CN219947805U - Amphibious intelligent cleaning robot - Google Patents

Abstract

The utility model provides an amphibious intelligent cleaning robot, which belongs to the technical field of garbage treatment and comprises a main body, a plurality of crawler wheels, propellers, rudders, a first mechanical arm and a control system, wherein the crawler wheels are symmetrically arranged on two sides of the main body, the propellers and the rudders are arranged at the rear end of the main body, the first mechanical arm is arranged at the front end of the top of the main body, the front end of the first mechanical arm is provided with a mechanical arm, the control system is arranged on the main body, two sides of the main body are provided with foldable garbage collection devices, and each garbage collection device comprises an upper circular ring, a lower fan blade and a folding connecting arm; the inner end of the folding connecting arm is connected to the main body, and the upper circular ring and the lower fan blade are respectively connected to the upper side and the lower side of the outer end of the folding connecting arm; the lower fan blade is connected with a driving motor; the main part both sides are equipped with refuse collection device assorted recess, and this device can high-efficient collection surface of water rubbish and handle surface of water greasy dirt, and rubbish capacity is big, and whole work efficiency is high.

Description

Amphibious intelligent cleaning robot

Technical Field

The utility model belongs to the technical field of garbage disposal, and particularly relates to an amphibious intelligent cleaning robot.

Background

With the development of economy, the environmental protection problem is still an important problem for building a good society. In cities, household garbage in the form of pop cans, plastic bottles, waste paper clusters, greasy dirt and the like often appear on the road surface or on the water surface.

The utility model discloses a Chinese patent application with publication number of CN115610170A, which comprises a ship body, wherein a storage box is detachably arranged in the ship body, a driving motor is arranged in the ship body, a controller is arranged in the ship body, a mechanical arm is arranged on the side wall of the ship body, a claw disc is arranged on the mechanical arm, a scanner and a camera are arranged on the ship body, a tail screw is arranged on the ship body, the tail screw and the mechanical arm are respectively arranged on two sides of the ship body, side screw are arranged on the side walls of the other two ends of the ship body, and guide wheels are movably arranged at the bottom end of the ship body. The utility model integrates the functions of garbage picking and catching, amphibious advancing, embedded type replaceable box body, garbage collecting and preliminary classifying, aquatic plant seed sowing and the like, has light, small and flexible body shape, reduces the labor intensity and labor risk of sanitation workers, can replace manpower to finish garbage picking on water surface and surrounding wetlands, and can be used for sowing aquatic plants in the aspects of environment beautification and busy season.

Although the above device can collect garbage on land and water, the following disadvantages exist:

1. the mechanical arm is simply relied on to grasp the garbage, and when the garbage on the water surface is more dispersed and the volume is smaller, the collection efficiency is low.

2. The garbage collected is directly stored in the box body and is not subjected to compression treatment, the garbage collected is small in capacity, garbage in the box body needs to be frequently emptied and then collected, and the overall working efficiency is low.

3. The device can only collect garbage, but can not treat greasy dirt on the water surface.

Disclosure of Invention

The utility model aims to solve the problems in the background art, and provides an amphibious intelligent cleaning robot which can efficiently collect water surface garbage and treat water surface oil stains, and has the advantages of large garbage capacity and high overall working efficiency.

In order to achieve the technical purpose, the utility model adopts the following technical scheme:

the amphibious intelligent cleaning robot comprises a main body, a plurality of crawler wheels, propellers, rudders, first mechanical arms and a control system, wherein the crawler wheels are symmetrically arranged on two sides of the main body, the propellers and the rudders are arranged at the rear end of the main body, the first mechanical arms are arranged at the front end of the top of the main body, the mechanical arms are arranged at the front end of the first mechanical arms, the control system is arranged on the main body, foldable garbage collection devices are arranged on two sides of the main body, and each garbage collection device comprises an upper circular ring, a lower fan blade and a folding connecting arm; the inner end of the folding connecting arm is connected to the main body, and the upper circular ring and the lower fan blade are respectively connected to the upper side and the lower side of the outer end of the folding connecting arm through a first electric telescopic rod; a plurality of baffles are annularly and equidistantly arranged on the outer side wall of the upper circular ring; the lower fan blade is connected with a driving motor; grooves matched with the garbage collection device are formed in two sides of the main body.

