CN114310959A - Amphibious garbage cleaning robot - Google Patents
Amphibious garbage cleaning robot Download PDFInfo
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- CN114310959A CN114310959A CN202210020772.6A CN202210020772A CN114310959A CN 114310959 A CN114310959 A CN 114310959A CN 202210020772 A CN202210020772 A CN 202210020772A CN 114310959 A CN114310959 A CN 114310959A
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Abstract
The invention discloses an amphibious garbage cleaning robot, and belongs to the technical field of environment-friendly robots. It comprises a bearing platform; the moving unit is arranged below the bearing platform and drives the bearing platform to move; the grabbing unit is arranged at the front end of the top surface of the bearing table and used for grabbing garbage; the storage box is arranged at the rear end of the top surface of the bearing table and used for storing the garbage grabbed by the grabbing unit; and the central control unit is arranged on the bearing platform, is in signal connection with each unit and controls the action of each unit. The amphibious garbage cleaning robot is simple in structure, all unit components are reasonable in layout, and the amphibious garbage cleaning robot can be competent for garbage cleaning work on water and land; the double-mechanical-arm structure has higher efficiency in garbage cleaning, and the mechanical arm is composed of a plurality of sections of arm bodies, has higher degree of freedom, and can increase the adaptability under different working environments.
Description
Technical Field
The invention belongs to the technical field of environment-friendly robots, and particularly relates to an amphibious garbage cleaning robot.
Background
The Robot (Robot) is a machine device for automatically executing work, can receive human commands, can run a pre-programmed program, can perform actions according to principles formulated by artificial intelligence technology, has the task of assisting or replacing human work, and has important application in the fields of industry, medicine, agriculture, even military affairs and the like at present.
In the current life, the domestic waste siltation seriously hinders river flow in the river course, and the polluted environment adopts artifical mode of salvaging to go on when salvaging the rubbish in the river course usually, wastes time and energy, when receiving weather effect, and it is difficult to clear up rubbish.
Through retrieval, Wangwijing et al (coal mine machinery, 2021,42(10): 6-10.) disclose an amphibious robot which is used for working in a coal mine pumped storage power station and is provided with a posture adjusting mechanism to enable the robot to be more stable;
in addition, chinese patent publication no: CN212766664U, published: 23 months 3 in 2021; the utility model discloses a rubbish clearance robot, at hull mid-mounting power supply circuit cabin, Wifi camera and ultrasonic sensor pass through the cloud platform and fix at power supply circuit cabin front end, the buoyancy system is installed to the side symmetry about the hull, frame actuating mechanism installs in buoyancy system rear end, buoyancy system front end is fixed with fixed curb plate, rubbish collection cage rotatable coupling is controlled between the fixed curb plate of side and is rotatory spacing through stop gear, power module and control module on water are born to power supply circuit cabin inside, control module on water is communication connection Wifi camera respectively, ultrasonic sensor and host computer, control module communication connection frame actuating mechanism on water. The robot captures garbage by using the rotatable garbage collection cage, so that the garbage is prevented from flowing out;
the above robot has problems in that: the mechanical arm used in the former is simple and cannot make complex actions; the garbage storage room is not arranged in the latter, and the garbage capacity is smaller, so that a site needs to be set up on the bank to store garbage back and forth, and the working efficiency is reduced.
Disclosure of Invention
In order to solve at least one of the above technical problems, according to an aspect of the present invention, there is provided an amphibious refuse cleaning robot comprising:
a bearing table;
the moving unit is arranged below the bearing platform and drives the bearing platform to move;
the grabbing unit is arranged at the front end of the top surface of the bearing table and used for grabbing garbage;
the storage box is arranged at the rear end of the top surface of the bearing table and used for storing the garbage grabbed by the grabbing unit;
and the central control unit is arranged on the bearing platform, is in signal connection with each unit and controls the action of each unit.
According to the amphibious garbage cleaning robot of the embodiment of the invention, optionally, the grabbing unit comprises:
the two driving bases are symmetrically arranged on two sides of the front end of the top surface of the bearing table, and the top surface of each driving base is connected with a rotating disc;
two mechanical arms are provided, and one end of each mechanical arm is in transmission connection with the corresponding rotating disc;
and two mechanical claws which are respectively connected to the other end of the corresponding mechanical arm and execute the grabbing action.
According to the amphibious garbage cleaning robot provided by the embodiment of the invention, optionally, the mechanical arm is formed by sequentially and movably connecting a plurality of arm bodies.
