CN111945691A - Intelligent water cleaning robot - Google Patents
Intelligent water cleaning robot Download PDFInfo
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- CN111945691A CN111945691A CN202010824367.0A CN202010824367A CN111945691A CN 111945691 A CN111945691 A CN 111945691A CN 202010824367 A CN202010824367 A CN 202010824367A CN 111945691 A CN111945691 A CN 111945691A
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- Prior art keywords
- mother ship
- floating body
- garbage
- lifting
- rope
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B7/00—Closing containers or receptacles after filling
- B65B7/02—Closing containers or receptacles deformed by, or taking-up shape, of, contents, e.g. bags, sacks
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/104—Conveyors; Paddle wheels; Endless belts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
Abstract
The invention relates to the technical field of water garbage cleaning, in particular to an intelligent water cleaning robot, which comprises a mother ship floating body, a salvaging and conveying mechanism, a garbage storage device and at least one propelling device, wherein the salvaging and conveying mechanism is arranged on the mother ship floating body; an electric control cabinet and a power supply battery are arranged in the mother ship floating body, and an electric control system is arranged in the electric control cabinet. The technical scheme has the advantages that all the components are matched with each other under the control of an electric control system to form a set of complete water surface garbage salvage process; the propulsion device controls the navigation speed and the navigation direction of the fishing equipment in water; the gathering mechanism gathers the garbage to match with the fishing and conveying mechanism to improve the fishing efficiency; the salvage conveying mechanism smoothly conveys the garbage into the frame body, and the frame body automatically packs the garbage; the whole salvaging process can completely break away from manual assistance, and safe, efficient and intelligent full-automatic unmanned salvaging operation can be really realized.
Description
Technical Field
The invention relates to the technical field of water garbage cleaning, in particular to an intelligent water cleaning robot.
Background
With the increasing and dramatic increase of population quantity of urban residents in China, the continuous improvement of per-capita consumption level and the continuous development of various production fields, residential household garbage and river algae become main sources of urban river sewage. The continuous increase of water surface pollutants not only affects the urban appearance, but also causes the continuous decrease of water resource quality and the continuous deterioration of water environment, and the continuous occurrence of drinking water safety problems caused by accidents (such as infectious diseases taking water as a medium, acute and chronic poisoning, chemical carcinogenesis and the like) caused by pollution becomes one of the most concerned problems of people; water is a life source and an agricultural life line, and water resource shortage is caused by water quality reduction, so that plant production halt, agricultural production reduction and even top harvest are further caused; the algae in the river causes the river channel to be blocked, and the number of rivers in China is reduced from 5 ten thousand in the 50 th century to 2.3 ten thousand at present. Therefore, the cleaning of the river channel garbage becomes one of the important remedial measures for treating the water environment and improving the water quality at present.
Traditional river course clearance adopts the mode of artifical salvage, not only salvage inefficiency, and salvage personnel's life safety can not obtain the guarantee (if easy careless transfer into aquatic to and contact infectious disease and chemical carcinogen, chronic poisoning etc. still can appear), consequently, the production of rubbish cleaning equipment on water has developed into the development mainstream of administering rubbish cleaning field on water, but present rubbish cleaning equipment on water still generally needs manual assistance, if rubbish cleaning ship, fishing net catches etc. intelligent degree low, artifical participation degree is high, the equipment that danger coefficient is high. Not only can not solve the potential safety hazard that traditional artifical salvage mode brought completely, it is efficient moreover, with high costs. Therefore, the method can safely, efficiently and intelligently clean the garbage on the water environment, and is a long-term demand for water environment treatment work.
Disclosure of Invention
Aiming at the defects of the prior art, the technical scheme provides the intelligent water cleaning robot, the various component structures in the fishing equipment are mutually matched under the control of an electrical control system, a set of complete water surface garbage fishing flow is formed, the whole fishing flow can be completely separated from manual assistance, and safe, efficient and intelligent full-automatic unmanned fishing operation can be really realized.
The method is realized by the following technical scheme:
the utility model provides an intelligence robot of keeping a public place clean on water which characterized in that: comprises a mother ship floating body, a material gathering mechanism, a salvaging and conveying mechanism, a garbage packing device and at least one propelling device. The mother ship floating body is mainly used for realizing the floating function of the technical scheme on water and serving as an installation bridge between functional structures (comprising a material gathering mechanism, a salvaging and conveying mechanism, a garbage packing device and a propelling device), concretely, an electric control cabinet and a power supply battery are arranged in the mother ship floating body in a sealed mode, an electric control system is arranged in the electric control cabinet and is used for connecting the power supply battery into the electric control system to realize the power supply of the whole robot working system, the electric control system is generally called as an electric equipment secondary control loop and is formed by combining a plurality of electric elements, corresponding software and hardware facilities are included and used for realizing the control of a certain object or certain objects, thereby ensuring the safe and reliable operation of controlled equipment, and the main functions of the mother ship floating body are as follows: the control system has the advantages that automatic control, protection, monitoring and measurement are realized, furthermore, different devices are provided with different control loops, and a special electric control system can be designed according to specific control requirements. The top of the floating body of the mother ship is provided with a housing, and the floating body of the mother ship and the housing are matched with each other to form a material cabin; the material cabin is a cavity space, can set up in the communicating drainage structures in this cavity space on mother ship body, rubbish packing apparatus sets up in the material cabin, and rubbish packing apparatus is including removing collection frame and the packing mechanism of laying on removing the collection frame, and removes collection frame and packing mechanism respectively with electric control system electric connection, and is concrete, removes the collection frame mainly used and receives the rubbish of salvaging, and preferably, removes the collection frame and can strain the water on the rubbish, and the water that removes the collection frame and filter out can discharge the material cabin through drainage structures. Gather material mechanism and set up in the front side of mother ship body for gather together the rubbish of mother ship body front side within a certain range, mother ship body front side is provided with salvage hatch, and is further, gather material mechanism and assemble rubbish in the front side of victory opening, salvage conveying mechanism's one end is in mother ship body front side and gathers material mechanism cooperation, and salvage conveying mechanism's the other end inserts the material cabin through salvage hatch to extend to the top position of framework, promptly, gather the rubbish of mechanism gathering and carry to the material under-deck through salvage conveying mechanism, and drop to in removing the collection frame. The propulsion device is arranged at the bottom of the floating body of the mother ship, is electrically connected with an electrical control system in the electrical control cabinet and is used for controlling the course and the navigational speed of the floating body of the mother ship in water, preferably, the two propulsion devices are arranged at the bottom of the floating body of the mother ship and are arranged in tandem, and the two propulsion devices are matched with each other to more efficiently control the course and the navigational speed of the floating body of the mother ship.
