CN111547240B - Intelligent unmanned water surface dirt cleaning equipment - Google Patents
Intelligent unmanned water surface dirt cleaning equipment Download PDFInfo
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- CN111547240B CN111547240B CN202010455943.9A CN202010455943A CN111547240B CN 111547240 B CN111547240 B CN 111547240B CN 202010455943 A CN202010455943 A CN 202010455943A CN 111547240 B CN111547240 B CN 111547240B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/103—Rotary drums
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses intelligent unmanned equipment for cleaning water surface dirt, which comprises an engine body and a collecting box, wherein the collecting box is positioned at the position of the rear side below the engine body, the bottom end of the engine body is provided with a conveying mechanism, the conveying mechanism is obliquely and downwards distributed towards the front of the engine body, and the bottom surface of the conveying mechanism is provided with a grabbing component for grabbing water surface floaters. The grabbing assembly comprises a power mechanism, two driving mechanisms and two winding mechanisms, the power mechanism is arranged on the bottom surface of the conveying mechanism in a sliding mode, the driving mechanisms and the winding mechanisms are arranged on the power mechanism, the power mechanism can drive the two winding mechanisms to move relatively, and the driving mechanisms can drive the winding mechanisms to rotate around the axes of the driving mechanisms. The invention provides the pre-clamping force to ensure that the garbage bag can be clamped smoothly; the winding and clamping force is provided, and the garbage bag is prevented from falling off in the fishing process; the garbage bag can be stably fished out; the risk of workers is reduced, and the cleaning efficiency of the dirt on the surface of the water body is improved.
Description
Technical Field
The invention relates to the technical field of water surface dirt cleaning, in particular to intelligent unmanned water surface dirt cleaning equipment.
Background
The natural environment is mainly relative to the social environment, and refers to an environment formed by natural things such as water, soil, regions, and climate. The natural environment has important significance for the survival and the life of people. However, in recent years, with the rapid development of industry, the problem of environmental pollution is becoming more and more prominent, and environmental governance is becoming to be up to the backdrop.
The water body surface dirt mainly refers to garbage floating on the water body surfaces of rivers, lakes, seas and the like, and comprises domestic garbage such as garbage bags, plastic bags, melons and fruits, dry branches and fallen leaves and the like, waste diesel oil and engine oil in industrial areas, edible oil produced by resident lives and catering and duckweed floating plants with extremely high growth and propagation speeds. The garbage bags and the plastic bags are not easily degraded by the natural environment, the pollution degree is serious, and people need to fish the garbage bags and the plastic bags regularly to protect the environmental safety.
In the process of fishing the garbage bag on the surface of the water body, the traditional fishing method is to fish the garbage bag by using a bamboo pole, but the bamboo pole has a smooth surface and small friction force, and the garbage bag is easy to slide off in the process of fishing. On the market, also there is the salvage cleaning device of specialty, but, snatchs the dynamics big enough, when having other debris in meetting great disposal bag or the disposal bag, is difficult to stable salvage the disposal bag, has the risk that the disposal bag dropped at the in-process of salvaging.
Especially in the deep water, high mountain environment etc. environment, the operation environment is comparatively dangerous, and the artificial risk of fishing is too high, therefore how to reduce the water body surface risk of decontaminating, improves the operating efficiency, is the technical problem that awaits solution at present.
Disclosure of Invention
The invention aims to provide intelligent unmanned equipment for cleaning water surface dirt.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: an intelligent unmanned water surface dirt cleaning device comprises a machine body and a collecting box, wherein the collecting box is positioned at the lower rear side of the machine body, a conveying mechanism is arranged at the bottom end of the machine body, the conveying mechanism is obliquely and downwards distributed towards the front of the machine body, and a grabbing component for grabbing water surface floaters is arranged on the bottom surface of the conveying mechanism;
the grabbing assembly comprises a power mechanism, two driving mechanisms and two winding mechanisms, the power mechanism is arranged on the bottom surface of the conveying mechanism in a sliding mode, the driving mechanisms and the winding mechanisms are both arranged on the power mechanism, the power mechanism can drive the two winding mechanisms to move relatively, and the driving mechanisms can drive the winding mechanisms to rotate around the axes of the driving mechanisms;
winding mechanism includes barrel, first extensible member, struts the subassembly, movable connecting element and a plurality of body of rod that struts, first extensible member is fixed to be set up on power unit's bottom, it sets up on first extensible member's bottom to strut the subassembly activity, the barrel passes through the bearing and rotates the setting on power unit's bottom, it is located to strut the subassembly the inside of barrel, and strut the subassembly and follow the direction of height distribution of barrel, strut the body of rod and set up on the side of strutting the subassembly through movable connecting element, strut body of rod slope and distribute upwards, and the outer end of the body of rod that struts extends to the outside of barrel.
