CN115246465A - Portable river cleaner and control system thereof - Google Patents
Portable river cleaner and control system thereof Download PDFInfo
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- CN115246465A CN115246465A CN202210863409.0A CN202210863409A CN115246465A CN 115246465 A CN115246465 A CN 115246465A CN 202210863409 A CN202210863409 A CN 202210863409A CN 115246465 A CN115246465 A CN 115246465A
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- 239000010813 municipal solid waste Substances 0.000 claims abstract description 60
- 238000007667 floating Methods 0.000 claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000003860 storage Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 14
- 229910052751 metal Inorganic materials 0.000 claims description 57
- 239000002184 metal Substances 0.000 claims description 57
- 238000009434 installation Methods 0.000 claims description 47
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 10
- 239000006260 foam Substances 0.000 claims description 8
- 239000004033 plastic Substances 0.000 claims description 7
- 229920003023 plastic Polymers 0.000 claims description 7
- 229910000639 Spring steel Inorganic materials 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 46
- 238000004140 cleaning Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000001960 triggered effect Effects 0.000 abstract description 2
- 108010066278 cabin-4 Proteins 0.000 description 13
- 239000004417 polycarbonate Substances 0.000 description 4
- 229920000515 polycarbonate Polymers 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000004800 polyvinyl chloride Substances 0.000 description 2
- 229920000915 polyvinyl chloride Polymers 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000000476 body water Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 239000000571 coke Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
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- 239000000428 dust Substances 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- -1 pop cans Substances 0.000 description 1
- 238000005067 remediation Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
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- 230000003746 surface roughness Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/104—Conveyors; Paddle wheels; Endless belts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention provides a portable river cleaner which comprises a cleaner body and a control system thereof, wherein the cleaner body comprises a ship body, a garbage storage bin, a conveying crawler mechanism, a left power impeller, a right power impeller, a first floating ball alarm structure and a second floating ball alarm structure. The control system comprises a ship body control module, a battery, a ball motor, a driving motor, a speed reducing motor, a wireless communication module, a remote controller control module, a remote controller power supply and a direction lever. The product has small integral volume, low production cost and flexible operation, and is beneficial to cleaning river channel garbage in narrow river channels; by arranging the conveying crawler mechanism, floating garbage in a water area can be cleaned, and the water carrying amount of the garbage can be effectively reduced, so that the garbage is stored as much as possible, and the working efficiency is improved; the first floating ball alarm structure and the second floating ball alarm structure are arranged, so that a loop of the main board controller can be closed when the cleaner bears the maximum garbage amount, an acousto-optic alarm signal is triggered, and finally the cleaner can return to the home in time.
Description
[ technical field ] A
The invention relates to the technical field of cleaners, in particular to a portable river cleaner and a control system for controlling the work and the operation of the portable river cleaner.
[ background ] A method for producing a semiconductor device
With the development of science and technology, the application of automatic machines is more and more extensive. The remediation of river waste is not negligible, and river waste next to cities and villages is particularly serious.
Most of the garbage on the water surface is cleaned manually or by mechanical equipment. The mechanical equipment mainly uses a ship body, mainly uses a diesel internal combustion engine in the aspect of power, and the ship body has large cleaning capability on the width of a river surface and can really achieve a more ideal result. However, the cleaning of small water areas is not helpful, turning, driving and the like are difficult due to the great influence of the ship body, and the propeller is easy to hit on riverbed sludge and difficult to work normally, more importantly, the noise of the diesel internal combustion engine is large, and the discharged waste gas is easy to pollute the environment.
[ summary of the invention ]
The invention provides a portable river channel cleaner and a control system for controlling the work and the operation of the portable river channel cleaner, aiming at the problems pointed out in the background technology.
A portable river cleaner comprises a cleaner body and is characterized in that the cleaner body comprises a ship body, a garbage storage bin is arranged on the rear side of the ship body, and an opening is formed in the front side of the ship body; the conveying crawler mechanism is obliquely arranged in the ship body, the upper end of the conveying crawler mechanism extends to the upper part of the garbage storage bin, and the lower end of the conveying crawler mechanism extends to the outside of the opening; the two sides of the outer part of the boat body are respectively provided with a left power impeller and a right power impeller.
Further, the hull includes cabin and hull, the fixed lower right corner position that sets up at the hull in cabin, the hull includes integrated into one piece's posterior lateral plate, left side board and right side board, the left side board is provided with left mounting groove, first installation curb plate is installed to left mounting groove, the right side board is provided with right mounting groove, second installation curb plate is installed to right mounting groove, the left side board, first installation curb plate, the posterior lateral plate, the U type hull is enclosed into to right side board and second installation curb plate, first installation curb plate and second installation curb plate all set up to the semicircle board.
