A clamping device for a waste sorting robot

Abstract

The application provides a clamping device for a garbage sorting manipulator, and particularly relates to the technical field of garbage sorting equipment, which comprises a main frame, a main clamping device, an auxiliary clamping device and a push plate. The top of the main frame is fixedly connected with a manipulator of a garbage sorting equipment. Two bases are arranged on the bottom of the main frame. A main clamping device is slidably arranged on each base. An auxiliary clamping device is slidably arranged on the base on the two sides of each main clamping device. The push plate has two push plates. The bottom of each push plate is slidably connected with the outer wall of a main clamping device and the auxiliary clamping devices on the two sides of the main clamping device. A driving device is arranged on the main frame. The application can be applied to the clamping of garbage with regular shapes and irregular shapes, can improve the success rate and clamping efficiency of garbage clamping, and can improve the sorting efficiency of the garbage sorting equipment.

Description

Technical Field

[0001] This invention relates to the field of waste sorting equipment technology, and in particular to a gripping device for a waste sorting robot. Background Technology

[0002] As cities develop and residents' living standards continue to improve, the amount of waste generated in people's daily lives is increasing. This waste is mainly divided into recyclable waste and non-recyclable waste, and there are many types of recyclable and non-recyclable waste. The treatment methods for different types of waste vary greatly. If waste is not sorted before disposal, it will not only cause some damage to the environment during waste disposal, but also waste recyclable resources.

[0003] Currently, waste sorting equipment mainly includes suction-type waste sorting equipment, slatted waste sorting equipment, and gripper-type waste sorting equipment. Suction-type waste sorting equipment uses suction to adsorb waste, thereby classifying it. Slatted waste sorting equipment is a pre-sorting device in the waste sorting system, capable of sorting specific types of waste. Gripper-type waste sorting equipment uses robotic arms to grip and classify waste. Existing gripper-type waste sorting equipment uses robotic arms that are effective at gripping relatively regular-shaped waste, but their gripping effect on irregularly shaped waste is poor, affecting the sorting efficiency of the waste sorting equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a gripping device for a waste sorting robot, which is applicable to the gripping of waste with both regular and irregular shapes, and can improve the success rate and efficiency of waste gripping, thereby improving the sorting efficiency of waste sorting equipment.

[0005] To achieve the above and other related objectives, the present invention provides a gripping device for a waste sorting robot, comprising: a main frame, a main gripping device, an auxiliary gripping device, and a push plate. The top of the main frame is fixedly connected to the robot arm of the waste sorting equipment. The bottom of the main frame is open, and a base is provided on each side of the bottom of the main frame. A main gripping device is slidably mounted on each of the two bases, and the two main gripping devices are arranged opposite to each other. A main gripping block is provided at one end of each main gripping device. A first through hole is provided along the length direction of the main gripping device. A first slide rod is slidably mounted in the first through hole. One end of the first slide rod is fixedly connected to the main gripping block, and the other end of the first slide rod cooperates with a fixing mechanism at the end of the main gripping device. An elastic pad is provided at the end of the main gripping device facing the main gripping block. A first elastic component is provided along the extension direction of the first through hole at the end of the first through hole facing the main gripping block. The first slide rod is elastically connected to the first through hole through the first elastic component.

[0006] One auxiliary clamping device is slidably mounted on the base on both sides of each main clamping device. The four auxiliary clamping devices are arranged in pairs facing each other. Each auxiliary clamping device has an auxiliary clamping block at its opposite end. A second through hole is provided along the length of each auxiliary clamping device, and a second slide rod is slidably mounted within the second through hole. One end of the second slide rod is fixedly connected to the auxiliary clamping block. A second elastic component is provided along the extension direction of the second through hole at the end facing the auxiliary clamping block. The second slide rod is elastically connected to the second through hole through the second elastic component. There are two push plates, each with three mounting holes at its bottom. These three mounting holes are slidably connected to the outer wall of one main clamping device and the auxiliary clamping devices on both sides. A stop block is provided in the middle of each main clamping device and each auxiliary clamping device. The push plate and the base are located on opposite sides of the stop block. A first switch assembly is provided on both the main clamping device and the auxiliary clamping device on the side of the stop block facing the push plate. The first slide rod and the second slide rod have protrusions that cooperate with the first switch assembly. A second switch assembly is provided on the inner wall of each mounting hole. The first and second switch assemblies cooperate to control whether the main clamping device and the auxiliary clamping device are fixedly or slidably connected to the push plate. A drive device is provided on the main frame and is driven to the top of the push plate to drive the push plate to move along the extension direction of the main clamping device. A discharge rod is provided at one end of the main clamping block facing the push plate. A snap-fit ​​structure cooperates with the discharge rod on the push plate. A third elastic component is provided between the auxiliary clamping block and the push plate.

