CN212766664U - Water surface garbage cleaning robot - Google Patents
Water surface garbage cleaning robot Download PDFInfo
- Publication number
- CN212766664U CN212766664U CN202021557475.8U CN202021557475U CN212766664U CN 212766664 U CN212766664 U CN 212766664U CN 202021557475 U CN202021557475 U CN 202021557475U CN 212766664 U CN212766664 U CN 212766664U
- Authority
- CN
- China
- Prior art keywords
- fixed
- cabin
- water
- buoyancy
- water surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 71
- 238000004140 cleaning Methods 0.000 title claims description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 20
- 229910052802 copper Inorganic materials 0.000 claims description 20
- 239000010949 copper Substances 0.000 claims description 20
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 19
- 230000000903 blocking effect Effects 0.000 claims description 13
- 239000003292 glue Substances 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000010146 3D printing Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 108010066278 cabin-4 Proteins 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 240000003826 Eichhornia crassipes Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 244000207740 Lemna minor Species 0.000 description 1
- 235000006439 Lemna minor Nutrition 0.000 description 1
- 235000001855 Portulaca oleracea Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Images
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The utility model discloses a surface of water rubbish clearance robot, hull mid-mounting power supply circuit cabin, Wifi camera and ultrasonic sensor pass through the cloud platform and fix at power supply circuit cabin front end, the buoyancy system is installed to hull left and right sides symmetry, frame actuating mechanism installs in buoyancy system rear end, buoyancy system front end is fixed with fixed curb plate, garbage collection cage rotatable coupling is controlled between the fixed curb plate of side and is rotatory spacing through stop gear, power supply circuit under-deck portion bears power module and control module on water, control module on water is communication connection Wifi camera respectively, ultrasonic sensor and host computer, control module communication connection frame actuating mechanism on water. The utility model discloses adopt the host computer to go and the gesture adjustment through control module control frame actuating mechanism drive robot on water according to Wifi camera feedback image to cooperation garbage collection cage catches and collects rubbish, garbage collection cage rotatable design can high-efficiently catch rubbish and avoid rubbish to flow, and the rubbish clearance effect is high.
Description
Technical Field
The utility model relates to a rubbish cleaning device, concretely relates to surface of water rubbish clearance robot.
Background
The water surface garbage comprises not only aquatic plants such as duckweeds and water hyacinth, but also domestic garbage floating on the water surface, such as white garbage, branches and the like, and the water surface garbage can pollute the water body, destroy biological chains in the water body and seriously affect the water body. In order to solve the problem of water pollution, various water surface garbage cleaning robots are carried out at the same time. The garbage collection mouth or the open design of current surface of water rubbish clearance robot drops or floats in the water again easily when rubbish is saved more, or collects mouthful less, can not intercept and guide rubbish on a large scale, leads to rubbish cleaning efficiency lower.
Disclosure of Invention
The utility model aims to solve the technical problem that to the not enough of above-mentioned prior art, provide one kind and collect mouthful big and can be according to the flexible surface of water rubbish clearance robot of collecting mouthful of robot gesture adjustment adaptability.
In order to realize the technical purpose, the utility model discloses the technical scheme who takes does: the utility model provides a surface of water rubbish clearance robot, which comprises a ship body, garbage collection cage and frame actuating mechanism, the hull mid-mounting has the power supply circuit cabin, Wifi camera and ultrasonic sensor pass through the cloud platform to be fixed at the outside front end in power supply circuit cabin, the buoyancy system is installed to the side symmetry about the hull, frame actuating mechanism installs in buoyancy system rear end, side buoyancy system front end symmetry is fixed with fixed curb plate about, fixed curb plate extends to the hull front end forward, garbage collection cage sets up between the fixed curb plate of side about, with fixed curb plate rotatable coupling, and through stop gear rotatory spacing, power supply circuit inboard bears power module and control module on water, control module on water respectively communication connection Wifi camera, ultrasonic sensor and frame actuating mechanism, host computer communication connection control module on water, and through control module on water frame actuating mechanism drive robot march, Retreating and steering, and realizing the capture and collection of water surface garbage by matching with a garbage collection cage.
