CN114319279A - Garbage collection robot - Google Patents

Abstract

The invention discloses a garbage collection robot, which comprises a shell, a crushing device and a collection device, wherein the shell is provided with a garbage inlet; the crushing device is arranged in the shell and comprises a clamping component and a cutting component, the clamping component is opposite to the front and back of the garbage inlet and can clamp and convey garbage backwards, and the cutting component is matched with the clamping component and can cut the garbage in the garbage conveying process of the clamping component; the collecting device is connected with the crushing device and collects the crushed garbage. According to the garbage collection robot provided by the embodiment of the invention, the garbage collection robot is provided with the clamping component and the cutting component, can clamp, convey and cut garbage so as to stably collect the garbage, and particularly has a good collection effect on flexible garbage (such as fishing nets and the like).

Description

Garbage collection robot

Technical Field

The invention relates to the technical field of garbage cleaning, in particular to a garbage collection robot

Background

The garbage collection machine in present waters concentrates on surface of water garbage collection more, can't collect and handle the rubbish below the surface of water, and the garbage collection machine can only collect the rubbish under water that the volume is less under water now, and can't carry out limit collection limit to rubbish under water and handle, the pertinence to major possession rubbish such as abandonment fishing net under water is not strong, can't solve the unable clearance of fishing net abandoned in the waters and lead to water pollution, aquatic animal is killed by the fishing net winding, the ship propeller is influenced boats and ships navigation safety scheduling problem by the fishing net winding.

Disclosure of Invention

One object of the present invention is to provide a garbage collection robot, which has a clamping component and a cutting component, and can clamp, convey and cut garbage to achieve stable garbage collection, especially for flexible garbage (such as fishing net, etc.), with good collection effect.

The garbage collection robot comprises a shell, a crushing device and a collection device, wherein the shell is provided with a garbage inlet; the crushing device is arranged in the shell and comprises a clamping component and a cutting component, the clamping component is opposite to the garbage inlet in the front and back direction and can clamp and convey garbage backwards, and the cutting component is matched with the clamping component and can cut the garbage in the garbage conveying process of the clamping component; the collecting device is connected with the crushing device and collects crushed garbage.

According to the garbage collection robot provided by the embodiment of the invention, the garbage collection robot is provided with the clamping component and the cutting component, can clamp, convey and cut garbage so as to stably collect the garbage, and particularly has a good collection effect on flexible garbage (such as fishing nets and the like).

In addition, the garbage collection robot according to the above embodiment of the present invention may further have the following additional technical features:

optionally, the clamping assembly comprises a front end clamping structure, the front end clamping structure is opposite to the front and back of the garbage inlet, and the front end clamping structure can clamp and convey the garbage at the garbage inlet backwards.

Optionally, the front end clamping structure comprises a driving roller, a driven roller and a tensioner, and the driving roller is in transmission connection with the driving device; the driven roller and the driven roller are opposite up and down to clamp the garbage, and the clamping position of the driven roller and the driving roller is opposite to the front and back of the garbage inlet; the tensioner is connected with the driven roller and elastically presses the driven roller towards the driving roller, wherein the driving roller can be driven to be matched with the driven roller to convey garbage backwards.

Optionally, the clamping assembly includes a plurality of front end clamping groups arranged at intervals in the left-right direction, and each front end clamping group includes at least two front end clamping structures arranged at intervals in the front-back direction.

Optionally, the cutting assembly includes a circular saw cutting structure, the circular saw cutting structure is disposed between two adjacent front end clamping groups, and the circular saw cutting structure can be driven to rotate about an axis in a left-right direction for cutting off waste in the left-right direction.

Optionally, the clamping assembly further comprises a rear end clamping structure, the rear end clamping structure is opposite to the front end clamping structure in the front-back direction, and the rear end clamping structure can clamp and convey garbage backwards.

Optionally, the rear end gripping structure comprises a first gripper and a second gripper, the first gripper being drivable to rotate about a first axis; the second gripper can be driven to rotate around a second axis, and the second gripper and the first gripper are opposite up and down and synchronously rotate reversely to grip garbage and convey the garbage backwards.

Optionally, at least one of the first gripper and the second gripper comprises a rotating frame, a sliding sleeve, a gripping head and an elastic member, wherein the sliding sleeve is connected with the rotating frame and can slide along the rotating frame in a direction close to and far away from the rotating frame rotating shaft; the clamping head is fixedly connected with the sliding sleeve; the elastic piece is arranged in the sliding sleeve and pushes the clamping head towards the direction far away from the rotating shaft of the rotating frame.

Optionally, the cutting assembly further comprises a scissors cutting structure, the scissors cutting structure is arranged between the front end clamping structure and the rear end clamping structure, and the scissors cutting structure can be driven to cut off the garbage along the front-rear direction.

Optionally, the scissors cutting structure includes a plurality of blades arranged in a front-back direction, the blades are in transmission connection with the driving device and driven by the driving device to rotate around an axis in the front-back direction, and the plurality of blades can rotate relatively.

Optionally, the garbage collection robot further comprises a gripping device, and the gripping device can grip the garbage to the garbage inlet.

Optionally, the gripping devices are disposed on both left and right sides of the crushing device.

Optionally, the reducing mechanism includes the casing, the centre gripping subassembly with the cutting component is all located in the casing, the front side of casing be equipped with the opening with it is relative around the rubbish import, the left and right sides of casing is equipped with the guide slot, the guide slot with the opening switch-on and with the centre gripping position of centre gripping subassembly is relative about, grabbing device can snatch rubbish and follow the guide slot rearward movement.

Optionally, the gripping device comprises a base, a telescopic rod, a grapple and a rotation rotating motor, wherein the telescopic rod is connected with the base and can extend and retract along the front-back direction; the grabbing hook is connected with the telescopic rod and driven by the telescopic rod to move back and forth, and the grabbing hook can grab and release garbage; the rotation rotating motor is connected with the grapple and is used for driving the grapple (54) to rotate.

Optionally, the gripping device further comprises a rotating motor, and the rotating motor is connected with the base to drive the base to swing up and down.