Preferably, movable connecting components is including the first slider and the slide rail that mutually support and set up, the quantity that struts the body of rod is four, four adjacent two are divided into a set ofly in the body of rod struts, strut the inner of the body of rod and rotate and be equipped with the inserted bar, two be equipped with plug bush and elastic component between the inner of inserted bar, and the elastic component is located the plug bush, the slide rail is fixed the inboard of plug bush, first slider with strut subassembly swing joint.
Preferably, the strutting assembly has a plurality of diamond-shaped structures, the diamond-shaped structure is formed by four bar plates end to end hinge, the top of diamond-shaped structure is rotated and is equipped with the connecting seat, the bottom of first extensible member and the top fixed connection of connecting seat, the bottom of diamond-shaped structure with the interior bottom surface of barrel rotates the connection.
Preferably, a plurality of through holes are circumferentially formed in the barrel, the distraction rod body is arranged in the through holes in a sliding mode, and the cross section of the distraction rod body is of a circular structure.
Preferably, conveying mechanism includes transport driving piece, guide part, second slider and carries the piece, transport driving piece, guide part and carry the piece all to set up on the bottom surface of organism, the guide part distributes downwards towards the place ahead slope of organism, the second slider is fixed on the bottom surface of carrying the piece, transport driving piece can drive carries the piece gyration, carry the piece to drive the second slider and slide along the guide part.
Preferably, the power mechanism comprises an enclosed slide rail, a second telescopic piece, a moving piece and a third sliding piece, the second telescopic piece is fixed at the bottom end of the second sliding piece, the top end of the enclosed slide rail is fixedly connected with the second telescopic piece, the bottom end of the enclosed slide rail is horizontally distributed, the moving piece is fixed at the bottom end of the second telescopic piece, the bottom surface of the moving piece is rotatably connected with two pulling pieces, the bottom ends of the pulling pieces are rotatably connected with the third sliding piece, two driving mechanisms are respectively arranged on the two third sliding pieces, and the third sliding piece is slidably arranged at the bottom end of the enclosed slide rail.
Preferably, the closed slide rail is of an isosceles trapezoid frame structure, the cross section of the closed slide rail is of a circular structure, the pulling part is a rod body which is obliquely distributed, and the third sliding part is a rectangular block.
Preferably, the driving mechanism comprises a rotary driving part, a driving gear and a driven gear, the rotary driving part is fixed on the side surface of the third sliding part, the driving gear is fixed on an output shaft of the rotary driving part, the driven gear is fixed on the top end of the barrel body, and the driving gear and the driven gear are meshed with each other.
Preferably, the bottom of the machine body is provided with two floating pieces, the collecting box is fixed between the two floating pieces, and the bottom surface of the collecting box is provided with water leakage holes.
Preferably, the floating piece adopts a hollow air bag, the bottom surface of the floating piece adopts a horizontal plane, and the bottom surface of the floating piece is lower than the bottom surface of the collecting box.
Compared with the prior art, the intelligent water surface dirt cleaning unmanned equipment adopting the technical scheme has the following beneficial effects:
(one), start unmanned aerial vehicle's organism, the organism area snatchs the subassembly and removes towards surface of water floating garbage bag, conveying mechanism drives winding mechanism slope downstream and inserts winding mechanism in the surface of water floating garbage bag, then start the second extensible member, the bottom of second extensible member shortens and stimulates two first sliders and is close to each other, first slider drives two winding mechanism and is close to each other, thereby two winding mechanism grasp surface of water floating garbage bag mutually, provide the centre gripping dynamics in advance, ensure smooth centre gripping disposal bag.
(II), start the rotation driving piece, the output shaft of rotation driving piece takes place to rotate and drives the rotation of winding mechanism through driving gear, driven gear and in order to convolute the surface of water floating disposal bag, wherein, struts the body of rod and can strut and hang the disposal bag, further provides the coiling and the centre gripping dynamics, avoids the disposal bag to drop at the in-process of fishing for.
(III), start first extensible member, the bottom extension of first extensible member struts the subassembly in order to extrude, and the both sides of strutting the subassembly drive a plurality of body of rods that strut through movable coupling assembling and stretch out towards the outside of barrel to increase the dynamics of snatching that struts to hang on the disposal bag, when having other debris in meetting great disposal bag or the disposal bag, can be stable beat and fish out the disposal bag.
And (IV) the water surface floating garbage bag is salvaged by using unmanned equipment, manual fishing by using a bamboo pole is replaced, the risk of workers is reduced, and meanwhile, the cleaning efficiency of dirt (especially the garbage bag, waste clothes and the like) on the surface of the water body is improved.
Drawings
Fig. 1 is a perspective view of an intelligent unmanned surface pollutant cleaning device according to a first embodiment of the present invention.
