garbage on the top of the ship body is pushed forward, falls on the top of the rear end of the conveying mesh belt, and then falls on the shore as it is transported forward with the conveying mesh belt.

[0019] Further, the garbage storage mechanism comprises a discharging push plate, the upper side of the ship body is provided with a U-shaped fence, an opening at the front end of the U-shaped fence is correspondingly arranged with the conveying mesh belt, rectangular through slots at the bottom of the two sides of the U-shaped fence are respectively provided with drainage mesh plates, and the U-shaped fence is connected with the discharging push plate through a discharging push assembly. The U-shaped fence is used for limiting the garbage on the upper side of the ship body, and the water in the garbage can be drained through the drainage mesh plates. When the garbage on the water surface is cleaned, the discharging push assembly drives the discharging push plate to move to the rear end in the U-shaped fence. When the garbage inside the U-shaped fence needs to be cleaned to the shore, the discharging push assembly drives the discharging push plate to move forward, so that the garbage inside the U-shaped fence is pushed forward, and the garbage is pushed to the upper side of the rear end of the conveying mesh belt, and then the garbage is conveyed to the shore or the garbage truck on the shore.

[0020] Further, it further comprises a garbage cleaning range lifting mechanism, the garbage guiding inclined plate is fixedly connected to the bottom of the front end of the ship body, two circular seats are respectively arranged on the left and right sides of the bottom of the front end of the ship body, two circular arc grooves are respectively arranged on the bottom of each circular seat, two circular arc guide columns are respectively arranged in the two circular arc grooves, two sector-shaped sliding blocks are respectively and slidably connected in the two circular arc grooves, and the two sector-shaped sliding blocks are respectively and slidably connected with the corresponding circular arc guide columns, two reset springs are respectively sleeved on the two ends of each circular arc guide column, a bottom cover is arranged on the lower side of each circular seat, and the bottom cover is fixedly connected with the two sector-shaped sliding blocks through two bottom cover screws, the bottom of the circular seat is connected with the rear end of the garbage guiding inclined plate through a water surface self-adapting height adjusting assembly, and the garbage water flow impact gathering assembly is arranged on the side of the two garbage guiding inclined plates close to each other. The width of the ship body is limited, so the cleaning range of the water surface garbage is basically the width of the ship body when driving in the water, therefore, two garbage guiding inclined plates are arranged, which can guide the floating garbage in the range of the driving path on both sides to the middle part of the driving path, so as to expand the cleaning range of single driving. Since the guiding effect of the garbage guiding inclined plate on the floating garbage is limited, the garbage water flow impact gathering assembly is arranged, which can make the floating garbage better gather in the middle part of the front end of the conveying mesh belt by the action of the sprayed water flow. The bottom cover and the water surface self-adapting height adjusting assembly can rotate relative to the circular seat, at this time, the sector-shaped sliding block moves along the circular arc guide column in the circular arc groove, the sector-shaped sliding block presses the reset spring on one end of the circular arc guide column, the rebound action of the reset spring resets the sector-shaped sliding block in the circular arc groove, so that the bottom cover and the water surface self-adapting height adjusting assembly can be reversely rotated relative to the circular seat, so that the garbage guiding inclined plate has damping when moving relative to the ship body. When the front end of the ship body approaches the shore, the front end of the garbage guiding inclined plate abuts against the bottom of the side wall of the shore, the front ends of the two garbage guiding inclined plates can be opened, and the ship body can approach the shore without interference. When the ship body leaves the shore, the front ends of the two garbage guiding inclined plates are close to each other to reset. The arrangement of the water surface self-adapting height adjusting assembly can make the garbage guiding inclined plate always be at the water surface, and the height of the garbage guiding inclined plate does not need to be manually changed according to the draft, so that the use is more convenient.

[0021] Further, the water surface adaptive height adjusting assembly comprises a floating plate, the bottom center of each round seat is fixedly connected with the top end of a prism, a prismatic sleeve is slidably connected to the prism, the side surface of the prismatic sleeve is connected with the rear end of the garbage guiding inclined plate through a support arm, and the side of the garbage guiding inclined plate away from the garbage water flow impact gathering assembly is provided with the floating plate through a rectangular sleeve. The prismatic sleeve can move up and down along the prism, thereby driving the garbage guiding inclined plate to move up and down through the support arm, and the rectangular sleeve is used for fixing the floating plate on the garbage guiding inclined plate, thereby providing buoyancy for the garbage guiding inclined plate, keeping the middle part of the garbage guiding inclined plate at the water surface, and keeping the relative height between the garbage guiding inclined plate and the water surface unchanged when the draft of the ship body changes, so that the garbage guiding inclined plate keeps the guiding effect on the floating garbage unchanged, and manual height adjustment is not needed.

[0022] Compared with the prior art, the water surface garbage cleaning robot has the following beneficial effects:

[0023] 1. The water surface garbage cleaning robot reduces the left-right swing of the ship body by means of the ship body stable lifting mechanism, the longitudinal buoyancy balancing mechanism is used for keeping the front-rear horizontal state of the ship body, and the transverse buoyancy balancing mechanism adjusts the buoyancy of the left and right sides of the ship body, so that the horizontal state of the ship body can be kept, the ship body can be kept in a horizontal state on the water surface, the garbage collecting and discharging mechanism can comprehensively clean the water surface garbage on the cleaning path, and the transverse buoyancy balancing mechanism can also adjust the draft of the ship body.

[0024] 2. The water surface garbage cleaning robot can make the garbage collecting and discharging mechanism extend below the water surface by means of the shore anchoring mechanism, collect the water surface garbage into the U-shaped fence by means of the garbage collecting and discharging mechanism, stably dock the ship body by means of the shore anchoring mechanism, and then discharge the garbage in the U-shaped fence to the shore by means of the garbage collecting and discharging mechanism on the shore anchoring mechanism, so that the garbage on the ship can be cleaned to the shore in a time-saving and labor-saving manner.

[0025] 3. The water surface garbage cleaning robot can adjust the balance of the ship body, keep the ship body in a horizontal state, cope with the influence of wind and waves, avoid the inclination of the ship body caused by uneven piling of garbage on the ship body, avoid the influence of the inclination of the ship body on the comprehensive cleaning of the garbage on the cleaning path, conveniently clean the collected garbage from the ship to the shore, and save manpower. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic view of the water surface garbage cleaning robot of the present application.

