CN118004393A - Underwater garbage cleaning robot - Google Patents

Abstract

The invention discloses an underwater garbage cleaning robot, which belongs to the technical field of underwater garbage cleaning equipment and comprises a buoyancy shell with a propulsion device, wherein a gravity center adjusting device, a battery and a controller are arranged in a sealed pressure-resistant bin in the buoyancy shell; the buoyancy shell can adjust the floating center of the robot to be always higher than the gravity center, so that overturning is avoided. The robot is driven to move, lift, swing and the like under the water by the propelling device, the gravity center in the front-rear direction is adjusted by the gravity center adjusting device, illumination is provided by the illuminating lamp and the camera, underwater garbage is identified, and the bottom collecting and cleaning device is controlled by the controller to clean and collect the underwater garbage. The invention can automatically identify the underwater garbage and automatically clean and collect the underwater garbage, thereby realizing thorough cleaning of the underwater garbage.

Description

Underwater garbage cleaning robot

Technical Field

The invention belongs to the technical field of underwater garbage cleaning equipment, and particularly relates to an underwater garbage cleaning robot.

Background

With the rapid development of water operations and tourism, the garbage in water areas is increased year by year, and some garbage can sink to the water bottom due to untimely cleaning. The conventional garbage cleaning equipment is designed only for garbage on the water surface, so that the number of the underwater garbage cleaning equipment is small. The existing underwater cleaning modes are manually cleaned or mechanically cleaned by equipment such as a sand dredger, and the cleaning modes are blind cleaning underwater, so that the working efficiency is low, and the cleaning is incomplete. Therefore, there is an urgent need to develop an automatic cleaning device for thoroughly cleaning underwater garbage.

Disclosure of Invention

The invention aims to provide an underwater garbage cleaning robot, which aims to solve the technical problems that in the prior art, the working efficiency of cleaning underwater garbage is low and the cleaning is incomplete in a manual cleaning and sand digging machine mode.

In order to solve the technical problems, the invention adopts the following technical scheme:

The underwater garbage cleaning robot comprises a buoyancy shell with a propulsion device, wherein a sealed pressure-resistant bin is arranged in the buoyancy shell, and a collecting and cleaning device is arranged at the bottom of the buoyancy shell and used for cleaning and collecting garbage in water; the front part of the buoyancy shell is provided with an illuminating lamp and a camera, the pressure-resistant bin is internally provided with a gravity center adjusting device, a battery and a controller, the battery provides power for the camera, the collecting and cleaning device, the propelling device and the controller, and the camera, the collecting and cleaning device and the propelling device are all connected with the controller to realize image collection, automatic cleaning and collection of underwater garbage; the buoyancy shell can adjust the floating center of the robot to be always higher than the gravity center.

Preferably, a mounting frame is arranged in the middle of the buoyancy shell, the propulsion device, the pressure-resistant bin and the collecting and cleaning device are all connected with the mounting frame, the propulsion device comprises a plurality of underwater propellers, and the underwater propellers are symmetrically arranged at four corners of the mounting frame; the pressure-resistant bin and the collecting and cleaning device are respectively arranged at the middle positions of the upper side and the lower side of the mounting frame, the camera and the illuminating lamp are arranged at the front part of the mounting frame, and the illuminating lamps are symmetrically arranged on two sides of the camera.

Preferably, the mounting frame comprises a rectangular supporting plate and two vertical plates, the pressure-resistant bin is arranged in the middle of the supporting plate, the two vertical plates are vertically fixed at the bottom of the supporting plate, and the outer side of the lower end of each vertical plate is connected with the edge of the supporting plate through a plurality of diagonal braces; the collecting module of the collecting and cleaning device is arranged between the two vertical plates below the supporting plate and exposed outside the buoyancy shell, and the pick-up module of the collecting and cleaning device is connected with the front end of the supporting plate; the support plate and the two vertical plates are provided with a plurality of lightening holes.

Preferably, the buoyancy shell is made of hollow microsphere buoyancy materials, the buoyancy shell comprises a shell I, a shell II and a shell III, the shell I is arranged above the supporting plate, the shell II and the shell III are symmetrically arranged on the outer sides of the vertical plates on two sides, the peripheral edges of the shell I are respectively connected with the periphery of the supporting plate, and the edges of the shell II and the shell III are respectively connected with the edges of the vertical plates and the supporting plate; the collecting module is arranged between the shell II and the shell III.