Fig. 2 is a perspective view (another view angle) of the first embodiment.
Fig. 3 is a top view of the first embodiment.
Fig. 4 is a front view of the first embodiment.
FIG. 5 is a side view of the first embodiment.
FIG. 6 is a perspective view of a grasping element according to one embodiment.
Fig. 7 is a front view of the grasping assembly according to the first embodiment (when the two winding mechanisms are far apart from each other).
Fig. 8 is a front view of the grasping assembly according to the first embodiment (when the two winding mechanisms are close to each other).
Fig. 9 is a side view of a grasping element according to one embodiment.
Fig. 10 is a perspective view of the power mechanism and the drive mechanism according to one embodiment.
Fig. 11 is a top view of the power mechanism and the drive mechanism according to one embodiment.
FIG. 12 is a front sectional view of the winding mechanism according to the first embodiment.
FIG. 13 is a top view of a winding mechanism according to one embodiment.
Fig. 14 is an enlarged schematic view of a portion a in fig. 13.
Fig. 15 is a front sectional view of the winding mechanism according to the second embodiment.
Reference numerals: the device comprises a machine body 1, a conveying driving piece 11, a guide piece 12, a second sliding piece 121, a conveying piece 13, a floating piece 2, a collecting box 3, a power mechanism 4, a closed type sliding rail 41, a second telescopic piece 42, a moving piece 43, a pulling piece 44, a third sliding piece 45, a driving mechanism 5, a rotary driving piece 51, a driving gear 52, a driven gear 53, a winding mechanism 6, a cylinder body 61, a through hole 611, a first telescopic piece 62, a connecting seat 621, a spreading assembly 63, a first sliding piece 64, a sliding rail 65, a spreading rod body 66, an inserting rod 661, an inserting sleeve 662 and an elastic piece 663.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The first embodiment is as follows:
the intelligent unmanned water surface dirt cleaning equipment shown in the figures 1-5 comprises an equipment body 1 and a collecting box 3, wherein the collecting box 3 is located at the rear side position below the equipment body 1, the equipment body 1 is connected with a controller in a hand of a user through a wireless transmission module, wings and a storage battery are arranged on the equipment body 1, remote flying operation of the unmanned equipment is facilitated, the unmanned equipment is used for salvaging a water surface floating garbage bag, manual fishing with a bamboo pole is replaced, risks of workers are reduced, and meanwhile the water surface dirt cleaning efficiency is improved. Collecting box 3 is rectangular shape box body structure, and collecting box 3 is used for holding the surface of water floating garbage bag that convolutes, and the hole that leaks has been seted up to the bottom surface of collecting box 3, and the moisture of submerging falls from the hole that leaks in the surface of water floater to alleviate unmanned aerial vehicle's flight weight, preferred, the quantity in the hole that leaks is a plurality of, and the cross section in the hole that just leaks is circular structure.
As shown in fig. 1-5, the bottom of organism 1 is equipped with two floats 2, collecting box 3 is fixed between two floats 2, float 2 adopts hollow gasbag, the bottom surface of float 2 adopts the horizontal plane, ensure that organism 1 can remain the horizontality all the time, do benefit to and snatch the surface of water floater, the bottom surface of float 2 is less than the bottom surface of collecting box 3, avoid water surface direct contact to the bottom surface of collecting box 3, avoid the splash to soak again in collecting box 3 inside surface of water floater through the hole that leaks of collecting box 3 bottom surface, thereby alleviate unmanned aerial vehicle's flight weight. During the use, stop unmanned aerial vehicle above waiting to snatch the surface of water floater, make float 2 fall on the surface of water, the surface of water supports unmanned aerial vehicle's organism 1 to the buoyancy of float 2, then begins to salvage the operation to the surface of water floater.
As shown in fig. 1, 2, 4 and 5, the bottom end of the machine body 1 is provided with a conveying mechanism, and the conveying mechanism is distributed obliquely downwards towards the front of the machine body 1. Specifically, the conveying mechanism includes a conveying driving member 11, a guide member 12, a second sliding member 121, and a conveying member 13, the conveying driving member 11, the guide member 12, and the conveying member 13 are all disposed on the bottom surface of the machine body 1, wherein, the conveying driving part 11 adopts a motor, the model of the motor is FC-280, the motor is detachably arranged on the machine body 1 through a bolt, the guide part 12 is obliquely and downwards distributed towards the front of the machine body 1, the guide part 12 adopts a sliding plate with a long strip-shaped structure, the second sliding part 121 is fixed on the bottom surface of the conveying part 13, bosses are arranged on both sides of the second sliding part 121, the sliding plate with the long strip-shaped structure is provided with a long strip-shaped sliding groove opening, and the boss slides and sets up in rectangular shape sliding groove mouth, carries 13 and adopts conveying chain, transport link joint or conveyer belt, carries driving piece 11 and can drive and carry 13 gyration, carries 13 and can drive second slider 121 and slide along guide 12.
