Automatic pitching robot for river water treatment and restoration

Abstract

The invention belongs to the technical field of river water treatment, and particularly relates to an automatic pitching robot for river water treatment and repair, which comprises a ship body, the tail end of the ship body is fixedly connected with a pitching box, the pitching box is composed of a storage part, a dispersion part and a pitching part, and the dispersion part is communicated between the storage part and the pitching part; a connecting port of the storage part and the dispersing part can allow river water repairing balls to pass through, and a first shaking plate capable of shaking is rotationally connected to the position, close to the connecting port, of an outlet of the storage part; the stored river water restoration balls are input into the dispersing part and the throwing part through the arranged storage part, the multiple throwing channels can be formed by the multiple arranged partition plates to conduct dispersing output on the input river water restoration balls, and in the dispersing process of the river water restoration balls, the river water restoration balls can be dispersed in the throwing channels; the river water repairing balls can be shaken through the first material shaking plate and the second material shaking plate, the situation that the river water repairing balls are blocked in the throwing channel during scattered conveying is avoided, and the scattered river water repairing balls are pushed to be thrown through the rotating material pushing impeller.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of river water treatment, and particularly relates to an automatic ball throwing robot for river water treatment and repair. BACKGROUND

[0002] In people's daily life, the problem of river water pollution is very serious, especially a large amount of solid waste and white garbage in the river, and the nitrogen oxide contained in the silt at the bottom of the river has a serious impact on the living environment of the organisms at the bottom of the river. At present, people realize the treatment of pollutants in the river by throwing chemical drugs. The current drug throwing is mainly in the manual mode. When it is found that the pollutants in the river exceed the standard, the drugs are manually scattered into the river. This mode not only wastes manpower, but also has low drug throwing efficiency.

[0003] The automatic drug throwing device of the river treatment ship robot disclosed in Chinese Patent No. CN206544581U includes a ship robot main body, a solar cell panel, a storage battery, a ship propulsion device, a multi-channel hopper, and a drug throwing device. The multi-channel hopper can realize the throwing of different drugs, the drug throwing device realizes the uniform throwing of drugs through high pressure, and the control center realizes the automatic throwing of drugs.

[0004] In the prior art, since the drugs for river water treatment are usually made into spherical solids for throwing, a ball throwing device is needed to throw the river water repair balls. The existing ball throwing device mainly adopts multiple pipes for ball throwing. However, the size of the pipes is limited, and at the same time, when the river water repair balls are thrown on the river surface, the moisture on the river surface will cause the surface of the river water repair balls to dissolve, so that the river water repair balls adhere together. When the river water repair balls are transported through the pipes, the pipes will be blocked, which will affect the uniformity of the throwing of the river water repair balls, so that the river water repair balls cannot be uniformly thrown, and thus the effect of river water treatment is affected.

[0005] Therefore, the application provides an automatic ball throwing robot for river water treatment and repair. SUMMARY

[0006] In order to make up for the deficiencies of the prior art and solve at least one technical problem proposed in the background art.

[0007] The technical scheme adopted by the present application to solve its technical problems is: the river water treatment and restoration automatic ball throwing robot comprises a ship body, a ball throwing box is fixedly connected to the tail end of the ship body, the ball throwing box is composed of a storage part, a dispersion part and a throwing part, the dispersion part is communicated between the storage part and the throwing part, the connecting port of the storage part and the dispersion part can pass the river water restoration ball, a first shaking plate capable of shaking is rotationally connected to the position of the outlet of the storage part close to the connecting port, a plurality of partition plates are arranged in the dispersion part and the throwing part, the inside of the dispersion part and the throwing part is divided into a plurality of throwing channels through the plurality of partition plates, the tail end of each of the plurality of throwing channels is rotationally connected to a pushing impeller capable of rotating, the pushing impeller is located in the inside of the throwing part, the head end of each of the plurality of throwing channels is rotationally connected to a second shaking plate capable of swinging, and the second shaking plate is located in the inside of the dispersion part.

[0008] Preferably, the first shaking plate is fixedly connected with two symmetrical guide rods at the bottom, one end of the guide rod penetrates through the ball throwing box and is fixedly connected with a second spring, one end of the second spring is fixedly connected to the bottom of the ball throwing box, and the guide rod is movably connected with the ball throwing box, a movable rod is movably connected to the bottom of the ball throwing box, a pressing rod is rotationally connected to the movable rod, an opening is formed in the bottom of the ball throwing box below the first shaking plate, the pressing rod passes through the opening and is attached to the bottom of the first shaking plate, the two ends of the movable rod are fixedly connected with first wedge-shaped blocks, and the two sides of the ball throwing box are provided with a push-pull rod capable of displacement, one end of the push-pull rod is fixedly connected with a third wedge-shaped block, and the third wedge-shaped block is wedge-shapedly matched with the first wedge-shaped block.