Further, the hull is "worker" type frame, "worker" type frame adopts the ya keli board to print the shaping through 3D, the protruding square frame base that is equipped with in middle part of "worker" type frame, the power supply circuit cabin passes through the bolt and fixes on the square frame base waterproof AB glue.
Further, power supply circuit cabin is including adopting the acrylic board to print fashioned ya keli cabin body and ya keli cabin cover through 3D, yakeli cabin cover passes through bolt and waterproof rubber circle sealing connection with the yakeli cabin body, the cloud platform passes through the bolt fastening at the outside front end of yakeli cabin body, Wifi camera and ultrasonic sensor pass through the bolt and fix respectively at the top and the front portion of cloud platform, and the Wifi camera is located yakeli cabin cover top.
Further, the buoyancy system comprises a buoyancy cabin and a cabin cover, the buoyancy cabin is made of acrylic plates, the buoyancy cabin and the cabin cover are connected in an AB glue sealing mode, the front end face of the buoyancy cabin is inclined inwards and is attached to the inner side inclined face of the front horizontal rod of the ship body, the rear end of the buoyancy cabin is fixed to the rear horizontal rod of the ship body through bolts, and the rack driving mechanism is fixed to the rear portion of the buoyancy cabin.
Further, frame actuating mechanism adopts underwater propulsor, underwater propulsor passes through the bolt and waterproof AB glue is fixed in buoyancy cabin rear portion to be connected through the electricity accent in waterproof line and the power circuit cabin, the electricity accent main control chip adopts the F390 chip, is used for controlling underwater propulsor's brushless motor rotational speed.
Further, control module on water includes computer and main control unit on the ship, main control unit adopts Arduino Mega 2560 module, the signal input part of ultrasonic sensor serial port connection Arduino Mega 2560 module, the brushless motor electricity accent serial port of underwater propulsor connects the signal output part of Arduino Mega 2560 module, Wifi camera and on-board computer communication connection, to the image is shot in computer transmission on the ship, on-board computer and host computer communication connection to the host computer wireless transmission feedback image, the host computer is according to feedback image to on-board computer wireless transmission drive instruction to the operation of lateral underwater propeller about further controlling respectively through main control unit realizes the posture adjustment and the action of surface of water rubbish clearance robot in aqueous.
Furthermore, the power module comprises a water control module power supply system and a rack driving mechanism power supply system, the water control module power supply system is composed of two 18650 lithium batteries connected in series and used for supplying power to a computer and a main controller on a ship, and the rack driving mechanism power supply system is composed of a model airplane battery and used for supplying power to a brushless motor of an underwater propeller.
Further, the back face inner wall of the ya keli cabin body is fixed with two horizontal hexagonal copper posts side by side, the inboard upper left corner department of bottom plate of the ya keli cabin body and the punishment of the upper right corner do not are fixed with hexagonal copper post stake, hexagonal copper post stake is 4 vertical hexagonal copper posts that are the rectangle and distribute, control module power supply system and frame actuating mechanism power supply system on water fix respectively on two horizontal hexagonal copper posts, computer and main control unit pass through the screw and fix respectively on two hexagonal copper post stakes on the ship.
Further, the garbage collection cage includes choked flow interception net frame and string bag, choked flow interception net frame erects and arranges in between the fixed curb plate of left and right sides, with fixed curb plate rotatable coupling to it is rotatory spacing through stop gear, the opening edge of string bag is fixed on choked flow interception net frame, and the corresponding switching of string bag opening along with the positive and negative rotation of choked flow interception net frame.
Further, fixed curb plate passes through the bolt and waterproof AB glue is fixed in the buoyancy cabin front end outside, and two fixed curb plates are bilateral symmetry and distribute, the fixed orifices has been seted up on the fixed curb plate, fixed rotating shaft is installed to choked flow interception net frame bilateral symmetry, choked flow interception net frame wears to establish fixed orifices and fixed curb plate rotatable coupling through fixed rotating shaft, stop gear includes arc spacing groove and spacing pivot, the arc spacing groove is seted up on the fixed curb plate of fixed orifices front side, spacing pivot symmetry is fixed in the left and right sides of fixed curb plate, and is located the fixed rotating shaft front side, choked flow interception net frame wears to establish the arc spacing groove through the spacing pivot in both sides and prescribes a limit to fixed curb plate maximum reversal to the face vertical, the protruding "J" type choked flow board that is crooked forward that is equipped with in the square basket front end bottom of interception net frame.
