Robot for underwater garbage salvage

Abstract

The utility model provides a robot for salvaging underwater garbage, which belongs to the technical field of underwater garbage treatment and comprises an outer shell. The visual mechanism is fixedly mounted at the front end of the outer shell; the power modules are fixedly mounted on the two sides of the outer shell; the diving lifting mechanism is mounted in the outer shell; the garbage collecting mechanism is mounted at the bottom of the outer shell; and the underwater supporting mechanisms are mounted at the bottoms of the two ends of the outer shell. And flexible and stable lifting causes small turbulent flow to the underwater environment, and the problem that dirt at the water bottom drifts away when the robot fires the garbage is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater garbage treatment, in particular to a robot used for underwater garbage salvage. Background Art

[0002] In urban rivers and scenic lakes, the activeness of pedestrians and tourists often leads to the accumulation of underwater garbage, which not only destroys the clarity and purity of the water, but also may cause environmental pollution. Although the traditional manual salvage method is hard, it is time-consuming and labor-intensive, and has limited efficiency. Nowadays, the emergence of underwater garbage salvage robots, with its high efficiency and characteristics, better makes up for the shortcomings of manual salvage.

[0003] Chinese patent document publication number CN115723156A proposes a multifunctional underwater garbage salvage robot, and CN207525727U proposes a multifunctional underwater garbage salvage robot, both of which are common types of underwater garbage salvage robots. In actual applications, there are the following deficiencies: first, the underwater robot drives the water flow through a vertically installed power mechanism to achieve the lifting and lowering of the robot underwater. When it is close to the bottom of the water, the impact of the downward water flow will cause the underwater dirt to float, affecting the vision of the robot during movement; second, the underwater garbage is collected through the resistance generated by swimming forward, which not only has low garbage collection efficiency and a small practical range, but also has the problem of garbage falling off due to the floating of garbage in the water; at the same time, the rope connection may break and have poor durability. Although the opening size of the garbage salvage net can be adjusted by a hydraulic telescopic rod, the adjustment accuracy may be affected by operating experience and external environment (such as water flow speed, river width, etc.), resulting in unstable salvage efficiency. Summary of the invention

[0004] The utility model aims to provide a robot for underwater garbage salvage, which can be flexibly and stably lifted and lowered so as to cause little disturbance to the underwater environment, thus solving the problem of underwater dirt being scattered when the robot salvages garbage.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A robot for underwater garbage salvage, characterized in that:

[0007] An outer shell; a visual mechanism, which is fixedly mounted at the front end of the outer shell; a power module, which is fixedly mounted on both sides of the outer shell; a diving lifting mechanism, which is mounted inside the outer shell; a garbage collecting mechanism, which is mounted at the bottom of the outer shell; and an underwater supporting mechanism, which is mounted at the bottom of both ends of the outer shell.

[0008] Furthermore, the visual mechanism includes an end seal and a camera fixedly installed in the middle of the end seal. The end seal is arranged at the front end of the outer shell. A transparent waterproof cover is fixedly arranged on the periphery of the end seal. Underwater lighting lamps are fixedly installed on both sides of the end seal.

[0009] Furthermore, the submersible lifting mechanism includes a submersible chamber and a high-pressure gas storage tank fixedly installed at the bottom of the submersible chamber, and the submersible chamber and the high-pressure gas storage tank are located inside the outer shell.

[0010] The air outlet of the high-pressure gas storage tank is fixedly connected to an air outlet pipe, a first solenoid valve is fixedly installed in the middle of the air outlet pipe, the air inlet of the high-pressure gas storage tank is fixedly connected to an air supply pipe, the air supply pipe extends to the outside of the outer shell, a valve body is installed at the bottom end of the air supply pipe, the back of the outer shell is fixedly connected to a water inlet pipe, an electromagnetic water inlet valve is fixedly installed on the water inlet pipe, the bottom of the outer shell is fixedly connected to a drain pipe, an electromagnetic drain valve is fixedly installed in the middle of the drain pipe, the top of the outer shell is fixedly connected to an exhaust pipe, a second solenoid valve is fixedly installed in the middle of the exhaust pipe.

[0011] Furthermore, a sealed cavity is provided in the outer shell, and a battery module is provided in the sealed cavity.

[0012] The battery module is electrically connected to the power module, the camera, the mechanical arm, the underwater lighting lamp, the first solenoid valve, the solenoid water inlet valve, and the solenoid drain valve.

