CN106968229A - Rubbish fishing device on a kind of pair of ship claw miniature water - Google Patents

Abstract

The present invention relates to rubbish fishing device on a kind of pair of ship claw miniature water, including float component and the salvaging executive module and control assembly that are arranged on float component, salvage double pawl salvaging mechanisms and garbage recycling box that executive module includes being sequentially arranged from front to back, double pawl salvaging mechanisms include the lower salvaging hand and upper salvaging hand that synchronous backward is rotated, hand is by rotating shaft and multiple rows of salvaging circumferentially disposed around the shaft refers to composition for each salvaging, the salvaging of lower salvaging hand and upper salvaging hand refers to the axially staggered setting along rotating shaft, garbage recycling box open top, the salvaging that front side wall is provided with lower salvaging hand refers to the groove excessively matched.Compared with prior art, the present invention have the advantages that automaticity is high, water disturbance is small, salvaging efficiency high, compact conformation, it is stable, using flexible.

Description

A double boat claw type small water garbage salvage device

technical field

The invention belongs to the field of water salvage robots, in particular to a double-claw type small water garbage salvage device.

Background technique

With the development of our country's economy, in daily life, some residents or tourists do not develop good hygiene habits, and directly throw garbage into small waters such as landscape pools. At present, water salvage mechanisms are designed for large waters such as rivers and lakes. Due to their large size, they are not suitable for operating in small water areas; most salvage mechanisms are inclined mesh structures or chain drive structures, and mesh structures The front end of the structure or the chain transmission structure will always stretch into the water, and the contact surface with the water is relatively large, so the water surface fluctuates too much when salvaging, so it is not easy to salvage.

Contents of the invention

The object of the present invention is to provide a double-claw type small water garbage fishing device with high degree of automation, small water disturbance, high fishing efficiency, compact structure, stable operation and flexible use in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A double-claw type small water garbage fishing device, including a floating movement assembly, a salvage execution assembly and a control assembly arranged on the floating movement assembly, and the salvage execution assembly includes a double-claw salvage mechanism arranged in sequence from front to back and Garbage recovery box, the double-claw salvage mechanism includes a lower salvage hand and an upper salvage hand that rotate synchronously and reversely, each salvage hand is composed of a rotating shaft and multiple rows of salvage fingers arranged circumferentially around the rotating shaft, the lower salvage hand and the upper salvage The fishing fingers of the hand are staggered along the axial direction of the rotating shaft, the top of the garbage collection box is open, and the front side wall is provided with a slot matching the fishing fingers of the lower fishing hand.

When carrying out salvage operations, the movement of the floating movement assembly and the operation of the salvage execution assembly are controlled by the control assembly. The invention creatively adopts a double-claw salvage mechanism, and the garbage on the water surface is picked up by the lower salvage hand. The contact surface is smaller, and the disturbance to the water body is also smaller, so it is not easy to disturb the floating objects, and the salvage efficiency is high. In the process of pouring into the garbage collection box, the salvage finger of the upper salvage hand is inserted into the gap of the salvage finger of the lower salvage hand, and synchronously reverses the movement, and the garbage of the lower salvage hand is dialed into the garbage collection box. It ensures that each row of salvage fingers of the lower salvage hand has no garbage attached before the next salvage, avoiding the attached garbage from increasing the disturbance of the device to the water body, and further improving the efficiency of garbage salvage. The front side wall of the garbage collection box is designed There is a slot matching the fishing finger of the lower salvage hand, so that the lower salvage hand after dumping the garbage can continue to rotate, pass through the front side wall of the garbage collection box, and carry out the next garbage salvage.

Compared with the mesh structure or the chain transmission structure, the double-claw fishing mechanism is greatly reduced in length, which is more conducive to the compactness of the device.

As a preferred technical solution, the fishing finger of the lower fishing hand is a forward-curved fishing finger, and the fishing finger of the upper fishing hand is a backward-curved fishing finger.

The salvage finger of the lower salvage hand is curved forward, which can effectively carry garbage and improve the efficiency of garbage collection. The salvage finger of the upper salvage hand is curved backward, which can avoid the process of dialing the garbage of the lower salvage hand into the garbage collection box In the middle, the fingertips hook the garbage, resulting in unstable operation.

As an optimal technical solution, each fishing hand is provided with two rows of fishing fingers, and the two rows of fishing fingers are arranged at circumferentially symmetrical positions of the rotating shaft.

