River channel garbage cleaning robot

Abstract

The utility model discloses a robot for cleaning riverway garbage, relates to the technical field of riverway garbage cleaning, and mainly aims to solve the problems that existing riverway garbage cleaning needs to be carried out manually, and corresponding salvage modes need to be adjusted according to different salvage objects. According to the main structure, a multi-axis mechanical arm, a submerging and surfacing control tank and a driving propeller are arranged on the side wall of a robot body, and an airborne laser radar, a photovoltaic solar panel and a camera are further arranged at the top of the robot body; the robot body comprises a garbage storage box and a control case which are sequentially connected, a garbage inlet is formed in the front portion of the garbage storage box, outer side gates are arranged on the two sides of the garbage inlet, and a drainage propeller and a flow guide drainage port are further arranged on the inner wall of the garbage storage box. The utility model provides a robot for cleaning river channel garbage, which can realize comprehensive and automatic salvage of floating garbage, suspended garbage and deposited garbage, does not need excessive manual participation, reduces the labor cost and improves the salvage efficiency at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of river garbage cleaning, in particular to a robot for river garbage cleaning. Background Art

[0002] Water pollution usually refers to the situation where the original state of water bodies is changed due to human production and life, thereby destroying the aquatic ecosystem.

[0003] Among them, garbage intrusion is one of the common causes of water pollution, which can be divided into floating garbage on the river surface, suspended garbage in the river water and silted garbage on the riverbed.

[0004] Currently, the way to deal with floating garbage and suspended garbage in rivers is for staff to drive small boats and salvage the garbage with handheld salvage tools; while the way to deal with silted garbage in rivers is for staff to dive and salvage it.

[0005] However, these cleaning methods all rely on manual labor and require adjustments to the salvage method based on the target. This results in high labor costs and low efficiency, making it difficult to carry out large-scale river garbage cleaning work. Utility Model Content

[0006] The purpose of the utility model is to provide a robot for cleaning river garbage, which can realize comprehensive and automatic salvage of floating garbage, suspended garbage and silted garbage without excessive human participation, reducing labor costs while also improving salvage efficiency.

[0007] The utility model provides a technical solution to the above-mentioned technical problem: a river garbage cleaning robot, comprising a horizontally arranged chassis frame, a rectangular robot body arranged horizontally above the chassis frame, two walking tracks arranged in sequence from front to back on both sides of the chassis frame, a multi-axis robotic arm, a submersible control tank, and a driving propeller arranged in sequence from front to back on the side walls of the robot body above the two walking tracks on the same side, and an airborne laser radar, a photovoltaic solar panel, and a camera arranged in sequence from front to back on the top of the robot body;

[0008] The robot body includes a garbage storage box and a control chassis connected in sequence from front to back. A garbage inlet is provided on the front side wall of the garbage storage box, and the side walls of the garbage storage box on both sides of the garbage inlet are provided with outer gates that can block the garbage inlet. A drainage propeller that can divert water from front to back is also provided on the inner wall of the garbage storage box, and multiple diversion drainage outlets are provided on the side wall of the garbage storage box behind the drainage propeller.

[0009] As a further improvement of the present invention, the walking crawler is connected to the edge of the chassis frame through a vertically arranged crawler mounting plate, a driving wheel and a driven wheel are sequentially mounted on one side of the crawler mounting plate from front to back, and a crawler drive motor with an output end connected to the driving wheel is provided on the other side of the crawler mounting plate, and the walking crawler is rotatably mounted on the outside of the driving wheel and the driven wheel.

[0010] As a further improvement of the present invention, one end of the multi-axis robotic arm is connected to the side wall of the robot body through a robotic arm mounting plate, and the other end of the multi-axis robotic arm extends to the front of the garbage inlet, and the end is connected to a screw-type clamp through a clamp motor transmission.