In order to better fit the development direction of the water robot and expand the functions of remote control, multimedia and the like, the mother ship floating body is also provided with a communication tail wing and a lifting camera device electrically connected with an electrical control system; the lifting camera device comprises a lifting rod arranged on the mother ship body and a camera arranged at the top of the lifting rod, particularly, the lifting rod can be an electric push rod, preferably, a swinging push rod used for controlling the camera to deflect is arranged on the lifting rod, further, a radar device can be arranged and used for acquiring azimuth information related to image information while the camera acquires the image information so as to realize automatic cruising and self-service operation states, in addition, a containing cavity is arranged on the mother ship floating body and is provided with a cavity cover, the bottom of the lifting rod is arranged in the containing cavity, when the image information does not need to be acquired, the camera descends under the action of the lifting rod and enters the containing cavity, the cavity cover is closed, and the damage of the camera caused by external reasons is avoided; the communication tail wing set up in the rear end of mother's ship body, and laid in the communication tail wing with electrical control system electric connection's communication system for realize remote control.
Furthermore, the movable collecting frame comprises a frame body, a lifting mechanism and a translation mechanism, the lifting mechanism and the translation mechanism are electrically connected with the electrical control system respectively, the lifting mechanism is arranged on the translation mechanism, and the frame body is detachably connected with the lifting mechanism. Specifically, the lifting mechanism can be in a forklift gantry structure, namely comprises an outer gantry, a fork frame, a fork and a transmission mechanism; the outer gantry is provided with two inner gantries which are parallel to each other, the inner gantries are provided with guide grooves, and the transmission device is arranged on the outer gantry; the fork frame is connected with the inner gantry in an up-and-down sliding manner through the guide groove and is fixedly connected with the transmission mechanism; the fork is fixedly connected with the fork frame, and the frame body is arranged on the fork; furthermore, the transmission mechanism comprises a brushless speed reducing motor, a driving shaft, a driven shaft and a transmission chain I; the driving shaft and the driven shaft are respectively movably connected with the outer gantry, the brushless speed reduction motor is arranged on the outer gantry, and a rotating shaft of the brushless speed reduction motor is coaxially and fixedly connected with the driving shaft; the driving shaft both ends are provided with driving gear I, and the driven shaft both ends are provided with driven gear I, driving gear I and I one-to-one of driven gear to through I transmission connection of drive chain, the fork frame and I fixed connection of drive chain. The translation mechanism comprises a connecting seat, an electric push rod and a bearing plate, wherein the bearing plate plays a role in mounting a bridge, specifically, a pulley unit is arranged at the bottom of the bearing plate, the lifting mechanism is arranged on the bearing plate, a control end of the electric push rod is fixedly connected with the connecting seat, the connecting seat is arranged on the floating body of the mother ship, and an actuating end of the electric push rod is fixedly connected with the bearing plate, namely, the bearing plate not only provides a layout condition for the pulley unit, but also is connected with the lifting device through the bearing plate; furthermore, the pulley unit includes two direction slide rails that are parallel to each other, corresponds on every slide rail to be provided with two pulleys, is provided with the link on the pulley, the pulley with the bearing plate passes through the link and connects.
Further, the fishing conveying mechanism comprises a net chain conveying device and a driving device for providing power for the net chain conveying device; the net chain conveying device comprises a main body support, a driving shaft part and a driven shaft part are respectively arranged at two ends of the main body support, a steel wire net chain is distributed on the driving shaft part and the driven shaft part, the driving shaft part and the driven shaft part are in chain transmission connection through a steel wire net, a plurality of salvaging partition plates are arranged on the steel wire net chain at intervals, the main function of the salvaging partition plates is to salvage garbage, and the garbage is prevented from falling off in the conveying process; drive arrangement includes motor and gear assembly, and driving shaft spare passes through the gear assembly transmission with the motor and is connected, and is specific, and the gear assembly includes driving gear II, driven gear II and drive chain II, and driving gear II and the coaxial fixed connection of motor shaft, driven gear II and the coaxial fixed connection of driving shaft spare, and driving gear II is connected through II coaxial transmission of drive chain with driven gear II. The arrangement of the gear assembly can change the installation position and the installation direction of the motor, and further meet the requirement of spatial arrangement on the floating body of the mother ship.
The material gathering mechanism comprises a support frame, two ends of the support frame are respectively provided with an angle adjusting unit, and two material gathering baffle plates are respectively arranged on the two angle adjusting units; the angle adjusting unit is electrically connected with the electrical control system and used for adjusting the extending angle of the material gathering baffle. Specifically, the angle adjusting unit adjusts the extending angle of the gathering baffle according to the water flow speed, in the process of salvaging the water garbage, the angle adjusting unit controls the gathering baffle to rotate, the gathering baffle extends towards the oblique front of the mother ship floating body under the action of the angle adjusting unit, when the water flow in a river is turbulent, the included angle (included angle: the included angle between the planes where the two gathering baffles are located) of the two gathering baffles is small under the action of the angle adjusting unit, the resistance of the water flow to the gathering baffle is reduced as much as possible while a certain garbage blocking function is kept, namely, the resistance of the water flow to the mother ship floating body is reduced as much as possible, the robot is ensured to move forwards smoothly, and the power consumption of mechanical salvaging equipment for resisting the water flow resistance is reduced. Further, the angle adjusting unit comprises a brushless speed reducing motor, a linkage shaft, a bearing seat and a motor bracket for arranging the brushless speed reducing motor; the bearing seat is arranged on the support frame, and the bottom of the linkage shaft is arranged on the bearing seat; furthermore, in order to avoid the brushless speed reduction motor from being immersed in a river, the motor support is fixedly arranged on the support frame, the brushless speed reduction motor is arranged at the top of the linkage shaft through the motor support, and the rotating shaft of the brushless speed reduction motor is fixedly connected with the linkage shaft in a coaxial mode. In addition, the gathering baffle can be of a net structure, namely, the gathering baffle comprises a nylon rope and two mutually parallel support rods, a plurality of rope penetrating holes are formed in the two support rods, and the nylon rope is arranged between the two support rods through the rope penetrating holes to form a garbage intercepting net; further, available rubber slab replaces rubbish interception net, namely, gather the material baffle and include the rubber slab, the rubber slab is made by flexible rubber materials, when meetting hard objects such as the torrential condition of rivers torrent and cliff, avoid taking place rigidity collision to damaging the rubber slab, the embedding is provided with the strip steel sheet in the rubber slab, be used for supporting the rubber slab, make the rubber slab have sufficient stress and resist water pressure in order to intercept surface of water rubbish, furthermore, the one end of strip steel sheet wraps up on the universal driving shaft with the rubber slab together, and with universal driving shaft fixed connection under the effect of baffle mounting, utilize the motor to drive the universal driving shaft, it is further, gather the material baffle and use the universal driving shaft to be rotary motion as the axle center.
