A floor cleaning robot that can identify glass debris

Abstract

This invention relates to the field of robotics, specifically to a floor cleaning robot capable of identifying glass debris. The robot includes a body and a cutter. The cutter is rotatably mounted on one side of the body and is generally shaped like a hollow cylinder. It comprises, from the inside out, concentrically arranged inner and outer arc sleeves, both rotatably mounted on the body. The outer wall of the inner arc sleeve and the inner wall of the outer arc sleeve form a friction groove with a trapezoidal cross-section. This invention collects glass fragments onto a support plate within the housing and provides a crushing plate that moves towards the support plate to crush the glass fragments. Labeled glass fragments, due to the adhesive properties of the labels, will not fall through the gaps between the abutment protrusions on the support plate. After crushing, a feeding arm positioned between the abutment protrusions lifts the glass fragments that are stuck together, achieving further crushing and screening of the glass fragments.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a floor cleaning robot capable of identifying glass debris. Background Technology

[0002] In the glass processing process, it is often necessary to crush recycled glass and then fire and shape the crushed glass again.

[0003] However, most existing waste glass products usually have labels on their outer surfaces. These labels are usually glued to the outside of the glass. Before the glass is refired, the labels on the outside of the glass need to be removed, otherwise it will affect the purity of the material during the glass firing process, resulting in the finished glass not being clear and transparent enough. Removing the labeled glass fragments from a large number of glass fragments is not only dangerous, but also greatly affects the processing efficiency of enterprises by picking them one by one.

[0004] Therefore, a ground cleaning robot capable of identifying glass debris is proposed to address the aforementioned problems. Summary of the Invention

[0005] Technical problems to be solved

[0006] To address the aforementioned shortcomings of existing technologies, this invention provides a ground cleaning robot capable of identifying glass debris, effectively solving the problem of inconvenience in picking out and classifying tagged glass fragments from existing glass shards.

[0007] Technical solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] This invention provides a floor cleaning robot capable of identifying glass debris, comprising a shell and a crushing shell. Two swing arms are hinged to the shell, symmetrically distributed and capable of swinging in opposite directions to gather glass fragments from one side of the shell inwards. An inclined support plate is provided inside the crushing shell to collect the gathered glass fragments. Multiple abutment protrusions are distributed on the support plate. A crushing plate, guideable and movable towards the support plate, is located on the parallel side of the shell above the support plate. Multiple abutments are distributed on the end of the crushing plate facing the abutment protrusions, and the movement path of the abutments is offset from that of the abutment protrusions to crush the glass fragments placed on the support plate.

[0010] The abutting protrusions are arranged in a matrix, and a swingable feeding arm is provided on the support plate between two adjacent rows of abutting protrusions to lift the unbroken glass from the abutting protrusions.

[0011] Furthermore, the housing includes a lifting frame, which is movably installed inside the housing. The rolling plate is installed on the lifting frame. The lifting frame is also provided with a top plate, which is arranged parallel to the rolling plate and is located on the other side of the support plate. A cutting strip is provided at the end of the top plate facing the support plate, and the cutting strip is distributed between two adjacent rows of abutting protrusions.

[0012] Furthermore, at least two parallel overlapping strips are provided on each side of the abutting protrusion, and the upper part of the abutting strip is in the shape of an isosceles trapezoid, which is used to crush the glass stuck between adjacent abutting protrusions.

[0013] Furthermore, a rotating bar is hinged to the support plate, and several feeding arms are equidistantly arranged on the rotating bar and rotate with the rotating bar. A clamping bar is located on the side of the rotating bar, protruding outward and extending along the length of the feeding arm. A lifting plate is vertically arranged on the lifting frame. The lifting plate has an F-shaped structure, and its concave surface fits onto the clamping bar and is staggered with the clamping bar.

[0014] Furthermore, the housing also includes a spring bar, which is made of rubber and is located on one side of the locking bar, intersecting with the rotation path of the locking bar.

[0015] Furthermore, an acceleration transmission belt is provided inside the housing and on one side of the crushed shell. The transmission belt has an arched structure and is located between the swing arm and the support plate.

[0016] Furthermore, the support plate is inclined and tilts downward from the end of the transmission belt away from the swing arm.

[0017] Furthermore, the cross-section of the unloading arm is an isosceles trapezoidal shape.

[0018] Furthermore, the housing is provided with a glass panel, which is located below the two swing arms and covers the rotation path of the two swing arms.