Further, the interior of the bulkhead of the hold and the interior of the hull are filled with foam.
Further, be provided with mainboard controller and battery in the cabin, rubbish storage bin is in the top in cabin, and rubbish storage bin is enclosed by L type closing plate and hull, and the fixed top that sets up in the cabin of L type closing plate is provided with the sealing washer between the top of L type closing plate and cabin, and the face of posterior lateral plate sets up to conical surface or spheroid curved surface.
Furthermore, the first mounting side plate is provided with a first floating ball alarm structure, the second mounting side plate is provided with a second floating ball alarm structure, the first floating ball alarm structure and the second floating ball alarm structure are identical in structure, and the first floating ball alarm structure comprises a floating ball, a first metal connecting rod, a lever connecting piece, a second metal connecting rod, a metal sleeve, a contact ball and a contact button; the floater is in the outside of first installation curb plate, the floater is with the one end fixed connection of first metal connecting rod, first metal connecting rod sets up to the L type, first metal connecting rod runs through first installation curb plate, the other end of first metal connecting rod and the articulated cooperation of second metal connecting rod, second metal connecting rod is in the inboard of first installation curb plate, the fixed inboard that sets up at first installation curb plate in top of lever link spare, lever link spare carries out articulated cooperation with the middle part position of first metal connecting rod, second metal connecting rod cup joints with the metal sleeve mutually, the metal sleeve is fixed to be set up on the cabin, second metal connecting rod runs through the cabin and extends to the cabin in, and the bottom of second metal connecting rod is connected with touches the ball, be provided with contact button on the mainboard controller, contact button touches the ball and cooperates with the ball.
Further, the front side end portions of the left side plate and the right side plate are both provided with alarms.
Furthermore, the inclination angle of the transmission crawler mechanism is set to be 45 degrees, the transmission crawler mechanism comprises a driving shaft, a driving chain wheel, a chain, a driven shaft and a driven chain wheel, two ends of the driving shaft are respectively matched with the first installation side plate and the second installation side plate through bearings, one end of the driving shaft is fixedly connected with a driving motor, the other end of the driving shaft is fixedly connected with a speed reduction motor, the driving motor is fixedly arranged on the outer side of the first installation side plate, the speed reduction motor is fixedly arranged on the outer side of the second installation side plate, and two ends of the driven shaft are respectively matched with the first installation side plate and the second installation side plate through bearings; a plurality of thin connecting rods are fixedly connected between the chains on the two sides of the conveying crawler mechanism, the thin connecting rods penetrate through the chain net, and a plurality of spring steel wires are arranged on the chain net.
Further, the outside of first installation curb plate is provided with left power impeller, the outside of second installation curb plate is provided with right power impeller, left side power impeller is the same with right power impeller structure between them, left side power impeller includes loose pulley and blade, the loose pulley includes foamed plastic inlayer and metal casing, metal casing's periphery evenly distributed sets up a plurality of blades, loose pulley fixed connection transmission shaft, the transmission shaft cooperatees with first installation curb plate through the bearing, the transmission shaft has ball motor through gear drive's mode cooperation.
A control system based on the portable river cleaner is characterized by comprising a ship body control module, a battery, a ball motor, a driving motor, a speed reducing motor, a wireless communication module, a remote controller control module, a remote controller power supply and a direction rod; the remote controller control module processes direction signals of the direction rod, sends out instructions and transmits the instructions to the ship body control module through the wireless communication module, so that the ship body control module controls the ball motor, the driving motor and the speed reducing motor to work and run, when the contact buttons are all pressed by the contact balls in the first floating ball alarm structure and the second floating ball alarm structure, circuits on the main board controller are communicated, and the alarm gives out audible and visual alarms.
Further, the wireless communication module is set to be a WIFI module.
In summary, the beneficial effects of the invention are as follows:
1. the whole product has small volume, low production cost and flexible operation, and is beneficial to cleaning river channel garbage in narrow river channels;
2. by arranging the conveying crawler mechanism, garbage such as pop cans, glass bottles, leaves, water plants and the like floating in a water area can be cleaned, and the water carrying amount of the garbage can be effectively reduced, so that the garbage can be stored as much as possible, and the working efficiency is improved;
3. the first floating ball alarm structure and the second floating ball alarm structure are arranged, so that a loop of the main board controller can be closed when the cleaner bears the maximum garbage amount, an acousto-optic alarm signal is triggered, and finally the cleaner can return to the home in time.