Further, the propelling device is a full-rotation propelling device, and the full rotation specifically refers to 360-degree unidirectional and/or bidirectional rotation. The propulsion device comprises an underwater propeller, a lifting device for controlling the lifting/descending of the underwater propeller and a power device for realizing the rotary motion of the underwater propeller. Furthermore, the lifting device comprises an electric cylinder, a connecting rod and a mounting base which are arranged on the floating body of the mother ship, a propelling shaft penetrates through the axis of the mounting base and is movably connected with the mounting base, and the underwater propelling device is fixedly connected with the bottom end of the propelling shaft; the one end of connecting rod and electric cylinder's actuating end fixed connection, the other end of connecting rod and the one end axial fixity connection that is close to the bottom with the propulsion shaft, if: the connecting rod and the propulsion shaft can be connected through a bearing, specifically, the propulsion shaft is fixedly connected with an inner ring of the bearing, and the connecting rod is fixedly connected with an outer ring of the bearing, namely, the propulsion shaft can do circumferential rotation motion of the propulsion shaft relative to the connecting rod and cannot do axial linear motion relative to the connecting rod. Further, the power device comprises a driving gear, a driven gear and a brushless speed reduction motor for driving the driving gear, and the driving gear is meshed with the driven gear; driven gear with the coaxial setting of propulsion shaft to rotate with the top of mounting base and be connected, the propulsion shaft passes the axle center department of driven gear to with driven gear circumference fixed connection, axial fixed connection specifically indicates that the propulsion shaft can be along driven gear's center pin and be linear motion, and when the driving gear rotated under brushless gear motor's effect, drive the driven gear and rotate at the mounting base top, the propulsion shaft rotated along with the driven gear, to realize aforementioned action, can adopt spline structural connection, namely, the cooperation part of propulsion shaft and driven gear adopts the flower structure between flowers, specifically, set up external splines on the propulsion shaft, set up internal spline on driven gear, drive arrangement and propulsion shaft mutually support, realize the full gyration of underwater propulsor is moved.
The packing mechanism includes that stay cord device and cover are located the inside packing pocket of framework, it needs to be noted that, the packing pocket among this technical scheme includes but not limited to netted disposal bag, and the packing pocket specifically indicates the disposal bag that has the collection dress rubbish function simultaneously and filters the unnecessary moisture function of rubbish. The parcel of sack department of packing pocket has two annular seals rope, and every annular seals the rope and corresponds there is a stay cord device, two stay cord devices set up respectively in the both sides of framework, stay cord device and annular seal the rope and mutually support for the sack that makes the packing pocket is closed, promptly, under the effect of stay cord device, two annular seal the rope and mutually support, and the sack that will pack the pocket draws in from both sides toward the centre in, and is closed until the sack. Furthermore, in order to meet the requirements of the actual packaging process, a sleeve opening is formed in one end, close to the bag opening, of the outer portion of the packaging mesh bag, and a plurality of sleeve openings are arranged at intervals along the circumferential direction of the packaging mesh bag in a mutually matched mode; the frame body is internally provided with a plurality of sleeve hooks corresponding to the sleeve openings, and the sleeve hooks are matched with the sleeve openings and used for supporting the packaging mesh bags. Specifically, a plurality of cover colludes the cooperation and sets up along framework inner wall interval, and the cuff colludes the one-to-one with the cover, and a plurality of group cuff cover colludes and mutually supports for prop up the packing pocket, and make the sack maintain the open mode, and wherein, the cover colludes the opening up, and the cuff opening is down, is convenient for carry out the in-process of sealing to the packing pocket, makes the cuff break away from the cover and colludes, further satisfies the sack and closes smoothly.
Furthermore, an annular wrapping ring used for wrapping the annular sealing rope is arranged at the bag opening of the packaging mesh bag, the annular sealing rope is positioned inside the annular wrapping ring, two rope penetrating holes which are respectively in one-to-one correspondence with the two annular sealing ropes are formed in the annular wrapping ring, and the annular sealing ropes are sleeved on the corresponding rope pulling devices after correspondingly penetrating through the rope penetrating holes; preferably, the rope pulling device comprises a lifting column, a lifting actuating device and a hook for sleeving the annular sealing rope; the lifting actuating device is arranged at the bottom of the lifting column and is fixedly connected with the frame body and used for completing the lifting and descending work of the lifting column (for example, the rope pulling device can adopt the combination of an electric push rod and a hook); the annular sealing rope passes through the rope threading hole and then bypasses from the top end of the lifting column and is sleeved on the hook. Furthermore, in order to prevent the annular sealing rope from slipping at the top of the lifting column, an arc-shaped sliding chute for the annular sealing rope to shuttle can be arranged at the top of the lifting column; still further, in order to reduce the abrasion caused by the friction between the annular sealing rope and the lifting column as much as possible, a pulley can be arranged at the top end of the lifting column, so that the annular sealing rope can be wound around the pulley. Every annular seals and goes up fixedly and is provided with two arrow point fasteners, be used for closing the back at the sack of packing pocket, the sack to the packing pocket is fixed, it is concrete, the arrow point fastener indicates the finding of arrow point shape, be used for fixing the sack after closing through blocking the wire rope handling hole, when the sack is in the open mode, the arrow point fastener is in annular parcel circle, the wire rope handling hole direction that the rope corresponds is sealed towards self place annular to the head of arrow point fastener, the in-process of closing at the sack, the arrow point fastener is worn out from wire rope handling hole department along with annular seal rope, treat that the arrow point fastener is when annular parcel circle is outside completely, the afterbody of arrow point fastener blocks the wire rope handling hole, the sack is closed.
