CN107972826A - A kind of flexibility garbage on water independently clears up specialized robot system - Google Patents

A kind of flexibility garbage on water independently clears up specialized robot system Download PDF

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Publication number
CN107972826A
CN107972826A CN201711060900.5A CN201711060900A CN107972826A CN 107972826 A CN107972826 A CN 107972826A CN 201711060900 A CN201711060900 A CN 201711060900A CN 107972826 A CN107972826 A CN 107972826A
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CN
China
Prior art keywords
water
garbage
independently
clears
rack
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Pending
Application number
CN201711060900.5A
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Chinese (zh)
Inventor
刘志鹏
杨浩
骆敏舟
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Institute of Intelligent Manufacturing Technology JITRI
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Institute of Intelligent Manufacturing Technology JITRI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Institute of Intelligent Manufacturing Technology JITRI filed Critical Institute of Intelligent Manufacturing Technology JITRI
Priority to CN201711060900.5A priority Critical patent/CN107972826A/en
Publication of CN107972826A publication Critical patent/CN107972826A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/32Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B15/00Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10Devices for removing the material from the surface
    • E02B15/104Conveyors; Paddle wheels; Endless belts

Abstract

The invention discloses a kind of flexible garbage on water independently to clear up specialized robot system, belong to cleaning machine for garbage on water device technical field, including collecting mechanism, crushing mechanism and compression mechanism, the collecting mechanism includes arc thumb wheel and is sleeved on the bearing block that the arc pulls out the diamond shape of wheel one end, the arc of the other end opposite with the bearing block pulls out and is connected with gear reducer on wheel, and the first dc motor is connected with the gear reducer;The crushing mechanism includes the double-roll crusher below the link belt, and the tip edges rotational installation first baffle of the double-roll crusher.Flexibility garbage on water provided by the invention independently clears up specialized robot system, realize that refuse on water surface independently clears up independent navigation of the specialized robot in large-scale waters, autonomous classification by holder, laser radar, GPS and control module, the contexture by self collecting path after garbage on water is identified, realizes the flexible cleaning of garbage on water.

