A rope descent type cliff garbage cleaning robot

Abstract

This invention discloses a rope-rappelling cliff-side garbage collection robot, belonging to the field of garbage collection robot technology. It includes a head opening mechanism for sealing and height determination, a body for placing garbage, a garbage-collecting arm for picking up garbage, lateral crawling legs for lateral movement, and a lifting device for controlling the body's lifting and lowering. The body houses a control module for control. The head opening mechanism is hinged to the opening end of the body. The lateral crawling legs are arranged on both sides of the bottom of the body. The lifting device is located at the top of the body. The garbage-collecting arm includes a five-axis robotic arm for adjusting direction and a picking claw for gripping garbage. The root of the five-axis robotic arm is fixed to one side of the body, and the picking claw is installed at the end of the five-axis robotic arm. Both the five-axis robotic arm and the picking claw are electrically connected to a controller to achieve automated garbage collection from cliff faces, improving safety and efficiency.

Description

Technical Field

[0001] This invention belongs to the field of garbage cleaning robot technology, and more specifically, relates to a rope-rapid cliff garbage cleaning robot. Background Technology

[0002] Tourism is a way for humans to develop and utilize natural resources, and it is one of the productive activities humans engage in. With the development of society and the economy, the global tourism industry has grown rapidly in recent decades and has now become one of the world's largest economic sectors. However, with the booming development of tourism, it is no longer the "pollution-free industry" of the past. The ecological and environmental problems brought about by the large influx of tourists are becoming increasingly prominent.

[0003] The littering by tourists causes significant damage and impact on the scenic area's environment. To protect the beautiful environment and achieve sustainable development of tourism resources, most tourist attractions employ environmental workers to clean up litter in real time. While litter along roadsides and in gentler terrain is relatively easy to clean, cleaning litter on cliffs and in deep valleys is very difficult. Environmental workers often risk their lives to clean up litter in these areas, which is both unsafe and inefficient. Therefore, we urgently need a litter-cleaning robot that can replace manual labor in cleaning litter on cliffs and steep slopes. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a rope-rapid cliff garbage cleaning robot, which can automatically pick up garbage on cliffs and improve safety and efficiency.

[0005] The present invention provides a rope-rappelling cliff garbage cleaning robot, comprising a head opening mechanism for sealing and judging height, a body for placing garbage, a garbage picking arm for picking up garbage, lateral crawling legs for lateral movement, and a lifting device for controlling the lifting and lowering of the body.

[0006] The fuselage is equipped with a control module for control purposes;

[0007] The head opening mechanism is hinged to the opening end of the body;

[0008] The lateral crawling legs are arranged on both sides of the bottom of the fuselage;

[0009] The lifting device is located on the top of the machine body;

[0010] The garbage-collecting arm includes a five-axis robotic arm for adjusting direction and a picking claw for gripping garbage. The root of the five-axis robotic arm is fixed to one side of the machine body, and the picking claw is installed at the end of the five-axis robotic arm. Both the five-axis robotic arm and the picking claw are electrically connected to the controller.

[0011] As a further improvement of the present invention, the head opening mechanism includes a head, a head depth camera, an ultrasonic radar, and a head electric push rod. The head and the opening end of the body are hinged. The head electric push rods are symmetrically arranged on both sides of the end cover. The two ends of the two head electric push rods are respectively rotatably connected to the body and the head. There are two head depth cameras, which are respectively installed on the two end faces of the end cover. There are two sets of ultrasonic radars, with two ultrasonic radars in each set. One set of ultrasonic radars is located on one side of one of the head depth cameras and is fixedly connected to the head. The other ultrasonic radar is located on the side of the head opposite to the other head depth camera. The head depth camera, ultrasonic radar, and head electric push rod are all electrically connected to the control module.

[0012] As a further improvement of the present invention, two garbage-collecting arms are provided and symmetrically arranged on both sides of the machine body.