The utility model discloses following beneficial effect has:
1) the utility model adopts the movement of the garbage collecting cage matching with the ship body to intercept and collect garbage, wherein the choked flow intercepting net frame of the garbage collecting cage can be rotatably connected between the fixed side plates, and the bottom of the choked flow intercepting net frame is provided with a J-shaped choked flow plate, when the ship body moves forward, the J-shaped choked flow plate can be subjected to water flow resistance, the J-shaped choked flow plate is subjected to downward force to enable the choked flow intercepting net frame to rotate anticlockwise to a lower limit position, the net bag has the largest opening and can start to work again, when the ship body is in a working state, the state vertical to the water surface is kept to work continuously due to the fluid pressure principle, as the garbage collecting cage is in the working state when the ship body moves forward, the floating garbage can automatically flow into the net bag to achieve the effect of intercepting, when the ship body moves backwards, the net bag moves towards the opposite direction of ship, the net bag is closed under the choke, the intercepted garbage is prevented from flowing out of the garbage collection cage, after garbage cleaning is finished, the ship body drives away from the water surface, and the flow blocking interception net frame keeps a horizontal state due to gravity, so that the water surface garbage cleaning robot greatly improves the garbage cleaning effect by maximizing the opening of the net bag to intercept the garbage and closing the net bag opening to prevent the garbage from flowing back;
2) the utility model discloses a choked flow interception net frame passes through the cooperation rotatable coupling of fixed orifices and fixed rotating shaft between two fixed curb plates to carry out the spacing to choked flow interception net frame turned angle through the cooperation of spacing rotating shaft and arc spacing groove, the fixed orifices can fully give choked flow interception net frame mobility and degree of freedom, and the arc spacing groove has restricted the range of motion of choked flow interception net frame, make it can normally work in suitable range, this kind of structure can give interception net frame replaceability simultaneously, make things convenient for the change of the interception net frame of different functions under the specific scene;
3) the utility model adopts the structural design of the double-cabin body (left and right buoyancy system) made of acrylic material, compared with the existing single-cabin hull ship, the ship body buoyancy is effectively provided, the stability of the ship body is also improved, the resistance borne by the ship body during navigation is reduced, and the available space of the robot is greatly increased;
4) the hull and the power circuit cabin of the utility model are both formed by 3D printing through the acrylic plates, so that the weight of the hull is greatly reduced, and the overall buoyancy of the hull can be increased;
5) the utility model discloses a propulsion form of two brushless motor (control two underwater propulsors), compare in single motor, can control navigation direction and hull gesture more easily, also can provide stronger power for the organism simultaneously, and the design can be opened in the adoption of power supply circuit cabin, power module adopts detachable model aeroplane and model ship battery to be underwater propulsor's brushless motor power supply, not only can provide tangible effectual duration, also can change more convenient and fast ground when the electric quantity exhausts, the actual working ability of this robot has been improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a discrete view of the hull and power circuit bay of FIG. 1;
FIG. 3 is a top view of the interior of the power circuit compartment of FIG. 1;
fig. 4 is a side view of the connection of the choke intercepting screen frame of fig. 1 with the fixed side plates;
FIG. 5 is a discrete view of the buoyancy system, choke screen frame and fixed side plates of FIG. 1;
FIG. 6 is a side view of the buoyancy system of the present invention in connection with a frame drive mechanism;
FIG. 7 is a schematic view of the garbage collection cage of the present invention before and after interception;
fig. 8 is a control flow block diagram of the present invention.