[ description of the drawings ]
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view showing a structure of a cleaner according to the present invention;
FIG. 2 is a schematic view of the structure of the chain and the chain net of the present invention;
FIG. 3 is a schematic view of the conveyor track of the present invention;
FIG. 4 is a schematic structural view of a first float alarm structure according to the present invention;
fig. 5 is a schematic diagram of a control system according to the present invention.
Reference numerals: 1. a garbage storage bin; 2. a conveying crawler mechanism; 201. a chain; 202. connecting the thin rod; 203. a chain net; 204. a spring steel wire; 3. a left power impeller; 301. a floating wheel; 302. a blade; 4. a cabin; 5. a rear side plate; 6. a left side plate; 7. a right side plate; 8. a first mounting side plate; 9. a second mounting side plate; 10. a motherboard controller; 11. an L-shaped sealing plate; 12. a first float alarm structure; 1201. a floating ball; 1202. a first metal connecting rod; 1203. a lever connector; 1204. a second metal connecting rod; 1205. a metal sleeve; 1206. contacting the ball; 1207. a contact button; 13. a second floating ball alarm structure; 14. an alarm.
[ detailed description ] A
Please refer to fig. 1 to 5. It should be understood that the structures, ratios, sizes, etc. shown in the drawings and attached to the description are only for understanding and reading the disclosure of the present invention, and are not intended to limit the practical conditions of the present invention, so that the present invention has no technical significance, and any modifications of the structures, changes of the ratio relationships, or adjustments of the sizes, should still fall within the scope of the technical contents of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.
A portable river cleaner is shown in figure 1 and comprises a cleaner body, wherein the cleaner body is composed of a ship body, a garbage storage bin 1, a power device and a garbage collection device.
For the hull, the resistance to water is mainly considered in the external design of the hull, and according to the research tasks and research methods of the subjects of ship resistance, the hull resistance is classified according to the flowing phenomenon around the ship and the generation reasons, and the total hull resistance can be divided into: wave making resistance, friction resistance and viscous pressure resistance. In view of the relationship between each drag component and its proportion of total drag and speed. A low-speed ship: the friction resistance is 70-80%, the viscous pressure resistance is more than 10%, and the wave-making resistance is very small. High-speed ship: wave resistance is 40-50%, friction resistance is 50%, and viscous pressure resistance is 5%. The river cleaner of the embodiment belongs to a low-speed ship, mainly considers reducing the frictional resistance of a ship body, firstly considers the design of the ship body, selects reasonable ship type parameters, and particularly determines proper main dimensions, secondly greatly influences the frictional resistance due to surface roughness, so that the surface of the ship body is as smooth as possible, and in addition, the control of a boundary layer and the inflation of the ship bottom can effectively reduce the ship body resistance.
The hull includes cabin 4 and hull, and cabin 4 is fixed to be set up in the lower right corner position of hull, and the hull includes integrated into one piece's posterior lateral plate 5, left side board 6 and right side board 7, and left side board 6 is provided with left mounting groove, and first installation curb plate 8 is installed to left mounting groove, and right side board 7 is provided with right mounting groove, and second installation curb plate 9 is installed to right mounting groove. The left side plate 6, the first mounting side plate 8, the rear side plate 5, the right side plate 7 and the second mounting side plate 9 enclose a U-shaped hull. The length, width and height of the hull are 600 mm 350 mm 300 mm, so that other relevant equipment and garbage can be stored to the maximum extent, and the hull is made of polycarbonate with a smooth and integrally formed surface and is 1 mm thick. The polycarbonate material has the characteristics of being soft and flexible, having buffering residual force when being impacted on a water surface, enabling the ship body to be firmer and more durable, and effectively avoiding the problems of unnecessary ship body water seepage, regular maintenance and the like caused by the fact that metal components are exposed in air for a long time to generate oxidation.
The interior of the cabin 4 and the interior of the hull are filled with foam plastics, namely the interior of the hull is filled with 10 mm of soft polyvinyl chloride foam plastics, the soft polyvinyl chloride foam plastics are light materials, the 10 mm filler foam weight is 135 g, the buoyancy, the water impermeability and other excellent performances are strong, and the equipment quality of the hull can be greatly reduced.
The first mounting side plate 8 and the second mounting side plate 9 are both configured as semicircular plates. In addition, the outer side surface of the hull (namely the contact surface between the hull and water) is set to be a smooth curved surface, so that the water resistance can be effectively reduced, and the ship can freely pass through the water.
