An intelligent fish tank cleaning robot

Abstract

This invention discloses an intelligent aquarium cleaning robot, belonging to the field of cleaning robot technology. It includes a base station, on which are respectively equipped a vortex separation module, a water quality detection module, an automatic packaging module, a detachable wiping module, an oxygenation water level detection module, a projection companion module, and a food feeding module. The vortex separation module is located on the inner top of the base station and is used to separate and purify wastewater. The automatic packaging module is located below the vortex separation module and is used to collect and package impurities. The oxygenation water level detection module is located on the top of the base station and includes a floating airbag for transmitting air and detecting water level. The detachable wiping module and the food feeding module are integrated, including two cleaning cylinders and two disc-shaped cleaning parts for removing impurities. This invention solves the problem of existing technologies failing to achieve one-stop intelligent management of aquarium cleaning, purification, feeding, oxygenation, and interaction.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, and in particular to an intelligent fish tank cleaning robot. Background Technology

[0002] Currently, home aquariums generally suffer from problems such as cumbersome maintenance, low cleaning efficiency, and limited functionality, which have become core pain points for aquarium enthusiasts. The inner walls of the aquarium easily accumulate scale, algae, and uneaten food and feces. Manual cleaning requires frequent water changes and wiping of the tank, which is cumbersome and easily disturbs the fish. Traditional filtration equipment can only simply trap impurities and cannot achieve efficient solid-liquid separation or automatic waste packaging, easily causing secondary pollution when cleaning filter media. Water quality and level need to be monitored manually, feeding relies on manual operation, and oxygenation equipment operates independently, with low levels of intelligence and integration. Most cleaning tools on the market are handheld or have simple crawling structures, making it difficult to clean the tank walls comprehensively and lacking additional functions such as interaction or companionship. Collected waste needs to be manually removed and disposed of, a cumbersome process that fails to meet the modern family's demand for automated, maintenance-free, and integrated aquarium care.

[0003] Based on the above-mentioned shortcomings, an integrated, automated, and multifunctional intelligent aquarium cleaning robot is proposed to solve the problem that existing technologies cannot achieve one-stop intelligent management of aquarium cleaning, purification, feeding, oxygenation, and interaction. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes an integrated, automated, and multifunctional intelligent aquarium cleaning robot, solving the problem that existing technologies struggle to achieve one-stop intelligent management of aquariums, including cleaning, purification, feeding, oxygenation, and interaction.

[0005] The technical solution used in this invention is as follows: an intelligent aquarium cleaning robot, including a base station, on which are respectively provided a vortex separation module, a water quality detection module, an automatic packaging module, a detachable wiping module, an oxygenation water level detection module, a projection companion module and a food feeding module; The vortex separation module is located on the inner top of the base station and is used to separate and purify sewage; it includes a hydrocyclone fixed on the base station, with an overflow port at the top and a butterfly valve at the bottom. The automatic packaging module is located below the vortex separation module and is used to collect and package impurities; it includes a box fixed to the base station for fixing the bag, and push rods two and one are slidably arranged in a cross shape below the box, and a heat melter is provided in the corner area below the box for heat melting the bag. The oxygenation water level detection module is located on the top of the base station and includes a floating airbag for transmitting air and detecting water level. The detachable wiping module and the bait feeding module are integrated and located at the bottom of the base station. The detachable wiping module includes a travel box, and the bottom of the travel box is equipped with two cleaning cylinders and two disc-shaped cleaning parts for removing impurities.

[0006] As a preferred embodiment, the water quality detection module includes a water quality detection sensor fixed to the side of the base station, used to detect the pH value and water temperature in the water, and to determine whether the water needs to be changed based on the water quality; the water quality detection sensor is equipped with a five-lobed opening and closing mechanism to control the flow of water.

[0007] As a preferred embodiment, the projection companion module includes a projection module fixed to the side of the base station, used for multimodal sensing and interaction with real fish schools and users.

[0008] As a preferred embodiment, the vortex separation module includes a centrifugal pump fixed on the base station. The centrifugal pump is connected to the hydrocyclone via an inlet pipe. The centrifugal pump is also connected to an inlet pipe. The ends of the inlet pipes are respectively equipped with a five-lobed opening and closing mechanism for controlling the flow of water. The inner wall of the hydrocyclone is provided with spiral blades to accelerate the rotation of the water entering the hydrocyclone and form a vortex. A sludge weight sensor is configured at the bottom of the hydrocyclone to detect the weight of the sludge. The butterfly valve is driven and controlled by a cylinder-controlled crank-slider mechanism.

