CN114801611A

CN114801611A - Multifunctional amphibious cleaning robot

Info

Publication number: CN114801611A
Application number: CN202210533769.4A
Authority: CN
Inventors: 李艳; 李洁; 伍尚勤; 陈焯权
Original assignee: Guangzhou Industry&trade Technician College
Current assignee: Guangzhou Industry&trade Technician College
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2022-07-29

Abstract

The invention relates to a multifunctional amphibious cleaning robot, and belongs to the technical field of garbage treatment equipment. Multifunctional amphibious cleaning robot includes: the garbage cleaning boat comprises a boat body, wherein a cavity is arranged in the middle of the boat body, the top surface of the cavity is communicated with the outside, a garbage basket is clamped in the cavity, the two sides of the front end of the boat body are respectively provided with a paddle wheel, the two sides of the rear end of the boat body are provided with Mecanum wheels, the two opposite sides of the cavity are provided with two driving devices, the driving devices are in transmission connection with the paddle wheels correspondingly, the rear end of the boat body is fixedly connected with a cleaning mechanism used for conveying garbage to the garbage basket, the garbage basket is provided with an opening, and the opening faces to an inlet of the cleaning mechanism. Has the advantages that: the cleaning mechanism has an amphibious exchange type walking function, and can clean garbage on water surface and land and automatically send the garbage to the garbage station, so that human resources are greatly reduced.

Description

Multifunctional amphibious cleaning robot

Technical Field

The invention belongs to the technical field of garbage treatment equipment, and particularly relates to a multifunctional amphibious cleaning robot.

Background

With the rapid development of economy in China, the environmental awareness of people is strengthened day by day, and … … large water areas in parks, residential quarters, units and schools begin to be discovered, because fallen leaves, domestic garbage, garbage thrown by tourists and the like cause the water surface garbage to float, the environment is attractive, the environmental sanitation is damaged, and the harm is caused to human bodies. Therefore, the cleaning of the river and lake surface garbage becomes a daily cleaning work, and the cleaning personnel support the boat to carry out manual garbage salvage on the water surface. Investigation shows that more than 60% of rivers and landscape lakes in Guangzhou city need cleaning operation every day, the cleaning operation time is more than 3 hours every day, only more than 800 cleaning workers in Guangzhou city carry out water surface cleaning operation against burning sun every day, finally the garbage is transported to a shore garbage station, and garbage can fall off along the transportation path. Therefore, a plurality of intelligent garbage collection robots in the market save time and resources for people, but the current garbage cleaning robot has a single working environment, is difficult to use in some environments and is difficult to realize multiple purposes. At present, partial outdoor, overwater and other environment garbage collection is difficult, time and labor are consumed, and potential safety hazards exist when the overwater environment is collected by supporting a boat on the water surface by people.

Disclosure of Invention

The invention provides a multifunctional amphibious cleaning robot for solving the technical problems, which has an amphibious exchange type walking function, and a cleaning mechanism can clean garbage on water surface and land and automatically send the garbage to a garbage station, so that manpower resources are greatly reduced.

The technical scheme for solving the technical problems is as follows: the multi-functional amphibious cleaning robot includes: the garbage cleaning boat comprises a boat body, wherein a cavity is arranged in the middle of the boat body, the top surface and one side surface of the cavity are communicated with the outside, a garbage basket is clamped in the cavity, the two sides of the front end of the boat body are respectively provided with a paddle wheel, the two sides of the rear end of the boat body are provided with Mecanum wheels, the two opposite sides of the cavity are provided with two driving devices, the driving devices are in transmission connection with the paddle wheels correspondingly, the rear end of the boat body is fixedly connected with a cleaning mechanism used for conveying garbage to the garbage basket, the garbage basket is provided with an opening, and the opening faces to an inlet of the cleaning mechanism.

Has the beneficial effects that: the cleaning mechanism has an amphibious exchange type walking function, and can clean garbage on water surface and land and automatically send the garbage to the garbage station, so that human resources are greatly reduced.

On the basis of the technical scheme, the invention can be further improved as follows.

Further, clean the mechanism and include the mount, the one end of mount is installed the opening part, the mount is kept away from opening one end is equipped with the cylinder, the cylinder is provided with the brush strip along the interval on the circumferencial direction, be equipped with cylinder lifting drive mechanism on the mount, the mount inboard be equipped with be used for with the rubbish that the cylinder was drawn into is carried open-ended transmission band mechanism, the bottom of mount is equipped with mecanum wheel.