Compared with the prior rectifier module manufactured by the traditional process, the technical scheme has the following advantages:
1) in the technical scheme, the floating body of the mother ship is matched with the housing to form the material cabin, so that a large amount of accumulated water in the floating body of the mother ship is avoided, good installation conditions are provided for electric control cabinets, batteries and other charged equipment, and the cleaning robot can work normally in rainy days; in addition, the integral structure formed by matching the floating body of the mother ship and the housing can be further conveniently designed, so that the wind resistance of the cleaning robot on the water surface can be reduced as much as possible, and the working stability of the cleaning robot can be ensured;
2) the technical scheme is characterized in that all the components are matched with each other under the control of an electrical control system to form a set of complete water surface garbage salvage process; wherein, the propulsion device controls the navigation speed and the course of the cleaning robot in water; the gathering mechanism gathers the garbage to match with the fishing and conveying mechanism to improve the fishing efficiency; the salvage conveying mechanism smoothly conveys the garbage into the frame body; the whole salvaging process can completely break away from manual assistance, and safe, efficient and intelligent full-automatic unmanned salvaging operation can be really realized;
3) the technical scheme is provided with the movable collecting frame comprising the lifting mechanism and the translation mechanism, so that when the cleaning robot is close to the bank, the frame body is moved and lifted to a position as close as possible to the bank, workers can conveniently and quickly reach garbage on the bank, the difficulty of garbage unloading work is reduced, the trouble of manual carrying is solved, the garbage unloading work efficiency is improved, the manual input can be further reduced, and the water surface garbage salvaging work is more automatic;
4) the technical scheme is also provided with a lifting camera device which can be matched with an electrical control system to expand a plurality of service functions, wherein the functions comprise autonomous identification, detection and searching of water surface substances, accurate identification, positioning and tracking of the substances, autonomous path planning and navigation, autonomous obstacle avoidance and grounding prevention and the like, so that the full-automatic unmanned fishing operation is more intelligent, and a good foundation is laid for the development of a water surface cleaning robot;
5) the technical scheme provides a good layout space for the electric control system, the composition structure of the electric control system can be expanded through expanding, and the technical scheme further has a hydrological meteorological monitoring function, a low-power automatic return function, a full-load intelligent return function, an intelligent speed-control garbage collection function, a rescue alarm function and the like, so that the functions of the cleaning robot are more complete.
6) The technical scheme is provided with the communication tail wing, wireless encryption transmission can be carried out through a system network (comprising an Ethernet, a 4G wireless public network and a 5G network), and the remote control and multimedia functions are further expanded;
7) the technical scheme has the function of automatically packaging garbage, can pack the garbage before the garbage unloading operation is carried out, avoids the messy state of the garbage from increasing the difficulty of the garbage unloading operation, can realize the one-time extraction of the garbage in the frame body, and can be matched with other mechanical equipment to realize the full-automatic unmanned garbage unloading operation so as to really realize the full-automatic operation of the whole process of cleaning the garbage on the water surface; set up annular sealing rope and realize sealing the packing pocket on the packing pocket, further realize rubbish packing, utilize the annular to seal the arrow point fastener on the rope at last and fix, the project organization is ingenious, and the packing effect is reliable and stable.
8) The material gathering mechanism is arranged in the technical scheme, so that river surface garbage is effectively intercepted, and the fishing and conveying mechanism is matched to improve the fishing efficiency of the river surface garbage; the extension angle of the material gathering baffle is adjusted by the angle adjusting unit in the material gathering mechanism, the structure is simple, the angle adjusting unit is electrically connected with the electrical control system, the control is convenient and fast, and the automation degree of the technical scheme is improved; in addition, the technical scheme can automatically adjust the extension angle of the garbage intercepting mechanism according to the flow velocity of the river so as to adjust the resistance of water flow to the mechanical fishing equipment, so that the mechanical fishing equipment is in the optimal working state, and a good foundation is laid for the development of the intelligent direction of the river surface garbage fishing work.
Drawings
The foregoing and following detailed description of the invention will be apparent when read in conjunction with the following drawings, in which:
FIG. 1 is a schematic side view of a preferred embodiment of the present invention;
FIG. 2 is a schematic top view of a preferred embodiment of the present invention;
FIG. 3 is a schematic side view of a basic embodiment of the present invention;
FIG. 4 is a schematic side view of the fishing conveying mechanism according to the present invention;
FIG. 5 is a schematic top view of the fishing conveying mechanism according to the present invention;
FIG. 6 is a schematic side view of the garbage storage device according to the present invention;
FIG. 7 is a schematic top perspective view of the garbage storage device according to the present invention;
fig. 8 is a schematic view of a connection structure between the packing mechanism and the frame body according to the present embodiment;
FIG. 9 is an enlarged view at A;
fig. 10 is a schematic side structure view of the packaging mesh bag with the bag opening in the state of the technical scheme;
fig. 11 is a schematic view of a top view structure of the packaging mesh bag with the bag opening in the state of the technical solution;
fig. 12 is a schematic side structure view of the packaging mesh bag with the bag opening closed in the technical scheme;
fig. 13 is a schematic structural diagram of a top view of the packaging mesh bag with the bag opening closed in the technical scheme;
FIG. 14 is a schematic view of the propulsion apparatus of the present embodiment;
FIG. 15 is a schematic top view of the gathering mechanism of the present disclosure;
FIG. 16 is a schematic view of a connection structure of a polymer baffle and an angle adjusting unit according to a basic scheme;
FIG. 17 is a schematic view of a connection structure of a polymer baffle and an angle adjusting unit in a preferred embodiment;
fig. 18 is a schematic structural view of the lifting camera device according to the present embodiment;
in the figure:
1. a mother ship float; 2. a material gathering mechanism; 2.1, a support frame; 2.2, an angle adjusting unit; 2.3, a material gathering baffle; 3. a salvaging and conveying mechanism; 3.1, a main body bracket; 3.2, driving the shaft piece; 3.3, a driven shaft part; 3.4, steel wire mesh chains; 3.5, salvaging the partition plate; 3.6, a motor; 3.7, gear assemblies; 4. a garbage packing device; 4.1, a frame body; 4.2, a lifting mechanism; 4.3, a translation mechanism; 4.4, packaging the mesh bags; 4.4.1, looping; 4.5, annularly wrapping the ring; 4.6, stringing holes; 4.7, arrow card piece; 4.8, a rope pulling device; 4.8.1, a lifting actuating device; 4.8.2, sleeve hook; 4.8.3, lifting columns; 4.9, a ring-shaped sealing rope; 5. a propulsion device; 5.1, an underwater propeller; 5.2, an electric cylinder; 5.3, connecting rods; 5.4, mounting a base; 5.5, a propulsion shaft; 5.6, a driving gear; 5.7, a driven gear; 5.8, brushless speed reducing motor; 6. an electric control cabinet; 7. a power supply battery; 8. a housing; 9. a material compartment; 10. fishing out the cang mouth; 11. a communication tail fin; 12. a lifting camera device; 12.1, a lifting rod; 12.2, a camera; 12.3, radar device; 12.4, swinging the push rod; 13. and (7) hanging.
