• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention describes a raking device for cleaning sandy beaches that comprises a transmission shaft (1), connected to a motor and at least one pair of mechanisms, with links (5, 6, 7, 8), where the The device comprises front (2) and rear (2') support shafts fixed to the platform (12) and each of the mechanisms comprises a driving pulley (3) connected to the transmission shaft (1) at an off-center point, a transmission belt (9) with spikes (10) fixed around the two pulleys (3, 4) and a hopper (11), one of the mechanisms being attached to the front support shaft (2) and the other mechanism to the shaft of rear support (2'), so that the activation of the motor implies that the movement of the device and the rotation of the belt (9) occur simultaneously by means of a single energy input. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2800099A1
    申请号:ES202030795
    申请日:2020-07-28
    公开日:2020-12-23
    发明作者:Gallego Lupe Alonso
    申请人:Universidad Politecnica de Madrid；
    IPC主号:
    专利说明:

    [0001] SCRAPING DEVICE FOR SAND BEACH CLEANING
    [0003] OBJECT OF THE INVENTION
    [0004] The present invention refers to a raking device for beach cleaning that incorporates a series of mechanisms that configure the corresponding support legs or ends of the machine. These extremities allow the performance of the two main functions to be performed by a beach cleaning machine, such as the movement of the machine and the raking of the sand, with the final or main objective of collecting waste. For this, the cleaning machine incorporates at least one pair of extremities, which can be only two extremities or, preferably, four. The machine can also incorporate more than four limbs, although for reasons of efficiency, simplicity and economy, the optimum number is considered to be four. The mechanism is configured by means of articulated links with simple pairs of rotation, and integrates an off-center pulley system, by means of which a belt coupled to them moves in turn, in which some tines are inserted so that the movement of the pulley drive activates the belt and thus the tines, which move towards the ground, penetrate the sand and continue their movement upwards, filtering the sand and transporting the collected waste that, due to the inclination of the belt itself and the effect of the gravity, they subsequently fall into a hopper. The invention has the characteristic that both the movement of the limbs and that of the straps are activated by a single input of energy.
    [0006] The invention finds special application in the field of the industry of land vehicles that move using components other than wheels and tracks for the collection of waste by raking.
    [0008] TECHNICAL PROBLEM TO BE SOLVED AND BACKGROUND OF THE INVENTION
    [0009] The present invention arises from an investigation carried out on bio-inspired designs and methods of movement of various animals such as bipedal and tetrapod vertebrates and arthropod invertebrates with exoskeletons.
    [0011] An example is Theo Jansen's mechanism, based on the concrete proportions of his links. This mechanism is the basis of the well-known "beach beasts", large figures imitating skeletons of animals that are capable of walking on the sand of the beaches using the force of the wind.
    [0013] Another example is described in patent US 6260862B1, where a series of links are configured to form a device that moves imitating the morphology of vertebrates.
    [0015] In the current state of the art, there are three central problems when carrying out the process of mechanical cleaning of beaches:
    [0016] - the direct leveling of the sand changes the roughness and texture of the surface and destroys the ephemeral geomorphology of the beach, increasing the angle of incidence of the wind and the entry of waves, which increases its erosion;
    [0017] - the high pressure exerted by the devices used cause a withdrawal of plankton in the embryonic dunes and their deterioration;
    [0018] - the involuntary removal of sand and slipping at the foot of the dune slopes breaks the natural stability of the sediment and increases its possibility of carryover.
    [0020] The present invention avoids these problems, which occur in the current state of the art and are not solved, providing a mechanism that not only takes care of the environment by not depending on a heavy vehicle (for example a tractor) or being the same device derived from heavy machinery, but rather a light and compact device (optimizing transport and storage), designed so that its movement adapts to the irregularities of the terrain without smoothing it.