[0011] As a further improvement of the present invention, a piston drive screw is coaxially installed inside the submersible and buoyant control tank, and a piston that can move axially along the submersible and buoyant control tank is threadedly connected to the piston drive screw. One end of the piston drive screw passes through the side wall of the submersible and buoyant control tank and is transmission-connected to a screw drive motor arranged on the side wall of the robot body. A water inlet and outlet are also provided on the side wall at one end of the submersible and buoyant control tank.

[0012] As a further improvement of the present invention, an outer gate driving rod is provided on the opposite sides of the two outer gates, one end of the outer gate driving rod is fixedly connected to the outer gate, and the other end is horizontally swingingly hinged to the hinge ear provided on the side wall of the garbage storage box, and an outer gate driving motor is also provided on the side wall of the garbage storage box below the hinge ear, which is transmission-connected to the hinged end of the outer gate driving rod.

[0013] As a further improvement of the present invention, an inner gate is vertically provided on the inner wall of the garbage storage box behind the two outer gates, and the inner gate is rotatably installed in the garbage storage box through an inner gate mounting shaft vertically arranged at the front of its upper edge; an electric telescopic rod is provided on the opposite sides of the two inner gates, one end of the electric telescopic rod is horizontally swingingly hinged to the inner gate, and the other end passes through the avoidance slot on the side wall of the garbage storage box and is transmission-connected to the power output end of a vertically arranged inner gate drive motor.

[0014] As a further improvement of the present invention, a garbage conveyor belt capable of rotating from front to back is laid on the bottom of the garbage storage box.

[0015] As a further improvement of the present invention, two balancing propellers are provided on the side walls of the robot body above the two submersible and floating control tanks in sequence from front to back, and the balancing propellers are both arranged vertically.

[0016] As a further improvement of the present invention, hanging rings are provided at the four corners of the top of the robot body.

[0017] As a further improvement of the present invention, a battery pack and a controller are provided in the control chassis.

[0018] Beneficial effects

[0019] Compared with the existing technology, the advantages of the river garbage cleaning robot of the present invention are:

[0020] The robot can change its own weight by changing the amount of water in the buoyancy control tank, allowing the robot to switch freely among three states: floating, suspended and sinking. In the floating and suspended states, the robot can use the driving propeller to move on the water surface and in the water by rotating and propelling the water flow. In the sinking state, the robot can use the driving propeller and walking tracks to move on the riverbed by rotating and propelling the water flow plus walking on the tracks. In this process, through the long-range search of the onboard laser radar and the close-range recognition of the camera installed on the robot, in conjunction with the multi-axis robotic arm, the robot can actively approach the garbage in the river channel and clamp the garbage into the garbage storage box.

[0021] As a result, the robot can achieve comprehensive and automatic salvage of floating garbage, suspended garbage and silted garbage, and has good versatility in the field of river garbage cleaning; and because the robot is a fully automatic equipment integrating movement, garbage identification and garbage collection, it does not require excessive human participation, reducing labor costs while also improving salvage efficiency.

[0022] The present invention will become more clear through the following description in conjunction with the accompanying drawings, which are used to explain embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is a three-dimensional diagram of the utility model;

[0025] Figure 2 A three-dimensional diagram of the robot body of the present invention;

[0026] Figure 3 This is a cross-sectional view of the robot body of the present utility model;

[0027] Figure 4 This is an exploded view of the walking track of the utility model;

[0028] Figure 5 A three-dimensional diagram of a multi-axis robotic arm of the present invention;

[0029] Figure 6 This is a cross-sectional view of the submersible control tank of the present invention;

[0030] Figure 7 A perspective view of the driving propeller of the present invention;

[0031] Figure 8 A three-dimensional diagram of the camera of the present invention;

[0032] Figure 9 This is an exploded view of the balance-adjustable propeller of the present invention;

[0033] Figure 10 It is a three-dimensional view of the inner gate of the present invention.