Preferably, the number of the underwater propellers is 8, the number of the 4 underwater electric propellers is arranged at four corners above the supporting plate, the other 4 underwater electric propellers are arranged at four corners below the supporting plate, the 4 underwater propellers above are responsible for steering and advancing in a horizontal plane, and the 4 underwater propellers below are in a vertical state and are used for realizing lifting, swinging or longitudinal and transverse actions of the robot.

Preferably, the collecting and cleaning device comprises a picking module and a collecting module, wherein the picking module comprises a plurality of tentacles which are arranged in parallel, and a gap is arranged between every two adjacent tentacles; the lower ends of the tentacles are provided with arc hooks facing the collecting modules, the outer side edges of the tentacles at the two sides are provided with bends facing the collecting modules, and the lower ends of the tentacles form a semi-surrounding structure; the upper end of the tentacle is rotationally connected with the front end of the mounting frame through the pick-up mechanism.

Preferably, the pickup mechanism comprises a rotating assembly and a linear driving assembly, the linear driving assembly comprises a moving frame, racks, gears and a second motor, the gears are two and driven by the second motor, and the second motor is connected with the mounting frame through a mounting seat; the gear and the second motor are arranged in the rectangular movable frame, racks are fixed on the inner sides of two opposite frames of the movable frame, the two meshed gears are meshed with the racks on two sides respectively, the racks on two sides are in sliding fit with the sliding rails on two sides respectively through sliding blocks, and the sliding rails on two sides are arranged at the bottom of the mounting frame in parallel; one end of the rotating assembly is rotationally connected with the movable frame, and the other end of the rotating assembly is rotationally connected with the connecting frame at the top of the tentacle and is used for driving the tentacle to swing inwards to push the underwater garbage into the collecting module.

Preferably, the connecting frame comprises two connecting rods which are arranged side by side up and down, the upper connecting rod is rotationally connected with the front end of the movable frame, guide holes which are matched with the upper end guide parts of the tentacles in a sliding way are arranged on the lower connecting rod side by side, the upper end guide parts of the tentacles penetrate through the guide holes and are connected with the guide rods, the guide rods are arranged between the two connecting rods side by side, a unidirectional movement mechanism and a buffer spring are sleeved on the guide rods, and the unidirectional movement mechanism is arranged below the buffer spring and is used for adjusting the elasticity of the buffer spring.

Preferably, the unidirectional movement mechanism comprises an outer sleeve and a supporting seat with a plurality of annular inverted conical tables from top to bottom, two pawls and two torsion springs are symmetrically arranged on two sides of the lower part of the outer sleeve, the tips of the inner sides of the pawls can be inserted into the junction of two adjacent inverted conical tables, the outer sides of the pawls are connected with one end of the torsion springs, and the other ends of the torsion springs are connected with the upper end of the outer sleeve; the outer sleeve is characterized in that openings matched with the pawl and the torsion spring are symmetrically formed in two sides of the outer sleeve, a step is formed in the middle of the outer sleeve, the upper size is smaller than the lower size, and the torsion spring is arranged at the step.

Preferably, the collecting module comprises a box body for containing underwater garbage, two sides of the box body are connected with the mounting frame, a telescopic self-sealing cover plate is arranged at the upper opening end of the box body, and a pair of inwardly openable doors are arranged at the front part of the box body; one end of the door is rotationally connected with the edge of the box body through a spring hinge, the bottom of the box body is hinged with a garbage separation fork, one end of the garbage separation fork is rotationally connected with the edge of the bottom of the front end of the box body through a spring hinge, and a plurality of strip holes for the fork teeth of the garbage separation fork to pass through are formed in parallel in the bottom of the front side of the box body; the tines of the waste separating fork can correspondingly pass through the gaps between adjacent tentacles.

Preferably, the gravity center adjusting device comprises a ball screw, a screw nut, a balancing weight and a first motor, wherein the ball screw is arranged in the middle of the pressure-resistant bin and along the length direction of the pressure-resistant bin, the first motor drives the ball screw to rotate, the screw nut is in threaded fit with the ball screw, and the balancing weight is fixedly connected with the screw nut.

The beneficial effects of adopting above-mentioned technical scheme to produce lie in: compared with the prior art, the buoyancy shell is driven to move in the underwater steering direction, lift, swing, longitudinally and transversely and the like by the propulsion device, the gravity center in the front and rear directions of the robot is adjusted by the gravity center adjusting device in the pressure-resistant bin, and meanwhile, the buoyancy shell can adjust the buoyancy center of the robot to be always higher than the gravity center, so that the phenomenon of overturning is avoided; the underwater garbage is identified and illuminated by means of the front illuminating lamp and the camera, and the controller receives the image of the inverted underwater garbage and then controls the bottom collecting and cleaning device to clean and collect the underwater garbage. The invention can identify the underwater garbage, realize automatic cleaning and collecting, and further thoroughly clean the underwater garbage.