    [0022] DESCRIPTION OF THE INVENTION
    [0023] In order to achieve the objectives and avoid the aforementioned drawbacks, the present invention describes a raking device for cleaning sandy beaches that comprises a platform, where a motor is located, preferably powered by clean energy such as solar, and where a transmission shaft is fixed, with the possibility of rotating, jointly and mechanically connected to the motor shaft and, at least, to a pair of mechanisms described as extremities of the device. Each of the mechanisms comprises a plurality of links articulated at the ends and responsible for transmitting movement to the device. The device of the The invention is characterized by incorporating, additionally, two support shafts, one front and one rear, both solidly fixed to the platform and a hopper, also fixed to the platform.
    [0025] For its part, each of the mechanisms comprises the following components that are related to each other as described:
    [0026] - a driving pulley connected to the transmission shaft by an off-center articulated point, - a driven pulley,
    [0027] - a first link that is fixed to the center of the driving pulley at one end and to the center of the pulley driven by the other end,
    [0028] - a second link that is fixed to the free end of the first link at one end,
    [0029] - a third link that is attached to the free end of the second link at one end and to a preferably peripheral point of the driving pulley at the other end,
    [0030] - a fourth link that is attached to the union of the second link and the third link at one end and to the support axis at the other end,
    [0031] - a transmission belt that is located around the two pulleys and comprises at least two lines of barbs solidly fixed to the belt and located in parallel according to the width of the belt and uniformly distributed along the length of the belt.
    [0033] The configuration of the components ends with the final location of the two mechanisms that make up each pair. To do this, in one of the mechanisms of the pair the fourth link is attached at the free end to the front support shaft, while in the other mechanism of the pair it is attached to the rear support shaft.
    [0035] Finally, in the configuration of the device it is necessary that not only the movement of the two mechanisms of each pair be synchronized, as they are linked by the same transmission shaft, but also their relative position. To do this, with the driving pulley of one of the mechanisms in its lowest position, the driving pulley of the other mechanism must be in its highest position, so that the movement of one of the mechanisms seeking to rest on the ground coincides with the movement of the other mechanism rising ground. Thus, the activation of the motor implies that the movement of the device and the rotation of the belt occur simultaneously by means of a single energy input.
    [0037] In any case, the preferred form is the configuration of the device with two pairs of mechanisms, so that it simulates a quadruped. In this case, two mechanisms are coupled between the transmission shaft and the front support shaft, for example, one on each side of the platform, simulating the front extremities or front axle, and the other two mechanisms are coupled between the front axle. transmission and the rear support shaft, simulating the rear extremities or rear axle. The synchronization of the mechanisms is carried out between mechanisms located in opposition, that is, the front right and the rear left are in phase, like the other two, the two pairs being synchronized but out of phase, as described. in the previous paragraph for the mechanisms that make up a pair.
    [0039] It should be taken into account that the description of the components implies that the device can only move linearly, so that, in order to have the option of making movements with a curved path, the transmission shaft can be divided by a gear system, so that the movement of one side can be slowed down with respect to the other side and thus the path can be curved.
    [0041] On the drive belt tines, say that they typically have a threadlike configuration with an "L" shaped cross section.
    [0043] On the other hand, the device can be automated and comprise a position sensor, so that both the position and the orientation are defined or a remote control that allows defining the path to be followed by the device
    [0045] Furthermore, the activation of the motor can be carried out from a remote control that may comprise a screen where the path to be followed by the device is defined.
    [0047] BRIEF DESCRIPTION OF THE FIGURES
    [0048] To complete the description of the invention and in order to help a better understanding of its characteristics, according to a preferred example of its embodiment, a set of drawings is attached in which, with an illustrative and non-limiting nature, they have been represented the following figures:
    [0049] - Figure 1 is a plan view of the complete mechanism of the invention that it includes together with the pulley system, belt and hopper.
    [0050] - Figure 2 is a plan view of the mechanism of the invention where the closed path of the point of the free end or point of contact with the ground is represented, when the movement occurs while the bench is fixed.
    [0051] - Figure 3 is a plan view of two synchronized mechanisms.
    [0052] - Figure 4 is a plan view of four synchronized mechanisms.
    [0053] - Figure 5 is a perspective view of the four mechanisms represented in figure 4 to provide a view of the biomechanical similarity.
