CN208021681U - Garbage cleaning robot waterborne - Google Patents
Garbage cleaning robot waterborne Download PDFInfo
- Publication number
- CN208021681U CN208021681U CN201820480195.8U CN201820480195U CN208021681U CN 208021681 U CN208021681 U CN 208021681U CN 201820480195 U CN201820480195 U CN 201820480195U CN 208021681 U CN208021681 U CN 208021681U
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- Prior art keywords
- hull
- cleaning robot
- motor
- central controller
- power supply
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Abstract
The utility model is related to a kind of garbage cleaning robots waterborne, including hull, it is equipped with garbage collecting mechanism on hull successively from front to back, rubbish transport mechanism and garbage storing storage (3), power supply (26) is additionally provided on hull, hull driving mechanism and central controller (27), central controller (27) controls garbage collecting mechanism, rubbish transport mechanism and the operation of hull driving mechanism, power supply (26) is to garbage collecting mechanism, rubbish transport mechanism, hull driving mechanism and central controller (27) are powered, wherein, further include depth camera (24), depth camera (24) is mounted on fore-body, depth camera (24) is electrically connected with central controller (27), power supply (26) is powered depth camera (24).The utility model advantage is：Manpower remote control is not needed, can fully automatically be cruised, and fully automatically finds, collect rubbish, easy to operate, work efficiency is high.
Description
Technical field
The utility model is related to a kind of water surface cleaning equipment, specifically a kind of garbage cleaning robot waterborne.
Background technology
With the development of the times, the pollution on the water surface is also increasingly severe, and the rubbish such as beverage bottle, plastic casing are in river, lake
It is seen everywhere on the equal waters surface.It is cleared up by way of mainly being salvaged at present anti-pollution vessel and manually in China, it is preceding
Although person cleaning efficiency is high, there is hull product is bigger than normal, ask narrow river, park man-made lake etc. are awkward
Topic, although and the latter cleaning quality is high, there is manipulation strengths big, working efficiency bottom, the shortcomings of period is long.For in solution
State technical problem, state know on board web application No. is the utility model patent of " 201720409338.1 " disclose it is a kind of waterborne
Refuse sweeping machine people, it includes frame body, and the front of frame body is equipped with garbage collector, bullet is provided on rear side of garbage collector
Power baffle, elastic force baffle are mounted on frame body, and conveyer belt is provided on rear side of elastic force baffle, and conveyer belt is mounted on frame body, frame
Driving device is installed, driving device is conveyer belt, garbage collector provides power, and the rear portion of frame body is equipped with control on body
The upper end of box, frame body is equipped with solar panel, and the lower end of frame body is equipped with buoyant chamber, and frame body is equipped with separable storage
The lower end of storage, frame body is equipped with propeller and turns to rudder, is both provided with sieve on garbage collector, electricity is equipped in control box
Source.Above-mentioned refuse sweeping machine people waterborne solves the water surface by the cooperation of garbage collector, conveyer belt and driving device
The cleaning of fixed rubbish, has the characteristics that high cleaning efficiency, cleaning quality stabilization, energy conservation and environmental protection, but it is in practical application mistake
There is also shortcomings once in journey：Garbage cleaning robot i.e. waterborne needs staff's whole process remote control behaviour during operation
Make, it is inconvenient.
Utility model content
The technical problems to be solved in the utility model is to provide one kind and not needing manpower remote control, can fully automatically cruise,
And it fully automatically finds, collect rubbish, easy to operate, the garbage cleaning robot waterborne that work efficiency is high.
In order to solve the above technical problems, the utility model provides a kind of garbage cleaning robot waterborne with lower structure：
Including hull, it is equipped with garbage collecting mechanism, rubbish transport mechanism and garbage storing storage on hull successively from front to back, is gone back on hull
Equipped with power supply, hull driving mechanism and central controller, central controller controls garbage collecting mechanism, rubbish transport mechanism and
Hull driving mechanism is run, and power supply carries out garbage collecting mechanism, rubbish transport mechanism, hull driving mechanism and central controller
Power supply, wherein further include depth camera, depth camera is mounted on fore-body, depth camera and central controller electricity
Connection, power supply are powered depth camera.
