Flexible brush and arm holding device for cleaning unmanned ship

Abstract

The utility model discloses a kind of flexible brush and arm holding device for cleaning unmanned ship, comprising: mechanical arm, by first connecting member is installed in the edge of unmanned ship body;Flexible brush, by second connecting member detachably installed on mechanical arm.The utility model in when unmanned ship approaches hard revetment, flexible brush can adapt to the shape and gradient of hard revetment, closely adhere to revetment, both can effectively clean garbage, and will not cause damage to revetment, effectively clean garbage in revetment gap and recess, improve garbage collection efficiency, reduce garbage omission, solve the problem that traditional device is difficult to clean revetment garbage, improve the comprehensiveness of water area cleaning;Mechanical arm can be flexibly adjusted according to the distribution of garbage Opening angle, improve the adaptability to different garbage collection scene;While mechanical arm has lifting function, it is convenient for the installation or replacement of flexible brush device, enhance the practicality and applicability of device, reduce the work burden and operating energy consumption of unmanned ship.

Description

Technical Field

[0001] This utility model relates to the technical field of water surface cleaning equipment, specifically to a flexible brush and arm-holding device for unmanned cleaning boats. Background Technology

[0002] The unmanned boat garbage collection device used in water surface cleaning is an environmental protection device that integrates intelligent sensing and automatic collection functions. Its main body is usually mounted on the front of the unmanned boat and equipped with multiple sets of rotating or filter-type collection mechanisms. It can identify garbage such as plastic bags, fallen leaves, and branches floating on the water surface through sensors, and use water flow power or mechanical drive to guide the garbage into the built-in collection compartment for cleaning operations in lakes, rivers and other water bodies.

[0003] Currently, the garbage collection devices carried by unmanned surface cleaning vessels are mainly net-type and fixed scraper structures. Net-type devices have obvious blind spots when dealing with small floating objects or garbage adhering to the shore, which easily leads to garbage being missed. Fixed scraper structures are limited by the shape and slope of hard revetments, making it difficult to fit closely to the revetment. In complex revetment environments, there are cleaning dead spots, resulting in poor cleaning effect. In addition, both types of traditional structures lack auxiliary cleaning structures, which cannot effectively guide garbage to the collection area during the collection process, resulting in low overall operation efficiency. Utility Model Content

[0004] The purpose of this utility model is to provide a flexible brush and arm-holding device for cleaning unmanned boats in order to solve the above problems.

[0005] To achieve the above objectives, this utility model specifically adopts the following technical solution, including:

[0006] A robotic arm, mounted on the edge of the unmanned vessel's hull via a first connector, is used to surround and collect garbage.

[0007] The flexible brush, which can be detachably mounted on the robotic arm via a second connector, is used to conform to the revetment and clean up garbage.

[0008] As a further description of the above technical solution, the robotic arm includes symmetrically arranged arm bodies, and one or more sets of flexible brushes are detachably installed on the arm bodies via a second connector.

[0009] As a further description of the above technical solution, the first connector is a universal joint shaft, and the arm body is detachably connected to the unmanned vessel or another arm body through the first connector.

[0010] As a further description of the above technical solution, the flexible brush includes a first body, and a second body is sleeved on the outside of the first body, with a flow cavity formed between the second body and the first body.

[0011] As a further description of the above technical solution, the top of the first main body is provided with an installation part, which is detachably connected to the connecting buckle.

[0012] As a further description of the above technical solution, the second main body is externally bonded with a first brush bristle.

[0013] As a further description of the above technical solution, a brush module is detachably installed on the outside of the second main body, and the brush module includes a base and a second brush.

[0014] As a further description of the above technical solution, the base is provided with an elastic buckle on its exterior, and the base is detachably connected to the second main body through the elastic buckle.

[0015] As a further description of the above technical solution, the second connector is a connecting buckle, which includes a vertical mounting plate and a horizontal connecting seat for snap-fit ​​installation.

