CN109774872A - A kind of double driven type garbage on water cleaning intelligent robots - Google Patents
A kind of double driven type garbage on water cleaning intelligent robots Download PDFInfo
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- CN109774872A CN109774872A CN201910163455.8A CN201910163455A CN109774872A CN 109774872 A CN109774872 A CN 109774872A CN 201910163455 A CN201910163455 A CN 201910163455A CN 109774872 A CN109774872 A CN 109774872A
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- 229910052742 iron Inorganic materials 0.000 claims description 11
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Abstract
A kind of double driven type garbage on water cleaning intelligent robots, including main hull, main hull is divided into front deck and rear deck, front deck places control system, rear deck places dynamical system, main hull bosom is provided with deck board, sail is provided in deck board, main hull tail portion is provided with rudder for ship, main hull two sides are provided with garbage collection conveying device, the end of garbage collection conveying device operation is provided with garbage containing device, garbage collection conveying device front is provided with mechanical arm, dynamical system includes differential propulsion system and sail rudder for ship system, dynamical system, garbage collection conveying device and mechanical arm are connected with control system respectively, the present invention passes through intelligent means, garbage on water is efficiently collected in time, ensure water body clean-up performance, be conducive to construct conservation culture city simultaneously, it uses manpower and material resources sparingly, it integrates with the intelligent epoch, realize city intelligence Intelligent formula management and operation are that the people in city creates more good days, promote harmony, the Sustainable Growth in city.
Description
Technical field
The present invention relates to rubbish cleaning equipment technical field, in particular to a kind of double driven type garbage on water clean intelligent machine
Device people.
Background technique
China is the country of a serious water shortage.Major rivers water system is by different degrees of pollution.Most of pollution
The rubbish of water quality all can first swim in the water surface, if processing not in time, can further pollute water quality, bring it is more serious after
Fruit.
In addition, city appearance water body is also by different degrees of pollution.Its two sides plant is few, organism in water is few, by
Mankind action is big, these characteristics determine that urban river environmental carrying capacity is small, the feature of ecosystem fragility.Urban landscape water
Body dust man make it is very urgent, but workload be it is huge, need to expend huge manpower and material resources in this respect.Although mesh
Preceding device for cleaning water surface rubbish existing in the market, often large-scale water area refuse pick-up boat, or cleaning boat for water surface, structure are multiple
It is miscellaneous, figure is huge, with high costs, be not suitable for very much using in small-sized waters.The cities such as campus man-made lake, cell sightseeing man-made lake
The cleaning method of city's landscape waters floater mainly uses the conventional tools such as the hand-held string bag to be purged, and there is cleaning
The not drawbacks such as clean, time-consuming, low efficiency, large labor intensity.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of double driven type garbage on water are clear
Clean intelligent robot can carry out the intelligent robot of garbage collection, the machine on the city appearance water bodies such as small and medium river channel, lake surface
Device people's will efficiently collects garbage on water by intelligent means in time, it is ensured that water body clean-up performance, while being conducive to building life
State civilized city, uses manpower and material resources sparingly, and integrates with the intelligent epoch, realizes the management of city intelligent formula and operation, is people's wound in city
More good days is made, harmony, the Sustainable Growth in city are promoted.
To achieve the goals above, the technical solution adopted by the present invention is that:
A kind of double driven type garbage on water clean intelligent robot, including main hull 1, and main hull 1 divides for front deck and rear deck,
Front deck places control system, and rear deck places dynamical system, and 1 bosom of main hull is provided with deck board, is provided with sail in deck board
3,1 tail portion of main hull is provided with rudder for ship 4, and 1 two sides of main hull are provided with garbage collection conveying device, garbage collection
The end of conveying device operation is provided with garbage containing device 8, and garbage collection conveying device front is provided with mechanical arm 2, described
Dynamical system include differential propulsion system and sail rudder for ship system, dynamical system, garbage collection conveying device and mechanical arm 2 divide
It is not connected with control system, the garbage collection conveying device is hung on the ship wall of main hull 1 by hook rack 7, hook rack 7
It is made of two crotches and iron sheet, iron sheet is welded on crotch according to crotch form, passes through two between garbage collection conveying device
The connection of root iron.