Setting two rows of fishing fingers at the circumferentially symmetrical position of the rotating shaft is the optimal solution obtained under the condition of ensuring the fishing efficiency while considering the disturbance to the water body during fishing. The more rows of salvage fingers, the more times the lower salvage hand contacts the water body per rotation. Although the opportunities for salvaging garbage increase, the disturbance to the water body will also increase, which is not conducive to the improvement of salvage efficiency. The fewer rows of fingers, such as only one row, can reduce the disturbance to the water body, but in this case, the lower salvage hand only performs one salvage every time it rotates, and the interval between two salvages is longer. When the whole device runs for a certain distance on the water surface, it is easy to miss the garbage, and it has to go back or wait for it to be salvaged again. The probability of missing the garbage in the next salvage process is still very high. It can be seen that only one row is used. On the contrary, the efficiency will decrease. In summary, the two-row salvage finger is the optimal solution under the condition of ensuring the salvage efficiency while considering the disturbance to the water body during salvage. Moreover, two rows of salvage fingers are arranged symmetrically, which is convenient for production and installation.

As an optimal technical solution, the free end of the fishing finger of the upper fishing hand is in clearance fit with the surface of the rotating shaft of the lower fishing hand.

That is to say, the distance between the rotating shafts of the two fishing hands is slightly greater than the distance between the fingertips of the upper fishing hand and the rotating shaft of the upper fishing hand, so that the fishing finger of the upper fishing hand can ensure that the movement of the lower fishing hand from the root of the finger to the tip of the finger can be ensured. Garbage is dialed into the garbage collection box.

As a preferred technical solution, the lengths of the fishing fingers of the upper fishing hand and the lower fishing hand are equal.

The lengths of the fishing fingers of the upper fishing hand and the lower fishing hand are equal, so that the production is convenient, the cost is low, and the efficiency of removing garbage is higher.

As a preferred technical solution, the top of the front side wall of the garbage collection box is attached to the surface of the rotating shaft of the lower salvage hand.

Through the above arrangement, it is possible to prevent the picked up garbage from leaking into the water again during the process of pouring it into the garbage collection box, thereby improving the fishing efficiency.

As a preferred technical solution, the front side wall of the garbage collection box is arranged obliquely forward from the bottom end to the top end.

The front side wall is set forward from the bottom to the top to form a slope, so that after the garbage falls into the garbage collection box, it can continue to slide backward along the slope, such as the bottom of the garbage collection box, thereby preventing garbage from gathering at the front end of the garbage collection box. Affects the rotation of the salvage hand. At the same time, the overgroove arranged on the front side wall can further drain the water during the sliding process of the garbage, reduce the weight and volume of the garbage, improve the space utilization rate of the device, and make it more compact.

As a preferred technical solution, the lower fishing hand and the upper fishing hand perform synchronous reverse rotation through a synchronous transmission mechanism, and the synchronous transmission mechanism includes a motor, a first transmission gear arranged on the rotating shaft of the lower fishing hand, and The shaft of the salvage hand is connected to the second transmission gear through a belt drive, the motor is connected to the control component by communication, the first transmission gear and the second transmission gear are meshed with each other, and the motor is connected to the shaft of the lower salvage hand through a belt transmission .

Through the gears meshing with each other, the upper fishing hand and the lower fishing hand realize synchronous reverse rotation, the structure is simple, and the transmission efficiency is high. The rotating shaft of the upper salvage hand is connected with the second transmission gear transmission by a belt, so that the distance requirement between the upper salvage hand and the lower salvage hand can be satisfied without using a large transmission gear.

As a preferred technical solution, the floating movement assembly includes a catamaran and a propulsion mechanism and an obstacle avoidance sensor that are arranged on the catamaran and communicate with the control assembly, and the described salvage execution assembly is arranged on two Between the hulls, the propulsion mechanism is a fan arranged on the catamaran, and the obstacle avoidance sensor is arranged at the front ends of the two hulls of the catamaran.

The catamaran is adopted, and the salvage actuator is arranged between the two hulls of the catamaran, so that the disturbance to the water body is greatly reduced during the salvage process, and the symmetry of the whole device is better, and the structure is more compact.

