WO2021098575A1 - 水面垃圾打捞装置 - Google Patents

水面垃圾打捞装置 Download PDF

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Publication number
WO2021098575A1
WO2021098575A1 PCT/CN2020/128237 CN2020128237W WO2021098575A1 WO 2021098575 A1 WO2021098575 A1 WO 2021098575A1 CN 2020128237 W CN2020128237 W CN 2020128237W WO 2021098575 A1 WO2021098575 A1 WO 2021098575A1
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WO
WIPO (PCT)
Prior art keywords
garbage
filter screen
guide rail
salvaging
storage bin
Prior art date
Application number
PCT/CN2020/128237
Other languages
English (en)
French (fr)
Inventor
崔杰
嵇春艳
叶仁传
Original Assignee
江苏科技大学
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Filing date
Publication date
Application filed by 江苏科技大学 filed Critical 江苏科技大学
Priority to US17/414,875 priority Critical patent/US11613862B2/en
Publication of WO2021098575A1 publication Critical patent/WO2021098575A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
    • B01D29/60—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor integrally combined with devices for controlling the filtration
    • B01D29/603—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor integrally combined with devices for controlling the filtration by flow measuring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
    • B01D29/01—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor with flat filtering elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
    • B01D29/60—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor integrally combined with devices for controlling the filtration
    • B01D29/606—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor integrally combined with devices for controlling the filtration by pressure measuring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D29/00—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor
    • B01D29/96—Filters with filtering elements stationary during filtration, e.g. pressure or suction filters, not covered by groups B01D24/00 - B01D27/00; Filtering elements therefor in which the filtering elements are moved between filtering operations; Particular measures for removing or replacing the filtering elements; Transport systems for filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D33/00—Filters with filtering elements which move during the filtering operation
    • B01D33/01—Filters with filtering elements which move during the filtering operation with translationally moving filtering elements, e.g. pistons
    • B01D33/015—Filters with filtering elements which move during the filtering operation with translationally moving filtering elements, e.g. pistons with flat filtering elements
    • B01D33/0183—Filters with filtering elements which move during the filtering operation with translationally moving filtering elements, e.g. pistons with flat filtering elements supported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D33/00—Filters with filtering elements which move during the filtering operation
    • B01D33/15—Filters with filtering elements which move during the filtering operation with rotary plane filtering surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D33/00—Filters with filtering elements which move during the filtering operation
    • B01D33/15—Filters with filtering elements which move during the filtering operation with rotary plane filtering surfaces
    • B01D33/155—Filters with filtering elements which move during the filtering operation with rotary plane filtering surfaces the filtering surface being parallel to the rotation axis
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/001—Processes for the treatment of water whereby the filtration technique is of importance
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/40—Devices for separating or removing fatty or oily substances or similar floating material
    • 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
    • E02B15/046—Collection of oil using vessels, i.e. boats, barges
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D2201/00—Details relating to filtering apparatus
    • B01D2201/58—Power supply means for regenerating the filter
    • B01D2201/586—Power supply means for regenerating the filter using regenerative sources, e.g. wind, sun
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2103/00—Nature of the water, waste water, sewage or sludge to be treated
    • C02F2103/007—Contaminated open waterways, rivers, lakes or ponds
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2201/00—Apparatus for treatment of water, waste water or sewage
    • C02F2201/008—Mobile apparatus and plants, e.g. mounted on a vehicle
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2201/00—Apparatus for treatment of water, waste water or sewage
    • C02F2201/009—Apparatus with independent power supply, e.g. solar cells, windpower, fuel cells
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2209/00—Controlling or monitoring parameters in water treatment
    • C02F2209/03—Pressure
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F2209/00—Controlling or monitoring parameters in water treatment
    • C02F2209/40—Liquid flow rate
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A20/00—Water conservation; Efficient water supply; Efficient water use
    • Y02A20/20—Controlling water pollution; Waste water treatment
    • Y02A20/204—Keeping clear the surface of open water from oil spills

Definitions

  • the invention relates to the field of surface garbage salvaging, in particular to a surface garbage salvaging device.