Drawings

The invention will be described in further detail with reference to the drawings and the detailed description.

Fig. 1 is an outline view of an underwater garbage cleaning robot provided by an embodiment of the invention;

FIG. 2 is a front view of the underwater debris cleaning robot of FIG. 1;

FIG. 3 is a rear view of the underwater debris removal robot of FIG. 2 with housing II and housing III removed;

FIG. 4 is a side view of the underwater debris cleaning robot of FIG. 1;

FIG. 5 is a schematic view of the internal structure at A in FIG. 2;

FIG. 6 is a top view of the underwater debris removal robot of FIG. 1 with the housing I removed;

FIG. 7 is a schematic view of the mounting bracket of FIG. 6;

FIG. 8 is a bottom view of the mount of FIG. 7;

FIG. 9 is a schematic view of the structure of the pressure resistant cartridge with the housing removed in an embodiment of the invention;

FIG. 10 is a side view of a pressure resistant cartridge in an embodiment of the invention;

FIG. 11 is a top view of a pressure resistant cartridge in an embodiment of the invention;

FIG. 12 is a cross-sectional view B-B in FIG. 2;

FIG. 13 is a schematic view of the structure at C in FIG. 12;

FIG. 14 is a partial enlarged view at B in FIG. 4;

FIG. 15 is a schematic view of a collection module according to an embodiment of the invention;

FIG. 16 is a schematic view of the structure of the cover plate of FIG. 15;

FIG. 17 is a schematic view of the structure of the door of FIG. 15;

In the figure: 100-collecting and cleaning devices, 110-collecting modules, 111-boxes, 112-cover plates, 113-door opening, 114-garbage separating forks and 115-strip holes; 118-rollers, 119-return springs;

120-pick-up module, 121-tentacle, 122-rotating assembly, 123-linear driving assembly; 101-moving frames, 102-racks, 103-gears, 104-mounting seats, 105-sliding blocks, 106-sliding rails, 107-connecting frames, 108-single-movement mechanisms, 109-buffer springs and 117-connecting rods;

200-gravity center adjusting device, 201-ball screw, 202-screw nut, 203-balancing weight, 204-first motor, 205-coupling, 206-optical axis, 207-bearing, 208-bracket;

1-buoyancy shell, 11-shell I, 12-shell II and 13-shell III; 2-pressure resistant bin, 20-shell, 21-front end cover and 22-rear end cover; 3-lighting lamp, 4-camera, 5-mounting rack, 51-supporting plate, 52-vertical plate and 53-diagonal brace; the device comprises a 6-underwater propeller, 7-anchor ears, 8-base, 9-outer sleeve, 10-inverted frustum, 14-supporting seat, 15-pawl and 16-torsion spring; 17-channel, 18-right angle hinge, 19-propeller mount, 23-support bar, 24-division board.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-4, the underwater garbage cleaning robot provided by the invention comprises a buoyancy shell 1 with a propulsion device, wherein a sealed pressure-resistant bin 2 is arranged in the buoyancy shell 1, and a collecting and cleaning device 100 is arranged at the bottom of the buoyancy shell 1 and used for cleaning and collecting garbage in water; the front part of the buoyancy shell 1 is provided with an illuminating lamp 3 and a camera 4, the pressure-resistant bin 2 is internally provided with a gravity center adjusting device 200, a battery and a controller, the battery provides power for the camera 4, the collecting and cleaning device 100, the propelling device and the controller, and the camera 4, the collecting and cleaning device 100 and the propelling device are all connected with the controller to realize image collection, automatic cleaning and collection of underwater garbage; the buoyancy housing 1 can adjust the floating center of the robot to be always higher than the gravity center. Because the robot has a wider moving surface under water and is responsible for collecting underwater garbage at various depths, the main moving modes of advancing, retreating, steering and ascending and diving are realized through the propulsion device, the underwater garbage is automatically identified by the illuminating lamp and the camera, and the automatic cleaning and collection of the underwater garbage are realized by the collecting and cleaning device.

