CN113944147A

CN113944147A - Multi-mode water surface garbage cleaning robot

Info

Publication number: CN113944147A
Application number: CN202110481001.2A
Authority: CN
Inventors: 李付同
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-01-18

Abstract

The invention provides a multi-mode water surface garbage cleaning robot, which comprises a travelling mechanism, a cleaning mechanism, a garbage conveying mechanism and a detection mechanism structure, wherein a travelling mechanism box body comprises a front box body internally provided with the cleaning mechanism and a rear box body used for storing garbage, the cleaning mechanism comprises a gear mechanism, an eccentric disc, a cam mechanism, a locking mechanism, a transposition mechanism, a mechanism crank, a tail end actuating rod and a corresponding garbage cleaning shovel, can realize the flexible and high-flexibility conversion of the rotary motion of the driving gear into the intermittent motion of the end effector, and can realize the control of the intermittent motion by adjusting the position of the eccentric disc and the reduction ratio of the gear, the detection mechanism structure comprises a camera, a distance sensor, a position sensor and a corresponding control unit, the robot can realize the control under the multi-mode, and has great innovation in the field of water surface garbage cleaning robots.

Description

Multi-mode water surface garbage cleaning robot

Technical Field

The invention relates to a water surface garbage cleaning robot, in particular to a multi-mode water surface garbage cleaning robot, and belongs to the technical field of environment-friendly equipment.

Background

Along with the continuous development of society, water resource pollution is serious, one important pollution source is waste on land, the waste in plastic bottle bags is more, and the influence of water bloom and water surface debris on water quality is also serious, so that the situation is often an intensive effect of killing aquatic organisms. At present, the technology and facilities for cleaning and disposing the garbage of oceans and rivers are relatively laggard, the garbage cleaning is mainly labor-intensive, and the original method for manually fishing the garbage on the water surface is mostly adopted in many places which are not in developed coastal cities. The semi-cabin type or deck motor barge is utilized, a sanitation worker holds the net bag and stands on the side of the deck to directly drag the garbage, the operation mode has high labor intensity and severe working environment, the personal safety is not guaranteed, time and labor are wasted, the cleaning difficulty is high, the comprehensive cost is high, and the garbage is difficult to clean in time. Therefore, a safer and more efficient unmanned aerial vehicle for automatically cleaning water surface garbage is urgently needed to be researched and developed.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the multi-mode water surface garbage cleaning robot, an adjustable indexing mechanism is applied to the structural design of the robot, the robot can convert the continuous rotation motion of a driving motor into the intermittent motion of a tail end execution element, and the converted motion has the characteristics of sensitivity, smoothness, high flexibility and easy parameter change. Compared with the indexing cam and the ratchet mechanism, the mechanical structure reduces the impact load, enables the product to have stronger universality, and can conveniently change the corresponding relation between the number of turns of the motor and the number of turns of the indexing disc and the time of each intermittent motion.

Specifically, the invention provides a multi-mode water surface garbage cleaning robot, which comprises a walking mechanism, a cleaning mechanism, a garbage conveying mechanism and a detection mechanism, and is characterized in that: the cleaning mechanism is arranged on the inner side of the front part of the travelling mechanism, the garbage conveying mechanism is arranged behind the cleaning mechanism, and the detection mechanism is arranged on the casing of the travelling mechanism;