    [0055] Below is a list of the references used in the figures:
    [0056] 1. Transmission shaft.
    [0057] 2. Anterior support shaft.
    [0058] 2'. Rear support shaft.
    [0059] 3. Drive pulley.
    [0060] 4. Driven pulley.
    [0061] 5. First link.
    [0062] 6. Second link.
    [0063] 7. Third link.
    [0064] 8. Fourth link.
    [0065] 9. Belt.
    [0066] 10. Barbs.
    [0067] 11. Hopper.
    [0068] 12. Platform.
    [0069] 13. Path closed.
    [0071] DESCRIPTION OF A PREFERRED EMBODIMENT OF THE INVENTION
    [0072] The present invention is based on the simulation of animal movement to develop a mechanical device with extremities that configure a machine for cleaning sand beaches by means of which the movement of the machine and the raking of the sand from the beach along which the machine travels.
    [0073] As shown in the figures, the device is configured by means of a platform (12) where a transmission shaft (1) is fixed, with the possibility of rotating, a front support shaft (2), a rear support shaft ( 2 '), a hopper and at least a couple of mechanisms. Each of the mechanisms is connected to the transmission shaft (1) at one of the ends and is configured by four links (5, 6, 7, 8) articulated at the ends, an off-center drive pulley (3), a driven pulley (4) and a transmission belt (9) coupled to the two pulleys (3, 4) and in which a plurality of prongs (10) are uniformly distributed, solidly coupled to the belt (9).
    [0075] The transmission shaft (1) is connected to the shaft of a motor fixed to the platform (12) of the machine structure through a mechanism with gears. The engine has not been represented in the figures. In this way, the mechanisms receive energy through the motor.
    [0077] The source of energy to activate the motor can be any, although preferably it is by means of solar energy that is received from solar panels located on the platform (12), or also by means of wind energy incorporating the necessary elements.
    [0079] The drive pulley (3) is connected to the transmission shaft (1) at an off-center point. In this way, the activation of the motor implies the rotation of the driving pulley (3) around the transmission shaft (1).
    [0081] The configuration of the links (5, 6, 7, 8) is described below, following figure 1.
    [0083] It must be taken into account that all the links (5, 6, 7, 8) are of fixed length and are only joined at the ends in an articulated way, so they can rotate through these articulation points.
    [0085] The first link (5) is attached to the centers of the pulleys (3, 4). This implies that the distance between the centers of the pulleys (3, 4) is constant and invariable.
    [0086] The second link (6) is connected at one end to the center of the driven pulley (4) and, therefore, to the first link (5) and, at the other end, to the third link (7) and the fourth link (8 ) simultaneously.
    [0088] The third link (7) is attached to the second link (6), as mentioned, and to the drive pulley (3) at a different point from that of the attachment of the transmission shaft (1) and the center of rotation.
    [0090] The fourth link (8) is joined to the second (6) and third (7) links at one end, as mentioned, and, at the other end, to a support shaft (2, 2 ') fixed to the platform (12) of the machine structure.
    [0092] In this way, that of the transmission shaft (1) and the support shaft (2, 2 '), both fixed to the platform (12), define the bench of the device.
    [0094] With this configuration, the fourth link (8) of one of the mechanisms is attached to the front support shaft (2) and the fourth link of the other mechanism is attached to the rear support shaft (2 '), so that a displacement according to the plane of the links (5, 6, 7, 8).
    [0096] The linkage is designed through qualitative synthesis through successive analysis, which allows proposing an optimal configuration supported by positional and kinematic analysis. By means of a dynamic analysis, the approximate power required is obtained and it is verified that the required quantity is minimal compared to known beach cleaning systems.
    [0098] By means of the device of the invention, the displacement and raking functions are achieved with a single energy input through the motor that activates the driving pulleys (3), which rotate around the transmission shaft (1) with a constant angular speed.
    [0100] The two objectives of the mechanism, displacement and raking, are studied in isolation, for which, on the one hand, the complete mechanism proposed in Figure 1 is differentiated and, on the other, its base structure, called the skeleton mechanism and represented in the Figure 2, where only the binary link system attached to the driving pulley is considered to visualize the movement carried out more clearly, as will be described later.