[0013] As a further improvement of the present invention, a plurality of lateral crawling legs are provided, and the plurality of lateral crawling legs are symmetrically arranged on the bottom of the body. Each lateral crawling leg includes a crawling electric push rod, a climbing claw, a first climbing link, a second climbing link, a reel, and a reel motor. One end of the first climbing link is rotatably engaged with the bottom of the body. The two ends of the second climbing link are respectively rotatably connected to the other end of the first climbing link and the root of the climbing claw. The two ends of the crawling electric push rod are respectively rotatably connected to the side of the body and the climbing claw. The reel motor is located on one side of the first link and is fixedly connected to the body. The reel is fixed to the output end of the reel motor. The reel controls the first climbing link, the second climbing link, and the climbing claw through a cable control. The reel motor is electrically connected to the control module.

[0014] As a further improvement of the present invention, the lifting device includes a lifting module, a grappling hook, a connector, a thigh, and a calf. The lifting module is fixed to the side of the machine body. The two output ends of the lifting module are respectively fixedly connected to the grappling hook via wires. The connector is rotatably connected to the machine body. The thigh and the connecting component are fixedly connected by a rotating shaft. The calf and the thigh are rotatably connected. The lifting module and the control module are electrically connected. The connector and the control module are electrically connected.

[0015] As a further improvement of the present invention, side depth cameras are symmetrically arranged on both sides of the fuselage, and a lidar is installed on the fuselage. Both the side depth cameras and the lidar are electrically connected to the control module.

[0016] As a further improvement of the present invention, a rechargeable battery for providing power is provided on one side of the control module.

[0017] Beneficial effects:

[0018] 1. The machine is connected to the outside using a grappling hook. The length of the connecting line is controlled by the lifting module, which in turn controls the height of the machine. LiDAR, ultrasonic radar, and head depth camera are used to control the descent depth of the machine, so that the machine reaches the designated height where the garbage is located. The connecting parts drive the thigh to rotate, which in turn cooperates with the lifting module to regularly step on the rock wall to ensure longitudinal stability.

[0019] 2. The five-axis robotic arm adjusts the angle and position of the picking claw, and the side depth camera captures the position of the trash. The picking claw picks up the trash, and the picked-up trash is then oriented by the five-axis robotic arm and falls into the machine body, thus collecting trash, avoiding the danger of manual trash picking, and improving efficiency.

[0020] 3. The rotating head and body work together to seal the body and prevent garbage from falling out. At the same time, the electric push rod on the forehead can automatically open the end cover.

[0021] 4. The climbing first link, climbing second link, and climbing claw retraction and extension are controlled by the crawling electric push rod and the cable reel motor to control the movement of the machine body in the lateral direction of the cliff, eliminating the need to pull the machine body up and down again, thus improving efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall assembly of the present invention;

[0023] Figure 2 This is a schematic diagram illustrating the exterior of the fuselage of the present invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of the fuselage of the present invention;

[0025] Figure 4 This is a schematic diagram of the head opening mechanism of the present invention;

[0026] Figure 5 This is a schematic diagram of the garbage pickup arm structure of the present invention;

[0027] Figure 6 This is a schematic diagram of the lateral crawling leg structure of the present invention;

[0028] Figure 7 This is a schematic diagram of the rear pedal leg structure of the present invention.

[0029] Explanation of the labels in the diagram:

[0030] 1. Head opening mechanism; 2. Body; 3. Debris picking arm; 4. Lateral crawling leg; 5. Lifting device; 7. Claw; 8. LiDAR; 9. Head; 11. Lateral depth camera; 13. Battery; 14. Control module; 15. Head depth camera; 16. Ultrasonic radar; 17. Head electric actuator; 24. Crawling electric actuator; 25. Climbing claw; 26. First climbing link; 27. Second climbing link; 28. Cable reel; 29. ​​Cable reel motor; 31. Connector; 32. Thigh; 33. Lower leg. Detailed Implementation

[0031] Specific Implementation Example 1: Please refer to... Figure 1-7 A rope-rappelling cliff-dwelling garbage cleaning robot includes a head opening mechanism 1 for sealing and judging height, a body 2 for placing garbage, a garbage picking arm 3 for picking up garbage, a lateral crawling leg 4 for lateral movement, and a lifting device 5 for controlling the lifting and lowering of the body 2.