Detailed Description
The technical solutions for achieving the objects of the present invention are further illustrated by the following specific examples, and it should be noted that the technical solutions claimed in the present invention include, but are not limited to, the following examples.
Example 1
The invention discloses an intelligent water cleaning robot, which is a basic implementation scheme of the invention and comprises a mother ship floating body 1, a material gathering mechanism 2, a salvaging and conveying mechanism 3, a garbage packing device 4 and at least one propelling device 5; an electric control cabinet 6 and a power supply battery 7 are hermetically arranged in the mother ship floating body 1, and an electric control system is distributed in the electric control cabinet 6; the top of the mother ship floating body 1 is provided with a housing 8, and the mother ship floating body 1 and the housing 8 are mutually matched to form a material cabin 9; the garbage packing device 4 is arranged in the material cabin 9, the garbage packing device 4 comprises a movable collecting frame and a packing mechanism arranged on the movable collecting frame, and the movable collecting frame and the packing mechanism are respectively and electrically connected with the electrical control system; the gathering mechanism 2 is arranged on the front side of the mother ship floating body 1, a salvage hatch is arranged on the front side of the mother ship floating body 1, one end of the salvage conveying mechanism 3 is positioned on the front side of the mother ship floating body 1 and matched with the gathering mechanism 2, and the other end of the salvage conveying mechanism 3 is inserted into the material cabin 9 through the salvage hatch and extends to the position above the frame body 4.1; the propulsion device 5 is arranged at the bottom of the floating body 1 of the mother ship, is electrically connected with an electrical control system in the electric control cabinet 6 and is used for controlling the course and the navigational speed of the floating body 1 of the mother ship in water.
The technical scheme can realize unmanned intelligent control and autonomous floating cleaning functions, and particularly, the technical scheme is arranged in a river channel, the floating on the water surface is realized through a mother ship floating body 1, an electric control system is started (a starting button can be arranged in an electric control cabinet 6, or the electric control system can be started in a remote control mode through a remote controller), a propelling device 5 starts to work to control the mother ship floating body 1 to move on the water surface, in the moving process, a material gathering mechanism 2 gathers the garbage in front of the mother ship floating body 1 side at the front side of the mother ship floating body 1, a salvaging and conveying device starts to work to salvage the garbage at the front side of the mother ship floating body 1 and convey the garbage to a material cabin 9, a garbage receiving point and a garbage unloading point are arranged in the material cabin 9, in the garbage salvaging process, a movable collecting frame is positioned at the garbage receiving point, the salvaging and conveying device conveys the garbage to the material cabin 9, rubbish freely drops to in removing the collection frame, when removing to collect in the frame full or when the robot that keeps a public place clean has accomplished the work of cruising, the packing machine constructs the rubbish of removing in the collection frame and packs the processing, mother's ship body 1 is leaned on the shore, remove the collection frame and remove the rubbish point of unloading, housing 8 can set up to manual opening, it is preferred, housing 8 is opened automatically under electrical control system's effect, housing 8 is opened the back, it risees to remove the collection frame, the staff from the top of mother's ship body 1 will pack rubbish take out can. According to the technical scheme, the mother ship floating body 1 and the housing 8 are matched to form the material cabin 9, so that a large amount of accumulated water in the mother ship floating body 1 is avoided, good installation conditions are provided for electric control cabinets 6, batteries and other charged equipment, the cleaning robot can normally work in rainy days, and the practicability of the technical scheme is improved; in addition, the integral structure formed by matching the floating body 1 of the mother ship and the housing 8 can be conveniently designed, for example, the streamline type is designed, so that the wind resistance of the cleaning robot on the water surface is reduced as much as possible, and the working stability of the cleaning robot is ensured; all the components are matched with each other under the control of an electrical control system to form a set of complete water surface garbage salvage process (namely, the propelling device 5 changes the salvage position, the material gathering mechanism 2 gathers the river surface garbage, the salvage conveying mechanism 3 realizes garbage salvage and transfer, and the garbage packing device 4 realizes garbage collection and packing), the whole salvage process can be completely separated from manual assistance, and safe, efficient and intelligent full-automatic unmanned salvage operation can be really realized.
Example 2
The invention discloses an intelligent water cleaning robot, which is a preferable implementation scheme of the invention, namely in embodiment 1, a communication tail fin 11 and a lifting camera device 12 electrically connected with an electrical control system are also arranged on a floating body 1 of a mother ship; the lifting camera device 12 comprises a lifting rod 12.1 arranged on the mother ship body and a camera 12.2 arranged at the top of the lifting rod 12.1; the communication tail fin 11 is arranged at the rear end of the mother ship floating body 1, and a communication system electrically connected with an electrical control system is arranged in the communication tail fin 11.
The technical scheme is provided with the communication tail wing 11, so that reliable working conditions are provided for a communication system, the functions of manual remote control, remote PC (personal computer) end control and remote control of a remote mobile end can be expanded through the communication tail wing 11, and superior conditions are provided for realizing remote control of the cleaning robot. The lifting camera device 12 is used for collecting field image information, can be matched with an electrical control system and a radar device 12.3, realizes the autonomous cruising (autonomous operation state of autonomous path planning and navigation) function of the technical scheme, and can also expand a plurality of service functions, including autonomous identification, detection and searching of water surface substances, accurate identification, positioning and tracking of the substances, autonomous obstacle avoidance and grounding prevention and the like, so that the full-automatic unmanned fishing operation is more intelligent, and a good foundation is laid for the development of a water surface cleaning robot. The lifting camera device 12 is matched with a communication system to expand the multimedia function of the technical scheme, namely, information collected by the lifting camera device 12 can be transmitted to a remote information acquisition point through the communication system, specifically, the communication system can perform wireless encryption transmission through a system network (including an Ethernet, a 4G wireless public network and a 5G network), the information collected by the lifting camera device 12 is transmitted to an upper computer system, and the upper computer system executes tasks such as related sound effect, conventional image and water curtain laser video playing according to a set effect, wherein the display effect of the information is diversified and can be adjusted according to requirements. In addition, the technical scheme provides a good layout space for the electric control system, the composition structure of the electric control system can be expanded, and the technical scheme further has a hydrometeorology monitoring function, a low-power automatic return function, a full-load intelligent return function, an intelligent speed control garbage collection function, a rescue alarm function and the like, so that the functions of the cleaning robot are more complete.
