Sand beach cleaning robot

Abstract

The utility model relates to a sand beach cleaning robot, belongs to the technical field of robots, and particularly relates to a sand beach cleaning robot which comprises an inner support. The two garbage cans are both fixed to the middle position of the inner support and are arranged side by side; the garbage tray is fixed to the inner support, the garbage tray is located above the two garbage cans, and the garbage tray is located in the middle of the two garbage cans; bases of the two multi-axis robot hands are fixed to the inner support, image acquisition modules are arranged on the outer sides of the clamping ends of the two multi-axis robot hands, and the two multi-axis robot hands are arranged side by side and located on the rear side of the garbage tray; according to the beach garbage sorting device, garbage sorting can be achieved, and the problem that although a robot can clean beach garbage, organisms (such as crabs) in a beach can be conveyed into a storage mechanism together, and ecological balance can be damaged is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a beach cleaning robot. BACKGROUND

[0002] Beach garbage has become a global environmental problem, causing serious impact on the ecological system, human health and tourism industry. Dirty and messy beaches reduce the tourist experience and lead to a decline in tourism revenue.

[0003] According to the search, the patent with the authorization announcement No. CN217203825U discloses a beach garbage cleaning robot, which comprises two vehicle bodies, a picking mechanism, a conveying and screening mechanism, a storage mechanism and a canopy. The picking mechanism, the conveying and screening mechanism and the storage mechanism are arranged between the two vehicle bodies, and the conveying and screening mechanism is located between the picking mechanism and the storage mechanism. The canopy is detachably connected with the two vehicle bodies and located on the top of the two vehicle bodies. The beach garbage cleaning robot moves to the area to be cleaned through the vehicle bodies, and the picking mechanism is driven to rotate clockwise by the first speed reducer. The beach surface and the buried garbage can be picked up at the same time through the sand raking teeth, and the garbage is thrown into the conveying and screening mechanism behind the picking mechanism by the centrifugal force of the fast rotation of the picking mechanism, and then the conveying and screening mechanism conveys the garbage to the storage mechanism, completing the cleaning of the garbage without manual cleaning and improving the cleaning efficiency.

[0004] Based on the search and the prior art, it is found that the above-mentioned robot can clean the beach garbage, but it is easy to send the organisms (such as crabs) in the beach into the storage mechanism, which can destroy the ecological balance. UTILITY MODEL CONTENT

[0005] In order to solve the above technical problems, the utility model provides a beach cleaning robot which can sort garbage.

[0006] The technical solution for achieving the purpose of the utility model is as follows:

[0007] A beach cleaning robot comprises:

[0008] An inner support;

[0009] Two garbage cans, both of which are fixed at the middle position of the inner support and arranged side by side;

[0010] A garbage disc, which is fixed with the inner support and located above the two garbage cans and at the middle position of the two garbage cans;

[0011] Two multi-axis robot hands, the bases of both of which are fixed on the inner support, and the image acquisition modules are arranged on the outer sides of the clamping ends of the two multi-axis robot hands, wherein the two multi-axis robot hands are arranged side by side and located at the rear side of the garbage disc.

[0012] In some embodiments, the outer side of the inner support is provided with a shell, the rear end of the shell is provided with a heat dissipation hole, and the bottom of the inner support is provided with a mechanical track chassis.

[0013] In some embodiments, the top of the shell is provided with a plurality of first solar panels, the top of the shell is provided with a six-degree-of-freedom turntable, and the table top of the six-degree-of-freedom turntable is provided with a second solar panel.

[0014] In some embodiments, the inner part of the inner support is provided with a conveyor, the conveying belt of the conveyor is provided with a plurality of belt separators integrated with the conveyor structure, and the belt surface of the conveying belt is provided with a plurality of fine mesh holes, both drive rollers of the conveyor are rotatably installed in the inner support, and the drive motor of the conveyor is fixed on the inner support, and one end of the conveyor is arranged above the garbage tray.

[0015] In some embodiments, the front side of the inner support is provided with an inclined shovel head, the bottom surface of the shovel head is provided with a plurality of fine holes, the other end of the conveyor is arranged below the shovel head, and the inner part of the inner support is provided with a reciprocating mechanism for reciprocating linear movement of the shovel head.