[0007] In one example of the gripping device for the waste sorting robot of the present invention, the main frame includes a top plate and two side plates. The two ends of the top plate are respectively fixedly connected to the top ends of the two side plates, and the bottom ends of the two side plates are respectively fixedly connected to a base.

[0008] In one example of the gripping device for the waste sorting robot of the present invention, the side plate is vertically connected to the top plate, and the side plate is vertically connected to the base.

[0009] In one example of the gripping device for the waste sorting robot of the present invention, the main gripping device includes a first connecting part and a second connecting part, the stop is provided between the first connecting part and the second connecting part, the first connecting part is slidably connected to the base, and the second connecting part is slidably connected to the mounting hole of the push plate.

[0010] In one example of the gripping device for the waste sorting robot of the present invention, the first connecting part is cylindrical, the base is provided with a first sliding groove that mates with the first connecting part, a first spring is provided in the first sliding groove, the first spring is sleeved on the outside of the first connecting part, one end of the first spring facing the second connecting part is fixedly connected to the first sliding groove, the other end of the first spring is fixedly connected to the end of the first connecting part, the second connecting part is cuboid, and the shape of the mounting hole matches the cross-section of the second connecting part.

[0011] In one example of the clamping device for the waste sorting robot of the present invention, the fixing mechanism includes a fixing block and a fixing top rod. The fixing block is fixedly connected to the end of the first connecting part and slidably connected to the first slide groove. The fixing block has a first cavity. Two fixing top rods are symmetrically arranged and slidably installed on the side wall of the first cavity. One end of the two fixing top rods is provided with a top rod slider, and the other end of the fixing top rod is provided with a brake block. A second spring is provided between the top rod slider and the inner wall of the first cavity. The brake block is slidably installed in the mounting groove on the outer wall of the fixing block. One end of the first slide rod located in the first cavity is provided with a first end plate, and the first end plate cooperates with the two top rod sliders.

[0012] In one example of the clamping device for the waste sorting robot of the present invention, a limiting plate is provided on the second connecting part, and the limiting plate cooperates with the unloading rod.

[0013] In one example of the gripping device for the waste sorting robot of the present invention, the first elastic component includes a first retaining ring and a third spring. The first retaining ring and the third spring are both sleeved on the outside of the first slide rod. The first retaining ring is located at one end facing the main gripping block and is fixedly connected to the first slide rod. The two ends of the third spring are respectively fixedly connected to the first retaining ring and the inner wall of the first through hole.

[0014] In one example of the gripping device for the waste sorting robot of the present invention, the auxiliary gripping device includes a third connecting part and a fourth connecting part, the stop is provided between the third connecting part and the fourth connecting part, the third connecting part is slidably connected to the base, and the fourth connecting part is slidably connected to the mounting hole of the push plate.

[0015] In one example of the gripping device for the waste sorting robot of the present invention, the third connecting part is cylindrical, the base is provided with a second sliding groove that mates with the third connecting part, a fourth spring is provided in the second sliding groove, the fourth spring is sleeved on the outside of the third connecting part, one end of the fourth spring facing the fourth connecting part is fixedly connected to the second sliding groove, and the other end of the fourth spring is fixedly connected to the end of the third connecting part. The fourth connecting part is cuboid, and the shape of the mounting hole matches the cross-section of the fourth connecting part.