In a specific embodiment of the present invention, as shown in fig. 3 and 6, a mounting frame 5 is disposed in the middle of the buoyancy housing 1, the propulsion device, the pressure-resistant bin 2 and the collecting and cleaning device 100 are all connected to the mounting frame 5, and the propulsion device includes a plurality of underwater propellers 6, where the plurality of underwater propellers 6 are symmetrically disposed at four corners of the mounting frame 5; the pressure-resistant bin 2 and the collecting and cleaning device 100 are respectively arranged at the middle positions of the upper side and the lower side of the mounting frame 5, the camera 4 and the illuminating lamp 3 are arranged at the front part of the mounting frame 5, and the illuminating lamps 3 are symmetrically arranged on two sides of the camera 4. The mounting frame is used as a basic framework of the robot, is a foundation for mounting and fixing other mechanical structures, can be formed by splicing a plurality of plates, and is connected together through bolts. Because the sheet material is easy to process, the precision is ensured by laser cutting.

As a preferable structure, as shown in fig. 7 and 8, the mounting frame 5 comprises a rectangular supporting plate 51 and two vertical plates 52, the pressure-resistant bin 2 is arranged in the middle of the supporting plate 51, the two vertical plates 52 are vertically fixed at the bottom of the supporting plate 51, and the outer side of the lower end of the vertical plate 52 is connected with the edge of the supporting plate 51 through a plurality of diagonal braces 53; the collecting module 110 of the collecting and cleaning device 100 is arranged between the two vertical plates 52 below the supporting plate 51 and is exposed outside the buoyancy housing 1, and the pick-up module 120 of the collecting and cleaning device 100 is connected with the front end of the supporting plate 51; the supporting plate 51 and the two vertical plates 52 are provided with a plurality of lightening holes, and according to stress analysis, a plurality of lightening holes with different sizes are formed in the supporting plate and the vertical plates, so that the loss of power during operation is reduced as much as possible. In the concrete assembly, the two illuminating lamps 3 are installed on the vertical plates 52 on the two sides, and the camera 4 is installed in the middle of the front end of the supporting plate 51.

In a specific design, as shown in fig. 2, the buoyancy housing 1 is made of hollow microsphere buoyancy materials, and even if the buoyancy housing is immersed in water for a long time, the water absorption rate is low, and only less than 1% is achieved, so that the overall buoyancy is not affected. The buoyancy shell 1 comprises a shell I11, a shell II 12 and a shell III 13, wherein the shell I11 is arranged above a supporting plate 51, the shell II 12 and the shell III 13 are symmetrically arranged on the outer sides of two side vertical plates 52, the peripheral edges of the shell I11 are respectively connected with the periphery of the supporting plate 51, and the edges of the shell II 12 and the shell III 13 are respectively connected with the edges of the vertical plates 52 and the supporting plate 51; the collection module 110 is disposed between the housing ii 12 and the housing iii 13.

The propulsion device is used as the only source of the propulsion power of the robot, and is one of the modules which are necessary for assisting the robot to reach the designated position and adjusting the posture of the robot. In a specific design, as shown in fig. 5 and 6, the number of the underwater propellers 6 is 8, and all the underwater electric propellers are adopted, so that the underwater electric propellers can be purchased from the market; meanwhile, the four corners of the buoyancy shell 1 are provided with channels 17 communicated with the underwater propeller 6, so that water flow is conveniently driven, and the ascending, descending, advancing, retreating and steering actions of the robot are realized. The 4 underwater electric propellers are arranged at four corners above the supporting plate 51, the other 4 underwater electric propellers are arranged at four corners below the supporting plate 51, the 4 underwater propellers above are responsible for steering and advancing in a horizontal plane, the robot is driven to complete the motion of two degrees of freedom, and the resultant force of the two degrees of freedom is directed to the center of the supporting plate, namely the center of gravity of the robot; the 4 underwater propellers below are in a vertical state and are used for realizing the lifting, swinging or longitudinal and transverse movements of the robot, and the movements are two degrees of freedom. The motor in the underwater electric propeller drives the propeller, and meanwhile, the propeller provides the power for the running of the robot, on one hand, the posture of the robot can be adjusted, and the propeller can be matched with the posture sensor arranged on the robot to realize stable posture of the underwater robot during operation, so that side turning is avoided.

In one embodiment of the present invention, as shown in fig. 9-11, the pressure-resistant bin 2 includes a cylindrical hollow housing 20, wherein a plurality of support rods 23 are arranged on the inner wall of the housing 20 at intervals, and two ends of the support rods 23 are connected with a bracket 208; one end of the shell is provided with a spherical crown-shaped front end cover 21, the other end of the shell is provided with a disc-shaped rear end cover 22, sealing rings are arranged between the matching surfaces of the front end cover 21 and the rear end cover 22 and the two ends of the shell 20, and the integral waterproof performance of the pressure-resistant bin is ensured; the rear end cover 22 is provided with a plurality of threading bolts for threading the cable to ensure the information exchange between the inside and the outside of the pressure-resistant bin; the center of gravity adjusting device 200 is disposed in the housing 20 for adjusting the center of gravity in the front-rear direction. During installation, the pressure-resistant bin 2 is fixed in the middle of the supporting plate 51 through the two semicircular hoops 7, the base 8 is arranged at the bottom of the lower hoop 7, and the base 8 is fixed on the supporting plate 51 through a fastener.