Wherein the reference numerals are: the device comprises a ship body 1, a garbage collection cage 2, a choked flow interception net frame 2-1, a net bag 2-2, a fixed rotating shaft 2-3, a rack driving mechanism 3, a power circuit cabin 4, an acrylic cabin body 4-1, an acrylic cabin cover 4-2, a horizontal hexagonal copper column 4-3, a hexagonal copper column pile 4-4, a Wifi camera 5, an ultrasonic sensor 6, a cloud deck 7, a buoyancy system 8, a buoyancy cabin 8-1, a cabin cover 8-2, a fixed side plate 9, a fixed hole 9-1, an upper computer 10, a ship computer 11-1, a main controller 11-2, an overwater control module power supply system 12-1, a rack driving mechanism power supply system 12-2, an arc limiting groove 13-1 and a limiting rotating shaft 13-2.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in figures 1-8, the utility model relates to a water surface garbage cleaning robot, which comprises a ship body 1, a garbage collecting cage 2 and a frame driving mechanism 3, wherein the ship body 1 is an I-shaped frame, the I-shaped frame is formed by 3D printing through an acrylic plate, a square frame base is convexly arranged in the middle of the I-shaped frame, a power circuit cabin 4 is fixed on the square frame base through bolts and waterproof AB glue, the power circuit cabin 4 comprises an acrylic cabin body 4-1 and an acrylic cabin cover 4-2 which are formed by 3D printing through the acrylic plate, the acrylic cabin cover 4-2 is hermetically connected with the acrylic cabin body 4-1 through bolts and a waterproof rubber ring, a tripod head 7 is fixed at the front end of the outer part of the acrylic cabin body 4-1 through bolts, a Wifi camera 5 and an ultrasonic sensor 6 are respectively fixed at the top and the front part of the tripod head 7 through bolts, the Wifi camera 5 is positioned above an acrylic hatch cover 4-2, the left side and the right side of the ship body 1 are symmetrically provided with buoyancy systems 8, each buoyancy system 8 comprises a buoyancy cabin 8-1 and a hatch cover 8-2 made of acrylic plate materials, AB glue is hermetically connected between the buoyancy cabin 8-1 and the hatch cover 8-2, the front end surface of the buoyancy cabin 8-1 is inwards inclined and is attached to the inclined surface of the inner side of a front horizontal rod of the ship body 1, the rear end of the buoyancy cabin 8-1 is fixed on a rear horizontal rod of the ship body 1 through a bolt, the rack driving mechanism 3 adopts an underwater propeller, the underwater propeller is fixed at the rear part of the buoyancy cabin 8-1 through a bolt and waterproof AB glue and is connected with an electric regulator in the power circuit cabin 4 through a waterproof circuit, the electric regulator chip adopts an F390 chip for controlling the rotating speed of a brushless motor of the underwater propeller, a fixed side plate 9 is fixed at the outer side of the front end of the buoyancy cabin 8-1 through a bolt, the two fixed side plates 9 are distributed in bilateral symmetry, the fixed side plates 9 extend forwards to the front end of the ship body 1, the garbage collection cage 2 comprises a flow-resisting interception net frame 2-1 and a net bag 2-2, the flow-resisting interception net frame 2-1 is arranged between the left and right fixed side plates 9 and is rotatably connected with the fixed side plates 9 and is limited in rotation through a limiting mechanism, the opening edge of the net bag 2-2 is fixed on the flow-resisting interception net frame 2-1, and the opening of the net bag 2-2 is correspondingly opened and closed along with the positive and negative rotation of the flow-resisting interception net frame 2-1, so that the flow-resisting interception net frame 2-1 rotates reversely to a vertical state during interception work, the opening of the net bag 2-2 is maximum, the garbage interception and capture effect is improved, meanwhile, when garbage interception is finished, the flow-resisting interception net frame 2-1 rotates forwards to a horizontal, in order to prevent the captured water surface garbage from flowing out, a power supply module and a water control module are loaded in a power supply circuit cabin 4, the water control module comprises an on-board computer 11-1 and a main controller 11-2, the main controller 11-2 adopts an Arduino Mega 2560 module, an ultrasonic sensor 6 is connected with a signal input end of the Arduino Mega 2560 module through a serial port, a brushless motor electric regulation serial port of an underwater propeller is connected with a signal output end of the Arduino Mega 2560 module, a Wifi camera 5 is in communication connection with the on-board computer 11-1 and transmits a shooting image to the on-board computer 11-1, the on-board computer 11-1 is in communication connection with an upper computer 10 and wirelessly transmits a feedback image to the upper computer 10, the upper computer 10 wirelessly transmits a driving instruction to the on-board computer 11-1 according to the feedback image and further controls the left and right under-side underwater propellers to operate respectively through the main controller 11-, realize the posture adjustment and the action of surface of water rubbish clearance robot in aqueous to the cooperation rubbish collection cage 2 realizes the seizure of surface of water rubbish and collects.