Preferably, the number of the crawler wheels is four, the crawler wheels comprise a crawler, a driving gear, a driven gear, a connecting rod and a speed regulating motor, the driving gear is connected with an output shaft of the speed regulating motor, and the crawler is in transmission connection with the peripheries of the driving gear and the driven gear; the driving gear and the driven gear are provided with independent connecting rods, and the connecting rods are connected to a second electric telescopic rod on the main body; and a liquid level sensor is arranged at the center of the driving gear or the driven gear.

Preferably, the front end of the main body is provided with an identification device, and the identification device comprises an infrared sensor and an ultrasonic distance sensor; the two ends of the first electric telescopic rod can be respectively and independently telescopic.

Preferably, the two sides of the main body are provided with second mechanical arms, the front end of each second mechanical arm is provided with a suction nozzle, and the suction nozzles are communicated with the oil-water separator through connecting pipes; the second mechanical arm adopts an ArmPi mini mechanical arm, and the suction nozzle is provided with an image identifier.

Preferably, a cavity is arranged in the oil-water separator, a plurality of layers of filter membranes are arranged in the cavity, and the filter membranes adopt the picea africana slices with the thickness of mm; the bottom of the oil-water separator is provided with a water outlet.

Preferably, a suspension pontoon is connected to the outer side of the crawler wheel.

Preferably, the top of the main body is provided with a garbage compression device, the garbage compression device is hollow, the top of the garbage compression device is provided with a plurality of squeeze roller sets, and each squeeze roller set comprises two squeeze rollers with opposite directions; the extrusion roller set is used for extruding garbage and conveying the garbage into the garbage compression device; the garbage compression device is provided with a plurality of laser sensors below the extrusion roller group, and laser emitted by the laser sensors forms a grid plane; and a gap matched with the manipulator is reserved between the extrusion roller sets, and a cover matched with the gap is arranged in the gap.

Preferably, the main body is provided with a plurality of solar panels, a storage battery and a radar, and the storage battery is respectively and electrically connected with the solar panels and the radar.

Preferably, the control system employs raspberry group B.

Preferably, the first mechanical arm adopts an ArmPi mini mechanical arm; an image identifier is arranged on the manipulator.

The beneficial effects of the utility model are as follows:

1. when the robot works in water, a vortex is produced by rotating the lower fan blade of the garbage collection device in the water, peripheral garbage is adsorbed, the garbage is collected at the periphery of the upper circular ring after being adsorbed, and the garbage is separated by a baffle at the periphery of the upper circular ring (so that the garbage can keep relatively static and does not rotate along with the vortex any more and is easy to pick up), and then the garbage at the periphery of the upper circular ring is picked up by a manipulator at the front end of the first mechanical arm; therefore, the adjacent garbage is adsorbed, so that the robot can collect all the garbage through the first mechanical arm without moving, and the garbage is not required to be moved to each garbage position for collection, and the collection efficiency is greatly improved.

2. The second mechanical arms are arranged on two sides of the main body, the suction nozzles are arranged at the front ends of the second mechanical arms and are communicated with the oil-water separator, the suction nozzles are controlled by the second mechanical arms to suck oil stains on the water surface, and clear water is discharged after being treated by the oil-water separator, so that the cleaning of garbage on the water surface is realized, the oil stains on the water surface are cleaned, the cleaning function of the robot is expanded, and the practicability of the robot is improved.

3. The garbage compression device is arranged at the top of the main body, garbage is compressed through the squeeze roller group and then is put into the garbage compression device for storage, so that the space utilization rate is greatly improved, more garbage can be stored in the same space, the garbage storage box of the robot is prevented from being frequently emptied and then is collected, and the working efficiency is improved; in addition, the whole robot can keep smaller volume, and the manufacturing cost is saved.

Drawings

FIG. 1 is a schematic view of the garbage collection apparatus of the present utility model when folded;

FIG. 2 is a schematic view of the garbage collection apparatus of the present utility model when deployed;

FIG. 3 is a top view of the present utility model;

FIG. 4 is a bottom view of the present utility model;

FIG. 5 is a schematic diagram of a garbage collection device.