The differential propulsion system includes two propellers with model, and propeller is arranged inside rear deck two sides, pushes away
It include the impeller 13 for being mounted on 1 tail portion of main hull, impeller 13 and the 12 one end phase of transmission shaft being mounted in driving sleeve 11 into device
Even, 12 other end of transmission shaft connects motor 10, and motor 10 is placed on rear deck, and the control system is connected with propeller.
The sail rudder for ship system includes sail 3, and sail snap ring 33 is provided at the top of sail 3, is set positioned at 3 bottom of sail
It is equipped with the stepper motor 32 for controlling its steering, stepper motor 32 is connected with control system, and the stepper motor 32 is fixed
On cabin partition, the second gear 36 of first gear 35 and the setting of mast foot on the motor shaft on stepper motor 32 is nibbled
It closes, 1 fore of main hull is provided with wind vane 34, wind direction information is transmitted to control system by sensor by wind vane 34.
The garbage collection conveying device includes conveyer belt 16, and 16 two sides of conveyer belt are provided with chain 15, conveyer belt 16
On across there is a steel bar, chain 15 connect with steel bar and is connected with 16 top two sides sprocket wheel 9 of conveyer belt is located at, and is arranged between sprocket wheel 9
There is driving shaft 17,17 end of driving shaft is connect by shaft coupling 20 with servo motor 22, it is provided with driven shaft below conveyer belt 16,
Garbage collection conveying device is low early and high after structure on traffic direction.
The garbage collection conveying device front is located at the water surface or less.
Bearing block 19 is provided on the driving shaft 17, added with spacer 14, bearing block 19 between sprocket wheel 9 and bearing block 19
On supporting steel frame 21,20 sets of shaft coupling in pedestal 23.
The garbage containing device 8 is to have sprayed that the wire netting of metal-protective paint is converted into without cover net bucket, outstanding by linking up with
It hangs on the bracket at garbage collection delivery device tip, rubbish cloth bag, the no cover net bucket net is equipped with inside no cover net bucket
For measuring the infrared exoelectron measuring instrument 18 of rubbish height, infrared exoelectron measuring instrument 18 is connected with control system for mouth placement one.
The mechanical arm 2 includes rectangle wire netting, and rectangle wire netting passes through 26 phase of shaft with garbage collection conveying device
Capable rotation is repeatedly kicked into, shaft 26 is arranged on shaft seat 27, and shaft 26 provides power by steering engine 28, and steering engine 28 is with 30 turns of moving gear
Dynamic, gear 30 is engaged with the gear 31 for being fixed on shaft 26.
1 end of main hull is triangular shape.
It is sealed when the driving sleeve 11 passes through hull by rubber pad 5.
The model high-performance microcontroller STM32F407 of the control system is as core chips.
The 18 model GP2Y0A21YKOF infrared distance sensor module of infrared exoelectron measuring instrument.
The model RCD-MI50 underwater propeller of the propeller.
Beneficial effects of the present invention:
1, garbage collection range is big, and single garbage collection amount is big.There are conveying device in fore two sides and fore two sides are installed
There is mechanical arm, working efficiency can be enhanced.
2, hull capacity is big.Large copacity power supply can be carried, cruising ability is stronger.It is suitble to the dustman of middle-size and small-size lake surface
Make.
3, staff recycles convenient garbage.After homeward, staff can directly be proposed garbage containing device, wait work
Personnel reinstall garbage containing device after handling rubbish, and robot can be homeward immediately, improves efficiency.
4, garbage collection is intelligent.Robot automatic cruising, identification rubbish are collected.Separately there is rubbish weighing device,
Quality reaches rated value and makes a return voyage automatically.The tw o system control of intelligence system and manual remote control can make people and machine preferably
Cooperation, mitigates the labour of people.
6, propulsion device uses propeller differential steering, can make robot ambulation faster, and turning is flexible.
7, using wind vane detection wind direction, the processing of control system wind direction information, step motor control sail angle, so that machine
Device people is more convenient using wind energy.
8, manually snap ring is adjusted and realizes that sail lifting is more convenient efficient compared to adjusting using pulley.
9, conveyer belt uses chain wheel drive, brakes compared to frictionally between conveyer belt and axis, this structure will not make defeated
It send band to skid, while alleviating the weight of robot, part processing is simpler.