According to the amphibious garbage cleaning robot of the embodiment of the invention, optionally, the mechanical arm comprises:
one end of the first arm body is rotationally connected with the rotating disc on the top surface of the driving base;
one end of the second arm body is rotatably connected with the other end of the first arm body;
one end of the third arm body is rotatably connected with the other end of the second arm body;
one end of the fourth arm body is rotatably connected with the other end of the third arm body;
one end of the fifth arm body is rotatably connected with the other end of the fourth arm body;
the first steering engine is fixedly connected with a rotating disc on the top surface of the driving base, and an output shaft of the first steering engine is in transmission connection with the first arm body;
the second steering engine is fixedly connected with the other end of the first arm body, and an output shaft of the second steering engine is in transmission connection with the second arm body;
a third steering engine, which is fixedly connected with the other end of the second arm body, and an output shaft of the third steering engine is in transmission connection with the third arm body;
a fourth steering engine, which is fixedly connected with the other end of the third arm body, and a fourth output shaft of the steering engine is in transmission connection with the third arm body;
and a fifth steering engine, which is fixedly connected with the other end of the fourth arm body, and an output shaft of the fifth steering engine is in transmission connection with the fourth arm body.
According to the amphibious garbage cleaning robot provided by the embodiment of the invention, optionally, the axial directions of the output shafts of the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are all parallel to a horizontal plane; and the axis direction of the output shaft of the fifth steering engine is vertical to the axis direction of the output shaft of the first steering engine.
According to the amphibious garbage cleaning robot of the embodiment of the invention, optionally, the mechanical claw comprises:
the rotary driving piece is fixed at the end face of the other end of the fifth arm body, and the axial direction of an output shaft of the rotary driving piece is vertical to the end face of the other end of the fifth arm body;
the middle part of the claw root is in transmission connection with an output shaft of the rotary driving piece, and the claw root extends along three different directions to form three connecting arms;
the number of the movable arms is three, and one end of each movable arm is rotatably connected with the corresponding connecting arm;
and three claw ends are respectively and rotatably connected with the other end of the corresponding movable arm.
According to the amphibious garbage cleaning robot provided by the embodiment of the invention, optionally, the claw end is of a diamond-shaped structure with a convex middle part.
According to the amphibious garbage cleaning robot provided by the embodiment of the invention, optionally, cameras are arranged at four corners of the top surface of the bearing platform.
According to the amphibious garbage cleaning robot provided by the embodiment of the invention, optionally, the moving unit is of a crawler wheel structure.
The amphibious garbage cleaning robot according to the embodiment of the invention optionally further comprises an illumination unit arranged above the storage box, wherein the illumination unit illuminates towards the direction of the grabbing unit.
Advantageous effects
Compared with the prior art, the invention has at least the following beneficial effects:
(1) the amphibious garbage cleaning robot is simple in structure, all unit components are reasonable in layout, and the amphibious garbage cleaning robot can be competent for garbage cleaning work on water and land;
(2) according to the amphibious garbage cleaning robot, the double-mechanical-arm structure has higher efficiency in garbage cleaning;
(3) according to the amphibious garbage cleaning robot, the mechanical arm is composed of the multiple sections of arm bodies, so that the robot has higher degree of freedom and can increase adaptability under different working environments;
(4) according to the amphibious garbage cleaning robot, the mechanical claws are designed in a three-claw type structure, so that the robot is simple to control and can flexibly grab various types of garbage;
(5) according to the amphibious garbage cleaning robot, the claw end of the mechanical claw adopts the rhombic structure with the convex middle part, so that clamped objects are not easy to fall off, and the rotary driving piece is matched to perform a drill impacting action so as to deal with large garbage materials or garbage materials which are not easy to grab;
(6) according to the amphibious garbage cleaning robot, the mobile unit adopts a crawler wheel structure, can rotate in situ, is good in traction and attachment performance, is beneficial to exerting traffic traction force, and has the characteristics of low gravity center, good stability, difficulty in slipping, resistance to mechanical damage, strong adaptability to narrow channels and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.
