Garbage disposal device and intelligent sweeping robot

Abstract

The present invention relates to the technical field of intelligent sweeping robots, and specifically to a garbage disposal device for an intelligent sweeping robot and an intelligent sweeping robot. The garbage disposal device includes a garbage bin for accommodating garbage, wherein the upper and lower ends of the garbage bin are provided with openings, the rear side panels of the garbage bin are connected to a horizontally movable drive device for driving the movement of the garbage bin, the lower end of the garbage bin is movably connected to a lower bottom plate, the lower bottom plate can slide back and forth relative to the garbage bin, and the lower bottom plate is connected to a pull wire assembly; and an elastic unit is provided between the lower bottom plate and the garbage bin for driving the lower bottom plate to move forward and seal the lower end opening. By providing a horizontally movable drive device, the present invention can horizontally move the garbage bin out of the garbage collection chamber without manual assistance, and is easy to use.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent sweeping robots, and in particular to a garbage disposal device for an intelligent sweeping robot and the intelligent sweeping robot. Background Art

[0002] With the continuous development of science and technology, sweeping robots are becoming more and more intelligent. They can automatically clean along the set route and charge themselves. For example, the application number is: CN202020727543.4, and the name is: Invention Patent of Sweeping Robot and Sweeping Robot System; and although these sweeping robots can automatically clean when in use, the garbage left in the body requires manual assistance to handle, and true automation cannot be achieved. Summary of the Invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and provide a garbage dumping device for an intelligent sweeping robot, which can remove garbage from the body and dump it into a predetermined location without manual assistance.

[0004] A garbage dumping device includes a garbage bin for accommodating garbage, wherein the upper and lower ends of the garbage bin are both provided with openings, the rear side panel of the garbage bin is connected to a horizontal movement drive device for driving the garbage bin to move, the lower end of the garbage bin is movably connected to a lower bottom plate, the lower bottom plate can slide back and forth relative to the garbage bin, and the lower bottom plate is connected to a pull wire assembly; and an elastic unit is provided between the lower bottom plate and the garbage bin for driving the lower bottom plate to move forward and seal the lower end opening.

[0005] Furthermore, the horizontal movement drive device includes a middle block fixed to the rear side plate of the garbage box body, and the middle block is connected to the telescopic unit.

[0006] Furthermore, the telescopic unit includes multiple groups of main hinge plate assemblies connected in sequence and arranged in an X shape, and a group of auxiliary hinge plate assemblies arranged in a V shape, each group of main hinge plate assemblies includes two hinged main hinge plates, and the auxiliary hinge plate assembly includes two hinged auxiliary hinge plates. In the two adjacent groups of main hinge plate assemblies, the two ends of the rear side of the main hinge plate assembly of the front group are hinged to the two ends of the front side of the main hinge plate assembly of the rear group, and the middle block is provided with an intermediate shaft. The two auxiliary hinge plates of the auxiliary hinge plate assembly are rotatably connected to the intermediate shaft, and the two auxiliary hinge plates are respectively hinged to the two main hinge plates of the adjacent group of main hinge plate assemblies; the main hinge plate assembly located at the rearmost side is connected to a driving mechanism for driving the two main hinge plate ends of the main hinge plate assembly to move toward or away from each other.

[0007] Furthermore, the driving mechanism includes a fixed block and a movable block, the fixed block and the movable block are hinged to the ends of the two main hinged plates respectively, and the movable block is connected to the linear module.

[0008] Furthermore, the driving mechanism includes two movable blocks, which are respectively hinged to the ends of the two main hinged plates, and also includes a screw and a motor driven by the screw; the screw includes two threaded sections with opposite rotation directions, the movable block is provided with a threaded hole, and the two movable blocks are respectively threadedly connected to the two threaded sections of the screw.

[0009] Furthermore, a notch is provided at the lower end of the rear side panel of the trash bin body, and grooves are respectively provided at the lower ends of the left and right sides of the trash bin body. A protrusion is extended outward on at least one of the left and right sides of the lower bottom plate, and the left and right sides of the lower bottom plate are respectively inserted into the corresponding grooves. The elastic unit is a spring, which is arranged in the groove and located on the rear side of the protrusion. A blocking block is connected to the lower end of the rear side panel, and a mounting hole is provided at the lower end of the rear side panel that matches one end of the blocking block, and the other end of the blocking block extends into the corresponding groove.