Example 3
The invention discloses an intelligent water cleaning robot, which is a preferred embodiment of the invention, namely in embodiment 1 or 2, a movable collecting frame comprises a frame body 4.1, a lifting mechanism 4.2 and a translation mechanism 4.3, wherein the lifting mechanism 4.2 and the translation mechanism 4.3 are respectively electrically connected with an electrical control system, the lifting mechanism 4.2 is arranged on the translation mechanism 4.3, and the frame body 4.1 is detachably connected with the lifting mechanism 4.2. In practical application, the translation mechanism 4.3 controls the frame body 4.1 to do back and forth linear motion in the material cabin 9 along the front and back direction of the floating body 1 of the mother ship, the lifting mechanism 4.2 controls the frame body 4.1 to do back and forth motion vertically, specifically, when the salvage equipment is in the bank, the translation mechanism 4.3 reduces the horizontal distance between the frame body 4.1 and the bank, and the lifting mechanism 4.2 reduces the height distance between the frame body 4.1 and the bank.
Further, the salvage conveying mechanism 3 comprises a net chain conveying device and a driving device for providing power for the net chain conveying device; the net chain transmission device comprises a main body support 3.1, a driving shaft part 3.2 and a driven shaft part 3.3 are respectively arranged at two ends of the main body support 3.1, a steel wire net chain 3.4 is distributed on the driving shaft part 3.2 and the driven shaft part 3.3, the driving shaft part 3.2 and the driven shaft part 3.3 are in transmission connection through the steel wire net chain 3.4, and a plurality of salvaging partition plates 3.5 are arranged on the steel wire net chain 3.4 at intervals; the driving device comprises a motor 3.6 and a gear assembly 3.7, and the driving shaft member 3.2 is in transmission connection with the motor 3.6 through the gear assembly 3.7. In actual work, the motor 3.6 transmits power to the driving shaft part 3.2 through the gear assembly 3.7, the driving shaft part 3.2 rotates, meanwhile, the driven shaft part 3.3 is driven through the steel wire mesh chain 3.4, the driving shaft part 3.2 and the driven shaft part 3.3 are respectively matched with the main body support 3.1, a reliable supporting effect is provided for the steel wire mesh chain 3.4, the salvaging partition plate 3.5 moves along with the steel wire mesh chain 3.4 in the rolling process of the steel wire mesh chain 3.4, when the garbage passes through the driven shaft part 3.3, the nearby garbage is clamped, and the garbage is protected and conveyed to the driving shaft part 3.2 end all the way, during the garbage conveying process, most of water on the garbage flows into a river from gaps on the steel wire mesh chain 3.4, and automatically falls into the movable collecting frame after the garbage reaches the driving shaft part 3.2 end.
Further, the material gathering mechanism 2 comprises a support frame 2.1, two ends of the support frame 2.1 are respectively provided with an angle adjusting unit 2.2, and two material gathering baffle plates 2.3 are respectively arranged on the two angle adjusting units 2.2; the angle adjusting unit is electrically connected with the electrical control system and used for adjusting the extending angle of the material gathering baffle 2.3. In practical application, a pressure sensor can be arranged on the material gathering baffle 2.3, the pressure sensor transmits resistance information of water flow to an electrical control system, the electrical control system controls the angle adjusting unit 2.2 to work through the resistance information, the extension direction (extension angle) of the material gathering baffle 2.3 is further adjusted, a good foundation is laid for development of the intelligent direction of river surface garbage salvage work, namely, different pressures are applied to the pressure sensor according to different flow rates of a river, the extension angle of the garbage intercepting mechanism is further adjusted, so that the resistance of the water flow to the mother ship floating body 1 is adjusted, and the cleaning robot is in the best working state. Specifically, when water flow is turbulent, the resistance of the water flow to the material gathering baffle 2.3 is large, and the material gathering baffle 2.3 is close to the middle under the action of the angle adjusting unit 2.2 so as to reduce the water flow resistance; when rivers are slow, gather material baffle 2.3 and open towards the both sides of rubbish interception mechanism under angle adjusting unit 2.2's effect, preferentially, this technical scheme still can open repeatedly and gather together at the in-process that rubbish was salvaged to more quick messenger's rubbish gathering is in the front side of mother ship body 1.
Further, the propulsion device 5 is a full-rotation propulsion device 5, and comprises an underwater propeller 5.1, a lifting device for controlling the lifting/lowering of the underwater propeller 5.1 and a power device for realizing the rotation of the underwater propeller 5.1. In the actual application, when the robot cleaner is resting on the shore or meets submarine obstacles, the underwater propeller 5.1 is retracted along with the lifting device, the propulsion device 5 is prevented from being damaged, and the power device is used for realizing the navigation control function of the propulsion device 5 on the floating body 1 of the mother ship.
Further, the packing mechanism includes that the inside packing pocket 4.4 of framework 4.1 is located to stay cord device 4.8 and cover, and the sack department parcel of packing pocket 4.4 has two annular seals rope 4.9, and every annular seals rope 4.9 corresponds and has a stay cord device 4.8, and two stay cord devices 4.8 set up respectively in framework 4.1's both sides, and stay cord device 4.8 mutually supports with annular seals rope 4.9 for make the sack of packing pocket 4.4 close. In actual application, two stay cord devices 4.8 correspond two annular seal ropes 4.9 toward respectively toward two different direction application forces, make two annular seal ropes 4.9 have on packing pocket 4.4 along the tensile trend in packing pocket 4.4 both sides, and further, two annular seal ropes 4.9 mutually support, make the sack from both sides toward middle compression diminish, close until the sack, accomplish rubbish packing promptly.
Example 4
The invention discloses an intelligent water cleaning robot, which is a preferred embodiment of the invention, namely in embodiment 3, a lifting device comprises an electric cylinder 5.2, a connecting rod 5.3 and a mounting base 5.4 which are arranged on a floating body 1 of a mother ship, a propelling shaft 5.5 penetrates through the axis of the mounting base 5.4, the propelling shaft 5.5 is movably connected with the mounting base 5.4, and an underwater propelling device 5 is fixedly connected with the bottom end of the propelling shaft 5.5; one end of the connecting rod 5.3 is fixedly connected with the actuating end of the electric cylinder 5.2, and the other end of the connecting rod 5.3 is fixedly connected with one end of the propulsion shaft 5.5 close to the bottom in the axial direction. In practical application, the lifting of the propulsion shaft 5.5 is controlled by utilizing the actuating function of the electric cylinder, the lifting of the underwater propeller 5.1 is further realized, and the device is simple in structure, easy to realize and easy to control.