[0019] Beneficial effects

[0020] The technical solution provided by this invention has the following advantages compared with known public technologies:

[0021] This invention collects glass fragments onto a support plate inside the housing and provides a crushing plate that can move toward the support plate to crush the glass fragments falling onto the support plate. Glass fragments with labels will not fall through the gaps between the abutment protrusions on the support plate due to the adhesive of the labels. After crushing, the glass fragments that are stuck together are lifted by the feeding arm set between the abutment protrusions, thus achieving the effect of further crushing and screening the glass fragments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0023] Figure 1 This is a schematic diagram of the shell structure in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall structure in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the crushed shell's decomposed structure in an embodiment of the present invention;

[0026] Figure 4 This is a bottom view schematic diagram of the crushed shell decomposition structure in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the glass fragment breaking structure process in an embodiment of the present invention;

[0028] Figure 6 As described in the embodiments of the present invention Figure 5 Schematic diagram of the structural state at point A;

[0029] Figure 7 This is a side view of the crushed shell structure in an embodiment of the present invention;

[0030] Figure 8 As described in the embodiments of the present invention Figure 7 Schematic diagram of the structure at point B;

[0031] Figure 9 This is a top view of the support plate structure in an embodiment of the present invention;

[0032] Figure 10 This is a bottom view of the rolling plate structure in an embodiment of the present invention.

[0033] The labels in the diagram represent: 1. Shell; 11. Swing arm; 12. Crushing plate; 121. Abutment; 13. Lifting frame; 131. Top plate; 132. Cutting strip; 133. Lifting plate; 14. Spring strip; 15. Transmission belt; 16. Glass panel; 2. Crushing shell; 21. Support plate; 211. Abutment protrusion; 212. Overlap strip; 213. Turning strip; 214. Clamping strip; 22. Unloading arm. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] The present invention will be further described below with reference to embodiments.

[0036] Example:

[0037] In some glass processing enterprises, the sources of raw materials for glass products are divided into two types. One type relies solely on glass raw materials (quartz sand, soda ash, limestone, etc.) to obtain glass blanks after iron removal treatment and then melting. Finally, the finished products are obtained after shaping. The other type relies on recycling to directly crush and melt the raw materials. Since the iron removal treatment has been carried out, there are fewer impurities inside, and the quality (purity) of the glass raw materials is higher. After melting and shaping, they can be reused.

[0038] Even though the cost of raw glass is relatively low, it is still lower than the cost of recycling waste glass products. Considering both raw material savings and waste recycling, the disposal of these "waste products" is a priority problem for glass product manufacturing companies.

[0039] Currently, after being collected by companies, scattered glass products undergo initial crushing, and the fragments are transported to the melting pool. With increasing automation, most companies utilize robots for this process, preventing worker injuries from sharp glass fragments and simplifying the collection process. However, this handling process presents certain problems. Most glass products, such as beer bottles, have labels affixed to their surfaces. Although most of these labels (paper or plastic) are melted away during the melting process, and companies have methods to remove them beforehand, adhesive labels are difficult to completely remove. Furthermore, the area containing the label on the glass is limited, making it challenging to pick out labeled fragments from a large number of glass pieces. When the labels (adhesive and adhesive materials) burn at high temperatures, they produce harmful gases (from burning plastic) and carbonized byproducts. During large-scale melting, this can reduce the transparency of the glass (due to carbonized impurities). Therefore, an efficient method for removing labels from glass fragments is needed to address these issues.

[0040] Therefore, in conjunction with the appendix Figure 1-10This invention provides a floor cleaning robot capable of identifying glass debris. In addition to its inherent functions of transporting, collecting, and sweeping glass shards on the ground, it can further refine the degree of glass breakage (crushing it into smaller pieces helps reduce melting time). Furthermore, during the crushing process, it can also screen tagged shards from the shard pile to a certain extent through crushing, and can add an additional process (soaking) to process tagged shards, thus achieving a cleaning robot that integrates transporting, screening, crushing, and cleaning functions.

[0041] Specifically, this solution is mainly divided into two parts: the housing 1 and the crushing shell 2. The housing 1 is equipped with a moving mechanism, which achieves multi-angle rotation and displacement through the cooperation of the rollers and steering wheels at the bottom (this is a well-known technology, and will not be described in detail in this example, nor is it shown in the attached figure). It is also equipped with a variety of sensors that are usually installed in cleaning robots, which will also not be described in detail.

[0042] During the movement of housing 1, when there is glass fragment in front (in this example, based on the placement of fragments in most enterprises, the glass fragments are scattered on the ground, which can be used for glass handling when it is necessary to move them, and can also realize simple ground cleaning function), two swing arms 11 are hinged to the front end of housing 1. The two swing arms 11 can swing in opposite directions at the same time, and the rotation path of the two swing arms 11 is circular and tangent.