The propulsion mechanism uses a fan instead of a propeller, which does not contact with water during the propulsion process and has little disturbance to the water body. As a preferred technical solution, the present invention is provided with a fan above the tail of the two hulls of the catamaran. Not only can the propulsion efficiency be increased, but also turning can be realized simply by controlling the speed of each fan, avoiding the disturbance to the water body caused by the conventional steering rudder.

The present invention has two working modes: automatic cruising mode and manual mode. When there is a lot of rubbish on the water surface, the automatic cruising mode is adopted. The operator drives the control component to work through the wireless signal, and the control component automatically controls the rotation of the fan to make the catamaran move and avoid The obstacle sensor and the double-claw salvage mechanism start at the same time, enter the automatic cruise mode, and salvage garbage by itself. The obstacle avoidance sensor can ensure that the double-claw salvage mechanism can automatically avoid obstacles; when there is less garbage on the water surface, the manual mode is adopted, and the operator drives the control through wireless signals The component works, and the control component controls the catamaran to move to the garbage under the command of the wireless signal, and then activates the double-claw salvage mechanism through the command of the wireless signal to salvage the garbage. The obstacle avoidance sensor does not work in manual mode.

In order to make salvage more efficient and reduce driving resistance at the same time, the front part of the hull of the catamaran gradually shrinks.

As a preferred technical solution, both hulls of the catamaran are equipped with pumping and diverting mechanisms for directing the water flow from the bow to the stern during the garbage salvage process, and the pumping and diverting mechanisms communicate with the control components Connect and run synchronously with the salvage execution component.

The pumping and drainage mechanism is composed of a water inlet pipe, a water pump and a water outlet pipe connected in sequence. The water inlet of the water inlet pipe passes through the hull and contacts the water surface between the front parts of the two hulls, and the water outlet of the water outlet pipe extends into the hull. tail in the water. When the water pump is in operation, the water flow can be guided to flow directionally from the bow to the stern, so that the floating objects can be easily salvaged by the double-claw salvage mechanism.

Compared with the prior art, the present invention has the advantages of high degree of automation, small water body disturbance, high fishing efficiency, compact structure, stable operation, flexible use and the like.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the sectional structure schematic diagram of the present invention;

Fig. 3 is a connection schematic diagram of the salvage executive assembly of the present invention;

Fig. 4 is a top view structure diagram of the lower salvage hand of the present invention.

In the figure, 11 is a catamaran, 12 is a propulsion mechanism, 13 is an obstacle avoidance sensor, 21 is a double claw salvage mechanism, 211 is a lower salvage hand, 212 is an upper salvage hand, 213 is a rotating shaft, 214 is a salvage finger, 22 is a Garbage recovery box, 221 is the front side wall, 222 is the groove, 231 is the motor, 232 is the first transmission gear, 233 is the second transmission gear, 234 is the belt, 235 is the pulley, and 4 is the control assembly.

detailed description

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

A double-claw type small water garbage salvage device, as shown in Figures 1 to 3, includes a floating movement assembly, a salvage execution assembly and a control assembly 4 arranged on the floating movement assembly, and the salvage execution assembly includes sequentially arranged from front to back The double-claw salvage mechanism 21 and the rubbish collection box 22, the double-claw salvage mechanism 21 includes a lower salvage hand 211 and an upper salvage hand 212 synchronously and reversely rotating, and each salvage hand is composed of a rotating shaft 213 and a plurality of rows arranged around the rotating shaft 213 circumferential direction. The salvage finger 214 is composed of the salvage finger 214 of the lower salvage hand 211 and the upper salvage hand 212, which are staggered along the axial direction of the rotating shaft 213. The top of the garbage collection box 22 is open, and the front side wall 221 is provided with the salvage finger 214 of the lower salvage hand 211. Matching groove 222.