The battery in the pressure-resistant bin is a power source of the robot, and is a control center, the control parts comprising the propulsion device and the collecting and cleaning device are all concentrated in the sealed pressure-resistant bin, the waterproof property of the inside of the sealed pressure-resistant bin is required to be ensured, so that the electronic element normally works without being influenced by underwater environment, water erosion is avoided, smooth transmission of information is ensured, control signals are smoothly transmitted to other working modules through threading bolts and the like, and the effect of the robot brain under water is realized.

When specifically designing, the casing adopts the cylinder to make the atress even under water, and holistic compressive capacity is stronger, compares with other shapes, and most materials are in the cylinder processing more easily. The front sealing cover adopts a semicircular sphere shape, so that the whole sealing cover is close to a streamline shape, and the water resistance during underwater movement is reduced. Meanwhile, the pressure-resistant bin 2 is made of acrylic plates, and because acrylic has stronger surface hardness and better transmittance compared with common glass, the toughness is stronger, the working condition and the tightness inside the sealed bin can be clearly seen due to the high transmittance, the density of the pressure-resistant bin is only 1.2 g/cc and is close to that of water, and acrylic with the same quality generates larger buoyancy. Meanwhile, the mechanical properties of the alloy are not inferior to those of metal materials, and the alloy can be drilled, lathed, washed and cut in a common processing mode, and especially, nonstandard parts can be formed at one time by extrusion or casting.

As a preferable configuration, as shown in fig. 10 and 11, the gravity center adjusting device 200 includes a ball screw 201, a screw nut 202, a weight and a first motor 204, wherein the ball screw 201 is disposed in the middle of the pressure-resistant chamber 2 and is disposed along the length direction of the pressure-resistant chamber 2, the first motor 204 drives the ball screw 201 to rotate through a coupling 205, the screw nut 202 is in threaded engagement with the ball screw 201, and the weight is fixedly connected with the screw nut 202. Wherein, the first motor 204 adopts a DC brushless motor; an optical axis 206 (similar to a horizontal moving mechanism on a lathe) which plays a role in guiding is arranged on the side surface of the screw 201 in parallel, and two ends of the screw 201 and the optical axis 206 are connected with a bracket 208 through a bearing 207; meanwhile, the gravity center adjusting device is disposed below the isolation plate 24, and the battery and the controller are disposed above the isolation plate. By adopting the structure, the robot can be assisted to stably run in an underwater environment, the gravity center can be adjusted in the front direction and the rear direction, the gravity center adjustment in the left direction and the right direction is realized by means of the underwater propellers vertically arranged on the two sides, the center of the underwater robot is ensured to be stable, and the task of picking up underwater garbage is smoothly completed.

In one embodiment of the present invention, as shown in fig. 1,2 and 12, the collecting and cleaning device 100 includes a pick-up module 120 and a collecting module 110, where the pick-up module 120 includes a plurality of tentacles 121 arranged in parallel, and a gap is provided between every two adjacent tentacles 121; the lower ends of the tentacles 121 are provided with arc hooks facing the collecting module 110, the outer side edges of the tentacles 121 on both sides are provided with bends facing the collecting module 110, and the lower ends of the tentacles 121 form a semi-surrounding structure; the upper end of the feeler 121 is rotatably connected to the front end of the mounting frame 5 by a pickup mechanism.

As shown in fig. 2, 4 and 14, the pickup mechanism includes a rotating assembly 122 and a linear driving assembly 123, the linear driving assembly 123 includes a moving frame 101, a rack 102, two gears 103 and a second motor, the gears 103 are driven by the second motor, and the second motor is connected with the mounting frame through a mounting seat 104; the gear 103 and the second motor are arranged inside the rectangular movable frame 101, racks 102 are fixed on the inner sides of two opposite frames of the movable frame 101, the two mutually meshed gears 103 are respectively meshed with the two side racks 102, the two side racks 102 are respectively in sliding fit with two side sliding rails 106 through sliding blocks 105, and the two side sliding rails 106 are arranged at the bottom of the mounting frame 5 in parallel; one end of the rotating assembly 122 is rotatably connected with the movable frame 101, and the other end of the rotating assembly is rotatably connected with the connecting frame 107 on the top of the tentacle 121, and is used for driving the tentacle 121 to swing inwards to push the underwater garbage into the collecting module 110. Wherein, the rotating component 122 can adopt an electric push rod, and the electric push rod drives the contact hand to swing up and down around the front end of the moving frame, and then drives the gear to rotate through the second motor, and then drives the moving frame and the contact hand to move back and forth through the rack, so that the picking up of the underwater garbage can be realized.