During the use, start and carry driving part 11, carry driving part 11 rotatory drive and carry piece 13 gyration, carry piece 13 gyration and drive second slider 121 removal, second slider 121 moves along guide 12 simultaneously. Specifically, when the output shaft of the conveying driving member 11 rotates in the forward direction, the output shaft of the conveying driving member 11 drives the conveying member 13 to rotate in the forward direction, and the second sliding member 121 is driven by the conveying member 13 and moves from a lower position to a higher position, so that the grabbing assembly is moved right above the collecting box 3, and the water surface floating objects grabbed by the grabbing assembly can fall into the collecting box 3; when the output shaft of carrying driving piece 11 is rotatory in the opposite direction, the output shaft of carrying driving piece 11 drives and carries 13 reverse gyration, and second slider 121 is carried 13 and is driven and move to lower position department from higher position to snatch the subassembly and move to the surface of water floater that waits to snatch on, thereby snatch the surface of water floater once more, realize the function of continuous operation.
As shown in fig. 1-5, the bottom surface of the conveying mechanism is provided with a grabbing assembly for grabbing the water surface floating objects. Particularly, the grabbing assembly comprises a power mechanism 4, two driving mechanisms 5 and two winding mechanisms 6, the power mechanism 4 is arranged on the bottom surface of the conveying mechanism in a sliding mode, the driving mechanisms 5 and the winding mechanisms 6 are arranged on the power mechanism 4, the driving mechanisms 5 and the winding mechanisms 6 are arranged correspondingly, the power mechanism 4 can drive the two winding mechanisms 6 to move relatively, and the driving mechanisms 5 can drive the winding mechanisms 6 to rotate around the axes of the driving mechanisms 5.
During the use, after two winding mechanism 6 insert in the surface of water floater, start power unit 4, two winding mechanism 6 of power unit 4 pulling are close to each other, reduce the distance between two winding mechanism 6, thereby grasp surface of water floating garbage bag between two winding mechanism 6 mutually, provide the centre gripping dynamics in advance, ensure smooth centre gripping garbage bag, then start actuating mechanism 5, actuating mechanism 5 drives winding mechanism 6 and rotates around the axis of self, thereby the surface of water floater is convoluteed, further provide coiling and centre gripping dynamics, avoid the surface of water floating garbage bag to drop at the in-process of fishing for.
As shown in fig. 6 to 9, the power mechanism 4 includes a closed slide rail 41, a second telescopic member 42, a moving member 43, and a third sliding member 45, the second telescopic member 42 is fixed on the bottom end of the second sliding member 121, wherein the second telescopic member 42 is a hydraulic telescopic rod or an electric push rod, the top end of the second telescopic member 42 and the bottom end of the second sliding member 121 are fixed by welding, the top end of the closed slide rail 41 is fixedly connected with the second telescopic member 42, and the bottom ends of the closed slide rail 41 are horizontally distributed. As shown in fig. 10, the closed slide rail 41 has an isosceles trapezoid frame structure, and adopts a symmetrical structural design, which is beneficial to stable operation, and the cross section of the closed slide rail 41 has a circular structure.
As shown in fig. 10, the moving member 43 is fixed on the bottom end of the second telescopic member 42, two pulling members 44 are rotatably connected to the bottom surface of the moving member 43, the pulling members 44 are rod bodies distributed obliquely, the moving member 43 has two end portions, and the two pulling members 44 are respectively rotatably connected to two ends of the moving member 43 through a rotating shaft. The bottom end of the pulling part 44 is rotatably connected with the third sliding part 45, the bottom end of the pulling part 44 can be rotatably connected with the third sliding part 45 through a hinge or a rotating shaft, the third sliding part 45 is a rectangular block, the two driving mechanisms 5 are respectively arranged on the two third sliding parts 45, the third sliding part 45 is slidably arranged at the bottom end of the closed type sliding rail 41, a sliding hole is formed in the middle of the rectangular block, and the bottom end of the closed type sliding rail 41 is located in the sliding hole.
During the use, start second extensible member 42, the bottom of second extensible member 42 shortens and drives moving member 43 rebound, moving member 43 draws two third sliders 45 inward displacement of piece 44 pulling through two, simultaneously, it takes place the swing to draw piece 44, and the both ends that draw piece 44 take place to rotate for moving member 43, third slider 45 respectively, two third sliders 45 all inwards slide along the horizontal bottom of enclosed type slide rail 41, the distance between two third sliders 45 reduces, thereby reduce the distance between two winding mechanism 6.