[0009] As a preferred embodiment, the oxygenation water level detection module includes an air compressor unit fixed to the base station. The air compressor unit is connected to the airbag via a pressure-resistant hose, and the air compressor unit is also connected to an aeration section via the pressure-resistant hose. The aeration section is arranged on the side of the base station for aeration and oxygenation. An airflow hole is provided at the top of the airbag, and an air filter and a water level monitoring sensor are arranged inside the airbag. A five-petal opening and closing mechanism is provided at the top of the base station and on the outside of the airbag for limiting the position of the airbag.

[0010] As a preferred embodiment, the automatic packaging module includes a drive motor fixed to the base station, and lead screw one and lead screw two rotatably mounted on the base station. Lead screw one and lead screw two are arranged perpendicular to each other, and transmission gears are fixed to the ends of lead screw one and lead screw two respectively. The two transmission gears mesh, and the drive motor drives lead screw one, so that lead screw one and lead screw two are linked. Push rod two and lead screw two form a helical pair, and push rod one and lead screw one form a helical pair. The automatic packaging module also includes a conveyor belt fixed to the base station and located below the casing. The conveyor belt is driven by a transmission motor, and an opening and closing door can be detachably installed on the side of the base station. The conveyor belt transports the packaged waste to the outside of the base station through the opening and closing door.

[0011] As a preferred embodiment, the base station is provided with a lifting module at the bottom, including a lifting motor fixed to the base station and a lifting frame slidably installed at the bottom of the base station. A lifting gear is fixed on the output shaft of the lifting motor, and a rack is fixed on the outside of the lifting frame. The rack meshes with the lifting gear. The separable wiping module and the bait feeding module can be lifted and transferred through the lifting module.

[0012] As a preferred embodiment, the feed feeding module includes a feeding box fixed to the top of the travel box. The top of the feeding box has a five-lobed opening and closing mechanism. A feeding water pump is fixed inside the feeding box, and a water pump is connected to a water suction pipe. The end of the water suction pipe has a five-lobed opening and closing mechanism extending to the outside of the feeding box. A feeding spray pipe is also connected to the feeding water pump, and the end of the feeding spray pipe has a five-lobed opening and closing mechanism extending to the outside of the feeding box. A transmission pipe is connected to the feeding spray pipe, and the end of the transmission pipe is connected to a transmission box, which is connected to the five-lobed opening and closing mechanism on the top of the feeding box. A transmission spiral shaft is rotatably mounted inside the transmission pipe, and a spiral shaft is fixedly mounted thereon. The motor, specifically the screw shaft motor, drives the transmission screw shaft to transport the bait. A storage module is located above the bait feeding module to store the bait. The module includes a feeding box fixed to the base station, with a supplementary feeding channel connected to one side. This supplementary feeding channel extends vertically upwards to the top of the base station. A bait weighing sensor is installed inside the feeding box to detect the weight of the bait. A five-lobed opening and closing mechanism is located at the bottom of the feeding box to control bait delivery. The bait feeding module is lifted and moved via a lifting module. The five-lobed opening and closing mechanism at the top of the feeding box connects with the five-lobed opening and closing mechanism at the bottom of the feeding box to transport the bait.

[0013] As a preferred embodiment, the detachable wiping module includes wheels arranged at the bottom of the travel box for movement and transfer; a visual detector is arranged inside the travel box for visually observing the location of dirt and scale in the aquarium; four low-pressure pumping channels are fixed inside the travel box, and water pumps are arranged inside the low-pressure pumping channels to create a low-pressure zone between the bottom of the travel box and the tank wall by drawing water from bottom to top; a drive motor is fixed at the bottom of the travel box, with an end face gear fixed to one end of the output shaft of the drive motor, and a reversing gearbox connected to the other end of the output shaft. The output shaft of the reversing gearbox is connected to a drive belt, which drives the cleaning cylinders. The components are connected by a belt structure. A central gear and two cleaning gears are rotatably mounted on the travel box. The circumferential surface of the central gear meshes with the two cleaning gears, and the end face of the central gear meshes with the end face gear. A cleaning end plate is fixed on the connecting shaft of the two cleaning gears. A disc-shaped cleaning part is telescopically mounted on the end face of the cleaning end plate, and a shock-absorbing spring is connected between the disc-shaped cleaning part and the cleaning end plate. Inside the travel box and on both sides of the disc-shaped cleaning part, a cleaning agent transmission module is arranged, including a cleaning liquid tank fixed on the travel box. A cleaning transmission gear pump is fixed on the cleaning liquid tank, and a nozzle is arranged at the output end of the cleaning transmission gear pump for releasing the cleaning liquid.