  • the object of the present invention is to provide a surface garbage salvaging device to improve the salvage efficiency and containment efficiency of garbage.
  • the present invention includes a chip, a large garbage salvaging device, a small garbage cleaning device and a central controller.
  • the front of the chip is provided with a large garbage salvaging device, and the rear is equipped with a small garbage cleaning device;
  • the rubbish salvaging device includes a paddle wheel, a slide, and a large rubbish storage bin. Both sides of the paddle wheel are respectively provided with slides, and the slide is connected with the large rubbish storage bin; the rear of the large rubbish salvage device
  • a small garbage cleaning device is provided.
  • the small garbage cleaning device includes a filter screen, a guide rail slider mechanism, a lifting mechanism and a pulley block.
  • the filter screen is provided with a hanger, and both sides of the filter screen are provided with a lifting mechanism and a pulley block.
  • the two ends of the hanger are respectively installed on the lifting mechanism, and the filter screen is connected in the middle; one end of the rope of the pulley block is tied to the lifting mechanism, and the other end is tied to the filter screen; a guide rail slider mechanism is provided between the filter screen and the hanger , Garbage storage bins are installed under the two ends of the stroke of the guide rail slider mechanism.
  • the paddle wheel includes a stator and a rotor.
  • the rotor includes a hub and fan blades.
  • the stator and the hub of the rotor are concentrically matched.
  • the stator located above the waterline adopts a closed ramp structure, and the ramp is connected to the slideway; it is located below the waterline. There is a gap on the stator, which will not hinder the flow of tiny garbage.
  • the fan blade is in the shape of a filter mesh, and the aperture of the filter mesh is 1-3 mm, which can effectively filter most of the tiny garbage.
  • a compression device is arranged above the bulk garbage storage bin, and the compression device adopts a rack and pinion mechanism.
  • a pressure sensor is arranged at the bottom of the bulk garbage storage bin, and infrared sensors are arranged on both sides of the upper part.
  • the guide rail slider mechanism includes a screw guide rail and a slider.
  • the screw guide rail includes an optical axis and a screw. The two ends of the screw guide rail are fixed to the sheet body, and the screw is connected with the motor.
  • the sliding block is equipped with a cleaning brush, and a garbage storage bin is installed under the two ends of the cleaning brush stroke.
  • a flow meter is arranged behind the filter screen for detecting the flow rate.
  • a solar panel is fixed on the top of the hanger to supply power to the control system.
  • a power supply and a central controller are installed in the chip.
  • the present invention is mainly aimed at salvaging floating objects on the water surface or shallow draft.
  • the filter mesh has a pore size of 1-3mm, which can effectively filter most of the tiny garbage, such as small particle foam, etc., and can also clean up entero moss and other aquatic organisms.
  • Bulk garbage salvaging device is mainly for mineral water bottles, pop cans, foam blocks and other floating objects that are light in weight, easy to compress, but occupy a large space; the invention is optimized for installation on unmanned catamarans, and can be used with functions such as path planning.
  • the present invention can realize the functions of autonomous salvage and recycling, and can also be installed in fixed locations such as the shore; the present invention provides a new type of large garbage and small garbage classification salvage scheme, which has a high degree of automation and a wide range of salvage targets, which guarantees certain cleaning Efficiency also has the advantages of improving garbage storage efficiency and convenient recycling; the present invention can realize program autonomy, realize garbage salvage effect, and can also manually salvage at fixed points. It is safe, reliable, and highly efficient. It can effectively replace manual salvage, and garbage sorting salvage at the same time, Effectively improve storage efficiency and recycling efficiency, while having good human-computer interaction functions.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic view of the lifting of the small garbage cleaning device of the present invention.
  • Figure 3 is a schematic diagram of the small garbage cleaning device of the present invention falling down
  • Figure 4 is a schematic diagram of the large garbage salvaging device of the present invention.
  • Figure 5 is a layout diagram of the garbage storage bin sensor of the present invention.
  • Figure 6 is a schematic diagram of the garbage crusher of the present invention.
  • the present invention includes a chip, a large garbage fishing device, a small garbage cleaning device and a central controller 11.