FIG. 1 shows a schematic view of an amphibious garbage cleaning robot according to the present invention;
FIG. 2 shows another view structural diagram of the amphibious garbage cleaning robot of the invention;
FIG. 3 shows a schematic view of a robotic arm configuration of the present invention;
FIG. 4 is a schematic view of another perspective of the robotic arm of the present invention;
FIG. 5 shows an enlarged view at A in FIG. 4;
reference numerals:
1. a bearing table; 10. a camera;
2. a mobile unit;
3. a grasping unit; 30. a drive base; 31. a mechanical arm; 310. a first arm body; 311. a second arm body; 312. a third arm body; 313. a fourth arm body; 314. a fifth arm body; 315. a first steering engine; 316. a second steering engine; 317. a steering engine III; 318. a steering engine IV; 319. a fifth steering engine; 32. a gripper; 320. a rotary drive member; 321. a claw root; 322. a movable arm; 323. a claw end;
4. a storage box; 40. a removable cover plate;
5. a central control unit;
6. an illumination unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
Example 1
The amphibious rubbish cleaning robot of this embodiment includes:
a bearing table 1;
the moving unit 2 is arranged below the bearing table 1 and drives the bearing table 1 to move;
the grabbing unit 3 is arranged at the front end of the top surface of the bearing table 1 and used for grabbing garbage;
the storage box 4 is arranged at the rear end of the top surface of the bearing platform 1 and used for storing the garbage grabbed by the grabbing unit 3;
and the central control unit 5 is arranged on the bearing platform 1, and the central control unit 5 is in signal connection with each unit and controls the action of each unit.
As shown in fig. 1 and 2, the load-bearing platform 1 of the present embodiment has a flat plate-like structure, and other structural units of the robot are connected to the load-bearing platform 1; the moving unit 2 is connected below the bearing table 1 and used for executing the moving action of the robot, and the moving unit 2 can be a driving wheel, a track wheel and the like; the grabbing unit 3 is a mechanical arm, is arranged at the front end of the bearing table 1 and executes garbage grabbing action; the storage box 4 is arranged on the bearing platform 1 behind the grabbing unit 3, and the grabbed garbage is placed in the storage box 4; the moving unit 2 and the grabbing unit 3 are both electrically connected with the central control unit 5 through wires, and the actions of the moving unit and the grabbing unit are controlled by the central control unit 5.
The amphibious garbage cleaning robot of the embodiment has the advantages of simple structure and reasonable layout of all unit components, and can be competent for garbage cleaning work on water and land.
Example 2
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of embodiment 1, and the grabbing unit 3 includes:
two driving bases 30 are symmetrically arranged on two sides of the front end of the top surface of the bearing table 1, and the top surface of each driving base 30 is connected with a rotating disc;
two mechanical arms 31 are provided, and one end of each mechanical arm 31 is in transmission connection with the corresponding rotating disc;
two grippers 32, each of which is connected to the other end of the corresponding robot arm 31, perform a gripping operation.
As shown in fig. 1 and 2, the driving base 30 is provided with a rotating disc, so that the mechanical arm 31 connected with the driving base can be driven to rotate 360 degrees, and the robot has higher flexibility when performing work.
Further, the robot arm 31 of the present embodiment is formed by sequentially and movably connecting a plurality of arm bodies.
The structure of the multi-section arm body enables the mechanical arm 31 to have higher degree of freedom, and the adaptability of the mechanical arm under different working environments can be improved.
Example 3
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of embodiment 2, and the mechanical arm 31 includes:
a first arm 310, one end of which is rotatably connected to the rotating disk on the top surface of the driving base 30;
a second arm 311, one end of which is rotatably connected to the other end of the first arm 310;
a third arm 312, one end of which is rotatably connected to the other end of the second arm 311;
a fourth arm 313, one end of which is rotatably connected to the other end of the third arm 312;
a fifth arm 314 having one end rotatably connected to the other end of the fourth arm 313;
the first steering engine 315 is fixedly connected with the rotating disc on the top surface of the driving base 30, and an output shaft of the first steering engine 315 is in transmission connection with the first arm body 310;
a second steering engine 316, which is fixedly connected with the other end of the first arm body 310, and an output shaft of the second steering engine 316 is in transmission connection with the second arm body 311;
a third steering engine 317, which is fixedly connected with the other end of the second arm body 311, and an output shaft of the third steering engine 317 is in transmission connection with the third arm body 312;
a fourth steering engine 318, which is fixedly connected with the other end of the third arm 312, and an output shaft of the fourth steering engine 318 is in transmission connection with the third arm 312;
a fifth steering engine 319, which is fixedly connected with the other end of the fourth arm body 313, wherein an output shaft of the fifth steering engine 319 is in transmission connection with the fourth arm body 313;
the axial directions of the output shafts of the first steering engine 315, the second steering engine 316, the third steering engine 317 and the fourth steering engine 318 are all parallel to the horizontal plane; and the axis direction of the output shaft of the fifth steering engine 319 is vertical to the axis direction of the output shaft of the first steering engine 315.