[0032] The fuselage 2 is divided into a front fuselage compartment and a rear fuselage compartment by a fuselage partition 12. The front fuselage compartment contains a waste collection bin 10, and the rear fuselage compartment contains a battery 13 and a control module 14. Side depth cameras 11 are symmetrically arranged on both sides of the fuselage 2. A lidar 8 is installed on the fuselage 2. Both the side depth cameras 11 and the lidar 8 are electrically connected to the control module 14.

[0033] The lifting device 5 includes a lifting module, a grappling hook 7, a connector 31, a thigh 32, and a lower leg 33. The lifting module is fixed to the side of the fuselage 2. The two output ends of the lifting module are fixedly connected to the grappling hook 7 via connecting wires. The fuselage 2 has a rotating seat 207 on each of its left and right rear ends, symmetrically distributed. A rolling bearing 208 is embedded in the rotating seat 207. A hip joint 30 is provided on one side of the rolling bearing 208. The front end of the hip joint 30 is fixed inside the fuselage 2. The rear end of the hip joint 30 is connected to two connecting bosses 301, and connecting holes 302 are opened on the connecting bosses 301. The front end of the connector 31 is connected to two connecting bosses 311, and... The connecting boss 311 has a connecting hole 312, and its rear end is connected to a rotating shaft 314. Its rear end is connected and fixed to the connecting hole 312 of the connector 31 through the connecting hole 302. The rotating shaft 314 at the rear end of the connector 31 is rotatably connected to the rolling bearing 208 embedded in the rotating seat 207 in the body 2. The thigh joint 31 is connected to the thigh 32 through the mating surface 313 and the mating surface 321 of the thigh 32. The thigh 32 is hinged to the lower leg through the hinge hole 322 and the hinge hole 331 of the lower leg. The hip joint 30 and the connector 31 are both electrical controls that can output rotation effects. The lifting module, connector 31, hip joint 30 and control module 14 are electrically connected.

[0034] Two garbage-collecting arms 3 are symmetrically arranged on the robotic arm connecting seats 204 on both sides of the body 2. The garbage-collecting arms 3 include a five-axis robotic arm for adjusting direction and a picking claw for gripping garbage. Both the five-axis robotic arm and the picking claw are electrically connected to the controller. The five-axis robotic arm includes a first joint 18, a second joint 19, a connecting arm 20, a third joint 21, a fourth joint 22, and a picking joint 23. One end of the first joint 18 is connected and fixed to the robotic arm connecting seats 204 on both sides of the body 2 through a first connecting surface 181; the other end is attached to the first connecting surface 191 of the second joint 19 through a second connecting surface 182. The connecting arm 20 is fixedly connected at one end to the second connecting surface 192 of the second joint 19 via the first connecting surface 201, and at the other end to the first connecting surface 211 of the third joint 21 via the second connecting surface 202; the fourth joint 22 is fixedly connected at one end to the second connecting surface 212 of the second joint 21 via the first connecting surface 221, and at the other end to the connecting surface 231 of the pickup joint 23 via the second connecting surface 222; the pickup claw includes a fixed pickup claw 232 and a movable pickup claw 233, the fixed pickup claw 232 is connected to the lower end of the pickup joint 23, and a movable pickup claw 233 is connected to each of the two sides of its upper end.

[0035] The head opening mechanism includes a head 9, a head depth camera 15, an ultrasonic radar 16, and a head electric push rod 17. The head depth camera 15, ultrasonic radar 16, and head electric push rod 17 are all electrically connected to the control module 14. There are two head depth cameras 15, which are respectively installed on the two end faces of the end cover. There are two sets of ultrasonic radars 16, with two in each set. One set of ultrasonic radars 16 is located on one side of one of the head depth cameras 15 and is fixedly connected to the head 9. The other ultrasonic radar 16 is located on the side of the head 9 opposite to the other head depth camera 15.