  • the front of the chip is provided with a large garbage fishing device, and the rear is equipped with small garbage. Clean up the device.
  • the large garbage salvaging device includes a paddle wheel 21, a slide 24 and a large garbage storage bin 22.
  • the left and right sides of the paddle wheel 21 are provided with a slide 24 and a large garbage storage bin 22 respectively.
  • the paddle wheel 21 includes a stator 211 and a rotor 212.
  • the rotor 212 is composed of a hub and a fan blade. The fan blades are processed into a filter mesh with a larger aperture. The number of blades is generally 6-8. It is a general form of a paddle wheel, and the rotor 212 is driven by the pulley of the first motor 213 installed in the sheet.
  • the hubs of the stator 211 and the rotor 212 concentrically cooperate to support the rotor 212.
  • the stator 211 has small slots on both sides and the central area of the central axis. Rollers 2112 are installed in the slots to support the paddle rotor 212 to rotate.
  • the stator 211 is closed above the waterline and forms an internal slope with angles on both sides, so that large pieces of garbage can slide down the slideway 24 by gravity from the fan blades to the large garbage storage bin 22, and on each side Strengthen to ensure strength.
  • a large gap is left in the water-immersed part of the stator 211 to facilitate the flow of small garbage.
  • the paddle wheel 21 is installed in the front of the waterway, and the slides 24 are arranged on both sides of the paddle wheel 21, connecting the paddle wheel 21 and the bulk garbage storage bin 22.
  • a garbage compression device 23 is installed directly above the bulk garbage storage bin 22.
  • a pressure sensor 41 is provided at the bottom of the compression device 23, and infrared sensors 42 are provided on both sides of the upper part, as shown in FIG. 5.
  • the compression device 23 uses a rack and pinion mechanism driven by a second motor 232, as shown in FIG. 6.
  • the central controller 11 determines whether to use the compression device 23 according to the pressure sensor 41 in the bulk garbage storage bin 22, and feeds back the weight information to the upper computer in real time.
  • the central controller 11 is connected to each motor driver and each sensor module, and is powered by the solar panel 14, and the motor is powered by an additional power source. Large pieces of garbage in the water stream are salvaged by the fan blades, and slide down the slideway 24 to the large piece of garbage storage bin 22. Large pieces of garbage are often wasted when they are stored.
  • the central controller 11 controls the second motor 232 to drive the rack and pinion 231, the compressor works, and compresses large pieces of garbage.
  • the central controller 11 controls the second The motor 232 resets the compressor, and the garbage compression is completed.
  • the central controller 11 will notify the host computer to remind the operator to recycle the collected garbage.
  • the small garbage cleaning device includes a filter screen 32, a rail slider mechanism, a "door"-shaped hanger 36 for connecting the filter screen 32 and a lifting mechanism 31, a lifting mechanism 31 and a pulley block 35.
  • the filter screen 32 is made of stainless steel. After processing, the rope that can connect the hanger 36 and the pulley block 35 is arranged at the back of the middle waterway.
  • a lifting mechanism 31 is provided on both sides of the filter screen 32.
  • the two synchronous elevators adopt a scissor-type platform mechanism and are driven by a pair of stepping motors 335.
  • the lifting mechanism 31 is arranged on both sides of the filter screen 32.
  • a guide rail slider mechanism is provided directly above the filter screen 32.
  • the guide rail slider mechanism includes a screw guide rail and a slider 333.
  • the screw guide rail is composed of an optical axis 331 and a screw 332.
  • the bottom of the slider 333 is equipped with a cleaning brush 334 and an optical axis.
  • 331 and screw 332 straddle the middle waterway, and the two ends of the screw 332 are installed on the two side plates.
  • the screw 332 is driven by a motor, and the slider 333 is driven to slide along the screw guide through the screw guide rail structure.
  • a garbage storage bin 34 is installed under the two ends of the stroke of the cleaning brush 334 respectively.
  • a solar panel 14 is installed on the top of the hanger 36 to supply power to the control system.