Name of the label in the figure:

1. the device comprises a main body, 2, crawler wheels, 4, a propeller, 5, an infrared sensor, 6, an ultrasonic distance sensor, 7, a first mechanical arm, 8, a mechanical arm, 10, a garbage collection device, 11, an upper circular ring, 12, a lower fan blade, 13, a folding connecting arm, 14, a first electric telescopic rod, 15, a groove, 16, a solar panel, 17, a storage battery, 18, a second mechanical arm, 19, a suction nozzle, 22, a water outlet, 23, a garbage compression device, 24, a squeeze roller, 26, a radar, 27 and a suspension buoy.

Description of the embodiments

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings.

It should be noted that the terms like "upper", "lower", "left", "right", "front", "rear", and the like are also used for descriptive purposes only and are not intended to limit the scope of the utility model in which the utility model may be practiced, but rather the relative relationship of the terms may be altered or modified without materially altering the teachings of the utility model.

As shown in fig. 1-4, the utility model provides an amphibious intelligent cleaning robot, which comprises a main body 1, four crawler wheels 2 (the specific number can be set according to actual demands), propellers 4, rudders (not shown in the figure and positioned between the propellers 4), a first mechanical arm 7 and a control system, wherein the crawler wheels 2 are symmetrically arranged at two sides of the main body 1 and are used for driving the robot to move; the crawler wheels 2 comprise crawler belts, driving gears, driven gears, connecting rods and speed regulating motors, the driving gears are connected with output shafts of the speed regulating motors, and the speed regulating motors of each crawler wheel 2 are independently controlled by a control system, so that the steering of the robot is realized by setting different rotating speeds of the speed regulating motors;

the caterpillar is connected with the peripheries of the driving gear and the driven gear in a transmission way; the driving gear and the driven gear are provided with independent connecting rods, the connecting rods are connected to a second electric telescopic rod on the main body 1, the second electric telescopic rod drives the crawler wheels 2 to move up and down, and the second electric telescopic rod is controlled by a control system to stretch; the center of the driving gear or the driven gear is provided with a liquid level sensor, the liquid level sensor is electrically connected with a control system, and when the liquid level sensor on the crawler wheels 2 at the front end and the rear end detects that the water level reaches the position, the control system controls the robot to enter a water mode (the water mode will be described in detail later);

the propellers 4 and the rudders are arranged at the rear end of the main body 1, the embodiment adopts two propellers 4 which are arranged in bilateral symmetry, the specific number of the propellers can be set according to actual requirements, when the robot is positioned in water, the propellers 4 drive the robot to advance, the rudders are used for controlling the advancing direction of the robot, and the propellers 4 and the rudders are controlled by a control system;

the first mechanical arm 7 is an ArmPi mini mechanical arm (other types of mechanical arms can be adopted as long as the mechanical arm 8 at the front end can be moved to a designated position), the first mechanical arm 7 is arranged at the front end of the top of the main body 1, the mechanical arm 8 is arranged at the front end of the first mechanical arm 7, the control system is arranged on the main body 1, an image identifier (such as a camera) can be arranged on the mechanical arm 8 so as to better identify a target, and garbage is grabbed by the mechanical arm 8 at the front end of the first mechanical arm 7;

two sides of the main body 1 are provided with foldable garbage collection devices 10, and each garbage collection device 10 comprises an upper circular ring 11, a lower fan blade 12 and a folding connecting arm 13; the inner ends of the folding connecting arms 13 are connected to the main body 1, the upper circular ring 11 and the lower fan blades 12 are respectively connected to the upper side and the lower side of the outer end of the folding connecting arms 13 through first electric telescopic rods 14, namely the outer ends of the folding connecting arms 13 are connected with first electric telescopic rods 14, the two ends of each first electric telescopic rod 14 are respectively connected with the upper circular ring 11 and the lower fan blades 12, and the upper circular ring 11 and the lower fan blades 12 are respectively positioned on the upper side and the lower side of the folding connecting arms 13; the upper end and the lower end of the first electric telescopic rod 14 can respectively and independently extend and retract, so that the lifting of the upper circular ring 11 and the lower fan blade 12 can be respectively and independently controlled;