As shown in fig. 11, the driving mechanism 5 includes a rotary driving member 51, a driving gear 52 and a driven gear 53, the rotary driving member 51 is fixed on the side surface of the third sliding member 45, wherein the rotary driving member 51 adopts a slow motor, the motor is YDS56, the driving gear 52 is fixed on the output shaft of the rotary driving member 51, the driven gear 53 is fixed on the top end of the cylinder 61, and the driving gear 52 and the driven gear 53 are meshed with each other, wherein the driving gear 52 and the driven gear 53 both adopt cylindrical gears, the contact area is increased, and the stability of force transmission is ensured.
When the water surface floating device is used, the rotary driving piece 51 is started, the output shaft of the rotary driving piece 51 rotates to drive the driving gear 52 to rotate, the driving gear 52 drives the driven gear 53 to rotate, and the driven gear 53 drives the barrel 61 to rotate, so that water surface floating objects are wound or loosened. Specifically, when the output shaft of the rotary driving member 51 rotates in the forward direction, the output shaft of the rotary driving member 51 drives the cylinder 61 to rotate in the forward direction through the driving gear 52 and the driven gear 53, so that the floating objects on the water surface are wound, the winding and clamping force is further provided, and the garbage bag floating on the water surface is prevented from falling off in the fishing process; when the output shaft of the rotary driving member 51 rotates in the reverse direction, the output shaft of the rotary driving member 51 drives the cylinder 61 to rotate in the reverse direction through the driving gear 52 and the driven gear 53, thereby releasing the wound water surface floating objects.
As shown in fig. 12, the winding mechanism 6 includes a cylinder 61, a first expansion part 62, a spreading assembly 63, a movable connection assembly and a plurality of spreading rods 66, the first expansion part 62 is fixedly disposed at the bottom end of the power mechanism 4, the expansion ends of the first expansion part 62 are vertically distributed downward, the spreading assembly 63 is movably disposed at the bottom end of the first expansion part 62, and the cylinder 61 is rotatably disposed at the bottom end of the power mechanism 4 through a bearing to adapt to the rotation of the cylinder 61 around its own axis. Strutting the inside that the subassembly 63 is located barrel 61, and strutting the direction of height distribution that subassembly 63 follows barrel 61, it has a plurality of diamond-shaped structures to strut subassembly 63, every diamond-shaped structure is formed by four bar plates end to end hinge, the top of diamond-shaped structure is rotated and is equipped with connecting seat 621, the bottom of first extensible member 62 and the top fixed connection of connecting seat 621, it is preferred, adopt welded fastening between the bottom of first extensible member 62 and the top of connecting seat 621, adopt between the bottom of diamond-shaped structure and the interior bottom surface of barrel 61 to rotate and connect.
When the telescopic device is used, the first telescopic piece 62 is started, when the bottom end of the first telescopic piece 62 extends downwards, the bottom end of the first telescopic piece 62 drives the connecting seat 621 to move downwards and extrude the top end of the expanding component 63, and under the effect of joint extrusion of the connecting seat 621 and the inner bottom surface of the cylinder body 61, the expanding component 63 deforms simultaneously, so that the plurality of diamond-shaped structures are shortened along the height direction and extend along the width direction; when the bottom of first extensible member 62 upwards shortens, the bottom of first extensible member 62 drives connecting seat 621 rebound and the pulling and struts the top of subassembly 63, struts subassembly 63 under the effect of the interior bottom surface common pulling of connecting seat 621 and barrel 61, and a plurality of diamond-shaped structure take place to warp simultaneously for a plurality of diamond-shaped structure are elongated along direction of height, shorten along width direction simultaneously.
As shown in fig. 12 to 14, the distraction rod body 66 is disposed on the side of the distraction assembly 63 through a movable connection assembly, the movable connection assembly includes a first sliding member 64 and a sliding rail 65 which are disposed in cooperation with each other, wherein the sliding rail 65 is distributed along the height direction of the cylinder 61, the number of the distraction rod bodies 66 is four, two adjacent ones of the four distraction rod bodies 66 are divided into a group, an insertion rod 661 is rotatably disposed at the inner end of the distraction rod body 66, an insertion sleeve 662 and an elastic member 663 are disposed between the inner ends of the two insertion rods 661, the elastic member 663 is disposed in the insertion sleeve 662, the elastic member 663 is a rectangular coil spring, the sliding rail 65 is welded and fixed inside the insertion sleeve 662, the first sliding member 64 is movably connected with the distraction assembly 63, and specifically, the first sliding member 64 is rotatably connected with the distraction assembly 63.