[0009] Preferably, the second shaking plate is fixedly connected with a first spring at the side close to the partition plate, the other end of the first spring is fixedly connected to the partition plate, one side of the second shaking plate is fixedly connected with a lifting lug, a limiting opening is formed in the bottom of the ball throwing box below the lifting lug, the lifting lug passes through the limiting opening and is rotationally connected with a connecting rod, one end of the connecting rod is fixedly connected with a second wedge-shaped block, the middle part of the push-pull rod 17 is fixedly connected with a fourth wedge-shaped block 19, and the fourth wedge-shaped block is wedge-shapedly matched with the second wedge-shaped block.

[0010] Preferably, a first power mechanism is arranged on the ball throwing box, the first power mechanism is used for driving the plurality of pushing impellers to rotate, the first power mechanism comprises a first servo motor, a shaft rod is commonly fixedly connected to the plurality of pushing impellers, the shaft rod is rotationally connected to the ball throwing box, and the first servo motor drives the shaft rod to rotate through a transmission assembly.

[0011] Preferably, reciprocating mechanisms are arranged at the two ends of the shaft rod, the reciprocating mechanisms are used for pushing the first shaking plate and the second shaking plate to swing, the reciprocating mechanism comprises a rotating disc, two rotating discs are symmetrically fixedly connected to the two ends of the shaft rod, a rotating arm is rotationally connected to the push-pull rod at the end away from the rotating disc of the rotating arm.

[0012] Preferably, the top of the ball throwing box is provided with a dredging opening, a plurality of groups of material poking mechanisms are arranged above the dredging opening on the top of the ball throwing box, the material poking mechanisms are used for poking the river restoration balls blocked in the throwing channel, the material poking mechanism comprises a support, the support is fixedly connected to the top of the ball throwing box, a rotatable material poking piece is connected to the support, and one end of the material poking piece is rotatable in the throwing channel through the dredging opening.

[0013] Preferably, the support is provided with a second power mechanism, the second power mechanism is used for driving the material poking piece to rotate, the second power mechanism comprises a second servo motor, the second servo motor is fixedly connected to the support, the second servo motor drives the material poking piece to rotate through a gear assembly, and the ball throwing opening of the ball throwing box is provided with a video sensor, the video sensor is electrically connected with the second servo motor.

[0014] Preferably, the inside of the ball throwing box is movably connected with a first adjusting plate, one end of the first adjusting plate extending to the outside of the ball throwing box is fixedly connected with a second electric hydraulic cylinder, and the second electric hydraulic cylinder is fixedly connected to the ball throwing box.

[0015] Preferably, the side, away from the first spring, of the partition plate is provided with a second adjusting plate, both ends of the second adjusting plate are fixedly connected with telescopic plates, the second adjusting plate is movably connected with the partition plate through the telescopic plates, one end of the second adjusting plate penetrating through the dredging opening is fixedly connected with a fixing rod, the fixing rod movably penetrates through the plurality of groups of material poking mechanisms, one end of the fixing rod is fixedly connected with a first electric hydraulic cylinder, and the first electric hydraulic cylinder is fixedly connected to the ball throwing box.

[0016] Preferably, the ship body is provided with a cruising robot assembly, the cruising robot assembly comprises a power and propulsion system, a navigation and positioning system, a control and communication system, an environment perception and obstacle avoidance system and an auxiliary assembly.

[0017] The beneficial effects of the present application are as follows: 1. The river water treatment and restoration automatic ball throwing robot of the application can store river water restoration balls through the setting of a ball throwing box, the ball throwing box is provided with a throwing channel for uniformly dispersing the river water restoration balls, and the river water restoration balls can be easily partially blocked when passing through the dispersing part and the throwing part, the partial blockage affects the dispersing effect of the river water restoration balls, the first and second shaking plates can shake the conveyed materials, when the throwing channel is blocked and cannot discharge, the corresponding stirring mechanism operates, that is, the stirring piece rotates clockwise on the support, the rotating stirring piece can pass through the dredging opening into the throwing channel, the stirring piece can push the blocked river water restoration balls in the throwing channel, thereby dredging the throwing channel, avoiding the blockage of the river water restoration balls during the dispersing and conveying process, dispersing and outputting the river water restoration balls, preventing the river water restoration balls from being blocked in the throwing channel, and improving the ball throwing effect.