When carrying out salvage operations, the movement of the floating movement assembly and the operation of the salvage execution assembly are controlled by the control assembly 4. The present invention creatively adopts a double-claw salvage mechanism 21, and the garbage on the water surface is picked up by the lower salvage hand 211. The lower salvage hand 211 is When salvaging, the contact surface with the water is smaller, and the disturbance to the water body is also smaller, so that the disturbance to the floating objects is less likely to occur, and the salvage efficiency is high. In the garbage recycling box 22 at the mechanism 21 rear, in the process of pouring into the garbage recycling box 22, the fishing finger 214 of the upper fishing hand 212 is inserted into the gap of the fishing finger 214 of the lower fishing hand 211, and synchronously reverses the movement, and the The rubbish of the lower salvage hand 211 is dialed into the garbage collection box 22, which ensures that each row of salvage fingers 214 of the lower salvage hand 211 has no rubbish attached before the next salvage, avoiding the attached rubbish from increasing the disturbance of the device to the water body, Further improve the efficiency of garbage salvage, the front side wall 221 of the garbage collection box 22 is provided with a passage groove 221 matched with the fishing finger 214 of the lower salvage hand 211, so that the lower salvage hand 211 after dumping the garbage can continue to rotate and pass through The front side wall 221 of the garbage collection box 22 is used to salvage the garbage next time.

The form of the fishing finger 214 can be selected according to the actual needs. In this embodiment, as shown in FIGS. The salvage finger 214 of 212 is a back-curved salvage finger to prevent rubbish from hanging on the finger end of the lower salvage hand 211. The number of rows of the salvage finger of the salvage hand can be set as required, but considering the disturbance to the water body during salvage, the upper salvage is guaranteed. efficiency, each salvage hand is provided with two rows of salvage fingers 214 , and the two rows of salvage fingers 214 are arranged at circumferentially symmetrical positions of the rotating shaft 213 . The distance between the rotating shafts of the two salvaging hands is slightly greater than the distance between the fingertips of the upper fishing hand 212 and the rotating shaft 213 of the upper fishing hand 212, so that the free end of the fishing finger 214 of the upper fishing hand 212 is connected to the free end of the lower fishing hand 211. The clearance fit on the surface of the rotating shaft 213 can ensure that the salvaging finger 214 of the upper salvaging hand 212 will transfer the rubbish from the root of the finger to the end of the finger of the lower salvaging hand 211 into the garbage collection box. The lengths of the fishing fingers 214 of the upper fishing hand 212 and the lower fishing hand 211 are equal, which is convenient for manufacture and reduces costs.

The lower salvage hand 211 and the upper salvage hand 212 in this embodiment perform synchronous reverse rotation through a synchronous transmission mechanism. Gear 232 and the second transmission gear 233 connected with the rotating shaft 213 of the upper salvage hand 212 through a belt 234 transmission, the motor 231 is connected with the control assembly 4 in communication, the first transmission gear 232 and the second transmission gear 233 mesh with each other, and the motor 231 and the lower The rotating shaft 213 of salvage hand 211 is connected by belt 234 transmission, and second transmission gear 233 is connected with pulley 235, and one end of belt 234 is sleeved on the pulley 235, and the other end is sleeved on the rotating shaft 213 of upper salvage hand 212.

In this embodiment, the top of the front side wall 221 of the garbage collection box 22 is attached to the surface of the rotating shaft 213 of the lower salvage hand 211, as shown in Figures 2-3, to prevent the picked up garbage from leaking into the water again. The front side wall 221 of the garbage collection box 22 is tilted forward from the bottom to the top to prevent garbage from accumulating at the front of the garbage collection box 22, which will affect the rotation of the salvage hand 211 and help to further drain the garbage.

The floating movement assembly of this embodiment includes a catamaran 11 and a propulsion mechanism 12 and an obstacle avoidance sensor 13 that are arranged on the catamaran 11 and communicate with the control assembly 4. As shown in Figure 1, the salvage execution assembly is arranged on the catamaran Between the two hulls of the ship 11 , the propulsion mechanism 12 is a fan arranged on the catamaran 11 , and the obstacle avoidance sensor 13 is arranged at the front ends of the two hulls of the catamaran 11 .

The present invention has two working modes: automatic cruising mode and manual mode. When there is a lot of garbage on the water surface, the automatic cruising mode is adopted. The operator drives the control component to work through a wireless signal (such as Bluetooth, WIFI, etc.), and the control component automatically controls the rotation of the fan. Make the catamaran move, the obstacle avoidance sensor and the double-claw salvage mechanism start at the same time, enter the automatic cruise mode, and salvage garbage by itself, the obstacle avoidance sensor can ensure that the double-claw salvage mechanism can automatically avoid obstacles; The operator drives the control component to work through the wireless signal. The control component controls the catamaran to move to the garbage under the command of the wireless signal, and then activates the double-claw salvage mechanism through the command of the wireless signal to salvage the garbage. In the manual mode, the obstacle avoidance The sensor is not working.

