阅读说明：本技术 一种基于无人机底部的河道沿岸垃圾自动拾取装置 (River course coastal rubbish automatic pickup apparatus based on unmanned aerial vehicle bottom ) 是由 倪泽刚 于 2019-08-28 设计创作，主要内容包括：本发明公开了一种基于无人机底部的河道沿岸垃圾自动拾取装置,包括桨叶、无人机主体、电机、顶板、伸缩气缸和扭簧,所述无人机主体的上方两侧位置设置有桨叶,且无人机主体下方的中间位置安装设置有电机,并且无人机主体的下方位置固定安装有顶板,所述旋转齿轮的外部啮合连接有齿条,且齿条在收集框架的外部一侧相连接。该基于无人机底部的河道沿岸垃圾自动拾取装置在进行工作的过程中可以很好的对河道沿岸部分对泥土砂石掩埋的垃圾进行大面积的拾取工作,在提高整个拾取装置拾取效率的过程中还会很好的对垃圾进行及时的收集工作,不需要工作人员不断的对无人机进行大面积的操作工作,使用更加方便。(The invention discloses an automatic riverway coastal garbage pickup device based on the bottom of an unmanned aerial vehicle, which comprises paddles, an unmanned aerial vehicle main body, a motor, a top plate, a telescopic cylinder and a torsion spring, wherein the paddles are arranged at two sides above the unmanned aerial vehicle main body, the motor is arranged at the middle position below the unmanned aerial vehicle main body, the top plate is fixedly arranged at the lower position of the unmanned aerial vehicle main body, racks are meshed and connected with the outer part of a rotating gear, and the racks are connected with one side of the outer part of a collecting frame. This river course coastal rubbish automatic pickup apparatus based on unmanned aerial vehicle bottom can be fine carry out the picking up work of large tracts of land to the rubbish that the river course coastal part was buried earth grit buries carrying out the in-process of work, can also be fine carry out timely collection work to rubbish at the in-process that improves whole pickup apparatus picking up efficiency, do not need that the staff is continuous to carry out the operation work of large tracts of land to unmanned aerial vehicle, it is more convenient to use.)

1. The utility model provides a river course coastal rubbish automatic pickup apparatus based on unmanned aerial vehicle bottom, includes paddle (1), unmanned aerial vehicle main part (2), motor (3), roof (4), telescopic cylinder (25) and torsional spring (29), its characterized in that: the upper two sides of the unmanned aerial vehicle main body (2) are provided with blades (1), a motor (3) is arranged in the middle of the lower portion of the unmanned aerial vehicle main body (2), a top plate (4) is fixedly arranged on the lower portion of the unmanned aerial vehicle main body (2), the top end of the motor (3) penetrates through the lower portion of the top plate (4) and is connected with a connecting shaft (23), the outer portion of the connecting shaft (23) is coaxially connected with a driving gear (21), the two sides of the driving gear (21) are meshed and connected with a driven gear (22), the top end of the driven gear (22) is coaxially connected with a cross rod (8), a middle bearing of the cross rod (8) is connected with a fixing ring (7), the upper portion of the fixing ring (7) is connected with the bottom of the top plate (4) through a connecting rod (6), and the middle position of the cross rod (8) is further in threaded connection with a sliding sleeve (11), a limiting block arranged above the sliding sleeve (11) is clamped in the limiting groove (5), the limiting groove (5) is embedded in the top plate (4), the top ends of the two sides of the top plate (4) are provided with vertical rods (9), the inner parts of the vertical rods (9) are connected with sliding blocks (14) in a sliding manner, the outer sides of the sliding blocks (14) are connected with a collecting frame (15), the inner parts of the collecting frame (15) are provided with collecting grooves (16) in a clamping manner, the bottoms of the fixing sleeve (10) and the sliding sleeve (11) are provided with outer cylinders (12), the inner parts of the outer cylinders (12) are connected with a picking clamp (13) through telescopic cylinders (25), the top end of one side of the picking clamp (13) is connected with an intermediate shaft (28) through a fixing rod (26), the outer part of the intermediate shaft (28) is connected with the top end position of, and fixed pin (27) set up in the outside one side of picking up clamp (13), the bottom of connecting axle (23) still installs and is provided with rotary disk (17), and the outside of rotary disk (17) is connected with rotating gear (19) through belt (18) to the top of rotating gear (19) is connected with the bottom of roof (4) through fixed axle (24), the outside meshing of rotating gear (19) is connected with rack (20), and rack (20) are connected in the outside one side of collecting frame (15).