the clearance mechanism includes: the garbage cleaning device comprises a cleaning motor, a planetary gear, a limiting mechanism, a shifting disc, a linear movement driving frame, a mechanism crank, a transmission rod crank, a tail end execution rod and a garbage cleaning shovel, wherein the cleaning motor is fixedly arranged on the inner side of a front box body of a travelling mechanism; the cleaning motor is characterized in that an output shaft of the cleaning motor is connected with a driving gear and drives the driving gear to rotate, the driving gear is meshed and connected with a driven gear with a cam, the driving gear is provided with an eccentric disc with a mounting hole, the eccentric disc is hinged with one end of a driving gear driving connecting rod, and the other end of the driving gear driving connecting rod is rotatably connected with a planetary gear; the driven gear with the cam is matched with the limiting mechanism through cam transmission; the limiting mechanism is provided with a rack section and an inner meshed gear section, the rack section is meshed with the indexing disc, and the inner meshed gear section can be meshed with the planetary gear; the driven gear with the cam, the limiting mechanism and the transposition plate are rotatably arranged in the traveling mechanism shell; the rotating disc is provided with a plurality of round mounting holes and can be hinged with one end of the mechanism crank through the round mounting holes; the other end of the mechanism crank is hinged with a cross rod of the linear motion driving frame; a bearing seat of the linear motion driving frame is arranged in the traveling mechanism shell, and two vertical rods of the linear motion driving frame are slidably arranged on the bearing seat of the linear motion driving frame; one end of the transmission rod crank is hinged with the cross rod of the linear movement driving frame, and the other end of the transmission rod crank is hinged with the middle part of the tail end execution rod; one end of the tail end executing rod is hinged with the traveling mechanism shell, and the other end of the tail end executing rod is fixedly connected with a garbage cleaning shovel.

Further, the traveling mechanism includes: the garbage bin comprises a bin body, a walking motor, a track driving wheel and a track tensioning wheel, wherein the bin body is provided with a front bin body with a built-in cleaning mechanism and a rear bin body for storing garbage, the walking motor is fixedly installed on the inner side of a bin shell, an output shaft of the walking motor is connected with the track driving wheel and drives the track driving wheel to rotate, and the track tensioning wheel and the track driving wheel are both rotatably installed on the outer side of the bin shell and are connected with a track in a supporting mode.

Further, the waste conveying mechanism comprises: the garbage conveying motor is fixedly installed on the inner side of a front box body of the box body, an output shaft of the garbage conveying motor is rigidly connected with the impeller transmission shaft, the other side of the impeller transmission shaft is rotatably connected with the box body, and a plurality of impellers are distributed on the impeller transmission shaft.

Furthermore, the detection mechanism comprises a camera, a distance sensor and a position sensor which are arranged on the shell of the box body, and a torque sensor which is arranged on the tail end execution rod.

Furthermore, the positions of the mounting holes on the eccentric disc of the driving gear, which are far from the circle center, are different.

Furthermore, the cleaning motor, the walking motor and the garbage conveying motor are all worm and gear reduction motors.

Compared with the prior art, the invention has the following beneficial effects:

1. the adjustable indexing mechanism has comprehensive functions, on one hand, the adjustable indexing mechanism realizes adjustable intermittent motion, on the other hand, the high flexibility of the adjustable indexing mechanism enables the robot to greatly reduce impact load, the robot can move more stably and flexibly, and the service life of the robot is longer.

2. The expected purpose can be achieved by using a simple mechanism, the cost is low, most parts, particularly the gear mechanism, can be replaced, and the gear mechanism can be produced in batches.

3. Through gear and connecting rod transmission, realized accurate timing motion, the application of worm gear reduction motor makes the robot have reverse stroke self-locking function.

4. The rack and the internal gear section in the limiting mechanism enable the robot to be in an intermittent state, and the end effector cannot generate rebound movement and movement loss due to load.

5. The adjustable indexing mechanism has an overload protection function, when the force sensor of the end effector acquires excessive force, a signal is given to the driving mechanism to control the cam to move, so that the indexing disc gear idles to realize overload protection, and if the sensor records position information during overload, when a normal state is recovered, the robot can still recover the previous state.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the traveling mechanism of the invention.

Fig. 3 and 4 are schematic structural diagrams of the cleaning mechanism of the invention.

Fig. 5 is a schematic structural diagram of the garbage conveying mechanism of the invention.