The mechanical arm 31 is composed of five sections of arm bodies, as shown in fig. 3, wherein the first arm body 310 is connected with the rotating disc through the first steering engine 315, so that the mechanical arm 31 can integrally rotate, and the working range of the robot is greatly enlarged; the second arm body 311 is connected with the first arm body 310 through a second steering engine 316, so that the mechanical arm 31 can be lifted greatly; the third arm body 312 is connected with the second arm body 311 through a third steering engine 317, and the fourth arm body 313 is connected with the third arm body 312 through a fourth steering engine 318, so that the mechanical arm can move back and forth with small amplitude, and the flexibility and the accuracy of the mechanical arm are improved; the fifth arm 314 and the fourth arm 313 are connected by a fifth steering engine 319, so that the robot arm 31 has the capability of moving left and right.
Through the 31 structure of arm of this embodiment for the robot can snatch in a flexible way to rubbish under most operating mode environment.
Example 4
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of embodiment 3, and the gripper 32 includes:
the rotary driving piece 320 is fixed at the end face of the other end of the fifth arm 314, and the axial direction of an output shaft of the rotary driving piece 320 is perpendicular to the end face of the other end of the fifth arm 314;
the middle part of the claw root 321 is in transmission connection with an output shaft of the rotary driving piece 320, and the claw root 321 extends in three different directions to form three connecting arms;
three movable arms 322, wherein one end of each movable arm 322 is rotatably connected with the corresponding connecting arm;
three claw ends 323 are rotatably connected to the other ends of the corresponding movable arms 322, respectively.
As shown in fig. 4 and 5, the gripper 32 of the present embodiment is a three-jaw robot having three working jaws and a simple structure, but can stably grip an object.
The rotary driving member 320 of the embodiment also adopts a rotating disc structure, so that the claw part can rotate 360 degrees, and the rotary driving member has the capability of dealing with various types of garbage; the three movable arms 322 are respectively and movably connected with the connecting arm of each claw 321, and a steering engine is also arranged at the connecting position to drive the movable arms 322 to rotate; the three claw ends 323 are movably connected with the movable arms 322 respectively, steering engines are arranged at the joints to drive the claw ends 323 to rotate, the opening and closing of the three claw ends 323 are further controlled, and the grabbing space of the mechanical claw 32 is more flexible through the matching of the movable arms 322 and the two movably connected positions of the claw ends 323.
Example 5
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of the embodiment 4, and the claw end 323 is of a diamond-shaped structure with a convex middle part.
As shown in fig. 5, the claw ends 323 with the convex diamond-shaped structures at the middle part can ensure that the clamped objects are not easy to fall off, and further, the claw ends 323 structure of the embodiment can cooperate with the rotary driving member 320 to perform the drill punching action after the three claw ends 323 are closed, so as to deal with the large or difficult-to-grab garbage materials.
Example 6
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of the embodiment 5, and the four corners of the top surface of the bearing platform 1 are provided with the cameras 10.
As shown in fig. 1 and 2, in the present embodiment, upright columns are formed at four corners of the top surface of the bearing platform 1 in a vertically upward protruding manner, a multi-angle camera 10 is fixedly connected to the top end of each upright column, and each camera 10 is in signal connection with the central control unit 5.
Further, the top of the central control unit 5 of the present embodiment is also fixedly connected with a signal transmitter, and each camera 10 is electrically connected with the central control unit 5 and the signal transmitter through an image wire.
Example 7
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of the embodiment 6, and the moving unit 2 is of a crawler wheel structure.
The underwater crawler type driving mechanism is more suitable for being adopted due to the severe underwater environment and complex terrain; when the driving wheels on any one side of the two side tracks are independently driven, the in-situ rotation can be realized, the traction adhesion performance is good, the large traction force can be favorably exerted, and the device has the characteristics of low gravity center, good stability, difficulty in slipping, resistance to mechanical damage, strong adaptability to narrow channels and the like.
Example 8
The amphibious garbage cleaning robot of the embodiment is further improved on the basis of the embodiment 7, and further comprises an illumination unit 6, wherein the illumination unit 6 is arranged above the storage box 4, and the illumination unit 6 illuminates towards the direction of the grabbing unit 3.
The illumination unit 6 of this embodiment can provide the illumination for the robot under underwater or dim condition, makes things convenient for camera 10 to carry out image acquisition, also is convenient for remote control personnel to operate, and further, illumination unit 6 is located the top position department of robot, and possesses the rotation function to make the illumination zone maximize.
Further, the top of the storage box 4 of the embodiment is provided with the movable cover plate 40, the movable cover plate 40 can horizontally slide, the opening and closing of the movable cover plate 40 are controlled through the screw rod transmission structure at the rear, and the recovered garbage can be prevented from being lost again.
