Undersea garbage cleaning robot

Abstract

The utility model relates to a garbage cleaning robot capable of being used under the sea, which comprises a stabilizing device, a solid matter collecting device and a power device, a containing cavity used for containing garbage is arranged in the solid matter collecting device, a communicating hole is further arranged on the solid matter collecting device, and the communicating hole is communicated with the containing cavity and a water outlet. The power device is arranged between the water outlet and the communicating hole; the solid matter collecting device further comprises a manipulator mechanism arranged at the upper part of the solid matter collecting device; the mechanical arm mechanism comprises a supporting shaft, a first driving mechanism used for driving the supporting shaft to rotate, a swing arm, a second driving mechanism used for driving the swing arm to rotate, a clamping jaw arranged on the swing arm and a third driving mechanism used for driving the clamping jaw to be opened and closed, the supporting shaft is arranged in the vertical direction, and the second driving mechanism is arranged at the tail end of the supporting shaft. A rotating shaft of the second driving mechanism is arranged in the horizontal direction. The device has the advantages of being simple in structure and capable of improving the collecting efficiency.

Description

Technical Field

[0001] The utility model relates to a garbage cleaning robot which can be used under the sea. Background Art

[0002] The problem of marine garbage is becoming increasingly serious, bringing great challenges to the marine ecological environment. At present, marine garbage mainly comes from improper handling and discharge by humans, including plastic products, metal waste, glass fragments, etc., which have serious impacts on marine life, ecosystems and human health. Therefore, it is urgent to take effective measures to reduce and clean up marine garbage and protect the health and sustainable development of the marine ecological environment. In the underwater garbage cleaning robot project, the challenges we face come from the limitations of traditional cleaning methods, such as low efficiency, high cost and high operational risk of manual and mechanical salvage. However, with the continuous development of robotics, remote sensing, computer vision and clean energy technology, we have provided new solutions. The advancement of robotics technology enables underwater robots, autonomous submersibles, etc. to be applied to various tasks in the marine environment; remote sensing technology can obtain data such as seabed topography, water quality, biological information, etc., and provide necessary environmental information for seabed garbage cleaning; and computer vision technology can help identify and locate seabed garbage. In addition, clean energy technologies such as solar energy and hydropower also provide sustainable power sources for seabed garbage cleaning, reducing dependence on traditional energy, reducing operating costs and environmental pollution.

[0003] In the Chinese utility model patent with authorization announcement number CN214089776U and name "Water Garbage Collection and Recovery Device", a water garbage collection and recovery device is disclosed, including a stabilizing device, a solid collection device, and a power device; wherein the stabilizing device is connected to the solid collection device; the solid collection device has at least a part of a wall isolated from the external water body and air; the solid collection device includes a collection section and a power section that are interconnected; one end of the collection section is maintained at approximately the same horizontal height as the water surface or approximately maintained at a certain water depth under the action of the stabilizing device, and the other end is connected to the power section; a filtering device and a water storage tank I are arranged in the collection section; the water storage tank I is arranged along the filtering device and the water storage tank I is arranged on the drainage side of the filtering device; the collection section has a diameter that gradually decreases from top to bottom in the height direction; one end of the power section is connected to the collection section; and the power device is arranged in the power section.

[0004] Although the above patent can realize the collection of garbage, it can only simply absorb the floating objects and make them flow to the water inlet of the collection device, and the processing efficiency is low. In addition, if the buoyancy of the garbage entering the collection device is large, its upward tendency is large. In the case of insufficient suction, it is easy to slide out of the collection device, which will also affect the collection efficiency of the garbage.

[0005] Based on the above issues, the applicant conducted research on the above issues and resulted in this case. Utility Model Content

[0006] The utility model aims to provide a garbage cleaning robot which has a simple structure and can improve collection efficiency and can be used under the sea.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A garbage cleaning robot that can be used under the sea includes a stabilizing device, a solid collecting device and a power device. The solid collecting device is provided with a accommodating chamber for storing garbage, the upper part of the solid collecting device is provided with a garbage inlet, the lower part of the solid collecting device is provided with a drain outlet, and the solid collecting device is also provided with a connecting hole, which connects the accommodating chamber and the drain outlet. The power device is arranged between the drain outlet and the connecting hole, and also includes a manipulator mechanism arranged on the upper part of the solid collecting device. The manipulator mechanism includes a support shaft, a first driving mechanism for driving the support shaft to rotate, a swing arm and a second driving mechanism for driving the swing arm to rotate, a clamping jaw arranged on the swing arm, and a third driving mechanism for driving the clamping jaw to open and close. The support shaft is arranged in a vertical direction, the second driving mechanism is arranged at the end of the support shaft, and the rotating shaft of the second driving mechanism is arranged in a horizontal direction.