[0013] Furthermore, the garbage collection mechanism includes a bell mouth, a garbage collection net bag, a bellows, a suction pipe, a bell filter, a suction structure, a threaded interface and a cover plate.

[0014] A mechanical arm is fixedly installed at the bottom of the end cap, the bell mouth is fixed on the mechanical arm, the bell mouth is connected with one end of the corrugated pipe, one end of the suction pipe is connected with the other end of the corrugated pipe, the bell filter is arranged on the inner wall of the suction pipe, the suction structure is arranged on the top end of the suction pipe, the threaded interface is arranged at the other end of the suction pipe, the covering plate is arranged inside the threaded interface, and the garbage collection net bag is threadably connected to the outer side of the threaded interface.

[0015] Furthermore, the underwater support mechanism includes a support frame, which is arranged on the lower surface of the outer shell, and counterweight bases are fixedly arranged on both sides of the bottom end of the support frame.

[0016] Furthermore, a carrying handle is fixedly provided on the upper surface of the outer shell.

[0017] Advantages of the utility model:

[0018] Firstly, the utility model installs a diving lifting mechanism inside the robot. When the diving chamber is inflated, the robot shell is in a relatively hollow environment, and the buoyancy of the shell is used to realize the ascent of the robot. When the diving chamber is filled with water, the weight of the robot shell is used to realize the sinking. The power module is only used to control the robot to move forward underwater. The lifting is flexible and stable, with little disturbance to the underwater environment, and it is not easy to cause the problem of underwater dirt drifting. The robot has a clearer vision during underwater operations. Secondly, the garbage collection mechanism of the utility model collects underwater garbage by negative suction compared to the mechanical claw and the resistance generated by swimming forward. It can not only significantly improve the collection efficiency of underwater garbage, but also prevent the garbage from drifting and escaping. The collected garbage can also be used for water control, and has a wider range of applications, including garbage floating on the water surface and garbage deposited on the bottom of the water, reducing the potential impact on the ecological environment of the river. Finally, the garbage collection mechanism of the utility model uses a threaded interface to provide a more stable connection. Compared with a rope connection, it is not easy to loosen or fall off, thereby improving the stability of the equipment during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the robot of the utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the garbage collection mechanism of the utility model;

[0022] Figure 4 This is a schematic diagram of the suction pipe structure of the utility model.

[0023] In the figure: 1. outer shell; 2. end cap; 3. camera; 4. transparent waterproof cover; 5. power module; 6. carrying handle; 7. support frame; 8. mechanical arm; 9. counterweight base; 10. bell mouth; 11. underwater lighting; 12. garbage collection net bag; 13. diving chamber; 14. closed chamber; 15. high-pressure gas storage tank; 16. air outlet pipe; 17. first solenoid valve; 18. water inlet pipe; 19. solenoid water inlet valve; 22. battery module; 23. drain pipe; 24. solenoid drain valve; 25. air supply pipe; 26. bellows; 27. suction pipe; 28. horn filter; 29. ​​suction structure; 30. threaded interface; 31. cover plate; 32. exhaust pipe; 33. second solenoid valve. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the utility model for which protection is claimed, but merely represents selected embodiments of the utility model.

[0025] like Figure 1 and Figure 2 As shown, a robot for underwater garbage salvage comprises an outer shell 1.

[0026] The visual mechanism is fixedly mounted on the front end of the outer shell 1 .

[0027] The power module 5 is fixedly mounted on both sides of the outer shell 1 .

[0028] A submersible lifting mechanism is installed inside the outer shell 1.

[0029] A garbage collection mechanism is installed at the bottom of the outer shell 1.

[0030] The underwater supporting mechanism is installed at the bottom of both ends of the outer shell 1.

[0031] The visual mechanism is used to control personnel to observe the robot's underwater working environment, the power module 5 is used to drive the robot to move underwater, the diving lifting mechanism is used to control the lifting and lowering of the robot underwater, the garbage collection mechanism is used to collect underwater garbage, and the underwater support mechanism is used to support the robot when it is underwater.

[0032] As a preferred embodiment of the utility model, the visual mechanism includes an end head 2 and a camera 3 fixedly installed in the middle of the end head 2, the end head 2 is arranged at the front end of the outer shell 1, a transparent waterproof cover 4 is fixedly arranged on the periphery of the end head 2, and underwater lighting lamps 11 are fixedly installed on both sides of the end head 2.