Further optimizing the above technical scheme, as shown in fig. 12 and 14, the connecting frame 107 includes two connecting rods 117 that are parallel up and down, the upper connecting rod 117 is rotationally connected with the front end of the moving frame 101, guide holes that are slidably matched with the guide parts at the upper ends of the tentacles 121 are parallel arranged on the lower connecting rod 117, the guide parts at the upper ends of the tentacles 121 penetrate through the guide holes and are connected with the guide rods, a plurality of guide rods are parallel arranged between the two connecting rods 117, the guide rods are sleeved with a unidirectional motion mechanism 108 and a buffer spring 109, and the unidirectional motion mechanism 108 is arranged below the buffer spring 109 and is used for adjusting the elasticity of the buffer spring 109. When the garbage in the underwater environment is picked up, the underwater environment is rarely flat, and many of the garbage can be in an uneven state. The buffer spring can be flexible, so that the maximum area of the buffer spring can be attached to the water bottom during water bottom working, and the high efficiency of garbage pickup and the smoothness of underwater operation are guaranteed.

In a specific design, as shown in fig. 13 and 14, the unidirectional movement mechanism 108 includes an outer sleeve 9 and a supporting seat 14 with a plurality of annular inverted conical platforms 10 from top to bottom, two pawls 15 and two torsion springs 16 are symmetrically arranged on two sides of the lower portion of the outer sleeve 9, the tips of the inner sides of the pawls 15 can be inserted into the junction of two adjacent inverted conical platforms 10, the outer sides of the pawls 15 are connected with one end of the torsion springs 16, and the other end of the torsion springs 16 are connected with the upper end of the outer sleeve 9. The outer sleeve 9 is symmetrically provided with notches matched with the pawls 15 and the torsion springs 16, supports with mounting grooves are arranged on the outer sides of the notches, the pawls 15 are in running fit with the inner walls of the mounting grooves through rotating shafts, and the torsion springs 16 are arranged above the supports. The structure can be locked at a certain height in one way, so that the buffer spring is compressed, the elastic force of the buffer spring is adjusted, the minimum force of the vertical movement of the independent touch is changed, the mechanical touch arm can be applied to different underwater environments, different thresholds are set for different environments, and the other direction can only move through manual adjustment.

In one embodiment of the present invention, as shown in fig. 15-17, the collecting module 110 includes a tank 111 for containing underwater garbage, the sidewall of the tank 111 is provided with a water passing hole, and the tank only holds solid garbage; the two sides of the box body 111 are connected with the mounting frame 5, a telescopic self-sealing cover plate 112 is arranged at the upper opening end of the box body 111, and a pair of door openings 113 capable of being opened inwards are arranged at the front part of the box body 111; one end of the door 113 is rotatably connected with the edge of the box 111 through a spring hinge, the bottom of the box 111 is hinged with a garbage separation fork 114, one end of the garbage separation fork 114 is rotatably connected with the bottom edge of the front end of the box 111 through a spring hinge, and a plurality of strip holes 115 for the fork teeth of the garbage separation fork 114 to pass through are arranged in parallel at the bottom of the front side of the box 111; the tines of the waste separating fork 114 can correspondingly pass through the gaps between adjacent tentacles 121. Wherein, the bottom of box slopes downwards forward, simultaneously at the outside lower extreme installation counter weight 116 that opens the door, opens the door and in time close along with the come in and go out of tentacle under the counter weight effect, prevents that the underwater rubbish from having collected from taking place the secondary and overflowing.