[0009] As a preferred embodiment of the utility model, it also includes a fourth driving mechanism arranged at the end of the swing arm, the rotation axis of the fourth driving mechanism is arranged parallel to the rotation axis of the second driving mechanism, and the third driving mechanism is arranged on the rotation axis of the fourth driving mechanism.

[0010] As a preferred embodiment of the utility model, it also includes a fifth driving mechanism arranged on the rotating shaft of the fourth driving mechanism, the third driving mechanism is arranged at the end of the rotating shaft of the fifth driving mechanism, and the rotating shaft of the fifth driving mechanism is arranged perpendicular to the rotating shaft of the fourth driving mechanism.

[0011] As a preferred embodiment of the utility model, the swing arm includes mutually cooperating barrels, a telescopic rod inserted in the barrel, and a telescopic driving mechanism for driving the telescopic rod to perform telescopic activities, and the fourth driving mechanism is arranged on the telescopic rod.

[0012] As a preferred embodiment of the present invention, the first driving mechanism, the second driving mechanism, the fourth driving mechanism and the fifth driving mechanism are all motors.

[0013] As a preferred embodiment of the utility model, the solid collection device includes a triangular pyramid shell with a larger upper portion and a smaller lower portion and a garbage storage box arranged in the shell, the accommodating chamber and the connecting hole are arranged on the garbage storage box, and the power device is arranged below the garbage storage box.

[0014] As a preferred embodiment of the present invention, the garbage storage box is detachably mounted on the shell by means of buckles.

[0015] As a preferred embodiment of the present invention, a solar cell panel is provided on the upper portion of the shell.

[0016] As a preferred embodiment of the present invention, a camera is provided on the housing.

[0017] As a preferred embodiment of the utility model, the stabilizing device includes a mounting ring, a mounting frame rotatably arranged in the mounting ring, a drainage blade arranged on the mounting frame, and a sixth driving mechanism for driving the drainage blade to rotate, the mounting ring is rotatably arranged in the shell through a first rotating shaft, a seventh driving mechanism for driving the first rotating shaft to rotate is arranged in the shell, the mounting frame is rotatably mounted in the mounting ring through a second rotating shaft, an eighth driving mechanism for driving the second rotating shaft to rotate is arranged on the mounting ring, and the first rotating shaft and the second rotating shaft are both arranged in a horizontal direction and both are arranged vertically.

[0018] After adopting the technical solution of the utility model, by setting up a manipulator mechanism, at least two functions can be played. First, the manipulator mechanism can clamp the surrounding garbage and send it to the garbage inlet or around the garbage inlet, or move the garbage so that the garbage can enter the garbage inlet more accurately and quickly, and more complex garbage can be processed. Second, the manipulator mechanism can temporarily press down the garbage in the accommodating chamber, reducing the chance of garbage floating out, and further improving the garbage collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the utility model.

[0020] Figure 2 It is a structural schematic diagram of the utility model from another angle.

[0021] Figure 3 This is a schematic diagram of the structure of the utility model (the shell is partially cut open to facilitate viewing of the internal structure).

[0022] Figure 4This is a schematic diagram of the lower partial structure of the utility model (the shell is partially cut open to facilitate viewing of the internal structure)

[0023] Figure 5 It is a structural schematic diagram of the upper part of the utility model.

[0024] Figure 6 This is a schematic diagram of the combined state of multiple garbage cleaning robots in the present invention.

[0025] In the figure:

[0026] Lighting lamp 1 Fourth driving mechanism 2

[0027] Fifth driving mechanism 3 Telescopic rod 4

[0028] Telescopic opening 5 Cylinder 6

[0029] Second drive mechanism 7 Third drive mechanism 8

[0030] Gripper 9 Motor 10

[0031] Support shaft 11

[0032] First driving mechanism 12 Warning light bar 13

[0033] Card slot 14 Camera 15

[0034] Reflective logo 16 Middle part of the shell 17

[0035] Drainage area 18 Lower part of the housing 19

[0036] Drain 20 Block 21

[0037] Garbage storage box 22 Upper part 23 of the housing

[0038] Display 24

[0039] Display screen sub-screen 26

[0040] Telescopic positioning block 27 Buckle 28

[0041] Power device 100 Stabilizer 200

[0042] Mounting bracket 201 Mounting ring 202

[0043] First rotating shaft 203 Second rotating shaft 204

[0044] Drainage blade 205

[0045] Robot 1000 DETAILED DESCRIPTION

[0046] In order to better understand the technical solution of the present utility model, it is described in more detail below in conjunction with embodiments.