[0018] 2. The river water treatment and restoration automatic ball throwing robot of the application can adjust the width of the throwing channel through the setting of the second adjusting plate, thereby controlling the density of the dispersed and thrown river water restoration balls by changing the width of the throwing channel, that is, the wider the throwing channel, the denser the river water restoration balls, and vice versa, the speed of the rotating pushing impeller can also be controlled to control the density of the thrown river water restoration balls, the faster the rotating speed of the pushing impeller, the denser the throwing, and vice versa, the mutual cooperation can facilitate the adjustment of the density of the dispersed and thrown river water restoration balls. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further described below with reference to the drawings.

[0020] Figure 1 is a perspective view of the application; Figure 2 is a partial sectional view of the ball throwing box in the application; Figure 3 is a connection diagram of the ball throwing box and the first adjusting plate in the application; Figure 4 is a connection diagram of the partition plate and the second shaking plate in the application; Figure 5 is a connection diagram of the connecting rod and the second shaking plate in the application; Figure 6 is a connection diagram of the connecting rod, the movable rod and the rotating disc in the application; Figure 7 is a connection diagram of the first servo motor and the push-pull rod in the application; Figure 8 This is a schematic diagram showing the connection between the second servo motor and the feeding component in this invention.

[0021] In the diagram: 1. Hull; 2. Ball box; 3. First shaking plate; 4. Divider plate; 5. Second shaking plate; 6. Pusher impeller; 7. First adjusting plate; 8. First spring; 9. Second adjusting plate; 10. Connecting rod; 11. Extrusion roller; 12. Movable rod; 13. First wedge block; 14. Guide rod; 15. Second spring; 16. Second wedge block; 17. Push-pull rod; 18. Third wedge block; 19. Fourth wedge block; 20. Turntable; 21. Rotary arm; 22. Material feeding component; 23. Support; 24. First electric hydraulic cylinder; 25. Fixed rod; 26. Video sensor; 27. First servo motor; 28. Shaft; 29. ​​Second servo motor; 30. Second electric hydraulic cylinder; 31. Storage section; 32. Dispersion section; 33. Dispensing section. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] like Figures 1 to 8 As shown in the embodiment of the present invention, an automatic ball-throwing robot for river water treatment and restoration includes a hull 1. A ball-throwing box 2 is fixedly connected to the end of the hull 1. The ball-throwing box 2 consists of a storage section 31, a dispersion section 32, and a delivery section 33. The dispersion section 32 is connected between the storage section 31 and the delivery section 33. The connection port between the storage section 31 and the dispersion section 32 can allow river water restoration balls to pass through. A first shaking plate 3, which can shake, is rotatably connected to the outlet of the storage section 31 near the connection port. Several partition plates 4 are provided inside the dispersion section 32 and the delivery section 33. Several delivery channels are formed by the partition plates 4. A rotating pusher impeller 6 is rotatably connected to the tail end of each delivery channel. The pusher impeller 6 is located inside the delivery section 33. A second shaking plate 5, which can swing, is rotatably connected to the head end of each delivery channel. The second shaking plate 5 is located inside the dispersion section 32. During operation, before using the device to treat and repair the river water, the river water repair balls are first poured into the ball-throwing box 2 for storage. Then, the boat 1 is placed on the river surface to be repaired. The boat 1 is then set to a navigation route, and the boat 1 navigates according to the set route. The boat 1 drives the ball-throwing box 2 to navigate and throw materials along the set route, so as to accurately throw the river water repair balls onto the river surface. At the same time, the river water repair balls need to be thrown onto the river surface, and the river surface is quite humid. The moisture will cause the surface of the river water repair balls to melt, which will cause the river water repair balls to stick together and cause blockage when transported through the pipeline. During the process of releasing river water restoration balls, when the hull 1 begins to come to rest on the river surface, the pusher impeller 6 is also at rest. Due to the design of the ball box 2, which adopts a combination structure of storage section 31, dispersion section 32 and release section 33, the river water restoration balls stored in the storage section 31 enter the release section 33 under the action of their own gravity. The stationary pusher impeller 6 will block the output of the river water restoration balls in the release section 33. When the hull 1 begins to sail, the rotatable pusher impeller 6 starts to rotate at the same time. Several pusher impellers 6 can vertically throw the river water restoration balls from the outlet of the release section 33 onto the river surface, thereby automatically releasing the river water restoration balls inside the ball box 2. During the process of dispersing and transporting river water restoration balls, a large number of river water restoration balls are first stored in the storage section 31. Since the connection between the storage section 31 and the dispersing section 32 can allow the river water restoration balls to pass through, the river water restoration balls stored in the storage section 31 are input into the dispersing section 32 through the connection. Since the dispersing section 32 and the delivery section 33 are jointly provided with several partition plates 4, several delivery channels can be formed, so that the river water restoration balls entering the dispersing section 32 are dispersed and output through several delivery channels. Then, the evenly dispersed river water restoration balls are pushed by the rotating pusher impeller 6, so that the river water restoration balls are vertically thrown from the delivery section 33 onto the river surface. The river water restoration balls on the river surface can sink to the bottom of the water due to their own gravity, thereby achieving river water treatment and restoration. It should be noted that when one of the delivery channels is blocked, the river water restoration balls in the dispersion section 32 will block the entrance of that delivery channel, which will affect the uniformity of the river water restoration balls in the dispersion section 32. During the navigation of the ship 1, the ship 1 itself will sway from side to side. During the swaying process, the blocked river water restoration balls will roll to other delivery channels for output, which can make the river water restoration balls evenly dispersed. During the process of the river water restoration balls entering the dispersion section 32 and the delivery section 33 from the storage section 31, some of the river water restoration balls may become blocked in local areas of the storage section 31 and the dispersion section 32, as well as in one or more delivery channels. This will affect the uniformity of the river water restoration balls being dispersed. Therefore, this application provides a first shaking plate 3 to shake and feed the river water restoration balls at the outlet of the storage section 31, preventing blockage when the river water restoration balls are dispersed and output through the connection between the storage section 31 and the dispersion section 32. Several second shaking plates 5 are provided to swing in several delivery channels to prevent blockage when the river water restoration balls are dispersed in the dispersion section 32, thereby avoiding affecting the uniform output of the river water restoration balls and improving the uniformity of the river water restoration balls being delivered. In summary, this application uses a storage unit 31 to input the stored river water restoration balls into a dispersion unit 32 and a delivery unit 33. Several partition plates 4 can form several delivery channels to disperse the input river water restoration balls. During the dispersion process, the river water restoration balls are shaken by the first shaking plate 3 and the second shaking plate 5 to prevent the river water restoration balls from being blocked in the delivery channels during dispersion and transportation. The dispersed river water restoration balls are then pushed into the delivery system by a rotating pusher impeller 6.