[0043] During the swinging motion of the two swing arms 11, the glass debris at the front end is gathered into the housing 1. During this gathering process, the glass is gathered onto the glass panel 16 located at the front end of the housing 1. The glass panel 16 is positioned below the two swing arms 11 and covers the rotation path of the two swing arms 11. Due to the low friction of the glass panel 16, the glass easily enters the housing 1. (Here, the glass panel 16 is only used as a material with low friction with the glass fragments; other materials with low friction with the fragments can also be used, but this is not a major limitation.) Immediately afterwards, the glass moves onto the transmission belt 15 under the pushing force of the swing arms 11. The transmission belt in this design is equipped with a gravity sensor, which gradually accelerates when it detects a heavy object, causing the glass to generate a certain impact force and impact the crushing shell 2 located inside the housing 1. When the glass falls onto the support plate 21 located inside the crushing shell 2, the device is activated, causing the lifting frame 13, which can be guided and moved within the crushing shell 2, to begin moving, with the following strokes:

[0044] First, the lifting frame 13 moves towards the support plate 21. The crushing plate 12 on the lifting frame 13 is parallel to the support plate 21, so the abutment 121 on the crushing plate 12 presses against the abutment protrusion 211 on the support plate 21, applying a certain abutment force to the glass resting on the abutment protrusion 211; (the abutment force is not large, just enough to break the glass).

[0045] Secondly, after the glass is crushed, the broken glass will fall into the gap between the adjacent anti-collision protrusions 211. In this solution, a collection groove is also provided at the lower part of the crushing plate 12 to collect these falling glass fragments. The labeled glass fragments have a certain viscosity, so even if the glass is broken, they will not fall into the gap between the two anti-collision protrusions 211 due to their stickiness.

[0046] Furthermore, when the lifting frame 13 is raised, the top plate 131 on the other side of the lifting frame 13 will rise accordingly. The cutting strip 132 on the top plate 131 will move in the gap between the two adjacent rows of abutting protrusions 211, further squeezing the glass fragments stuck in the gap, increasing the degree of breakage and effect.

[0047] Finally, in this design, a swingable unloading arm 22 is provided on the support plate 21 between the two adjacent rows of abutting protrusions 211. This arm is used to lift the unbroken glass from the abutting protrusions 211. After the glass is broken, the lifting frame 13 continues to lift a certain distance. When the lifting frame 13 cooperates with the rotating bar 213 hinged to the support plate 21, the rotating bar 213 is lifted. At this time, the glass that is still above the abutting protrusions 211 (glass pieces that are glued together) will be lifted by the unloading arm 22 on the rotating bar 213 and rolled to one side of the rotation direction (this design provides another collection trough on one side of the rotation direction to collect such glass), thereby achieving the purpose of separate collection.

[0048] Specifically, the support plate 21 is inclined and tilts downward from the end of the transmission belt 15 away from the swing arm 11. After the glass fragments are separated from the transmission belt 15, they will slide downward a certain distance under the action of the inclined surface, so that they will not accumulate too much at the unloading point and cause congestion.

[0049] Meanwhile, in this scheme, the support plate 21 has multiple abutment protrusions 211 evenly distributed in both the horizontal and vertical directions, forming a matrix-like support surface. On the parallel side above the support plate 21, the crushing plate 12 also has multiple abutments 121 arranged in an array. The total distribution of abutments 121 in this scheme corresponds to the gaps around the abutment protrusions 211 (the space between adjacent abutment protrusions 211, referred to here as gaps), so that during crushing, it can be squeezed and crushed very thoroughly and fully.

[0050] In this design, the movable lifting frame 13 is telescopically extended via a push rod structure (the drive structure is not limited and is a known technology, so it will not be described in detail here, nor is it shown in the attached drawings). The lifting frame 13 has guide telescopic structures on both sides. The lifting frame 13 is movably installed inside the housing 1 through the guide column and the guide hole in the housing 1. The crushing plate 12 is installed on the lifting frame 13. The lifting frame 13 also has a top plate 131, which is parallel to the crushing plate 12 and is located on the other side of the support plate 21. A cutting strip 132 is provided at the end of the top plate 131 facing the support plate 21. The upper section of the cutting strip 132 in this design is an isosceles trapezoidal shape, which increases the crushing effect during the ascent. The cutting strip 132 is distributed between two adjacent rows of abutting protrusions 211.

[0051] To ensure that the cutting strip 132 has a certain point of force when it rises and contacts the glass fragments, two parallel overlapping strips 212 are provided on each side of the contact protrusion 211. During the downward movement of the broken fragments, in addition to falling smoothly to the bottom, some larger fragments will be stuck on the overlapping strips 212 on the adjacent contact protrusions 211, mostly at an angle. Thus, when the bottom of the glass fragment is subjected to the force of the cutting strip 132, the glass fragment can press against the junction between the overlapping strip 212 and the contact protrusion 211, forming a point of force, thereby ensuring the effect of the cutting strip 132 rising and further crushing the glass fragments.

[0052] In this scheme, a retaining strip 214 is also provided on the side of the rotating strip 213 shown above. The retaining strip 214 protrudes outward from the rotating strip 213 and extends along the length of the unloading arm 22. A lifting plate 133 is vertically provided on the lifting frame 13. The lifting plate 133 has an F-shaped structure, and its concave surface is fitted onto the retaining strip 214 and is staggered with the retaining strip 214.