10, electric energy, solar energy, the comprehensive of wind energy use, and not only realize the purpose of energy-saving and emission-reduction, while also greatly increasing
Its strong cruising ability, allows device to keep full-time employment state.
Detailed description of the invention
Fig. 1 is the model that double driven type garbage on water clean intelligent robot.
Fig. 2 is the collection conveying device of robot.
Fig. 3 is the main hull of robot.
Fig. 4 is the driving shaft installation diagram for collecting conveying device.
Fig. 5 is the propeller system of robot.
Fig. 6 is the robot arm device of robot.
Fig. 7 is the garbage containing device of robot.
Fig. 8 is the sail power device of robot.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1: the structure of double driven type garbage on water cleaning intelligent robots generally comprise main hull 1, collect it is defeated
Send device, propeller, garbage containing device 8, sail 3, rudder for ship 4 etc..
Main hull 1 divides for front deck and rear deck, and control system, solar panels, battery, the work of robot are mainly placed in front deck
Have case and storage tank etc..Sail 3 is installed in intermediate deck board, rear deck places the dynamical system of entire robot.Hull tail portion
Centre rudder for ship 4 is installed, two sides are the impellers 13 of propeller.
Power system architecture includes differential propulsion system structure and sail rudder for ship system structure.The former is using electric energy as machine
Device people's energy source, the latter is using wind energy as robot energy source.The comprehensive collocation of two dynamical systems uses, and makes full use of
The energy, economical environment-protective.
As shown in Figure 3: differential propulsion system structure is made of two propellers with model.Propeller includes motor
10, driving sleeve 11, transmission shaft 12, impeller 13 etc. form, and transmission shaft 12 is mounted in driving sleeve 11 and links with impeller 13.It examines
When considering propeller and being mounted on main hull 1, it can be had the gap between driving sleeve 11 and ship wall, lead to hull leak.The present apparatus
It is sealed using rubber pad 5, prevents leak.Motor 10 drives transmission shaft 12 to rotate, so that the rotation of impeller 13 is (such as Fig. 5 institute
Show), robot moves forward.Slewing rate by controlling two motor 10 makes two impellers 13 generate rotational speed difference, from
And realize the steering of robot.The differential rotational action is reliable, high sensitivity, provides power guarantor for the omnibearing movable of hull
Barrier, convenient for collecting edge rubbish.
Sail rudder for ship system structure is by sail 3, rudder for ship 4, stepper motor 32, sail snap ring 33 and wind direction as shown in Figure 1:
34 composition of mark.Stepper motor 32 is fixed on cabin partition, the second gear of the first gear 35 on motor shaft and mast foot
36 engagements (as shown in Figure 8).Sail snap ring 33 is fixed on the top of sail 3, can be made by manual operation 33 clamping of sail snap ring or
Kathon CG realizes the operation hoisted a sail and lowerd a sail.Robot determines wind direction by wind vane 34, and is passed wind direction information by sensor
To control system, signal is transmitted to stepper motor 32 by control system, makes it that mast be driven to turn an angle.It is automatic to realize
The angle for adjusting sail 3 and wind direction, enables sail 3 to be constantly in windward side.Reaching final effect can be dropped in calm weather
Lower sail provides power using solar energy, electric energy.Before having wind weather, robot that can convert oneself for wind-force using sail 3
Into power, direction is grasped by control rudder for ship 4, realizes and turns to.
As shown in Fig. 2 Fig. 4: garbage collection conveying device include mechanical arm 2, hook rack 7, sprocket wheel 9, spacer 14, chain 15,
Conveyer belt 16, driving shaft 17, driven shaft, bearing block 19, shaft coupling 20, supporting steel frame 21, servo motor 22, garbage containing device
8, pedestal 23, tensioning apparatus 24, infrared exoelectron measuring instrument 18.
Steel bar is horizontally through conveyer belt 16, and chain 15 is fixed on 16 two sides of conveyer belt, it is therefore an objective to be by connecting with steel bar
Driving conveying belt 16 works when rotating sprocket wheel 9.