In order to make the floating objects easy to be salvaged, the two hulls of the catamaran 11 are equipped with a pumping and diverting mechanism for guiding the water flow from the bow to the stern during the garbage salvage process. , a water pump and a water outlet pipe. The water inlet of the water inlet pipe passes through the hull and contacts the water surface between the front parts of the two hulls. The water outlet of the water outlet pipe extends into the water at the stern of the hull. The pumping and drainage mechanism communicates with the control component 4 and operates synchronously with the salvage execution component.

Claims (10)

1. A double-claw type small-sized water garbage salvage device, characterized in that it comprises a floating movement assembly and a salvage execution assembly and a control assembly (4) arranged on the floating movement assembly, and the said salvage execution assembly includes front to back The double-claw salvage mechanism (21) and the garbage collection box (22) arranged in sequence, the described double-claw salvage mechanism (21) includes a lower salvage hand (211) and an upper salvage hand (212) synchronously and reversely rotating, each The fishing hands are all made up of rotating shaft (213) and the multi-row fishing fingers (214) arranged around the rotating shaft (213) circumferential direction. ) are arranged in an axial staggered manner, the top of the garbage collection box (22) is open, and the front side wall (221) is provided with a slot (222) that matches the fishing finger (214) of the lower fishing hand (211). 2. A kind of two-claw type small-sized water garbage salvage device according to claim 1, characterized in that, the salvage finger (214) of the lower salvage hand (211) is a forward curved salvage finger, and the upper salvage hand The salvage finger (214) of (212) is back-curved formula salvage finger. 3. according to claim 1 or 2 described a kind of double-claw type small-sized water rubbish salvage device, it is characterized in that, each salvage hand is all provided with two rows of salvage fingers (214), and two rows of salvage fingers (214) are arranged on At the circumferentially symmetrical position of the rotating shaft (213). 4. A kind of two-boat claw type small-sized water garbage fishing device according to claim 1 is characterized in that, the free end of the fishing finger (214) of the upper fishing hand (212) and the rotating shaft (211) of the lower fishing hand (211) 213) Surface clearance fit. 5. A kind of two-claw type small-sized water garbage fishing device according to claim 4, characterized in that the lengths of the fishing fingers (214) of the upper fishing hand (212) and the lower fishing hand (211) are equal. 6. A kind of two-claw type small-sized water garbage fishing device according to claim 1, characterized in that, the top of the front side wall (221) of the garbage collection box (22) is connected with the lower fishing hand (211) The rotating shaft (213) surface fits. 7. according to claim 1 or 6 described a kind of two-claw type small-sized water garbage fishing device, it is characterized in that, the front side wall (221) of described garbage collection box (22) is inclined to previous setting. 8. A double-claw type small water garbage salvage device according to claim 1, characterized in that the lower salvage hand (211) and the upper salvage hand (212) perform synchronous reverse rotation through a synchronous transmission mechanism , the synchronous transmission mechanism includes a motor (231), a first transmission gear (232) arranged on the shaft (213) of the lower fishing hand (211) and the shaft (213) of the upper fishing hand (212) through a belt ( 234) the second transmission gear (233) of transmission connection, the described motor (231) is connected with the control assembly (4) in communication, the described first transmission gear (232) and the second transmission gear (233) are meshed with each other, The rotating shaft (213) of motor (231) and lower salvage hand (211) is connected by belt (234) transmission. 9. A kind of two-boat claw type small-sized water garbage salvage device according to claim 1, characterized in that, said floating movement assembly comprises a catamaran (11) and is arranged on the catamaran (11) and is connected with The propulsion mechanism (12) and the obstacle avoidance sensor (13) connected by the control component (4), the described salvage executive component is arranged between the two hulls of the catamaran (11), and the propulsion mechanism (12) For the wind turbine arranged on the catamaran (11), the obstacle avoidance sensor (13) is arranged at the front ends of the two hulls of the catamaran (11). 10. A kind of two-claw type small-sized water garbage salvage device according to claim 9, characterized in that, the two hulls of the catamaran (11) are equipped with water guides for guiding the water flow during the garbage salvage process. A pumping and diverting mechanism that flows directionally from the bow to the stern. The pumping and diverting mechanism communicates with the control component (4) and operates synchronously with the salvage execution component.