[0014] Compared with the prior art, the beneficial effects of this invention are: (1) It integrates vortex separation and purification, water quality detection, automatic packaging, tank wall wiping, oxygenation water level monitoring, projection interaction, and automatic feeding into one unit, and a single device completes the entire process of fish tank maintenance, greatly reducing manual operation; (2) It adopts a hydrocyclone and spiral blade structure, and uses centrifugal force to quickly achieve solid-liquid stratification of sewage, with high purification efficiency, no consumable consumption, and the clarified water is directly returned to the fish tank, reducing the frequency of water changes; (3) After the impurities are collected, they are closed by a cross push rod and sealed by heat fusion, and automatically sent out of the base station with the help of a conveyor belt, without contact with the sewage throughout the process. (4) The separable wiping module is equipped with a cleaning tube and a disc-shaped cleaning part. It combines low-pressure adsorption to adhere to the cylinder wall, visually locates stains, and the cleaning strength and structure can be changed to adapt to different cylinders such as glass and acrylic and stubborn attachments; (5) The lifting module realizes automatic docking and replenishment of the feeding module and the storage box. The weighing sensor monitors the remaining amount, and the spiral conveyor + water jet disperses the feeding to avoid the accumulation of bait and polluting the water quality; (6) The floating air bag has the functions of air intake filtration, water level monitoring and oxygenation. The aeration is uniform, and the photoelectric distance measurement accurately judges the water level and provides early warning for water replacement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 This is a schematic cross-sectional view of the overall structure of the present invention.

[0017] Figure 3 This is a schematic diagram of the internal structure of the base station of the present invention.

[0018] Figure 4 This is a schematic diagram of the oxygenation water level detection module of the present invention.

[0019] Figure 5 This is a schematic diagram of the hydrocyclone structure of the present invention.

[0020] Figure 6 This is a schematic diagram of the installation structure of the lifting module of the present invention.

[0021] Figure 7 This is a schematic diagram of the automatic packaging module structure of the present invention.

[0022] Figure 8 This is a partial structural diagram of the automatic packaging module of the present invention.

[0023] Figure 9 This is a schematic diagram of the feeding box structure of the present invention.

[0024] Figure 10 This is a schematic diagram of the installation structure of the separable wiping module and the bait feeding module of the present invention.

[0025] Figure 11 This is a partial structural diagram of the bait feeding module of the present invention.

[0026] Figure 12 This is a schematic diagram of the internal structure of the transmission tube of the present invention.

[0027] Figure 13 This is a schematic diagram of the detachable wiping module structure of the present invention.

[0028] Figure 14 This is a partial structural diagram of the detachable wiping module of the present invention.

[0029] Figure 15 This is a schematic diagram of the installation structure of the disc-shaped cleaning part of the present invention.

[0030] Attached reference numerals: 1-Base station; 2-Opening / closing door; 3-Hydrocyclone; 301-Spiral vane; 302-Overflow port; 4-Centrifugal pump; 401-Inlet pipe one; 402-Inlet pipe two; 5-Feeding box; 6-Water quality sensor; 7-Projection module; 8-Supplementary feeding channel; 9-Conveyor belt; 10-Transmission motor; 11-Air compressor unit; 12-Airbag; 13-Aeration section; 14-Lifting frame; 15-Rack and pinion; 16-Lifting motor; 17-Lifting gear; 18-Casing; 19-Lead screw one; 20-Lead screw two; 21-Drive motor; 22-Transmission gear; 23-Push rod two; 24-Push rod one; 2 5-Heat melter; 26-Traveling box; 27-Traveling wheel; 28-Feeding box; Butterfly valve; 29-Transfer box; 30-Feeding water pump; 31-Water suction pipe; 32-Dispensing spray pipe; 33-Transfer pipe; 34-Transfer pipe; 35-Transfer screw shaft; 36-Screw shaft motor; 37-Low-pressure pumping channel; 38-Vision detector; 39-Drive motor; 40-Reversing gearbox; 41-End face gear; 42-Cleaning cylinder; 43-Drive belt; 44-Intermediate gear; 45-Cleaning gear; 46-Cleaning liquid tank; 47-Cleaning transfer gear pump; 48-Nozzle; 49-Cleaning end plate; 50-Disc-shaped cleaning section; 51-Shock-absorbing spring. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] like Figures 1 to 15As shown, an intelligent aquarium cleaning robot includes a base station 1, which is equipped with a vortex separation module, a water quality detection module, an automatic packaging module, a detachable wiping module, an oxygenation water level detection module, a projection companion module, and a food feeding module. The vortex separation module is located on the inner top of the base station 1 and is used to separate and purify sewage; it includes a hydrocyclone 3 fixed on the base station 1, with an overflow port 302 at the top and a butterfly valve 29 at the bottom. The automatic packaging module is located below the vortex separation module and is used to collect and package impurities; it includes a housing 18 fixed on the base station 1 and used to fix the bag; push rod 23 and push rod 24 arranged in a cross shape are slidably arranged below the housing 18; and a heat melter 25 is provided in the corner area below the housing 18 for heat melting the bag. The oxygenation water level detection module is located on the top of the base station 1 and includes an airbag 12 that is installed in a floating manner for transmitting air and detecting water level. The detachable wiping module and the bait feeding module are integrated and arranged at the bottom of the base station 1. The detachable wiping module includes a travel box 26, and two cleaning cylinders 42 and two disc-shaped cleaning parts 50 are arranged at the bottom of the travel box 26 for removing impurities.