The cabin 4 is provided with a main board controller 10 and a battery therein, wherein the cabin 4 is manufactured by sealing. The battery selects a rechargeable lithium ion battery with the capacity of 10000mah, and the battery is positioned at the lowest layer of the mainboard controller 10, namely the battery is positioned at the lowest layer of the ship body, so that the battery can be prevented from operating durably and expanding due to overheating by utilizing the heat dissipation effect of the flowing water body of the shell of the cabin 4. The motherboard controller 10 is located above the battery, and the middle is isolated by a thin film for blocking moisture and dust.
For the garbage storage bin 1, the garbage storage bin 1 is arranged at the rear side of the ship body, and the front side of the ship body is provided with an opening. Garbage storage storehouse 1 is in the top of cabin 4, and garbage storage storehouse 1 is enclosed by L type closing plate 11 and hull, and L type closing plate 11 is fixed to be set up at the top of cabin 4, and is provided with the sealing washer between the top of L type closing plate 11 and cabin 4, and rethread packing ring, spring shim, bolt lock, scribbles sealed glue at last, prevents in the water infiltration cabin 4. Further, the plate surface of the rear side plate 5 is set to be a conical curved surface or a spherical curved surface. When the rubbish of collecting drops to rubbish storage storehouse 1 in, at first can contact with posterior lateral plate 5, consequently, posterior lateral plate 5 that has conical surface or spheroid curved surface can be effectively with rubbish landing to the bottom of rubbish storage storehouse 1, when avoiding collecting a certain amount of load, the focus is too high, causes the hull to rock the emergence of phenomenon such as aggravation, turn on one's side even.
For the garbage collection device, the positions of garbage on the river channel floating on water are different, and a beverage bottle floating on the water surface exists; half of the dry branches and fallen leaves are on water and half are under water; there is a vest bag that floats under the water, and for these complicated rubbish cleanups, with the collection entry of U type opening as garbage collection device, then garbage collection device adopts conveying track mechanism 2 to realize. Specifically, the conveying crawler mechanisms 2 are obliquely arranged in the ship body, the upper ends of the conveying crawler mechanisms 2 extend to the upper side of the garbage storage bin 1, and the lower ends of the conveying crawler mechanisms 2 extend to the outside of the opening. Inclination of conveying crawler frame 2 sets up to 45, conveying crawler frame 2 includes the driving shaft, drive sprocket, chain 201, driven shaft and driven sprocket, the both ends of driving shaft cooperate with first installation curb plate 8 and second installation curb plate 9 respectively through the bearing, the one end fixed connection driving motor of driving shaft, the other end fixed connection gear motor of driving shaft, the fixed outside that sets up at first installation curb plate 8 of driving motor, the fixed outside that sets up at second installation curb plate 9 of gear motor, the both ends of driven shaft cooperate with first installation curb plate 8 and second installation curb plate 9 respectively through the bearing. A plurality of connecting thin rods 202 are fixedly connected between chains 201 at both sides of the conveying crawler 2, and the connecting thin rods 202 penetrate through a chain net 203, as shown in fig. 2. The chain net 203 is provided with a plurality of spring steel wires 204, and the distance between the spring steel wires 204 is 50 mm. The spring wire 204 is 1 mm in diameter and 30 mm long and makes an angle of 60 degrees with the chain mesh 203. The spring wire 204 is elastically deformed to absorb impact energy, and is not plastic enough to bear the weight of small garbage and floating objects. Therefore, as shown in fig. 3, when the ship body is slowly close to the circular objects such as pop-top cans, glass bottles, plastic bottles and the like floating on the water surface, or aquatic plants, leaves, paper scraps and the like, the garbage can be gathered at the collection inlet of the conveying crawler mechanism 2 by the U-shaped opening at the front end of the ship body, and the garbage placed on the water surface is conveyed to the chain net 203 in the conveying crawler mechanism 2 along the chain net through the continuous rotation of the conveying crawler mechanism 2, so that the garbage can be effectively filtered, the water is prevented from entering the garbage storage bin 1, the self weight of the garbage is reduced, the self weight of the conveying crawler mechanism 2 can be reduced, the total mass of the cleaner is reduced, the power consumption is reduced, and the running time of the garbage cleaner is increased.
Since the spring wire 204 rotates with the crawler belt mechanism 2, the spring wire 204 and the L-shaped sealing plate 11 in the garbage storage bin 1 are correspondingly engaged, i.e. the L-shaped sealing plate 11 is provided with a groove for the spring wire 204 to pass through. Further, in order to avoid appearing some rubbish and can not effectively fall to rubbish storage storehouse 1 in or have rubbish winding spring wire 204 such as pasture and water, vest bag, consequently, L type closing plate 11 top is provided with the sawtooth mouth, can force rubbish to crowd into rubbish storage storehouse 1 in through the sawtooth mouth, then can carry out preliminary simple cutting to pasture and water.