Optionally, the garbage collection robot further comprises a buoyancy tank, the buoyancy tank is connected with the outer shell, and the inner shell of the buoyancy tank is filled with water and drained to drive the garbage collection robot to lift in water.

Optionally, the garbage collection robot further comprises a propelling device connected with the housing to drive the garbage collection robot to advance and retreat and rotate.

Optionally, the garbage collection robot further comprises a sonar and/or a visual recognition component configured to be suitable for searching and detecting the garbage location.

Optionally, the gripping assembly and the cutting assembly are driven by the same drive means.

Drawings

Fig. 1 is a schematic view of a garbage collection robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of the garbage collection robot shown in fig. 1 in another orientation.

Fig. 3 is a schematic diagram of the internal structure of the garbage collection robot according to the embodiment of the present invention.

Fig. 4 is a schematic view of the combination of the crushing device and the driving device of the garbage collection robot according to one embodiment of the invention.

Fig. 5 is a side view of fig. 4.

Figure 6 is a schematic view of the shredder and drive arrangement of a garbage collection robot in accordance with one embodiment of the present invention, wherein the housing of the shredder is not fully shown.

Fig. 7 is a schematic view of the front end gripping assembly and the first transmission assembly of the garbage collection robot in cooperation with one embodiment of the present invention.

Fig. 8 is a schematic view of the drive of the front end gripping assembly of the garbage collection robot according to one embodiment of the present invention.

Figure 9 is a schematic view of a tensioner of a front end gripping assembly of a garbage collection robot according to one embodiment of the present invention.

Fig. 10 is a side view of the tensioner of fig. 9.

FIG. 11 is a schematic view of the circular saw cutting structure of the garbage collection robot in cooperation with a second driving assembly, wherein the second driving shaft of the second driving assembly is the same shaft as one driving shaft of the first driving assembly, according to one embodiment of the present invention.

Fig. 12 is an exploded view of the circular saw cutting structure of the garbage collection robot according to one embodiment of the present invention.

Figure 13 is a schematic view of the back end gripping assembly and the third drive assembly of the garbage collection robot in cooperation with one embodiment of the present invention.

Fig. 14 is a schematic drive diagram of the rear clamping assembly of the garbage collection robot in accordance with one embodiment of the present invention.

Figure 15 is a schematic view of a gripper of a rear gripping assembly of a garbage collection robot according to one embodiment of the present invention.

Fig. 16 is a schematic view of the scissors cutting structure and fourth drive assembly of the garbage collection robot in cooperation with one embodiment of the present invention. The fifth transmission shaft of the fourth transmission assembly and one transmission shaft of the first transmission assembly are the same shaft, and the sixth transmission shaft of the fourth transmission assembly and the fourth transmission shaft of the third transmission assembly are the same shaft.

Fig. 17 is a driving diagram of a scissors cutting structure of the garbage collection robot according to an embodiment of the present invention.

Fig. 18 is a schematic view of a scissors cutting structure of the garbage collection robot according to an embodiment of the present invention.

Fig. 19 is a cross-sectional view of a scissors cutting structure of the garbage collection robot according to one embodiment of the present invention.

Fig. 20 is a schematic view of a grasping apparatus of the garbage collection robot according to one embodiment of the present invention, in which the grapple is in a retracted and expanded state.

Fig. 21 is a schematic view of a grasping apparatus of the garbage collection robot according to one embodiment of the present invention, in which the grapple is in an extended and collapsed state.

Fig. 22 is a schematic view of the power assembly of the drive of the garbage collection robot in accordance with one embodiment of the present invention.

Reference numerals: a garbage collection robot 1000, a housing 10, a garbage inlet 101, a buoyancy tank 11, a propulsion device 12, a sonar 13, a visual recognition assembly 14, a battery pack 15, a sealed electronic equipment compartment 16, a lamp 17, a crushing device 20, a clamping assembly 21, a front clamping structure 211, a driving roller 2111, a driven roller 2112, a tensioner 2113, a mounting sleeve 2113a, a spring 2113b, a strut 2113c, a bearing 2113d, a mounting cover 2114, a rear clamping structure 212, a first clamp 2121, a second clamp 2122, a rotating frame 212a, a sliding sleeve 212b, a clamping head 212c, an elastic member 212d, a cutting assembly 22, a circular saw cutting structure 221, a circular saw blade 2211, a shaft 2212, a compression ring 2213, a fastening bolt 2214, a fastening nut 2215, a scissors cutting structure 222, a blade 2221, a first rotating shaft 2, a second rotating shaft 2223, a first gear 2224, a second gear 2225, a housing 23, a guide groove 201, the collecting device 30, the sewage pump 31, the filter chamber 32, the driving device 40, the first transmission shaft 411, the first front end clamping chain wheel 412, the second front end clamping chain wheel 413, the front end clamping chain 414, the second transmission shaft 421, the third transmission shaft 431, the fourth transmission shaft 432, the first rear end clamping chain wheel 433, the second rear end clamping chain wheel 434, the rear end clamping chain 435, the driving gear 436, the driven gear 437, the fifth transmission shaft 441, the sixth transmission shaft 442, the third gear 443, the fourth gear 444, the first scissor chain wheel 445, the second scissor chain wheel 446, the scissor chain, the power assembly 45, the grabbing device 50, the swing rotating motor 447, the base 52, the telescopic rod 53 and the grabbing hook 54.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

Referring to fig. 1 to 3, a garbage collection robot 1000 according to an embodiment of the present invention includes a housing 10, a crushing device 20, and a collection device 30, wherein the housing 10 has a garbage inlet 101, and garbage can enter from the garbage inlet 101 and be transported and crushed by the crushing device 20. Reducing mechanism 20 locates in shell 10, and reducing mechanism 20 includes centre gripping subassembly 21 and cutting component 22, but centre gripping subassembly 21 and rubbish import 101 front and back relative centre gripping and backward transport rubbish, and cutting component 22 cooperates with centre gripping subassembly 21 to can carry the in-process cutting rubbish of rubbish at centre gripping subassembly 21, at the in-process of cutting rubbish, can carry out the centre gripping to rubbish through centre gripping subassembly 21, thereby make things convenient for cutting component 22's cutting. The collecting device 30 is connected with the crushing device 20, and the collecting device 30 collects the crushed garbage to realize the garbage collection.