2. The automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: the two-side position of the top plate (4) and the vertical rod (9) are fixedly installed, the cross sections of the vertical rod (9) and the top plate (4) are arranged in an L shape, the lowest point of the vertical rod (9) is higher than the lowest point of the picking clamp (13), and the distance between the highest point of the picking clamp (13) and the lowest point of the vertical rod (9) is larger than two thirds of the length of the picking clamp (13).

3. the automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: the cross rod (8) is provided with 4 groups of sliding sleeves (11), the sliding sleeves (11) are in threaded connection with the cross rod (8), and the threads inside the sliding sleeves (11) on the same cross rod (8) are opposite in rotating direction.

4. The automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: the bottom of the picking clamp (13) is arranged in an inclined structure, fixing pins (27) are arranged on one side of the outer portion of the picking clamp (13) at equal intervals, the top ends of the fixing pins (27) are arranged in a conical structure, and the horizontal length of the inclined structure on the top end of the picking clamp (13) is larger than the width of the fixing sleeve (10).

5. The automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: one side of the outer part of the collecting frame (15) is fixedly connected with the rack (20), the rack (20) is in meshed connection with the rotating gear (19), and the diameter of the rotating gear (19) is smaller than one half of the diameter of the rotating disc (17).

6. The automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: collect side view of frame (15) and be "U" shape structure setting, and collect mutual block between frame (15) and collecting vat (16) to the inside of collecting vat (16) is the mesh column structure setting, and the length of collecting vat (16) is greater than the distance between 2 fixed covers (10) on same horizontal pole (8).

7. The automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: the sliding block (14) outside the collecting frame (15) is of a sliding structure on one side of the vertical rod (9), and the length of the sliding block (14) is not less than one third of the width of the collecting frame (15).

8. The automatic riverway riparian garbage pickup device based on the bottom of the unmanned aerial vehicle as claimed in claim 1, wherein: the top end of the fixing pin (27) is connected with the middle shaft (28) in a sleeved mode, the fixing pin (27) is of a rotating structure outside the middle shaft (28), and the thickness of the fixing pin (27) is smaller than the gap distance between the pickup clamp (13) and the outer cylinder (12).

Technical Field

the invention relates to the relevant technical field of unmanned aerial vehicles, in particular to an automatic riverway coastal garbage pickup device based on the bottom of an unmanned aerial vehicle.

Background

Along with the continuous development of high intelligence in the society at present, the application of unmanned aerial vehicles is more and more, the unmanned aerial vehicles are also gradually applied to various fields in the society at present, and environmental protection is the most concerned topic in the world at present, so that the unmanned aerial vehicles are also obviously applied to the field of environmental protection, are often used for extracting and detecting water sources and picking up garbage on the lake surface, but the unmanned aerial vehicles are rarely applied to the garbage picking up work on the riverway coasts in the existing market;

1. Due to continuous washing work of the water surface, most of the garbage on the riverway coasts in the existing market can be buried in sandstone and soil on the riverway coasts, the garbage can not be well picked up by the traditional unmanned aerial vehicle picking device, and the garbage can not be picked up in a large area in the process of picking up the garbage, so that a large amount of time can be consumed in the process of picking up the garbage, and the whole picking-up work efficiency is lower than the manual picking-up work efficiency;

2. traditional pick device is carrying out the in-process that rubbish picked up work, can not be timely to rubbish collect work, need constantly to remove work to unmanned aerial vehicle and just can continue to pick up work, still can consume the continuous operation process of staff when reducing the efficiency of picking up.

so we have provided a river course coastal rubbish automatic picking device based on unmanned aerial vehicle bottom to the problem that can not handle the accumulational rubbish of river course coastal that proposes in the solution in the aforesaid.