In addition, when conveying rubbish, the left side plate 6, the first installation side plate 8, the right side plate 7 and the second installation side plate 9 effectively separate round objects which are easy to roll off, the conveying crawler mechanism 2 is prevented from falling into a river when being conveyed to a half, and repeated labor is avoided.
For power plants, the power plant is used for advancing, retreating or steering the hull over the river. The power plant employs an impeller. Specifically, a left power impeller 3 and a right power impeller are respectively arranged on two outer sides of the ship body, and the left power impeller 3 and the right power impeller are identical in structure and symmetrically arranged on two sides of the ship body. The left power impeller 3 and the right power impeller can work independently, when the ship body moves forwards, the left power impeller 3 and the right power impeller rotate forwards at the same power, when the ship body moves backwards, the left power impeller 3 and the right power impeller rotate backwards at the same power, when the ship body turns, the left power impeller 3 works, and the right power impeller does not work (or the right power impeller works, the left power impeller 3 does not work)
Specifically, the outer side of the first mounting side plate 8 is provided with the left power impeller 3, the outer side of the second mounting side plate 9 is provided with the right power impeller, and the structures of both the left power impeller 3 and the right power impeller are the same, and therefore, only the specific structure of the left power impeller 3 will be described in the present embodiment. The left power impeller 3 has a diameter of 150 mm and a width of 50 mm, the left power impeller 3 includes a float wheel 301 and blades 302, and the blades 302 occupy half of the total radius. The float wheel 301 comprises an inner layer of foam and a metal outer shell, i.e. the inside of the float wheel 301 is filled with 20 mm flexible pvc foam.
Six blades 302 are uniformly distributed on the outer periphery of the metal shell. Specifically, blades 302 are made of 0.8 mm aluminum alloy, so that the blade is light and durable, has certain hardness, and is uniformly distributed on the outer side of the metal shell, wherein each six aluminum alloy blades 302 form a group, and the included angle between the blades 302 is 60 degrees.
The floating wheel 301 fixed connection transmission shaft, the transmission shaft cooperatees with first installation curb plate 8 through the bearing, and the transmission shaft has the ball motor through gear drive's mode cooperation. The working voltage of the ball motor is 12V, the no-load current is 1.1A, the no-load rotating speed is 12000 r/min, and the maximum torque is 6.5 kg/cm.
Further, the first installation side plate 8 is provided with a first floating ball alarm structure 12, the second installation side plate 9 is provided with a second floating ball 1201 alarm mechanism, and the first floating ball alarm structure 12 and the second floating ball 1201 alarm mechanism are identical in structure. In the present embodiment, only the specific structure of the first floating ball alarm structure 12 is described, as shown in fig. 4, the first floating ball alarm structure 12 includes a floating ball 1201, a first metal link 1202, a lever link 1203, a second metal link 1204, a metal sleeve 1205, a contact ball 1206, and a contact button 1207.
The floating ball 1201 is located outside the first installation side plate 8, the floating ball 1201 is fixedly connected with one end of the first metal connecting rod 1202, the first metal connecting rod 1202 is arranged in an L shape, the first metal connecting rod 1202 penetrates through the first installation side plate 8, the first installation side plate 8 is provided with a gap for the first metal connecting rod 1202 to swing in an articulated mode, the other end of the first metal connecting rod 1202 is in an articulated mode with the second metal connecting rod 1204, the second metal connecting rod 1204 is located on the inner side of the first installation side plate 8, the top end of the lever connecting piece 1203 is fixedly arranged on the inner side of the first installation side plate 8, the lever connecting piece 1203 is in an articulated mode with the middle position of the first metal connecting rod 1202, the second metal connecting rod 1204 is sleeved with the metal sleeve 1205, the metal sleeve 1205 is fixedly arranged on the cabin 4, the second metal connecting rod 1204 penetrates through the cabin 4 and extends into the cabin 4, the bottom end of the second metal connecting rod 1204 is connected with the contact ball 1206, a contact button 1207 is arranged on the mainboard controller 10, and the contact button 1207 is matched with the contact ball 1206.
Further, the front side end portions of the left side plate 6 and the right side plate 7 are both provided with an alarm 14, and the alarm 14 is electrically connected with the main board controller 10.