[0016] As a further description of the above technical solution, the vertical mounting plate is detachably connected to the robotic arm, and the horizontal connecting seat is detachably connected to the flexible brush.

[0017] The beneficial effects of this utility model are as follows:

[0018] 1. In this utility model, when the unmanned boat approaches the hard revetment, the flexible brush can adapt to the shape and slope of the hard revetment and fit closely to the revetment. It can effectively clean up garbage without damaging the revetment, effectively clean up garbage in the gaps and depressions of the revetment, improve garbage collection efficiency, reduce garbage leakage, solve the problem that traditional devices are difficult to clean the garbage on the revetment, and improve the overall cleanliness of the water area.

[0019] 2. In this utility model, the flexible brush and the robotic arm are connected by a movable connection, which can freely adjust the direction and installation position, and determine the distance that the unmanned boat cannot approach according to the type of revetment. By changing the length of the flexible brush bristles, the brush bristles can be tightly fitted to the hard revetment, which effectively improves the adaptability to different shapes and revetments.

[0020] 3. In this utility model, the robotic arm can flexibly adjust the opening and closing angle according to the distribution of garbage, improving its adaptability to different garbage collection scenarios; at the same time, the robotic arm has a lifting function, which facilitates the installation or replacement of the flexible brush device, enhances the practicality and applicability of the device, and reduces the workload and operating energy consumption of the unmanned vessel.

[0021] To more clearly illustrate the structural features and functions of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the flexible brush and arm-holding device for unmanned cleaning boats of this utility model. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the structure of the flexible brush and arm-holding device for unmanned cleaning boats of this utility model. Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the structure of the robotic arm of this utility model. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the structure of the flexible brush of this utility model. Figure 1 ;

[0026] Figure 5 This is a schematic diagram of the structure of the flexible brush of this utility model. Figure 2 ;

[0027] Figure 6 This is an exploded view of the second connector of this utility model;

[0028] Figure 7 This is a schematic diagram illustrating the operating principle of the flexible brush and arm-holding device for unmanned cleaning boats of this utility model.

[0029] Figure label:

[0030] 1. Robotic arm; 11. Arm body; 2. First connector; 21. Universal joint shaft; 3. Flexible brush; 31. First main body; 311. Mounting part; 32. Second main body; 33. First bristles; 34. Brush module; 341. Base; 342. Second bristles; 343. Elastic buckle; 4. Second connector; 41. Connecting buckle; 411. Vertical mounting plate; 412. Horizontal connecting seat; 5. Unmanned boat. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0032] like Figures 1-7 As shown, in one embodiment, a flexible brush and arm-holding device for cleaning unmanned surface vessels includes: a robotic arm 1 and a flexible brush 3.

[0033] The robotic arm 1 is installed on the edge of the hull of the unmanned boat 5 via the first connector 2, forming a flexible enclosed structure for collecting garbage. Correspondingly, the flexible brush 3 is detachably installed on the robotic arm 1 via the second connector 4, for adhering to the revetment to clean up garbage, and is easy to maintain and replace daily.

[0034] Understandably, when the unmanned vessel 5 approaches a rigid revetment, the flexible brush 3 can precisely adapt to the complex and varied shape and slope of the rigid revetment. During cleaning, it closely adheres to the revetment, effectively cleaning up the garbage attached to the surface of the revetment, and also reaching deep into crevices and depressions to thoroughly remove stubborn garbage hidden therein. At the same time, it avoids scratching and damaging the revetment, thereby improving garbage collection efficiency, reducing garbage leakage, solving the problem that traditional devices are difficult to clean up garbage on the revetment, and improving the overall cleanliness of the water area.