[0027] Figure 2 It is a structural schematic view of the water surface garbage cleaning robot of the present application. Figure 1 It is a structural schematic view of the water surface garbage cleaning robot of the present application.

[0028] Figure 3The horizontal section structure schematic view of the water surface garbage cleaning robot of the present application;

[0029] Figure 4 The rear side structure schematic view of the water surface garbage cleaning robot of the present application;

[0030] Figure 5 The water surface garbage cleaning robot of the present application Figure 4 The local enlarged structure schematic view of B in the water surface garbage cleaning robot of the present application;

[0031] Figure 6 The water surface garbage cleaning robot of the present application Figure 4 The local enlarged structure schematic view of C in the water surface garbage cleaning robot of the present application;

[0032] Figure 7 The structure schematic view of the water surface garbage cleaning robot of the present application after removing the round cover;

[0033] Figure 8 The water surface garbage cleaning robot of the present application Figure 7 The local enlarged structure schematic view of D in the water surface garbage cleaning robot of the present application;

[0034] Figure 9 The structure schematic view of the garbage cleaning range lifting mechanism in the water surface garbage cleaning robot of the present application;

[0035] Figure 10 The local structure schematic view of the garbage cleaning range lifting mechanism in the water surface garbage cleaning robot of the present application;

[0036] Figure 11 The structure schematic view of the shore-approaching auxiliary mechanism in the water surface garbage cleaning robot of the present application;

[0037] Figure 12 The water surface garbage cleaning robot of the present application Figure 7 The local enlarged structure schematic view of E in the water surface garbage cleaning robot of the present application;

[0038] Figure 13 The structure schematic view of the shore-approaching anchoring mechanism and the garbage collecting and discharging mechanism in the water surface garbage cleaning robot of the present application;

[0039] Figure 14 The rear side bottom structure schematic view of the shore-approaching anchoring mechanism and the garbage collecting and discharging mechanism in the water surface garbage cleaning robot of the present application;

[0040] Figure 15 The water surface garbage cleaning robot of the present application Figure 14 The local enlarged structure schematic view of F in the water surface garbage cleaning robot of the present application;

[0041] In the figure: 1, floating boat; 11, boat body; 12, side recess; 13, sliding through slot; 14, front mounting slot; 15, power slot;

[0042] 2, buoyancy adjustment system; 21, sliding plate; 22, rack; 23, control gear; 24, anti-interference blind slot; 25, motor slot; 26, control motor; 27, step slot; 28, round cover; 29, mounting frame; 210, screw; 211, adjustment movable frame; 212, longitudinal moving motor; 213, guide slot; 214, guide block; 215, buoyancy adjustment swing arm; 216, longitudinal beam; 217, dismounting bolt; 218, collar; 219, buoy; 220, auxiliary propeller; 221, propeller support; 222, buoyancy adjustment hydraulic cylinder;

[0043] 3, propulsion mechanism; 31, rudder shaft; 32, mounting sleeve; 33, main propeller; 34, direction rod; 35, direction hydraulic cylinder; 36, convex seat;

[0044] 4, shore landing auxiliary mechanism; 41, longitudinal installation slot; 42, side slot; 43, telescopic rod; 44, buffer spring; 45, sliding beam; 46, shore contact plate; 47, rubber buffer pad; 48, adjusting bolt; 49, screw hole sliding block; 410, adjusting stop ring;

[0045] 5, garbage storage mechanism; 51, U-shaped enclosure; 52, drainage mesh plate; 53, linear motor track; 54, linear motor; 55, unloading push plate;

[0046] 6, shore landing anchoring mechanism; 61, support rod; 62, overturning hydraulic cylinder; 63, plate frame; 64, side block; 65, overturning shaft; 66, anchoring inclined rod; 67, friction tooth;

[0047] 7, garbage collection and discharge mechanism; 71, roller shaft; 72, conveying mesh belt; 73, anti-skid plate; 74, notch; 75, transverse plate; 76, convex plate; 77, strip plate; 78, side baffle; 79, conveying motor; 710, driven gear; 711, drive gear;

[0048] 8, garbage cleaning range lifting mechanism; 81, round seat; 82, ear plate; 83, circular arc groove; 84, circular arc guide column; 85, sector-shaped sliding block; 86, reset spring; 87, bottom cover; 88, bottom cover screw; 89, prism; 810, prismatic sleeve; 811, support arm; 812, limiting bottom block; 813, garbage guiding inclined plate; 814, inner groove; 815, water pipe; 816, spray head; 817, wheel groove; 818, shore wall guiding wheel; 819, rectangular sleeve; 820, floating plate; 821, water pump; DETAILED DESCRIPTION

[0049] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0050] Embodiment one, please refer to Figures 1 to 15 The embodiment provides a technical solution: a water surface garbage cleaning robot, which comprises a floating boat 1, the floating boat 1 comprises a boat body 11, a side recess 12, a sliding channel 13, a front mounting groove 14 and a power groove 15, two side recesses 12 are respectively arranged on the two sides of the boat body 11, the middle parts of the two side recesses 12 are communicated through the sliding channel 13, the middle part of the front end of the boat body 11 is provided with the front mounting groove 14, and the middle part of the rear end of the boat body 11 is provided with the power groove 15, and the water surface garbage cleaning robot further comprises a buoyancy adjusting system 2, a propelling mechanism 3, a shore-approaching auxiliary mechanism 4 and a shore-approaching anchoring mechanism 6.

[0051] The buoyancy adjusting system 2 comprises a boat body stable lifting mechanism, a longitudinal buoyancy balancing mechanism, a transverse buoyancy balancing mechanism, a float mounting rack and a float 219, the boat body stable lifting mechanism is installed in the sliding channel 13, two longitudinal buoyancy balancing mechanisms are respectively connected to the two ends of the boat body stable lifting mechanism, a transverse buoyancy balancing mechanism is respectively installed on each longitudinal buoyancy balancing mechanism, and a longitudinal float 219 is respectively installed on each transverse buoyancy balancing mechanism through the float mounting rack.