In summary, as the cleaner continues to collect the garbage, the mass of the cleaner increases, and the cleaner gradually sinks into the water. When the cleaner is loaded with the largest weight of garbage, the floating ball 1201 of the first floating ball alarm structure 12 is subjected to buoyancy, so that the contact ball 1206 presses the contact button 1207 downward.
Due to the fact that the cleaner shakes left and right along with waves in a water area, when the cleaner inclines, only the floating ball 1201 in the first floating ball alarm structure 12 is subjected to buoyancy, and the floating ball 1201 in the second floating ball 1201 alarm mechanism is not subjected to buoyancy, and the working operation of the cleaner cannot be stopped.
Only when the cleaner bears the garbage with the maximum weight, the floating ball 1201 in the first floating ball alarm structure 12 and the floating ball 1201 in the second floating ball 1201 alarm mechanism are both subjected to buoyancy, so that the two contact buttons 1207 on the main board controller 10 are pressed down to be contacted to form a closed loop, the alarm 14 gives out audible and visual alarm, the cleaner stops working, relevant information is transmitted to an operator, and finally the return voyage is carried out.
In this embodiment, the maximum amount of garbage that the cleaner can carry is calculated:
sphere (float 1201) volume formula:
4/3 × 3.14 × 2=33.49 cubic centimeters
The water is pressed in to discharge 33.49 cubic centimeters of water, namely 33.49 milliliters, the density of the water is 1 gram/milliliter or 1 gram/cubic centimeter nominally, namely 33.49 grams of water is discharged, and the buoyancy is the gravity of the discharged water.
And using the formula for Archimedes buoyancy:
33.49*0.0098＝0.3282N
i.e. under a buoyancy of 0.3282N, an object weighing 33.49 grams would be required to drive the ball completely into the water if the weight of the ball itself were not taken into account. The two floating balls 1201 can bear more than 67 g of heavy objects, and the weight of the cleaner can bear more than three pop-top cans (25 g x 3) or a coke bottle (60 g), so that the cleaner has a certain effect on balancing the left and right swinging in water.
The volume of the waste storage bin 1 can be obtained:
30 × 35 × 10=10500cubic centimeter
10500 cc (ml) of water is pressed into the water to be discharged, the density of the water is nominally 1 g/ml or 1 g/cc (g/cc) of water is discharged, and the buoyancy is the gravity of the discharged water.
And using the formula for Archimedes buoyancy:
10500*0.0098＝102.9N
i.e., under 102.9N buoyancy, consider the cleaner's own weight of 2042 grams.
An object with a weight of 10290-2042=8248 g is required to be able to press it completely into the water.
From the above calculation, it can be seen that the maximum weight of the carried garbage of the river garbage cleaner is 8248 g, which triggers an audible and visual alarm signal.
A control system based on the portable river cleaner is shown in fig. 5 and comprises a ship body control module, a battery, a ball motor, a driving motor, a speed reducing motor, a wireless communication module, a remote controller control module, a remote controller power supply and a direction rod. The ball motor is used for controlling the working operation of the left power impeller 3 or the right power impeller; the drive motor and the reduction motor are used to control the working operation of the conveyor crawler 2. The remote controller control module processes direction signals of the direction rod, sends out instructions and transmits the instructions to the ship body control module through the wireless communication module, so that the ship body control module controls the ball motor, the driving motor and the speed reducing motor to work and run, when the contact buttons 1207 are pressed by the contact balls 1206 in the first floating ball alarm structure 12 and the second floating ball 1201 alarm mechanism, circuits on the main board controller 10 are communicated, and the alarm 14 gives out audible and visual alarms. Wherein, wireless communication module sets up to the WIFI module.
The manual remote controller selects two common PS2 direction rods to control the panel, mainly comprises a power switch controller, a rocker wireless communication transmitting and receiving communication module-A polycarbonate 220 module, and two PS2 direction rods are self-fixed on corresponding pins on a mainboard, the functions of the direction rods are orderly classified, and the character constants are in one-to-one correspondence under different states, for example: the forward movement of the left and right impellers is indicated by letters W and I, the backward movement of the left and right impellers is indicated by letters S and K, the leftward turning is indicated by letter a, the rightward turning is indicated by letter D, the start of the operation of the crawler belt unit 2 is indicated by letter R, and the emergency stop button is indicated by letter P. UNO is based on an ATmega328p microcontroller, and also has an ATmega16U microcontroller. Is also an excellent choice for the first arduino, microcontroller: ATmega328p, operating voltage: 5V, input voltage (recommended): 7-12V, input voltage (limit): 6-20V, analog input pin: 6, direct current per I/O pin: 40mA,3.3V pin: 50mA, flash memory: 32KB (ATmega 328), 0.5KB 2KB (ATmega 328) used by bootstrap SRAM, EEPROM:1KB (ATmega 328) clock speed: 16MHz. The XBee module (a miniature blue module capable of realizing mutual wireless communication) and the Arduino communication module-A polycarbonate 220USB (a highly integrated half-duplex micropower wireless data transmission module) are used for wireless data transmission, and the device has the advantages of small volume, wide voltage operation, longer transmission distance, rich and convenient software programming setting function and 1000 meters of theoretical transmission distance.