With the above structure, compared with prior art, the utility model has the following advantages：Due to the utility model water
Upper garbage cleaning robot further includes depth camera, and depth camera is mounted on fore-body, and depth camera is controlled with center
Device electrical connection processed, power supply are powered depth camera, therefore when the utility model garbage cleaning robot waterborne is in the water surface
When upper cruise, central controller can receive the deep image information of depth camera and identify the rubbish swum on the water surface
Then rubbish is moved to the location of the rubbish by hull driving mechanisms control hull, eventually by garbage collecting mechanism and
The rubbish is sent in garbage storing storage by rubbish transport mechanism, and then the utility model garbage cleaning robot waterborne will continue to
Next rubbish is found in cruise.From the foregoing, it will be observed that the utility model garbage cleaning robot waterborne does not need manpower remote control, Neng Gouquan
It automatically cruises, and fully automatically finds, collects rubbish, easy to operate, work efficiency is high.
Garbage cleaning robot waterborne described in the utility model, wherein further include at least one ultrasonic sensor, surpass
Sonic sensor is mounted on fore-body, and ultrasonic sensor is electrically connected with central controller, power supply to ultrasonic sensor into
Row power supply.
The setting of ultrasonic sensor makes the utility model garbage cleaning robot waterborne towards specified rubbish direction
When mobile, the information that central controller can be acquired by ultrasonic sensor judges the utility model rubbish sweeper waterborne
Whether there are obstacles in the direction of advance of device people, if there are barrier, it is waterborne that central controller will control the utility model
Garbage cleaning robot carries out avoiding barrier action, to keep the utility model garbage cleaning robot waterborne more suitable
Profit efficiently clears up garbage on water.
Garbage cleaning robot waterborne described in the utility model, wherein ultrasonic sensor is two, two ultrasonic waves
Sensor is separately mounted to the left and right sides of fore-body.
Above structure can make the utility model garbage cleaning robot waterborne more precisely disturbance in judgement object information, from
And enable that the utility model garbage cleaning robot waterborne is more smooth, efficiently clears up garbage on water.
Garbage cleaning robot waterborne described in the utility model, wherein further include wireless communication module, wireless telecommunications mould
Block is mounted on hull, and wireless communication module is electrically connected with central controller, and power supply is powered wireless communication module.
The setting of wireless communication module enables staff to pass through this reality of the wireless smart devices Telnet such as mobile phone
With garbage cleaning robot on new type water, make to realize the remote control to the utility model garbage cleaning robot waterborne and monitor
Industry.
Garbage cleaning robot waterborne described in the utility model, wherein further include GPS module, GPS module is mounted on ship
On body, GPS module is electrically connected with central controller, and power supply is powered GPS module.
It is fixed to the real time position of the utility model garbage cleaning robot waterborne that the setting of GPS module is not only able to realize
Position, grasps the utility model garbage cleaning robot real-time position information waterborne, and can also pass through record convenient for staff
The launching position of the utility model garbage cleaning robot waterborne, in this way when the utility model garbage cleaning robot task waterborne
When completion, the utility model garbage cleaning robot waterborne can automatically return to initial launching position, consequently facilitating work
Personnel recycle the utility model garbage cleaning robot waterborne.
Garbage cleaning robot waterborne described in the utility model, wherein further include solar panels, solar panels are mounted on
At hull upper end, power supply is accumulator, and solar panels are electrically connected to a power source.
Above structure not only substantially increases the cruising ability of the utility model garbage cleaning robot waterborne, makes this practicality
Garbage cleaning robot can be worked for a long time on new type water, so that the utility model rubbish sweeper waterborne
Device people more energy conservation and environmental protection.
Garbage cleaning robot waterborne described in the utility model, wherein garbage collecting mechanism includes first motor, transmission
Band, first rotating shaft and at least one driving lever, first motor are connected on hull, and first rotating shaft is rotatably connected on hull,
The output shaft of first motor is sequentially connected with first rotating shaft by transmission belt, and driving lever one end is connected on first rotating shaft periphery wall,
First motor is electrically connected with central controller, and power supply is powered first motor.
The garbage collecting mechanism of above structure is not only simple in structure, easily manufactured, and central processing unit can be according to reality
Border needs to carry out start/stop operation to first motor at any time, to make the utility model garbage cleaning robot waterborne more
Energy conservation and environmental protection, and then the cruising ability of the utility model garbage cleaning robot waterborne is effectively increased, make the utility model water
Upper garbage cleaning robot can be worked for a long time.
Garbage cleaning robot waterborne described in the utility model, wherein rubbish transport mechanism includes the second motor and biography
Band, conveyer belt is sent to be connected on hull low early and high afterly, the second motor is connected on hull, the output shaft of the second motor and transmission
V belt translation connects, and the second motor is electrically connected with central controller, and the second motor of power supply pair is powered.