in order to protect the lower fan blade 12, a protection ring is also arranged on the periphery of the lower fan blade, and the protection ring is connected to the first electric telescopic rod 14;

the outer side wall of the upper circular ring 11 is provided with a plurality of baffles in circular equidistant manner, and the baffles are used for limiting the adsorbed garbage and preventing the garbage from continuing to rotate along with the vortex, so that the garbage can be conveniently grasped by the mechanical arm 8; the lower fan blades 12 are connected with a driving motor, the driving motor drives the lower fan blades 12 to rotate, so that vortexes are manufactured in water, and the driving motor is electrically connected with a control system; the main part 1 both sides are equipped with garbage collection device 10 assorted recess 15 (mainly with upper portion ring 11 and lower part flabellum 12 assorted), and garbage collection device 10 folding back occupies the space so less, and crawler wheel 2 can set up more close to main part 1, reduces the holistic width of robot, reduces the volume and also practices thrift manufacturing cost.

The front end of the main body 1 is provided with a recognition device, the recognition device comprises an infrared sensor 5 and an ultrasonic distance sensor 6, the infrared sensor 5 is used for sensing whether biological activity exists in front, if so, the ultrasonic distance sensor 6 is used for sensing the distance of a front obstacle, so that accurate avoidance is performed, the recognition device is electrically connected with a control system, sensed information is transmitted to the control system, and the control system controls the crawler wheels 2 or the screw 4 and the rudder to drive the robot to avoid.

The two sides of the main body 1 are provided with second mechanical arms 18, the front end of each second mechanical arm 18 is provided with a suction nozzle 20, each suction nozzle 20 is used for sucking the greasy dirt-carrying water, and each suction nozzle 20 is communicated with the oil-water separator through a connecting pipe; the second mechanical arm adopts an ArmPi mini mechanical arm, and the suction nozzle 20 is provided with an image identifier, so that the object can be better identified;

a cavity is arranged in the oil-water separator, a plurality of layers of filter membranes are arranged in the cavity, and sewage is filtered by each layer of filter membrane to obtain sewage from which greasy dirt is removed; the filter membrane adopts a picea africa slice with the thickness of 1mm, a cross slice of the picea africa is a filter membrane, and the high-efficiency separation of the immiscible oil-water mixture is realized by utilizing the directional fluid transmission characteristic of the cell cavity of the wood and the hydrophilicity and underwater super oleophobic characteristic of the cell wall component; it should be noted that the material of the filter membrane is only the choice of the embodiment, and other oil-water separation membranes can be adopted to realize the separation of the oil dirt and the water;

the bottom of the oil-water separator is provided with the water outlet, so that filtered water can be directly discharged into water, excessive water accumulated in the robot is avoided, excessive load is avoided, and unnecessary electric quantity consumption is increased.

The outer side of the crawler wheel 2 is connected with a suspension cylinder 27 for enabling the robot to float in water, and the suspension cylinder 27 is preferably a hollow plastic barrel; it should be noted that the suspension pontoon 27 is disposed outside the crawler wheel 2 only in the solution of this embodiment, and may be disposed in other places, for example, the front and rear ends of the main body 1, so long as they do not block the recognition device or obstruct the operation of the propeller 4 and rudder;

the garbage compression device 23 is arranged at the top of the main body 1, the garbage compression device 23 is hollow and used for accommodating garbage, and a squeeze roller set (the specific number can be set according to actual conditions) is arranged at the top of the garbage compression device, and comprises two squeeze rollers 24 with opposite directions; the extrusion roller set is used for extruding garbage and delivering the garbage into the garbage compression device 23; the squeeze rolls 24 on the left and right sides in the directions of fig. 1 and 2 are rotated in the clockwise and counterclockwise directions, respectively, so that the garbage can be squeezed and transferred into the garbage compressing device 23 at the same time;

the garbage compression device 23 is provided with a plurality of laser sensors below the squeeze roller group, and laser emitted by the laser sensors forms a grid plane; when the whole laser grid is blocked, the garbage compression device 23 is considered to be filled with the garbage, and as long as the garbage is not completely blocked, the garbage compression device is considered to have a storage space;