disclosure of Invention

The invention aims to provide a river channel coastal garbage automatic picking device based on the bottom of an unmanned aerial vehicle, and aims to solve the problems that the automatic picking device at the bottom of the unmanned aerial vehicle in the current market is not suitable for garbage buried by sand and stone on the river channel coastal in the process of picking the garbage, and the whole garbage picking work efficiency is low.

in order to achieve the purpose, the invention provides the following technical scheme: a riverway coastal garbage automatic pickup device based on the bottom of an unmanned aerial vehicle comprises paddles, an unmanned aerial vehicle main body, a motor, a top plate, a telescopic cylinder and a torsional spring, wherein the paddles are arranged at two sides above the unmanned aerial vehicle main body, the motor is arranged at the middle position below the unmanned aerial vehicle main body, the top of the motor is fixedly provided with the top plate at the lower position of the unmanned aerial vehicle main body, the top end of the motor penetrates through the lower part of the top plate and is connected with a connecting shaft, the outer part of the connecting shaft is coaxially connected with a driving gear, the two sides of the driving gear are engaged and connected with a driven gear, the top end of the driven gear is coaxially connected with a cross rod, the middle position of the cross rod is connected with a fixing ring, the upper part of the fixing ring is connected with the, the limiting block arranged above the sliding sleeve is clamped and arranged inside the limiting groove, the limiting groove is embedded and arranged inside the top plate, the top ends of the two sides of the top plate are provided with vertical rods, the inner part of each vertical rod is connected with a sliding block in a sliding manner, the outer side of each sliding block is connected with a collecting frame, the inner part of each collecting frame is clamped and provided with a collecting groove, the bottom parts of the fixing sleeve and the sliding sleeve are respectively provided with an outer cylinder, the inner part of each outer cylinder is connected with a picking clamp through a telescopic cylinder, the top end of one side of each picking clamp is connected with an intermediate shaft through a fixing rod, the outer part of the intermediate shaft is connected with the top end position of a fixing pin through a torsion spring, the fixing pin is arranged on one side of the outer part of each picking clamp, the bottom part of the connecting shaft is also provided, the external meshing of rotatory gear is connected with the rack, and the rack is connected at collection frame's outside one side.

Preferably, the two side positions of the top plate and the vertical rod are fixedly installed, the cross sections of the vertical rod and the top plate are arranged in an L shape, the lowest point of the vertical rod is higher than the lowest point of the picking clamp, and the distance between the highest point of the picking clamp and the lowest point of the vertical rod is greater than two thirds of the length of the picking clamp.

Preferably, 4 groups of sliding sleeves are arranged on the cross rod, the sliding sleeves are in threaded connection with the cross rod, and the thread turning directions of the inner parts of the sliding sleeves on the same cross rod are opposite.

Preferably, the bottom of the picking clamp is arranged in an inclined structure, fixing pins are arranged on one side of the outer portion of the picking clamp at equal intervals, the top end of each fixing pin is arranged in a conical structure, and the horizontal length of the inclined structure on the top end of the picking clamp is larger than the width of the fixing sleeve.

Preferably, one side of the outer part of the collecting frame is fixedly connected with the rack, the rack is in meshed connection with the rotating gear, and the diameter of the rotating gear is smaller than one half of that of the rotating disc.

Preferably, the collection frame look sideways at and be "U" shape structure setting, and collect mutual block between frame and the collecting vat to the inside of collecting vat is mesh column structure setting, and the length of collecting vat is greater than the distance between 2 fixed covers on same horizontal pole.

Preferably, the sliding block outside the collecting frame is of a sliding structure on one side of the vertical rod, and the length of the sliding block is not less than one third of the width of the collecting frame.

Preferably, the top end of the fixing pin is connected with the intermediate shaft in a sleeved mode, the fixing pin is of a rotating structure outside the intermediate shaft, and the thickness of the fixing pin is smaller than the gap distance between the picking clamp and the outer cylinder.