According to the garbage collection robot 1000 provided by the embodiment of the invention, the garbage collection robot 1000 is provided with the clamping component 21 and the cutting component 22, so that garbage can be clamped, conveyed and cut, stable collection of the garbage is realized, and particularly, the garbage collection robot has good crushing and collection effects on flexible garbage (such as fishing nets and the like).

The crushing apparatus 20 of the present invention may be driven by the same driving means, or may be driven by a plurality of driving means. The driving device 40 may include a plurality of driving components, and the plurality of driving components are respectively connected to the clamping component 21 and the cutting component 22, so as to respectively drive the clamping component 21 and the cutting component 22. It is also possible to integrate the driving means 40 into one, and to provide the driving force to the clamping assembly 21, the cutting assembly 22, etc. with one power source.

As shown in fig. 6-8, in some embodiments of the present invention, the clamping assembly 21 includes a front clamping structure 211, the front clamping structure 211 is opposite to the front of the waste inlet 101, and the front clamping structure 211 can clamp and convey the waste at the waste inlet 101 backward. When rubbish enters the rubbish import 101, can carry out the centre gripping through front end clamping structure 211, and front end clamping structure 211 still carries backward at the in-process of centre gripping rubbish to realize the front end centre gripping of rubbish, and make things convenient for the subsequent processing of rubbish.

Optionally, the front end clamp structure 211 includes a driving roller 2111, a driven roller 2112, and a tensioner 2113. The driven roller 2112 and the driving roller 2111 are opposite up and down to clamp the garbage, and the clamping position of the driven roller 2112 and the driving roller 2111 is opposite to the front and back of the garbage inlet 101; a tensioner 2113 is connected to the driven roller 2112 and resiliently urges the driven roller 2112 toward the driving roller 2111, wherein the driving roller 2111 can be driven to cooperate with the driven roller 2112 to transport refuse rearward. The tensioner 2113 can realize elastic abutting between the driving roller 2111 and the driven roller 2112, so that garbage can be clamped conveniently, and the driving roller 2111 can rotate to convey the garbage backwards.

Wherein the driving device 40 may comprise a first transmission assembly connected to the front end holding structure 211 to power the front end holding structure 211. The first transmission assembly comprises a first transmission shaft 411, and the first transmission shaft 411 is in chain transmission connection with the driving roller 2111. As shown in fig. 9 and 10, tensioner 2113 may include a mounting sleeve 2113a, a spring 2113b, a strut 2113c, and a bearing 2113 d. The mounting sleeve 2113a and the supporting rod 2113c are sleeved and connected and can slide with each other, the spring 2113b is arranged between the supporting rod 2113c and the mounting sleeve 2113a, and the driving roller 2111 and the driven roller 2112 of the front end clamping structure 211 are mutually fastened by the force of the spring 2113 b. Wherein the mounting sleeve 2113a may be fixedly coupled to the housing 10, the inner race of the bearing 2113d may be coupled to the driven roller 2112, and the outer race coupled to the strut 2113 c. In addition, the peripheral surface of the driving roller 2111 and the peripheral surface of the driven roller 2112 can be provided with mutually meshed grooves, so that garbage such as fishing nets and the like is not easy to slip off in the conveying and cutting processes. In addition, the front end clamping structure 211 may further include mounting covers 2114, the mounting covers 2114 correspond to the driving roller 2111 and the driven roller 2112, the driving roller 2111 and the driven roller 2112 are respectively covered in the corresponding mounting covers 2114, and the side where the driving roller 2111 and the driven roller 2112 are close to each other extends from the corresponding mounting cover 2114 to facilitate clamping and conveying of garbage.

Alternatively, as shown in fig. 7, the clamping assembly 21 includes a plurality of front clamping groups arranged at intervals in the left-right direction, and each front clamping group includes at least two front clamping structures 211 arranged at intervals in the front-back direction. Through a plurality of front end centre gripping groups, can realize the stable centre gripping to rubbish, especially to flexible rubbish, through the clamping action, can be fixed with rubbish to in the cutting.

In combination with the foregoing, the first transmission assembly may include a plurality of first transmission shafts 411 spaced apart from each other in the front-rear direction, and each of the first transmission shafts 411 is correspondingly connected to form a row and a plurality of front end clamping structures 211 spaced apart from each other in the left-right direction, and the plurality of rows of front end clamping structures 211 are opposite to each other in the front-rear direction, so as to form a plurality of front end clamping groups spaced apart from each other in the left-right direction. Among them, a plurality of first transmission shafts 411 may adopt a chain transmission form. Specifically, the first transmission assembly includes two first transmission shafts 411 arranged in front and back, the first transmission assembly further includes a first front-end clamping sprocket 412, a second front-end clamping sprocket 413 and a front-end clamping chain 414, the first front-end clamping sprocket 412 is coaxially connected with one first transmission shaft 411 and rotates synchronously, the second front-end clamping sprocket 413 is coaxially connected with the other first transmission shaft 411 and rotates synchronously, and the first front-end clamping sprocket 412, the second front-end clamping sprocket 413 and the front-end clamping chain 414 form a chain transmission structure, wherein the first front-end clamping sprocket 412 may be a double-row sprocket for power input.

As shown in fig. 6 and 11, in some embodiments of the present invention, the cutting assembly 22 includes a circular saw cutting structure 221, the circular saw cutting structure 221 is disposed between two adjacent front clamping groups, and the circular saw cutting structure 221 can be driven to rotate around an axis in the left-right direction for cutting off garbage in the left-right direction. Wherein, through front end clamping structure 211, can keep the tensioning state with rubbish such as fishing net in transportation process, the fishing net is cut off to the circular saw cutterbar of being convenient for.

The driving device 40 may include a second transmission assembly, which may include a second transmission shaft 421, and the second transmission shaft 421 may be chain-driven with the circular saw cutting structure 221. The second transmission shaft 421 may be the same as the first transmission shaft 411, which simplifies the structure of the cutting assembly 22.