Description

A kind of flexibility garbage on water independently clears up specialized robot system
Technical field
The present invention relates to a kind of rubbish independently to clear up specialized robot system, more particularly to a kind of flexible garbage on water certainly Main cleaning specialized robot system, belongs to cleaning machine for garbage on water device technical field.
Background technology
In China, rapid urbanization and process of industrialization generate substantial amounts of pollutant, cause rivers, harbour, lake The pollution of the water surface is on the rise, and the garbage on water of floating is startling.These garbage on water greatly destroy water environment, cause Many fish and water plant are endangered, and the health to people brings huge threat, seriously hinder the safety boat of ship OK, also greatly threaten the sustainable development of economy.
Traditional mode by manual cleaning garbage on water cannot solve current rivers and lakes problem encountered. Therefore, domestic and international company has turned one's attention to the research of refuse on water surface specialized robot.South Africa enterpriser Richard breathes out Di Man (Richard Hardiman) develops a aquatic unmanned aerial vehicle device people in 2016 -- Waste Shark.This it is waterborne nobody The main body of robot is catamaran, and afterbody is equipped with netted rubbish equipped with two propellers, hull center section Collection device.Twin screw controls advance, retrogressing and the steering of robot." operation principle of Waste Shark " is to utilize The speed of its own navigation, by the garbage on water pocket of floating into the netted collection device among hull.Meanwhile " Waste Shark " make use of the buoyancy of garbage on water itself, its hull need not carry the weight of rubbish, so that in its volume very little Under the conditions of can still collect the largest of about rubbish of 180kg.
But the technical solution still has many deficiencies.First, " although Waste Shark " realize autonomy-oriented, Manual remote control operation is still needed to, simultaneously because not possessing independent navigation ability, so its actual working range is completely dependent on people's Operate visual angle.Secondly as " Waste Shark " are no to use active guiding device, therefore it can not achieve original place fishing. Which results in very undesirable in narrow and small waters or wide water domain corner, its working effect.In addition, " the body of Waste Shark " Product very little, the aperture area of refuse collector also very little, on the water surface is collected after slightly larger type floating material, due to no rubbish pressure Compression apparatus, collection device are easy to be filled up by rubbish, so in practical applications, being extremely difficult to the finger that its maximum collects 180kg Mark.Simultaneously as " Waste Shark " make use of the buoyancy of rubbish itself, that is, rubbish being collected when collecting rubbish Be still afterwards drift in water, which results in when in face of garbage on water with high pollution, " Waste Shark " cannot and When remove pollution sources.Therefore, " Waste Shark " are subject to certain restrictions in actual application.
It is garbage on water wide variety, different, easily it is deposited in river corner, while the rubbish in large-scale waters compares It is scattered, and " Waste Shark " technical solutions are obviously inadaptable to this.Therefore, a kind of collection rubbish is independently collected, crushes, compressed It is significant in integral and with independent navigation, autonomous classification ability cleaning machine for garbage on water device people's technical solution.
The content of the invention
The main object of the present invention is to provide for a kind of flexible garbage on water and independently clears up specialized robot system, can Independently collected, crushed, being compressed in one and with independent navigation, autonomous classification ability.
The purpose of the present invention can reach by using following technical solution:A kind of flexibility garbage on water independently clears up special type Robot system, including collecting mechanism, crushing mechanism and compression mechanism, the collecting mechanism include arc thumb wheel and are sleeved on institute The bearing block that arc pulls out the diamond shape of wheel one end is stated, the arc of the other end opposite with the bearing block, which pulls out to be connected with wheel, to be subtracted Fast machine, and the first dc motor is connected with the gear reducer;The bearing block is fixedly connected in rack, and the rack On final drive shaft is installed and from transmission shaft;The final drive shaft and chain conveyor is installed from transmission shaft, and the chain Second baffle is installed in the rack on the top of formula conveyer belt;The both sides of the rack symmetrically connect the first electric cylinder;Institute Stating crushing mechanism includes being located at the double-roll crusher below the link belt, and the top side of the double-roll crusher First baffle is rotatablely installed at edge;The side wall of the double-roll crusher is provided with the second dc motor;The compression mechanism Third baffle including the second electric cylinder and with second electric cylinder rotation connection, and the third baffle is rotationally connected with The side wall of the double-roll crusher and the storage bin being connected with the bottom of the double-roll crusher;The compression mechanism Both sides are symmetrically installed with catamaran, and binary forward quarter hollow part installation collecting mechanism;The afterbody peace of the catamaran Equipped with propeller, and one end of the propeller connects hydraulic giant;It is the propeller, first electric cylinder, described second electronic Cylinder, first dc motor, second dc motor are with being arranged on inside the holder on the catamaran top electrically Connection, and the holder is with being arranged on the laser radar on the catamaran top, GPS inside is electrically connected.