[0052] The boat body stable lifting mechanism comprises a reciprocating movement control assembly and a sliding plate 21, two sliding plates 21 are transversely and slidably connected to the left and right ends of the sliding channel 13, and the two sliding plates 21 are connected with the reciprocating movement control assembly.

[0053] The opposite moving control assembly comprises a rack 22, a control gear 23, an interference prevention blind slot 24, a motor slot 25, a control motor 26, a step slot 27, and a round cover 28. The motor slot 25 is arranged on the upper side of the hull 11 corresponding to the middle part of the sliding channel 13. The top of the motor slot 25 is provided with the step slot 27. The control motor 26 is installed in the motor slot 25. The output shaft of the control motor 26 at the bottom extends into the middle part of the sliding channel 13 and is fixedly connected with the control gear 23. The round cover 28 is fixedly connected in the step slot 27 through round cover screws. The upper side of the round cover 28 is flush with the upper side of the hull 11. Two lateral racks 22 are fixedly connected to the sides of the two sliding plates 21, respectively. The two racks 22 are located on the two sides of the control gear 23, and the control gear 23 is meshed with the two racks 22. The interference prevention blind slot 24 is arranged on each sliding plate 21 corresponding to the position of the rack 22 on the other sliding plate 21. The control motor 26 drives the control gear 23 to rotate. The meshing of the control gear 23 with the two racks 22 drives the two sliding plates 21 to move in opposite directions in the sliding channel 13, that is, to move closer to or farther away from each other. The arrangement of the interference prevention blind slot 24 avoids the two sliding plates 21 from being abutted against the opposite sliding plate 21 due to the close approach of the two racks 22. The control motor 26 drives the control gear 23 to rotate counterclockwise. The two sliding plates 21 move closer to each other. The control motor 26 drives the control gear 23 to rotate clockwise. The two sliding plates 21 move farther away from each other.

[0054] The opposite moving control assembly is used to drive the two sliding plates 21 to move closer to or farther away from each other in the sliding channel 13. The movement of the two sliding plates 21 drives the two longitudinal buoyancy balance mechanisms and the two floats 219 to move closer to or farther away from each other. The change in the distance between the two floats 219 changes the width of the water surface garbage cleaning robot. When the two floats 219 move farther away from each other to increase the width of the water surface garbage cleaning robot, the water surface garbage cleaning robot runs stably in the wind and waves. When a narrow waterway is encountered, the two floats 219 move closer to each other to reduce the width of the water surface garbage cleaning robot.

[0055] The longitudinal buoyancy balance mechanism comprises a longitudinal moving control assembly, a mounting frame 29, and an adjustment movable frame 211. One end of each of the two sliding plates 21 located in the side recess 12 is fixedly connected with a longitudinal mounting frame 29. Two adjustment movable frames 211 are connected with the two longitudinal mounting frames 29 through the longitudinal moving control assembly, respectively.

[0056] The longitudinal movement control assembly comprises a screw rod 210, a longitudinal movement motor 212, a guide groove 213, and a guide block 214. The inner side of each mounting bracket 29 is rotationally connected with a longitudinal screw rod 210. The inner side of the mounting bracket 29 is provided with a longitudinal guide groove 213. The adjusting movable frame 211 is provided with a guide block 214 in sliding connection with the guide groove 213. The end of the screw rod 210 is fixedly connected with the longitudinal movement motor 212. The longitudinal movement motor 212 is mounted at the end of the mounting bracket 29. The screw rod 210 is in cooperative connection with the adjusting movable frame 211. Specifically, the screw rod 210 can be connected with the adjusting movable frame 211 through a screw nut. The longitudinal movement motor 212 drives the screw rod 210 to rotate clockwise. The screw rod 210 and the adjusting movable frame 211 can drive the adjusting movable frame 211 to move backward along the guide groove 213 through the guide block 214. The longitudinal movement motor 212 drives the screw rod 210 to rotate counterclockwise, which can drive the adjusting movable frame 211 to move forward along the guide groove 213 through the guide block 214.

[0057] The longitudinal movement control assembly is used to drive the adjusting movable frame 211 to move forward and backward along the longitudinal mounting bracket 29, so as to change the front and back positions of the float 219 relative to the ship body 11, control the change of the buoyancy of the front and back ends of the ship body 11, avoid the height difference of the front and back ends of the ship body 11 due to the uneven weight of the garbage, and maintain the longitudinal balance of the ship body 11.

[0058] The transverse buoyancy balance mechanism comprises a buoyancy adjusting swing arm 215 and a buoyancy adjusting hydraulic cylinder 222. The bottom end of each adjusting movable frame 211 is movably connected with one end of the buoyancy adjusting swing arm 215 through an active shaft I. The other end of the buoyancy adjusting swing arm 215 is fixedly connected with a float mounting bracket. The upper side of the buoyancy adjusting swing arm 215 is movably connected with one end of the buoyancy adjusting hydraulic cylinder 222 through an active shaft II. The other end of the buoyancy adjusting hydraulic cylinder 222 is movably connected with the top end of the adjusting movable frame 211 through an active shaft III. The extension and retraction of the buoyancy adjusting hydraulic cylinder 222 can drive the buoyancy adjusting swing arm 215 to swing up and down, so as to change the volume of the float 219 submerged in water, thereby providing different buoyancy for the two sides of the ship body 11, and making the ship body 11 more balanced. When the buoyancy adjusting hydraulic cylinder 222 is elongated, the buoyancy adjusting hydraulic cylinder 222 swings downward, and the volume of the float 219 on the float mounting bracket at the end of the buoyancy adjusting hydraulic cylinder 222 submerged in water increases. Conversely, when the volumes of the floats 219 on the two sides of the ship body 11 submerged in water increase, the draft of the ship body 11 decreases.

[0059] The float mounting frame comprises longitudinal beams 216, dismounting bolts 217, and collars 218. The longitudinal beams 216 are fixedly connected to the ends of the float force adjusting swing arms 215 away from the adjusting movable frame 211. The front and rear ends of the longitudinal beams 216 are fixedly connected with two collars 218 through the dismounting bolts 217. The two collars 218 are sleeved on the front and rear ends of the floats 219. The dismounting bolts 217 and the collars 218 can be used to detachably mount the floats 219 on the longitudinal beams 216.

[0060] In order to control the ship body 11 to keep stable by the float force adjusting system 2, an electronic level detector is arranged on the ship body 11 to detect the levelness of the ship body 11, so as to provide a basis for the work of the float force adjusting system 2.