Compared with the prior art, the invention has the beneficial effects that: the river channel coastal garbage automatic picking device based on the bottom of the unmanned aerial vehicle can well pick up garbage buried in earth and gravel at the riverway coastal part in a large area in the working process, can also well collect the garbage in time in the process of improving the picking efficiency of the whole picking device, does not need workers to continuously operate the unmanned aerial vehicle in a large area, and is more convenient to use;

1. The garbage at the bottom of one cross rod can be well picked up in a large area by the aid of the lifting picking clamp at the bottom of the whole cross rod, the garbage clamped by the picking clamp can be well fixed by the aid of the fixing pins outside the picking clamp, when the picking clamp shrinks and enters the inner part of the outer barrel, the garbage can fall down, the phenomenon that the clamped garbage falls down is avoided, the picking efficiency of the whole picking device is higher, and the picking efficiency of the whole picking device is also improved;

2. The collecting vat is picking up the below that the in-process that the principle rises can reach and pick up the clamp along with 2 and picks up the clamp, reaches and picks up the rubbish that drops in the middle of pressing from both sides and collect the work of keeping away from 2 after rising each other, does not need operating personnel to carry out the removal operation of large tracts of land to unmanned aerial vehicle and picks up the work to rubbish, reduces the time that whole device picked up and placed rubbish, and structural design is more reasonable, and it is more convenient to use.

drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic bottom view of the top plate of the present invention;

FIG. 3 is a side view of the collection frame of the present invention;

FIG. 4 is an enlarged view of the driving gear and the driven gear of the present invention;

FIG. 5 is a schematic view of the connection structure of the rotating disk and the rotating gear according to the present invention;

FIG. 6 is a schematic sectional view of the outer cylinder of the present invention;

FIG. 7 is an enlarged view of the structure at B in FIG. 6 according to the present invention.

In the figure: 1. a paddle; 2. an unmanned aerial vehicle main body; 3. a motor; 4. a top plate; 5. a limiting groove; 6. a connecting rod; 7. a fixing ring; 8. a cross bar; 9. a vertical rod; 10. fixing a sleeve; 11. a sliding sleeve; 12. an outer cylinder; 13. a pickup clamp; 14. a slider; 15. a collection frame; 16. collecting tank; 17. rotating the disc; 18. a belt; 19. a rotating gear; 20. a rack; 21. a driving gear; 22. a driven gear; 23. a connecting shaft; 24. a fixed shaft; 25. a telescopic cylinder; 26. fixing the rod; 27. a fixing pin; 28. an intermediate shaft; 29. a torsion spring.

Detailed Description

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: an automatic riverway coastal garbage pickup device based on the bottom of an unmanned aerial vehicle comprises blades 1, an unmanned aerial vehicle main body 2, a motor 3, a top plate 4, a limiting groove 5, a connecting rod 6, a fixing ring 7, a cross rod 8, a vertical rod 9, a fixing sleeve 10, a sliding sleeve 11, an outer cylinder 12, a pickup clamp 13, a sliding block 14, a collection frame 15, a collection groove 16, a rotating disk 17, a belt 18, a rotating gear 19, a rack 20, a driving gear 21, a driven gear 22, a connecting shaft 23, a fixing shaft 24, a telescopic cylinder 25, a fixing rod 26, a fixing pin 27, an intermediate shaft 28 and a torsion spring 29, wherein the blades 1 are arranged at two sides above the unmanned aerial vehicle main body 2, the motor 3 is arranged at the middle position below the unmanned aerial vehicle main body 2, the top plate 4 is fixedly arranged at the lower position below the top end of the motor 3 penetrating through the top plate, and the two sides of the driving gear 21 are engaged and connected with driven gears 22, meanwhile, the top end of the driven gear 22 is coaxially connected with a cross rod 8, the middle position of the cross rod 8 is bearing-connected with a fixed ring 7, the upper part of the fixed ring 7 is connected with the bottom of a top plate 4 through a connecting rod 6, the two sides of the cross rod 8 are fixed with fixed sleeves 10, the middle position of the cross rod 8 is also in threaded connection with a sliding sleeve 11, a limit block arranged above the sliding sleeve 11 is clamped and arranged in a limit groove 5, the limit groove 5 is embedded and arranged in the top plate 4, the two sides of the top plate 4 are provided with vertical rods 9, the inner parts of the vertical rods 9 are in sliding connection with sliding blocks 14, the outer sides of the sliding blocks 14 are connected with a collecting frame 15, meanwhile, the inner part of the collecting frame 15 is clamped and arranged, and the inside of the outer cylinder 12 is connected with the picking-up clamp 13 through the telescopic cylinder 25, and one side top end of the picking-up clamp 13 is connected with the intermediate shaft 28 through the fixing rod 26, the outside of the intermediate shaft 28 is connected with the top end position of the fixing pin 27 through the torsion spring 29, and the fixing pin 27 is arranged on one side of the outside of the picking-up clamp 13, the bottom of the connecting shaft 23 is also provided with the rotating disc 17, and the outside of the rotating disc 17 is connected with the rotating gear 19 through the belt 18, and the top end of the rotating gear 19 is connected with the bottom of the top plate 4 through the fixing shaft 24, the external meshing of the rotating gear 19 is connected with the.