[0034] Among them: 1-garbage storage box; 11-garbage inlet; 12-garbage conveyor belt; 13-drainage propeller; 14-diversion drain outlet; 15-airborne laser radar; 16-photovoltaic solar panel; 2-control box; 21-battery pack; 22-controller; 23-camera; 3-chassis frame; 4-outer gate; 41-outer gate drive motor; 42-outer gate drive rod; 5-inner gate; 51-inner gate water hole; 52-inner gate installation Shaft; 53-electric telescopic rod; 54-inner gate drive motor; 55-avoidance slot; 6-drive propeller; 61-balance adjustment propeller; 62-lifting ring; 7-multi-axis robotic arm; 71-screw gripper; 8-submersible control tank; 81-water inlet and outlet; 82-piston; 83-piston drive screw; 84-screw drive motor; 9-walking track; 91-driving wheel; 92-driven wheel; 93-track mounting plate; 94-track drive motor. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described herein are merely a portion of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0036] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; of course, they can also refer to mechanical connections or electrical connections; in addition, they can also refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0037] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0038] Example

[0039] The specific implementation of the utility model is as follows Figure 1-10 As shown, a robot for cleaning river garbage includes a horizontally arranged chassis frame 3, with a robot body in a rectangular box-like structure arranged horizontally above the chassis frame 3. Two walking tracks 9 are provided on both sides of the chassis frame 3, arranged in sequence from front to back. These walking tracks 9 enable the robot to move on land and on the riverbed. Furthermore, a multi-axis robotic arm 7, a submersible control tank 8, and a drive propeller 6 are arranged on the side walls of the robot body above the two walking tracks 9 on the same side, in sequence from front to back. Furthermore, an airborne laser radar 15, a photovoltaic solar panel 16, and a camera 23 are also arranged on the top of the robot body, in sequence from front to back. In this embodiment, a battery pack 21 and a controller 22 are provided in the control chassis 2, and the controller 22 and the battery pack 21 are electrically connected to the walking track 9, the multi-axis robotic arm 7, the submersible control tank 8, the driving propeller 6, the airborne laser radar 15, the photovoltaic solar panel 16 and the camera 23 - that is, the battery pack 21 provides power for the operation of each component, and the photovoltaic solar panel 16 is used for charging; and the controller 22 can control the operation of each component.

[0040] The functions of the various components of the robot are as follows:

[0041] The multi-axis robotic arm 7 adopts the existing waterproof robotic arm, which is mainly used to realize the function of grabbing garbage. The submersible control tank 8 is a hollow tank. By filling water into it or draining water from it, the overall weight of the robot can be changed, so that the robot can freely switch between the three states of floating, suspended and sinking. The driving propeller 6 adopts the adjustable variable pitch propeller in the existing technology, which is mainly used to realize the vortex propulsion of the robot on the water surface and in the water. Of course, the driving propeller 6 can also cooperate with the walking track 9 to assist the robot to move on the riverbed. The airborne laser radar 15 adopts the existing laser radar, which is mainly used to scan and search for garbage in the river channel and transmit its position information to the controller 22, so as to control the robot to approach the garbage. The photovoltaic solar panel 16 adopts the existing technology and is mainly used to charge the battery pack 21, thereby improving the self-sustaining ability of the robot. The camera 23 adopts an existing waterproof camera and is rotatably mounted on the top of the robot body through an electric turntable which is also electrically connected to the controller 22 and is of existing technology; the camera 23 is used to take pictures of the garbage after the robot approaches the garbage, and transmit the photographed information to the controller 22, so as to realize further identification and positioning of the garbage, and facilitate the subsequent grasping of the multi-axis robot arm 7.

[0042] Regarding the specific structure of the robot body: The robot body consists of a waste storage bin 1 and a control chassis 2, connected in sequence from front to back. A waste inlet 11 is located on the front sidewall of the waste storage bin 1. External gates 4, which block the inlet 11, are located on the sidewalls of the waste storage bin 1 on either side. A multi-axis robotic arm 7 deposits waste into the waste storage bin 1 through the inlet 11. The external gates 4 close the inlet 11 after collecting the waste, preventing it from falling out of the waste storage bin 1.