Wherein, 1-a traveling mechanism, 2-a cleaning mechanism, 3-a garbage conveying mechanism, 4-a detection mechanism, 11-a box body, 12-a traveling motor, 13-a crawler track, 14-a crawler track driving wheel, 15-a crawler track tensioning wheel, 21-a cleaning motor, 22-a driving gear, 23-a mechanism crank, 24-a planetary gear, a 25-a line moving driving frame, 26-a driving gear driving connecting rod, 27-a line moving driving frame bearing seat, 28-a driving rod crank, 210-an end actuating rod, 211-a driven gear with a cam, 212-a limiting mechanism, 213-a transfer disc, 214-a garbage cleaning shovel, 31-a garbage conveying motor, 3-an impeller transmission shaft, 33-an impeller, 41-a camera and 42-a distance sensor, 43-position sensor, 44-torque sensor.

Detailed Description

Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be placed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 5, the invention provides a multi-mode water surface garbage cleaning robot, which comprises a traveling mechanism 1, a cleaning mechanism 2, a garbage conveying mechanism 3 and a detection mechanism 4, and is characterized in that: the cleaning mechanism 2 is arranged on the inner side of the front part of the travelling mechanism 1, the garbage conveying mechanism 3 is arranged behind the cleaning mechanism 2, and the detection mechanism 4 is arranged on the shell of the travelling mechanism 1;

the cleaning mechanism 2 includes: the cleaning motor 21, the planetary gear 24, the limiting mechanism 212, the shifting disc 213, the linear motion driving frame 25, the mechanism crank 23, the transmission rod crank 28, the tail end actuating rod 210 and the garbage cleaning shovel 214 are fixedly arranged on the inner side of the front box body of the travelling mechanism 1; an output shaft of the cleaning motor 21 is connected with a driving gear 22 and drives the driving gear 22 to rotate, the driving gear 22 is meshed and connected with a driven gear 211 with a cam, the driving gear 22 is provided with an eccentric disc with a mounting hole, the eccentric disc is hinged with one end of a driving gear driving connecting rod 26, and the other end of the driving gear driving connecting rod 26 is rotatably connected with a planetary gear 24; the driven gear 211 with a cam is matched with the limiting mechanism 212 through cam transmission; a rack section and an inner meshed gear section are arranged on the limiting mechanism 212, the rack section is meshed with the indexing disc 213, and the inner meshed gear section can be meshed with the planetary gear 24; the driven gear 211 with the cam, the limiting mechanism 212 and the rotating disc 213 are rotatably arranged in the shell of the traveling mechanism 1, and the limiting mechanism 212 is provided with a clamp spring for resetting after rotation; the rotating disc 213 is provided with four circular mounting holes and can be hinged with one end of the mechanism crank 23 through the circular mounting holes, so that the control of different working strokes of the tail end actuating rod 210 is realized; the other end of the mechanism crank 23 is hinged with a cross bar of the linear motion driving frame 25; a line moving driving frame bearing seat 27 is arranged in the shell of the travelling mechanism 1, and two vertical rods of the line moving driving frame 25 are slidably arranged on the line moving driving frame bearing seat 27; one hinged end of the transmission rod crank 28 is hinged with the cross rod of the linear motion driving frame 25, and the other hinged end is hinged with the middle part of the tail end execution rod 210; one end of the end executing rod 210 is hinged with the shell of the traveling mechanism 1, and the other end is fixedly connected with a garbage cleaning shovel 214.

Specifically, the area occupied by the eccentric disc part on the driving gear 22 is half of a circle, the mounting holes on the eccentric disc are five and have different positions from the circle center, and the eccentric disc is used for driving the driving gear to drive the connecting rod 26 so as to realize the control of different indexing angles, the limiting mechanism 212 in the main body driving mechanism is provided with a rack and an inner meshing gear section, when the cam is operated to a small diameter, the rotating disc 213 is controlled by the rack to lock, when the cam is operated to a large diameter, the inner meshing gear section, the planetary gear 24 and the rotating disc 213 form a planetary gear train to drive, and the rebound motion and the loss motion during pause are avoided. The cam portion of the cam-equipped driven gear 211 occupies a half-circle area, and the cam-equipped driven gear 211 is engaged with each other at the start and end of indexing by the indexing plate 213. The cam-equipped driven gear 211 and the driving gear 22 are geared to one-stage gear transmission, and the time of pause of the intermittent motion can be changed by changing the transmission ratio.