[0036] The front end of the body 2 is connected to a head hinge seat 202, and a head hinge hole 203 is opened on the head hinge seat 202. The rear end of the lower part of the head is connected to a rear hinge seat 91, and a rear hinge hole 92 is opened on the rear hinge seat 91. The rear hinge hole 92 of the head and the hinge hole 203 of the body 2 form a hinge connection. A rectangular groove 201 is opened inward on each of the left and right sides of the front end of the body 2. A hinge shaft 212 is placed in each of the rectangular grooves 201 on the left and right sides of the body 2. The lower middle part of the head 9 is connected to a front hinge seat 93 on each of the left and right sides, and they are symmetrically distributed. A front hinge hole 94 is opened on the front hinge seat 93. There are two head electric push rods 17, which are symmetrically distributed on the left and right. Their front ends are hinged to the front hinge hole 94 of the head 9 through the front hinge hole 171, and their rear ends are hinged to the hinge shaft 212 of the body 2 through the rear hinge hole 162.

[0037] Several lateral crawling legs 4 are provided, and these lateral crawling legs 4 are symmetrically arranged at the bottom of the body 2. The lateral crawling legs 4 include crawling electric push rods 24, climbing claws 25, climbing first link 26, climbing second link 27, cable reel 28, and cable reel motor 29. The crawling electric push rods 24 and cable reel motor 29 are electrically connected to the control module 14. The front ends of the left and right sides of the body 2 are connected to mechanical arm connecting seats 204. The middle part of the left and right sides is connected to four push rod hinge seats 205, which are symmetrically distributed. Push rod hinge holes 206 are opened on the push rod hinge seats 205. The front end of the crawling electric push rod 24 is hinged to the push rod hinge hole 206 of the body 2 through the front hinge hole 241, and its rear end is hinged to the push rod hinge hole in the middle of the climbing claw 25 through the rear hinge hole 242. 252 forms a hinge connection. The front end of the second climbing link 27 is hinged to the rear hinge hole 262 of the rear end of the first climbing link 26 through the front hinge hole 271. Its rear end is hinged to the front hinge hole 251 of the climbing claw 25 through the rear hinge hole 272. The front hinge hole 261 of the first climbing link 26 is hinged to the side climbing leg hinge hole 210 of the body 2. The climbing claw 25, the first climbing link 26, the second climbing link 27, and the reel 28 are connected by a control rope with one end fixed to the control hole 254 of the climbing claw 25 and the other end wound around the reel 28. The control rope passes through the control holes 273 of the second climbing link 27 and the control holes 263 of the first climbing link 26 in sequence to form a control mechanism. The climbing claw 25 has anti-slip barbs 253 on the inside.

[0038] Working principle:

[0039] The grappling hook 7 is fixed to a stable location at the top of the cliff. The length of the connecting line is controlled by the lifting module, thereby controlling the height of the fuselage 2. The connecting piece 31 drives the thigh 32 to rotate, and the thigh 32 drives the lower leg 33 to rotate, thus coordinating with the lifting module to regularly step on the rock wall and ensure the stability of longitudinal movement. The lidar 8, ultrasonic radar 16, and head depth camera 15 are used to control the descent depth of the fuselage 2, so that the fuselage 2 reaches the designated height where the garbage is located.

[0040] The location of the trash is captured by the side depth camera 11, and the trash is picked up by the trash picking arm 3. The head 9 is opened by the head electric push rod 17, and the picked-up trash will be adjusted by the trash picking arm 3 and fall into the body 2, thus playing the role of collecting trash.

[0041] Multiple climbing claws 25 hook onto the rock face to ensure stability. When lateral movement is required on the cliff face, the cable reel motor 29 on the same side rotates in the direction of slack in the cable, while the corresponding crawling electric push rod 24 shortens, opening the climbing claw 25 on this side. At the same time, the first climbing link 26 and the second climbing link 27 are extended. A new climbing point is determined by the side depth camera 11 on the same side. The cable reel motor 29 and the crawling electric push rod 24 control the climbing claw 25 to hook onto the cable, while the lateral crawling leg 4 on the other side releases, causing the machine body 2 to move to one side. The released lateral crawling leg 4 uses the side depth camera 11 on the same side to find a new climbing point, thus achieving continuous lateral movement.