[0061] The auxiliary thrusters 220 and the thruster supports 221 are further arranged. The rear ends of the floats 219 are respectively provided with thruster grooves, in which the auxiliary thrusters 220 are arranged. The auxiliary thrusters 220 are arranged on the corresponding collars 218 through the thruster supports 221. The auxiliary thrusters 220 can assist the propulsion, and the cooperation of the two auxiliary thrusters 220 is beneficial to the turning of the robot when advancing.

[0062] The propulsion mechanism 3 is arranged in the power groove 15.

[0063] The propulsion mechanism 3 comprises a rudder shaft 31, a mounting sleeve 32, a main thruster 33, and a turning control assembly. The rear end of the ship body 11 is rotatably connected with a vertical rudder shaft 31 through a bearing at a position corresponding to the middle of the power groove 15. The top end of the rudder shaft 31 is connected with the turning control assembly. The bottom end of the rudder shaft 31 extends into the power groove 15 and is arranged with the main thruster 33 through the mounting sleeve 32. The main thruster 33 provides power for the ship body to advance. The turning control assembly is used to drive the rudder shaft 31 to rotate. The rudder shaft 31 changes the orientation of the tail of the main thruster 33 through the mounting sleeve 32, which is beneficial to controlling the turning of the ship body 11 when advancing.

[0064] The turning control assembly comprises a direction rod 34, a direction hydraulic cylinder 35, and a convex seat 36. The top end of the rudder shaft 31 is fixedly connected with one end of the direction rod 34. The rear end of the ship body 11 is fixedly connected with the convex seat 36 on the upper side. The convex seat 36 is movably connected with one end of the direction hydraulic cylinder 35 through a movable shaft six. The other end of the direction hydraulic cylinder 35 is movably connected with the other end of the direction rod 34 through a movable shaft seven. The direction hydraulic cylinder 35 can push the direction rod 34 to swing by extending and retracting. The direction rod 34 drives the rudder shaft 31 to rotate in opposite directions.

[0065] The shore landing auxiliary mechanism 4 is arranged on the front end of the ship body 11 and the left and right sides thereof.

[0066] The docking auxiliary mechanism 4 comprises a buffer degree adjusting assembly, a longitudinal installation slot 41, an extension rod 43, a buffer spring 44, a sliding beam 45, a shore contact plate 46 and a rubber buffer pad 47. Two longitudinal installation slots 41 are respectively arranged on the left and right sides of the upper surface of the front end of the ship body 11. Two rectangular sliding holes are respectively arranged on the front side of the ship body 11 at positions corresponding to the middle parts of the two longitudinal installation slots 41. Two longitudinal sliding beams 45 are respectively and slidably connected in the two rectangular sliding holes. The shore contact plate 46 is respectively and fixedly connected to the front end of each sliding beam 45. The rubber buffer pad 47 is arranged on the front side of the shore contact plate 46. The rear end of each sliding beam 45 is connected to the rear end of the corresponding longitudinal installation slot 41 through the longitudinal extension rod 43. The extension rod 43 is sleeved with the buffer spring 44. The front end of the buffer spring 44 abuts against the rear side of the sliding beam 45. The rear end of the buffer spring 44 is connected to the buffer degree adjusting assembly. The extension rod 43 needs to be provided with a limiting part to avoid the extension rod 43 from being excessively elongated and losing effectiveness.

[0067] The buffer degree adjusting assembly comprises a side slot 42, an adjusting bolt 48, a screw hole sliding block 49 and an adjusting block ring 410. Two side slots 42 are respectively arranged on the left and right sides of the front end of the ship body 11. The two side slots 42 are respectively communicated with the corresponding longitudinal installation slots 41. Two screw hole sliding blocks 49 are respectively and longitudinally slidably connected in the two side slots 42. The rear ends of the two adjusting bolts 48 are respectively and rotatably connected to the rear ends in the two side slots 42 through bearings. The adjusting bolt 48 is threadedly connected with the screw hole on the corresponding screw hole sliding block 49. Each screw hole sliding block 49 is fixedly connected with the adjusting block ring 410 on the side close to the longitudinal installation slot 41. The extension rod 43 passes through the corresponding adjusting block ring 410. The rear end of the buffer spring 44 abuts against the front side of the corresponding adjusting block ring 410. The adjusting bolt 48 is twisted clockwise. The threaded action between the adjusting bolt 48 and the screw hole sliding block 49 drives the screw hole sliding block 49 to move forward along the side slot 42, thereby driving the adjusting block ring 410 to move forward and compressing the buffer spring 44, so as to realize the pre-compression of the buffer spring 44 and provide stronger buffer degree. However, the buffer stroke will be reduced. Therefore, the buffer degree can be adjusted according to the actual situation.

[0068] When the ship body 11 needs to be docked, the front end of the ship body 11 is vertically arranged with the shore. The propulsion mechanism 3 drives the ship body 11 to move forward to approach the shore. The rubber buffer pad 47 first contacts the side wall of the shore, thereby buffering the inertia of the ship body 11 in the water. Then the shore contact plate 46 and the sliding beam 45 are driven to move backward along the rectangular sliding hole. The extension rod 43 is squeezed and shortened. The buffer spring 44 is compressed, thereby buffering the inertia of the ship body 11 in the water. The buffer degree adjusting assembly is used to pre-change the compression degree of the buffer spring 44, thereby changing the toughness of the buffering process.

[0069] The docking anchoring mechanism 6 is installed in the front installation slot 14. The garbage collection and discharge mechanism 7 is installed on the docking anchoring mechanism 6.

[0070] The docking anchoring mechanism 6 comprises a support rod 61, a turnover hydraulic cylinder 62, a plate frame 63, a side block 64, a turnover shaft 65, an anchoring inclined rod 66 and a friction tooth 67. The rear end of the plate frame 63 is rotationally connected to the two sides of the top of the front mounting groove 14 through the two turnover shafts 65 respectively. The two sides of the plate frame 63 are fixedly connected with the two side blocks 64 respectively. The front end of the two side blocks 64 is movably connected with the front end of the two turnover hydraulic cylinders 62 through two movable shafts four respectively. The rear end of the two turnover hydraulic cylinders 62 is movably connected with the top end of the two support rods 61 through two movable shafts five respectively. The bottom end of the two support rods 61 is fixedly connected with the top of the ship body 11 respectively. The front end bottom of the plate frame 63 is provided with the anchoring inclined rod 66 respectively. The bottom end of the anchoring inclined rod 66 is inclined backward. The bottom end of the anchoring inclined rod 66 is provided with the friction tooth 67.