[0033] The water quality detection module includes a water quality detection sensor 6 fixed to the side of the base station 1, which is used to detect the pH value and water temperature in the water and determine whether the water needs to be changed based on the water quality. The water quality detection sensor 6 is equipped with a five-lobed opening and closing mechanism to control the flow of water. The projection companion module includes a projection module 7 fixed to the side of the base station 1, which is used for multimodal sensing and interaction with real fish and users.

[0034] The vortex separation module includes a centrifugal pump 4 fixed on the base station 1. The centrifugal pump 4 is connected to the hydrocyclone 3 through an inlet pipe 401. The centrifugal pump 4 is also connected to an inlet pipe 402. The ends of the inlet pipe 401 and the inlet pipe 402 are respectively provided with a five-lobed opening and closing mechanism for controlling the flow of water. The inner wall of the hydrocyclone 3 is provided with spiral blades 301 to make the water flowing into the hydrocyclone 3 rotate and accelerate to form a vortex. The bottom of the hydrocyclone 3 is equipped with a sludge weight sensor to detect the weight of sludge. The butterfly valve 29 is driven and controlled by a cylinder-controlled crank-slider mechanism.

[0035] The oxygenation water level detection module includes an air compressor unit 11 fixed on the base station 1. The air compressor unit 11 is connected to the air bag 12 through a pressure-resistant hose, and the air compressor unit 11 is connected to an aeration section 13 through a pressure-resistant hose. The aeration section 13 is arranged on the side of the base station 1 for aeration and oxygenation. An airflow hole is opened on the top of the air bag 12, and an air filter and a water level monitoring sensor are arranged inside the air bag 12.

[0036] The automatic packaging module includes a drive motor 21 fixed on the base station 1, and lead screw 19 and lead screw 20 rotatably mounted on the base station 1. Lead screw 19 and lead screw 20 are arranged perpendicular to each other, and transmission gears 22 are fixed to the ends of lead screw 19 and lead screw 20 respectively. The two transmission gears 22 mesh, and the drive motor 21 drives lead screw 19, so that lead screw 19 and lead screw 20 are linked. Push rod 23 and lead screw 20 form a screw pair, and push rod 24 and lead screw 19 form a screw pair. The automatic packaging module also includes a conveyor belt 9 fixed on the base station 1 and located below the casing 18. The conveyor belt 9 is driven by a transmission motor 10. An opening and closing door 2 can be detachably installed on the side of the base station 1. The conveyor belt 9 transports the packaged waste to the outside of the base station 1 through the opening and closing door 2.