  • the small rubbish cleaning device is arranged behind the large rubbish fishing device to filter the small rubbish leaked by the large rubbish fishing device to the filter screen 32.
  • the central controller 11 controls the stepping motor 335 to drive the elevator to work, which drives the filter screen 32 to rise, and then the motor on the screw guide is started to drive the cleaning brush 334 from one side of the filter screen 32 to the other side, thereby pushing the filter screen 32
  • the garbage on the upper part is pushed into the garbage storage bin 34.
  • the solar panel 14 converts solar energy into electric energy. This part of the electric energy is stored in an additional power source for the control system.
  • the main power source 12 supplies power to other parts of the system.
  • the paddle wheel 21 continues to work to salvage large pieces of garbage to the large piece of garbage storage bin 22.
  • the central controller 11 determines whether to activate the compression device 23 according to the pressure sensor 41 in the large piece of garbage storage bin 22, and according to the real-time basis during the compression process
  • the pressure judges whether the compression limit is reached, and if it is, the compression device 23 is reset; an infrared sensor 42 is installed on the top of the bulk garbage storage bin 22, and the controller judges whether the bin has reached a full load state according to the infrared feedback signal, and informs the host computer.
  • a flow meter 43 is installed after the filter 32 of the small garbage cleaning device.
  • the flow rate of the water after the filter 32 will be changed according to the amount of garbage attached to the filter 32.
  • the controller uses the flow rate feedback information to determine that the filter 32 is raised and the device is activated. The timing of the agency.
  • the central controller 11 controls the first motor 213 that drives the paddle wheel 21 to periodically operate, and continuously salvage large pieces of garbage.