[0024] like Figure 6 As shown, the bottom of the first shaking plate 3 is fixedly connected to two symmetrical guide rods 14. One end of the guide rod 14 passes through the ball box 2 and is fixedly connected to a second spring 15. One end of the second spring 15 is fixedly connected to the bottom of the ball box 2, and the guide rod 14 is movably connected to the ball box 2. The bottom of the ball box 2 is movably connected to a movable rod 12, and a pressing rod 11 is rotatably connected to the movable rod 12. The bottom of the ball box 2 is located below the first shaking plate 3 and has an opening. The pressing rod 11 passes through the opening and fits against the bottom of the first shaking plate 3. Both ends of the movable rod 12 are fixedly connected to a first wedge block 13. Both sides of the ball box 2 are provided with a push-pull rod 17 that can move. One end of the push-pull rod 17 is fixedly connected to a third wedge block 18, and the third wedge block 18 is wedge-shapedly engaged with the first wedge block 13. During operation, the compression roller 11 fits against the bottom of the first shaking plate 3. When the push-pull rod 17 moves, it pushes the connected third wedge block 18 to move simultaneously. The third wedge block 18 pushes the first wedge block 13 to move. The first wedge block 13 can drive the connected movable rod 12 to move. The movable rod 12 drives the compression roller 11 to compress the first shaking plate 3. The compressed first shaking plate 3 can rotate counterclockwise in the ball box 2. The rotating first shaking plate 3 will pull the guide rod 14 to move. The guide rod 14 can compress the second spring 15. When the external force on the movable rod 12 is released, the reaction force generated by the compression of the second spring 15 will push the first shaking plate 3 to reset. By intermittently applying pressure to the compression roller 11, the first shaking plate 3 can be pushed to shake. The shaking first shaking plate 3 can make the river water restoration ball enter the dispersion part 32 better through the connection port, avoiding the river water restoration ball causing local blockage at the connection port, and improving the dispersion effect of the river water restoration ball.