[0037] The base station 1 has a lifting module at its bottom, including a lifting motor 16 fixed to the base station 1 and a lifting frame 14 slidably mounted on the bottom of the base station 1. A lifting gear 17 is fixed on the output shaft of the lifting motor 16, and a rack 15 is fixed on the outside of the lifting frame 14. The rack 15 meshes with the lifting gear 17. The separable wiping module and the bait feeding module can be lifted and transferred through the lifting module. The bait feeding module includes a feeding box 28 fixed to the top of the travel box 26. The top of the feeding box 28 has a five-lobed opening and closing mechanism. A feeding water pump 31 is fixed inside the feeding box 28. A water pump 32 is connected to the feeding water pump 31. The end of the water pump 32 is provided with a five-lobed opening and closing mechanism extending to the outside of the feeding box 28. A dispensing spray pipe 33 is also connected to the feeding water pump 31. The end of the dispensing spray pipe 33 is provided with a five-lobed opening and closing mechanism extending to the outside of the feeding box 28. A transmission pipe 34 is connected to the dispensing spray pipe 33. The transmission tube 34 is connected to a transmission box 30 at one end, and the transmission box 30 is connected to a five-lobed opening and closing mechanism at the top of the feeding box 28. A transmission spiral shaft 35 is rotatably arranged inside the transmission tube 34, and a spiral shaft motor 36 is fixedly arranged. The spiral shaft motor 36 is used to drive the transmission spiral shaft 35 to transmit the bait. A storage module is arranged above the bait feeding module to store the bait. The feeding box 5 is fixed on the base station 1. A supplementary feeding channel 8 is connected to one side of the feeding box 5. The supplementary feeding channel 8 is vertically upward and extends to the top of the base station 1. A bait weighing sensor is arranged inside the feeding box 5 to detect the weight of the bait in the feeding box 5. A five-lobed opening and closing mechanism is provided at the bottom of the feeding box 5 to control the bait delivery. The bait feeding module is lifted and moved by a lifting module. The five-lobed opening and closing mechanism at the top of the feeding box 28 is connected to the five-lobed opening and closing mechanism at the bottom of the feeding box 5 to transmit the bait.

[0038] The detachable wiping module includes travel wheels 27 arranged at the bottom of the travel box 26 for movement and transfer. The travel wheels 27 are driven by a travel motor arranged inside the travel box 26. A vision detector 38 is arranged inside the travel box 26 for visual observation of the location of dirt and scale in the aquarium. Four low-pressure pumping channels 37 are fixed inside the travel box 26. A water pump is arranged inside the low-pressure pumping channels 37 to create a low-pressure zone between the bottom of the travel box 26 and the tank wall by drawing water from bottom to top. A drive motor 39 is fixed at the bottom of the travel box 26. One end of the output shaft of the drive motor 39 is fixed with an end face gear 41, and the other end of the output shaft is connected to a reversing gearbox 40. The output shaft of the reversing gearbox 40 is connected to a drive belt 43, which drives the cleaning cylinder 42. The cleaning cylinders 42 are connected by a belt structure; an intermediate gear 44 and two cleaning gears 45 are rotatably mounted on the travel box 26. The circumferential surface of the intermediate gear 44 meshes with the two cleaning gears 45 respectively, and the end face of the intermediate gear 44 meshes with the end face gear 41; a cleaning end plate 49 is fixed on the connecting shaft of the two cleaning gears 45, and a disc-shaped cleaning part 50 is telescopically disposed on the end face of the cleaning end plate 49, and a shock-absorbing spring 51 is connected between the disc-shaped cleaning part 50 and the cleaning end plate 49; a cleaning agent transmission module is arranged inside the travel box 26 and on both sides of the disc-shaped cleaning part 50, including a cleaning liquid tank 46 fixed on the travel box 26, a cleaning transmission gear pump 47 fixed on the cleaning liquid tank 46, and a nozzle 48 arranged at the output end of the cleaning transmission gear pump 47 for releasing cleaning liquid.

[0039] Operating principle: Base station 1 is placed in a bathtub. During cleaning, the location of sludge and impurities in the bathtub is observed by visual detector 38. During movement, a motor inside the moving box 26 drives the moving wheels 27, causing the moving box 26 to move. The transmission motor 39 operates, causing the end gear 41 to rotate, which in turn rotates the intermediate gear 44 and the cleaning gear 45, causing the disc-shaped cleaning part 50 to rotate. Furthermore, under the transmission action of the reversing gearbox 40, the transmission belt 43 drives the cleaning cylinder 42 to rotate. Thus, during movement, the cleaning cylinder 42 and the disc-shaped cleaning part 50 clean the sludge and impurities on the bathtub walls, using a non-... Made of the same material, it can adsorb sludge particles of different sizes; equipped with a quick-change cleaning cylinder 42, the surface of the roller can be replaced with different textures, densities and shapes of patterns as needed; at the same time, the disc-shaped cleaning part 50 can adjust the amplitude frequency according to the hardness of the deposits on the cylinder wall; specifically, during movement, the water pump inside the low-pressure pumping channel 37 draws water from bottom to top, creating a low-pressure zone between the bottom of the travel box 26 and the pool wall, allowing the detachable wiping module to be adsorbed onto the side wall, overcoming the buoyancy of the water, so as to complete the cleaning operation smoothly; furthermore, the cleaning liquid in the cleaning liquid tank 46 is pumped by the cleaning transfer gear pump 47 and released through the nozzle 48.