For fixed mounting between the both sides position of roof 4 and the montant 9, and the cross-section of montant 9 and roof 4 is "L" shape setting, and the lowest point of montant 9 is higher than the minimum of picking up clamp 13, pick up the distance between the minimum of the highest point of clamp 13 and montant 9 simultaneously and be greater than the two-thirds that picks up clamp 13 length, conveniently carry out solid work to collecting frame 15 under the effect of montant 9, and pick up the setting of clamp 13 and montant 9 minimum height, be for convenient making when the top of picking up clamp 13 is in the top of montant 9, pick up clamp 13 and still have most length in the outside of urceolus 12, the phenomenon that the clamp 13 that can not appear picking up and rise to have a large amount of rubbish to drop takes.

Be provided with 4 sliding sleeve 11 of group on the horizontal pole 8, and be threaded connection between sliding sleeve 11 and the horizontal pole 8 to the inside screw thread of sliding sleeve 11 on same horizontal pole 8 revolves to opposite, conveniently makes sliding sleeve 11 remove and keep away from to fixed cover 10, reaches to press from both sides the effect of getting and whereabouts rubbish.

Pick up the bottom that presss from both sides 13 and be the slope column structure setting, and pick up the outside one side equidistant fixed pin 27 that is provided with of pressing from both sides 13, and the top of fixed pin 27 is the toper structure setting, and the horizontal length that picks up the slope column structure on pressing from both sides 13 top is greater than the width of fixed cover 10, conveniently make sliding sleeve 11 remove certain position back to fixed cover 10, pick up the top slope column structure mutual contact that presss from both sides 13, and to sheltering from the effect to the bottom, reduce dropping of rubbish.

The outside one side of collecting frame 15 is fixed connection with between rack 20, and is connected for the meshing between rack 20 and the rotating gear 19 to the diameter of rotating gear 19 is less than half of rotary disk 17 diameter, conveniently makes rotary disk 17 rotate rotatory round rotating gear 19 and rotates several rings, reaches and makes sliding sleeve 11 displacement little and rack 20 displacement big effect, conveniently carries out timely collection to rubbish.

Collect frame 15 look sideways at and be the setting of "U" shape structure, and collect mutual block between frame 15 and the collecting vat 16, and collecting vat 16's inside is mesh column structure setting, and collecting vat 16's length is greater than the distance between 2 fixed covers 10 on same horizontal pole 8, collect the outside slider 14 of frame 15 and be sliding construction in one side of montant 9, and slider 14's length is not less than the third of collecting frame 15 width, conveniently support collecting frame 15 and conveniently carry out the effect installed to collecting vat 16.

For the cover establish be connected between fixed pin 27 top and the jackshaft 28, and fixed pin 27 is revolution mechanic in the outside of jackshaft 28, and fixed pin 27's thickness is less than the clearance distance between pickup clamp 13 and the urceolus 12, conveniently make fixed pin 27 not only can carry out the fixed work to rubbish, also conveniently make fixed pin 27 block enter into the urceolus 12 when inside simultaneously, the bottom of urceolus 12 can be scraped the rubbish on the fixed pin 27 and fall, guarantee the thoroughness of rubbish whereabouts.