[0033] The surface staff can use the camera 3 to observe the underwater situation in front of the outer shell 1, and the underwater lighting 11 is used to increase the brightness of the bottom of the water and improve the visual brightness of underwater operations.

[0034] As a preferred embodiment of the utility model, the submersible lifting mechanism includes a submersible chamber 13 and a high-pressure gas storage tank 15 fixedly installed at the bottom of the submersible chamber 13 , and the submersible chamber 13 and the high-pressure gas storage tank 15 are located inside the outer shell 1 .

[0035] The air outlet of the high-pressure gas storage tank 15 is fixedly connected to an air outlet pipe 16, and a first solenoid valve 17 is fixedly installed in the middle of the air outlet pipe 16. The air inlet of the high-pressure gas storage tank 15 is fixedly connected to an air supply pipe 25, and the air supply pipe 25 extends to the outside of the outer shell 1, and a valve body is installed at the bottom end of the air supply pipe 25. The back of the outer shell 1 is fixedly connected to a water inlet pipe 18, and an electromagnetic water inlet valve 19 is fixedly installed on the water inlet pipe 18. The bottom of the outer shell 1 is fixedly connected to a drain pipe 23, and an electromagnetic drain valve 24 is fixedly installed in the middle of the drain pipe 23. The top of the outer shell 1 is fixedly connected to an exhaust pipe 32, and a second solenoid valve 33 is fixedly installed in the middle of the exhaust pipe 32.

[0036] As a preferred embodiment of the present utility model, a sealed cavity 14 is provided in the outer shell 1 , and a battery module 22 is provided in the sealed cavity 14 .

[0037] The battery module 22 is electrically connected to the power module 5 , the camera 3 , the mechanical arm 8 , the underwater lighting lamp 11 , the first solenoid valve 17 , the solenoid water inlet valve 19 , and the solenoid drain valve 24 .

[0038] When the robot needs to sink to the bottom of the water, the electromagnetic water inlet valve 19 and the second electromagnetic valve 33 are opened, and the water flows into the submersible chamber 13 through the water inlet pipe 18, and the gas in the submersible chamber 13 is discharged into the air through the exhaust pipe 32. At this time, the outer shell 1 will slowly sink in the water due to its own weight. When the robot needs to rise, the electromagnetic water inlet valve 19 and the second electromagnetic valve 33 are closed, and the electromagnetic drain valve 24 and the first electromagnetic valve 17 are opened. At this time, the high-pressure gas in the high-pressure gas tank 15 will continue to flow into the submersible chamber 13 through the outlet pipe 16. Under the pressure of the air pressure in the submersible chamber 13, the water in the submersible chamber 13 will be discharged through the drain pipe 23, and then the electromagnetic drain valve 24 is closed. The outer shell 1 is hollow inside and will slowly rise under the action of water buoyancy, and then the power module 5 works to push the outer shell 1 to rise.

[0039] like Figure 3 and Figure 4 As shown, the garbage collection mechanism includes a bell mouth 10 , a garbage collection net bag 12 , a bellows 26 , a suction pipe 27 , a bell filter 28 , a suction structure 29 , a threaded interface 30 and a cover plate 31 .

[0040] A mechanical arm 8 is fixedly installed at the bottom of the end cap 2, and the bell mouth 10 is fixed on the mechanical arm 8. The bell mouth 10 is connected to one end of the bellows 26, and one end of the suction pipe 27 is connected to the other end of the bellows 26. The bell filter 28 is arranged on the inner wall of the suction pipe 27, and the suction structure 29 is arranged on the top of the suction pipe 27. The threaded interface 30 is arranged at the other end of the suction pipe 27, and the covering plate 31 is arranged inside the threaded interface 30. The garbage collection net bag 12 is threadedly connected to the outer side of the threaded interface 30.

[0041] As a preferred embodiment of the utility model, the underwater support mechanism includes a support frame 7, which is arranged on the lower surface of the outer shell 1, and counterweight bases 9 are fixedly arranged on both sides of the bottom end of the support frame 7.

[0042] As a preferred embodiment of the present invention, a carrying handle 6 is fixedly provided on the upper surface of the outer shell 1 .

[0043] When the robot is at the bottom of the water, the weight base 9 directly contacts the bottom of the water, and the outer shell 1 is supported by the support frame 7 to prevent the outer shell 1 from rubbing against the bottom of the water. The robot can be carried and transferred by the carrying handle 6, which is convenient to use. When the robot floats to the surface of the water, the staff unscrews the garbage collection net bag 12 by screwing, cleans the garbage in the garbage collection net bag 12 uniformly, and then tightens it on the threaded interface 30.