[0040] During baiting, the screw shaft motor 36 drives the transmission screw shaft 35 to rotate, thereby transferring the bait in the transmission box 30. The feeding water pump 31 draws water from the outside through the water pipe 32 and transmits it to the feeding spray pipe 33 to mix with the bait. Then, the mixture of bait and water is released through the end of the feeding spray pipe 33, achieving dispersed feeding. Furthermore, when replenishing the bait, the traveling box 26 is located on the lifting frame 14, and the lifting motor 16 drives the lifting gear 17 to rotate, causing the rack 15 to rotate. The lifting frame 14 moves to lift the lifting motor 16, thereby connecting the five-petal opening and closing mechanism at the top of the feeding box 28 with the five-petal opening and closing mechanism at the bottom of the feeding box 5, controlling the five-petal opening and closing mechanism to be in the open state, and the bait in the air compressor unit 11 is fed and transferred to the transfer box 30 to complete the replenishment; the bait weighing sensor in the feeding box 5 can detect the weight of the bait in the feeding box 5, and when the bait storage is insufficient, it can prompt manual replenishment, that is, the manual feed is fed and transferred to the feeding box 5 from the top of the replenishment channel 8.

[0041] During wastewater purification, centrifugal pump 4 operates, and external water flows into hydrocyclone 3 through the five-lobed opening and closing mechanism at the ends of inlet pipe 1 401 and inlet pipe 2 402. As the water flows through the spiral blades 301 in hydrocyclone 3, it forms an accelerated vortex. Specifically, centrifugal pump 4 provides pressurized drive, causing wastewater to swirl rapidly into hydrocyclone 3. During the accelerated rotation, solid particles are subjected to centrifugal force and settle against the inner wall. Clarified water is discharged upwards along hydrocyclone 3, achieving efficient solid-liquid stratification and pollutant retention. Subsequently, a sludge weight sensor at the bottom of hydrocyclone 3 detects the sludge weight. When the sludge reaches a certain level, the cylinder... The crank-slider mechanism drives the butterfly valve 29 to rotate, releasing the sludge. The sludge falls into the bag that is pre-installed on the casing 18. When the intelligent visual inspection device detects that the garbage has reached a certain volume, the drive motor 21 drives the lead screw 19 and lead screw 20 to rotate, causing the push rod 23 and push rod 24 to slide in a closing manner, so as to close the bag from the outside to the inside and squeeze it to the position of the heat melter 25. The heat melter 25 heat melts the bag, and the bag falls onto the conveyor belt 9 below. The conveyor belt 9 is used for transportation. The opening and closing door 2 can be opened manually to take out the garbage and put the garbage bag back on the casing 18.

[0042] Furthermore, with the operation of the air compressor unit 11, air enters through the air hole at the top of the airbag 12 and is transmitted to the aeration section 13 for aeration and oxygenation via a pressure-resistant hose. The air filter in the airbag 12 can filter and purify the air. The airbag 12 is installed in a suspended manner and has its own buoyancy, allowing it to float on the water surface. The water level monitoring sensor in the airbag 12 uses photoelectric ranging technology to monitor the water level and calculate the water change time. Before the base station 1 is placed in the fish tank, the five-petal opening and closing mechanism on the outside of the airbag 12 is in a closed state to limit the airbag 12. When the base station 1 is placed in the bathtub for use, the five-petal opening and closing mechanism is opened, and the airbag 12 can float on the water surface. As for the projection module 7, it can perform multimodal sensing and interact with real fish and users, creating a viewing experience that combines virtual and real elements.

[0043] It should be noted that the five-petal opening and closing mechanism is used in many places in this embodiment. This is a mature existing technology and a conventional control component used in the field for fluid flow control and material handling. Its structure and working principle are as follows: It consists of a central base, five fan-shaped petals, a linkage drive ring, and a micro-drive motor / electromagnetic drive assembly; the five petals are evenly arranged in a ring, with their edges overlapping each other. When closed, they form a complete sealing surface; when opened, they synchronously retract outwards to form a central opening; after receiving the electrical signal from the control system, the drive motor drives the linkage ring to rotate, which in turn drives the linkage / The chute structure drives five petals to retract or close synchronously, quickly realizing the opening, closing, and degree adjustment of the channel. The petals are made of waterproof and corrosion-resistant materials, suitable for water environments and media such as bait, airflow, and water flow. In this embodiment, they are used for water quality detection sensors, water inlet pipes, feeding boxes, feed boxes, airbag limiters, etc., to accurately control the interruption of water flow, the interruption of bait delivery, and the release and limit of airbags. They are fast-responding, reliably sealed, and compact in size, adapting to the compact layout of robots. This is a conventional technical application in the field, and the function can be achieved without elaborate on the complex structure.