[0043] In this embodiment, when the robot is in the river or on the riverbed, lightweight garbage, affected by the buoyancy and current of the water, may float out of the garbage storage bin 1 while the multi-axis robotic arm 7 is placing the garbage. To address this issue, a drainage propeller 13 is installed on the inner wall of the garbage storage bin 1 to divert the garbage from front to back. Furthermore, multiple drainage outlets 14 are located on the sidewall of the garbage storage bin 1 behind the drainage propeller 13. The spiral drainage of the drainage propeller 13, combined with the multiple drainage outlets 14, creates a swirling flow from front to back within the garbage storage bin 1, preventing lightweight garbage from floating out of the bin 1.

[0044] Before use, the robot is remotely controlled by staff, allowing it to move to the riverbed using its crawler tracks 9. During use, staff first select the robot's operating mode. The submersible control tank 8 will suction or drain water based on the operating mode, causing the robot to enter a floating, suspended, or sunken state. The robot then enters automatic mode, using its onboard laser radar 15 to scan and locate nearby garbage and transmit its location information to the controller 22. The controller 22 then controls the robot to move to the vicinity of the garbage, driven by the propeller 6 or the propeller 6 plus crawler tracks 9. The camera 23 then captures the garbage and transmits the captured information to the controller 22. Finally, the controller 22 controls the multi-axis robotic arm 7 to pick up the garbage and place it through the garbage inlet 11 into the garbage storage bin 1, completing the collection process. The aforementioned steps are repeated.

[0045] As a result, the robot can fully and automatically salvage floating, suspended, and silted garbage, demonstrating its versatility in river cleaning. Furthermore, because the robot integrates movement, garbage identification, and collection into a fully automated system, it requires minimal human intervention, reducing labor costs while also improving salvage efficiency.

[0046] In this embodiment, the specific structure of each component in the robot is as follows:

[0047] like Figure 4 As shown, the traveling track 9 is connected to the edge of the chassis frame 3 via a vertically mounted track mounting plate 93. A driving wheel 91 and two driven wheels 92 are mounted on one side of the track mounting plate 93, sequentially from front to back. A track drive motor 94 is mounted on the other side of the track mounting plate 93, its output end being in driving connection with the driving wheels 91. The traveling track 9 is rotatably mounted on the exterior of the driving and driven wheels 91, 92. In this embodiment, the track drive motor 94 is electrically connected to the controller 22, enabling the controller 22 to control the rotation of the driving wheels 91, and thus the operation of the traveling track 9.

[0048] like Figure 5 As shown, one end of the multi-axis robotic arm 7 is connected to the side wall of the robot body via a robotic arm mounting plate. The other end of the multi-axis robotic arm 7 extends in front of the garbage inlet 11 and is connected to a screw-type gripper 71 via a gripper motor. The screw-type gripper 71 grips the garbage and, through the operation of the multi-axis robotic arm 7, deposits the garbage into the garbage storage bin 1. It should be noted that the screw-type gripper 71 driven by the gripper motor is conventional technology, and therefore its specific structure will not be described in detail here.

[0049] like Figure 6As shown, a piston drive screw 83 is coaxially mounted within the submersible and buoyant control tank 8. A piston 82, capable of axial movement along the submersible and buoyant control tank 8, is threadedly connected to the piston drive screw 83. One end of the piston drive screw 83 extends through the side wall of the submersible and buoyant control tank 8 and is in transmission connection with a screw drive motor 84 mounted on the side wall of the robot body. A water inlet and outlet 81 is also provided on the side wall of the submersible and buoyant control tank 8. In this embodiment, to ensure that the piston 82 can only move axially along the submersible and buoyant control tank 8, a guide protrusion is provided on the inner wall of the submersible and buoyant control tank 8, and a guide groove is provided on the outer wall of the piston 82. A sliding seal is formed between the outer wall of the piston 82 and the inner wall of the submersible and buoyant control tank 8. The forward and reverse rotation of the screw drive motor 84 is controlled by the controller 22 to drive the piston 82 axially along the submersible and buoyant control tank 8, thereby achieving suction and drainage of the submersible and buoyant control tank 8.