    [0102] Both mechanisms are desmodromic, after checking the mobility of the mechanism according to the Grübler criterion for two dimensions, so an additional condition is needed to define its movement. This condition is given by the angular speed of the motor.
    [0104] Regarding the displacement of the device, it is studied considering the link configuration of the skeleton mechanism of the limb shown in figure 2, where the pulley system is not considered.
    [0106] The proposed configuration manages to generate the proper movement of the links. Figure 2 represents an analysis of the movement of the unsupported limb, having the local reference system on the platform (12) of the body of the device, where the transmission shaft (1) and the support shafts ( 2, 2 '). With this configuration, and ignoring the diameter of the driven pulley (4), the end of the first link (5) that joins the second link (6) is the point of contact with the ground, and traces a closed path (13 ) as depicted. In this path (13), the upper part corresponds to the area of advancement of the limb, and the lower area, to the area of contact with the ground.
    [0108] Figure 3 represents a device where two mechanisms have been coupled so that it is possible to understand how the movement of the device is carried out, which in this case could recall simulates the natural movement of a bipedal animal.
    [0110] In this figure it can be seen how the driving pulleys (3) of the two mechanisms are joined by the transmission shaft (1) which, being integral with each one of them, transmits the movement of the motor to them, and also by one of the ends of the respective third links (7), so that the two third links (7) and the two driving pulleys (3) are linked with the possibility of rotating between them.
    [0112] With this configuration, considering that the transmission shaft (1) and the support shafts (2, 2 ') are fixed to the platform (12), the forward movement of the device. While one of the mechanisms rotates on the transmission shaft (1) tending to rest on the ground (part of the closed path (13) in which it approaches the ground), the other mechanism tends to lift and move away from the ground when rotating on the transmission shaft (1). Thus, the contact with the ground alternates so that the closed path (13) generated by the driven pulley (4) which, at a given moment is not in contact with the ground, becomes a step of the device. And the closed path (13) described in figure 2 by the driven pulley (4) that is supported on the ground, results in the relative rotation of the mechanism around said support point, while the forward movement of the other mechanism. In other words, in figure 3 a device with two mechanisms coupled synchronously is represented. The mechanisms are located in symmetry with respect to the vertical longitudinal plane of advance of the device. Synchronization seeks to ensure the movement of the device with a single energy input so that, when one of the two extremities is in contact with the ground, the other strides forward, generating the movement that allows the advance of the machine.
    [0114] Once the operation mode of the device with two mechanisms has been seen, the operation of the device with the global reference system on the ground can be described by means of the correct synchronization of four mechanisms or extremities, as represented in Figures 4 and 5, in plan and perspective, respectively.
    [0116] Figure 5 is more focused on showing how the complete device is, providing a three-dimensional view of the complete device to clarify the union and positioning of all the elements when four mechanisms are joined. In this case, not much detail has been given to the position of the different mechanisms, due to the distortion created by the perspective itself. The platform (12) has not been represented either, although the axes (1,2, 2 ') have been represented, so its position is defined, and also that of the mechanisms, with two of them being located on each side of the platform ( 12).
    [0118] With particular reference to FIG. 4, the forward movement of the mechanism can be analyzed more clearly. Initially it is considered that the device can be found with the four limbs resting on the ground, although the movement is configured so that the limbs move simultaneously two by two and in opposite positions, simulating the movement of a quadruped. In this way, the mechanism, or the
    [0121] limb, front right moves in phase with the rear left mechanism and the two, in a synchronized way and out of phase with the others, which also move in phase.
    [0123] Since the device is always supported on two extremities, the problem regarding initial positioning could be avoided by implementing an initial support block, so that both at the beginning and at the end of the stroke, when the mechanism stops, it is can support another of the extremities in this support block and thus have three points of support that provide stability. This stability is also related to the speed of movement and the speed of rotation of the extremities, which must be higher than a minimum, in that a too low speed would imply the fall of the device due to the absence of static balance.