The working process of the present invention will be further described below:
firstly, checking whether the line connection between the cleaner and the remote controller is normal;
turning on the power supply of the cleaner and the remote controller, wirelessly connecting the cleaner and the remote controller, remotely controlling the cleaner to work and operate by using the remote controller after connection, confirming whether the cleaner can work normally, and if the cleaner works normally, draining the cleaner for cleaning;
when water is drained for the first time, an operator needs to visually judge whether the sweeper deviates from a navigation channel during running in a water area, and once the sweeper deviates, the rotating speed between the left power impeller 3 and the right power impeller is adjusted in time;
then, full-force sprinting is carried out, if the deviation is serious, the cleaner can be leaned on the shore, the angle of the blades 302 between the impellers is manually adjusted, the different angles of the blades 302 contacting the water surface directly influence the propelling speed of the cleaner in the water area, the larger the contact area between the impellers and the water surface is, the larger the resistance in the water is, the slower the propelling speed is, otherwise, the opposite effect is achieved;
the cleaner is adjusted according to the mode until the cleaner can freely control the direction when the cleaner is launched to work, and finally, the cleaner is remotely controlled to a target garbage position to collect and clean garbage.
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 (10)
1. A portable river cleaner comprises a cleaner body and is characterized in that,
the cleaner body comprises a ship body, a garbage storage bin is arranged on the rear side of the ship body, and an opening is formed in the front side of the ship body;
a conveying crawler mechanism is obliquely arranged in the ship body, the upper end of the conveying crawler mechanism extends to the upper part of the garbage storage bin, and the lower end of the conveying crawler mechanism extends to the outside of the opening;
and a left power impeller and a right power impeller are respectively arranged on two sides of the outer part of the ship body.
2. The portable river cleaner of claim 1, wherein the hull comprises a cabin and a hull, the cabin is fixedly disposed at a lower right corner of the hull, the hull comprises an integrally formed rear side plate, a left side plate and a right side plate, the left side plate is provided with a left mounting groove, the left mounting groove is provided with a first mounting side plate, the right side plate is provided with a right mounting groove, the right mounting groove is provided with a second mounting side plate, the left side plate, the first mounting side plate, the rear side plate, the right side plate and the second mounting side plate form a U-shaped hull, and the first mounting side plate and the second mounting side plate are both semi-circular plates.
3. A portable river cleaner according to claim 2 wherein the interior of the bulkhead of the hold and the interior of the hull are filled with foam.
4. The portable river channel cleaner according to claim 2, wherein a main board controller and a battery are arranged in the cabin, the garbage storage bin is located above the cabin, the garbage storage bin is enclosed by an L-shaped sealing plate and a hull, the L-shaped sealing plate is fixedly arranged at the top of the cabin, a sealing ring is arranged between the L-shaped sealing plate and the top of the cabin, and the surface of the rear side plate is a conical curved surface or a spherical curved surface.
5. The portable riverway cleaner as claimed in claim 4, wherein the first mounting side plate is provided with a first floating ball alarm structure, the second mounting side plate is provided with a second floating ball alarm structure, the first floating ball alarm structure and the second floating ball alarm structure have the same structure, and the first floating ball alarm structure comprises a floating ball, a first metal connecting rod, a lever connecting piece, a second metal connecting rod, a metal sleeve, a contact ball and a contact button;
the floating ball is located on the outer side of the first installation side plate, the floating ball is fixedly connected with one end of the first metal connecting rod, the first metal connecting rod is arranged to be L-shaped, the first metal connecting rod penetrates through the first installation side plate, the other end of the first metal connecting rod is in hinged fit with the second metal connecting rod, the second metal connecting rod is located on the inner side of the first installation side plate, the top end of the lever connecting piece is fixedly arranged on the inner side of the first installation side plate, the lever connecting piece is in hinged fit with the middle position of the first metal connecting rod, the second metal connecting rod is in sleeved fit with the metal sleeve, the metal sleeve is fixedly arranged on the cabin, the second metal connecting rod penetrates through the cabin and extends into the cabin, the bottom end of the second metal connecting rod is connected with a contact ball, the contact button is arranged on the mainboard controller, and the contact button is matched with the contact ball.