As shown in fig. 12, the circular saw cutting structure 221 may include a circular saw blade 2211, a circular saw shaft 2212, a clamping ring 2213, a fastening bolt 2214, a fastening nut 2215, etc., one end of the circular saw shaft 2212 passes through a central hole of the circular saw blade 2211 and the clamping ring 2213, the circular saw shaft 2212 is provided with the fastening ring, and the fastening ring and the clamping ring 2213 are clamped to opposite sides of the circular saw shaft 2212 and fastened by the fastening bolt 2214 and the fastening nut 2215. Wherein the fastening ring may be integrally formed with the circular saw shaft 2212. The circular saw shaft 2212 is in transmission connection with the second transmission shaft 421, and the circular saw blade 2211 rotates around the circular saw shaft 2212 during operation to cut garbage such as fishing nets into strips. The circular saw cutting structure 221 and the front clamping group may share a drive assembly (i.e., the second drive shaft 421 and the first drive shaft 411 may be the same drive shaft).

In addition, a circular saw cutting structure 221 can be arranged between every two adjacent front end clamping groups, so that the cutting effect on garbage such as fishing nets is further improved.

As shown in fig. 6 and 13, in some embodiments of the present invention, the clamping assembly 21 further comprises a rear clamping structure 212, the rear clamping structure 212 is opposite to the front clamping structure 211, the rear clamping structure 212 can clamp and convey the garbage backward, specifically, the garbage clamped and conveyed by the front clamping structure 211 can be conveyed to the rear clamping structure 212 and be continuously clamped and conveyed by the rear clamping structure. The garbage is further conveyed under the clamping and conveying action of the rear-end clamping structure 212, so that the rear-end clamping of the garbage is realized, and the subsequent treatment of the garbage is facilitated.

Optionally, the rear clamping arrangement 212 includes a first clamp 2121 and a second clamp 2122, the first clamp 2121 being drivable for rotation about a first axis; the second holder 2122 can be driven to rotate about the second axis, and the second holder 2122 and the first holder 2121 are opposed to each other up and down and rotated in opposite directions in synchronization to hold the garbage and convey it backward. Thereby realizing the stable clamping and backward conveying of the garbage.

As shown in fig. 13 and 14, the drive device 40 may further include a third transmission assembly coupled to the rear clamping structure 212 to power the rear clamping structure 212. The third transmission assembly may include a third transmission shaft 431 and a fourth transmission shaft 432, the third transmission shaft 431 is disposed below the fourth transmission shaft 432, and the third transmission shaft 431 and the fourth transmission shaft 432 may be parallel to each other, the third transmission shaft 431 and the fourth transmission shaft 432 are adapted to rotate synchronously and reversely to each other, the third transmission shaft 431 may be coaxially connected with the first holder 2121 and rotate synchronously, and the fourth transmission shaft 432 may be coaxially connected with the second holder 2122 and rotate synchronously.

In addition, the third transmission assembly may further include a rear end holding chain 435, a first rear end holding sprocket 433, a second rear end holding sprocket 434, a driving gear 436, and a driven gear 437. The first rear end holding sprocket 433 is coaxially connected to and rotates synchronously with the third transmission shaft 431, the second rear end holding sprocket 434 is connected to and rotates synchronously with the driven gear 437, the driving gear 436 is engaged with the driven gear 437, and the driven gear 437 is connected to and rotates synchronously with the second transmission shaft 421. The rear clamping chain 435 is connected to the first rear clamping sprocket 433 and the second rear clamping sprocket 434, respectively, and is configured as a chain transmission structure, wherein the first rear clamping sprocket 433 can be a double-row sprocket to connect a power source for power connection, and the operation direction of each rotating member is as shown in fig. 14.

Alternatively, as shown in fig. 15, at least one of the first holder 2121 and the second holder 2122 includes a rotating frame 212a, a sliding sleeve 212b, a holding head 212c, and an elastic member 212d, and the sliding sleeve 212b is connected to the rotating frame 212a and is capable of sliding along the rotating frame 212a in directions close to and away from the rotation axis of the rotating frame 212 a; the clamping head 212c is fixedly connected with the sliding sleeve 212 b; the elastic member 212d is disposed in the sliding sleeve 212b and presses the clamping head 212c in a direction away from the rotating frame 212 a. By disposing the first clamper and the second clamper 2122 one above the other, the target is clamped by the pressing force of the spring 2113 b. The clamping head 212c is fixedly connected to the sliding sleeve 212b, and the elastic member 212d directly acts on the sliding sleeve 212b to push the sliding sleeve 212b away from the rotating frame 212a, so that the clamping heads 212c of the first and second clamps 2121 and 2122 are pressed against each other.

As shown in fig. 13. The rear end clamping structure 212 is used for grabbing and clamping garbage such as fishing nets cut into strips by the circular saw cutting structure 221 through the reverse rotation of the upper and lower end clamping devices, enabling the garbage such as the fishing nets to be in a tensioning state, and conveying the garbage such as abandoned fishing nets backwards through rotation of the rotating shaft. The rotary frame 212a of the first holder 2121 may be coaxially connected to the third transmission shaft 431 and rotate synchronously, and the rotary frame 212a of the second holder 2122 may be coaxially connected to the fourth transmission shaft 432 and rotate synchronously.

As shown in fig. 6 and 16, in some embodiments of the present invention, the cutting assembly 22 further comprises a scissors cutting structure 222, the scissors cutting structure 222 being disposed between the front end holding structure 211 and the rear end holding structure 212, the scissors cutting structure 222 being actuatable to cut the waste in a front-to-rear direction. Through scissors cutting structure 222, can realize cutting around rubbish such as fishing net to realize the cutting to rubbish.

Alternatively, the scissors cutting structure 222 includes a plurality of blades 2221 arranged in the front-rear direction, the blades 2221 may rotate about axes in the front-rear direction, and the plurality of blades 2221 may relatively rotate. By rotating the plurality of blades 2221 with each other, the garbage can be cut.