    [0125] Considering the closed path (13) of the contact point of the driven pulley (4) with the ground, the lower part of the path corresponds to the contact time with the sand (rest area) and the upper part, with the time of advance and support in the opposite extremities (advance zone).
    [0127] From a mechanical point of view, the requirements that must be met for the device to move are: meeting the conditions for stable locomotion, taken into account in the mechanism design, and overcoming the device's own weight through the analysis of forces considered in the dynamic study. This dynamic study of the displacement in isolation determines the critical position of the device displacement at the highest point of the trajectory (13) of the point of contact with the ground.
    [0129] Once the displacement of the device has been analyzed, the following describes how the raking of the sand on which the device is traveling is carried out. It is important to note that the raking is carried out with the same energy input, that is, both the raking process and the device displacement process are carried out using the same energy in the transmission shaft (1).
    [0131] The activation of the motor implies the transmission of the movement to the driving pulleys (3) and, in turn, to the belts (9), which begin to rotate. As described, the device, while moving, rests on the driven pulleys (4) and, by including the belt (9) and the tines (10) in motion, they will tend to move towards the sand, bury themselves in the sand so that the The mechanism rests on the driven pulley (4) and the belt (9) that surrounds it and, later, leave the sand to go towards the driving pulley (3), letting the sand fall between the tines (10) and retaining any residue of greater size than the separation between the tines (10) that you may have found on the route. Once the tines (10) rotate together with the belt (9) in their path around the driving pulley (3), the waste collected by the tines (10) falls by gravity into a hopper (11) conveniently arranged.
    [0133] It must be taken into account that, if the device were to find a rocky terrain, or of a greater hardness in which the tines (10) could not bury themselves, the mechanism would simply rest on the tines (10) without any difference in movement. In this way, the configuration of the tines (10) must take into account, on the one hand, the resistance force of the sand to be able to advance in it when they are buried and, on the other hand, the weight of the device to be able to support it in case of finding hard ground. In the first case, it is necessary to consider the force at the end of the spike (10) to drag sand from the density and displaced volume, as well as the friction force between the sand and the spike (10), where it will be necessary to Also consider the weight of the device. This isolated dynamic study determines the critical position of the raking at the lowest point of the trajectory (13) of the point of contact with the ground. In the latter case, the worst case of supporting the device on two extremities must be studied.
    [0135] In the raking movement, the distance between the different points of contact of the limbs with the ground must also be taken into account, since it is only raked during the point of contact with the ground. To try to minimize the gap between strides left without contact with the tines (10), an area not cleaned, it is necessary that the advancement step of the device is small.
    [0137] Considering this, the machine, compared to existing technology, will sacrifice efficiency, in terms of speed, consistency and independence. The working time of the device should consider carrying out the same route several times, so that cleaning efficiency is increased on the most irregular areas and areas that may not have been raked are reviewed, especially those located between the extremities of the device.
    [0138] In addition, it must also be borne in mind that the belt (9) does not have to be the same width as the pulleys (3, 4), but can be wider, so that cleaning is more effective.
    [0140] Regarding the trajectory of the device, the autonomous locomotion of the complete machine implies the need to define input systems such as position sensors of the device and detection of obstacles on the beach terrain, as well as the water area.
    [0142] It must be taken into account that the movement described for the mechanism is always linear, since all the driving pulleys (3) are activated from the movement of a single transmission shaft (1). However, to be able to correct trajectory directions or to be able to make curved trajectories, the transmission shaft (1) can be divided incorporating a gear system by means of which one side of the device can be slowed down in front of the other and thus, a curved path.
    [0144] In a study carried out on the movement of the device, it has been determined that an adequate speed of the energy source can be 70 rpm, which leads to the linear speed of advance of the device under theoretical conditions, that is, without counting irregularities in the movement due to the terrain is about 3 km / h.
    [0146] Finally, it must be taken into account that the present invention should not be limited to the embodiment described here. Other configurations can be made by those skilled in the art in light of the present description. Accordingly, the scope of the invention is defined by the following claims.