[0010] Furthermore, the pull wire assembly includes a pull wire connected to the lower base plate.

[0011] Furthermore, each group of main hinged plate assemblies includes a hinge shaft, the middle parts of the two main hinged plates are hinged to the hinge shaft, the lower end of the hinge shaft has an extension portion extending downward, the extension portion is provided with a wire threading hole, one end of the pull wire passes through the wire threading holes of all the hinge shafts and is connected to the lower base plate; the other end of the pull wire is connected to a wire reel, which is fixed to the side wall of the garbage collection chamber.

[0012] An intelligent sweeping robot comprises a body, the rear side of the body is opened, a garbage collection cavity is provided in the middle of the body, and the above-mentioned garbage dumping device is provided in the garbage collection cavity.

[0013] Preferably, a sensor is provided in the body, and the sensor is used to sense the garbage capacity of the garbage box.

[0014] Beneficial effects of the present invention: The present invention can horizontally move the garbage box out of the garbage collection cavity by arranging a horizontal moving drive device, without manual assistance, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the sweeping robot of this embodiment.

[0016] Figure 2 This is a schematic diagram of the sweeping robot taking out garbage in this embodiment.

[0017] Figure 3 A schematic diagram of the cooperation between the garbage bin body and the side wall of the machine body.

[0018] Figure 4 for Figure 3 Schematic diagram from another perspective.

[0019] Figure 5 for Figure 4 A decomposition diagram of .

[0020] Reference numerals include:

[0021] 1 - robot vacuum cleaner; 11 - garbage collection chamber; 12 - side wall; 13 - guide block;

[0022] 2 - Trash bin body; 21 - bottom plate; 22 - middle block; 23 - groove; 24 - notch; 25 - mounting hole; 26 - blocking block; 27 - protrusion;

[0023] 3 – Trash can;

[0024] 4——Wire take-up device;

[0025] 5 - telescopic unit; 51 - secondary hinge piece; 52 - hinge axis; 53 - main hinge piece; 54 - pull wire; 55 - fixed block; 56 - movable block;

[0026] 6 - linear module; 7 - spring; 8 - inclined platform. DETAILED DESCRIPTION

[0027] The invention will be described in detail below with reference to the accompanying drawings. Figures 1 to 5 shown.

[0028] Example 1: A garbage disposal device, which includes a garbage bin body 2 for accommodating garbage, wherein the upper and lower ends of the garbage bin body 2 are both provided with openings, the rear side panel of the garbage bin body 2 is connected to a horizontal moving drive device for driving the garbage bin body 2 to move, the lower end of the garbage bin body 2 is movably connected to a lower bottom plate 21, the lower bottom plate 21 can slide back and forth relative to the garbage bin body 2, and the lower bottom plate 21 is connected to a pull wire assembly; and an elastic unit is provided between the lower bottom plate 21 and the garbage bin body 2 for driving the lower bottom plate 21 to move forward and seal the lower end opening.