As shown in fig. 18 and 19, the scissors cutting structure 222 includes a first rotating shaft 2222 and a second rotating shaft 2223, the first rotating shaft 2222 and the second rotating shaft 2223 are coaxially and rotatably connected to each other, a blade 2221 is connected to each of the first rotating shaft 2222 and the second rotating shaft 2223, a first gear 2224 is connected to the first rotating shaft 2222, and a second gear 2225 is connected to the second transmission shaft 421. The first gear 2224 and the second gear 2225 may be driven separately. A bearing is disposed at a connection point of the first rotating shaft 2222 and the second rotating shaft 2223, so that the first rotating shaft 2222 and the second rotating shaft 2223 rotate coaxially and reversely.

As shown in fig. 16 and 17, the drive means 40 may include a fourth drive assembly coupled to the scissors cutting structure 222 to power the front end gripping structure 211. The fourth drive assembly may include a fifth drive shaft 441 and a sixth drive shaft 442, wherein the fifth drive shaft 441 and the sixth drive shaft 442 are each drivingly connected to a different blade 2221 in the scissors cutting structure 222, and the fifth drive shaft 441 and the sixth drive shaft 442 are adapted to each drive the different blade 2221 in the scissors cutting structure 222 to rotate (e.g., drive the different blades 2221 to rotate coaxially with and in opposite directions from each other).

Wherein the fourth transmission assembly further comprises a third gear 443, a fourth gear 444, the third gear 443 and the first gear 2224 are mutually engaged, the fourth gear 444 and the second gear 2225 are mutually engaged, the third gear 443 and the fifth transmission shaft 441 can be in chain transmission connection, the fourth gear 444 and the sixth transmission shaft 442 can be in chain transmission connection, the third gear 443 and the first gear 2224 can be in bevel gear engagement, and the fourth gear 444 and the second gear 2225 can be in bevel gear engagement. In addition, the scissors cutting structure 222 further includes a first fixing sleeve and a second fixing sleeve, the first fixing sleeve and the second fixing sleeve are respectively fixedly connected to the housing 10, the first rotating shaft 2222 is rotatably sleeved on the first fixing sleeve, and the second rotating shaft 2223 is rotatably sleeved on the second fixing sleeve. In addition, the two blades 2221 of the scissors cutting structure 222 are arranged side by side and can rotate coaxially and reversely, and the two blades 2221 are both provided with thin wear-resistant pieces for keeping the distance between the two blades so that the movement of the two blades does not interfere. The scissors cutting structure 222 cuts the fishing net strip into sections using the shearing force of the blade.

The fifth transmission shaft 441 and the sixth transmission shaft 442 can be connected by a chain transmission, wherein the fourth transmission assembly can further include a first scissors sprocket 445, a second scissors sprocket 446 and a scissors chain 447, the first scissors sprocket 445 and the fifth transmission shaft 441 are coaxially connected and synchronously rotate, the second scissors sprocket 446 and the sixth transmission shaft 442 are coaxially connected and synchronously rotate, wherein the first scissors sprocket 445 can be a double-row sprocket to connect a power source to realize power connection, and the operation direction of each rotating member is as shown in fig. 17.

In addition, the fourth transmission assembly may be integrated with the first and third transmission assemblies, for example, the fifth transmission shaft 441 is integrated with the first transmission shaft 411 into the same shaft, and the sixth transmission shaft 442 is integrated with the fourth transmission shaft 432 into the same shaft.

As shown in fig. 3, 20 and 21, in some embodiments of the present invention, the garbage collection robot 1000 further includes a gripping device 50, and the gripping device 50 can grip the garbage into the garbage inlet 101. The grabbing of the garbage can be realized through the grabbing device 50, so that the garbage can be conveniently conveyed to the crushing assembly, and the crushing of the garbage is realized. Optionally, gripping devices 50 are provided on both the left and right sides of the crushing device 20.

Optionally, the grasping device 50 includes a base 52, a telescopic rod 53, and a grasping hook 54, the telescopic rod 53 being connected to the base 52 and being telescopic in the front-rear direction; the grapple 54 is connected to the telescopic bar 53 and is driven by the telescopic bar 53 to move forward and backward, and the grapple 54 can grab and release the garbage. The gripping device 50 can be installed in the housing 10 through the base 52, and when the gripping device 50 is operated, the gripping hook 54 extends out of the housing 10 through the telescopic rod 53 to perform a gripping operation. Of course, the grasping device 50 may be mounted outside the pulverizing device 20 via the base 52, but the present invention is not limited thereto.

Optionally, the grabbing device 50 further comprises a swing rotating motor 51, and the swing rotating motor 51 is connected with the base 52 to drive the base 52 to swing up and down. Optionally, the gripping device 50 further includes a rotation rotating motor 55, and the rotation rotating motor 55 is connected to the grapple 54 and is used for driving the grapple 54 to rotate.

As shown in fig. 20 and 21, the swing rotating motor 51 is provided on the crushing apparatus 20, and the base 52 is connected to the swing rotating motor 51; the base 52 is provided with a telescopic rod 53 (such as a multi-stage electric telescopic structure) for controlling the telescopic action of the grapple 54; in addition, the rotation rotating motor can also drive to realize the opening and closing of the grapple 54. The swing rotating motor 51 swings up and down around the motor output shaft by different steering control catches 54. Fig. 20 shows the telescopic rod 53 retracted with the grapple 54 in an open state, and fig. 21 shows the telescopic rod 53 extended with the grapple 54 in a closed state. When the swing rotating motor 51 drives the telescopic rod 53 to rotate, large garbage (such as a fishing net) can be stored and drawn close around a rotating center, the garbage collector is more suitable for collecting the large garbage, the collecting efficiency is higher, and the collecting effect is better.