When the garbage bag opening device is used, when the opening component 63 extends in the width direction, the side part of the opening component 63 drives the first sliding part 64 to move outwards, meanwhile, the first sliding part 64 moves up and down along the sliding rail 65, the sliding rail 65 pushes the plug sleeve 662 to move outwards, meanwhile, the two plug rods 661 slide outwards along the plug sleeve 662, the rectangular spiral spring is stretched, the other ends of the plug rods 661 drive the opening rod bodies 66 to extend out towards the outer side of the barrel body 61, so that the wound water surface floating objects are opened, the grabbing force for opening and hanging the garbage bag is increased, and when a large garbage bag or other sundries in the garbage bag are met, the garbage bag can be stably fished out; when strutting subassembly 63 and shortening along width direction, the lateral part that struts subassembly 63 drives first slider 64 and inwards removes, and simultaneously, first slider 64 reciprocates along slide rail 65, and slide rail 65 promotes plug bush 662 and inwards removes, and simultaneously, two inserted bars 661 inwards slides along plug bush 662, and rectangular coil spring is compressed, and the other end of inserted bar 661 drives the inboard withdrawal of the body of rod 66 of strutting towards barrel 61, in order to loosen the surface of water floater by the coiling on barrel 61, do benefit to the surface of water floater and drop to in collection box 3.
As shown in fig. 12 and 13, the prop-open rods 66 are obliquely and upwardly distributed, the outer ends of the prop-open rods 66 extend to the outer side of the barrel 61, and the outer ends of the prop-open rods 66 can be effectively propped open and hang the floating objects on the water surface, so that the grabbing strength of propping open and hanging on the water surface floating garbage bag is increased, and when other sundries are in a large garbage bag or the garbage bag, the garbage bag can be stably fished out. The cylinder body 61 is circumferentially provided with a plurality of through holes 611, and the distraction rod body 66 is slidably arranged in the through holes 611 to adapt to the sliding action of the distraction rod body 66 relative to the cylinder body 61, and the cross section of the distraction rod body 66 is of a circular structure, wherein the cross section of the through holes 611 is of the circular structure, a gap is left between the inner wall of the through holes 611 and the outer surface of the distraction rod body 66, and the inner wall of the through holes 611 is of a smooth surface to reduce the friction force between the through holes 611 and the distraction rod body 66, thereby being beneficial to the extension or retraction of the distraction rod body 66. In addition, the outer end of the opening rod body 66 is provided with anti-skid lines, so that the water surface floating objects which are opened and hung by the opening rod body 66 are prevented from falling off accidentally.
The working process and principle are as follows:
1) start unmanned aerial vehicle's organism 1, organism 1 takes power unit 4, actuating mechanism 5 and winding mechanism 6 remove towards surface of water floating garbage bag, conveying mechanism drives winding mechanism 6 slope downstream and inserts winding mechanism 6 in the garbage bag, then start second extensible member 42, the bottom of second extensible member 42 shortens and stimulates two third sliders 45 and is close to each other, third slider 45 drives two winding mechanism 6 and is close to each other, thereby two winding mechanism 6 grasp the garbage bag mutually, in order to provide the clamping force in advance, ensure smooth grasp the garbage bag.
2) Start rotary driving spare 51, rotary driving spare 51's output shaft takes place to rotate and drives winding mechanism 6 rotation through driving gear 52, driven gear 53 and float the disposal bag in order to convolute on the surface of water, and wherein, a plurality of body of rod 66 that strut can strut simultaneously and hang the disposal bag, further provide coiling and centre gripping dynamics, avoid the disposal bag to drop at the in-process of fishing for.
3) When the opening rod body 66 winds the garbage bag, the working process is as follows: starting the first telescopic part 62, when the bottom end of the first telescopic part 62 extends downwards, the bottom end of the first telescopic part 62 drives the connecting seat 621 to move downwards and extrude the top end of the propping component 63, the plurality of diamond structures deform simultaneously, so that the plurality of diamond structures shorten along the height direction and extend along the width direction, the side part of the propping component 63 drives the first sliding part 64 to move outwards, meanwhile, the first sliding part 64 moves up and down along the sliding rail 65, the sliding rail 65 pushes the plug sleeve 662 to move outwards, meanwhile, the two plug rods 661 slide outwards along the plug sleeve 662, the rectangular spiral spring is stretched, the other end of the plug rod 661 drives the propping rod body 66 to extend towards the outer side of the cylinder body 61, thereby the outer end of the propping rod body 66 props up the wound water surface floating objects to increase the grabbing force of propping and hanging on the garbage bag, when a larger garbage bag or other sundries are in the garbage bag, the garbage bag can be stably fished out.
4) Conveying mechanism can drive the surface of water floater that snatchs on the winding mechanism 6 and remove to the top of collection box 3, when winding mechanism 6 aims at the open-top of collection box 3, promptly the disposal bag has aimed at collection box 3, and collection box 3 can be unified to the disposal bag of fishing for and collect the whole.