[0071] When the ship body 11 moves forward to clean the water surface garbage, the turnover hydraulic cylinder 62 is elongated, the front end of the plate frame 63 is moved downward, and the front end of the plate frame 63 is submerged in the water. At this time, the front end of the garbage collection and discharge mechanism 7 is also submerged in the water, so that the garbage collection and discharge mechanism 7 can transport the garbage on the water surface to the ship body 11. When the ship body 11 is full of garbage and needs to be docked, the turnover hydraulic cylinder 62 is shortened, the front end of the plate frame 63 is moved upward, the front end of the plate frame 63 is directed to the air, the garbage collection and discharge mechanism 7 is also directed to the air, the front end of the ship body 11 is perpendicular to the shore, the buffer spring 44 in the docking auxiliary mechanism 4 is compressed to the bottom, the turnover hydraulic cylinder 62 is re-elongated, the bottom end of the anchoring inclined rod 66 contacts the upper side of the shore during the descending process of the front end of the plate frame 63, the friction tooth 67 provides greater friction force for the contact between the anchoring inclined rod 66 and the upper side of the shore, and the ship body 11 is stably close to the shore. At this time, the garbage collection and discharge mechanism 7 works in reverse to transport the garbage on the ship body 11 to the shore, completing the unloading of the garbage on the ship body 11. When the garbage cleaning on the ship body 11 is completed, the turnover hydraulic cylinder 62 is shortened, the friction tooth 67 at the bottom of the anchoring inclined rod 66 is away from the upper side of the shore, and the ship body 11 loses anchoring. At this time, the buffer spring 44 in the docking auxiliary mechanism 4 is rebounded to push the ship body 11 away from the shore, and then the ship body 11 has space to turn and continue to work.

[0072] The garbage collection and discharge mechanism 7 comprises a roller shaft 71, a conveying mesh belt 72, a non-slip plate 73, a notch 74, a horizontal plate 75, a convex plate 76 and a conveying power assembly. The front and rear ends of the plate frame 63 are respectively rotationally connected with two transverse roller shafts 71, the two roller shafts 71 are connected through the conveying mesh belt 72, the outer side of the conveying mesh belt 72 is provided with transverse non-slip plates 73 at equal distances, the side away from the conveying mesh belt 72 of the non-slip plate 73 is provided with notches 74 at equal distances, the horizontal plate 75 is installed on the top of the rear end in the front mounting groove 14, the front side of the horizontal plate 75 is provided with the convex plate 76 at the position corresponding to the notch 74, and the end of the rear roller shaft 71 is connected with the conveying power assembly. The conveying power assembly drives the rear roller shaft 71 to rotate counterclockwise, the roller shaft 71 drives the front roller shaft 71 to rotate counterclockwise through the conveying mesh belt 72, at this time, the conveying mesh belt 72 rotates counterclockwise, and the non-slip plate 73 transports the garbage floating on the water surface to the rear side of the conveying mesh belt 72 along the upper side of the conveying mesh belt 72 along with the movement of the conveying mesh belt 72. When the garbage moves to the top of the rear end of the conveying mesh belt 72, the convex plate 76 on the horizontal plate 75 passes through the notch 74 on the non-slip plate 73 to leave the garbage on the conveying mesh belt 72, and the garbage is gradually collected and pushed backward to the upper side of the ship body 11.

[0073] When it is needed to transport the garbage on the upper side of the ship body 11 to the shore, the front end of the plate frame 63 is raised, and the front end of the conveying mesh belt 72 is also raised, the conveying power assembly drives the rear roller shaft 71 to rotate clockwise, at this time, the garbage on the upper side of the ship body 11 is pushed forward, and the garbage falls on the upper side of the rear end of the conveying mesh belt 72 and is then transported to the shore.

[0074] The conveying power assembly comprises a conveying motor 79, a driven gear 710 and a driving gear 711, the end of the rear roller shaft 71 is fixedly connected with the driven gear 710, the rear end of the plate frame 63 is provided with the conveying motor 79, the output shaft of the conveying motor 79 is fixedly connected with the driving gear 711, the driving gear 711 is meshingly connected with the driven gear 710, the conveying motor 79 is operated to drive the rear roller shaft 71 to rotate through the transmission of the driven gear 710 and the driving gear 711, thereby providing power for the operation of the conveying mesh belt 72, and the forward and reverse rotation directions of the conveying motor 79 are switched to change the operation direction of the conveying mesh belt 72.

[0075] The garbage collection and discharge mechanism 7 further comprises a strip plate 77 and a side baffle 78, two strip plates 77 are fixedly connected on the two sides of the plate frame 63 through strip screws, two side baffles 78 are fixedly connected on the upper sides of the two strip plates 77 respectively, the two side baffles 78 correspond to the top of the conveying mesh belt 72 respectively, the two sides of the garbage transported on the conveying mesh belt 72 are limited by the side baffles 78, so that the garbage is prevented from falling from the edge of the conveying mesh belt 72 during the garbage transportation.