Preferable scheme is that described first electric cylinder one end is fixed in the rack, and opposite with the rack is another First electric cylinder at end is fixed on the catamaran.
Preferable scheme is that the top of the rack is provided with several equally distributed second baffles.
Preferable scheme is that the arc thumb wheel is provided with several, and between the arc thumb wheel and the bearing block Rotation connection.
Preferable scheme is that the maximum width of the rack is less than the spacing between the catamaran most inner side.
Preferable scheme is that the width of the third baffle is equal to the height of the storage bin.
The advantageous effects of the present invention:Flexibility garbage on water according to the invention independently clears up specialized robot system, Flexibility garbage on water provided by the invention independently clears up specialized robot system, passes through holder, laser radar, GPS and control mould Block realizes that refuse on water surface independently clears up independent navigation of the specialized robot in large-scale waters, autonomous classification, so as to open up significantly Wide actual working range, and the contexture by self collecting path after garbage on water identify, realize that garbage on water is flexible and clear up; The refuse collector of the present invention, can make specialized robot complete original place and salvage rubbish operation, so as to meet it narrow The garbage collection operations in narrow waters.Meanwhile the hydraulic giant of outfit also allows it to handle the rubbish for being deposited in waters corner;This hair The larger floating material of volume can be broken into fritter by bright garbage crushing device, while compression set can compress it storage Storage, takes full advantage of storage area, so as to carry more rubbish in actual job;The present invention exists garbage collection In storage bin, so that rubbish be isolated with waters;For the rubbish of high pollution, it can soon isolate pollution sources, prevent two Secondary pollution;The present invention can carry the modules such as water quality monitoring module, waters mapping, flow monitoring, to realize multiple functions;And The tasks such as patrol waterborne, water life-saving can be served as.
Brief description of the drawings
Fig. 1 is overall structure diagram according to the invention;
Fig. 2 is overall structure top view according to the invention;
Fig. 3 is overall structure front view according to the invention;
Fig. 4 is overall structure left view according to the invention.
In figure:1- catamarans, 2- first baffles, 3- chain conveyors, 4- racks, 5- second baffles, 6- bearing blocks, 7- arcs Shape thumb wheel, 8- gear reducers, the first dc motors of 9-, 10- laser radars, 11-GPS-12- holders, the first electric cylinders of 13-, 14- Final drive shaft, the second electric cylinders of 15-, 16- third baffles, 17- double-roll crushers, 18- hydraulic giants, 19- propellers, 20- storages Case, 21- is from transmission shaft, the second dc motors of 22-.
Embodiment
To make those skilled in the art more clear and clear and definite technical scheme, with reference to embodiment and attached drawing The present invention is described in further detail, but the implementation of the present invention is not limited to this.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of flexible garbage on water provided in this embodiment independently clears up particular kind of machine People's system, including collecting mechanism, crushing mechanism and compression mechanism, the collecting mechanism include arc thumb wheel 7 and are sleeved on described Arc pulls out the bearing block 6 of the diamond shape of 7 one end of wheel, and the arc of the other end opposite with the bearing block 6 pulls out to be connected with wheel 7 Gear reducer 8, and the first dc motor 9 is connected with the gear reducer 8;The bearing block 6 is fixedly connected in rack 4, and Final drive shaft 14 is installed and from transmission shaft 21 in the rack 4;The final drive shaft 14 and chain is installed from transmission shaft 21 Formula conveyer belt 3, and second baffle 5 is installed in the rack 4 on the top of the chain conveyor 3;The both sides of the rack 4 The first electric cylinder 13 of symmetrical connection;
The crushing mechanism includes the double-roll crusher 17 positioned at the lower section of link belt 3, and the double-roll type The tip edges rotational installation first baffle 2 of crusher 17;The side wall of the double-roll crusher 17 is provided with the second direct current Motor 22;The compression mechanism includes the second electric cylinder 15 and the third baffle with second electric cylinder 15 rotation connection 16, and the third baffle 16 is rotationally connected with the double-roll crusher 17 and the bottom with the double-roll crusher 17 The side wall of the storage bin 20 of connection;
The both sides of the compression mechanism are symmetrically installed with catamaran 1, and the anterior hollow part installation of the catamaran 1 is collected Mechanism;The afterbody of the catamaran 1 is provided with propeller 19, and one end connection hydraulic giant 18 of the propeller 19;It is described spiral Paddle 19, first electric cylinder 13, second electric cylinder 15, first dc motor 9, second dc motor 22 are electrically connected with being arranged on the inside of holder 12 on 1 top of catamaran, and the holder 12 is with being arranged on the catamaran 1 The laser radar 10 on top, GPS11 inside are electrically connected.