a gap matched with the manipulator 8 is reserved between the extrusion roller sets, and a cover matched with the gap is arranged in the gap; the gap is arranged so that the manipulator 8 can extend into the garbage compression device 23 to further flatten garbage in the garbage compression device, so that partial positions (particularly the positions below the squeeze roller group) are prevented from being piled up in advance due to uneven garbage, and gaps are arranged in other positions, so that the internal space of the garbage compression device 23 is fully utilized; the cover matched with the gap is arranged to seal the gap when the manipulator 8 does not enter the garbage compression device 23, so that the garbage is prevented from directly falling out of the gap after being not compressed.

The main body 1 is provided with two solar panels 16 (the specific number is set according to actual conditions), a storage battery 17 and a radar 26, the storage battery 17 is respectively and electrically connected with the solar panels 16 and the radar 26, the storage battery 17 provides electric energy for the whole robot, and the solar panels 16 charge the robot, so that the robot is energy-saving and environment-friendly; the radar 26 is used to receive signals and provide positional information for the robot to effect automatic navigation to the target location.

The control system adopts raspberry group 4 to replace type B, and other driving systems of the robot in the embodiment including but not limited to a speed regulating motor, a propeller 4, a rudder, a first electric telescopic rod 14, a second electric telescopic rod, a first mechanical arm, a second mechanical arm and the like, and all sensors including but not limited to a sensor of a recognition device, an image recognizer, a laser sensor and the like are electrically connected with the control system.

The working principle of the amphibious intelligent cleaning robot provided by the utility model is as follows:

land mode: when the liquid level sensors on the front and rear crawler wheels do not sense liquid on one side, the robot is considered to be positioned on the land, at the moment, the robot is driven by the crawler wheels, if steering is required, the control system controls the rotating speeds of the speed regulating motors of different crawler wheels, so that different rotating speeds of the crawler wheels are realized, and the steering of the robot is realized; identifying an obstacle by an identification device in front of the main body, and measuring and calculating the distance between the obstacle and the obstacle so as to avoid the obstacle; positioning the robot by a radar, navigating the robot to a designated position by a control system, identifying a target by an image identification device on the manipulator, grabbing garbage, and then sending the garbage into a garbage compression device for compression and storage; when the laser sensors of the garbage compression device are all blocked, the inside of the garbage compression device is considered to be full, the robot automatically navigates back to a garbage recovery point, and after the garbage in the garbage compression device is emptied, the robot returns to the previous place to continuously collect the garbage.

Water mode: when liquid level sensors on the front and rear crawler wheels sense liquid, the robot is considered to be positioned in water, at the moment, the control system firstly controls the second electric telescopic rod to extend, namely the main body is too high, then controls the folding connecting arm to extend, after the folding connecting arm is extended, the second electric telescopic rod can be controlled to retract to the original position, or not retract, and the robot is judged according to the actual situation (mainly whether the lower fan blade can extend into the water through the first electric telescopic rod or not, and the upper ring can be adjusted to the water surface height); then controlling the first electric telescopic rod, placing the lower fan blade under water, and placing the upper ring on the water surface; then controlling the driving motor to drive the lower fan blade to rotate, and manufacturing vortex, thereby adsorbing peripheral garbage and sewage; the garbage around the upper circular ring is grabbed by a mechanical arm, and the garbage collection process is in the same land mode; sucking the sewage with greasy dirt in the upper circular ring through a suction nozzle for filtering; in the water mode, the control system controls the propeller and the rudder to drive the robot to move; when the liquid level sensors on the front and rear crawler wheels cannot sense the liquid, the robot is considered to leave the water and reenter the land mode, and the folding connecting arm needs to be retracted at this time (whether the second electric telescopic rod is required to be controlled to raise the main body first is determined according to the actual situation, and if the second electric telescopic rod is retracted before, the steps are required to be advanced), and the robot is driven by the crawler wheels again.

The above is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited to the above examples, and all technical solutions belonging to the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that modifications and adaptations to the utility model without departing from the principles thereof are intended to be within the scope of the utility model as set forth in the following claims.