[0050] like Figure 2 As shown, to drive the outer gates 4, each outer gate drive rod 42 is provided on opposite sides of the two outer gates 4. One end of the outer gate drive rod 42 is fixedly connected to the outer gate 4, and the other end is horizontally swingably hinged to a hinged lug provided on the side wall of the waste storage bin 1. Below the hinged lug, an outer gate drive motor 41 is provided on the side wall of the waste storage bin 1, drivingly connected to the hinged end of the outer gate drive rod 42. In this embodiment, the outer gate drive motor 41 is electrically connected to the controller 22. The outer gate drive motor 41 and the outer gate drive rod 42 drive the outer gates 4 open and close through the transmission cooperation.

[0051] At the same time, if Figure 2 、 3 As shown in Figures 10 and 10, an inner gate 5 is vertically installed on the inner wall of the garbage storage box 1 behind the outer gate 4. Inner gate water holes 51 are uniformly distributed on the surface of the inner gate 5. The inner gate 5 is rotatably mounted in the garbage storage box 1 via an inner gate mounting shaft 52 vertically arranged at the front of its upper edge. An electric telescopic rod 53 is installed on the opposite side of the two inner gates 5. One end of the electric telescopic rod 53 is horizontally swingably hinged to the inner gate 5, and the other end passes through an avoidance slot 55 on the side wall of the garbage storage box 1 and is transmission-connected to the power output end of a vertically installed inner gate drive motor 54. In this embodiment, the inner gate drive motor 54 is electrically connected to the controller 22. Through the transmission coordination between the inner gate drive motor 54 and the electric telescopic rod 53, as well as the avoidance space of the avoidance slot 55, the two outer gates 4 can be opened and closed.

[0052] In this robot, in order to further store the garbage put down by the multi-axis robot arm 7 into the garbage storage box 1, the space in the garbage storage box 1 can be used as much as possible. Figure 2 、 3As shown, a garbage conveyor belt 12 capable of rotating from front to back is laid at the bottom of the garbage storage box 1. In this embodiment, the garbage conveyor belt 12 is a common transmission belt structure in the prior art and is driven by a motor provided at one end of the garbage conveyor belt 12 and electrically connected to the controller 22.

[0053] In addition, in order to maintain the balance of the robot body in the suspended state, two side walls of the robot body above the two submersible control tanks 8 are provided in sequence from front to back. Figure 9 The balancing propellers 61 are shown, and the balancing propellers 61 are all arranged vertically. In this embodiment, the four balancing propellers 61 are all electrically connected to the controller 22. The controller 22 controls the size of the water flow generated by the balancing propellers 61 to maintain the balance of the robot body in the suspended state.

[0054] It should be noted that:

[0055] In order to facilitate the long-distance transportation of the robot on land, lifting rings 62 are provided at the four corners of the top of the robot body.

[0056] The present invention is described above in conjunction with the best embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations based on the essence of the present invention.