  • the garbage compressor is started. , Compress the garbage, reset the garbage compressor after reaching another larger limit value; the controller controls the elevator, and the flow meter 43 behind the filter screen judges whether enough garbage is filtered, if yes, lift the filter screen 32 and run
  • the motor that controls the screw guide rail pushes the garbage into the garbage storage bins 34 on both sides; when the central controller 11 judges that the garbage is full based on the data fed back by the infrared and pressure sensors, it sends a signal to the host computer to remind the administrator to recycle the garbage
  • the organization reserves the authority of super user, the sensor data is sent back in real time, and each device can be taken over by the upper computer, which is convenient for the administrator to carry out precise salvage or avoid water flow. Most of the functions of the system have automatic procedures, which can realize the function of autonomously salvaging garbage.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Water Supply & Treatment (AREA)
  • Organic Chemistry (AREA)
  • Analytical Chemistry (AREA)
  • Filtration Of Liquid (AREA)

Abstract

本发明公开了一种水面垃圾打捞装置，包括片体、大块垃圾打捞装置和小型垃圾清理装置，片体的前部设有大块垃圾打捞装置，后部设有小型垃圾清理装置；所述的大块垃圾打捞装置包括明轮、滑道和大块垃圾存储仓，明轮的两侧分别设有滑道，滑道与大块垃圾存储仓连接；小型垃圾清理装置包括过滤网、导轨滑块机构、升降机构和滑轮组，过滤网上方设有吊架，两侧均设有升降机构和滑轮组；吊架两端分别安装在升降机构上，中间连接过滤网；滑轮组的绳子一端系在升降机构上，另一端系在过滤网上，过滤网与吊架之间设有导轨滑块机构，导轨滑块机构行程的两端下方安装垃圾存储仓。本发明可有效替代人工打捞，提高打捞及回收效率，同时具备良好的人机交互功能。

Description

水面垃圾打捞装置 技术领域
本发明涉及水面垃圾打捞领域，尤其涉及一种水面垃圾打捞装置。
背景技术
由于人类生产活动，大量人造物流入海洋中形成海洋垃圾，影响海洋景观，影响海洋生态***，海洋垃圾清理是海洋专业未来的一个重要发展方向。在河流和沿海等水面垃圾聚集地，当前主要的打捞方式是人工打捞，费时费力，效率低下。少部分具有自主打捞功能的清理机器人也存在打捞速度慢、垃圾装载量低等缺陷。
但是，抛开搭载量的问题，全自动化水面垃圾收集装置的效率依旧是人工作业的数倍乃至数十倍。如何通过优化垃圾存储方式有效的提升垃圾的装载量、如何通过改变打捞模式提高垃圾的清理效率是现在水面垃圾清理的重要研究方向。
发明内容
发明目的：本发明目的是提供一种水面垃圾打捞装置，以提高垃圾的打捞效率和收容效率。
技术方案：本发明包括片体、大块垃圾打捞装置、小型垃圾清理装置和中央控制器，片体的前部设有大块垃圾打捞装置，后部设有小型垃圾清理装置；所述的大块垃圾打捞装置包括明轮、滑道和大块垃圾存储仓，所述明轮的两侧分别设有滑道，滑道与大块垃圾存储仓连接；所述的大块垃圾打捞装置的后方设有小型垃圾清理装置，所述的小型垃圾清理装置包括过滤网、导轨滑块机构、升降机构和滑轮组，所述的过滤网上方设有吊架，过滤网两侧均设有升降机构和滑轮组；吊架两端分别安装在升降机构上，中间连接过滤网；滑轮组的绳子一端系在升降机构上，另一端系在过滤网上；所述的过滤网与吊架之间设有导轨滑块机构，导轨滑块机构行程的两端下方安装垃圾存储仓。
