CN113715973A

CN113715973A - Robot for collecting garbage on water

Info

Publication number: CN113715973A
Application number: CN202110722909.8A
Authority: CN
Inventors: 鲍雨梅; 柴灏; 岑晖
Original assignee: Zhijiang College of ZJUT
Current assignee: Zhijiang College of ZJUT
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2021-11-30
Also published as: CN111846123A; CN111846123B

Abstract

The invention provides an overwater garbage collection robot and a path planning method thereof, belongs to the technical field of robots and solves the problems of low garbage salvage efficiency and the like.

Description

Robot for collecting garbage on water

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a water garbage collection robot.

Background

In the modern construction process, the exponential growth of population and the urbanization process accelerate the water environment to cause great pressure, the overwater garbage seriously threatens the ecological balance and the development of overwater transportation, and economic loss is directly or indirectly brought.

The water area coverage of China is extremely wide, east-west south-north is implemented, in order to solve the problem of rubbish on water, the method for solving the floating rubbish in the small water area in most areas still adopts manual salvage, the large water area is usually treated by a large salvage ship in a conveying belt salvage mode, however, the manual salvage has the problems of low efficiency, long consumed time and the like, and the salvage ship has the problems of large noise, resource consumption and the like.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides an aquatic garbage collecting robot.

The purpose of the invention can be realized by the following technical scheme: the utility model provides an overwater garbage collection robot, its characterized in that includes the hull and sets up rubbish salvage module, rubbish compression module, rubbish storage device and hull advancing device on the hull, hull advancing device be used for controlling the normal navigation of hull and turn to, rubbish salvage module be used for salvage rubbish and put in on rubbish compression module, rubbish compression module be used for compressing rubbish and push into rubbish storage device.

The working principle of the invention is as follows: the ship body sails on the water surface, the garbage salvaging module salvages the garbage on the water surface and then falls into the garbage compression module, the garbage compression module compresses the salvaged garbage and then pushes the garbage into the garbage storage device, so that the ship can sail on the water surface and automatically salvage the garbage on the water surface, manual salvaging is replaced, automatic salvage of the garbage is achieved, garbage salvaging efficiency is improved, the garbage is compressed and drained through the garbage compression module, the garbage volume and weight are reduced, and the load capacity of the garbage storage device is improved.

The ship body is formed by connecting two symmetrical small ship bodies, the inner sides of the small ship bodies close to the two small ship bodies are provided with supporting baffle plates, and the supporting baffle plates are used for fixing the conveying device and the garbage compression module.

In the above robot for collecting garbage on water, the garbage salvaging module includes a first driving device, a transmission device and a conveying device, the first driving device drives the conveying device to operate through the transmission device, the conveying device is used for salvaging garbage and inputting the salvaged garbage into the garbage compression module, the conveying device includes a roller chain and a belt plate arranged on the roller chain, the roller chain is driven through the transmission device, and the belt plate is provided with sieve holes and a group partition plate.

The robot for collecting garbage on water comprises a garbage compression module, a first driving device, a screw rod, an extrusion plate, an extrusion bin and a baffle plate, wherein the first driving device is connected with the screw rod and used for driving the screw rod to rotate, the extrusion plate is arranged on the screw rod through a ball screw and can do reciprocating linear motion on the screw rod, the extrusion plate is used for compressing garbage in the extrusion bin and filtering water in the garbage out of the baffle plate, and a water filtering hole is formed in the baffle plate.

At foretell rubbish collection robot on water, extrusion storehouse bottom be provided with fixed plate and elastic plate, elastic plate be close to baffle and elastic plate and pass through elastic device and support, rubbish storage device pass through the backup pad and fix the below at rubbish compression module, rubbish storage device can upwards take out after the lifting and leave.

At foretell robot of collecting rubbish on water, every the supporting baffle on all be provided with the spacing hole of first bar and the spacing hole of second bar, the spacing hole of first bar be used for supplying the baffle to insert, the spacing hole of second bar be used for the overlap joint stripper plate and the stripper plate can be along the length direction reciprocating motion in the spacing hole of second bar, the length direction in the spacing hole of first bar and the length direction mutually perpendicular in the spacing hole of second bar.

The water garbage collecting robot is characterized in that the ship body is provided with a water tank, a water pump and a solar storage battery, and the bottom of the middle of the ship body is provided with a connecting column.

Compared with the prior art, the automatic cleaning device can automatically clean water garbage, realizes the automation of the water garbage to replace manual garbage salvage, improves the water garbage cleaning efficiency, and has high garbage load.