[0076] When in use, the hull 11 provides the main buoyancy and serves as a carrier for other devices, the propulsion mechanism 3 provides power for the hull 11 to move forward and can also control the turning of the hull 11, the hull stabilizing mechanism can change the width of the water surface garbage cleaning robot, increase the width to reduce the left and right sway of the hull, and the water surface garbage cleaning robot can move more stably in the wind and waves, and after the width is reduced, the water surface garbage cleaning robot can pass through narrow places, the longitudinal buoyancy balancing mechanism is used to change the buoyancy of the front and back sides of the hull 11, so as to keep the hull horizontal, the transverse buoyancy balancing mechanism is used to change the height of the two floating cylinders 219 on both sides of the hull 11, change the volume of the floating cylinders 219 sinking into the water, and provide different buoyancy for both sides of the hull 11, so as to keep the hull horizontal, maintain the horizontal state of the hull 11, avoid the uneven load or the wind and waves from causing the hull 11 to tilt, and avoid that the hull 11 cannot clean the water surface garbage on the moving path by means of the garbage collecting and discharging mechanism 7 in the tilted state, if the two transverse buoyancy balancing mechanisms change the height of the two floating cylinders 219 on both sides of the hull 11 synchronously, the volume of the floating cylinders 219 sinking below the water surface is changed, and different buoyancy can also be provided for the hull 11, so as to change the draft of the hull 11, and the height of the landing assisting mechanism 4, the landing anchoring mechanism 6 and the garbage collecting and discharging mechanism 7 can be changed, the landing assisting mechanism 4 is used to buffer the impact force when the front end of the hull 11 lands, the height change of the landing assisting mechanism 4 can be matched with the shore more closely, the landing assisting mechanism 4 can abut against the solid shore part, and the shore facilities are avoided from being damaged, the landing anchoring mechanism 6 drives the front end of the garbage collecting and discharging mechanism 7 to move downward when cleaning the water surface garbage, so that the front end of the garbage collecting and discharging mechanism 7 sinks into the water, the garbage collecting and discharging mechanism 7 can transport the water surface garbage to the upper side of the hull 11 along with the forward movement of the hull 11, when the upper side of the hull is full of garbage, the front end of the landing anchoring mechanism 6 drives the front end of the garbage collecting and discharging mechanism 7 to rise, the hull 11 lands, the landing assisting mechanism 4 contacts the shore to buffer the impact force of the hull 11, then the front end of the landing anchoring mechanism 6 descends, the bottom of the front end of the landing anchoring mechanism 6 contacts the upper side of the shore, and the hull 11 is anchored on the shore, the garbage collecting and discharging mechanism 7 works in reverse, and can transport the garbage on the hull 11 to the shore, so that the manpower for shoveling the garbage on the hull is saved, after the hull 11 is cleaned of the garbage, the front end of the landing anchoring mechanism 6 moves upward, the landing assisting mechanism 4 resets and rebounds, and pushes the hull 11 away from the shore, so as to complete the cleaning work of the water surface garbage and the cleaning work of the garbage on the hull to the shore.

[0077] Embodiment two, please refer to Figures 1 to 15 The embodiment provides a technical scheme: a water surface garbage cleaning robot, the embodiment is substantially same as that of the embodiment one, and the difference lies in that:

[0078] Further comprising a garbage storage mechanism 5, the garbage storage mechanism 5 comprises a U-shaped enclosure 51, a drainage mesh plate 52, a discharging pushing assembly, and a discharging push plate 55, the upper side of the ship body 11 is provided with the U-shaped enclosure 51, the opening at the front end of the U-shaped enclosure 51 is correspondingly provided with the conveying mesh belt 72, the rectangular through slot at the bottom of the two sides of the U-shaped enclosure 51 is respectively provided with the drainage mesh plate 52, and the discharging push plate 55 is connected in the U-shaped enclosure 51 through the discharging pushing assembly.

[0079] The discharging pushing assembly comprises a linear motor track 53 and a linear motor 54, the top of the left and right sides of the U-shaped enclosure 51 is respectively fixedly connected with two longitudinal linear motor tracks 53, two linear motors 54 are respectively and correspondingly installed on the two linear motor tracks 53, and the two ends of the discharging push plate 55 are fixedly connected with the two linear motors 54 through push plate screws, and the linear motor 54 is movable along the linear motor track 53 and can drive the discharging push plate 55 to move back and forth in the U-shaped enclosure 51.

[0080] The U-shaped enclosure 51 is used for limiting the garbage on the upper side of the ship body 11, the water in the garbage can be drained through the drainage mesh plate 52, when the garbage on the water surface is cleaned, the discharging pushing assembly drives the discharging push plate 55 to move to the rear end in the U-shaped enclosure 51, when it is needed to clean the garbage inside the U-shaped enclosure 51 to the shore, the discharging pushing assembly drives the discharging push plate 55 to move forward, so that the garbage inside the U-shaped enclosure 51 is pushed forward, and the garbage is pushed to the upper side of the rear end of the conveying mesh belt 72, and the conveying mesh belt 72 is conveyed to the shore or the garbage truck on the shore.

[0081] Embodiment three, please refer to Figures 1 to 15 The embodiment provides a technical scheme: a water surface garbage cleaning robot, the embodiment is substantially same as that of the embodiment two, and the difference lies in that:

[0082] Further comprising a garbage cleaning range lifting mechanism 8, the garbage cleaning range lifting mechanism 8 comprises a circular seat 81, a circular arc groove 83, a circular arc guide column 84, a fan-shaped sliding block 85, a reset spring 86, a bottom cover 87, a bottom cover screw 88, a garbage guiding inclined plate 813, a garbage water flow impact gathering assembly and a water surface self-adaptive height adjusting assembly, the left and right sides of the front end of the ship body 11 are respectively fixedly connected with two circular seats 81, specifically, the top of the two sides of the circular seat 81 is fixedly connected with two ear plates 82, and the two ear plates 82 are respectively fixedly connected with the ship body 11 through ear plate screws;