所述的明轮包括定子和转子，转子包括轮毂和扇叶，定子与转子的轮毂同心配合，位于水线以上的定子采用封闭的坡道结构，该坡道与滑道连通；位于水线以下的定子上留有空隙，不会阻碍微小垃圾流过。
所述的扇叶采用过滤网状，过滤网孔径在1-3mm，能有效过滤大部分微小垃圾。
所述的大块垃圾存储仓上方设有压缩装置，所述的压缩装置采用齿轮齿条机构。
所述的大块垃圾存储仓底部设有压力传感器，上部的两侧设有红外传感器。
所述的导轨滑块机构包括丝杆导轨和滑块，所述的丝杆导轨包括光轴和螺杆，丝杆导轨的两端与片体固定，所述的螺杆与电机连接。
所述的滑块上装有清洁刷，清洁刷行程的两端下方安装垃圾存储仓。
所述过滤网的后方设有流量计，用于检测流速。
所述吊架的顶部固定有太阳能板，为控制***供电。
所述的片体内安装有电源和中央控制器。
有益效果：本发明主要针对水面上或较浅吃水中的漂浮物进行打捞，过滤网孔径在1-3mm，能有效过滤大部分微小垃圾，例如小颗粒泡沫等，也可以清理浒苔等水生物，大块垃圾打捞装置主要针对矿泉水瓶、易拉罐、泡沫块等自身重量轻，便于压缩但占用空间大的漂浮物；本发明为安装在无人双体船上做过优化，配合路径规划等功能可以实现自主打捞、回收等功能，也可以安装在岸边等固定位置；本发明提供了一种新型的大块垃圾与小型垃圾分类打捞方案，自动化程度高，打捞目标范围广，既保证一定的清理效率，也具有提高垃圾存储效率，方便回收等好处；本发明可以实现程序自主，实现垃圾打捞效果，也能人工定点打捞，安全可靠，效率较高，可以有效替代人工打捞，同时垃圾分类打捞，有效提高存储效率以及回收效率，同时具备良好的人机交互功能。
附图说明
图1为本发明的整体结构示意图；
图2为本发明的小型垃圾清理装置升起示意图；
图3为本发明的小型垃圾清理装置落下示意图；
图4为本发明的大块垃圾打捞装置示意图；
图5为本发明的垃圾存储仓传感器布置图；
图6为本发明的垃圾压碎机示意图。
具体实施方式
下面结合附图对本发明作进一步说明。
如图1至图6所示，本发明包括片体、大块垃圾打捞装置、小型垃圾清理装置和中央控制器11，片体的前部设有大块垃圾打捞装置，后部设有小型垃圾清理装置。如图1所示，大块垃圾打捞装置包括明轮21、滑道24和大块垃圾存储仓22，明轮21的左右两侧分别设有一个滑道24和大块垃圾存储仓22。
如图4所示，明轮21包括定子211和转子212，转子212由轮毂和扇叶两部分组成， 扇叶加工成孔径较大的过滤网状，扇叶数量一般为6-8片，轮毂即为明轮的一般形式，转子212由安装在片体中的第一电机213带轮驱动。定子211与转子212的轮毂同心配合起支撑转子212的作用，定子211的中心轴两侧及中央区域开有小槽口，在槽口中安装滚子2112，以支撑明轮转子212转动。定子211在水线以上的部分封闭，并形成两边带有角度的内部坡道，使大块垃圾能从扇叶上利用重力沿滑道24滑落直至大块垃圾存储仓22中，并在各边加强以保证强度。定子211浸水部分留出较大空隙，便于微小垃圾流过。明轮21安装在水道前部，滑道24布置在明轮21两侧，连接明轮21和大块垃圾存储仓22，在大块垃圾存储仓22的正上方设有垃圾压缩装置23，垃圾压缩装置23的底部设有压力传感器41，上部的两侧设有红外传感器42，如图5所示。
压缩装置23使用第二电机232驱动的齿轮齿条机构，如图6所示。中央控制器11根据大块垃圾存储仓22中的压力传感器41判定是否使用压缩装置23，以及实时将重量信息反馈给上位机。中央控制器11与各电机驱动器、各传感器模块相连，并由太阳能板14进行供电，电机由额外的电源进行供电。水流中的大块垃圾由扇叶打捞起来，沿滑道24滑落至大块垃圾存储仓22中，大块垃圾在存储时往往有大片空间被浪费，当压力传感器41检测到重量或红外传感器42检测到高度到达限定值时，中央控制器11控制第二电机232驱动齿轮齿条231，压缩机工作，压缩大块垃圾，当压力传感器41到达另一限定值时，中央控制器11控制第二电机232将压缩机归位，垃圾压缩完成。当舱室满载时，中央控制器11将通知上位机，提醒操作者回收已经收集好的垃圾。