Because the principle of cleaning underwater garbage is different from that of garbage on land, most of garbage on land is picked up by the cleaning mechanism and then sent to the collecting or processing mechanism, and the garbage can be separated from the picking mechanism by virtue of the gravity of the garbage. However, due to the existence of the underwater buoyancy, the underwater garbage can float to various positions under the action of the buoyancy, so that the garbage can be collected by the box body, and meanwhile, the garbage separation fork is required to separate the garbage from the tentacles. The specific separation process of the garbage and tentacles is as follows:

The straight line drive assembly drives the tentacle to move back and forth through the rack and pinion drive mechanism, and electric putter drives the tentacle and swings up and down simultaneously, can pick up rubbish under water and move to the box in, when the tentacle that carries rubbish gets into the box, the tentacle promotes the two to open the door in to the box, promotes rear side rubbish separation fork simultaneously, along with the slow opening of two door, rubbish separation fork contracts gradually to the rectangular downthehole of bottom half under its tip spring hinge effect, until parallel and level with the bottom half, the movement of the tentacle that carries rubbish can not be influenced to rubbish separation fork like this. When the tentacle moves inwards further to separate from the double door, the double door is automatically reset and closed under the action of the spring hinge, the garbage separation fork is separated from the limitation of the double door, and the garbage separation fork is reset upwards under the action of the spring hinge at the end part of the double door, and when the tentacle retreats again, the garbage separation fork can separate garbage from the tentacle through the gap of the tentacle.

Further optimizing the above structure, as shown in fig. 15, the top of the box 111 is designed to be similar to the mechanical structure of a roller shutter door, and is formed by splicing five cover plates 112, wherein the five cover plates 111 are connected with each other by springs (not shown), and when the first cover plate 112 is stressed, the force is transmitted to the following cover plates 112 by the springs, and so on, so as to form linkage. At the same time, micro guide rails (not shown) are arranged at the top of the two side walls of the box 111, two symmetrical rollers 118 are designed at the bottom of the two ends of each independent cover plate 112, and the rollers 118 can only move in the guide rails, thereby limiting the movement track of the cover plates. At the same time, a return spring 119 with a proper length is installed on the first cover plate 112, when the tentacle 121 just begins to touch the first cover plate 112, all the cover plates 112 are pushed to move backwards together due to the interaction force of the springs between the cover plates 112, and at this time, the return spring 119 is lengthened, and the elasticity is larger and larger along with the continuous change of the length. However, when the tentacle is withdrawn from the housing 111, all the cover plates 112 start to be reset again by the reset spring 119, and the restoration to the original position is known.

In summary, the invention has the advantages of compact structure and thorough cleaning of underwater garbage, the underwater propeller is used for realizing the steering running, lifting, swinging, longitudinal and transverse actions of the buoyancy shell under water, the battery in the pressure-resistant bin is used for providing a power source, the controller can receive the image information of the camera and control the pickup action of the tentacle, and the gravity center of the robot is balanced through the underwater propeller in the vertical direction and the balancing weight in the pressure-resistant bin; the underwater garbage is provided with illumination through the illumination lamp, the camera is used for identifying the underwater garbage, the controller is used for controlling the tentacle to pick up the underwater garbage and move into the box body, the underwater garbage is separated from the tentacle by the garbage separation fork and is collected in the box body, and the underwater garbage can be stored in the box body by means of the automatically closed double-door and cover plate capable of automatically resetting above the double-door. The invention can identify the underwater garbage, realize automatic cleaning and collecting, and further thoroughly clean the underwater garbage.

In the foregoing description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed above.

Claims (10)

1. An underwater garbage cleaning robot which is characterized in that: the robot comprises a buoyancy shell with a propulsion device, a sealed pressure-resistant bin is arranged in the buoyancy shell, and a collecting and cleaning device is arranged at the bottom of the buoyancy shell and used for cleaning and collecting garbage in water; the front part of the buoyancy shell is provided with an illuminating lamp and a camera, the pressure-resistant bin is internally provided with a gravity center adjusting device, a battery and a controller, the battery provides power for the camera, the collecting and cleaning device, the propelling device and the controller, and the camera, the collecting and cleaning device and the propelling device are all connected with the controller to realize image collection, automatic cleaning and collection of underwater garbage; the buoyancy shell can adjust the floating center of the robot to be always higher than the gravity center.

2. The underwater debris cleaning robot of claim 1 wherein: the middle part of the buoyancy shell is provided with a mounting frame, the propulsion device, the pressure-resistant bin and the collecting and cleaning device are all connected with the mounting frame, the propulsion device comprises a plurality of underwater propellers, and the underwater propellers are symmetrically arranged at four corners of the mounting frame; the pressure-resistant bin and the collecting and cleaning device are respectively arranged at the middle positions of the upper side and the lower side of the mounting frame, and the camera and the illuminating lamp are arranged at the front part of the mounting frame.