[0083] Two circular arc grooves 83 are formed in the bottom of each circular seat 81, and the centers of the circles of the two circular arc grooves 83 coincide. Two circular arc guide columns 84 are respectively installed in the two circular arc grooves 83. Two sector-shaped sliding blocks 85 are respectively and slidably connected in the two circular arc grooves 83, and the two sector-shaped sliding blocks 85 are respectively and slidably connected with the corresponding circular arc guide columns 84. Two reset springs 86 are respectively sleeved at the two ends of each circular arc guide column 84. The underside of each circular seat 81 is respectively provided with a bottom cover 87, and the bottom cover 87 is fixedly connected with the two sector-shaped sliding blocks 85 by two bottom cover screws 88. The bottom of the circular seat 81 is connected with the rear end of the garbage guide inclined plate 813 through the water surface self-adaptive height adjusting assembly. The front ends of the two garbage guide inclined plates 813 open to the sides. The garbage water flow impact and gathering assembly is respectively installed on the side of the two garbage guide inclined plates 813 that are close to each other. The width of the ship body 11 is limited, so the cleaning range of the water surface garbage when driving in the water is basically the width of the ship body 11. Therefore, two garbage guide inclined plates 813 are arranged to guide the floating garbage in the range of the two sides of the driving path to the middle of the driving path, thereby expanding the cleaning range of a single driving. Since the guiding effect of the garbage guide inclined plate 813 on the floating garbage is limited, the garbage water flow impact and gathering assembly is arranged to make the floating garbage better gather to the middle of the front end of the conveying mesh belt 72 by the action of the ejected water flow. The bottom cover 87 and the water surface self-adaptive height adjusting assembly can rotate relative to the circular seat 81. At this time, the sector-shaped sliding block 85 moves in the circular arc groove 83 along the circular arc guide column 84. The sector-shaped sliding block 85 will press the reset spring 86 at one end of the circular arc guide column 84. The rebound action of the reset spring 86 will reset the sector-shaped sliding block 85 in the circular arc groove 83, so that the bottom cover 87 and the water surface self-adaptive height adjusting assembly can be reversely rotated and reset relative to the circular seat 81, so that the garbage guide inclined plate 813 has damping when moving relative to the ship body 11. When the front end of the ship body 11 approaches the shore, the front end of the garbage guide inclined plate 813 abuts against the bottom of the side wall of the shore. The front ends of the two garbage guide inclined plates 813 can open and will not interfere with the landing of the ship body 11. When the ship body 11 leaves the shore, the front ends of the two garbage guide inclined plates 813 will be close to each other to reset. The arrangement of the water surface self-adaptive height adjusting assembly can keep the garbage guide inclined plate 813 always at the water surface, so that the garbage guide inclined plate 813 is always at the water surface when the draft of the ship body 11 changes, and manual adjustment of the height of the garbage guide inclined plate 813 is not required, which is more convenient to use.

[0084] It also includes a wheel groove 817 and a shore wall guide wheel 818. The garbage guide inclined plate 813 away from the ship body 11 is provided with a wheel groove 817. A vertical shore wall guide wheel 818 is rotatably connected in the wheel groove 817. When approaching the shore, the shore wall guide wheel 818 rolls on the shore wall. The front ends of the two garbage guide inclined plates 813 can be more smoothly opened, preventing interference with the landing of the ship body 11.

[0085] The garbage water flow impact gathering assembly comprises inner grooves 814, water pipes 815, spray heads 816 and a water pump 821. The water pump 821 is installed in the front mounting groove 14. Two garbage guide inclined plates 813 are respectively provided with inner grooves 814 at the middle part of the side close to each other. The water pipes 815 are fixedly connected in the inner grooves 814. The spray heads 816 are equidistantly arranged on the side surface of the water pipes 815. The water outlet of the water pump 821 is connected with the end part of the two water pipes 815 through a hose. The water pump 821 sucks water in the water body and sprays it out through the spray heads 816 on the water pipes 815. The sprayed water flow makes the floating garbage better gather in the middle part of the front end of the conveying mesh belt 72.

[0086] The water surface self-adaptive height adjusting assembly comprises prisms 89, prismatic sleeves 810, supporting arms 811, rectangular sleeves 819 and floating plates 820. The bottom center of each circular seat 81 is fixedly connected with the top end of the prism 89. The prismatic sleeve 810 is slidingly connected on the prism 89. The side surface of the prismatic sleeve 810 is connected with the rear end of the garbage guide inclined plate 813 through the supporting arm 811. The side of the garbage guide inclined plate 813 away from the garbage water flow impact gathering assembly is provided with the floating plate 820 through the rectangular sleeve 819.

[0087] The water surface self-adaptive height adjusting assembly further comprises a limiting bottom block 812. The bottom of the prism 89 is detachably connected with the limiting bottom block 812. The limiting bottom block 812 is arranged to avoid the prismatic sleeve 810 from being separated from the bottom of the prism 89.

[0088] The prismatic sleeve 810 can move up and down along the prism 89, thereby driving the garbage guide inclined plate 813 to move up and down through the supporting arm 811. The rectangular sleeve 819 is used for fixing the floating plate 820 on the garbage guide inclined plate 813, thereby providing buoyancy for the garbage guide inclined plate 813. The middle part of the garbage guide inclined plate 813 is always located at the water surface. When the draft of the ship body 11 changes, the relative height of the garbage guide inclined plate 813 to the water surface does not change, thereby keeping the garbage guide inclined plate 813 unchanged in the guiding effect on the floating garbage and not needing manual height adjustment.

[0089] It is worth noting that the control motor 26, the longitudinal moving motor 212, the auxiliary propeller 220, the main propeller 33, the direction hydraulic cylinder 35, the linear motor 54, the overturning hydraulic cylinder 62, the conveying motor 79 and the water pump 821 in the above embodiments are all controlled by an external PLC. The control method adopts the prior art. The control motor 26, the longitudinal moving motor 212 and the conveying motor 79 all adopt servo motors.

[0090] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0091] While the embodiments of the application have been shown and described herein, it will be understood by those of ordinary skill in the art that various changes, modifications, alternatives, and variations can be made to the embodiments without departing from the spirit and scope of the application, which is defined by the appended claims and their equivalents.

Claims

1. A water surface garbage cleaning robot, comprising a floating vessel (1), the floating vessel (1) including a hull (11), two side grooves (12) respectively opened on both sides of the hull (11), the middle of the two side grooves (12) being connected by a sliding through groove (13), a front mounting groove (14) being opened at the middle of the front end of the hull (11), and a power groove (15) being opened at the middle of the rear end of the hull (11), characterized in that, Also includes: The buoyancy adjustment system (2) includes a hull smoothing lifting mechanism, a longitudinal buoyancy balancing mechanism, a transverse buoyancy balancing mechanism, a float mounting frame and a float (219). The hull smoothing lifting mechanism is installed in the sliding channel (13). Two longitudinal buoyancy balancing mechanisms are connected to both ends of the hull smoothing lifting mechanism. A transverse buoyancy balancing mechanism is installed on each longitudinal buoyancy balancing mechanism. A longitudinal float (219) is installed on each transverse buoyancy balancing mechanism through the float mounting frame. The propulsion mechanism (3) is installed inside the power trough (15); The docking assistance mechanism (4) is installed on the left and right sides of the front end of the hull (11); The shore anchoring mechanism (6) is installed in the front mounting slot (14), and a garbage collection and discharge mechanism (7) is installed on the shore anchoring mechanism (6).