Further, described first electric cylinder, 13 one end is fixed in the rack 4, and opposite with the rack 4 is another First electric cylinder 13 at end is fixed on the catamaran 1.
Further, the top of the rack 4 is provided with several equally distributed second baffles 5.
Further, the arc thumb wheel 7 is provided with several, and turns between the arc thumb wheel 7 and the bearing block 6 Dynamic connection.
Further, the maximum width of the rack 4 is less than the spacing between the catamaran 1 most inner side.
Further, the width of the third baffle 16 is equal to the height of the storage bin 20.
The control module of the present embodiment is located at refuse breaking mechanism top, is not shown in figure.GPS11 navigation modules are real Existing robot water surface independent navigation.Holder 12 and laser radar 10 identify garbage on water and water surface situation during cruise. It was found that after rubbish, can contexture by self garbage collection path, realize the flexible cleaning of garbage on water.Arc thumb wheel 7 and chain type pass Band 3 is sent to form garbage collection module.Thumb wheel mechanism is cantilever design, and it is anterior to be connected in transmission tape holder.For enhancing cantilever design Stability, thumb wheel mechanism use triangular framing.Thumb wheel one end is connected with the bearing block 6 of diamond shape, and other end connection is carried in right angle First dc motor 9 of empty formula gear reducer 8.Such connection mode eliminates the bearing block and shaft coupling of one end, while Make overall structure compacter.Meanwhile arc thumb wheel 7 makes its own be not easy to tangle with garbage on water, thus greatly reduce straight Flow the possibility of motor overload.The both sides of chain conveyor 3 are equipped with the sprocket engagement on chain, with axis.Conveyer belt is from transmission shaft 21 both ends are connected using square shaft bearing with rack 4, and the connection mode of final drive shaft 14 is identical with arc thumb wheel 7.Pass at the same time Send to take and a second baffle 5 is set at a certain distance, the rubbish for preventing from collecting is slipped in water.Rubbish is received through thumb wheel Collection, and broken module is sent to by conveyer belt.Double-roll crusher 17 operates, and rubbish in irregular shape is divided into fritter. Double-roll crusher 17 is equally driven by the second direct current generator 22 with right angle hollow type gear reducer 8.Rubbish after broken drops Into rubbish compressing mechanism.At regular intervals, the second electric cylinder 15 pushes third baffle 16 and moves back the fragment shape rubbish of accumulation Into the rubbish storage case 20 at catamaran rear portion.When compression mechanism works, first baffle 2 above crushing mechanism is by crusher Closure of openings, prevents rubbish from falling to compression mechanism rear portion.Since rubbish is fragment shape, it is possible to fill whole storage bin 20, so as to farthest utilize the space of storage bin.There are a pressure sensor, compression mechanism compressed garbage at storage box rear portion When reaching certain pressure, represent that storage bin is full, specialized robot is just stopped, and garbage collecting mechanism is lifted simultaneously far From the water surface, nearest bus stop unloading rubbish is found.
In conclusion in the present embodiment, specialized robot system is independently cleared up according to the flexible garbage on water of the present embodiment System, it is provided in this embodiment flexibility garbage on water independently clear up specialized robot system by holder 12, laser radar 10, GPS11 and control module realize that refuse on water surface independently clears up specialized robot in the independent navigation in large-scale waters, independently knowledge Not, so as to widen the working range of reality significantly, and the contexture by self collecting path after garbage on water is identified, realize the water surface Refuse flexible is cleared up;The refuse collector of the present invention, can make specialized robot complete original place and salvage rubbish operation, so as to To meet its garbage collection operations in narrow water.Meanwhile the hydraulic giant 18 of outfit also it to handle to be deposited in waters The rubbish in corner;The larger floating material of volume can be broken into fritter, while compression set by the garbage crushing device of the present invention Storage warehouse can be compressed it, takes full advantage of storage area, so as to carry more rubbish in actual job;This Invention by garbage collection in storage bin 20, so that rubbish be isolated with waters;, can be soon for the rubbish of high pollution Isolate pollution sources, prevent secondary pollution;The present invention can carry the modules such as water quality monitoring module, waters mapping, flow monitoring, with Realize multiple functions;And the tasks such as patrol waterborne, water life-saving can be served as.
The above, is only further embodiment of the present invention, but protection scope of the present invention is not limited thereto, any In scope disclosed in this invention, technique according to the invention scheme and its design add those familiar with the art With equivalent substitution or change, protection scope of the present invention is belonged to.