As shown in Figure 4: driving shaft 17 assembles as follows: a sprocket wheel 9 is respectively installed in 17 two sides of driving shaft, and both ends all with branch
The bearing block 19 supportted on steelframe 21 cooperates, in order to keep each part cooperation on main shaft close, between sprocket wheel 9 and bearing block 19 added with every
Set 14.17 end of driving shaft is connect by shaft coupling 20 with servo motor 22.In order to fix servo motor 22, in supporting steel frame 21
One pedestal 23 of upper installation, servo motor 22 are connected by screw on pedestal.Meanwhile shaft coupling 20 is enclosed in pedestal 23,
Not only it had protected axis to be connected to motor partially not contaminated but also had kept total neat and artistic.
The assembly of driven shaft and driving shaft 17 are almost the same, and the main distinction is that driven shaft does not need to connect with servo motor
It connects.
As shown in Figure 7: garbage containing device 8 is converted by the wire netting for having sprayed metal-protective paint without cover net bucket, is anti-
Only the iron wire burr of network interface is hurted sb.'s feelings, and is stepped up iron wire network interface using clamping plate.Garbage collection conveying device end is suspended on using hook
On bracket at end.Rubbish cloth bag is equipped with inside net bucket, when rubbish receives full, staff can directly be proposed, simple side
Just.An infrared exoelectron measuring instrument 18 is disposed in iron wire network interface, when rubbish is received completely, it is simultaneously anti-that infrared exoelectron measuring instrument receives information
It feeds control system.Robot returns to bank, and staff is waited to handle rubbish.The design lightweight is succinct, material is at low cost, receives
Device of receiving can be recycled.
Hook rack 7 is fixed on the bracket for collecting conveying device, while hanging over Chuan Bishang, and blending bolt is stepped up.Hook rack 7
It is made of two crotches and iron sheet.Iron sheet is welded on crotch according to crotch form, is increased crotch to the force area of ship wall, is subtracted
The pressure of small pair boat wall protects hull.It between two conveying devices in left and right, is connected by two irons, to reduce conveying dress
The pulling force outside to ship wall is set, the protection to hull is increased.
As shown in Figure 6: mechanical arm 2 is made of rectangle wire netting, square tube, shaft 26, shaft seat 27 and steering engine 28, lightweight
Inexpensively.Because its unique reticular structure reduces in robot traveling process water to its resistance.In mechanical arm 2 and conveying device
Fixed position is mounted with steering engine 28, when robot detects the position of rubbish, passes information to steering engine 28, makes its drive
Gear 30 rotates, and gear 30 is engaged with the gear 31 for being fixed on shaft 26, so that shaft rotates.To realize mechanical arm 2 one
Rotation within the scope of 180 ° fixed pulls over front rubbish in front of robot.The design of mechanical arm considerably increases robot receipts
The region area for collecting rubbish, greatly improves work efficiency.
The working principle of the invention:
When on the water surface, 16 bottom end of conveyer belt is immersed in water, using automatic cruising technological movement, using wind direction for robot
Mark is differentiated to wind direction and is automatically adjusted the angle of sail and wind direction, realizes automatic obstacle-avoiding, benefit using ultrasonic wave identifying system
It uses raspberry pie 3B as hardware handles equipment, visual identity is realized using the platform computer vision library OpenCV, when robot sense
It when orientation by rubbish, is travelled to garbage areas, mechanical arm 2 pulls over rubbish to immediately ahead of robot, and triangle fore is suitable
Will definitely rubbish be divided into left and right two parts, the top of device is transported to by the collection conveying device at left and right sides of hull, gravity make
It is fallen in refuse bag under.
After refuse bag is loaded with rubbish, the infrared electronic measuring instrument 18 on garbage containing device is transmitted information to
Robot control system is handled, and robot is gradually decelerated to stopping, stopping one minute in situ, during which there was only conveying device
Motor keep rotation, it is therefore an objective to guarantee that the rubbish on conveyer belt is all received in refuse bag, then, conveyer motor stop
Work, robot is by pre-set program self-navigation to bank, when robot is stopped to bank, by the rubbish on ship
After rubbish unloads, robot will return to korneforos and carry out garbage reclamation.
In addition, robot also uses artificial intelligence remote control equipment simultaneously.It is auxiliary with manual operation, when event occurs in robot
When barrier, it can be remotely operated, be debugged by manual remote control, robot is made to complete work.