The examples described herein are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. An amphibious garbage cleaning robot, comprising:
a bearing table (1);
the moving unit (2) is arranged below the bearing platform (1) and drives the bearing platform (1) to move;
the grabbing unit (3) is arranged at the front end of the top surface of the bearing platform (1) and is used for grabbing garbage;
the storage box (4) is arranged at the rear end of the top surface of the bearing platform (1) and used for storing garbage grabbed by the grabbing unit (3);
and the central control unit (5) is arranged on the bearing platform (1), and the central control unit (5) is in signal connection with each unit and controls the action of each unit.
2. An amphibious refuse clearing robot according to claim 1, characterised in that the grappling unit (3) comprises:
two driving bases (30) are symmetrically arranged on two sides of the front end of the top surface of the bearing platform (1), and the top surface of each driving base (30) is connected with a rotating disc;
two mechanical arms (31), wherein one end of each mechanical arm (31) is in transmission connection with the corresponding rotating disc;
and two mechanical claws (32) which are respectively connected with the other end of the corresponding mechanical arm (31) and execute the grabbing action.
3. An amphibious refuse clearing robot according to claim 2, characterised in that: the mechanical arm (31) is formed by sequentially and movably connecting a plurality of arm bodies.
4. An amphibious refuse clearing robot according to claim 3, characterised in that said robot arm (31) comprises:
a first arm body (310) with one end rotatably connected with the rotating disc on the top surface of the driving base (30);
a second arm body (311), one end of which is rotatably connected with the other end of the first arm body (310);
a third arm body (312), one end of which is rotatably connected with the other end of the second arm body (311);
a fourth arm (313) with one end rotatably connected to the other end of the third arm (312);
a fifth arm (314), one end of which is rotatably connected with the other end of the fourth arm (313);
the first steering engine (315) is fixedly connected with a rotating disc on the top surface of the driving base (30), and an output shaft of the first steering engine (315) is in transmission connection with the first arm body (310);
a second steering engine (316) which is fixedly connected with the other end of the first arm body (310), and an output shaft of the second steering engine (316) is in transmission connection with the second arm body (311);
a third steering engine (317), which is fixedly connected with the other end of the second arm body (311), and an output shaft of the third steering engine (317) is in transmission connection with the third arm body (312);
a fourth steering engine (318), which is fixedly connected with the other end of the third arm body (312), and an output shaft of the fourth steering engine (318) is in transmission connection with the third arm body (312);
and a fifth steering engine (319) which is fixedly connected with the other end of the fourth arm body (313), and an output shaft of the fifth steering engine (319) is in transmission connection with the fourth arm body (313).
5. An amphibious refuse clearing robot according to claim 4, characterised in that: the axial directions of the output shafts of the first steering engine (315), the second steering engine (316), the third steering engine (317) and the fourth steering engine (318) are all parallel to the horizontal plane; and the axis direction of the output shaft of the steering engine five (319) is vertical to the axis direction of the output shaft of the steering engine one (315).
6. An amphibious refuse clearing robot according to claim 2, characterised in that the gripper (32) comprises:
the rotary driving piece (320) is fixed at the end face of the other end of the fifth arm body (314), and the axial direction of an output shaft of the rotary driving piece (320) is vertical to the end face of the other end of the fifth arm body (314);
the middle of the claw root (321) is in transmission connection with an output shaft of the rotary driving piece (320), and the claw root (321) extends along three different directions to form three connecting arms;
three movable arms (322), wherein one end of each movable arm (322) is rotatably connected with the corresponding connecting arm;
three claw ends (323) are respectively connected with the other end of the corresponding movable arm (322) in a rotating way.
7. An amphibious refuse clearing robot according to claim 6, characterised in that: the claw end (323) is of a diamond-shaped structure with a convex middle part.
8. An amphibious refuse clearing robot according to claim 1, characterised in that: the four corners of the top surface of the bearing platform (1) are provided with cameras (10).
9. An amphibious refuse clearing robot according to claim 1, characterised in that: the moving unit (2) is of a crawler wheel structure.
10. An amphibious refuse clearing robot according to claim 1, characterised in that: the storage box is characterized by further comprising a lighting unit (6) arranged above the storage box (4), wherein the lighting unit (6) illuminates towards the direction of the grabbing unit (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210020772.6A CN114310959A (en) | 2022-01-10 | 2022-01-10 | Amphibious garbage cleaning robot |
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| CN202210020772.6A CN114310959A (en) | 2022-01-10 | 2022-01-10 | Amphibious garbage cleaning robot |
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