[0047] Reference Figures 1 to 6 A garbage cleaning robot that can be used under the sea includes a stabilizing device 200, a solid collecting device and a power device 100. The solid collecting device is provided with a containing chamber for storing garbage, a garbage inlet is provided at the upper part of the solid collecting device, a drain port 20 is provided at the lower part of the solid collecting device, and a connecting hole is provided on the solid collecting device, the connecting hole connects the containing chamber and the drain port 20. In the utility model, a drainage area 18 is also provided at the junction of the lower part 19 of the shell and the middle part 17 of the shell, which also plays a role in drainage. The power device 100 is arranged between the drain port 20 and the connecting hole, and suction is generated by the power device 100. The garbage is absorbed from the garbage inlet along with the water flow and is trapped in the containing chamber, and the water is discharged from the drain port 20. These devices can adopt the structure in the prior art.

[0048] The improvement of the utility model is that it also includes a manipulator mechanism arranged on the upper part of the solid collection device, the manipulator mechanism includes a support shaft 11, a first driving mechanism 12 for driving the support shaft 11 to rotate, a swing arm and a second driving mechanism 7 for driving the swing arm to rotate, a clamp 9 arranged on the swing arm, and a third driving mechanism 8 for driving the clamp 9 to open and close. The clamp 9 and the third driving mechanism 8 constitute an electric clamp, and the electric clamp 9 with excellent waterproof performance can be directly purchased from the market. The support shaft 11 is arranged in the vertical direction, the second driving mechanism 7 is arranged at the end of the support shaft 11, and the rotating shaft of the second driving mechanism 7 (in the embodiment, it can be the output shaft of the motor 10) is arranged in the horizontal direction. The utility model designs a manipulator, and when encountering larger garbage or requiring the assistance of the manipulator, the auxiliary manipulator arm can move and operate flexibly, and can grasp, move and collect garbage of different sizes and shapes. In this way, the robot can effectively handle various complex garbage cleaning tasks and improve cleaning efficiency and accuracy.

[0049] As a preferred embodiment of the utility model, it also includes a fourth drive mechanism 2 arranged at the end of the swing arm, the rotation axis of the fourth drive mechanism 2 (in the embodiment, it can be the output shaft of the motor) is arranged parallel to the rotation axis of the second drive mechanism 7, and the third drive mechanism 8 is arranged on the rotation axis of the fourth drive mechanism 2.

[0050] As a preferred embodiment of the utility model, it also includes a fifth drive mechanism 3 arranged on the rotating shaft of the fourth drive mechanism 2, and the third drive mechanism 8 is arranged at the end of the rotating shaft of the fifth drive mechanism 3 (in the embodiment, it can be the output shaft of the motor), and the rotating shaft of the fifth drive mechanism 3 is arranged perpendicular to the rotating shaft of the fourth drive mechanism 2.

[0051] As a preferred embodiment of the present invention, the swing arm includes a barrel 6 that cooperates with each other, a telescopic rod 4 inserted in the barrel 6, and a telescopic driving mechanism for driving the telescopic rod 4 to telescope. A telescopic opening 5 is provided on the barrel 6, and the telescopic rod 4 is inserted from the telescopic opening 5. The fourth driving mechanism 2 is arranged on the telescopic rod 4. The telescopic driving mechanism and the barrel 6 constitute a telescopic swing arm, which can use an existing electric push rod, for example.

[0052] As a preferred embodiment of the present invention, the first drive mechanism 12, the second drive mechanism 7, the fourth drive mechanism 2 and the fifth drive mechanism 3 are all motors, and motors with excellent waterproof performance can be directly purchased from the market.

[0053] As a preferred embodiment of the present invention, the solid collection device includes a triangular pyramid shell that is larger at the top and smaller at the bottom, and a garbage collection box 22 disposed in the shell. The use of a triangular pyramid shell can reduce underwater movement resistance to improve its movement efficiency in the water. The edges of the triangular pyramid shell are chamfered to avoid protruding corners and edges, reduce water flow resistance, and improve the speed and stability of the robot. The accommodating chamber and the connecting hole are disposed on the garbage collection box 22, and the power device 100 is disposed below the garbage collection box 22. In the present invention, the shell is made of corrosion-resistant nickel-based alloy materials, fiberglass, carbon fiber, etc., to ensure that the robot has good durability and stability in an underwater environment.