In the embodiment, the power supply module comprises an above-water control module power supply system 12-1 and a rack driving mechanism power supply system 12-2, the above-water control module power supply system 12-1 is two 18650 lithium batteries connected in series and used for supplying power to the onboard computer 11-1 and the main controller 11-2, and the rack driving mechanism power supply system 12-2 is a model airplane battery and used for supplying power to a brushless motor of the underwater propeller.
As shown in fig. 2 and 3, two horizontal hexagonal copper cylinders 4-3 are fixed on the inner wall of the rear panel surface of the acrylic cabin 4-1 side by side, hexagonal copper cylinder piles 4-4 are fixed at the upper left corner and the upper right corner of the inner side of the bottom plate of the acrylic cabin 4-1 respectively, the hexagonal copper cylinder piles 4-4 are 4 vertical hexagonal copper cylinders which are distributed in a rectangular shape, the water control module power supply system 12-1 and the rack driving mechanism power supply system 12-2 are fixed on the two horizontal hexagonal copper cylinders 4-3 respectively, and the onboard computer 11-1 and the main controller 11-2 are fixed on the two hexagonal copper cylinder piles 4-4 respectively through screws.
As shown in fig. 1 and 5, a fixed hole 9-1 is formed on a fixed side plate 9, fixed rotating shafts 2-3 are symmetrically installed on both sides of a flow blocking interception net frame 2-1, the flow blocking interception net frame 2-1 is rotatably connected with the fixed side plate 9 by penetrating the fixed hole 9-1 through the fixed rotating shaft 2-3, a limiting mechanism comprises an arc limiting groove 13-1 and a limiting rotating shaft 13-2, the arc limiting groove 13-1 is formed on the fixed side plate 9 on the front side of the fixed hole 9-1, the limiting rotating shafts 13-2 are symmetrically fixed on the left side and the right side of the fixed side plate 9 and positioned on the front side of the fixed rotating shaft 2-3, the flow blocking interception net frame 2-1 is limited by penetrating the arc limiting grooves 13-1 through the limiting rotating shafts 13-2 on both sides to limit the maximum reverse rotation of the fixed side plate 9 to the vertical plate surface, a forward-bent 'J' type flow blocking plate is convexly arranged at the, when the ship body 1 advances, the J-shaped flow resisting plate can be subjected to water flow resistance, at the moment, the flow resisting intercepting net frame 2-1 is subjected to downward acting force and rotates anticlockwise to a lower limit position (the flow resisting intercepting net frame 2-1 is in a vertical state) to start working, when the flow resisting plate is in a working state, the flow resisting intercepting net frame can keep a state perpendicular to the water surface to continuously work due to the fluid pressure principle, and as the garbage collecting cage 2 is in the working state when the ship body 1 advances, garbage floating on the water surface can automatically flow into the net bag 2-2, so that the garbage intercepting effect is achieved.
The use process comprises the following steps: the water surface garbage cleaning robot is put into water, an operator receives images shot by a Wifi camera 5 through an upper computer 10, and wirelessly sends driving instructions to an onboard computer 11-1 while observing the water surface condition, the onboard computer 11-1 further controls a left underwater propeller and a right underwater propeller to operate through a main controller 11-2 respectively, so that the robot moves, retreats, turns, rotates and the like in the water, an ultrasonic sensor 6 continuously emits ultrasonic waves outwards in the process and transmits the received ultrasonic waves to the main controller 11-2, the main controller 11-2 judges the distance between the robot and a large obstacle (such as a pier) according to received ultrasonic signals, and then automatically avoids the robot by controlling the underwater propeller to turn, in the forward moving process, an interception flow blocking net frame 2-1 of a garbage collection cage 2 is in a working position (the flow blocking net frame 2-1 is vertical, the net bag 2-2 has the largest opening), effectively catches the water surface garbage, and after the fishing is successful, an operator observes the water surface condition in real time through the Wifi camera 5, and drives the robot to continuously search the garbage through the frame driving mechanism 3 until the fishing net is full, after the catching work is