Drawings

Figure 1 is a perspective view of the overall structure of the present invention,

figure 2 is a schematic top view of the present invention,

figure 3 is a schematic perspective view of the present invention,

figure 4 is a schematic view of a lead screw of the present invention,

figure 5 is a schematic view of the transmission of the present invention,

in the figure, 1, a ship body; 2. fishing the module; 3. a garbage compression module; 4. a garbage storage module; 5. a hull propulsion device; 6. a first driving device; 7. a transmission device; 8. a conveying device; 9. a roller chain; 10. a band plate; 11. screening holes; 12. a water pump; 13. a small hull; 14. a support baffle; 15. a second driving device; 16. a screw rod; 17. a pressing plate; 18. a baffle plate; 19. extruding the bin; 20. water filtering holes; 21. an elastic plate; 22. a support plate; 23. connecting columns; 24. a water tank; 25. a solar storage battery; 26. a fixing plate; 27 groups of partition boards; 28. a ball screw; 29. a first bar-shaped limiting hole; 30. the second bar-shaped limiting hole.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1-5, an aquatic garbage collecting robot comprises a ship body 1, and a garbage salvage module 2, a garbage compression module 3, a garbage storage device 4 and a ship body propulsion device 5 which are arranged on the ship body 1, wherein the ship body propulsion device 5 is used for controlling normal navigation and steering of the ship body 1, the garbage salvage module 2 is used for salvaging and throwing garbage onto the garbage compression module 3, and the garbage compression module 3 is used for compressing garbage and pushing the garbage into the garbage storage device 4.

In more detail, the ship body 1 is formed by connecting two symmetrical small ship bodies 13, the inner sides of the two small ship bodies 13 are respectively provided with a supporting baffle 14, and the supporting baffle 14 is used for fixing the conveying device 8 and the garbage compression module 3. One end of the conveying device 8 is fixed on the supporting baffle 14 in the device, the other end of the conveying device is fixed at the bottom of the front edge of the ship body 1, and then the garbage is salvaged from the water surface at the bottom of the front edge of the ship body 1 and brought above the supporting baffle 14, and then the garbage falls into the garbage compression module 3 to be compressed.

In further detail, the garbage fishing module 2 comprises a first driving device 6, a transmission device 7 and a conveying device 8, the first driving device 6 drives the conveying device 8 to operate through the transmission device 7, and the conveying device 8 is used for fishing garbage and inputting the fished garbage into the garbage compression module 3. In the device, the first driving device 6 drives the transmission device 7, the transmission device 7 drives the conveying device 8 to start to operate, and the conveying device 8 brings the garbage in the water into the garbage compression module 3, so that the next step of garbage compression is facilitated.

In further detail, the conveyor device 8 comprises a roller chain 9 and a belt plate 10 arranged on the roller chain 9, the roller chain 9 is driven by the transmission device 7, and the belt plate 10 is provided with sieve holes 11 and a group partition 27. In the arrangement, the belt plates 10 are arranged on the roller chains 9 and rotate along with the roller chains 9, then the belt plates 10 bring garbage in water into the garbage compression module 3, meanwhile, the sieve holes 11 are used for removing water on the belt plates 10, and the group partition plates 27 can prevent large garbage such as plastic bottles from sliding off the belt plates 10.

In further detail, the garbage compression module 3 comprises a second driving device 15, a screw rod 16, an extrusion plate 17, an extrusion bin 19 and a baffle 18, the second driving device 15 is connected with the screw rod 16 and used for driving the screw rod 16 to rotate, the extrusion plate 17 is arranged on the screw rod 16 through a ball screw 28 and can do reciprocating linear motion on the screw rod 16, the extrusion plate 17 is used for compressing garbage in the extrusion bin 19 and filtering water in the garbage from the baffle 18, and the baffle 18 is provided with a water filtering hole 20. In the device, the second driving device 15 drives the screw rod 16 to rotate, meanwhile, the synchronous belt drives the screw rod 16 on the other side to move, and finally, the rotary motion is converted into the linear motion of the extrusion plate 17 on the screw rod 16 through the ball screw 28, so that the extrusion plate 17 compresses and extrudes garbage in the bin 19, then the garbage is tightly attached to the baffle 18, and water extruded from the garbage flows out of the water filtering holes 20 on the baffle 18.

In more detail, the bottom of the extrusion chamber 19 is provided with a fixed plate 26 and an elastic plate 21, the elastic plate 21 is close to the baffle plate 18, and the elastic plate 21 is supported by an elastic device. This setting is piled up the elastic plate 21 top by rubbish after the extrusion, and when accumulational rubbish weight reached a quantitative time, accumulational rubbish can compress elastic plate 21, then elastic plate 21 opens, and rubbish falls into among the rubbish storage device 4.