[0016] In one example of the gripping device for the waste sorting robot of the present invention, the second elastic component includes a second retaining ring and a fifth spring. The second retaining ring and the fifth spring are both sleeved on the outside of the second slide rod. The second retaining ring is located at one end facing the auxiliary gripping block and is fixedly connected to the second slide rod. The two ends of the fifth spring are respectively fixedly connected to the second retaining ring and the inner wall of the second through hole.

[0017] In one example of the gripping device for the waste sorting robot of the present invention, the third elastic component includes a third slide rod, one end of which is fixedly connected to the auxiliary gripping block, and the other end of which extends toward the push plate and passes through the push plate and is slidably connected to the push plate. A sixth spring is sleeved on the third slide rod between the auxiliary gripping block and the push plate.

[0018] In one example of the clamping device for the waste sorting robot of the present invention, the first switch assembly includes a first switch top rod, and the side walls of the main clamping device and the auxiliary clamping device are respectively provided with third sliding grooves communicating with the first through hole and the second through hole. The first switch top rod is slidably installed in the third sliding groove. The first switch top rod is elastically connected to the third sliding groove through a seventh spring, and one end of the first switch top rod cooperates with the protrusion.

[0019] The second switch assembly includes a second switch push rod, and a fourth sliding groove is provided on the inner wall of the mounting hole. The second switch push rod is slidably installed in the fourth sliding groove. The second switch push rod is elastically connected to the fourth sliding groove through an eighth spring. The first switch push rod cooperates with the second switch push rod.

[0020] In one example of the clamping device for the waste sorting robot of the present invention, the snap-fit ​​structure includes a snap-fit ​​block. One end of the snap-fit ​​block is fixedly connected to the push plate. The other end of the snap-fit ​​block has a snap-fit ​​hole on its end face. The inner wall of the snap-fit ​​hole has symmetrically arranged fifth sliding grooves. Ball bearings are slidably installed in the two fifth sliding grooves. The diameter of the opening of the fifth sliding groove is smaller than the diameter of the ball bearing. The ball bearing is elastically connected to the fifth sliding groove through a ninth spring. The end of the unloading rod has a snap-fit ​​groove that cooperates with the ball bearing.

[0021] In one example of the gripping device for the waste sorting robot of the present invention, the driving device includes a lifting device, a driving rod, a first driving block and a second driving block. The lifting device is installed on the inner wall of the top of the main frame, and the lifting end of the lifting device faces the push plate. The lifting end of the lifting device is fixedly connected to the driving rod. A first driving block is fixedly installed at each end of the driving rod. The surfaces of the two first driving blocks facing each other are inclined, and the distance between the bottom ends of the two first driving blocks is greater than the distance between the top ends. A second driving block is fixedly installed at the top of each of the two push plates. T-shaped sliders are provided on the opposing surfaces of the two second driving blocks. T-shaped grooves are provided on the inclined surfaces of the two first driving blocks. The T-shaped sliders are slidably connected to the T-shaped grooves.

[0022] In one example of the gripping device for the waste sorting robot of the present invention, the main gripping block and the auxiliary gripping block are provided with anti-slip pads at the ends away from the base.

[0023] The present invention relates to a waste sorting robot arm with a clamping device mounted on the robot arm of a waste sorting equipment via a main frame. The robot arm moves to the waste location, and a drive device drives a push plate to clamp the main clamping device and the auxiliary clamping device. Once the two opposing main clamping devices or auxiliary clamping devices have clamped the waste, the first or second sliding rod slides relative to each other under the action of the main clamping block or the auxiliary clamping block. This causes the protrusion to trigger the first and second switching components, thereby making the main clamping device or auxiliary clamping device slide-connected to the push plate. The push plate then continues to drive the remaining unclamped main clamping devices or auxiliary clamping devices to continue moving until they are clamped. This improves the adaptability of the invention to waste shapes, making it suitable for clamping both regular and irregular shaped waste, increasing the success rate and efficiency of waste clamping, and thus improving the sorting efficiency of the waste sorting equipment. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the clamping device for a waste sorting robot of the present invention;

[0025] Figure 2 This is a front view of the main frame and push plate in one embodiment of the gripping device for the waste sorting robot of the present invention;

[0026] Figure 3 This is a top view of the base, main clamping device, and auxiliary clamping device in one embodiment of the garbage sorting robot gripping device of the present invention.