The working principle of the embodiment is as follows: when the automatic riverway coastal garbage picking device based on the bottom of the unmanned aerial vehicle is used, firstly, as shown in fig. 1, a worker controls the whole unmanned aerial vehicle main body 2 to move to a position where garbage is required to be picked, and after the height of the whole unmanned aerial vehicle main body 2 is adjusted to a proper height (the height of the position needs to ensure that the whole picking clamp 13 can be contacted with the ground when descending to the lowest point), the garbage picking work can be carried out;

according to the fig. 1-2 and fig. 4, the motor 3 and the telescopic cylinder 25 are simultaneously started, the motor 3 is started to drive the driving gear 21 and the rotating disk 17 on the connecting shaft 23 at the bottom to rotate, the driven gears 22 symmetrically arranged at the left and right sides of the driving gear 21 are driven to rotate in the process of rotating the driven gear 22, the cross bar 8 coaxially connected with the outside of the driven gear is driven to rotate in the process of rotating the driven gear 22, the fixed sleeve 10 coaxially connected with the outside of the cross bar 8 does not rotate in the process of rotating the cross bar 8, but the sliding sleeve 11 in threaded connection with the cross bar 8 at the outside of the driven gear performs action and movement under the limiting action of the upper support rod, the sliding sleeve 11 drives the outer cylinder 12 at the bottom of the sliding sleeve to perform movement in the process of moving, so that the adjacent 2 outer cylinders 12 are close to each other, meanwhile, the rotating gear 19 is driven to rotate under the action of the belt 18 in the rotating process of the rotating disc 17, the rotating gear 19 is meshed with the racks 20 on the two sides of the rotating gear 19 in the rotating process, the outer part of the collecting frame 15 outside the rotating gear is driven to move outwards at the bottom of the picking clamp 13 through the outer part of the vertical rod 9 outside the top plate through the sliding block 14 in the meshing process of the racks 20, the telescopic cylinder 25 is started to drive the picking clamp 13 inside the outer cylinder 12 to descend, the fixing pin 27 also extends out of the inner cylinder 12 according to the illustration in figures 6-7, the fixing pin 27 is reset to be at the position where the picking clamps 13 are vertical to each other under the action of the adjacent picking clamps 13, therefore, the garbage can be well fixed under the mutual solving action of the adjacent picking clamps 13 in cooperation with the arrangement of the fixing pin 27, and finally, after the adjacent picking clamps 13 move to a proper position, the garbage picking work is completed;

after the fixing is completed, according to fig. 1-2 and fig. 4, the above operations are repeated, the motor 3 is controlled to rotate reversely, so that the adjacent picking clips 13 are separated from each other, and during the reverse rotation of the motor 3, the rack 20 moves towards the bottom of the picking clips 13 under the action of the rotating gear 19, so that the collecting frame 15 drives the collecting tank 16 therein to move, (it should be noted here that the diameter of the rotating gear 19 is smaller than half of the diameter of the driving gear 21, so that during the process that the driving gear 21 rotates one turn to drive the sliding sleeve 11 to move, the number of turns of the rotating gear 19 is larger than that of the driving gear 21, and further during the process that the rotating gear 19 rotates to mesh with the rack 20 to drive the collecting tank 16 to move, the moving distance between the adjacent picking clips 13 below the sliding sleeve 11 is very small, and because the fixing pin 27 fixes the garbage, when the collecting groove 16 moves to the outer side of the picking clamp 13, the bottom of the picking clamp 13 does not have the falling work of the garbage, the telescopic cylinder 25 is controlled to make the picking clamp 13 ascend, so that after the lowest point of the picking clamp 13 is higher than the height of the collecting groove 16 (the distance between the highest point of the bottom of the picking clamp 13 and the top end of the collecting groove 16 is two thirds of the height of the picking clamp 13), the motor 3 continues to rotate, therefore, at this time, the collecting groove 16 is at the bottom of the picking clamp 13, and cooperates with the continuous keeping work of the picking clamp 13, and the outer cylinder 12 limits the falling work of the garbage fixed on the fixing pin 27, so that the collecting work of the garbage by the collecting groove 16 is well completed, and meanwhile, in the garbage blanking process, the collecting groove 16 is continuously moved, from this, the rubbish that can not appear falling is piled up higher phenomenon in collecting vat 16's inside part and is taken place, later, removes the position of unmanned aerial vehicle main part 2, and repeated above-mentioned work just can continue to carry out the work of picking up of rubbish, and finally, as shown according to fig. 3, the staff only need with collecting vat 16 in the inside slip dismantlement of collecting frame 15, just can handle work to the rubbish inside of collecting vat 16 to accomplish a series of work.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.