5) The winding mechanism 6 unloads the water surface floating garbage bags wound thereon: when the bottom of first extensible member 62 upwards shortens, the bottom of first extensible member 62 drives connecting seat 621 rebound and the pulling props the top of strutting subassembly 63, a plurality of diamond-shaped structures take place to warp simultaneously, make a plurality of diamond-shaped structures elongated along the direction of height, shorten along width direction simultaneously, the lateral part that struts subassembly 63 drives first slider 64 inward movement, and simultaneously, first slider 64 reciprocates along slide rail 65, slide rail 65 promotes plug bush 662 inward movement, and simultaneously, two plug-in poles 661 inwards slides along plug bush 662, rectangular coil spring is compressed, the other end of plug-in pole 661 drives the inboard withdrawal of the body of rod 66 of strutting towards barrel 61, in order to loosen the surface of water floater of being convoluted on barrel 61, do benefit to the surface of water floater and drop in collection box 3.
Example two:
the difference between the present embodiment and the first embodiment is: the outer end of the opening rod body 66 is provided with a tip, and the tip is an acute angle. During the use, the tip that struts the body of rod 66 stretches out towards the outside of barrel 61, and in the surface of water floater can be pricked to the tip to effectual surface of water floater that struts, the reciprocal slip that struts the body of rod 66 can effectually make the surface of water floater break away from barrel 61, does benefit to barrel 61 outlying surface of water floater and drops.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (8)
1. The utility model provides an intelligence surface of water filth clearance unmanned aerial vehicle which characterized in that: the water surface floating device comprises a machine body (1) and a collecting box (3), wherein the collecting box (3) is positioned at the lower rear side position of the machine body (1), a conveying mechanism is arranged at the bottom end of the machine body (1), the conveying mechanism is obliquely and downwards distributed towards the front of the machine body (1), and a grabbing assembly for grabbing water surface floaters is arranged on the bottom surface of the conveying mechanism;
the grabbing assembly comprises a power mechanism (4), two driving mechanisms (5) and two winding mechanisms (6), the power mechanism (4) is arranged on the bottom surface of the conveying mechanism in a sliding mode, the driving mechanisms (5) and the winding mechanisms (6) are arranged on the power mechanism (4), the power mechanism (4) can drive the two winding mechanisms (6) to move relatively, and the driving mechanisms (5) can drive the winding mechanisms (6) to rotate around the axes of the driving mechanisms (5);
the winding mechanism (6) comprises a cylinder body (61), a first telescopic part (62), a propping assembly (63), a movable connecting assembly and a plurality of propping rod bodies (66), wherein the first telescopic part (62) is fixedly arranged at the bottom end of the power mechanism (4), the propping assembly (63) is movably arranged at the bottom end of the first telescopic part (62), the cylinder body (61) is rotatably arranged at the bottom end of the power mechanism (4) through a bearing, the propping assembly (63) is positioned in the cylinder body (61), the propping assembly (63) is distributed along the height direction of the cylinder body (61), the propping rod bodies (66) are arranged on the side surface of the propping assembly (63) through the movable connecting assembly, the propping rod bodies (66) are distributed obliquely upwards, and the outer ends of the propping rod bodies (66) extend to the outer side of the cylinder body (61);
the conveying mechanism comprises a conveying driving part (11), a guide part (12), a second sliding part (121) and a conveying part (13), the conveying driving part (11), the guide part (12) and the conveying part (13) are all arranged on the bottom surface of the machine body (1), the guide part (12) is obliquely and downwards distributed towards the front of the machine body (1), the second sliding part (121) is fixed on the bottom surface of the conveying part (13), the conveying driving part (11) can drive the conveying part (13) to rotate, and the conveying part (13) can drive the second sliding part (121) to slide along the guide part (12);
the power mechanism (4) comprises a closed sliding rail (41), a second telescopic piece (42), a moving piece (43) and a third sliding piece (45), the second telescopic piece (42) is fixed to the bottom end of the second sliding piece (121), the top end of the closed sliding rail (41) is fixedly connected with the second telescopic piece (42), the bottom end of the closed sliding rail (41) is horizontally distributed, the moving piece (43) is fixed to the bottom end of the second telescopic piece (42), the bottom surface of the moving piece (43) is rotatably connected with two pulling pieces (44), the bottom end of each pulling piece (44) is rotatably connected with the third sliding piece (45), two driving mechanisms (5) are respectively arranged on the two third sliding pieces (45), and the third sliding pieces (45) are slidably arranged on the bottom end of the closed sliding rail (41).