[0016] In some embodiments, the reciprocating mechanism comprises a synchronous rod, both ends of the synchronous rod are rotatably installed in the inner support, a servo motor is fixed in the inner support, the output shaft of the servo motor and the synchronous rod are both fixed with synchronous wheels, the two synchronous wheels are sleeved with a synchronous belt, both ends of the synchronous rod are fixed with eccentric wheels, and the eccentric wheels 16 are in the form of a shell, two support plates are fixed in the inner support, the top end of the support plate is fixed with an inclined positioning sleeve, a slide rod is slidably inserted into the inner part of the positioning sleeve, one end of the slide rod is fixed with the shovel head, and the other end of the slide rod is rotatably installed with a contact wheel, and the wheel surface of the contact wheel is in contact with the inner wall of the shell of the eccentric wheel.

[0017] In some embodiments, a brush roller is rotatably installed in the inner support, the brush roller is located above the shovel head, both ends of the brush roller are fixed with first drive wheels coaxially arranged therewith, both ends of the synchronous rod are fixed with second drive wheels coaxially arranged therewith, and the two first drive wheels are coaxially arranged with the second drive wheels on the same side.

[0018] In some embodiments, the inner part of the shovel head is fixed with a plurality of inclined inclined plates.

[0019] Compared with the prior art, the present utility model has the following advantages:

[0020] One: the utility model discloses a garbage tray, two garbage cans and two multi-axis machine hands are provided, and the external setting of each multi-axis machine hand is provided with image acquisition module, and the garbage that is cleaned is placed in the garbage tray, and the image acquisition module carries out image acquisition, and then the multi-axis machine hand takes the garbage and places to the designated garbage can, and the non-garbage is placed into the garbage can, so as to realize the sorting of garbage.

[0021] Second: the utility model discloses a shovel head and reciprocating mechanism, reciprocating mechanism makes shovel head reciprocating straight movement according to the inclined direction, shovel head can be inserted into the sand of beach constantly, and the garbage in sand is shovelled into the shovel head, because the shovel head is provided with a plurality of filter holes, and is matched with reciprocating mechanism, the sand on the shovel head is filtered out quickly, and the garbage stays on the shovel;

[0022] Third: the utility model discloses that a plurality of inclined baffles are arranged on the shovel head, the garbage in sand can be brought out by the baffle, during the oblique upward movement of the shovel head, the garbage is subjected to oblique upward thrust and rolls to the upper side of the shovel head, when the shovel head moves obliquely downward, the garbage continues to move upward due to inertia, thereby rolling to the upper inclined plate and being clamped in the inclined angle of the inclined plate, so that the garbage in the shovel head is not easy to fall out of the shovel, and the garbage collection effect is improved.

[0023] Fourth, the utility model discloses six-degree-of-freedom turntable and solar cell panel, six-degree-of-freedom turntable can make solar cell panel carry out angle adjustment, thereby making solar cell panel accept illumination to the maximum extent, and improving photoelectric conversion efficiency.

[0024] The utility model discloses solve the problem that although the sand beach garbage can be cleaned, but the biological (such as crab) in the sand beach is also sent into the storage mechanism, and the ecological balance is destroyed. DRAWINGS

[0025] The utility model will be explained further in combination with the drawings and examples:

[0026] Figure 1 It is the overall three-dimensional structure schematic diagram provided in an embodiment of the utility model;

[0027] Figure 2 It is the internal structure schematic diagram provided in an embodiment of the utility model;

[0028] Figure 3 It is Figure 2 The enlarged structure schematic diagram of A of the utility model;

[0029] Figure 4 It is the shovel head and reciprocating mechanism three-dimensional structure schematic diagram provided in an embodiment of the utility model;

[0030] Figure 5Is the garbage can, garbage tray and multi-axis robot structure schematic diagram provided in the utility model in one embodiment.

[0031] Figure 6 Is the inclined plate installation structure schematic diagram provided in the utility model in one embodiment.

[0032] Figure 7 Is the shovel head sectional view provided in the utility model in one embodiment.

[0033] Mark explanation:

[0034] 1, shell; 2, inner support; 3, mechanical track chassis; 4, first solar panel; 5, six-degree-of-freedom rotary table; 6, second solar panel; 7, conveyor; 8, first transmission wheel; 9, second transmission wheel; 10, transmission belt; 11, multi-axis robot hand; 12, image acquisition module; 13, servo motor; 14, synchronous belt; 15, synchronous wheel; 16, eccentric wheel; 17, synchronous rod; 18, support plate; 19, positioning sleeve; 20, slide rod; 21, shovel head; 22, contact wheel; 23, garbage can; 24, garbage tray; 25, brush roller. Specific implementation