[0025] like Figure 4 and Figure 5As shown, a first spring 8 is fixedly connected to the side of the second shaking plate 5 near the partition plate 4. The other end of the first spring 8 is fixedly connected to the partition plate 4. A lifting lug is fixedly connected to one side of the second shaking plate 5. A limit opening is opened at the bottom of the ball box 2 below the lifting lug. The lifting lug passes through the limit opening and is rotatably connected to a connecting rod 10. A second wedge block 16 is fixedly connected to one end of the connecting rod 10. A fourth wedge block 19 is fixedly connected to the middle of the push-pull rod 17. The fourth wedge block 19 and the second wedge block 16 are wedge-shaped and engaged. During operation, the connecting rod 10 is rotatably connected to several second shaking plates 5 via the lifting lugs. When the push-pull rod 17 drives the connected fourth wedge block 19 to move, the fourth wedge block 19 can push the cooperating second wedge block 16 to move. The second wedge block 16 will push the connected connecting rod 10 to move, and the connecting rod 10 will drive several rotatably connected second shaking plates 5 to move. Since the second shaking plate 5 is connected to the partition plate 4 by a first spring 8, and the partition plate 4 is fixed to the ball box 2, when the second shaking plate 5 moves, it will compress the first spring 8. The compressed first spring 8 can generate a reaction force. After the external force on the connecting rod 10 is released, its reaction force will push the second shaking plate 5 to reset. Thus, by intermittently applying external force to the connecting rod 10, several second shaking plates 5 can be driven to shake simultaneously. The shaking second shaking plates 5 can make the river water restoration balls pass through the throwing channel better, avoid the river water restoration balls from blocking the throwing channel, and improve the uniformity of the throwing.

[0026] like Figure 7 As shown, the ball-throwing box 2 is provided with a first power mechanism, which is used to drive a number of pusher impellers 6 to rotate. The first power mechanism includes a first servo motor 27. A shaft 28 is fixedly connected to the number of pusher impellers 6. The shaft 28 is rotatably connected to the ball-throwing box 2. The first servo motor 27 drives the shaft 28 to rotate through a transmission assembly. During operation, the first power mechanism can drive several pusher impellers 6 to rotate. That is, by turning on the first servo motor 27, the transmission component can be driven to run. The transmission component can drive the shaft 28 to rotate, and the shaft 28 can drive the connected several pusher impellers 6 to rotate, thereby causing the pusher impellers 6 to carry the river water restoration balls in the delivery channel into the river surface. The transmission component includes a pulley and a belt. This structure is a common structure in the prior art, so it is not described in detail in the text.

[0027] like Figure 6 and Figure 7As shown, both ends of the shaft 28 are provided with reciprocating mechanisms. The reciprocating mechanisms are used to push the first shaking plate 3 and the second shaking plate 5 to swing. The reciprocating mechanisms include turntables 20. There are two turntables 20. The two turntables 20 are symmetrically fixed to both ends of the shaft 28. A rotating arm 21 is rotatably connected to the turntable 20. The end of the rotating arm 21 away from the turntable 20 is rotatably connected to the push-pull rod 17. During operation, when the first power mechanism drives the shaft 28 to rotate, it drives the connected reciprocating mechanism to operate. That is, the shaft 28 drives the connected turntable 20 to rotate. The rotating turntable 20 pulls one end of the rotating arm 21 to make a circular motion. Since the other end of the rotating arm 21 is connected to the push-pull rod 17, the push-pull rod 17 is laterally displaced on the ball box 2 through the hanger. This allows the rotating turntable 20 to pull the push-pull rod 17 to move back and forth. The push-pull rod 17 can also pull the connected third wedge block 18 and fourth wedge block 19 to move back and forth. Since the third wedge block 18 is wedge-shaped and engages with the first wedge block 13, the third wedge block 18 can intermittently squeeze the first wedge block 13. The first wedge block 13 under pressure drives the connected extrusion roller 11 to rise via the movable rod 12, which in turn pushes the extrusion roller 11 up and down. Since the fourth wedge block 19 is wedge-shaped and engages with the second wedge block 16, the fourth wedge block 19 moving back to the original position can intermittently squeeze the second wedge block 16. The second wedge block 16 under pressure can push the connected connecting rod 10 to move, which in turn pushes the connecting rod 10 back to the original position. It should be noted that during the process of the push-pull rod 17 driving the third wedge block 18 and the fourth wedge block 19 to move back to the original position, the third wedge block 18 always maintains a wedge-shaped engagement with the first wedge block 13, and the second wedge block 16 always maintains a wedge-shaped engagement with the fourth wedge block 19.