[0044] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent fish tank cleaning robot, comprising a base station (1), characterized in that: The base station (1) is equipped with a vortex separation module, a water quality detection module, an automatic packaging module, a separable wiping module, an oxygenation water level detection module, a projection companion module, and a bait feeding module. The vortex separation module is located on the inner top of the base station (1) and is used to separate and purify sewage; it includes a hydrocyclone (3) fixed on the base station (1), with an overflow port (302) at the top and a butterfly valve (29) at the bottom. The automatic packaging module is located below the vortex separation module and is used to collect and package impurities; it includes a box (18) fixed on the base station (1) and used to fix the bag; push rods 2 (23) and 1 (24) are slidably arranged in a cross shape below the box (18); and a heat melter (25) is provided in the corner area below the box (18) for heat melting the bag. The oxygenation water level detection module is located on the top of the base station (1) and includes an airbag (12) that is installed in a floating manner for transmitting air and detecting water level; The separable wiping module and the bait feeding module are integrated and arranged at the bottom of the base station (1). The separable wiping module includes a travel box (26). Two cleaning cylinders (42) and two disc-shaped cleaning parts (50) are arranged at the bottom of the travel box (26) for cleaning impurities.

2. The intelligent fish tank cleaning robot according to claim 1, characterized in that: The water quality detection module includes a water quality detection sensor (6) fixed on the side of the base station (1) for detecting the pH value and water temperature in the water and determining whether the water needs to be changed based on the water quality. The water quality detection sensor (6) is equipped with a five-petal opening and closing mechanism to control the flow of water.

3. The intelligent fish tank cleaning robot according to claim 1, characterized in that: The projection companion module includes a projection module (7) fixed to the side of the base station (1) for multimodal sensing and interaction with real fish and users.

4. The intelligent fish tank cleaning robot according to claim 1, characterized in that: The vortex separation module includes a centrifugal pump (4) fixed on the base station (1). The centrifugal pump (4) is connected to the hydrocyclone (3) through a water inlet pipe (401). The centrifugal pump (4) is also connected to a water inlet pipe (402). The ends of the water inlet pipe (401) and the water inlet pipe (402) are respectively provided with a five-lobed opening and closing mechanism for controlling the flow of water. The inner wall of the hydrocyclone (3) is provided with a spiral blade (301) to make the water flow entering the hydrocyclone (3) rotate and accelerate to form a vortex. The bottom end of the hydrocyclone (3) is equipped with a sludge weight sensor to detect the weight of sludge. The butterfly valve (29) is driven and controlled by a cylinder-controlled crank-slider mechanism.

5. The intelligent fish tank cleaning robot according to claim 1, characterized in that: The oxygenation water level detection module includes an air compressor unit (11) fixed on the base station (1). The air compressor unit (11) is connected to the airbag (12) through a pressure-resistant hose, and the air compressor unit (11) is connected to an aeration section (13) through a pressure-resistant hose. The aeration section (13) is arranged on the side of the base station (1) for aeration and oxygenation. An airflow hole is opened on the top of the airbag (12), and an air filter and a water level monitoring sensor are arranged inside the airbag (12). A five-petal opening and closing mechanism is provided on the top of the base station (1) and outside the airbag (12) for limiting the airbag (12).

6. The intelligent fish tank cleaning robot according to claim 1, characterized in that: The automatic packaging module includes a drive motor (21) fixed on the base station (1), and a lead screw 1 (19) and a lead screw 2 (20) rotatably mounted on the base station (1). The lead screw 1 (19) and the lead screw 2 (20) are arranged perpendicular to each other, and the ends of the lead screw 1 (19) and the lead screw 2 (20) are respectively fixed with transmission gears (22). The two transmission gears (22) mesh, and the drive motor (21) drives the lead screw 1 (19) to make the lead screw 1 (19) and the lead screw 2 (20) linked together. The push rod 2 (23) and the lead screw 2 (20) form a screw pair, and the push rod 1 (24) and the lead screw 1 (19) form a screw pair. The automatic packaging module also includes a conveyor belt (9) fixed on the base station (1) and located below the casing (18). The conveyor belt (9) is driven by the transmission motor (10). An opening and closing door (2) can be detached and installed on the side of the base station (1). The conveyor belt (9) transports the packaged garbage to the outside of the base station (1) through the opening and closing door (2).