The beneficial effect of adopting the further scheme is that: the roller lifting driving mechanism can change the height of the roller, then the roller is driven to rotate, and the brush strips on the roller roll the garbage into the garbage basket.

Further, the roller lifting driving mechanism comprises a first stepping motor, a second stepping motor, linear slide rails, a rack, a gear, a fixed plate, a roller and the linear slide rails are fixedly arranged on two sides of the Mecanum wheel fixing frame, the fixed plate is connected on the linear slide rail in a sliding way, the first stepping motor and the second stepping motor are fixedly arranged on two opposite sides of the fixed plate, the output end of the first stepping motor penetrates through the fixed plate and is connected with the roller in a transmission way, the output end of the second stepping motor penetrates through the fixed plate and is connected with the gear in a transmission way, the rack which is engaged with the gear for transmission is arranged on the fixed frame, strip-shaped limiting grooves are arranged on two opposite sides of the fixed frame, the center department at the both ends of cylinder is fixed and is equipped with cylindrical boss, the boss sets up in the bar spacing inslot.

The beneficial effect of adopting the further scheme is that: the second step motor passes through rack and pinion's cooperation, drives the cylinder and reciprocates, and cylindrical boss setting on the cylinder plays limiting displacement at bar spacing inslot, prevents that the cylinder from appearing rocking at the removal in-process, and first step motor drive cylinder rotates, is convenient for be drawn into rubbish in the mount.

Further, a ship cover for covering the cavity is arranged on the ship body.

The beneficial effect of adopting the further scheme is that: is convenient for covering garbage and reduces the garbage exposure time.

Further, a camera is fixedly arranged on the boat cover.

The beneficial effect of adopting the further scheme is that: and finishing the shooting work and detecting the garbage disposal effect.

Further, a laser radar is arranged on the ship body.

The beneficial effect of adopting the further scheme is that: the device is positioned.

Furthermore, the rear end of the ship body is provided with a connecting plate, and the connecting plate is connected with the fixing frame through bolts.

The beneficial effect of adopting the further scheme is that: the connection is stable, and the assembly and the disassembly are convenient.

Further, the transmission band mechanism includes first running roller, second running roller, third running roller and running roller drive division, first running roller the second running roller with the third running roller passes through the belt and connects, running roller drive division is installed on the mount, and the output transmission is connected first running roller, first running roller with be equipped with between the third running roller the second running roller, the second running roller first running roller with the third running roller rotates the setting from high to low in proper order on the inner wall of mount.

The beneficial effect of adopting the further scheme is that: can smoothly transport the garbage into the garbage basket.

Furthermore, a flange is arranged on the belt.

The beneficial effect of adopting the further scheme is that: preventing the garbage from sliding off in the transportation process.

Furthermore, the two sides of the ship body are provided with buoys, and the driving device is arranged in each buoy.

The beneficial effect of adopting the above further scheme is: the ship body is in a balanced state.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the installation position of the trash basket;

FIG. 3 is a schematic structural view of the sweeping mechanism;

FIG. 4 is a schematic structural view of a conveyor belt mechanism;

FIG. 5 is a schematic view of the mounting position of the boss;

in the drawings, the components represented by the respective reference numerals are listed below:

1. a paddle wheel; 2. a boat cover; 3. a laser radar; 4. a camera; 5. a float bowl; 6. a trash basket; 7. a cleaning mechanism; 71. a fixed mount; 72. a first stepper motor; 73. a second stepping motor; 74. a linear slide rail; 75. a rack; 76. a gear; 77. a fixing plate; 78. a drum; 79. a brush bar; 710. a conveyor belt mechanism; 7101. a first roller; 7102. a second roller; 7103. a third roller; 7104. blocking edges; 711. a Mecanum wheel; 712. a slider; 713. a strip-shaped limiting groove; 714. a boss; 8. a connecting plate.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Examples