[0035] The utility model will be described in detail below, and the technical scheme in the embodiment of the utility model is clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the utility model, not all. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0036] The utility model improves a kind of beach cleaning robot, and the technical scheme of the utility model is:

[0037] As shown in Figures 1-7 A kind of beach cleaning robot, comprising:

[0038] Inner support 2;

[0039] Two garbage cans 23, two garbage cans 23 are fixed at the middle position of inner support 2, and are arranged side by side;

[0040] Garbage tray 24, garbage tray 24 is fixed with inner support 2, garbage tray 24 is located above two garbage cans 23, and garbage tray 24 is located at the middle position of two garbage cans 23;

[0041] Two multi-axis robot hands 11, the bases of the two multi-axis robot hands 11 are fixed on the inner support 2, and the clamping ends of the two multi-axis robot hands 11 are provided with image acquisition modules 12, wherein the two multi-axis robot hands 11 are arranged side by side and located at the rear side of the garbage tray 24, and the image acquisition module 12 is supplemented as follows: the image acquisition module 12 can be composed of a single-chip microcomputer and a CCD camera, the single-chip microcomputer is programmed with a YOLOv7 visual recognition algorithm (with 5000+ image data sets), supports edge computing, and the CCD camera is used to identify and collect images and transmit them to the single-chip microcomputer, and then the single-chip microcomputer controls the multi-axis robot hand to move to the specified garbage can 23.

[0042] As shown in Figure 1 , a beach cleaning robot further comprises;

[0043] The outer side of the inner support 2 is sleeved with a shell 1, the rear end of the shell 1 is provided with a heat dissipation hole on both sides, and the bottom of the inner support 2 is fixed with a mechanical track chassis 3. The driving motor of the mechanical track chassis 3 is arranged on the rear side of the inner support, and the heat generated during work is discharged from the heat dissipation hole. The mechanical track chassis 3 is a prior art, and the specific structure and working principle will not be described in detail here.

[0044] As shown in Figure 1 , in an embodiment, a plurality of first solar panels 4 are fixed on the top of the shell 1, a six-degree-of-freedom turntable 5 is fixed on the top of the shell 1, and a second solar panel 6 is fixed on the table top of the six-degree-of-freedom turntable 5. The first solar panel 4 and the second solar panel 6 both convert sunlight into electrical energy to power the entire device; the six-degree-of-freedom turntable can adjust the angle of the solar panel to maximize the acceptance of light by the solar panel and improve the photoelectric conversion efficiency.

[0045] As shown in Figure 2 , in an embodiment, a conveyor 7 is arranged obliquely in the inner support 2, the conveying belt of the conveyor 7 is provided with a plurality of belt separators integrated with the structure, and a plurality of small mesh holes are formed on the belt surface of the conveying belt. The two transmission rollers of the conveyor 7 are both rotatably installed in the inner support 2, and the driving motor of the conveyor 7 is fixed on the inner support 2. One end of the conveyor 7 is arranged above the garbage tray 24; the sand-containing garbage is poured onto the conveyor 7, and the conveying belt on the conveyor 7 transports the sand-containing garbage to the garbage tray 24. Since the belt surface of the conveying belt is provided with a plurality of small mesh holes, the sand falls on the sand ground from the mesh holes on the conveying belt, and the belt separator is used to push the garbage to prevent the garbage from rolling off the conveying belt.

[0046] As shown in Figure 2 and Figure 4As shown, in an embodiment, the front side of the inner support 2 is provided with an inclined shovel head 21, the bottom surface of the shovel head 21 is provided with a plurality of fine holes, the other end of the conveyor 7 is arranged below the shovel head 21, and the inside of the inner support 2 is provided with a reciprocating mechanism for reciprocating linear movement of the shovel head 21.