3. The underwater debris cleaning robot of claim 2 wherein: the mounting frame comprises a rectangular supporting plate and two vertical plates, the pressure-resistant bin is arranged in the middle of the supporting plate, the two vertical plates are vertically fixed at the bottom of the supporting plate, and the outer sides of the lower ends of the vertical plates are connected with the edges of the supporting plate through a plurality of inclined supporting rods; the collecting module of the collecting and cleaning device is arranged between the two vertical plates below the supporting plate and exposed outside the buoyancy shell, and the pick-up module of the collecting and cleaning device is connected with the front end of the supporting plate; the support plate and the two vertical plates are provided with a plurality of lightening holes.

4. The underwater debris cleaning robot of claim 2 wherein: the number of the underwater propellers is 8, the 4 underwater propellers are arranged at four corners above the supporting plate, the other 4 underwater propellers are arranged at four corners below the supporting plate, the 4 underwater propellers above are responsible for steering and advancing in a horizontal plane, and the 4 underwater propellers below are in a vertical state and are used for realizing lifting, swinging or longitudinal and transverse actions of the robot.

5. The underwater debris cleaning robot of claim 2 wherein: the collecting and cleaning device comprises a picking module and a collecting module, wherein the picking module comprises a plurality of tentacles which are arranged in parallel, and gaps are arranged between every two adjacent tentacles; the lower ends of the tentacles are provided with arc hooks facing the collecting modules, the outer side edges of the tentacles at the two sides are provided with bends facing the collecting modules, and the lower ends of the tentacles form a semi-surrounding structure; the upper end of the tentacle is rotationally connected with the front end of the mounting frame through the pick-up mechanism.

6. The underwater debris cleaning robot of claim 5 wherein: the pick-up mechanism comprises a rotating assembly and a linear driving assembly, the linear driving assembly comprises a moving frame, racks, gears and a second motor, the number of the gears is two, the gears are driven by the second motor, and the second motor is connected with the mounting frame through a mounting seat; the gear and the second motor are arranged in the rectangular movable frame, racks are fixed on the inner sides of two opposite frames of the movable frame, the two meshed gears are meshed with the racks on two sides respectively, the racks on two sides are in sliding fit with the sliding rails on two sides respectively through sliding blocks, and the sliding rails on two sides are arranged at the bottom of the mounting frame in parallel; one end of the rotating assembly is rotationally connected with the movable frame, and the other end of the rotating assembly is rotationally connected with the connecting frame at the top of the tentacle and is used for driving the tentacle to swing inwards to push the underwater garbage into the collecting module.

7. The underwater debris cleaning robot of claim 6 wherein: the connecting frame comprises two connecting rods which are arranged side by side up and down, the upper connecting rod is rotationally connected with the front end of the movable frame, guide holes which are matched with the upper end guide parts of the tentacles in a sliding manner are arranged on the lower connecting rod side by side, the upper end guide parts of the tentacles penetrate through the guide holes and are connected with the guide rods, a plurality of guide rods are arranged between the two connecting rods side by side, and the guide rods are sleeved with a unidirectional movement mechanism and a buffer spring, and the unidirectional movement mechanism is arranged below the buffer spring and used for adjusting the elasticity of the buffer spring.

8. The underwater debris cleaning robot of claim 7 wherein: the unidirectional movement mechanism comprises an outer sleeve and a supporting seat with a plurality of annular inverted conical tables from top to bottom, two pawls and two torsion springs are symmetrically arranged on two sides of the lower portion of the outer sleeve, the inner tips of the pawls can be inserted into the junction of two adjacent inverted conical tables, the outer sides of the pawls are connected with one end of the torsion springs, and the other ends of the torsion springs are connected with the upper end of the outer sleeve.

9. The underwater debris cleaning robot of claim 5 wherein: the collecting module comprises a box body for containing underwater garbage, two sides of the box body are connected with the mounting frame, a telescopic self-sealing cover plate is arranged at the upper opening end of the box body, and a pair of inwardly openable doors are arranged at the front part of the box body; one end of the door is rotationally connected with the edge of the box body through a spring hinge, the bottom of the box body is hinged with a garbage separation fork, one end of the garbage separation fork is rotationally connected with the edge of the bottom of the front end of the box body through a spring hinge, and a plurality of strip holes for the fork teeth of the garbage separation fork to pass through are formed in parallel in the bottom of the front side of the box body; the tines of the waste separating fork can correspondingly pass through the gaps between adjacent tentacles.

10. The underwater debris cleaning robot of any of claims 1-9, wherein: the gravity center adjusting device comprises a ball screw, a screw nut, a balancing weight and a first motor, wherein the ball screw is arranged in the middle of the pressure-resistant bin and along the length direction of the pressure-resistant bin, the first motor drives the ball screw to rotate, the screw nut is in threaded fit with the ball screw, and the balancing weight is fixedly connected with the screw nut.