Referring to fig. 4 and 5, in some embodiments of the present invention, the crushing apparatus 20 includes a housing 23, a clamping assembly 21 and a cutting assembly 22 are disposed in the housing 23, an opening is formed on a front side of the housing 23 to be opposite to the front and rear of the garbage inlet 101, guide grooves 201 are formed on left and right sides of the housing 23, the guide grooves 201 are connected to the opening and opposite to left and right of a clamping position of the clamping assembly 21, and the catching device 50 can catch the garbage to move backward along the guide grooves 201. Through setting up guide slot 201, can realize rubbish such as fishing net can be steadily by the centre gripping subassembly 21 centre gripping to steadily by the cutting component 22 cutting, improve the collection and the cutting efficiency and the effect of rubbish.

The clamping assembly and the cutting assembly can be respectively provided with a driving device independently or a shared driving device. Alternatively, in connection with fig. 6 and 22, the gripping assembly 21 and the cutting assembly 22 are driven by the same drive means 40. The front clamping structure 211, the rear clamping structure 212, the circular saw cutting structure 221, and the scissors cutting structure 222 may be driven by the same driving device 40. The shared driving device is in transmission connection with the front end clamping structure 211, the rear end clamping structure 212, the circular saw cutting structure 221 and the scissors cutting structure 222, and the whole shared driving structure is compact and reasonable, good in cleaning effect and beneficial to saving of manufacturing cost. Specifically, in combination with the foregoing, the driving device 40 further includes a power assembly 45, and the power assembly 45 is in transmission connection with the first transmission assembly, the second transmission assembly, the third transmission assembly, and the fourth transmission assembly respectively, wherein the second transmission assembly and the first transmission assembly share the first transmission shaft 411, and the fourth transmission assembly and the first transmission assembly share the first transmission shaft 411 and the third transmission assembly share the fourth transmission shaft 432. The power assembly 45 may include an output motor that is chain driven with a third drive shaft 431, followed by a third drive shaft 431 chain driven with a fourth drive shaft 432 chain driven with a first drive shaft 411. Therefore, the whole smashing device 20 is driven by one power assembly 45, and the smashing device is simple in structure and easy to control.

Of course, each structure of the crushing device 20 of the present invention may be driven individually or a part of the structures may be driven together, that is, the front end clamping structure 211, the rear end clamping structure 212, the circular saw cutting structure 221 and the scissors cutting structure 222 may be driven by different power devices, or at least two of the structures may be driven by the same power device.

As shown in fig. 1 and 2, in some embodiments of the present invention, the garbage collection robot 1000 further includes a buoyancy tank 11, the buoyancy tank 11 is connected to the outer shell 10, and the inner shell of the buoyancy tank 11 is filled with water and drained to drive the garbage collection robot 1000 to ascend and descend in water. The lifting of the buoyancy tank 11 enables the collection of garbage at a position such as the sea bottom or the sea surface, and the range of application of the garbage collection robot 1000 of the present invention can be increased, but the present invention may be configured to realize the floating, the submerging, and the like by using other structures without providing the buoyancy tank 11, for example, by using the below-described propulsion device 12.

As shown in fig. 1 to 3, the garbage collection robot 1000 further includes a propelling device 12, and the propelling device 12 is connected to the housing 10 to drive the garbage collection robot 1000 to move forward and backward and rotate. By means of the propelling device 12, the propelling of the garbage collection robot 1000 can be realized, so that the garbage collection robot 1000 can be driven to move to the position where the garbage is located, so as to facilitate the collection of the garbage.

As shown in fig. 1-3, the garbage collection robot 1000 further includes a sonar 13 and/or a visual recognition component 14, the sonar 13 and the visual recognition component 14 being configured to be suitable for searching and detecting the garbage location. Wherein, garbage collection robot 1000 can only include sonar 13 to utilize sonar 13 to gather rubbish signal, realize the discernment to rubbish, garbage collection robot 1000 also can only include visual identification subassembly 14 (for example camera module etc.), thereby realizes the discernment to rubbish through the vision. Of course, in the present invention, the sonar 13 and the visual recognition component 14 may be used simultaneously to achieve the precise positioning of the garbage, and of course, the sonar 13 or the visual recognition component 14 in the present invention may also be used to detect the reef and the like on the propulsion path of the garbage collection robot 1000 to avoid grounding or collision.

As shown in fig. 3, the buoyancy tanks 11 are disposed on both sides of the housing 10, compressed air and gas compression devices may be installed in the buoyancy tanks 11, and the volume of gas in the tank is controlled by injecting water into the buoyancy tanks 11 or discharging water from the buoyancy tanks 11, thereby controlling the submergence of the garbage collection robot 1000. In addition, the propulsion device 12 may include a plurality of propellers, and the direction and position of the garbage collection robot 1000 are adjusted by the rotation speed of the propellers or the like. For example, a propeller may be installed at each of the rear ends of the two buoyancy tanks 11, and the forward and backward movements and the yaw movements of the garbage collection robot 1000 may be controlled by different rotational speeds and rotational directions. The top of the garbage collection robot 1000 may also be provided with four propellers, which control the rolling, pitching, and lifting of the robot through different rotation speeds and rotation directions.

In addition, a set of visual recognition components 14 is arranged at the front top end of the shell 10, and is used for further recognizing and confirming the waste fishing net discovered by the sonar 13 system through a visual recognition system in the machine. The front panel of the housing 10 houses eight light fixtures 17 that provide illumination in the event of insufficient underwater visibility.

A sonar 13 (which can be an active sonar 13 detection device) is respectively arranged in the front, left, right and bottom directions of the shell 10, and is used for searching solid wastes such as waste fishing nets in water and detecting obstacles in water such as reefs, river beds (sea beds), shoals and the like to avoid collision or grounding of the machine with the obstacles.

In addition, the crushing device 20 further comprises a housing 23, the front end of the housing 23 is provided with an opening opposite to the garbage inlet 101, the rear end of the housing 23 is provided with an opening connected with the collecting device 30, wherein the opening at the rear end of the housing 23 can be set to be gradually folded from front to back. And the rear end of the housing 23 may be provided with a plurality of openings to facilitate the receipt of the cut waste. The collecting device 30 comprises a sewage pump 31 and a filter cavity 32, the sewage pump 31 can convey the garbage with an opening at the rear end of the shell 23 into the filter cavity 32, and the garbage can be left in the filter cavity 32 after being filtered by the filter cavity 32, so that the garbage is collected.