[0028] like Figure 2 , Figure 7 and Figure 8 As shown, the top of the ball-throwing box 2 is provided with a dredging opening. Above the dredging opening, the top of the ball-throwing box 2 is provided with several sets of material-dispensing mechanisms. The material-dispensing mechanisms are used to dispensing the river water blocking the ball-throwing channel. The material-dispensing mechanism includes a bracket 23, which is fixed to the top of the ball-throwing box 2. A rotatable material-dispensing component 22 is rotated on the bracket 23. One end of the material-dispensing component 22 passes through the dredging opening and rotates in the ball-throwing channel. During operation, the material-dispensing mechanism can displace the river water restoration balls that are blocked in the delivery channel. When the delivery channel is blocked and cannot be dispensed, the corresponding material-dispensing mechanism will operate. That is, the material-dispensing component 22 rotates clockwise on the support 23. The rotating material-dispensing component 22 can pass through the unblocking port and enter the delivery channel. The material-dispensing component 22 can push the river water restoration balls that are blocked in the delivery channel, thereby unblocking the delivery channel and preventing blockage when the river water restoration balls are dispersed and transported.

[0029] like Figure 8As shown, a second power mechanism is provided on the bracket 23. The second power mechanism is used to drive the material feeding component 22 to rotate. The second power mechanism includes a second servo motor 29, which is fixedly connected to the bracket 23. The second servo motor 29 drives the material feeding component 22 to rotate through a gear assembly. A video sensor 26 is provided at the ball feeding port of the ball box 2. The video sensor 26 is electrically connected to the second servo motor 29. During operation, several video sensors 26 monitor the ball-feeding ports of the ball-feeding box 2. When one or more feeding channels become blocked and cannot feed, the video sensors 26 transmit the monitoring information to the control device. The control device then drives the corresponding second power mechanism to operate, enabling the second power mechanism to drive the feeding component 22 to rotate on the support 23. That is, the second servo motor 29 drives the feeding component 22 to rotate through the gear assembly. The rotating feeding component 22 can clear the blocked feeding channels in a timely manner, avoiding local blockages that could affect the uniformity of the river water restoration ball feeding. The gear assembly is a common structure in the prior art, so it is not described in detail in this article.

[0030] like Figure 3 As shown, the ball-throwing box 2 is movably connected to the inside of a first adjusting plate 7. The end of the first adjusting plate 7 extending to the outside of the ball-throwing box 2 is fixedly connected to a second electric hydraulic cylinder 30. The second electric hydraulic cylinder 30 is fixedly connected to the ball-throwing box 2. During operation, the first adjustment plate 7 can adjust the height of the connection port. That is, by opening the second electric hydraulic cylinder 30, the first adjustment plate 7 can be driven to rise and fall inside the ball box 2. The rising and falling of the first adjustment plate 7 can adjust the height of the connection port and adjust the amount of river water restoration balls output horizontally. The higher the height of the connection port, the more river water restoration balls pass through the connection port at one time, and vice versa.

[0031] like Figure 4 and Figure 8 As shown, a second adjusting plate 9 is provided on the side of the partition plate 4 away from the first spring 8. Both ends of the second adjusting plate 9 are fixedly connected to telescopic plates. The second adjusting plate 9 is movably connected to the partition plate 4 through the telescopic plates. A fixed rod 25 is fixedly connected to one end of the second adjusting plate 9 that passes through the dredging opening. The fixed rod 25 is movably connected through several sets of material feeding mechanisms. A first electric hydraulic cylinder 24 is fixedly connected to one end of the fixed rod 25. The first electric hydraulic cylinder 24 is fixedly connected to the ball throwing box 2. During operation, opening the first electric hydraulic cylinder 24 pulls the connected fixed rod 25 to move it. The moving fixed rod 25 can pull several second adjusting plates 9 to move it. The second adjusting plates 9 can adjust the width of the delivery channel. By changing the width of the delivery channel, the density of the river water restoration balls is controlled. That is, the wider the delivery channel, the denser the delivery of the river water restoration balls, and vice versa. It is worth noting that the density of the delivery of the river water restoration balls can also be controlled by controlling the rotation speed of the pusher impeller 6. The faster the pusher impeller 6 rotates, the denser the delivery, and vice versa. The combination of these two methods can facilitate the adjustment of the density of the river water restoration balls.