[0027] Figure 4 This is a partial cross-sectional view of the main clamping device in one embodiment of the clamping device for the waste sorting robot of the present invention;

[0028] Figure 5 This is a schematic diagram of the auxiliary clamping device in one embodiment of the clamping device for the waste sorting robot of the present invention;

[0029] Figure 6 This is a top view of the main clamping device and the auxiliary clamping device in a clamping state in one embodiment of the clamping device for the garbage sorting robot of the present invention;

[0030] Figure 7 This is a partial cross-sectional view of the main clamping device in a clamping state in one embodiment of the clamping device for the waste sorting robot of the present invention;

[0031] Figure 8 This is a schematic diagram of the fixing mechanism in one embodiment of the clamping device for the waste sorting robot of the present invention;

[0032] Figure 9This is a schematic diagram of the structure of the first switch assembly and the second switch assembly in one embodiment of the clamping device for the waste sorting robot of the present invention;

[0033] Figure 10 This is a schematic diagram of the snap-fit ​​structure in one embodiment of the clamping device for the garbage sorting robot of the present invention.

[0034] Component designation explanation:

[0035] 100. Main frame; 110. Top plate; 120. Side plate; 130. Base; 131. First slide groove; 200. Main clamping device; 210. Main clamping block; 211. Unloading rod; 220. First through hole; 230. First slide rod; 231. First end plate; 240. First connecting part; 250. Second connecting part; 251. Limiting plate; 260. Fixing mechanism; 261. Fixing block; 262. Fixing top rod; 263. Top rod slider; 264. Braking block; 265. Second spring; 270. First spring; 280. First elastic component; 290. Elastic pad; 300. Auxiliary clamping device; 310. Auxiliary clamping block; 320. Third connecting part; 330. Fourth connecting part; 340. Third elastic component; 400. Push plate; 410. First switch assembly; 411. First switch rod; 412. Seventh spring; 420. Second switch assembly; 421. Second switch rod; 422. Eighth spring; 430. Protrusion; 440. Snap-fit ​​structure; 441. Snap-fit ​​block; 442. Snap-fit ​​hole; 443. Ball bearing; 444. Ninth spring; 500. Stop block; 600. Drive device; 610. Lifting device; 620. Drive rod; 630. First drive block; 640. Second drive block. Detailed Implementation

[0036] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of the present invention is for describing specific implementation schemes and not for limiting the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0037] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in the present invention, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this invention, as well as the prior art known to those skilled in the art and the description of the invention, may be implemented using any prior art methods, devices, and materials similar to or equivalent to the methods, devices, and materials in the embodiments of the present invention.

[0038] Please see Figures 1 to 4 , Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the clamping device for a waste sorting robot of the present invention; Figure 2 This is a front view of the main frame and push plate in one embodiment of the gripping device for the waste sorting robot of the present invention; Figure 3 This is a top view of the base, main clamping device, and auxiliary clamping device in one embodiment of the garbage sorting robot gripping device of the present invention. Figure 4 This is a partial cross-sectional view of the main clamping device in one embodiment of the garbage sorting robot clamping device of the present invention.

[0039] This invention provides a gripping device for a waste sorting robot, comprising: a main frame 100, a main gripping device 200, an auxiliary gripping device 300, and a push plate 400. The top of the main frame 100 is fixedly connected to the robot of the waste sorting equipment, and the bottom of the main frame 100 is open, with a base 130 respectively provided on the bottom of the main frame 100 on both sides of the opening. Two main clamping devices 200 are slidably mounted on two bases 130, and the two main clamping devices 200 are arranged opposite each other. One end of the two main clamping devices 200 is provided with a main clamping block 210. A first through hole 220 is provided in the main clamping device 200 along the length direction. A first slide rod 230 is slidably mounted in the first through hole 220. One end of the first slide rod 230 is fixedly connected to the main clamping block 210, and the other end of the first slide rod 230 cooperates with the fixing mechanism 260 at the end of the main clamping device 200. An elastic pad 290 is provided at the end of the main clamping device 200 facing the main clamping block 210. A first elastic component 280 is provided at the end of the first through hole 220 facing the main clamping block 210 along the extension direction of the first through hole 220. The first slide rod 230 is elastically connected to the first through hole 220 through the first elastic component 280.