[0047] The reciprocating mechanism comprises a synchronous rod 17, both ends of the synchronous rod 17 are rotatably installed in the inner support 2, a servo motor 13 is fixed in the inner support 2, the output shaft of the servo motor 13 and the synchronous rod 17 are both fixed with synchronous wheels 15, two synchronous wheels 15 are sleeved with a synchronous belt 14, both ends of the synchronous rod 17 are fixed with eccentric wheels 16, the eccentric wheels are shell-shaped, two support plates 18 are fixed in the inner support 2, the top end of the support plate 18 is fixed with an inclined positioning sleeve 19, a sliding rod 20 is slidably inserted into the inside of the positioning sleeve 19, one end of the sliding rod 20 is fixed with the shovel head 21, the other end of the sliding rod 20 is rotatably installed with a contact wheel 22, the wheel surface of the contact wheel 22 is in contact with the inner wall of the shell of the eccentric wheel 16; the servo motor 13 rotates the synchronous wheels 15 fixed thereto through the output shaft, the two synchronous wheels 15 synchronously rotate through the synchronous belt 14, so that the synchronous rod 17 rotates, and the eccentric wheels 16 on the synchronous rod 17 rotate. Since the contact wheel 22 of the sliding rod 20 on the shovel head 21 is in contact with the inner wall of the shell of the eccentric wheel 16, and the shovel head 21 is heavy, the contact wheel 22 on the shovel head 21 is in contact with the inner wall of the shell of the eccentric wheel 16 at all times due to the weight of the shovel head 21, so that the shovel head 21 moves in a reciprocating inclined manner. The shovel head 21 is inserted into the sand beach downward, and then the shovel head 21 is retracted upward. The shovel head 21 scoops out the garbage in the sand, and the sand falls on the sand beach again through the fine holes on the shovel head 21.

[0048] As shown in the drawings, Figure 2 In an embodiment, a brush roller 25 is rotatably installed in the inner support 2, the brush roller 25 is located above the shovel head 21, both ends of the brush roller 25 are fixed with first transmission wheels 8 coaxially arranged therewith, both ends of the synchronous rod 17 are fixed with second transmission wheels 9 coaxially arranged therewith, and both first transmission wheels 8 and the second transmission wheel 9 on the same side thereof are commonly sleeved with a transmission belt 10; when the synchronous rod 17 rotates, the second transmission wheel 9 on the synchronous rod 17 rotates with the synchronous rod 17, the second transmission wheel 9 rotates the first transmission wheel 8 through the transmission belt 10, the first transmission wheel 8 drives the brush roller 25 to rotate, and the brush roller 25 sweeps the garbage on the shovel head 21 onto the conveyor belt.

[0049] As shown in the drawings, Figure 6 and Figure 7As shown, in an embodiment, a plurality of inclined plates are fixed inside the shovel head 21; during the upward movement of the shovel head 21, the garbage is subjected to an upward pushing force and rolls above the shovel head 21; during the downward movement of the shovel head 21, the garbage continues to move upward due to inertia and rolls onto the upper inclined plate and is clamped at the inclined angle of the inclined plate, thereby ensuring that the garbage in the shovel head 21 is not easily dropped from the bucket and improving the garbage collection effect.

[0050] The specific working method is:

[0051] The entire robot moves through the mechanical track chassis 3;

[0052] When the robot moves on the sand, the servo motor 13 is started, the servo motor 13 rotates the synchronous wheels 15 fixed thereto through the output shaft, the two synchronous wheels 15 rotate synchronously through the synchronous belt 14, thereby the synchronous rod 17 rotates, the eccentric wheel 16 on the synchronous rod 17 rotates, since the contact wheel 22 of the sliding rod 20 on the shovel head 21 is in contact with the inner wall of the shell of the eccentric wheel 16, and the shovel head 21 is heavy, the contact wheel 22 on the shovel head 21 is in contact with the inner wall of the shell of the eccentric wheel 16 at all times due to the weight of the shovel head 21, thereby the shovel head 21 moves in a reciprocating oblique insertion manner, the shovel head 21 is inserted into the sand downward, and then the shovel head 21 is retracted upward, the garbage in the sand is scooped out by the shovel head 21, and the sand falls on the sand beach again through the fine holes on the shovel head 21;

[0053] During the upward movement of the shovel head 21, the garbage is subjected to an upward pushing force and rolls above the shovel head 21; during the downward movement of the shovel head 21, the garbage continues to move upward due to inertia and rolls onto the upper inclined plate and is clamped at the inclined angle of the inclined plate, thereby ensuring that the garbage in the shovel head 21 is not easily dropped from the bucket and improving the garbage collection effect;

[0054] When the synchronous rod 17 rotates, the second transmission wheel 9 on the synchronous rod 17 rotates with the synchronous rod 17, the second transmission wheel 9 rotates the first transmission wheel 8 through the transmission belt 10, the first transmission wheel 8 drives the brush roller 25 to rotate, and the brush roller 25 sweeps the garbage on the shovel head 21 onto the conveyor belt;

[0055] The garbage containing sand is poured into the conveyor 7, and the conveyor belt on the conveyor 7 transports the garbage containing sand to the garbage disc 24; since the belt surface of the conveyor belt is provided with a plurality of small mesh holes, the sand falls on the sand beach from the mesh holes on the conveyor belt, and the mesh holes are used to push the garbage and prevent the garbage from rolling off the conveyor belt;

[0056] The cleaned garbage is placed in the garbage disc 24, the image acquisition module 12 acquires images, and then the multi-axis robot hand 11 clamps the garbage and places it into the designated garbage can 23, and the non-garbage is placed into the garbage can, thereby realizing the sorting of the garbage.