Claims (9)
1. a kind of double driven type garbage on water clean intelligent robot, which is characterized in that including main hull (1), main hull (1) point
For front deck and rear deck, front deck places control system, and rear deck places dynamical system, and main hull (1) bosom is provided with deck board, cabin
It is provided on plate sail (3), the main hull (1) tail portion is provided with rudder for ship (4), is located at main hull (1) two sides and is provided with rubbish
Rubbish collects conveying device, and the end of garbage collection conveying device operation is provided with garbage containing device (8), garbage collection conveying dress
Front to be set to be provided with mechanical arm (2), the dynamical system includes differential propulsion system and sail rudder for ship system, dynamical system,
Garbage collection conveying device and mechanical arm (2) are connected with control system respectively, and the garbage collection conveying device passes through hook
Frame (7) is hung on the ship wall of main hull (1), and hook rack (7) is made of two crotches and iron sheet, and iron sheet is welded according to crotch form
On crotch, pass through two iron connections between garbage collection conveying device.
2. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
Differential propulsion system includes two propellers with model, and two sides are arranged inside rear deck in propeller, and propeller includes being mounted on
The impeller (13) of main hull (1) tail portion, impeller (13) are connected with transmission shaft (12) one end being mounted in driving sleeve (11), pass
Moving axis (12) other end connects motor (10), and motor (10) is placed on rear deck, and the control system is connected with propeller.
3. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
Sail rudder for ship system includes sail (3), is provided with sail snap ring (33) at the top of sail (3), and it is useful to be located at the setting of sail (3) bottom
In controlling its stepper motor (32) turned to, stepper motor (32) is connected with control system, and the stepper motor (32) is fixed
On cabin partition, the second gear of the setting of first gear (35) and mast foot on the motor shaft on stepper motor (32)
(36) it engages, is located at main hull (1) fore and is provided with wind vane (34), wind direction information is transmitted to by wind vane (34) by sensor
Control system.
4. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
Garbage collection conveying device includes conveyer belt (16), and conveyer belt (16) two sides are provided with chain (15), on conveyer belt (16) across
There is steel bar, chain (15) connect with steel bar and is connected with two sides sprocket wheel (9) above conveyer belt (16) is located at, and sprocket wheel is set between (9)
It is equipped with driving shaft (17), driving shaft (17) end is connect by shaft coupling (20) with servo motor (22), below conveyer belt (16)
It is provided with driven shaft, garbage collection conveying device is low early and high after structure on traffic direction；
The garbage collection conveying device front is located at the water surface or less.
5. a kind of double driven type garbage on water according to claim 4 clean intelligent robot, which is characterized in that described
It is provided on driving shaft (17) bearing block (19), added with spacer (14), bearing block (19) position between sprocket wheel (9) and bearing block (19)
In on supporting steel frame (21), shaft coupling (20) covers in pedestal 23.
6. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
Garbage containing device (8) is to have sprayed that the wire netting of metal-protective paint is converted into without cover net bucket, is suspended on garbage collection by hook
On bracket at delivery device tip, rubbish cloth bag is equipped with inside no cover net bucket, the no cover net bucket network interface disposes a use
In the infrared exoelectron measuring instrument 18 of measurement rubbish height, infrared exoelectron measuring instrument (18) is connected with control system.
7. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
Mechanical arm (2) includes rectangle wire netting, and rectangle wire netting, which is connected with garbage collection conveying device by shaft (26), to be rotated,
Shaft (26) is arranged on shaft seat (27), and shaft (26) provides power, steering engine (28) band moving gear (30) by steering engine (28)
Rotation, gear (30) are engaged with the gear (31) for being fixed on shaft (26).
8. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
Main hull (1) end is triangular shape.
9. a kind of double driven type garbage on water according to claim 1 clean intelligent robot, which is characterized in that described
It is sealed when driving sleeve (11) passes through hull by rubber pad (5).
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| CN110844010A (en) * | 2019-11-18 | 2020-02-28 | 徐州市贾汪区佳顺水产养殖专业合作社 | Clean device for surface of water that efficiency is high |
| CN112709201A (en) * | 2020-12-24 | 2021-04-27 | 傅建文 | Garbage collection device based on water environment |
| CN114408107A (en) * | 2022-02-25 | 2022-04-29 | 金陵科技学院 | Multifunctional integrated intelligent lake surface cleaning robot and use method thereof |
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Application publication date: 20190521 |
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| WD01 | Invention patent application deemed withdrawn after publication |