[0035] Please continue reading. Figures 1-7 In this embodiment, the robotic arm 1 adopts a clasp arm form, including symmetrically arranged clasp arm bodies 11. One or more sets of flexible brushes 3 are detachably installed on the clasp arm bodies 11 through the second connector 4. This facilitates the adjustment of brush configuration according to the type of waste and cleaning intensity, and also facilitates later maintenance and replacement, greatly improving the efficiency of equipment use.

[0036] Specifically, the robotic arm 1 is made of high-strength lightweight materials (such as aluminum alloy or carbon fiber composite materials), which have excellent pressure resistance and corrosion resistance, and can withstand water flow impact and debris collision, ensuring structural strength and stability in complex aquatic environments; at the same time, it can significantly reduce the weight of the device itself, effectively reduce the load pressure on the unmanned boat 5, optimize the overall power distribution of the hull, thereby reducing energy consumption and extending the endurance.

[0037] For example, the first connector 2 is a universal joint 21, and the arm 11 is detachably connected to the unmanned boat 5 or another arm 11 through the universal joint 21. It can achieve a stable and flexible detachable connection with the hull of the unmanned boat 5, and can also achieve 360° all-round change of direction. Whether it is vertically lifting over obstacles or horizontally rotating to adjust the angle, it can be easily completed, providing great operational freedom for garbage collection work.

[0038] It should be noted that the first connector 2 can also be detachably connected to the hull of the unmanned boat 5 by means of hinges or slide rails, and can complete opening and closing operations or lifting operations under the drive of power drive devices such as drive motors, so as to facilitate the surrounding collection of garbage or the replacement or cleaning of the flexible brush 3 on the robotic arm 1.

[0039] Understandably, the robotic arm 1 can flexibly adjust its opening and closing angle according to the distribution of the garbage. Whether dealing with large areas of floating garbage on open water or scattered waste in narrow waterways, it can efficiently complete the collection task, thereby improving its adaptability to different garbage collection scenarios. At the same time, the robotic arm 1 has a lifting function, which facilitates the installation or replacement of the flexible brush 3 device, enhances the practicality and applicability of the device, and reduces the workload and operating energy consumption of the unmanned vessel 5.

[0040] Please continue reading. Figures 1-7 In this embodiment, the flexible brush 3 adopts a ring-shaped double-layer structure, including a first body 31 (i.e., a central column), and a second body 32 (i.e., an installation sleeve) is sleeved on the outside of the first body 31; and a flow cavity is formed between the second body 32 and the first body 31, which can generate the power to drive the roller to rotate through the water flow or the resistance of the ship's movement, thereby realizing the autonomous rotation of the flexible brush 3.

[0041] Specifically, the top of the first body 31 is provided with a mounting part 311, which allows the mounting part 311 to be detachably connected to the connecting buckle 41 by bolts.

[0042] For example, see Figure 4 and Figure 5 The first bristles 33 can be directly glued to the outside of the second body 32, or an installation groove can be opened on the outside of the second body 32, and a brush module 34 can be embedded in each installation groove. The brush module 34 includes a base 341 and a second bristle 342. The bristle length and the number of installations can be set and installed on the robotic arm 1 by connecting buckles 41 according to specific cleaning needs.

[0043] Specifically, the base 341 is made of wear-resistant and corrosion-resistant materials (such as polypropylene), while the first bristles 33 and the second bristles 342 are made of wear-resistant and elastic bristle materials (such as nylon), which can effectively scrape the garbage from the water surface or the revetment surface, and push the garbage towards the middle of the retaining arm by rotating the bristles in sequence, which is convenient for subsequent garbage collection.

[0044] It should be noted that the base 341 is provided with an elastic buckle 343 on the outside. The base 341 is detachably connected to the second body 32 through the elastic buckle 343. When the bristles need to be replaced, the old module can be removed by simply pressing the buckle and the new module can be inserted to complete the replacement.

[0045] Furthermore, the second connector 4 is a connector buckle 41, which is made of corrosion-resistant material (such as stainless steel) and is integrally formed, and is installed on the robotic arm 1 by means of a buckle.