As shown in fig. 1-5, this embodiment provides a multifunctional amphibious cleaning robot, which includes a hull, a cavity is disposed in the middle of the hull, the top surface and one side surface of the cavity are communicated with the outside, a trash basket 6 is clamped in the cavity, an opening for trash is disposed at the tail of the trash basket 6, bright wheels 1 are disposed on both sides of the front end of the hull, mecanum wheels 711 are disposed on both sides of the rear end of the hull, buoys 5 are disposed on both sides of the hull, a driving device is disposed in the buoys 5, the driving device is specifically a driving motor, the driving device is in transmission connection with the corresponding

bright wheels

1, 8 blades on the bright wheels 1 are driven by the rotation of the driving motor on the water surface to generate thrust of resistance per 45 ° rotation to the water fluid, and the bright wheels 1 are driven to generate unilateral driving force to turn the hull integrally by using the principle of differential speed, the land walking mode is the same as the normal robot walking mode, and the wheels rotate the tires to generate friction force on the ground to drive the wheels to move forwards. The rear end of the ship body is fixedly connected with a cleaning mechanism 7 used for conveying garbage to the garbage basket 6, and the opening faces to the inlet of the cleaning mechanism 7.

In this embodiment, the cleaning mechanism 7 includes a fixing frame 71, one end of the fixing frame 71 is installed at the opening, one end of the fixing frame 71, which is far away from the opening, is provided with the roller 78, the roller 78 is provided with brush strips 79 at intervals along the circumferential direction, the fixing frame 71 is provided with a roller lifting driving mechanism, the roller lifting driving mechanism includes a first step motor 72, a second step motor 73, a linear slide rail 74, a rack 75, a gear 76, a fixing plate 77, the roller 78 and the mecanum wheel 711, the linear slide rail 74 is fixedly provided on both sides of the fixing frame 71, the fixing plate 77 is slidably connected to the linear slide rail 74, a slider 712 is fixedly provided on a surface of the fixing plate 77, which is far away from the first step motor 72, the slider 712 is slidably connected to the linear slide rail 74, the first step motor 72 and the second step motor 73 are fixedly provided on opposite sides of the fixing plate 77, the output end of the first stepping motor 72 penetrates through the fixing plate 77 and then is in transmission connection with the roller 78, the output end of the second stepping motor 73 penetrates through the fixing plate 77 and then is in transmission connection with the gear 76, the fixing frame 71 is provided with a rack 75 which is in meshing transmission with the gear 76, the opposite two sides of the fixing frame 71 are provided with strip-shaped limiting grooves 713, the centers of the two ends of the roller 78 are fixedly provided with cylindrical bosses 714, the bosses 714 are arranged in the strip-shaped limiting grooves 713, and the bosses 714 are provided with flat holes and are matched and fixed with the first stepping motor 72 to prevent sliding.

The driving rotation of the second stepping motor 73 drives the gear 76 to do work on the rack 75 anticlockwise on the water surface to generate an ascending climbing force to reach the initial designed height, the height is designed according to the water level line and the turning radius of the roller 78, the roller 78 with radian is driven to rotate by the rotation of the second stepping motor 73 clockwise to roll the garbage into the garbage basket 6 so that the garbage cannot flow backwards according to water flow, the roller 78 is lowered to a position 2cm away from the ground on the land, the brush strip 79 at the top end of the roller 78 is driven by the rotation of the first stepping motor 72 so that the garbage reaches the radian groove of the fixing frame 71 in a sweeping and re-picking mode, and the garbage is conveyed to the garbage basket 6 through the retaining edge 7104 on the conveying belt 710.

The inner side of the fixed frame 71 is provided with a conveying belt mechanism 710 for conveying the garbage rolled in by the roller 78 to the opening, the bottom of the fixed frame 71 is provided with the Mecanum wheel 711, and the conveying belt mechanism 710 does not need to be driven in water, so that the garbage can be brought into the garbage basket by using the thrust of water.

In this embodiment, be equipped with the closing cap on the hull the ship lid 2 of cavity is convenient for cover rubbish, reduces rubbish exposure time.

In this embodiment, the camera 4 is fixedly arranged on the boat cover 2, and the work of cleaning up the garbage is photographed.

In this embodiment, be equipped with lidar 3 on the hull, use lidar 3 in patent application number 2021105857730, this device still is provided with GPS automatic positioning system, also is prior art, and it is the point that only makes things convenient for this device to combine the control system of backstage to fix a position, not need the protection.

In this embodiment, the rear end of hull is equipped with connecting plate 8, connecting plate 8 with mount 71 passes through bolted connection, also can adopt other connected modes, and it can to guarantee that fixed effect is good.