In another alternative embodiment of the present invention, the traveling mechanism 1 includes: the garbage bin comprises a bin body 11, a walking motor 12, a track driving wheel 14 and a track tensioning wheel 15, wherein the bin body 11 is provided with a front bin body with a built-in cleaning mechanism 2 and a rear bin body for storing garbage, the walking motor 12 is fixedly installed on the inner side of the shell of the bin body 11, an output shaft of the walking motor 12 is connected with the track driving wheel 14 and drives the track driving wheel to rotate, and the track tensioning wheel 15 and the track driving wheel 14 are both rotatably installed on the outer side of the shell of the bin body 11 and are connected with a track 13 in a supporting mode. Specifically, the movement of the robot body is driven and controlled by a walking motor 12, the walking motor 12 outputs power to a track driving wheel 14 via a belt wheel and a belt, the track driving wheel 14 transmits the power to a track tension wheel 15 through a track 13, and each part rotates by means of a transmission shaft of the track 13, so that the robot can move on the water surface uniformly and stably. The traveling mechanism 1 is internally provided with a front box with a built-in main body driving mechanism and a rear box for storing garbage, the two boxes 11 are separated from each other, the rear box is provided with a filter screen cover, water in the boxes 11 can be discharged to reduce the load of the robot, and water flow has a pushing effect on the movement of the robot. The box body 11 is provided with a rear box cover and a front box cover, wherein the rear box cover is used for opening the box to remove the garbage in the box, and the front box cover is used for maintaining the inner structure of the robot.

In an alternative embodiment of the present invention, the waste transport mechanism 3 comprises: the garbage conveying motor 31 is fixedly arranged on the inner side of the front box body of the box body 11, an output shaft of the garbage conveying motor 31 is rigidly connected with the impeller transmission shaft 32, the other side of the impeller transmission shaft 32 is rotatably connected with the box body 11, and five impellers 33 are distributed on the impeller transmission shaft 32; the impeller transmission shaft 32 drives the impeller 33 to transmit through the impeller transmission key, the garbage transmission mechanism 3 is realized by the impeller 33, the garbage transmission motor 31 outputs power to the impeller transmission shaft 32, the impeller 33 is driven to rotate through the impeller transmission key, and the water surface garbage is transmitted to the robot rear box to be stored and processed through fluid motion.

In an alternative embodiment of the present invention, the sensing mechanism 4 includes a camera 41 mounted on the housing of the housing 11, a distance sensor 42, a position sensor 43, and a torque sensor 44 mounted on the end effector bar 25. The distance sensor 42 is an ultrasonic sensor, the position sensor 43 is a GPRS module, and the camera 41 is a binocular camera 41, and both have a waterproof function.

In another alternative embodiment of the present invention, the cleaning motor 21, the walking motor 12 and the garbage conveying motor 31 are all worm and gear reduction motors.

In another alternative embodiment of the invention, the robot can set three control modes: the robot comprises a robot mechanical automatic cruise cleaning device, a robot intelligent scanning cruise cleaning device and a user active control cleaning device. Aiming at the three modes, the mechanical automatic cruise cleaning mode of the robot is suitable for places with poor environment, low visibility and difficult entry of workers, and the robot can finish autonomous movement and autonomous cleaning in the mode, so that the automation degree is high. The intelligent scanning type cruising cleaning mode of the robot is suitable for places with good visibility and large garbage coverage area, the intelligent level of the robot is high in the mode, the garbage cleaning efficiency of the robot is high, and the time is short. The user active control cleaning mode is suitable for places with small garbage coverage areas and easy access of workers, and the navigation paths of the robot in the mode are all optimal paths and the shortest time.