如图2和图3所示，小型垃圾清理装置包括过滤网32、导轨滑块机构、用于连接过滤网32和升降机构31的“门”字型吊架36、升降机构31和滑轮组35。过滤网32为不锈钢制，加工后可以连接吊架36和滑轮组35的绳索，其布置在中部水道靠后的位置。过滤网32的两侧各设有一个升降机构31，两台同步升降机采用剪叉式平台机构，由一对步进电机335驱动，升降机构31布置在两边片体中相对过滤网32靠后的位置，“门”字型吊架36的两端安装在升降机构31的甲板上，中间连接过滤网32，滑轮组35的绳子一端系在升降机构31的甲板上，另一端系在过滤网32上。当升降机升起时，吊架36和绳索吊起过滤网32的两边，避免产生大力矩。同时，在过滤网32后方安装流速计43，并向中央控制器11发送数据。过滤网32的正上方设有导轨滑块机构，导轨滑块机构包括丝杆导轨和滑块333，丝杠导轨由光轴331、螺杆332构成，滑块333底部装有清洁刷334，光轴331和螺杆332横跨中部水道，其两端安装在两边片体上，螺杆332由电 机驱动，通过丝杆导轨结构带动滑块333沿丝杆导轨滑动。清洁刷334行程的两端下方各安装一垃圾存储仓34。吊架36的顶部装有太阳能板14，为控制***供电。
小型垃圾清理装置布置在大块垃圾打捞装置的后方，将大块垃圾打捞装置漏过的小型垃圾过滤到过滤网32上，当过滤网32后的流速计43检测到流速降低较大百分比后，中央控制器11控制步进电机335驱动升降机工作，带动过滤网32升起，丝杆导轨上的电机随后启动，驱动清洁刷334从过滤网32一侧推至另一侧，从而将过滤网32上的垃圾推入垃圾存储仓34中。
太阳能板14将太阳能转化为电能，此部分电能存储在额外电源中专为控制***使用，主要电源12为***其他部分供电。明轮21持续工作，将大块垃圾打捞至大块垃圾存储仓22中，中央控制器11根据大块垃圾存储仓22中的压力传感器41判定是否启动压缩装置23，并在压缩过程中实时根据压力判断是否到达压缩极限，若是，则复位压缩装置23；大块垃圾存储仓22顶部安装红外传感器42，控制器根据红外反馈信号判断是否仓室到达满载状态，并通知上位机。小型垃圾清理装置的过滤网32后安装流速计43，过滤网32后的水流流速会根据过滤网32上的垃圾附着量改变，控制器以流速反馈信息判定升起过滤网32及启动此装置其他机构的时机。
使用时，中央控制器11控制驱动明轮21的第一电机213周期性运转，不断将大块垃圾打捞起来，当大块垃圾存储仓22中的压力计到达某一限定值后启动垃圾压缩机，压缩垃圾，到达更大的另一限定值后复位垃圾压缩机；控制器控制升降机，由过滤网后的流速计43判断是否过滤了足够的垃圾，若为是，抬起过滤网32，运行控制丝杠导轨的电机，将垃圾推入两侧的垃圾存储仓34中；当中央控制器11根据红外及压力传感器反馈的数据判断垃圾已满，则发送信号至上位机，提醒管理员回收垃圾；此外，机构预留超级用户权限，传感器数据实时回传，各设备均可以由上位机接管，方便管理员进行精确打捞或者避让水流。***大部分功能均具有自动化程序，能够实现自主打捞垃圾功能，打捞效率较高，减少人工成本，同时太阳能可以提供足够的电能保证***不失联，安全可靠。

Claims (10)

  1. 一种水面垃圾打捞装置，其特征在于，包括片体、大块垃圾打捞装置、小型垃圾清理装置和中央控制器，片体的前部设有大块垃圾打捞装置，后部设有小型垃圾清理装置；所述的大块垃圾打捞装置包括明轮、滑道和大块垃圾存储仓，所述明轮的两侧分别设有滑道，滑道与大块垃圾存储仓连接；所述的大块垃圾打捞装置的后方设有小型垃圾清理装置，所述的小型垃圾清理装置包括过滤网、导轨滑块机构、升降机构和滑轮组，所述的过滤网上方设有吊架，过滤网两侧均设有升降机构和滑轮组；吊架两端分别安装在升降机构上，中间连接过滤网；滑轮组的绳子一端系在升降机构上，另一端系在过滤网上；所述的过滤网与吊架之间设有导轨滑块机构，导轨滑块机构行程的两端下方安装垃圾存储仓。
  2. 根据权利要求1所述的水面垃圾打捞装置，其特征在于，所述的明轮包括定子和转子，转子包括轮毂和扇叶，定子与转子的轮毂同心配合，位于水线以上的定子采用封闭的坡道结构，该坡道与滑道连通；位于水线以下的定子上留有空隙。
  3. 根据权利要求2所述的水面垃圾打捞装置，其特征在于，所述的扇叶采用过滤网状。
  4. 根据权利要求1所述的水面垃圾打捞装置，其特征在于，所述的大块垃圾存储仓上方设有压缩装置，所述的压缩装置采用齿轮齿条机构。
  5. 根据权利要求1或4所述的水面垃圾打捞装置，其特征在于，所述的大块垃圾存储仓底部设有压力传感器，上部的两侧设有红外传感器。
  6. 根据权利要求1所述的水面垃圾打捞装置，其特征在于，所述的导轨滑块机构包括丝杆导轨和滑块，所述的丝杆导轨包括光轴和螺杆，丝杆导轨的两端与片体固定，所述的螺杆与电机连接。
  7. 根据权利要求6所述的水面垃圾打捞装置，其特征在于，所述的滑块上装有清洁刷，清洁刷行程的两端下方安装垃圾存储仓。
  8. 根据权利要求1所述的水面垃圾打捞装置，其特征在于，所述过滤网的后方设有流量计。
  9. 根据权利要求1所述的水面垃圾打捞装置，其特征在于，所述吊架的顶部固定有太阳能板。
  10. 根据权利要求1所述的水面垃圾打捞装置，其特征在于，所述的片体内安装有电源和中央控制器。
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