2. The water surface garbage cleaning robot according to claim 1, characterized in that: The hull smooth lifting mechanism includes a counter-movement control component and a sliding plate (21). Two sliding plates (21) are slidably connected to the left and right ends of the sliding groove (13), and both sliding plates (21) are connected to the counter-movement control component.

3. The water surface garbage cleaning robot according to claim 2, characterized in that: The longitudinal buoyancy balancing mechanism includes a longitudinal movement control component and an adjustment movable frame (211). Two longitudinal mounting frames (29) are fixedly connected to one end of the two sliding plates (21) located in the side groove (12). The two mounting frames (29) are connected to two adjustment movable frames (211) respectively through the longitudinal movement control component.

4. The water surface garbage cleaning robot according to claim 3, characterized in that: The lateral buoyancy balancing mechanism includes a buoyancy adjustment swing arm (215) and a buoyancy adjustment hydraulic cylinder (222). The bottom end of each adjustment frame (211) is movably connected to one end of the buoyancy adjustment swing arm (215). The other end of the buoyancy adjustment swing arm (215) is fixedly connected to the float mounting frame. The upper side of the buoyancy adjustment swing arm (215) is movably connected to one end of the buoyancy adjustment hydraulic cylinder (222). The other end of the buoyancy adjustment hydraulic cylinder (222) is movably connected to the top end of the adjustment frame (211).

5. The water surface garbage cleaning robot according to claim 1, characterized in that: The docking assistance mechanism (4) includes a buffer adjustment component, a touch-shore plate (46), and a rubber buffer pad (47). Two longitudinal mounting slots (41) are respectively opened on the left and right sides of the upper front surface of the hull (11). Two rectangular sliding holes are respectively opened on the front side of the hull (11) at the middle position of the two longitudinal mounting slots (41). Two longitudinal sliding beams (45) are slidably connected in the two rectangular sliding holes. The front end of each sliding beam (45) is fixedly connected to the touch-shore plate (46). The front side of the touch-shore plate (46) is provided with a rubber buffer pad (47). The rear end of each sliding beam (45) is connected to the rear end of the corresponding longitudinal mounting slot (41) through a longitudinal telescopic rod (43). A buffer spring (44) is sleeved on the telescopic rod (43). The front end of the buffer spring (44) abuts against the rear side of the sliding beam (45), and the rear end of the buffer spring (44) is connected to the buffer adjustment component.

6. The water surface garbage cleaning robot according to claim 1, characterized in that: The shore anchoring mechanism (6) includes a tilting hydraulic cylinder (62). The rear top sides of the front mounting groove (14) are rotatably connected to the rear sides of the plate frame (63) via two tilting shafts (65). Two side blocks (64) are fixedly connected to the sides of the plate frame (63). The two side blocks (64) are movably connected to the front ends of the two tilting hydraulic cylinders (62). The rear ends of the two tilting hydraulic cylinders (62) are movably connected to the top ends of two support rods (61). The bottom ends of the two support rods (61) are fixedly connected to the top sides of the hull (11). Anchoring diagonal rods (66) are provided on the bottom sides of the front end of the plate frame (63). The bottom ends of the anchoring diagonal rods (66) are tilted backward and have friction teeth (67) at the bottom ends.

7. The water surface garbage cleaning robot according to claim 6, characterized in that: The waste collection and discharge mechanism (7) includes rollers (71), conveyor belts (72), anti-slip plates (73), notches (74), horizontal plates (75), convex plates (76), and a conveying power assembly. The front and rear ends of the frame (63) are respectively rotatably connected to two horizontal rollers (71). The two rollers (71) are connected by the conveyor belts (72). Horizontal anti-slip plates (73) are provided at equal intervals on the outer side of the conveyor belts (72). Notches (74) are provided at equal intervals on the side of the anti-slip plates (73) away from the conveyor belts (72). A horizontal plate (75) is installed at the top of the rear end of the front mounting groove (14). A convex plate (76) is provided on the front side of the horizontal plate (75) corresponding to the position of the notch (74). The end of the rollers (71) on the rear side is connected to the conveying power assembly.

8. The water surface garbage cleaning robot according to claim 7, characterized in that: It also includes a waste storage mechanism (5), which includes a discharge pusher plate (55). A U-shaped enclosure (51) is provided on the upper side of the hull (11). The opening at the front end of the U-shaped enclosure (51) is corresponding to the conveyor belt (72). Drainage mesh plates (52) are respectively provided in the rectangular through grooves at the bottom of both sides of the U-shaped enclosure (51). The discharge pusher plate (55) is connected to the U-shaped enclosure (51) through the discharge pusher assembly.

9. The water surface garbage cleaning robot according to claim 1, characterized in that: It also includes a garbage cleaning range lifting mechanism (8), which includes a garbage guide ramp (813). Two round seats (81) are fixedly connected to the left and right sides of the front bottom of the hull (11). Two arc grooves (83) are opened at the bottom of each round seat (81). Two arc guide posts (84) are installed in the two arc grooves (83). Two fan-shaped sliders (85) are slidably connected in the two arc grooves (83). The two fan-shaped sliders (85) are respectively connected to the opposite side. The corresponding arc guide post (84) is slidably connected. Two return springs (86) are respectively sleeved at both ends of each arc guide post (84). Each round seat (81) is provided with a bottom cover (87) on its lower side. The bottom cover (87) is fixedly connected to two fan-shaped sliders (85) by two bottom cover screws (88). The bottom of the round seat (81) is connected to the rear end of the garbage guide inclined plate (813) through the water surface adaptive height adjustment component. The garbage water flow impact and convergence component is installed on the side of the two garbage guide inclined plates (813) that are close to each other.

10. The water surface garbage cleaning robot according to claim 9, characterized in that: The water surface adaptive height adjustment component includes a float plate (820), and the bottom center of each round seat (81) is fixedly connected to the top of a prism (89). A prism sleeve (810) is slidably connected on the prism (89). The side of the prism sleeve (810) is connected to the rear end of the garbage guide ramp (813) through a support arm (811). The float plate (820) is installed on the side of the garbage guide ramp (813) away from the garbage water flow impact and convergence component through a rectangular sleeve (819).

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