When the robot is in the mechanical automatic cruising cleaning mode, the walking motor 12 starts to move and drives the track driving wheel 14 to rotate, the robot starts to walk on the water surface, at the moment, the cleaning motor 12 drives the driving gear 22 to rotate, because the cleaning motor is formed by fixedly connecting a gear and an eccentric disc, the motion is transmitted downwards in two parts, on the one hand the meshing motion of the gears drives the driven gear 211 of the belt cam in rotation, wherein the cam part is divided into a small radius part and a large radius part, on the other hand, the planet gear 24 is driven by the driving gear driving connecting rod 26, when the cam part of the cam-equipped driven gear 211 rotates to a small radius, the cam-equipped driven gear 211 does not contact the limiting mechanism 212, the rack of the limiting mechanism 212 locks the index plate 213, the index plate 213 cannot move, and the planetary gear 24 cannot move and output. When the cam part in the driven gear 211 with the cam rotates to a large radius, the cam drives the limiting mechanism 212 to move, at this time, on one hand, the rack in the limiting mechanism 212 loses the retracting effect on the shifting disc 213, on the other hand, the internal gear part in the limiting mechanism 212 is meshed with the planetary gear 24, at this time, the planetary gear 24, the internal gear in the limiting mechanism 212 and the shifting disc 213 form a planetary gear train together, the shifting disc 213 can be driven, the output force is further transmitted to the mechanism crank 23, the rotating motion of the crank drives the linear motion of the linear motion driving rod 25, the linear motion of the linear motion driving rod 25 is transmitted to the tail end actuating rod 210 through the driving rod crank 28, the garbage cleaning shovel 214 on the tail end actuating rod 210 cleans the garbage on the water surface, and the cleaned garbage is transmitted to the rear box of the robot through the impeller 33 to be stored and processed, moisture in the robot rear box can flow out through the filter screen cover to reduce robot load, and the robot finishes cleaning movement and then opens the rear box cover to pour out garbage. Meanwhile, the position sensor 43 can record the cruising track of the robot, and the remaining cleaning area can be reduced after information processing is carried out, so that the working efficiency of the robot is improved, and the working time of the robot is shortened.

When the robot is in the intelligent scanning type cruising cleaning mode, firstly, the camera 41 is used for image acquisition and processing, the controller is used for analyzing and obtaining the position of the water surface garbage, and sending a signal to the walking motor 12 to drive the crawler driving wheel 14 to enable the robot to move to the position near the garbage, after the position near the garbage is reached, the distance sensor 42 is used for judging the positions of the robot and the garbage and turning on the prime motor cleaning motor 12 for power output, and the garbage cleaning shovel 214 is driven to clean the water surface garbage. Meanwhile, the position sensor 43 can record the cruising track of the robot, and the remaining cleaning area can be reduced after information processing is carried out, so that the working efficiency of the robot is improved, and the working time of the robot is shortened.

When the robot is in a user active control cleaning mode, the user can observe the water surface visual angle of the robot by means of the camera 41 through the remote control end and remotely control the walking motor 12 to enable the robot to move on the water surface, after the robot reaches the position near garbage, the user can open the cleaning motor 12 through the remote control end to output power, and the garbage cleaning shovel 214 is moved to clean the garbage on the water surface. After the garbage cleaning is finished, the user drives the robot to move to the next garbage position again, and the next garbage cleaning period is started.

When the tail end actuating rod 210 of the robot is overloaded, namely information collected by the torque sensor exceeds a safety value, the controller sends a signal to the cleaning motor 12 to drive and control the cam on the driven gear 211 with the cam to rotate to a small-radius position, and then the limiting mechanism 212 is released to enable the planetary gear 24 to idle, so that the gear of the rotating disk 213 idles to realize overload protection, and if the sensor records position information during overload, the robot can still return to the previous state when the normal state is recovered.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a multi-mode surface of water rubbish clearance robot, includes running gear (1), clearance mechanism (2), rubbish transport mechanism (3), detection mechanism (4), its characterized in that: the cleaning mechanism (2) is arranged on the inner side of the front part of the travelling mechanism (1), the garbage conveying mechanism (3) is arranged behind the cleaning mechanism (2), and the detection mechanism (4) is arranged on the shell of the travelling mechanism (1);