[0054] As a preferred embodiment of the present invention, the garbage storage box 22 is detachably mounted on the housing via a buckle 28 to facilitate garbage cleaning and maintenance of the garbage storage box 22 .

[0055] As a preferred embodiment of the present invention, the upper part 23 of the shell is provided with a solar panel, specifically, the solar panel is provided on the top of the shell. The upper part 23 of the shell is also provided with a warning light bar 13, which is arranged around the upper part 23 of the shell to serve as a warning. In the present invention, a control system can be arranged inside the shell to control the actions of various components, and a power supply is provided in the control system. The power supply can be a battery, which is charged by the solar panel, and the power supply charges the electrical components of the robot.

[0056] As a preferred embodiment of the utility model, a camera 15 is provided on the shell for photographing the situation of the seabed. Specifically, the camera 15 is arranged at the middle part 17 of the shell. A reflective mark 16, a display screen 24, and a display screen sub-screen 26 are also provided at the middle part 17 of the shell. The display screen 24 and the display screen sub-screen 26 are used to display the relevant parameters of the controller. The camera adopts a 360° panoramic observation camera 15, and uses image processing technology to identify and classify seabed garbage; the existing VisionMaster algorithm platform is adopted, and image processing technology is combined to realize real-time identification and classification of seabed garbage. The VisionMaster algorithm platform is an existing algorithm platform, which has efficient image recognition and classification capabilities, and can quickly and accurately identify seabed garbage. Observe the monitoring interface, and the robot begins to visually identify and classify seabed garbage. Through the image processing algorithm, the robot can extract and match the characteristics of the garbage, and accurately identify and classify different types of garbage. During the identification process, the monitoring system displays the identification results and garbage distribution in real time, so that the operator can adjust the cleaning strategy and path planning in time.

[0057] In the utility model, a GPS positioning system is arranged in the shell to realize the positioning and navigation of the cleaning robot; the GPS positioning system is used to realize the positioning and navigation of the cleaning robot to ensure its accurate positioning during the seabed operation.

[0058] The utility model also installs an illuminating lamp 1 on the outer shell of the third driving mechanism 8 to realize lighting.

[0059] In the present invention, the power device 100 may be a vortex pump, which generates suction, thereby forming a funnel area at the garbage inlet of the garbage storage box 22, and the flow of seawater attracts the garbage on the water.

[0060] The utility model adopts wireless data transmission module technology to transmit the data in the cleaning process to the monitoring center in real time, which is convenient for monitoring and adjusting the cleaning operation. Turn on the wireless data transmission module to ensure that the equipment connection with the monitoring center or the operator is normal. The monitoring center or the operator can monitor the data in the cleaning process in real time through the data transmission module, including the cleaning progress, environmental parameters, etc. According to the transmitted data, the robot's working strategy and action direction are adjusted in time to ensure the efficient progress of the cleaning operation. During the data transmission process, the stability and security of data transmission are ensured to prevent data loss or interference.

[0061] In the present invention, the housing of the garbage cleaning robot 1000 is provided with a matching card slot 14 and a card block 21. Two garbage cleaning robots 1000 can be detachably assembled together through the card slot 14 and the card block 21, or multiple housings can be assembled into modules to achieve cluster operation. Figure 6There are 6 garbage cleaning robots 1000, and two adjacent garbage cleaning robots 1000 are combined together through the card slot 14 and the card block 21 to form a module. In the utility model, the garbage cleaning robot can also adopt other combination modes. Preferably, a retractable telescopic positioning block 27 is provided on the card block 2. When the card block 2 enters the card slot 14, the telescopic positioning block 27 is squeezed. After entering the card slot 14, the telescopic positioning block 27 can be more stably stuck in the card slot 14.