As shown in fig. 3, the top compartment of the housing 10 houses a battery pack 15, the middle compartment houses three dredge pumps 31 and a shredder assembly, the bottom compartment houses a trash filter chamber 32 and a sealed electronics compartment 16, and each side of the shredder 20 houses a gripping device 50. A dredge pump 31 is mounted at the rear of the crushing device 20 and is used for pumping the chopped waste fishing net into a filter chamber 32 at the rear of the machine through a dredge pipeline.

The garbage collection robot 1000 of the present invention can collect garbage in the sea, in a river or other medium, and the garbage collected by the garbage collection robot 1000 of the present invention includes, but is not limited to, fishing nets, white plastics, etc.

The following description will be given by taking the garbage collection robot 1000 as an example for collecting fishing nets, which is not intended to limit the scope of the present invention, but is only intended to clearly and completely describe the technical solution to be protected by the present invention:

sonar 13 collects sonar 13 signals, compares sonar 13 characteristics of the abandoned fishing net, finds the position of the abandoned fishing net, guides the machine to navigate to the position, and then visual recognition component 14 carries out visual characteristic recognition and confirmation on the target.

Secondly, after the abandoned fishing net is confirmed, the vision recognition component 14 visually locks the abandoned fishing net, the propulsion device 12 synchronously adjusts the machine posture, the grapplers 54 of the grabbing devices 50 on the left side and the right side in the shell 23 are in an open state, then the telescopic rods 53 stretch, the grapplers 54 stretch out, and the grapplers 54 are used for grabbing garbage.

After the visual recognition component 14 judges that the grapple 54 grabs the fishing net, the grapple 54 is closed, the abandoned fishing net is clamped and fixed, the telescopic rod 53 is contracted, the grapple 54 is retracted, the abandoned fishing net is dragged into the crushing device 20, and the grapple 54 is released after the fishhook is contracted in place.

And fourthly, in the process that the fishing net is dragged into the smashing device 20, the waste fishing net is firstly captured by the front end clamping component 21 and is clamped and conveyed backwards, the circular saw cutting component 22 continuously cuts the fishing net in the conveying process, and the whole fishing net is cut into fishing net strip-shaped fragments.

Fifthly, the back end clamping component 21 clamps the fishing net strip-shaped fragments and conveys the fragments backwards. The sprocket chain set drive system of the rear clamping assembly 21 is in a timing relationship with the drive system of the scissors cutting assembly 22 so that the movement of the rear clamping assembly 21 and the movement of the scissors do not interfere. During the transportation of the fishing net strip-shaped splints by the rear end clamping component 21, the scissors cutter cuts the fishing net strip-shaped splints into blocks.

Sixthly, as the rear end clamping assembly 21 continues to rotate around the transmission shaft, the clampers at the upper end and the lower end extend to the longest state and are loosened, the fishing net block fragments are pumped to the filter cavity 32 (such as a garbage collection cage) by the sewage pump 31, and the cycle of collection and treatment of the waste fishing nets is completed.

And seventhly, whether the collection is finished or not can be judged by detecting the working current of the sewage pump 31. When the sewage pump 31 is in a no-load state, the whole fishing net is completely collected, the motor stops working, the machine continues to search the next abandoned fishing net target until the filter chamber 32 is fully loaded, and the buoyancy tank 11 discharges water to control the machine to float upwards and return.

The invention is based on the vision recognition system of the active sonar device arranged on the machine, can accurately find the specific position of the abandoned fishing net scattered in the water area under the condition of insufficient underwater visibility, and can also avoid the damage to the ecological environment of the water area or the damage to the machine itself caused by the collision of obstacles or aquatic organisms in the navigation or operation process of the machine through the obstacle avoidance function. The two-way catch hooks on the gripping device 50 can catch the waste fishing net in the water body to the maximum extent, the clamping mechanism extrudes the fishing net, the cutting component 22 can better cut the fishing net, the surface area of the cut fishing net can be more concentrated, and therefore the fishing net can be sucked into the collecting device 30 more easily. Reducing mechanism 20 is drawn in the in-process of advancing the machine at the fishing net, and it effectively cuts up the whole fishing net branch multistage, avoids not enough because of blade 2221 cutting power, and the fishing net winding leads to the cutter to damage on blade 2221. Because the whole fishing net is cut into smaller blocks and then sucked into the collector, the problem that the service life of the whole set of equipment is influenced because the sewage pump 31 is damaged due to pipeline blockage caused by sucking objects with overlarge volume is effectively avoided. Six propeller propelling devices 12 on the machine enable the machine to flexibly advance and retreat and adjust the posture, and the buoyancy tank 11 can adjust the buoyancy of the machine in time according to the loading capacity of garbage in the machine, so that the machine can keep the optimal suspension state in water. The large-caliber pollution discharge device can effectively prevent the situation that the fishing net or other underwater garbage blocks the flow channel after being sucked. The machine has simple structure and low manufacturing and using cost, can effectively solve the problem that the abandoned fishing net in water is manually cleaned or cannot be cleaned, effectively reduces the dangerous situation of related personnel in cleaning the abandoned fishing net in water, and effectively reduces the condition that other aquatic organisms are abandoned by winding the fishing net to cause death and the problem that ship sailing is influenced by winding the ship propeller by the fishing net