the cleaning mechanism (2) comprises: the garbage cleaning device comprises cleaning motors (21), a planetary gear (24), a limiting mechanism (212), a transposition plate (213), a linear movement driving frame (25), a mechanism crank (23), a transmission rod crank (28), a tail end execution rod (210) and a garbage cleaning shovel (214), wherein the cleaning motors (21) are fixedly arranged on the inner side of a front box body of a travelling mechanism (1); an output shaft of the cleaning motor (21) is connected with a driving gear (22) and drives the driving gear to rotate, the driving gear (22) is meshed with a driven gear (211) with a cam, the driving gear (22) is provided with an eccentric disc with a plurality of mounting holes, the eccentric disc is hinged with one end of a driving gear driving connecting rod (26), and the other end of the driving gear driving connecting rod (26) is rotatably connected with a planetary gear (24); the driven gear (211) with the cam is matched with the limiting mechanism (212) through cam transmission; a rack section and an inner meshed gear section are arranged on the limiting mechanism (212), the rack section is meshed with the indexing disc (213), and the inner meshed gear section can be meshed with the planetary gear (24); the driven gear (211) with the cam, the limiting mechanism (212) and the rotating disc (213) are rotatably arranged in the shell of the travelling mechanism (1); the rotating disc (213) is provided with a plurality of round mounting holes and can be hinged with one end of the mechanism crank (23) through the round mounting holes; the other end of the mechanism crank (23) is hinged with a cross bar of the linear motion driving frame (25); a line moving driving frame bearing seat (27) is arranged in a shell of the travelling mechanism (1), and two vertical rods of a line moving driving frame (25) are slidably mounted on the line moving driving frame bearing seat (27); one hinged end of the transmission rod crank (28) is hinged with a cross rod of the linear movement driving frame (25), and the other hinged end of the transmission rod crank (28) is hinged with the middle part of the tail end execution rod (210); one end of the tail end execution rod (210) is hinged with the shell of the traveling mechanism (1), and the other end of the tail end execution rod is fixedly connected with a garbage cleaning shovel (214).

2. The multi-mode water surface garbage cleaning robot as recited in claim 1, wherein: the traveling mechanism (1) includes: the garbage can comprises a box body (11), a walking motor (12), a track driving wheel (14) and a track tensioning wheel (15), wherein the box body (11) is provided with a front box body with a built-in cleaning mechanism (2) and a rear box body for storing garbage, the walking motor (12) is fixedly installed on the inner side of a shell of the box body (11), an output shaft of the walking motor (12) is connected with the track driving wheel (14) in a driving mode and drives the track driving wheel to rotate, and the track tensioning wheel (15) and the track driving wheel (14) are installed on the outer side of the shell of the box body (11) in a rotating mode and are connected with a track (13) in a supporting mode.

3. The multi-mode water surface garbage cleaning robot as recited in claim 1, wherein: the waste conveying mechanism (3) comprises: garbage transfer motor (31), impeller transmission shaft (32), garbage transfer motor (31) fixed mounting is inboard at the preceding box of box (11), and its output shaft and impeller transmission shaft (32) carry out the rigidity and link firmly, the opposite side and the box (11) of impeller transmission shaft (32) rotate and are connected, and impeller transmission shaft (32) are gone up to distribute and are equipped with a plurality of impellers (33).

4. The multi-mode water surface garbage cleaning robot as recited in claim 2, wherein: the detection mechanism (4) comprises a camera (41), a distance sensor (42), a position sensor (43) and a torque sensor (44), wherein the camera (41), the distance sensor (42) and the position sensor are installed on the shell of the box body (11), and the torque sensor (44) is installed on the tail end execution rod (25).

5. The multi-mode water surface garbage cleaning robot as recited in claim 1, wherein: the positions of the mounting holes on the eccentric disc of the driving gear (22) are different from the circle center.

6. A multi-mode water surface garbage cleaning robot according to any one of claims 1-3, characterized in that: the cleaning motor (21), the walking motor (12) and the garbage conveying motor (31) are all worm and gear reduction motors.