[0029] When the present technical solution is implemented, the garbage bin 2 is arranged in the garbage collection chamber 11 of the intelligent sweeping robot 1, and the horizontal moving drive device is also arranged in the garbage collection chamber 11. The garbage collection chamber 11 is provided with a sensing component for sensing the amount of garbage in the garbage bin 2. The sensing component can be a combination of a weight sensor and a distance sensor. The weight sensor senses the weight in the garbage bin 2, and the distance sensor is used to sense the distance between the garbage in the garbage bin 2 and the upper end surface of the garbage bin 2. The distance sensor can be a distance measuring sensor. When the garbage in the garbage bin 2 is sensed, the garbage bin 2 is moved to the upper end surface of the garbage bin 2. When the garbage collection limit is about to be reached, the intelligent sweeping robot 1 will move to the vicinity of the external garbage bin 3, and the horizontal movement drive device will be activated to drive the garbage bin 2 forward. At this time, the garbage bin 2 moves above the garbage bin 3 and approaches the garbage bin 3. If the upper end surface of the garbage bin 3 is higher than the lower end surface of the garbage bin 2, a sloped platform 8 can be set up, and the intelligent sweeping robot 1 climbs the slope and enters the platform, so that the lower end surface of the garbage bin 2 is higher than the upper end surface of the garbage bin 3. Of course, when dumping garbage, it can also be dumped at a fixed point every day to prevent the garbage from fermenting. The pull wire assembly is located between the garbage collection chamber 11 and the garbage bin 2. When the garbage bin 2 is about to enter the upper part of the garbage bin 3, the pull wire assembly presses the garbage on the lower bottom plate 21, and the lower bottom plate 21 gradually moves out of the lower end opening, and the elastic unit undergoes elastic deformation. When the garbage bin 2 enters the upper part of the garbage bin 3, the lower bottom plate 21 fully opens the lower end opening, and the garbage falls into the garbage bin 3 under the influence of its own gravity. The horizontal drive mechanism then resets the trash bin 2 and allows it to enter the trash collection chamber 11. The cable assembly gradually relaxes the lower base plate 21, and under the resetting force of the elastic unit, the lower base plate 21 gradually seals the lower opening. Finally, the trash bin 2 enters the trash collection chamber 11 of the intelligent sweeping robot 1. To facilitate trash removal, the sides of the trash bin 2 are preferably tilted. The overall shape of the trash bin 2 is conical, with a smaller top and a larger bottom. Preferably, the angle between the sides and the vertical is less than 5 degrees, and can be 1, 2, or 3 degrees.

[0030] See also Figures 4 and 5 Furthermore, the horizontal movement driving device includes an intermediate block 22 fixed to the rear side plate of the garbage box body 2, and the intermediate block 22 is connected to the telescopic unit 5.

[0031] The telescopic unit 5 is provided to drive the garbage bin 2 to move, which has a simple structure and is easy to implement. The telescopic unit 5 can be a telescopic cylinder or the like.

[0032] See also Figure 3 、 Figure 4 、 Figure 5; Further, the telescopic unit 5 includes a plurality of groups of main hinged plate assemblies connected in sequence and arranged in an X shape, and a group of auxiliary hinged plate assemblies arranged in a V shape, each group of main hinged plate assemblies includes two hinged main hinged plates 53, and the auxiliary hinged plate assemblies include two hinged auxiliary hinged plates 51. In the two adjacent groups of main hinged plate assemblies, the two ends of the rear side of the main hinged plate assembly of the front group are hinged to the two ends of the front side of the main hinged plate assembly of the rear group, and the middle block 22 is provided with an intermediate shaft. The two auxiliary hinged plates 51 of the auxiliary hinged plate assembly are rotatably connected to the intermediate shaft, and the two auxiliary hinged plates 51 are respectively hinged to the two main hinged plates 53 of the adjacent group of main hinged plate assemblies; the main hinged plate assembly located at the rearmost side is connected to a driving mechanism for driving the ends of the two main hinged plates 53 of the main hinged plate assembly to move toward or away from each other.

[0033] Considering that when using a telescopic cylinder, the length of the piston rod of the telescopic cylinder needs to be set longer, while the space of the garbage collection chamber 11 of the intelligent sweeping robot 1 is limited. Therefore, this technical solution adopts a combination of a main hinge assembly and a secondary hinge assembly. During implementation, all main hinges 53 are equal in length, and the length of the secondary hinge 51 is half the length of the main hinge 53. During the driving process, the state of each group of main hinge assemblies remains consistent. The total length of the main hinge assembly and the secondary hinge assembly is L. The angle between the two hinges in each group of main hinge assemblies is a. Then, the telescopic length of the telescopic unit 5 is: L*cos(a). The length change is very large, and the garbage bin 2 can be moved a long distance. The hinge can be formed by setting a fixed shaft and an axis hole, and the hinge is formed by the sleeve connection of the fixed shaft and the axis hole. This is a redundant description of the existing technical steps.

[0034] See also Figure 3 Furthermore, the driving mechanism includes a fixed block 55 and a movable block 56, the fixed block 55 and the movable block 56 are hinged to the ends of the two main hinge plates respectively, and the movable block 56 is connected to the linear module 6.