Claims (6)

1. a kind of flexibility garbage on water independently clears up specialized robot system, it is characterised in that:Including collecting mechanism, crushing mechanism And compression mechanism, the collecting mechanism include arc thumb wheel (7) and are sleeved on the bearing that the arc pulls out the diamond shape of wheel (7) one end Seat (6), the arc of the opposite other end, which pulls out, with the bearing block (6) is connected with gear reducer (8) on wheel (7), and described subtracts The first dc motor (9) is connected with fast machine (8);The bearing block (6) is fixedly connected in rack (4), and the rack (4) final drive shaft (14) is installed and from transmission shaft (21) on;The final drive shaft (14) and it is provided with from transmission shaft (21) Chain conveyor (3), and second baffle (5) is installed in the rack (4) on the top of the chain conveyor (3);It is described The both sides of rack (4) symmetrically connect the first electric cylinder (13);
The crushing mechanism includes the double-roll crusher (17) below the link belt (3), and the double-roll type The tip edges rotational installation first baffle (2) of crusher (17);The side wall of the double-roll crusher (17) is provided with Two dc motors (22);The compression mechanism includes the second electric cylinder (15) and rotates with second electric cylinder (15) to connect The third baffle (16) connect, and the third baffle (16) be rotationally connected with the double-roll crusher (17) and with it is described double The side wall of the storage bin (20) of the bottom connection of kibbler roll (17);
The both sides of the compression mechanism are symmetrically installed with catamaran (1), and the anterior hollow part installation of the catamaran (1) is collected Mechanism;The afterbody of the catamaran (1) is provided with propeller (19), and one end connection hydraulic giant (18) of the propeller (19); The propeller (19), first electric cylinder (13), second electric cylinder (15), first dc motor (9), institute State the second dc motor (22) and be arranged on inside the holder (12) on the catamaran (1) top and be electrically connected, and the cloud Platform (12) and the internal electric connection of laser radar (10), GPS (11) for being arranged on the catamaran (1) top.
2. a kind of flexible garbage on water according to claim 1 independently clears up specialized robot system, it is characterised in that:Institute State the first electric cylinder (13) one end to be fixed in the rack (4), first electricity of the opposite other end with the rack (4) Dynamic cylinder (13) is fixed on the catamaran (1).
3. a kind of flexible garbage on water according to claim 1 independently clears up specialized robot system, it is characterised in that:Institute The top for stating rack (4) is provided with several equally distributed second baffles (5).
4. a kind of flexible garbage on water according to claim 1 independently clears up specialized robot system, it is characterised in that:Institute State arc thumb wheel (7) and be provided with several, and be rotatablely connected between the arc thumb wheel (7) and the bearing block (6).
5. a kind of flexible garbage on water according to claim 1 independently clears up specialized robot system, it is characterised in that:Institute The maximum width of rack (4) is stated less than the spacing between the catamaran (1) most inner side.
6. a kind of flexible garbage on water according to claim 1 independently clears up specialized robot system, it is characterised in that:Institute The width for stating third baffle (16) is equal to the height of the storage bin (20).
CN201711060900.5A 2017-11-02 2017-11-02 A kind of flexibility garbage on water independently clears up specialized robot system Pending CN107972826A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109137860A (en) * 2018-07-30 2019-01-04 重庆交通大学 A kind of over-water floats collect processing integrated equipment and method
CN109208562A (en) * 2018-10-30 2019-01-15 权哲宏 A kind of cleaning plant of garbage on water floating material
CN109375633A (en) * 2018-12-18 2019-02-22 河海大学常州校区 River course clear up path planning system and method based on global state information
CN109440748A (en) * 2018-10-30 2019-03-08 权哲宏 A kind of cleaning plant of garbage floating on water surface
CN109774871A (en) * 2019-02-15 2019-05-21 南京帕维克新能源科技有限公司 A kind of intelligent water surface robot
CN110331707A (en) * 2019-07-26 2019-10-15 东阳伯格环保科技有限公司 A kind of river surface cleanness automatic maintaining device
CN110816763A (en) * 2019-11-22 2020-02-21 湖北工业大学 Clear ship that cruises of floating
CN111846123A (en) * 2020-07-27 2020-10-30 浙江工业大学之江学院 Overwater garbage collection robot and path planning method thereof
CN112222142A (en) * 2020-08-27 2021-01-15 南京涵铭置智能科技有限公司 Intelligent sorting device and method for urban household garbage
WO2021098575A1 (en) * 2019-11-19 2021-05-27 江苏科技大学 Water surface garbage salvaging device
CN111846123B (en) * 2020-07-27 2021-08-27 浙江工业大学之江学院 Overwater garbage collection robot and path planning method thereof

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109137860A (en) * 2018-07-30 2019-01-04 重庆交通大学 A kind of over-water floats collect processing integrated equipment and method
CN109208562A (en) * 2018-10-30 2019-01-15 权哲宏 A kind of cleaning plant of garbage on water floating material
CN109440748A (en) * 2018-10-30 2019-03-08 权哲宏 A kind of cleaning plant of garbage floating on water surface
CN109440748B (en) * 2018-10-30 2020-11-27 湖州达立智能设备制造有限公司 Cleaning device for water surface floating garbage
CN109375633A (en) * 2018-12-18 2019-02-22 河海大学常州校区 River course clear up path planning system and method based on global state information
CN109774871A (en) * 2019-02-15 2019-05-21 南京帕维克新能源科技有限公司 A kind of intelligent water surface robot
CN110331707A (en) * 2019-07-26 2019-10-15 东阳伯格环保科技有限公司 A kind of river surface cleanness automatic maintaining device
CN110331707B (en) * 2019-07-26 2020-03-24 东阳伯格环保科技有限公司 Automatic maintenance device for surface cleanliness of river channel
WO2021098575A1 (en) * 2019-11-19 2021-05-27 江苏科技大学 Water surface garbage salvaging device
CN110816763A (en) * 2019-11-22 2020-02-21 湖北工业大学 Clear ship that cruises of floating
CN111846123A (en) * 2020-07-27 2020-10-30 浙江工业大学之江学院 Overwater garbage collection robot and path planning method thereof
CN111846123B (en) * 2020-07-27 2021-08-27 浙江工业大学之江学院 Overwater garbage collection robot and path planning method thereof
CN112222142A (en) * 2020-08-27 2021-01-15 南京涵铭置智能科技有限公司 Intelligent sorting device and method for urban household garbage

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