Claims

1. A rope-rapid cliff-descent garbage cleaning robot, characterized in that: It includes a head opening mechanism (1) for sealing and judging height, a body (2) for placing garbage, a garbage picking arm (3) for picking up garbage, a lateral crawling leg (4) for lateral movement, and a lifting device (5) for controlling the lifting of the body (2). The fuselage (2) is equipped with a control module (14) for control purposes; The head opening mechanism (1) is hinged to the opening end of the body (2); The lateral crawling legs (4) are arranged on both sides of the bottom of the fuselage (2); The lifting device (5) is arranged on the top of the fuselage (2); The garbage picking arm (3) includes a five-axis robotic arm for adjusting direction and a picking claw for picking up garbage. The root of the five-axis robotic arm is fixed to one side of the body (2), and the picking claw is installed at the end of the five-axis robotic arm. Both the five-axis robotic arm and the picking claw are electrically connected to the controller. The head opening mechanism (1) includes a head (9), a head depth camera (15), an ultrasonic radar (16), and a head electric push rod (17). The head (9) and the opening end of the body (2) are hinged. The head electric push rod (17) is symmetrically arranged on both sides of the end cover. The two ends of the two head electric push rods (17) are respectively rotatably connected to the body (2) and the head (9). There are two head depth cameras (15), and the two head depth cameras (15) are respectively installed on the two end faces of the end cover. There are two sets of ultrasonic radars (16), two in each set. One set of ultrasonic radars (16) is located on one side of one of the head depth cameras (15) and is fixedly connected to the head (9). The other ultrasonic radar (16) is located on the side of the head (9) opposite to the other head depth camera (15). The head depth camera (15), ultrasonic radar (16), and head electric push rod (17) are all electrically connected to the control module (14).

2. The rope-rappelling cliff-dwelling garbage cleaning robot according to claim 1, characterized in that: The garbage collection arms (3) are provided in two and are symmetrically arranged on both sides of the body (2).

3. The rope-rappelling cliff-dwelling garbage cleaning robot according to claim 1, characterized in that: The lateral crawling legs (4) are provided in a plurality of manner, and the plurality of lateral crawling legs (4) are symmetrically arranged at the bottom of the body (2). The lateral crawling legs (4) include a crawling electric push rod (24), a climbing claw (25), a first climbing link (26), a second climbing link (27), a cable reel (28), and a cable reel motor (29). One end of the first climbing link (26) is rotatably engaged with the bottom of the body (2), and both ends of the second climbing link (27) are respectively connected to the other end of the first climbing link (26) and the climbing claw. The root of (25) is rotatably connected, and the two ends of the crawling electric push rod (24) are rotatably connected to the side of the body (2) and the climbing claw (25) respectively. The winding motor (29) is located on one side of the first link and is fixedly connected to the body (2). The winding reel (28) is fixed at the output end of the winding motor (29). The winding reel (28) controls the climbing of the first link (26), the climbing of the second link (27) and the climbing claw (25) through the line control rope. The winding motor (29) and the control module (14) are electrically connected.

4. The rope-rappelling cliff-dwelling garbage cleaning robot according to claim 1, characterized in that: The lifting device (5) includes a lifting module, a grappling hook (7), a connector (31), a thigh (32), and a calf (33). The lifting module is fixed to the side of the fuselage (2). The two output ends of the lifting module are fixedly connected to the grappling hook (7) by connecting wires. The connector (31) is rotated and engaged with the fuselage (2). The thigh (32) is fixedly connected to the pivot of the connector (31). The calf (33) is rotatably connected to the thigh (32). The lifting module is electrically connected to the control module (14). The connector (31) is electrically connected to the control module (14).

5. The rope-rappelling cliff-descent garbage cleaning robot according to claim 1, characterized in that: Side depth cameras (11) are symmetrically arranged on both sides of the fuselage (2), and a lidar (8) is installed on the fuselage (2). Both the side depth cameras (11) and the lidar (8) are electrically connected to the control module (14).

6. The rope-rappelling cliff-dwelling garbage cleaning robot according to claim 1, characterized in that: A rechargeable battery (13) for power supply is provided on one side of the control module (14).

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