[0035] The linear module 6 can be a pneumatic cylinder or the like, and changes the configuration of the telescopic unit 5 by driving the movable block 56 toward or away from the fixed block 55. In practice, the fixed block 55 is fixed to the side wall 12 of the waste collection chamber 11, and the linear module 6 is also fixed to the side wall 12. The movable block 56 is slidably connected to the side wall 12 and is also connected to the linear module 6.

[0036] As another structural variation, the driving mechanism includes two movable blocks 56, which are respectively hinged to the ends of the two main hinged plates, and also includes a screw and a motor driven by the screw; the screw includes two threaded sections with opposite rotation directions, and the movable block 56 is provided with a threaded hole, and the two movable blocks 56 are respectively threadedly connected to the two threaded sections of the screw.

[0037] The motor drives the lead screw to rotate, and the lead screw drives the two movable blocks to move toward or away from each other, so that the telescopic amount of the telescopic unit 5 changes greatly.

[0038] Secondly, in order to enable the movable block 56 to move in a directional manner, a guide block 13 or a guide groove is provided on the side wall 12, and the movable block 56 is provided with a concave hole or a protrusion 27 that matches the guide block 13 or the guide groove.

[0039] See also Figure 5 Furthermore, a notch 24 is provided at the lower end of the rear side panel of the trash bin body 2, and grooves 23 are respectively provided at the lower ends of the left and right panels of the trash bin body 2. At least one of the left and right sides of the lower base plate 21 has a protrusion 27 extending outward, and the left and right sides of the lower base plate 21 are respectively inserted into the corresponding grooves 23. The elastic unit is a spring 7, which is arranged in the groove 23 and located behind the protrusion 27. The lower end of the rear side panel is connected to a block 26, and the lower end of the rear side panel is provided with a mounting hole that matches one end of the block 26, and the other end of the block 26 extends into the corresponding groove 23.

[0040] In practice, the protrusion 27 is located at the front end of the lower base plate 21, and the spring 7 is located between the protrusion 27 and the blocking block 26. When the trash bin 2 moves outward under the drive of the telescopic unit 5 and is about to enter directly above the trash can 3, the pull wire assembly applies tension to the lower base plate 21, causing the lower base plate 21 to gradually disengage from the groove 23. Simultaneously, the spring 7 is squeezed and deformed by the protrusion 27. To facilitate the installation of the blocking block 26, a mounting hole 25 is provided on one side of the groove 23. One end of the blocking block 26 is located in the mounting hole 25 and is bolted to the bottom surface of the mounting hole 25. The other end of the blocking block 26 extends into the groove 23 and abuts the spring 7.

[0041] Furthermore, the pull wire assembly includes a pull wire 54 connected to the lower base plate 21 .

[0042] In a specific configuration, the middle or end of the pull line 54 is connected to the wire take-up device 4. One end of the pull line 54 is connected to the lower base plate 21, and the other end of the pull line 54 is connected to the side wall 12 of the garbage collection chamber 11 of the intelligent sweeping robot 1.

[0043] Furthermore, each group of main hinged plate assemblies includes a hinge shaft 52, the middle parts of the two main hinged plates are hinged to the hinge shaft 52, and the lower end of the hinge shaft 52 extends downward with an extension portion, and the extension portion is provided with a threading hole. One end of the pull wire 54 passes through the threading holes of all the hinged shafts 52 and is connected to the lower base plate 21; the other end of the pull wire 54 is connected to the wire reel 4, and the wire reel 4 is fixed to the side wall 12 of the garbage collection chamber 11.

[0044] During actual use, the wire reel 4's pulling force is less than the spring 7's elastic force. Therefore, as the trash bin 2 extends out of the trash cavity, although the pull wire 54 continues to move out of the wire reel 4, the greater elastic force of the spring 7 keeps the lower base 21 sealed. When the trash bin 2 is about to be positioned above the trash can 3, the pull wire 54 is about to be completely pulled out of the wire reel 4. As the trash bin 2 continues to move, the pull wire 54 exerts a force on the lower base 21, causing the spring 7 to deform. The total length of the pull wire 54 can be trimmed, adjusted, or replaced based on the position of the trash can 3. Furthermore, when the telescopic unit 5 is extended or retracted, the hinge shaft 52 moves linearly, ensuring the straightness of the pull wire 54 and preventing it from getting stuck. Furthermore, the upper axial hole of the extended portion of the hinge shaft 52 is preferably located at a similar height to the lower base 21, ensuring that the pull wire 54 remains horizontal or approximately horizontal. The wire reel 4 is prior art and will not be described in detail.