finished, the robot drives backwards and returns, the net bag 2-2 drifts in the opposite direction to the robot, the port 2-2 of the net bag is closed under the pressing of the choked flow intercepting net frame 2-1 which rotates to the horizontal state, the intercepted garbage is prevented from flowing out of the garbage collecting cage, the robot drives away from the water surface, due to the gravity, the choked flow intercepting net frame 2-1 is in a horizontal state, so that the water surface garbage cleaning robot can improve the garbage cleaning efficiency by maximizing the opening of the net bag 2-2 to intercept garbage and closing the opening of the net bag 2-2 to prevent the garbage from flowing back.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (10)
1. The water surface garbage cleaning robot comprises a ship body (1), a garbage collecting cage (2) and a rack driving mechanism (3), and is characterized in that a power circuit cabin (4) is installed in the middle of the ship body (1), a Wifi camera (5) and an ultrasonic sensor (6) are fixed at the front end outside the power circuit cabin (4) through a holder (7), buoyancy systems (8) are symmetrically installed on the left side and the right side of the ship body (1), the rack driving mechanism (3) is installed at the rear end of the buoyancy systems (8), fixed side plates (9) are symmetrically fixed at the front ends of the left buoyancy system and the right buoyancy system (8), the fixed side plates (9) extend forwards to the front end of the ship body (1), the garbage collecting cage (2) is arranged between the left fixed side plate and the right fixed side plate (9), is rotatably connected with the fixed side plates (9) and is rotationally limited through a limiting mechanism, a power module and a water control module are loaded inside the power circuit cabin (4), the overwater control module is respectively in communication connection with the Wifi camera (5), the ultrasonic sensor (6) and the frame driving mechanism (3), the upper computer (10) is in communication connection with the overwater control module, controls the frame driving mechanism (3) to drive the robot to advance, retreat and turn, and is matched with the garbage collection cage (2) to capture and collect garbage on the water surface.
2. A water surface garbage cleaning robot according to claim 1, characterized in that: the ship body (1) is an I-shaped frame, the I-shaped frame is formed by adopting an acrylic plate through 3D printing, a square frame base is convexly arranged in the middle of the I-shaped frame, and the power circuit cabin (4) is fixed on the square frame base through a bolt and waterproof AB glue.
3. A water surface garbage cleaning robot according to claim 2, characterized in that: power supply circuit cabin (4) including adopt the ya keli board to print fashioned ya keli cabin body (4-1) and ya keli cabin cover (4-2) through 3D, ya keli cabin cover (4-2) pass through bolt and waterproof rubber circle sealing connection with the yakeli cabin body (4-1), cloud platform (7) pass through the bolt fastening at the outside front end of yakeli cabin body (4-1), Wifi camera (5) and ultrasonic sensor (6) are fixed respectively at the top and the front portion of cloud platform (7) through the bolt, and Wifi camera (5) are located yakeli cabin cover (4-2) top.
4. A water surface garbage cleaning robot according to claim 3, characterized in that: the buoyancy system (8) comprises a buoyancy cabin (8-1) and a cabin cover (8-2) which are made of acrylic plates, the buoyancy cabin (8-1) is connected with the cabin cover (8-2) in an AB glue sealing mode, the front end face of the buoyancy cabin (8-1) inclines inwards and is attached to the inner side inclined face of a front horizontal rod of the ship body (1), the rear end of the buoyancy cabin (8-1) is fixed to a rear horizontal rod of the ship body (1) through bolts, and the rack driving mechanism (3) is fixed to the rear portion of the buoyancy cabin (8-1).
5. A water surface garbage cleaning robot according to claim 4, characterized in that: the underwater electric control system is characterized in that the frame driving mechanism (3) adopts an underwater propeller, the underwater propeller is fixedly arranged at the rear part of the buoyancy cabin (8-1) through a bolt and waterproof AB glue and is electrically connected with an electric controller in the power circuit cabin (4) through a waterproof circuit, and the electric controller main control chip adopts an F390 chip and is used for controlling the rotating speed of a brushless motor of the underwater propeller.