7. The intelligent fish tank cleaning robot according to claim 1, characterized in that: The base station (1) is provided with a lifting module at the bottom, including a lifting motor (16) fixed on the base station (1) and a lifting frame (14) slidably installed at the bottom of the base station (1). A lifting gear (17) is fixed on the output shaft of the lifting motor (16), and a rack (15) is fixed on the outside of the lifting frame (14). The rack (15) meshes with the lifting gear (17). The separable wiping module and the bait feeding module can be lifted and transferred through the lifting module.

8. The intelligent fish tank cleaning robot according to claim 7, characterized in that: The bait feeding module includes a feeding box (28) fixed to the top of the travel box (26). The top of the feeding box (28) is provided with a five-lobed opening and closing mechanism. A feeding water pump (31) is fixed inside the feeding box (28). A water pump (32) is connected to the feeding water pump (31). The end of the water pump (32) is provided with a five-lobed opening and closing mechanism extending to the outside of the feeding box (28). A feeding spray pipe (33) is also connected to the feeding water pump (31). The end of the feeding spray pipe (33) is provided with a five-lobed opening and closing mechanism extending to the outside of the feeding box (28). A five-petal opening and closing mechanism is provided on the side; a transmission pipe (34) is connected to the injection pipe (33), and a transmission box (30) is connected to the end of the transmission pipe (34). The transmission box (30) is connected to the five-petal opening and closing mechanism at the top of the feeding box (28); a transmission spiral shaft (35) is rotatably arranged inside the transmission pipe (34), and a spiral shaft motor (36) is fixedly arranged. The spiral shaft motor (36) is used to drive the transmission spiral shaft (35) to transmit the bait; a storage module is arranged above the bait feeding module for storing bait. Includes a feeding box (5) fixed on the base station (1), with a supplementary feeding channel (8) connected to one side of the feeding box (5), the supplementary feeding channel (8) is vertically upward and extends to the top of the base station (1); a bait weighing sensor is arranged inside the feeding box (5) to detect the weight of the bait in the feeding box (5); a five-petal opening and closing mechanism is provided at the bottom of the feeding box (5) to control the bait feeding; the bait feeding module is lifted and moved by the lifting module, and the five-petal opening and closing mechanism at the top of the feeding box (28) is connected to the five-petal opening and closing mechanism at the bottom of the feeding box (5) to transfer the bait.

9. The intelligent fish tank cleaning robot according to claim 7, characterized in that: The detachable wiping module includes travel wheels (27) arranged at the bottom of the travel box (26) for travel and transfer; a visual detector (38) is arranged inside the travel box (26) for visual observation of the location of dirt and scale in the aquarium; four low-pressure pumping channels (37) are fixed inside the travel box (26), and a water pump is arranged inside the low-pressure pumping channels (37) to draw water from bottom to top, so that a low-pressure zone is formed between the bottom of the travel box (26) and the pool wall; a drive motor (39) is fixed at the bottom of the travel box (26), one end of the output shaft of the drive motor (39) is fixed with an end face gear (41), and the other end of the output shaft is connected to a reversing gearbox (40), the output shaft of the reversing gearbox (40) is connected to a drive belt (43), the drive belt (43) is used to drive the cleaning cylinder (42), and the two cleaning cylinders (42) are connected by a belt structure; travel A middle gear (44) and two cleaning gears (45) are rotatably mounted on the box (26). The circumferential surface of the middle gear (44) meshes with the two cleaning gears (45) respectively, and the end face of the middle gear (44) meshes with the end face gear (41). A cleaning end plate (49) is fixed on the connecting shaft of the two cleaning gears (45). A disc-shaped cleaning part (50) is telescopically disposed on the end face of the cleaning end plate (49), and a shock-absorbing spring (51) is connected between the disc-shaped cleaning part (50) and the cleaning end plate (49). A cleaning agent transmission module is arranged inside the travel box (26) and on both sides of the disc-shaped cleaning part (50), including a cleaning liquid tank (46) fixed on the travel box (26). A cleaning transmission gear pump (47) is fixed on the cleaning liquid tank (46), and a nozzle (48) is arranged at the output end of the cleaning transmission gear pump (47) for releasing cleaning liquid.

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