[0044] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Those skilled in the art can still adjust the technical solutions recorded in the above embodiments, or replace some of the technical features by equivalents. Therefore, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and their equivalent technologies, the utility model is also intended to include these modifications and variations.

Claims

1. A robot for underwater garbage salvage, characterized in that: An outer shell (1); A visual mechanism, the visual mechanism being fixedly mounted on the front end of the outer shell (1); A power module (5), wherein the power module (5) is fixedly mounted on both sides of the outer shell (1); A submersible lifting mechanism, the submersible lifting mechanism being installed inside the outer shell (1); A garbage collection mechanism, the garbage collection mechanism being mounted on the bottom of the outer shell (1); An underwater supporting mechanism is installed at the bottom of both ends of the outer shell (1).

2. The robot for underwater garbage salvage according to claim 1, characterized in that: The visual mechanism comprises an end seal (2) and a camera (3) fixedly mounted in the middle of the end seal (2); the end seal (2) is arranged at the front end of the outer shell (1); a transparent waterproof cover (4) is fixedly mounted on the periphery of the end seal (2); and underwater lighting lamps (11) are fixedly mounted on both sides of the end seal (2).

3. The robot for underwater garbage salvage according to claim 2, characterized in that: The submersible lifting mechanism comprises a submersible chamber (13) and a high-pressure gas storage tank (15) fixedly mounted at the bottom of the submersible chamber (13); the submersible chamber (13) and the high-pressure gas storage tank (15) are located inside the outer shell (1); The air outlet of the high-pressure gas storage tank (15) is fixedly connected to an air outlet pipe (16), and a first solenoid valve (17) is fixedly installed in the middle of the air outlet pipe (16). The air inlet of the high-pressure gas storage tank (15) is fixedly connected to an air supply pipe (25), and the air supply pipe (25) extends to the outside of the outer shell (1). A valve body is installed at the bottom end of the air supply pipe (25). The back of the outer shell (1) is fixedly connected to a water inlet pipe (18), and an electromagnetic water inlet valve (19) is fixedly installed on the water inlet pipe (18). The bottom of the outer shell (1) is fixedly connected to a drain pipe (23), and an electromagnetic drain valve (24) is fixedly installed in the middle of the drain pipe (23). The top of the outer shell (1) is fixedly connected to an exhaust pipe (32), and a second solenoid valve (33) is fixedly installed in the middle of the exhaust pipe (32).

4. The robot for underwater garbage salvage according to claim 3, characterized in that: The outer shell (1) is provided with a sealed cavity (14), and a battery module (22) is provided in the sealed cavity (14); The battery module (22) is electrically connected to the power module (5), the camera (3), the mechanical arm (8), the underwater lighting lamp (11), the first electromagnetic valve (17), the electromagnetic water inlet valve (19), and the electromagnetic drain valve (24).

5. The robot for underwater garbage salvage according to claim 2, characterized in that: The garbage collection mechanism comprises a bell mouth (10), a garbage collection net bag (12), a bellows (26), a suction pipe (27), a bell filter (28), a suction structure (29), a threaded interface (30) and a cover plate (31); A mechanical arm (8) is fixedly mounted at the bottom of the end cap (2), the bell mouth (10) is fixed on the mechanical arm (8), the bell mouth (10) is connected to one end of the bellows (26), one end of the suction pipe (27) is connected to the other end of the bellows (26), the bell filter (28) is arranged on the inner wall of the suction pipe (27), the suction structure (29) is arranged at the top end of the suction pipe (27), the threaded interface (30) is arranged at the other end of the suction pipe (27), the sealing cover plate (31) is arranged inside the threaded interface (30), and the garbage collection net bag (12) is threadedly connected to the outer side of the threaded interface (30).

6. A robot for underwater garbage salvage according to any one of claims 1 to 5, characterized in that: The underwater support mechanism comprises a support frame (7), the support frame (7) is arranged on the lower surface of the outer shell (1), and counterweight bases (9) are fixedly arranged on both sides of the bottom end of the support frame (7).

7. A robot for underwater garbage salvage according to any one of claims 1 to 5, characterized in that: A carrying handle (6) is fixedly provided on the upper surface of the outer shell (1).

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