6. The portable river cleaner of claim 5, wherein the front ends of the left side plate and the right side plate are provided with an alarm.
7. The portable river channel cleaner according to claim 4, wherein the inclination angle of the transmission crawler is set to 45 degrees, the transmission crawler comprises a driving shaft, a driving sprocket, a chain, a driven shaft and a driven sprocket, two ends of the driving shaft are respectively matched with the first installation side plate and the second installation side plate through bearings, one end of the driving shaft is fixedly connected with a driving motor, the other end of the driving shaft is fixedly connected with a speed reduction motor, the driving motor is fixedly arranged on the outer side of the first installation side plate, the speed reduction motor is fixedly arranged on the outer side of the second installation side plate, and two ends of the driven shaft are respectively matched with the first installation side plate and the second installation side plate through bearings;
a plurality of connecting thin rods are fixedly connected between the chains on the two sides of the conveying crawler mechanism, the connecting thin rods penetrate through a chain net, and a plurality of spring steel wires are arranged on the chain net.
8. The portable river channel cleaner according to claim 2, wherein a left power impeller is arranged on the outer side of the first mounting side plate, a right power impeller is arranged on the outer side of the second mounting side plate, the left power impeller and the right power impeller are identical in structure, the left power impeller comprises a floating wheel and blades, the floating wheel comprises a foamed plastic inner layer and a metal shell, a plurality of blades are uniformly distributed on the periphery of the metal shell, the floating wheel is fixedly connected with a transmission shaft, the transmission shaft is matched with the first mounting side plate through a bearing, and the transmission shaft is matched with a ball motor in a gear transmission manner.
9. A control system of the portable river cleaner based on any one of the claims 1 to 8, which is characterized by comprising a ship body control module, a battery, a ball motor, a driving motor, a speed reducing motor, a wireless communication module, a remote controller control module, a remote controller power supply and a direction rod; the remote controller control module processes direction signals of the direction rod, sends out instructions and transmits the instructions to the ship body control module through the wireless communication module, so that the ship body control module controls the ball motor, the driving motor and the speed reducing motor to work and run, when the contact buttons are all pressed by the contact balls in the first floating ball alarm structure and the second floating ball alarm structure, circuits on the main board controller are communicated, and the alarm gives out audible and visual alarms.
10. The control system of the portable river cleaner of claim 9, wherein the wireless communication module is configured as a WIFI module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210863409.0A CN115246465A (en) | 2022-07-21 | 2022-07-21 | Portable river cleaner and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210863409.0A CN115246465A (en) | 2022-07-21 | 2022-07-21 | Portable river cleaner and control system thereof |
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| CN115246465A true CN115246465A (en) | 2022-10-28 |
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| CN202210863409.0A Pending CN115246465A (en) | 2022-07-21 | 2022-07-21 | Portable river cleaner and control system thereof |
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Citations (5)
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|---|---|---|---|---|
| CN207000774U (en) * | 2017-07-31 | 2018-02-13 | 吕梁学院 | A kind of small-size water surface garbage cleaning robot |
| CN107804436A (en) * | 2015-11-08 | 2018-03-16 | 余晓娜 | River garbage automatically clears up ship |
| CN109594544A (en) * | 2019-01-30 | 2019-04-09 | 张博曦 | A kind of water surface cleaner |
| CN213442987U (en) * | 2020-10-09 | 2021-06-15 | 张利国 | Unmanned water surface cleaning ship integrating garbage collection and garbage dumping |
| CN113247193A (en) * | 2021-05-31 | 2021-08-13 | 江汉大学 | Clean ship of surface of water based on remote control operation |
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2022
- 2022-07-21 CN CN202210863409.0A patent/CN115246465A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804436A (en) * | 2015-11-08 | 2018-03-16 | 余晓娜 | River garbage automatically clears up ship |
| CN207000774U (en) * | 2017-07-31 | 2018-02-13 | 吕梁学院 | A kind of small-size water surface garbage cleaning robot |
| CN109594544A (en) * | 2019-01-30 | 2019-04-09 | 张博曦 | A kind of water surface cleaner |
| CN213442987U (en) * | 2020-10-09 | 2021-06-15 | 张利国 | Unmanned water surface cleaning ship integrating garbage collection and garbage dumping |
| CN113247193A (en) * | 2021-05-31 | 2021-08-13 | 江汉大学 | Clean ship of surface of water based on remote control operation |
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