The rubbish transport mechanism of above structure is not only simple in structure, easily manufactured, and central processing unit can be according to reality
Border needs to carry out start/stop operation to the second motor at any time, to make the utility model garbage cleaning robot waterborne more
Energy conservation and environmental protection, and then the cruising ability of the utility model garbage cleaning robot waterborne is effectively increased, make the utility model water
Upper garbage cleaning robot can be worked for a long time.
Garbage cleaning robot waterborne described in the utility model, wherein hull driving mechanism includes two third motors
With two propellers, two third motors are connected to the left and right sides of afterbody, and two propellers are respectively with wherein one
A third motor drive connection, third motor are electrically connected with central controller, and power supply is powered third motor.
Central processing unit can realize the utility model rubbish sweeper waterborne by controlling two third motor speeds
Movement speed, advance and the steering of device people, therefore above-mentioned hull driving mechanism is not only simple in structure, and make the utility model
Garbage cleaning robot waterborne is without being still further arranged rudder mechanism, to enormously simplify the utility model rubbish cleaning waterborne
The structure of robot keeps the manufacture of the utility model garbage cleaning robot waterborne more convenient.
Garbage cleaning robot waterborne described in the utility model, wherein third motor be equipped with encoder, encoder with
Central controller is electrically connected.
The setting of encoder can realize the PID control to third motor, to make the utility model rubbish cleaning waterborne
Robot is more accurate, stable to its movement speed, advance and the control of steering.
Description of the drawings
Fig. 1 is the forward sight dimensional structure diagram of the utility model garbage cleaning robot waterborne；
Fig. 2 is the rear view three-dimensional structure of the utility model garbage cleaning robot waterborne；
Fig. 3 is the decomposition texture schematic diagram of regulating mechanism in the utility model garbage cleaning robot waterborne；
Fig. 4 is the circuit block diagram of the utility model garbage cleaning robot waterborne.
Specific implementation mode
The utility model garbage cleaning robot waterborne is made with reference to the accompanying drawings and detailed description further detailed
It describes in detail bright.
In the description of the present invention, unless otherwise indicated, term "upper", "lower", "left", "right", "front", "rear",
The orientation or state relation of the instructions such as " top ", " bottom " are orientation based on ... shown in the drawings or state relation, merely to just
In description the utility model and simplify description, specific side must be had by not indicating or implying the indicated mechanism or component
Position, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connection "
It shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be direct phase
It even, can also be indirectly connected through an intermediary.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
As shown in Figures 1 to 4, the utility model garbage cleaning robot waterborne includes hull, in the present embodiment, hull
Buoyancy tank 2 including fixed frame 1 and two strips, fixed frame 1 are built by more proximate matters, and proximate matter can be by aluminium alloy, plastics
Equal materials are made, and are not only able to that the intensity of fixed frame 1 is effectively ensured in this way, and the weight of fixed frame 1 is also light, are convenient for rubbish waterborne
Rubbish cleaning robot is suspended on the water surface, and two buoyancy tanks 2 are parallelly connected to the left and right sides of 1 lower end of fixed frame, the present embodiment
In 2 main body of buoyancy tank be made of PVC pipeline, filled vacuum cotton (not shown) in PVC pipeline, PVC pipeline both ends connection it is close
Capping, is not only able to greatly increase the buoyancy of buoyancy tank 2 in this way, and can effectively reduce resistance of the flow to buoyancy tank 2；At two
It is connected with garbage collecting mechanism, rubbish transport mechanism and garbage storing storage 3 on fixed frame 1 between buoyancy tank 2 in turn from front to back,
3 front end of garbage storing storage is connected to 2 rear end of buoyancy tank, and in the present embodiment, garbage collecting mechanism includes first motor 4, transmission
Band 5, first rotating shaft 6 and at least one driving lever 7, first motor 4 are connected on fixed frame 1, and 6 both ends of first rotating shaft pass through bearing block
8 are rotatably connected on fixed frame 1, and the output shaft of first motor 4 is sequentially connected with first rotating shaft 6 by transmission belt 5, i.e., and
Belt pulley 9 is respectively connected on the output shaft and first rotating shaft 6 of one motor 4, transmission belt 5 is sleeved on two belt pulleys 9, driving lever 7 one
End is connected on 6 periphery wall of first rotating shaft, and driving lever 7 is preferably two, and two interval of driving lever 7 settings in this way can be more convenient
The rubbish such as beverage bottle are collected on ground, and a sleeve can be socketed for the ease of driving lever 7 to be fixed in first rotating shaft 6, in first rotating shaft 6