[0057] The technical means disclosed by the utility model scheme are not limited to the technical means disclosed by the above technical means, and also include technical schemes composed of equivalent replacement of the above technical features. The unfinished matters of the utility model belong to the common knowledge of the person skilled in the art.

Claims

1. A sand-beach cleaning robot, characterized in that, Include: Inner support (2); Two garbage cans (23), two garbage cans (23) are fixed at the middle position of the inner support (2), and two are arranged side by side; The garbage tray (24) is fixed with the inner support (2), the garbage tray (24) is located above the two garbage cans (23), and the garbage tray (24) is located at the middle position of the two garbage cans (23); Two multi-axis robot hands (11), the base of the two multi-axis robot hands (11) is fixed in the inner support (2), and the gripping end of the two multi-axis robot hands (11) is provided with an image acquisition module (12), wherein the two multi-axis robot hands (11) are arranged side by side and located at the rear side of the garbage tray (24).

2. A sand-beach cleaning robot according to claim 1, characterized in that: The outer side of the inner support (2) is sleeved with the shell (1), the rear end of the shell (1) is provided with a heat dissipation hole, and the bottom of the inner support (2) is fixed with a mechanical track chassis (3).

3. A sand-beach cleaning robot according to claim 2, characterized in that: The top of the shell (1) is fixed with a plurality of first solar cell panels (4), the top of the shell (1) is fixed with a six-degree-of-freedom rotary table (5), and the table surface of the six-degree-of-freedom rotary table (5) is fixed with a second solar cell panel (6).

4. The sand-beach cleaning robot according to claim 1, characterized in that: The inner side of the inner support (2) is provided with a conveyor (7), the conveying belt of the conveyor (7) is provided with a plurality of belt separation structures integrated with the conveying belt, and a plurality of small mesh holes are formed in the belt surface of the conveying belt, both transmission rollers of the conveyor (7) are rotatably installed in the inner support (2), and the driving motor of the conveyor (7) is fixed on the inner support (2), one end of the conveyor (7) is arranged above the garbage tray (24).

5. A sand-beach cleaning robot according to claim 4, characterized in that: The front side of the inner support (2) is provided with an inclined shovel head (21), a plurality of fine holes are formed in the bottom surface of the shovel head (21), the other end of the conveyor (7) is arranged below the shovel head (21), and the inner side of the inner support (2) is provided with a reciprocating mechanism for reciprocating linear movement of the shovel head (21); Wherein, the reciprocating mechanism includes a synchronous rod (17), both ends of the synchronous rod (17) are rotatably installed in the inner support (2), the inner side of the inner support (2) is fixed with a servo motor (13), the output shaft of the servo motor (13) and the synchronous rod (17) are fixed with synchronous wheels (15), two synchronous wheels (15) are sleeved with a synchronous belt (14), both ends of the synchronous rod (17) are fixed with eccentric wheels (16), and the eccentric wheels (16) are shell-shaped, the inner side of the inner support (2) is fixed with two supporting plates (18), the top end of the supporting plate (18) is fixed with an inclined positioning sleeve (19), the inner side of the positioning sleeve (19) is slidably inserted with a slide rod (20), one end of the slide rod (20) is fixed with the shovel head (21), the other end of the slide rod (20) is rotatably installed with a contact wheel (22), and the wheel surface of the contact wheel (22) is in contact with the inner wall of the shell of the eccentric wheel (16).

6. A sand beach cleaning robot according to claim 5, characterized in that: The inner support (2) is internally rotatably installed with a brush roller (25), the brush roller (25) is located above the shovel head (21), both ends of the brush roller (25) are fixedly provided with a first transmission wheel (8) coaxially arranged with the brush roller (25), both ends of the synchronous rod (17) are fixedly provided with a second transmission wheel (9) coaxially arranged with the synchronous rod (17), and the two first transmission wheels (8) and the second transmission wheel (9) on the same side of the first transmission wheels (8) are commonly sleeved with a transmission belt (10).

7. The sand beach cleaning robot according to claim 1, characterized in that: The inside of the shovel head (21) is fixedly provided with a plurality of inclined inclined plates.

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