[0053] The F-shaped structure of the lifting plate 133 corresponds to the structure of lifting the unloading arm 22 in the three displacement states of the lifting frame 13. It has a kind of structure that allows the glass stuck on the unloading arm 22 to have a shaking effect, thus preventing glass fragments from sticking to the unloading arm 22.

[0054] Specifically, in this design, the concave depth of the lifting plate 133 is much greater than the thickness of the clip 214. First, based on the displacement stroke of the lifting frame 13, the lifting plate 133 will retract between the adjacent abutting protrusions 211 (located above the top plate 131) during the descent. When the lifting frame 13 is in the upward stroke, the lower end of the concave surface of the lifting plate 133 (the F-shaped concave surface) will abut against the lower end of the clip 214. When the lifting plate 133 continues to rise, it will lift the clip 214, allowing the rotating bar 213 to rotate. If the glass blocks that are bonded together have their glass surfaces attached to the abutting protrusions 211, they will quickly slide off the slope formed by the rotation of the rotating bar 213 (feeding arm 22). However, if the label faces the abutting protrusion 211, it cannot be ruled out that some small glass fragments that still have a certain degree of stickiness will stick to the lifting plate 133. At this time, the purpose of shaking off the glass fragments can be achieved by setting a shaking effect.

[0055] In this design, the housing 1 is provided with two elastic strips 14. The elastic strips 14 are made of rubber and are located on one side of the locking strip 214. They intersect with the rotation path of the locking strip 214. When the lifting frame 13 moves, the lifting plate 133 pushes the locking strip 214 to rotate. When the locking strip 214 comes into contact with the elastic strips 14, it will generate a certain vibration, especially when the rotation speed is relatively fast, thus achieving the effect of loosening the stuck glass.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floor cleaning robot capable of identifying glass debris, characterized in that, include: The housing has two hinged arms that are symmetrically distributed and can swing in opposite directions to gather glass fragments on one side of the housing toward the inside of the housing. The crushing shell has an inclined support plate inside for collecting glass shards. The support plate has multiple abutment protrusions. Inside the shell and on the parallel side above the support plate, there is a crushing plate that can be guided and moved toward the support plate. The crushing plate has multiple abutments at the end facing the abutment protrusions. The movement path of the abutments is offset from that of the abutment protrusions, which is used to crush the glass shards placed on the support plate. The abutting protrusions are arranged in a matrix, and a swingable feeding arm is provided on the support plate between two adjacent rows of abutting protrusions to lift the unbroken glass from the abutting protrusions.

2. A floor cleaning robot capable of identifying glass debris according to claim 1, characterized in that, The housing includes: A lifting frame, which is movably installed inside a housing, and a rolling plate is installed on the lifting frame; The lifting frame is also provided with a top plate, which is arranged parallel to the rolling plate and is located on the other side of the support plate. A cutting strip is provided at the end of the top plate facing the support plate, and the cutting strip is distributed between two adjacent rows of abutting protrusions.

3. A floor cleaning robot capable of identifying glass debris according to claim 2, characterized in that, The two sides of the abutting protrusion are provided with at least two parallel overlapping strips. The upper part of the abutting strip is in the shape of an isosceles trapezoid, which is used to crush the glass stuck between adjacent abutting protrusions.

4. A floor cleaning robot capable of identifying glass debris according to claim 2, characterized in that, A rotating bar is hinged to the support plate, and several feeding arms are equidistantly arranged on the rotating bar and rotate with the rotating bar. A retaining bar protrudes outward from the side of the rotating bar and extends along the length of the feeding arm. The lifting frame is vertically equipped with a lifting plate, which has an F-shaped structure and a concave surface that fits onto the locking strip and is offset from the locking strip.

5. A floor cleaning robot capable of identifying glass debris according to claim 4, characterized in that, The housing also includes: The spring bar is made of rubber and is located on one side of the locking bar, intersecting with the rotation path of the locking bar.

6. A floor cleaning robot capable of identifying glass debris according to claim 1, characterized in that, An acceleration transmission belt is provided inside the housing and on one side of the crushing shell. The transmission belt has an arched structure and is located between the swing arm and the support plate.

7. A floor cleaning robot capable of identifying glass debris according to claim 6, characterized in that, The support plate is inclined and tilts downward from the end of the transmission belt away from the swing arm.

8. A floor cleaning robot capable of identifying glass debris according to claim 1, characterized in that, The cross-section of the unloading arm is an isosceles trapezoid.

9. A floor cleaning robot capable of identifying glass debris according to claim 1, characterized in that, The housing is provided with a glass panel, which is located below the two swing arms and covers the rotation path of the two swing arms.

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