Claims

1. A robot for cleaning river garbage, comprising a horizontally arranged chassis frame (3), a rectangular robot body being arranged horizontally above the chassis frame (3), and characterized in that: Two walking tracks (9) are provided on both sides of the chassis frame (3) in sequence from front to back; a multi-axis robotic arm (7), a submersible control tank (8) and a driving propeller (6) are provided on the side wall of the robot body above the two walking tracks (9) on the same side in sequence from front to back; an airborne laser radar (15), a photovoltaic solar panel (16) and a camera (23) are also provided on the top of the robot body in sequence from front to back; The robot body comprises a garbage storage box (1) and a control box (2) which are sequentially connected from front to back, a garbage inlet (11) is provided on the front side wall of the garbage storage box (1), and outer gates (4) capable of blocking the garbage inlet (11) are provided on the side walls of the garbage storage box (1) on both sides of the garbage inlet (11), a drainage propeller (13) capable of draining from front to back is also provided on the inner wall of the garbage storage box (1), and a plurality of diversion drainage ports (14) are provided on the side wall of the garbage storage box (1) behind the drainage propeller (13).

2. The river garbage cleaning robot according to claim 1, characterized in that: The walking crawler (9) is connected to the edge of the chassis frame (3) through a vertically arranged crawler mounting plate (93), and a driving wheel (91) and a driven wheel (92) are sequentially mounted on one side of the crawler mounting plate (93) from front to back. A crawler drive motor (94) having an output end connected to the driving wheel (91) is provided on the other side of the crawler mounting plate (93). The walking crawler (9) is rotatably mounted on the outside of the driving wheel (91) and the driven wheel (92).

3. The river garbage cleaning robot according to claim 1, characterized in that: One end of the multi-axis robotic arm (7) is connected to the side wall of the robot body via a robotic arm mounting plate, and the other end of the multi-axis robotic arm (7) extends to the front of the garbage inlet (11), and the end is connected to a screw-type clamping claw (71) via a clamping claw motor transmission.

4. The river garbage cleaning robot according to claim 1, characterized in that: A piston drive screw (83) is coaxially installed inside the submersible and buoyant control tank (8), and a piston (82) capable of moving axially along the submersible and buoyant control tank (8) is threadedly connected to the piston drive screw (83). One end of the piston drive screw (83) passes through the side wall of the submersible and buoyant control tank (8) and is transmission-connected to a screw drive motor (84) arranged on the side wall of the robot body. A water inlet and outlet (81) is also provided on the side wall of one end of the submersible and buoyant control tank (8).

5. The river garbage cleaning robot according to claim 1, characterized in that: An outer gate drive rod (42) is provided on opposite sides of the two outer gates (4), one end of the outer gate drive rod (42) is fixedly connected to the outer gate (4), and the other end is horizontally swing-hinged to a hinged ear provided on the side wall of the garbage storage box (1), and an outer gate drive motor (41) is also provided on the side wall of the garbage storage box (1) below the hinged ear and is transmission-connected to the hinged end of the outer gate drive rod (42).

6. The river garbage cleaning robot according to claim 1 or 5, characterized in that: An inner gate (5) is vertically provided on the inner wall of the garbage storage box (1) behind the two outer gates (4), and the inner gate (5) is rotatably installed in the garbage storage box (1) through an inner gate installation shaft (52) vertically provided at the front of its upper edge; an electric telescopic rod (53) is provided on the opposite sides of the two inner gates (5), one end of the electric telescopic rod (53) is horizontally swing-hinged with the inner gate (5), and the other end passes through the avoidance slot (55) on the side wall of the garbage storage box (1) and is transmission-connected to the power output end of a vertically provided inner gate drive motor (54).

7. The river garbage cleaning robot according to claim 1, characterized in that: The bottom of the garbage storage box (1) is provided with a garbage conveyor belt (12) capable of rotating from front to back.

8. The river garbage cleaning robot according to claim 1, characterized in that: Two balancing propellers (61) are provided on the side walls of the robot body above the two submersible and floating control tanks (8) in sequence from front to back, and the balancing propellers (61) are both arranged vertically.

9. The river garbage cleaning robot according to claim 1, characterized in that: Hanging rings (62) are provided at the four corners of the top of the robot body.

10. The river garbage cleaning robot according to claim 1, characterized in that: A battery pack (21) and a controller (22) are provided in the control box (2).

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