Further, the power device comprises a driving gear 5.6, a driven gear 5.7 and a brushless speed reduction motor 5.8 for driving the driving gear 5.6, wherein the driving gear 5.6 is meshed with the driven gear 5.7; the driven gear 5.7 and the propelling shaft 5.5 are coaxially arranged and are rotatably connected with the top of the mounting base 5.4, the propelling shaft 5.5 penetrates through the axis of the driven gear 5.7 and is fixedly connected with the driven gear 5.7 in the circumferential direction, and the driving device is matched with the propelling shaft 5.5 to realize the full-rotation action of the underwater propeller 5.1. This technical scheme has adopted the gear drive principle, and stable in structure is reliable, through control brushless gear motor 5.8 alright drive gear rotation, effectively realizes advancing device 5's full gyration action.
Example 5
The invention discloses an intelligent water cleaning robot, which is a preferred embodiment of the invention, namely in embodiment 3, an annular wrapping ring 4.5 used for wrapping an annular sealing rope 4.9 is arranged at the bag mouth of a packaging mesh bag 4.4, the annular sealing rope 4.9 is positioned inside the annular wrapping ring 4.5, two rope penetrating holes 4.6 which are respectively in one-to-one correspondence with the two annular sealing ropes 4.9 are arranged on the annular wrapping ring 4.5, and the annular sealing ropes 4.9 are sleeved on corresponding rope pulling devices 4.8 after correspondingly penetrating the rope penetrating holes 4.6; two arrow head clamping pieces 4.7 are fixedly arranged on each annular sealing rope 4.9 and used for fixing the bag opening of the packaging mesh bag 4.4 after the bag opening of the packaging mesh bag 4.4 is closed.
In order to keep the opening degree of the bag opening of the packaging mesh bag 4.4 before garbage packaging and to be matched with the smooth reduction of the bag opening during packaging, a sleeve opening 4.4.1 is arranged at one end, close to the bag opening, of the packaging mesh bag 4.4, a plurality of sleeve openings 4.4.1 are mutually matched and are arranged at intervals along the circumferential direction of the packaging mesh bag 4.4, a plurality of sleeve hooks 4.8.2 corresponding to the sleeve openings 4.4.1 are arranged inside the frame body 4.1, the sleeve hooks 4.8.2 are mutually matched with the sleeve openings 4.4.1 and are used for supporting the packaging mesh bag 4.4 to maintain the opening state of the bag opening, and in order to enable the sleeve openings 4.4.1 to be separated from the sleeve hooks 4.8.2 and enable the bag opening to be closed smoothly, the pull rope device 4.8 comprises a lifting column 4.8.3, a lifting actuating device 4.8.1 and hooks for sleeving an annular sealing rope 4.9; the lifting actuating device 4.8.1 is arranged at the bottom of the lifting column 4.8.3, is fixedly connected with the frame body 4.1 and is used for finishing the lifting and descending work of the lifting column 4.8.3; the annular sealing rope 4.9 passes through the rope threading hole 4.6 and then bypasses the top end of the lifting column 4.8.3 and is sleeved on the hook, in the process that the lifting column 4.8.3 rises, the sleeve opening 4.4.1 firstly breaks away from the sleeve hook 4.8.2, in the process that the lifting column 4.8.3 keeps rising, the two annular sealing bodies mutually compress the annular wrapping ring 4.5 until the bag opening is closed, the arrow clamping piece 4.7 is positioned in the annular wrapping ring 4.5 when the bag opening is closed, the annular wrapping ring 4.5 is compressed, the arrow penetrates out from the rope threading hole 4.6 and clamps the rope threading hole 4.6, and the closed bag opening is prevented from being loosened under the tension action of garbage in the packaging net bag 4.4. Packing pocket 4.4 among this technical scheme, can filter unnecessary water in the rubbish, alleviate the weight of parcel behind the rubbish packing as far as possible, not only alleviateed the burden of unloading rubbish work, still avoid as far as to put a case on a large amount of hosepipes, further avoid the onshore environment to complicate, provide the guarantee for the life safety of personnel on the shore, it seals 4.4 to set up annular sealing rope 4.9 realization to packing pocket 4.4 on packing pocket 4.4, further realize rubbish packing, utilize arrow head fastener 4.722 on annular sealing rope 4.9 son to fix at last, the design structure is ingenious, packing effect is reliable and stable.
Claims (10)
1. The utility model provides an intelligence robot of keeping a public place clean on water which characterized in that: comprises a mother ship floating body (1), a gathering mechanism (2), a salvaging and conveying mechanism (3), a garbage packing device (4) and at least one propelling device (5);
an electric control cabinet (6) and a power supply battery (7) are hermetically arranged in the mother ship floating body (1), and an electric control system is distributed in the electric control cabinet (6); the top of the mother ship floating body (1) is provided with a housing (8), and the mother ship floating body (1) and the housing (8) are matched with each other to form a material cabin (9);
the garbage packing device (4) is arranged in the material cabin (9), the garbage packing device (4) comprises a movable collecting frame and a packing mechanism arranged on the movable collecting frame, and the movable collecting frame and the packing mechanism are respectively and electrically connected with the electrical control system;
the gathering mechanism (2) is arranged on the front side of the mother ship floating body (1), a fishing hatch is arranged on the front side of the mother ship floating body (1), one end of the fishing conveying mechanism (3) is positioned on the front side of the mother ship floating body (1) and matched with the gathering mechanism (2), and the other end of the fishing conveying mechanism (3) is inserted into the material cabin (9) through the fishing hatch and extends to the position above the frame body (4.1);
the propulsion device (5) is arranged at the bottom of the floating body (1) of the mother ship, is electrically connected with an electrical control system in the electric control cabinet (6) and is used for controlling the course and the navigational speed of the floating body (1) of the mother ship in water.