[0046] Specifically, the connecting buckle 41 includes a vertical mounting plate 411 and a horizontal connecting seat 412 for snap-fit ​​installation. The vertical mounting plate 411 is detachably connected to the robotic arm 1 by screws. The horizontal connecting seat 412 has bolt holes at its downward-extending end for fixing the top of the first body 31 of the flexible brush 3.

[0047] It should be explained in detail that the second body 32 of the flexible brush 3 is fitted with the groove on the inner wall of the bolt hole at the end of the horizontal connecting plate of the connecting buckle 41, thereby achieving quick positioning and installation, and facilitating the replacement and disassembly of the flexible brush 3.

[0048] Understandably, the flexible brush 3 and the robotic arm 1 are connected by a movable connection, which allows for free adjustment of direction and installation position. It can also determine the distance that the unmanned vessel 5 cannot approach based on the type of revetment. By changing the length of the bristles of the flexible brush 3, the bristles can be made to fit tightly against the hard revetment, effectively improving the adaptability to different shapes and revetments.

[0049] Working principle: During its navigation on the water, the unmanned cleaning vessel 5 uses sensors on its hull to detect whether it is in a garbage distribution area. When it determines that it has reached a garbage distribution area, the control system activates the motor drive system to extend the robotic arm 1 towards the garbage. When the arm 11 approaches the garbage, it adjusts to a suitable opening and closing angle. Subsequently, the flexible brush 3 rotates with the resistance of the vessel's movement, scraping up the garbage on the water surface and the revetment surface, and pushing it towards the middle of the arm 11. When the unmanned vessel 5 approaches the hard revetment, the flexible brush 3 can automatically adjust its direction and align with the revetment through the ball joint connection structure. The system closely adheres to the railing, sweeping out garbage from gaps and depressions in the revetment and directing it into the collection area of ​​the boom arm 11. Once garbage collection is complete, the control system activates the motor drive system to close the boom arm 11, concentrating the garbage inside. The unmanned vessel 5 then transports the collected garbage to a designated waste disposal area for dumping, completing one garbage collection operation. When the brush bristles need to be replaced, the unmanned vessel 5 docks at the pier and raises the robotic arm 1 to a suitable height, allowing staff to stand on the shore to replace the bristles and calibrate their position after installation.

[0050] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible brush and arm-holding device for unmanned cleaning vessels, characterized in that, include: A robotic arm, mounted on the edge of the unmanned vessel's hull via a first connector, is used to surround and collect garbage. The flexible brush, which can be detachably mounted on the robotic arm via a second connector, is used to conform to the revetment and clean up garbage.

2. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 1, characterized in that, The robotic arm includes symmetrically arranged arm bodies, and one or more sets of flexible brushes are detachably installed on the arm bodies via a second connector.

3. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 2, characterized in that, The first connector is a universal joint shaft, and the arm body is detachably connected to the unmanned vessel or another arm body through the first connector.

4. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 1, characterized in that, The flexible brush includes a first body, and a second body is sleeved on the outside of the first body, with a flow cavity formed between the second body and the first body.

5. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 4, characterized in that, The first main body has a mounting part on its top, and the mounting part is detachably connected to the connecting buckle.

6. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 4, characterized in that, The second main body has a first brush attached to its exterior.

7. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 4, characterized in that, The second main body is detachably mounted with a brush module, which includes a base and a second brush.

8. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 7, characterized in that, The base is provided with an elastic buckle on its exterior, and the base is detachably connected to the second main body through the elastic buckle.

9. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 1, characterized in that, The second connector is a connecting buckle, which includes a vertical mounting plate and a horizontal connecting seat for snap-fit ​​installation.

10. The flexible brush and arm-holding device for unmanned cleaning vessels according to claim 9, characterized in that, The vertical mounting plate is detachably connected to the robotic arm, and the horizontal connecting seat is detachably connected to the flexible brush.

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