[0040] Each of the main clamping devices 200 has an auxiliary clamping device 300 slidably mounted on the base 130 on both sides. The four auxiliary clamping devices 300 are arranged opposite each other in pairs. The ends of the auxiliary clamping devices 300 that are arranged opposite each other are provided with auxiliary clamping blocks 310. A second through hole is provided in the auxiliary clamping device 300 along the length direction. A second slide rod is slidably mounted in the second through hole. One end of the second slide rod is fixedly connected to the auxiliary clamping block 310. A second elastic component is provided at the end of the second through hole facing the auxiliary clamping block 310 along the extension direction of the second through hole. The second slide rod is elastically connected to the second through hole through the second elastic component.

[0041] There are two push plates 400, and each push plate 400 has three mounting holes at its bottom. The three mounting holes are slidably connected to the outer walls of one main clamping device 200 and the auxiliary clamping devices 300 on both sides. A stop block 500 is provided in the middle of both the main clamping device 200 and the auxiliary clamping device 300. The push plate 400 and the base 130 are located on both sides of the stop block 500. A first switch assembly 410 is provided on both the main clamping device 200 and the auxiliary clamping device 300 on the side of the stop block 500 facing the push plate 400. The first slide rod 230 and the second slide rod have protrusions 430 that cooperate with the first switch assembly 410. The inner surface of each mounting hole... A second switch assembly 420 is provided on the wall. The first switch assembly 410 and the second switch assembly 420 cooperate to control the main clamping device 200 and the auxiliary clamping device 300 to be fixedly connected or slidably connected to the push plate 400. A drive device 600 is provided on the main frame 100. The drive device 600 is drivenly connected to the top of the push plate 400 to drive the push plate 400 to move along the extension direction of the main clamping device 200. A discharge rod 211 is provided at one end of the main clamping block 210 facing the push plate 400. A snap-fit ​​structure 440 is provided on the push plate 400 to cooperate with the discharge rod 211. A third elastic component 340 is provided between the auxiliary clamping block 310 and the push plate 400.

[0042] Please see Figure 6 and Figure 7 , Figure 6 This is a top view of the main clamping device and the auxiliary clamping device in a clamping state in one embodiment of the clamping device for the garbage sorting robot of the present invention; Figure 7 This is a partial cross-sectional view of the main clamping device in the clamping state in one embodiment of the clamping device for the waste sorting robot of the present invention.

[0043] The main frame 100 is connected to the robotic arm via a mounting rod. The drive device 600 is electrically connected to the controller of the waste sorting equipment. When the waste sorting equipment detects waste, the controller controls the robotic arm to move to the waste location and position the waste between the main clamping device 200 and the auxiliary clamping device 300, which are positioned opposite each other. Then, the controller controls the drive device 600 to drive the two push plates 400 to move in opposite directions. At this time, the push plates 400 are fixedly connected to the main clamping device 200 and the auxiliary clamping device 300. Driven by the two push plates 400, the main clamping device 200 and the auxiliary clamping device 300 move in opposite directions. When the two opposing main clamping blocks 210 or auxiliary clamping blocks 310 come into contact with the surface of the waste, under pressure, the two main clamping blocks 210 or auxiliary clamping blocks 310 drive the first slide bar 230 or the second slide bar to move toward the main clamping device 200 or the auxiliary clamping device 300 until they are in a blocking state. The protrusion 430 on the first slide bar 230 or the second slide bar will trigger the first switch assembly 410 and the second switch assembly 420, so that the push plate 400 and the main clamping device 200 or the auxiliary clamping device 300 become a sliding connection state, so that the push plate 400 can continue to drive other clamping devices to continue moving until all the main clamping devices 200 and the auxiliary clamping devices 300 have completed clamping the waste. At this time, the fixing mechanism 260 is in a fixed state under the trigger of the first slide bar 230, so that the positions of the two main clamping devices 200 and the base 130 are relatively fixed, the end of the unloading rod 211 is engaged with the snap-fit ​​structure 440, and the third elastic component 340 is in a compressed state, thereby improving the stability of the garbage clamping, and the clamping process is completed.