10,7 one end of driving lever is welded on 10 periphery wall of sleeve, and the free end of driving lever 7 can connect plectrum 11, in order to more convenient receive
Collect the rubbish such as beverage bottle；Rubbish transport mechanism includes the second motor 12 and conveyer belt 13, and conveyer belt 13 is connected to low early and high afterly
On fixed frame 1, the second motor 12 is connected on fixed frame 1, and output shaft and the conveyer belt 13 of the second motor 12 are sequentially connected, transmission
Band 13 is existing conventional techniques, therefore is not repeated herein；Hull driving mechanism includes two third motors 14 and two propellers 15,
Two third motors 14 are connected to the left and right sides of afterbody, two propellers 15 respectively by a transmission shaft 16 with
One of third motor 14 is sequentially connected, in the present embodiment, for the ease of adjusting 15 underwater penetration of propeller, in order to
The utility model garbage cleaning robot waterborne can adapt to the waters of different depth, be set between fixed frame 1 and third motor 14
It includes semi-circular plate 17,18, two adjustment sheets 19 of adjusting rod and two clamping screws 20, semi-circular plate to have regulating mechanism, regulating mechanism
17 are connected on fixed frame 1, are set on semi-circular plate 17 there are one semi-circular shape hole 21, and adjusting rod 18 is located at the outside of semi-circular plate 17,
Adjusting rod 18 is equipped with elongated hole 22, and the screw rod of two clamping screws 20 sequentially passes through spiral shell after semi-circular shape hole 21 and elongated hole 22
Line is connected on two adjustment sheets 19, the fit structure phase that adjusting rod 18 and semi-circular plate 17 pass through clamping screw 20 and adjustment sheet 19
Mutually locking, third motor 14 are connected on adjusting rod 18, and third motor 14 is equipped with encoder 23；The front of fixed frame 1 connects
There is depth camera 24, is all connected at left and right sides of the front of fixed frame 1 there are one ultrasonic sensor 25,13 top of conveyer belt
Power supply 26, central controller 27, wireless communication module 28, GPS module 29 and solar panels 30 are connected on fixed frame 1, in this way
Design is so that power supply 26, central controller 27, wireless communication module 28, GPS module 29 and solar panels 30 will not occupy this reality
With the length space of garbage cleaning robot on new type water, keep the utility model garbage cleaning robot waterborne more short
It is small, consequently facilitating it moves on the water surface, turns to；27 main body of central controller in the present embodiment, which uses, carries Ubuntu systems
The Intel UNC control panels of system run ROS robot operating systems thereon, for the ease of first electricity of the control of central controller 27
Machine 4, the second motor 12 and third motor 14, are accompanied with motor control module on central controller 27, central controller 27 with it is deep
Spend camera 24, ultrasonic sensor 25, wireless communication module 28, GPS module 29, first motor 4, the second motor 12, third
Motor 14 and encoder 23 are electrically connected, and solar panels 30 are electrically connected by charging module (not shown) with power supply 26, power supply
26 be accumulator, preferably lithium battery, and power supply 26 is central controller 27, depth camera 24, ultrasonic sensor 25, wireless
Communication module 28, GPS module 29, first motor 4, the second motor 12, third motor 14 and encoder 23 are powered, wireless telecommunications mould
Block 28 uses 2G/4G routers.
Above embodiment is only that preferred embodiments of the present invention are described, not to the utility model
Range be defined, under the premise of not departing from the spirit of the design of the utility model, those of ordinary skill in the art are to this practicality
The various modifications and improvement that novel technical solution is made should all fall into the protection domain of the utility model claims book determination
It is interior.
Claims (10)
- Be equipped with successively from front to back 1. a kind of garbage cleaning robot waterborne, including hull, on the hull garbage collecting mechanism, Rubbish transport mechanism and garbage storing storage (3) are additionally provided with power supply (26), hull driving mechanism and central controller on the hull (27), central controller (27) the control garbage collecting mechanism, rubbish transport mechanism and the operation of hull driving mechanism, it is described Power supply (26) is powered garbage collecting mechanism, rubbish transport mechanism, hull driving mechanism and central controller (27), special Sign is：Further include depth camera (24), the depth camera (24) is mounted on fore-body, the depth camera (24) it is electrically connected with central controller (27), the power supply (26) is powered depth camera (24).
- 2. garbage cleaning robot waterborne according to claim 1, it is characterised in that：Further include that at least one ultrasonic wave passes Sensor (25), the ultrasonic sensor (25) are mounted on fore-body, the ultrasonic sensor (25) and central controller (27) it is electrically connected, the power supply (26) is powered ultrasonic sensor (25).