[0032] like Figure 1 As shown, the above-mentioned hull 1 is equipped with a cruise robot component, which includes a power and propulsion system, a navigation and positioning system, a control and communication system, an environmental perception and obstacle avoidance system, and auxiliary components. During operation, the power and propulsion system of the hull 1 provides power to the hull 1 and controls its speed during the material feeding process. The navigation and positioning system provides the hull 1 with information such as attitude, speed, and position to achieve constant speed cruising and positioning navigation, thereby setting a route and achieving automatic cruising. The control and communication system enables remote control of the hull 1 and allows for remote setting of relevant parameters. The environmental perception and obstacle avoidance system is used to perceive the surrounding environment, avoid collisions with obstacles, and ensure the safe operation of constant speed cruising. The auxiliary components can include a power module and a display unit. The power module provides power to the hull 1, and the display unit can transmit video, image data, and other information, facilitating operators to monitor the robot's status and the surrounding environment.

[0033] Work process: First, the river water restoration balls are poured into the ball-throwing box 2 for storage. Then, the boat 1 is placed on the river surface to be restored. Then, the navigation route of the boat 1 is set so that the boat 1 can navigate according to the set route. The boat 1 drives the ball-throwing box 2 to navigate and throw materials along the set route. When the river water restoration balls are deployed, when the hull 1 begins to come to rest on the river surface, the pusher impeller 6 is also at rest. Due to the design of the ball box 2, which adopts a combination structure of storage section 31, distribution section 32 and deployment section 33, the river water restoration balls stored in the storage section 31 enter the deployment section 33 under their own gravity. The stationary pusher impeller 6 will block the output of the river water restoration balls in the deployment section 33. When the hull 1 begins to sail, the rotatable pusher impeller 6 starts to rotate at the same time. Several pusher impellers 6 can vertically throw the river water restoration balls from the outlet of the deployment section 33 onto the river surface, thereby automatically deploying the river water restoration balls inside the ball box 2. During the process of dispersing and transporting river water restoration balls, a large number of river water restoration balls are first stored in the storage section 31. Since the connection between the storage section 31 and the dispersing section 32 can allow the river water restoration balls to pass through, the river water restoration balls stored in the storage section 31 are input into the dispersing section 32 through the connection. Since the dispersing section 32 and the delivery section 33 are jointly provided with several partition plates 4, several delivery channels can be formed, so that the river water restoration balls entering the dispersing section 32 are dispersed and output through several delivery channels. Then, the evenly dispersed river water restoration balls are pushed by the rotating pusher impeller 6, so that the river water restoration balls are vertically thrown from the delivery section 33 onto the river surface. The river water restoration balls on the river surface can sink to the bottom of the water due to their own gravity, thereby achieving river water treatment and restoration. During the process of the river water restoration balls entering the dispersion section 32 and the delivery section 33 from the storage section 31, some of the river water restoration balls may become blocked in local areas of the storage section 31 and the dispersion section 32, as well as in one or more delivery channels. This will affect the uniformity of the river water restoration balls being distributed. Therefore, the first shaking plate 3 can shake and feed the river water restoration balls at the outlet of the storage section 31 to prevent them from becoming blocked when they are distributed through the connection between the storage section 31 and the dispersion section 32. Several second shaking plates 5 are set up to swing in several delivery channels to prevent the river water restoration balls from becoming blocked when they are distributed in the dispersion section 32. This will prevent the river water restoration balls from being blocked and improve the uniformity of the delivery. When the delivery channel becomes blocked and cannot be delivered, the corresponding material feeding mechanism will operate. That is, the material feeding component 22 rotates clockwise on the support 23. The rotating material feeding component 22 can pass through the unblocking port and enter the delivery channel. The material feeding component 22 can push the blocked river water restoration balls in the delivery channel, thereby unblocking the delivery channel and preventing blockage when the river water restoration balls are dispersed and transported.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated ball-throwing robot for river water treatment and restoration, characterized in that: The vessel includes a hull, with a ball-throwing box fixedly connected to its end. The ball-throwing box consists of a storage section, a dispersion section, and a throwing section. The dispersion section connects the storage section and the throwing section, and the connection port between the storage section and the dispersion section allows river water to pass through the balls. A first shaking plate that can vibrate is rotatably connected to the outlet of the storage section near the connection port. Several partition plates are provided inside the dispersion section and the throwing section, forming several throwing channels. A rotatable pusher impeller is rotatably connected to the tail end of each of the throwing channels, and the pusher impeller is located inside the throwing section. A second shaking plate that can swing is rotatably connected to the head end of each of the throwing channels, and the second shaking plate is located inside the dispersion section.