In this embodiment, the transmission band mechanism 710 includes first running roller 7101, second running roller 7102, third running roller 7103 and running roller drive portion, first running roller 7101 second running roller 7102 with third running roller 7103 passes through the belt and connects, the running roller drive portion is installed on the mount 71, and the output transmission is connected first running roller 7101, first running roller 7101 with be equipped with between the third running roller 7103 second running roller 7102, second running roller 7102 first running roller 7101 with third running roller 7103 is in proper order from high to low rotation setting on the inner wall of mount 71, and the running roller drive portion is driving motor.

In the embodiment, the belt is provided with a flange 7104 to prevent the falling of the belt on the land during the garbage transportation process.

In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

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 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.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a multi-functional amphibious clearance robot, its characterized in that, includes the hull, the middle part of hull is equipped with the cavity, the top surface and the outside intercommunication of cavity, the cavity inside callipers are equipped with trash basket (6), the front end both sides of hull all are equipped with paddle wheel (1), and the rear end both sides are equipped with mecanum wheel (711), the relative both sides of cavity are equipped with two drive arrangement, drive arrangement transmission connection corresponds paddle wheel (1), the rear end fixedly connected with of hull be used for carry rubbish to clean mechanism (7) of trash basket (6), trash basket (6) are equipped with the opening, the opening orientation clean the entry of mechanism (7).

2. The multifunctional amphibious cleaning robot according to claim 1, wherein the cleaning mechanism (7) comprises a fixed frame (71), one end of the fixed frame (71) is installed at the opening, a roller (78) is arranged at one end, away from the opening, of the fixed frame (71), brush strips (79) are arranged on the roller (78) at intervals in the circumferential direction, a roller lifting driving mechanism is arranged on the fixed frame (71), a conveying belt mechanism (710) for conveying garbage rolled in by the roller (78) to the opening is arranged on the inner side of the fixed frame (71), and the mecanum wheel (711) is arranged at the bottom of the fixed frame (71).

3. The multifunctional amphibious cleaning robot as claimed in claim 2, wherein the roller lifting driving mechanism comprises a first stepping motor (72), a second stepping motor (73), a linear slide rail (74), a rack (75), a gear (76), a fixing plate (77), a roller (78) and the Mecanum wheel (711), the linear slide rail (74) is fixedly arranged on each of two sides of the fixing frame (71), the fixing plate (77) is connected onto the linear slide rail (74) in a sliding manner, the first stepping motor (72) and the second stepping motor (73) are fixedly arranged on two opposite sides of the fixing plate (77), the output end of the first stepping motor (72) penetrates through the fixing plate (77) and is connected with the roller (78) in a transmission manner, the output end of the second stepping motor (73) penetrates through the fixing plate (77) and is connected with the gear (76) in a transmission manner, the rack (75) is arranged on the fixed frame (71) and is in meshed transmission with the gear (76), strip-shaped limiting grooves (713) are formed in two opposite sides of the fixed frame (71), cylindrical bosses (714) are fixedly arranged at the centers of two ends of the roller (78), and the bosses (714) are arranged in the strip-shaped limiting grooves (713).

4. A multi-functional amphibious cleaning robot according to claim 1, characterised in that the hull is provided with a cover (2) covering the cavity.

5. A multi-functional amphibious cleaning robot according to claim 4, characterised in that a camera (4) is fixed to said cover (2).

6. A multi-functional amphibious cleaning robot according to claim 1, characterised in that a laser radar (3) is arranged on the hull.

7. A multi-functional amphibious cleaning robot according to claim 3, characterised in that the hull is provided with a connection plate (8) at its rear end, said connection plate (8) being bolted to said mounting frame (71).

8. A multi-functional amphibious cleaning robot according to claim 3, wherein said conveyor belt mechanism (710) comprises a first roller (7101), a second roller (7102), a third roller (7103), and a roller driving part, said first roller (7101), said second roller (7102) and said third roller (7103) are connected by a belt, said roller driving part is mounted on said fixed frame (71), and an output end is in transmission connection with said first roller (7101), said second roller (7102) is arranged between said first roller (7101) and said third roller (7103), and said second roller (7102), said first roller (7101) and said third roller (7103) are sequentially rotatably arranged on the inner wall of said fixed frame (71) from high to low.

9. A multi-functional amphibious cleaning robot according to claim 8, characterised in that said belt is provided with ribs (7104).

10. A multi-functional amphibious cleaning robot according to any of claims 1-9, where pontoons (5) are provided on both sides of the hull, and where said driving means are provided in said pontoons (5).