- 3. garbage cleaning robot waterborne according to claim 2, it is characterised in that：The ultrasonic sensor (25) is Two, two ultrasonic sensors (25) are separately mounted to the left and right sides of fore-body.
- 4. garbage cleaning robot waterborne according to claim 1 or 2 or 3, it is characterised in that：It further include wireless telecommunications mould Block (28), the wireless communication module (28) are mounted on hull, the wireless communication module (28) and central controller (27) Electrical connection, the power supply (26) are powered wireless communication module (28).
- 5. garbage cleaning robot waterborne according to claim 1 or 2 or 3, it is characterised in that：It further include GPS module (29), the GPS module (29) is mounted on hull, and the GPS module (29) is electrically connected with central controller (27), the electricity Source (26) is powered GPS module (29).
- 6. garbage cleaning robot waterborne according to claim 1 or 2 or 3, it is characterised in that：Further include solar panels (30), the solar panels (30) be mounted on hull upper end at, the power supply (26) be accumulator, the solar panels (30) with Power supply (26) is electrically connected.
- 7. garbage cleaning robot waterborne according to claim 1 or 2 or 3, it is characterised in that：The garbage collecting mechanism Including first motor (4), transmission belt (5), first rotating shaft (6) and at least one driving lever (7), the first motor (4) is connected to On hull, the first rotating shaft (6) is rotatably connected on hull, the output shaft and first rotating shaft of the first motor (4) (6) it is sequentially connected by transmission belt (5), described driving lever (7) one end is connected on first rotating shaft (6) periphery wall, first electricity Machine (4) is electrically connected with central controller (27), and the power supply (26) is powered first motor (4).
- 8. garbage cleaning robot waterborne according to claim 1 or 2 or 3, it is characterised in that：The rubbish transport mechanism Including the second motor (12) and conveyer belt (13), the conveyer belt (13) is connected on hull low early and high afterly, second electricity Machine (12) is connected on hull, and output shaft and the conveyer belt (13) of second motor (12) are sequentially connected, second motor (12) it is electrically connected with central controller (27), the power supply (26) is powered the second motor (12).
- 9. garbage cleaning robot waterborne according to claim 1 or 2 or 3, it is characterised in that：The hull driving mechanism Including two third motors (14) and two propellers (15), two third motors (14) are connected to afterbody The left and right sides, two propellers (15) are sequentially connected with one of third motor (14) respectively, the third motor (14) it is electrically connected with central controller (27), the power supply (26) is powered third motor (14).
- 10. garbage cleaning robot waterborne according to claim 9, it is characterised in that：It is set on the third motor (14) There are encoder (23), the encoder (23) to be electrically connected with central controller (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820480195.8U CN208021681U (en) | 2018-03-30 | 2018-03-30 | Garbage cleaning robot waterborne |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820480195.8U CN208021681U (en) | 2018-03-30 | 2018-03-30 | Garbage cleaning robot waterborne |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208021681U true CN208021681U (en) | 2018-10-30 |
Family
ID=63910267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820480195.8U Expired - Fee Related CN208021681U (en) | 2018-03-30 | 2018-03-30 | Garbage cleaning robot waterborne |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208021681U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110246298A (en) * | 2019-07-09 | 2019-09-17 | 张兰勇 | A kind of crawler type forest patrol robot |
| CN110644455A (en) * | 2019-10-10 | 2020-01-03 | 毛建秀 | Multifunctional overwater garbage collector |
| CN111452924A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Water surface garbage cleaning robot |
| CN111877290A (en) * | 2020-08-10 | 2020-11-03 | 重庆交通大学 | Intelligent water surface cleaning robot |
| CN113944147A (en) * | 2021-04-30 | 2022-01-18 | 李付同 | Multi-mode water surface garbage cleaning robot |
-
2018
- 2018-03-30 CN CN201820480195.8U patent/CN208021681U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110246298A (en) * | 2019-07-09 | 2019-09-17 | 张兰勇 | A kind of crawler type forest patrol robot |
| CN110644455A (en) * | 2019-10-10 | 2020-01-03 | 毛建秀 | Multifunctional overwater garbage collector |
| CN111452924A (en) * | 2020-03-19 | 2020-07-28 | 哈尔滨工业大学 | Water surface garbage cleaning robot |
| CN111877290A (en) * | 2020-08-10 | 2020-11-03 | 重庆交通大学 | Intelligent water surface cleaning robot |
| CN113944147A (en) * | 2021-04-30 | 2022-01-18 | 李付同 | Multi-mode water surface garbage cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181030 Termination date: 20190330 |