2. The intelligent water surface contaminant removal unmanned aerial device of claim 1, wherein: activity coupling assembling is including first slider (64) and slide rail (65) that mutually support and set up, the quantity that struts the body of rod (66) is four, four strut adjacent two in the body of rod (66) and be divided into a set of, the inner rotation that struts the body of rod (66) is equipped with inserted bar (661), two be equipped with plug bush (662) and elastic component (663) between the inner of inserted bar (661), and elastic component (663) are located plug bush (662), slide rail (65) are fixed the inboard of plug bush (662), first slider (64) and strut subassembly (63) swing joint.
3. The intelligent water surface contaminant removal unmanned aerial device of claim 2, wherein: strutting subassembly (63) and having a plurality of diamond-shaped structures, the diamond-shaped structure is formed by four bar plates end to end hinge, the top of diamond-shaped structure is rotated and is equipped with connecting seat (621), the bottom of first extensible member (62) and the top fixed connection of connecting seat (621), the bottom of diamond-shaped structure with the interior bottom surface of barrel (61) rotates the connection.
4. The intelligent water surface contaminant removal unmanned aerial device of claim 2, wherein: a plurality of through holes (611) are formed in the circumferential direction of the cylinder body (61), the distraction rod body (66) is arranged in the through holes (611) in a sliding mode, and the cross section of the distraction rod body (66) is of a circular structure.
5. The intelligent water surface contaminant removal unmanned aerial device of claim 1, wherein: the closed type slide rail (41) adopts an isosceles trapezoid frame type structure, the cross section of the closed type slide rail (41) is of a circular structure, the pulling piece (44) is a rod body which is distributed in an inclined mode, and the third sliding piece (45) is a rectangular block body.
6. The intelligent water surface contaminant removal unmanned aerial device of claim 1, wherein: the driving mechanism (5) comprises a rotary driving piece (51), a driving gear (52) and a driven gear (53), the rotary driving piece (51) is fixed on the side face of the third sliding piece (45), the driving gear (52) is fixed on an output shaft of the rotary driving piece (51), the driven gear (53) is fixed on the top end of the barrel body (61), and the driving gear (52) and the driven gear (53) are meshed with each other.
7. The intelligent water surface contaminant removal unmanned aerial device of claim 1, wherein: the bottom of the machine body (1) is provided with two floating parts (2), the collecting box (3) is fixed between the two floating parts (2), and the bottom surface of the collecting box (3) is provided with water leakage holes.
8. The intelligent water surface contaminant removal drone of claim 7, wherein: the floating piece (2) adopts a hollow air bag, the bottom surface of the floating piece (2) adopts a horizontal plane, and the bottom surface of the floating piece (2) is lower than the bottom surface of the collecting box (3).
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| CN202010455943.9A CN111547240B (en) | 2020-05-26 | 2020-05-26 | Intelligent unmanned water surface dirt cleaning equipment |
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| CN202010455943.9A CN111547240B (en) | 2020-05-26 | 2020-05-26 | Intelligent unmanned water surface dirt cleaning equipment |
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| CN111547240B true CN111547240B (en) | 2021-08-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112339921A (en) * | 2020-12-08 | 2021-02-09 | 赵书连 | River course floater salvage ship for hydraulic engineering |
| CN113335539B (en) * | 2021-06-04 | 2022-07-08 | 国家海洋局北海海洋技术保障中心 | Multifunctional unmanned aerial vehicle convenient to collect marine floater |
| CN114197428A (en) * | 2022-01-12 | 2022-03-18 | 恒清环境科技有限公司 | Full-automatic river channel rubbish cleaning system |
| CN115806070B (en) * | 2022-11-23 | 2024-01-26 | 南京普恩信息技术有限公司 | Intelligent inspection system and method applied to hydraulic engineering |
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| SE337558B (en) * | 1970-04-13 | 1971-08-09 | H Bergman | |
| CN108360481A (en) * | 2018-03-06 | 2018-08-03 | 陈兴帅 | Polybag refuse collector in a kind of water |
| CN109208560B (en) * | 2018-09-27 | 2020-06-05 | 湖南工程学院 | Water cleaning device for landscape architecture |
| CN109533307B (en) * | 2018-11-21 | 2023-08-15 | 南京南华航空产业有限公司 | Intelligent salvage unmanned aerial vehicle for river and lake environment-friendly treatment |
| CN109533332B (en) * | 2018-11-26 | 2024-05-17 | 湖南湘江河畔航空科技有限公司 | Sanitation unmanned aerial vehicle for river channel cleaning |
| CN210140815U (en) * | 2019-01-29 | 2020-03-13 | 河南泽达智能科技有限公司 | Unmanned aerial vehicle is salvaged to waters floater of breeding |
| CN210177480U (en) * | 2019-04-29 | 2020-03-24 | 赵宁宁 | Sluice dam pasture and water cleaning device based on hydraulic engineering |
| CN110562445A (en) * | 2019-09-30 | 2019-12-13 | 吴美珠 | Unmanned aerial vehicle for removing rubbish on water surface of river |
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