2. The intelligent water cleaning robot as claimed in claim 1, wherein: the mother ship floating body (1) is also provided with a communication tail wing (11) and a lifting camera device (12) electrically connected with an electrical control system; the lifting camera device (12) comprises a lifting rod (12.1) arranged on the mother ship body and a camera (12.2) arranged at the top of the lifting rod (12.1); the communication tail wing (11) is arranged at the rear end of the mother ship floating body (1), and a communication system electrically connected with the electrical control system is distributed in the communication tail wing (11).
3. The intelligent water cleaning robot as claimed in claim 1, wherein: the movable collecting frame comprises a frame body (4.1), a lifting mechanism (4.2) and a translation mechanism (4.3), the lifting mechanism (4.2) and the translation mechanism (4.3) are respectively electrically connected with an electrical control system, the lifting mechanism (4.2) is arranged on the translation mechanism (4.3), and the frame body (4.1) and the lifting mechanism (4.2) are detachably connected.
4. The intelligent water cleaning robot as claimed in claim 1, wherein: the salvaging and conveying mechanism (3) comprises a net chain conveying device and a driving device for providing power for the net chain conveying device; the net chain conveying device comprises a main body support (3.1), a driving shaft part (3.2) and a driven shaft part (3.3) are respectively arranged at two ends of the main body support (3.1), steel wire net chains (3.4) are distributed on the driving shaft part (3.2) and the driven shaft part (3.3), the driving shaft part (3.2) and the driven shaft part (3.3) are in transmission connection through the steel wire net chains (3.4), and a plurality of salvaging partition plates (3.5) are arranged on the steel wire net chains (3.4) at intervals; the driving device comprises a motor (3.6) and a gear assembly (3.7), and the driving shaft piece (3.2) is in transmission connection with the motor (3.6) through the gear assembly (3.7).
5. The intelligent water cleaning robot as claimed in claim 1, wherein: the material gathering mechanism (2) comprises a support frame (2.1), two ends of the support frame (2.1) are respectively provided with an angle adjusting unit (2.2), and two material gathering baffle plates (2.3) are respectively arranged on the two angle adjusting units (2.2); the angle adjusting unit is electrically connected with the electrical control system and used for adjusting the extending angle of the material gathering baffle (2.3).
6. The intelligent water cleaning robot as claimed in claim 1, wherein: the propelling device (5) is a full-rotation propelling device (5) and comprises an underwater propeller (5.1), a lifting device for controlling the lifting/falling of the underwater propeller (5.1) and a power device for realizing the rotation of the underwater propeller (5.1).
7. The intelligent water cleaning robot as claimed in claim 5, wherein: the lifting device comprises an electric cylinder (5.2), a connecting rod (5.3) and a mounting base (5.4), wherein the electric cylinder, the connecting rod and the mounting base are arranged on the floating body (1) of the mother ship, a propulsion shaft (5.5) penetrates through the axis of the mounting base (5.4), the propulsion shaft (5.5) is movably connected with the mounting base (5.4), and the underwater propulsion device (5) is fixedly connected with the bottom end of the propulsion shaft (5.5); one end of the connecting rod (5.3) is fixedly connected with the actuating end of the electric cylinder (5.2), and the other end of the connecting rod (5.3) is fixedly connected with the end, close to the bottom, of the propulsion shaft (5.5) in the axial direction.
8. The intelligent water cleaning robot as claimed in claim 6, wherein: the power device comprises a driving gear (5.6), a driven gear (5.7) and a brushless speed reduction motor (5.8) for driving the driving gear (5.6), wherein the driving gear (5.6) is meshed with the driven gear (5.7); driven gear (5.7) with propulsion shaft (5.5) coaxial arrangement to rotate with the top of mounting base (5.4) and be connected, propulsion shaft (5.5) pass driven gear (5.7) axle center department to with driven gear (5.7) circumference fixed connection, drive arrangement and propulsion shaft (5.5) are mutually supported, realize the full gyration of underwater propulsor (5.1) is moved.
9. The intelligent water cleaning robot as claimed in claim 1, wherein: packing mechanism includes that stay cord device (4.8) and cover are located the inside packing pocket (4.4) of framework (4.1), the sack department parcel of packing pocket (4.4) has two annular seals rope (4.9), and every annular seals rope (4.9) correspond and have a stay cord device (4.8), two stay cord devices (4.8) set up respectively in the both sides of framework (4.1), stay cord device (4.8) and annular seals rope (4.9) mutually support for make the sack of packing pocket (4.4) close.
10. The water cleaning robot as claimed in claim 9, wherein: an annular wrapping ring (4.5) used for wrapping the annular sealing rope (4.9) is arranged at the bag opening of the packaging mesh bag (4.4), the annular sealing rope (4.9) is positioned inside the annular wrapping ring (4.5), two rope penetrating holes (4.6) which are respectively in one-to-one correspondence with the two annular sealing ropes (4.9) are formed in the annular wrapping ring (4.5), and the annular sealing rope (4.9) is sleeved on the corresponding rope pulling device (4.8) after correspondingly penetrating through the rope penetrating holes (4.6); two arrow fasteners (4.7) are fixedly arranged on each annular sealing rope (4.9) and used for fixing the bag opening of the packaging mesh bag (4.4) after the bag opening of the packaging mesh bag (4.4) is closed.
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| CN112936313A (en) * | 2021-04-09 | 2021-06-11 | 贵州工程应用技术学院 | Intelligent water purification robot based on machine identification |
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| CN114931123A (en) * | 2022-05-31 | 2022-08-23 | 常州华溪渔业有限公司 | Equipment is salvaged to plant that floats |
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| CN112854161A (en) * | 2021-01-14 | 2021-05-28 | 黄江书 | Quick fishing device of water pollutant for environmental protection |
| CN112936313A (en) * | 2021-04-09 | 2021-06-11 | 贵州工程应用技术学院 | Intelligent water purification robot based on machine identification |
| CN113401296A (en) * | 2021-08-06 | 2021-09-17 | 厦门佰欧环境智能科技有限公司 | Intelligent water surface garbage cleaning system |
| CN114931123A (en) * | 2022-05-31 | 2022-08-23 | 常州华溪渔业有限公司 | Equipment is salvaged to plant that floats |
| CN114931123B (en) * | 2022-05-31 | 2023-10-13 | 常州华溪渔业有限公司 | Floating plant salvaging equipment |
| CN115324005A (en) * | 2022-07-01 | 2022-11-11 | 长春理工大学 | Intelligent water garbage can and intelligent water garbage recycling method |
| CN115324005B (en) * | 2022-07-01 | 2024-03-19 | 长春理工大学 | Intelligent water garbage can and intelligent water garbage recycling method |
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