[0062] As a preferred embodiment of the present utility model, the stabilizing device 200 includes a mounting ring 202, a mounting frame 201 rotatably arranged in the mounting ring 202, a drainage blade 205 arranged on the mounting frame 201, and a sixth driving mechanism (not shown in the figure) for driving the drainage blade 205 to rotate. The mounting ring 202 is rotatably arranged in the shell through the first rotating shaft 203, the mounting frame 201 is arranged at a position corresponding to the drain outlet 20, and a seventh driving mechanism (not shown in the figure) for driving the first rotating shaft 203 to rotate is provided in the shell. The mounting frame 201 is rotatably mounted in the mounting ring 202 through the second rotating shaft 204, and an eighth driving mechanism (not shown in the figure) for driving the second rotating shaft 204 to rotate is provided on the mounting ring 202. The first rotating shaft 203 and the second rotating shaft 204 are both arranged in the horizontal direction and both are arranged vertically. In the utility model, the stabilizing device 20 can be purchased directly from the market. By rotating the mounting ring 202, the mounting frame 201 and the drainage blades 205, the drainage direction can be adjusted, thereby adjusting the walking direction of the entire robot and adjusting the buoyancy, so that the robot can be suspended in the sea water and walk in the sea water.

[0063] The protection scope of the present utility model is not limited to this embodiment, and any person making similar changes thereto shall be deemed to be within the protection scope of the present utility model.

Claims

1. A garbage cleaning robot that can be used under the sea, comprising a stabilizing device, a solid collecting device and a power device, wherein a accommodating chamber for accommodating garbage is provided in the solid collecting device, a garbage inlet is provided at the upper part of the solid collecting device, a drain outlet is provided at the lower part of the solid collecting device, a connecting hole is further provided on the solid collecting device, the connecting hole connects the accommodating chamber and the drain outlet, and the power device is arranged between the drain outlet and the connecting hole, characterized in that: It also includes a manipulator mechanism arranged on the upper part of the solid collection device, the manipulator mechanism includes a support shaft, a first driving mechanism for driving the support shaft to rotate, a swing arm and a second driving mechanism for driving the swing arm to rotate, a clamping jaw arranged on the swing arm and a third driving mechanism for driving the clamping jaw to open and close, the support shaft is arranged in a vertical direction, the second driving mechanism is arranged at the end of the support shaft, and the rotating axis of the second driving mechanism is arranged in a horizontal direction.

2. The underwater garbage cleaning robot as claimed in claim 1, characterized in that: It also includes a fourth driving mechanism arranged at the end of the swing arm, the rotation axis of the fourth driving mechanism is arranged in parallel with the rotation axis of the second driving mechanism, and the third driving mechanism is arranged on the rotation axis of the fourth driving mechanism.

3. The underwater garbage cleaning robot as claimed in claim 2, characterized in that: It also includes a fifth driving mechanism arranged on the rotating shaft of the fourth driving mechanism, the third driving mechanism is arranged at the end of the rotating shaft of the fifth driving mechanism, and the rotating shaft of the fifth driving mechanism is arranged perpendicular to the rotating shaft of the fourth driving mechanism.

4. A garbage cleaning robot that can be used under the sea as claimed in claim 3, characterized in that: The swing arm includes a cylinder part that cooperates with each other, a telescopic rod inserted in the cylinder part, and a telescopic driving mechanism for driving the telescopic movement of the telescopic rod, and the fourth driving mechanism is arranged on the telescopic rod.

5. The underwater garbage cleaning robot as claimed in claim 4, characterized in that: The first driving mechanism, the second driving mechanism, the fourth driving mechanism and the fifth driving mechanism are all motors.

6. A garbage cleaning robot that can be used under the sea as claimed in any one of claims 1 to 5, characterized in that: The solid collection device comprises a triangular pyramid shell with a larger upper part and a smaller lower part and a garbage collection box arranged in the shell, the accommodating chamber and the communicating hole are arranged on the garbage collection box, and the power device is arranged below the garbage collection box.

7. The underwater garbage cleaning robot as claimed in claim 6, characterized in that: The garbage storage box is detachably mounted on the shell through buckles.

8. The underwater garbage cleaning robot as claimed in claim 7, characterized in that: A solar cell panel is arranged on the upper part of the shell.

9. The underwater garbage cleaning robot as claimed in claim 8, characterized in that: A camera is arranged on the shell.

10. The underwater garbage cleaning robot as claimed in claim 9, characterized in that: The stabilizing device includes a mounting ring, a mounting frame rotatably arranged in the mounting ring, a drainage blade arranged on the mounting frame, and a sixth driving mechanism for driving the drainage blade to rotate. The mounting ring is rotatably arranged in the shell through a first rotating shaft, and a seventh driving mechanism for driving the first rotating shaft to rotate is arranged in the shell. The mounting frame is rotatably mounted in the mounting ring through a second rotating shaft, and an eighth driving mechanism for driving the second rotating shaft to rotate is arranged on the mounting ring. The first rotating shaft and the second rotating shaft are both arranged in a horizontal direction and both are arranged vertically.

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