6. A water surface garbage cleaning robot according to claim 5, characterized in that: the overwater control module comprises a shipboard computer (11-1) and a main controller (11-2), the main controller (11-2) adopts an Arduino Mega 2560 module, the signal input end of the Arduino Mega 2560 module is connected with the serial port of the ultrasonic sensor (6), the signal output end of the Arduino Mega 2560 module is connected with the electric regulation serial port of the underwater propeller through a brushless motor, the Wifi camera (5) is in communication connection with the shipboard computer (11-1), images are shot through transmission of the shipboard computer (11-1), the shipboard computer (11-1) is in communication connection with an upper computer (10) and feeds back images through the wireless transmission of the upper computer (10), the upper computer (10) sends driving instructions through the feedback images to the shipboard computer (11-1) through the wireless transmission of the feedback images, and further controls the left and right lateral water propulsion unit to operate through the main controller (11-2), the posture adjustment and the action of the water surface garbage cleaning robot in water are realized.
7. A water surface garbage cleaning robot according to claim 6, characterized in that: the power supply module comprises a water control module power supply system (12-1) and a rack driving mechanism power supply system (12-2), the water control module power supply system (12-1) is composed of two 18650 lithium batteries which are connected in series and used for supplying power to a computer (11-1) and a main controller (11-2) on a ship, and the rack driving mechanism power supply system (12-2) is composed of a model airplane battery and used for supplying power to a brushless motor of an underwater propeller.
8. A water surface garbage cleaning robot according to claim 7, characterized in that: the back face inner wall of ya keli cabin body (4-1) is fixed with two horizontal hexagonal copper post (4-3) side by side, the inboard upper left corner department of bottom plate and the upper right corner punishment of the yakeli cabin body (4-1) do not are fixed with hexagonal copper post stake (4-4), hexagonal copper post stake (4-4) are 4 vertical hexagonal copper posts that are the rectangle and distribute, control module power supply system (12-1) and frame actuating mechanism power supply system (12-2) on water are fixed respectively on two horizontal hexagonal copper posts (4-3), computer (11-1) and main control unit (11-2) are fixed respectively on two hexagonal copper post stakes (4-4) through the screw on the ship.
9. A water surface garbage cleaning robot according to claim 8, characterized in that: the garbage collection cage (2) comprises a flow blocking interception net frame (2-1) and a net bag (2-2), the flow blocking interception net frame (2-1) is arranged between left and right side fixed side plates (9), is rotatably connected with the fixed side plates (9) and is limited in rotation through a limiting mechanism, the opening edge of the net bag (2-2) is fixed on the flow blocking interception net frame (2-1), and the opening of the net bag (2-2) is correspondingly opened and closed along with the positive and negative rotation of the flow blocking interception net frame (2-1).
10. A water surface garbage cleaning robot according to claim 9, characterized in that: the fixed side plates (9) are fixed on the outer side of the front end of the buoyancy cabin (8-1) through bolts and waterproof AB glue, the two fixed side plates (9) are distributed in a bilateral symmetry mode, fixing holes (9-1) are formed in the fixed side plates (9), fixed rotating shafts (2-3) are symmetrically installed on two sides of the flow blocking interception net frame (2-1), the flow blocking interception net frame (2-1) penetrates through the fixing holes (9-1) through the fixed rotating shafts (2-3) to be rotatably connected with the fixed side plates (9), the limiting mechanism comprises arc limiting grooves (13-1) and limiting rotating shafts (13-2), the arc limiting grooves (13-1) are formed in the fixed side plates (9) on the front sides of the fixing holes (9-1), and the limiting rotating shafts (13-2) are symmetrically fixed on the left side and the right side of the fixed side plates (9), and the choke interception net frame (2-1) is provided with arc-shaped limiting grooves (13-1) through the limiting rotating shafts (13-2) at two sides to limit the maximum reversion of the fixed side plates (9) to be vertical to the plate surface, and the bottom of the front end of the square basket of the choke interception net frame (2-1) is convexly provided with a forward-bent J-shaped choke plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021557475.8U CN212766664U (en) | 2020-07-31 | 2020-07-31 | Water surface garbage cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021557475.8U CN212766664U (en) | 2020-07-31 | 2020-07-31 | Water surface garbage cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212766664U true CN212766664U (en) | 2021-03-23 |