In more detail, the garbage storage device 4 is fixed below the garbage compression module 3 through the supporting plate 22, and the garbage storage device 4 can be lifted upwards and then pulled away. Garbage storage device 4 places the below at rubbish compression module 3 through backup pad 22 in this setting, and garbage storage device 4 can upwards lifting then follow and take out from between rubbish compression module 3 and backup pad 22 to this is convenient for pour the rubbish in garbage storage device 4.

In further detail, each supporting baffle 14 is provided with a first strip-shaped limiting hole 29 and a second strip-shaped limiting hole 30, the first strip-shaped limiting hole 29 is used for inserting the baffle 18, the second strip-shaped limiting hole 30 is used for overlapping the extrusion plate 17, the extrusion plate 17 can reciprocate along the length direction of the second strip-shaped limiting hole 30, and the length direction of the first strip-shaped limiting hole 29 is perpendicular to the length direction of the second strip-shaped limiting hole 30. Make baffle 18 spacing through the spacing hole of first bar 29 in this setting, simultaneously because the spacing hole of second bar 30 and the spacing hole mutually perpendicular of first bar, so the stripper plate 17 can move along the length direction in the spacing hole of second bar 30 to push rubbish to on the baffle 18, wherein the spacing hole of second bar 30 can provide ascending injeciton for stripper plate 17, make stripper plate 17 remove to the baffle 18 that is the linear type, it is more stable when extrudeing rubbish.

In more detail, the ship body 1 is provided with a water tank 24, a water pump 12 and a solar storage battery 25. Through the displacement of water tank 24 and water pump 12 be convenient for control hull 1 in this setting, solar cell 25 provides electric power for hull 1, and is economical and effective, has strengthened the connection and the firm degree of hull 1 through spliced pole 23 for the life of hull 1 increases.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Although a large number of terms are used here more, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims

1. The utility model provides an overwater garbage collection robot, its characterized in that includes hull (1) and sets up rubbish salvage module (2), rubbish compression module (3), rubbish storage device (4) and hull advancing device (5) on hull (1), hull advancing device (5) be used for controlling the normal navigation and the turning to of hull (1), rubbish salvage module (2) be used for salvaging rubbish and put in rubbish compression module (3), rubbish compression module (3) be used for compressing rubbish and push rubbish into rubbish storage device (4).

2. An aquatic refuse collection robot according to claim 1, wherein the hull (1) is formed by connecting two symmetrical small hulls (13), and a support baffle (14) is arranged at the inner side of each of the two small hulls (13), and the support baffle (14) is used for fixing the conveying device (8) and the refuse compression module (3).

3. An aquatic garbage collecting robot according to claim 1, wherein the garbage fishing module (2) comprises a first driving device (6), a transmission device (7) and a conveying device (8), the first driving device (6) drives the conveying device (8) to operate through the transmission device (7), the conveying device (8) is used for fishing garbage and inputting the fished garbage into the garbage compressing module (3), the conveying device (8) comprises a roller chain (9) and a belt plate (10) arranged on the roller chain (9), the roller chain (9) is driven through the transmission device (7), and the belt plate (10) is provided with sieve holes (11) and a group partition plate (27).

4. The water garbage collecting robot as claimed in claim 2, wherein the garbage compression module (3) comprises a second driving device (15), a screw rod (16), a compression plate (17), a compression bin (19) and a baffle (18), the second driving device (15) is connected with the screw rod (16) and is used for driving the screw rod (16) to rotate, the compression plate (17) is arranged on the screw rod (16) through a ball screw rod (28) and can do reciprocating linear motion on the screw rod (16), the compression plate (17) is used for compressing garbage in the compression bin (19) and filtering water in the garbage out of the baffle (18), and the baffle (18) is provided with a water filtering hole (20).

5. A robot for collecting garbage on water according to claim 4, wherein the bottom of the extrusion chamber (19) is provided with a fixed plate (26) and an elastic plate (21), the elastic plate (21) is close to the baffle (18) and the elastic plate (21) is supported by an elastic device, the garbage storage device (4) is fixed under the garbage compression module (3) by a support plate (22), and the garbage storage device (4) can be lifted upwards and then pulled away.

6. A robot as claimed in claim 5, wherein each of the support baffles (14) is provided with a first elongated hole (29) for receiving the baffle (18) and a second elongated hole (30), the second elongated hole (30) is adapted to engage the compression plate (17) and the compression plate (17) is adapted to reciprocate along the length of the second elongated hole (30), the length of the first elongated hole (29) is perpendicular to the length of the second elongated hole (30).

7. An aquatic garbage collecting robot according to claim 1, wherein the ship body (1) is provided with a water tank (24), a water pump (12) and a solar storage battery (25), and the middle bottom of the ship body (1) is provided with a connecting column (23).