[0045] An intelligent sweeping robot 1 includes a body and a chassis, the chassis is connected to a roller and a driving device for driving the roller to rotate, the rear side of the body is open, a garbage collection chamber 11 is provided in the middle of the body, and the garbage collection chamber 11 is provided with the above-mentioned garbage dumping device.

[0046] Preferably, a sensor is provided in the body, and the sensor is used to sense the garbage capacity of the garbage box.

[0047] The above contents are only preferred embodiments of the invention. For ordinary technicians in this field, according to the concept of the invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the invention.

Claims

1. A garbage disposal device, comprising a garbage box for accommodating garbage, wherein the upper and lower ends of the garbage box are both provided with openings, characterized in that: The rear side panel of the waste bin is connected to a horizontal movement drive device for driving the waste bin to move. The lower end of the waste bin is movably connected to a lower bottom plate, which can slide back and forth relative to the waste bin. The lower bottom plate is connected to a pull wire assembly. An elastic unit is provided between the lower bottom plate and the waste bin to drive the lower bottom plate to move forward and seal the lower end opening. The horizontal movement drive device includes a middle block fixed to the rear side plate of the garbage bin body, and the middle block is connected to the telescopic unit; The telescopic unit includes a plurality of groups of main hinged plate assemblies connected in sequence and arranged in an X shape, and a group of secondary hinged plate assemblies arranged in a V shape, each group of main hinged plate assemblies includes two hinged main hinged plates, and the secondary hinged plate assembly includes two hinged secondary hinged plates. In two adjacent groups of main hinged plate assemblies, the two ends of the rear side of the main hinged plate assembly of the front group are hinged to the two ends of the front side of the main hinged plate assembly of the rear group, and the middle block is provided with an intermediate shaft. The two secondary hinged plates of the secondary hinged plate assembly are rotatably connected to the intermediate shaft, and the two secondary hinged plates are respectively hinged to the two main hinged plates of the adjacent group of main hinged plate assemblies; the main hinged plate assembly located at the rear side is connected to a driving mechanism for driving the ends of the two main hinged plates of the main hinged plate assembly to move toward or away from each other; A notch is provided at the lower end of the rear side panel of the trash bin body, and a groove is provided at the lower end of the left side panel and the right side panel of the trash bin body respectively. A protrusion extends outward on at least one of the left and right sides of the lower bottom panel, and the left and right sides of the lower bottom panel are respectively inserted into the corresponding grooves. The elastic unit is a spring, which is arranged in the groove and located behind the protrusion. A blocking block is connected to the lower end of the rear side panel, and a mounting hole is provided at the lower end of the rear side panel to match one end of the blocking block, and the other end of the blocking block extends into the corresponding groove. The pull wire assembly includes a pull wire connected to the lower base plate; Each set of main hinged plate components includes a hinge shaft, the middle parts of the two main hinged plates are hinged to the hinge shaft, the lower end of the hinge shaft extends downwardly with an extension portion, the extension portion is provided with a threading hole, one end of the pull wire passes through the threading holes of all the hinge shafts and is connected to the lower base plate; the other end of the pull wire is connected to a wire take-up device, which is fixed to the side wall of the garbage collection chamber; The driving mechanism comprises a fixed block and a movable block, wherein the fixed block and the movable block are hinged to the ends of the two main hinge plates respectively, and the movable block is connected with a linear module.

2. An intelligent sweeping robot comprising a body, an opening at the rear of the body, and a garbage collection cavity in the middle of the body, characterized in that: The garbage collection chamber is provided with the garbage disposal device according to claim 1.

3. The intelligent sweeping robot according to claim 2, characterized in that: A sensor is provided in the machine body, and the sensor is used to sense the garbage capacity of the garbage box.

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