Claims (10)

1. The utility model provides an amphibious intelligent cleaning robot, includes main part (1), a plurality of track wheels (2), screw (4), rudder, first arm (7) and control system, track wheel (2) symmetry sets up the both sides in main part (1), screw (4) and rudder set up in main part (1) rear end, first arm (7) set up in main part (1) top front end, first arm (7) front end is equipped with manipulator (8), control system sets up in main part (1), its characterized in that: two sides of the main body (1) are provided with foldable garbage collection devices (10), and the garbage collection devices (10) comprise an upper circular ring (11), a lower fan blade (12) and a folding connecting arm (13); the inner end of the folding connecting arm (13) is connected to the main body (1), and the upper circular ring (11) and the lower fan blades (12) are respectively connected to the upper side and the lower side of the outer end of the folding connecting arm (13) through a first electric telescopic rod (14); a plurality of baffles are annularly and equidistantly arranged on the outer side wall of the upper circular ring (11); the lower fan blades (12) are connected with a driving motor; grooves (15) matched with the garbage collection device (10) are formed in two sides of the main body (1).

2. An amphibious intelligent cleaning robot according to claim 1, wherein: the crawler wheels (2) are four, the crawler wheels (2) comprise a crawler, a driving gear, a driven gear, a connecting rod and a speed regulating motor, the driving gear is connected with an output shaft of the speed regulating motor, and the crawler is in transmission connection with the peripheries of the driving gear and the driven gear; the driving gear and the driven gear are provided with independent connecting rods, and the connecting rods are connected to a second electric telescopic rod on the main body (1); and a liquid level sensor is arranged at the center of the driving gear or the driven gear.

3. An amphibious intelligent cleaning robot according to claim 1, wherein: the front end of the main body (1) is provided with an identification device, and the identification device comprises an infrared sensor (5) and an ultrasonic distance sensor (6); the two ends of the first electric telescopic rod (14) can be respectively and independently telescopic.

4. An amphibious intelligent cleaning robot according to claim 1, wherein: the two sides of the main body (1) are provided with second mechanical arms (18), the front end of each second mechanical arm (18) is provided with a suction nozzle (20), and the suction nozzles (20) are communicated with the oil-water separator through connecting pipes; the second mechanical arm adopts an ArmPi mini mechanical arm, and the suction nozzle (20) is provided with an image identifier.

5. The amphibious intelligent cleaning robot according to claim 4, wherein: a cavity is formed in the oil-water separator, a plurality of layers of filter membranes are arranged in the cavity, and the filter membranes are in the shape of a picea scurfpea slice with the thickness of 1 mm; the bottom of the oil-water separator is provided with a water outlet.

6. An amphibious intelligent cleaning robot according to claim 1, wherein: the outer side of the crawler wheel (2) is connected with a suspension cylinder (27).

7. An amphibious intelligent cleaning robot according to claim 1, wherein: the garbage compression device (23) is arranged at the top of the main body (1), the garbage compression device (23) is hollow, a plurality of squeeze roller sets are arranged at the top of the garbage compression device, and each squeeze roller set comprises two squeeze rollers (24) with opposite directions; the extrusion roller set is used for extruding garbage and transmitting the garbage into the garbage compression device (23); the garbage compression device (23) is provided with a plurality of laser sensors below the extrusion roller set, and laser emitted by the laser sensors forms a grid plane; and a gap matched with the manipulator (8) is reserved between the extrusion roller sets, and a cover matched with the gap is arranged in the gap.

8. An amphibious intelligent cleaning robot according to claim 1, wherein: the solar energy radar device is characterized in that a plurality of solar panels (16), a storage battery (17) and a radar (26) are arranged on the main body (1), and the storage battery (17) is electrically connected with the solar panels (16) and the radar (26) respectively.

9. An amphibious intelligent cleaning robot according to claim 1, wherein: the control system adopts raspberry group 4 to replace B type.

10. An amphibious intelligent cleaning robot according to claim 1, wherein: the first mechanical arm (7) adopts an ArmPi mini mechanical arm; an image identifier is arranged on the manipulator (8).