In addition, the sonar technology and the visual recognition technology are simultaneously utilized to recognize the underwater sound characteristics and the visual characteristics of the waste fishing net, so that the phenomenon of false recognition can be avoided to the maximum extent. The fishing net gripping device 50 of multi-angle enables the gripping mechanism to grip the underwater waste fishing net to the maximum extent. The cutter can collect and compress the whole waste fishing net and effectively perform sectional chopping. The abandonment fishing net that centre gripping subassembly 21 can will grab compresses tightly and carries, even by dividing the cutter cutting back, also can continuously extrude the fishing net, makes its surface area concentrate together to the realization is concentrated by the area of absorbing, is accomodate into in the containing box easily. The movement tracks between the cutting tool and the conveying device are not interfered with each other, and the function of collecting and cutting the fishing net at the same time can be realized. The large-caliber sewage disposal equipment can directly carry out adsorption operation on an operation site from the complex high-power design on the sea surface to the prior art, greatly saves the design cost and avoids the waste of the design. And energy waste during use. The collecting device 30 with the holes can ensure that the collecting device 30 can collect garbage and can also reduce resistance when the machine moves forward or adjusts the posture, thereby saving energy. The machine passes through the abandonment fishing net of sonar device search aquatic, does not receive aquatic visibility's influence, and the collection scope is wide, and efficiency is higher.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A garbage collection robot, comprising:

a housing (10), said housing (10) having a waste inlet (101);

the crushing device (20) is arranged in the shell (10), the crushing device (20) comprises a clamping component (21) and a cutting component (22), the clamping component (21) is opposite to the garbage inlet (101) in a front-back mode and can clamp and convey garbage backwards, and the cutting component (22) is matched with the clamping component (21) and can cut the garbage in the process that the clamping component (21) conveys the garbage; and

the collecting device (30), the collecting device (30) is connected with the smashing device (20), and the collecting device (30) collects the smashed garbage.

2. A waste collection robot according to claim 1, wherein the gripping assembly (21) comprises a front gripping structure (211), the front gripping structure (211) being in front-to-back opposition to the waste inlet (101), the front gripping structure (211) being capable of gripping and transporting waste at the waste inlet (101) backwards.

3. A garbage collection robot according to claim 2,

the front end clamping structure (211) comprises a driving roller (2111), a driven roller (2112) and a tensioner (2113), the driven roller (2112) is opposite to the driving roller (2111) up and down to clamp garbage, and the clamping position of the driven roller (2112) and the driving roller (2111) is opposite to the front and back of the garbage inlet (101); the tensioner (2113) is connected with the driven roller (2112) and elastically presses the driven roller (2112) towards the driving roller (2111), wherein the driving roller (2111) can be driven to cooperate with the driven roller (2112) to convey garbage backwards; and/or

Centre gripping subassembly (21) are including a plurality of front end centre gripping groups that left right direction interval was arranged, and every front end centre gripping group all includes at least two of front and back interval arrangement front end clamping structure (211), cutting assembly (22) are including circular saw cutting structure (221), adjacent two are located to circular saw cutting structure (221) between the front end centre gripping group, just circular saw cutting structure (221) can be driven in order to rotate around the axis along left right direction and be used for cutting off rubbish along left right direction.

4. A waste collection robot according to claim 2, characterized in that the gripping assembly (21) further comprises a rear gripping structure (212), the rear gripping structure (212) being in front-rear opposition to the front gripping structure (211), the rear gripping structure (212) being able to grip and transport waste backwards.

5. A robot as claimed in claim 4, characterised in that the rear clamping structure (212) comprises:

a first gripper (2121), the first gripper (2121) being drivable for rotation about a first axis;

a second gripper (2122), the second gripper (2122) being drivable to rotate about a second axis, the second gripper (2122) and the first gripper (2121) being reciprocally and synchronously rotatable in opposite directions to grip the waste and feed it backwards.

6. A robot as claimed in claim 5, wherein at least one of the first gripper (2121) and the second gripper (2122) comprises a rotating frame (212a), a sliding sleeve (212b), a gripping head (212c) and a resilient member (212d), the sliding sleeve (212b) being connected to the rotating frame (212a) and being slidable along the rotating frame (212a) in a direction towards and away from the axis of rotation of the rotating frame (212 a); the clamping head (212c) is fixedly connected with the sliding sleeve (212 b); the elastic piece (212d) is arranged in the sliding sleeve (212b) and presses the clamping head (212c) towards the direction far away from the rotating shaft of the rotating frame (212 a).

7. A waste collection robot according to claim 4, wherein the cutting assembly (22) further comprises a scissors cutting structure (222), the scissors cutting structure (222) being provided between the front end gripping structure (211) and the rear end gripping structure (212), the scissors cutting structure (222) being drivable to cut through waste in a front-to-back direction.

8. A waste collection robot according to any of the claims 1-7, further comprising a gripping device (50), the gripping device (50) being able to grip waste to the waste inlet (101).

9. A garbage collection robot according to claim 8,

the crushing device (20) further comprises a shell (23), the clamping assembly (21) and the cutting assembly (22) are arranged in the shell (23), an opening is formed in the front side of the shell (23) and is opposite to the front and back of the garbage inlet (101), guide grooves (201) are formed in the left side and the right side of the shell (23), the guide grooves (201) are communicated with the opening and are opposite to the clamping position of the clamping assembly (21) in the left and right directions, and the grabbing device (50) can grab garbage to move backwards along the guide grooves (201); and/or

The grabbing device (50) comprises a swinging rotating motor (51), a base (52), an expansion rod (53), a grabbing hook (54) and a self-rotation rotating motor (55), the base (52) is connected with the swinging rotating motor (51), the base (52) is driven by the swinging rotating motor (51) to swing up and down, and the expansion rod (53) is connected with the base (52) and can stretch back and forth; the grapple (54) is connected with the telescopic rod (53) and driven by the telescopic rod (53) to move back and forth, and the grapple (54) can grab and release garbage; the rotation rotating motor (55) is connected with the grab hook (54) and is used for driving the grab hook (54) to rotate.

10. A waste collection robot according to any of claims 1-7,

the garbage collection robot further comprises a buoyancy tank (11), the buoyancy tank (11) is connected with the outer shell (10), and water is filled and drained from the inner shell of the buoyancy tank (11) to drive the garbage collection robot to lift in water; and/or

The garbage collection robot further comprises a propelling device (12), and the propelling device (12) is connected with the shell (10) to drive the garbage collection robot to advance and retreat and rotate; and/or

The garbage collection robot further comprises a sonar (13) and/or a visual recognition component (14), the sonar (13) and the visual recognition component (14) being configured to be suitable for searching and detecting garbage positions; and/or

The gripping assembly (21) and the cutting assembly (22) are driven by the same drive means (40).

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