Family
ID=75049263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021557475.8U Active CN212766664U (en) | 2020-07-31 | 2020-07-31 | Water surface garbage cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212766664U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113668483A (en) * | 2021-08-16 | 2021-11-19 | 江苏中科基业环境科技有限公司 | Blue-green algae automatic identification fishing equipment based on Internet of things and using method thereof |
| CN113957871A (en) * | 2021-11-19 | 2022-01-21 | 常州工学院 | Novel aquatic garbage collector |
| CN114030573A (en) * | 2021-11-26 | 2022-02-11 | 江苏科技大学 | Intelligent control system of water surface sundry salvage ship based on raspberry group |
| CN114184350A (en) * | 2021-11-17 | 2022-03-15 | 西安近代化学研究所 | Self-righting and separating device for marine test recovery body |
| CN114991105A (en) * | 2022-07-06 | 2022-09-02 | 江苏科技大学 | Novel garbage on water clearance device |
| WO2024169431A1 (en) * | 2023-02-17 | 2024-08-22 | 深圳市元鼎智能创新有限公司 | Water surface cleaning robot |
-
2020
- 2020-07-31 CN CN202021557475.8U patent/CN212766664U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113668483A (en) * | 2021-08-16 | 2021-11-19 | 江苏中科基业环境科技有限公司 | Blue-green algae automatic identification fishing equipment based on Internet of things and using method thereof |
| CN114184350A (en) * | 2021-11-17 | 2022-03-15 | 西安近代化学研究所 | Self-righting and separating device for marine test recovery body |
| CN114184350B (en) * | 2021-11-17 | 2024-05-28 | 西安近代化学研究所 | Self-righting disengaging device of offshore test recovery body |
| CN113957871A (en) * | 2021-11-19 | 2022-01-21 | 常州工学院 | Novel aquatic garbage collector |
| CN114030573A (en) * | 2021-11-26 | 2022-02-11 | 江苏科技大学 | Intelligent control system of water surface sundry salvage ship based on raspberry group |
| CN114991105A (en) * | 2022-07-06 | 2022-09-02 | 江苏科技大学 | Novel garbage on water clearance device |
| CN114991105B (en) * | 2022-07-06 | 2024-05-28 | 江苏科技大学 | Novel garbage on water clearance device |
| WO2024169431A1 (en) * | 2023-02-17 | 2024-08-22 | 深圳市元鼎智能创新有限公司 | Water surface cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212766664U (en) | Water surface garbage cleaning robot | |
| CN107897137B (en) | Open-frame type omnibearing sea cucumber catching robot | |
| CN104627342A (en) | Gliding machine dolphin | |
| CN208021681U (en) | Garbage cleaning robot waterborne | |
| CN107600337A (en) | A kind of unmanned boat | |
| CN211592892U (en) | Center-of-gravity shifting type amphibious sampling robot | |
| CN207496895U (en) | The novel and multifunctional water surface monitors trimaran | |
| CN203958575U (en) | One is search and rescue robot under water | |
| CN113697077B (en) | Propulsion device for an aircraft, aircraft and control method for an aircraft | |
| CN113665749B (en) | Aircraft | |
| CN109878643A (en) | A kind of Full-automatic water surface junk-free device | |
| CN209051574U (en) | A kind of Autonomous Underwater Vehicle | |
| CN208803449U (en) | A kind of over-water floats collection device | |
| CN207292330U (en) | A kind of river garbage pick-up boat | |
| CN110397008B (en) | Water surface garbage cleaning device and control system and control method thereof | |
| CN114475950A (en) | Marine ranch inspection mobile device and working method thereof | |
| CN109665071A (en) | A kind of river garbage pick-up boat | |
| CN205221045U (en) | Underwater robot | |
| CN212667613U (en) | Water surface garbage cleaning robot for small and medium water areas | |
| CN113665750A (en) | Aircraft | |
| CN207311780U (en) | Unmanned boat | |
| CN216070430U (en) | High-efficient surface of water garbage collection robot | |
| CN206590079U (en) | Unmanned refuse reclamation ship | |
| CN218969945U (en) | Marine floating plastic collecting device | |
| CN205221067U (en) | Robot controls unmanned ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing University of Engineering Science Park Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980033985 Denomination of utility model: A Water Surface Garbage Cleaning Robot Granted publication date: 20210323 License type: Common License Record date: 20230323 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980035197 Denomination of utility model: A Water Surface Garbage Cleaning Robot Granted publication date: 20210323 License type: Common License Record date: 20230506 |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980035197 Date of cancellation: 20240301 |