2. The automatic ball-throwing robot for river water management and restoration according to claim 1, characterized in that: Two symmetrical guide rods are fixedly connected to the bottom of the first shaking plate. A second spring is fixedly connected to one end of the guide rod through the ball-throwing box. One end of the second spring is fixedly connected to the bottom of the ball-throwing box, and the guide rod and the ball-throwing box are movably connected. A movable rod is movably connected to the bottom of the ball-throwing box. A squeezing rod is rotatably connected to the movable rod. An opening is opened at the bottom of the ball-throwing box below the first shaking plate. The squeezing rod passes through the opening and fits against the bottom of the first shaking plate. A first wedge block is fixedly connected to both ends of the movable rod. Push-pull rods that can move are provided on both sides of the ball-throwing box. A third wedge block is fixedly connected to one end of the push-pull rod. The third wedge block and the first wedge block are wedge-shapedly engaged.

3. The automatic ball-throwing robot for river water management and restoration according to claim 2, characterized in that: A first spring is fixedly connected to the side of the second shaking plate near the partition plate, and the other end of the first spring is fixedly connected to the partition plate. A lifting lug is fixedly connected to one side of the second shaking plate. A limit opening is opened at the bottom of the ball box below the lifting lug. The lifting lug passes through the limit opening and is rotatably connected to a connecting rod. A second wedge block is fixedly connected to one end of the connecting rod. A fourth wedge block is fixedly connected to the middle of the push-pull rod. The fourth wedge block and the second wedge block are wedge-shaped.

4. The automatic ball-throwing robot for river water management and restoration according to claim 3, characterized in that: The ball-throwing box is equipped with a first power mechanism, which drives a plurality of pusher impellers to rotate. The first power mechanism includes a first servo motor. A shaft is fixedly connected to the plurality of pusher impellers. The shaft is rotatably connected to the ball-throwing box. The first servo motor drives the shaft to rotate through a transmission assembly.

5. The automatic ball-throwing robot for river water treatment and restoration according to claim 4, characterized in that: Both ends of the shaft are provided with reciprocating mechanisms, which are used to push the first shaking plate and the second shaking plate to swing. The reciprocating mechanism includes a turntable, and there are two turntables. The two turntables are symmetrically fixed to both ends of the shaft. A rotating arm is rotatably connected to the turntable, and the end of the rotating arm away from the turntable is rotatably connected to the push-pull rod.

6. The automatic ball-throwing robot for river water management and restoration according to claim 5, characterized in that: The top of the ball-throwing box has a dredging opening. Above the dredging opening, the top of the ball-throwing box is equipped with several sets of material-dispensing mechanisms. The material-dispensing mechanisms are used to dispensing the river water blocking the throwing channel to repair the balls. The material-dispensing mechanism includes a bracket, which is fixed to the top of the ball-throwing box. A rotatable material-dispensing component is rotated on the bracket. One end of the material-dispensing component passes through the dredging opening and rotates in the throwing channel.

7. The automatic ball-throwing robot for river water management and restoration according to claim 6, characterized in that: The bracket is equipped with a second power mechanism for driving the material feeding component to rotate. The second power mechanism includes a second servo motor, which is fixed to the bracket. The second servo motor drives the material feeding component to rotate through a gear assembly. The ball-throwing port of the ball-throwing box is equipped with a video sensor, which is electrically connected to the second servo motor.

8. The automatic ball-throwing robot for river water treatment and restoration according to claim 7, characterized in that: The ball-throwing box is internally connected to a first adjusting plate, and a second electric hydraulic cylinder is fixedly connected to one end of the first adjusting plate extending to the outside of the ball-throwing box. The second electric hydraulic cylinder is fixedly connected to the ball-throwing box.

9. The automatic ball-throwing robot for river water management and restoration according to claim 1, characterized in that: A second adjusting plate is provided on the side of the partition plate away from the first spring. Both ends of the second adjusting plate are fixedly connected to telescopic plates. The second adjusting plate is movably connected to the partition plate through the telescopic plates. A fixed rod is fixedly connected to one end of the second adjusting plate that passes through the dredging opening. The fixed rod movably passes through several sets of material feeding mechanisms. A first electric hydraulic cylinder is fixedly connected to one end of the fixed rod. The first electric hydraulic cylinder is fixedly connected to the ball throwing box.

10. The automatic ball-throwing robot for river water treatment and restoration according to claim 1, characterized in that: The hull is equipped with a cruise robot assembly, which includes a power and propulsion system, a navigation and positioning system, a control and communication system, an environmental perception and obstacle avoidance system, and auxiliary components.

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