    1
    权利要求:
    Claims (7)
    [1]
    1.- Raking device for cleaning sandy beaches that comprises a platform (12), where a motor is located and where a transmission shaft (1) is fixed, with the possibility of rotating, mechanically connected to the motor shaft and at least one pair of mechanisms comprising a plurality of links (5, 6, 7, 8) articulated at the ends and in charge of transmitting the movement to the device, the device being characterized in that it comprises a front support shaft (2 ) and a rear support shaft (2 ') solidly fixed to the platform (12), in addition to a hopper (11) fixed to the platform (12), and where each of the mechanisms of the pair comprises:
    - a driving pulley (3) connected to the transmission shaft (1) at an off-center point, - a driven pulley (4),
    - a first link (5) that is fixed to the center of the driving pulley (3) at one end and to the center of the driven pulley (4) at the other end,
    - a second link (6) that is fixed to the free end of the first link (5) at one end,
    - a third link (7) that is attached to the free end of the second link (6) at one end and to a point of the drive pulley (3) at the other end, - a fourth link (8) that is attached to the union of the second link (6) and the third link (7) at one end and to the support shaft (2, 2 ') at the other end, and
    - a transmission belt (9) that is located around the two pulleys (3, 4) and comprises at least two lines of barbs (10) solidly fixed to the belt (9) and located in parallel according to the width of the strap (9) and evenly distributed along the length of the strap (9),
    where
    - the fourth link (8) is attached at the free end to the front support shaft (2) in one of the mechanisms of the pair and to the rear support shaft (2 ') in the other mechanism of the pair,
    - the movement of the mechanisms of the pair is synchronized so that, with the driving pulley (3) of one of the mechanisms in its lowest position, the driving pulley (3) of the other mechanism is in its highest position,
    so that the activation of the motor implies that the displacement of the device and the rotation of the belt (9) occur simultaneously by means of a single energy supply.
    [2]
    2. - Raking device for cleaning sandy beaches, according to claim 1, characterized in that it comprises two pairs of mechanisms, so that two mechanisms are coupled between the transmission shaft (1) and the front support shaft (2 ) and the other two mechanisms are coupled between the transmission shaft (1) and the rear support shaft (2 ') and the synchronization is carried out between mechanisms located in opposition, that is, the front one on one side of the platform (12) with the rear on the other side of the platform (12).
    [3]
    3. - Raking device for cleaning sandy beaches, according to claim 1 or 2, characterized in that the transmission shaft (1) is divided by a gear system, so that the trajectory of the device can be curved.
    [4]
    4. - Raking device for cleaning sandy beaches, according to claim 1 or 2, characterized in that the tines (10) have a threadlike configuration with an "L" -shaped cross section.
    [5]
    5. - Raking device for cleaning sandy beaches, according to any of claims 1 to 3, characterized in that it comprises a position sensor so that both the location and the orientation are defined.
    [6]
    6. - Raking device for cleaning sandy beaches, according to any of the preceding claims, characterized in that the motor is activated from a remote control.
    [7]
    7. - Raking device for cleaning sandy beaches, according to claim 5, characterized in that the remote control comprises a screen where the path to be followed by the device is defined.
    1
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    同族专利:
    公开号 | 公开日
    ES2800099B2|2021-06-09|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3362480A|1964-12-09|1968-01-09|Harold S. Barber|Machines for cleaning sand beaches|
    WO2000010375A1|1998-08-25|2000-03-02|Gallenberg Ronald J|Beach cleaning apparatus and method|
    JP2001246584A|2000-02-29|2001-09-11|Sony Corp|Leg type mobile robot|
    CN202936759U|2012-09-30|2013-05-15|苑章义|Beach enteromorpha clearing machine|
    CA2990374A1|2017-12-29|2019-06-29|Kurtis Eisler|Automated sand grooming robot|
    CN211036855U|2019-09-30|2020-07-17|上海海洋大学|Intelligent robot for collecting beach wastes|
    CN110777726A|2019-11-21|2020-02-11|尹建星|Equipment is picked up to sandy beach rubbish|
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