[0044] Then, the controller controls the robotic arm to move the garbage to above the sorting bin. The controller also controls the drive device 600 to drive the two push plates 400 to move in opposite directions. At this time, the push plates 400, through the unloading rod 211 and the snap-fit ​​structure 440, drive the main clamping block 210 to compress the elastic pad 290, causing the two main clamping blocks 210 to loosen their grip on the garbage. At the same time, as the push plates 400 move, the elastic force of the third elastic component 340 decreases, and the auxiliary clamping block 310 will also loosen its grip on the garbage, causing the garbage to fall into the sorting bin. Under the restoring force of the first elastic component 280 and the second elastic component, the first slide bar 230 and the second slide bar respectively drive the main clamping block 210 and the auxiliary clamping block 310 back to their initial positions. The fixing mechanism 260 is released from its fixed state, and the push plate 400 moves to abut against the stop block 500, driving the main clamping device 200 and the auxiliary clamping device 300 back to their initial states, ready for the next clamping operation. This invention has good adaptability to the shape of waste, making it suitable for clamping both regularly shaped and irregularly shaped waste, improving the success rate and efficiency of waste clamping, thereby improving the sorting efficiency of waste sorting equipment.

[0045] Please see Figure 2 In one example of the gripping device for the waste sorting robot of the present invention, the main frame 100 includes a top plate 110 and two side plates 120. The two ends of the top plate 110 are respectively fixedly connected to the top ends of the two side plates 120, and the bottom ends of the two side plates 120 are respectively fixedly connected to a base 130. The side plates 120 are perpendicularly connected to the top plate 110, and the side plates 120 are perpendicularly connected to the base 130.

[0046] Please see Figure 4 In one example of the gripping device for the waste sorting robot of the present invention, the main gripping device 200 includes a first connecting part 240 and a second connecting part 250. The stop block 500 is provided between the first connecting part 240 and the second connecting part 250. The first connecting part 240 is slidably connected to the base 130, and the second connecting part 250 is slidably connected to the mounting hole of the push plate 400.

[0047] Please see Figure 1 and Figure 4In one example of the gripping device for the waste sorting robot of the present invention, the first connecting part 240 is cylindrical, and the base 130 is provided with a first sliding groove 131 that cooperates with the first connecting part 240. A first spring 270 is provided in the first sliding groove 131. The first spring 270 is sleeved on the outside of the first connecting part 240. One end of the first spring 270 facing the second connecting part 250 is fixedly connected to the first sliding groove 131, and the other end of the first spring 270 is fixedly connected to the end of the first connecting part 240. The second connecting part 250 is cuboid, and the shape of the mounting hole matches the cross-section of the second connecting part 250. In the gripping state, the first spring 270 is in a compressed state. When the gripping state is released, under the elastic force of the first spring 270, the main gripping device 200 can quickly return to the initial position, preparing for the next gripping of waste.

[0048] Please see Figure 8 , Figure 8 This is a schematic diagram of the fixing mechanism in one embodiment of the clamping device for a waste sorting robot of the present invention. In one example of the clamping device for a waste sorting robot of the present invention, the fixing mechanism 260 includes a fixing block 261 and a fixing top rod 262. The fixing block 261 is fixedly connected to the end of the first connecting part 240 and slidably connected to the first sliding groove 131. The fixing block 261 has a first cavity. Two symmetrically arranged fixing top rods 262 are slidably installed on the side wall of the first cavity. One end of the two fixing top rods 262 is provided with a top rod slider 263. The other end of the fixing top rod 262 is provided with a brake block 264. A second spring 265 is provided between the top rod slider 263 and the inner wall of the first cavity. The brake block 264 is slidably installed in the mounting groove on the outer wall of the fixing block 261. One end of the first slide rod 230 located in the first cavity is provided with a first end plate 231. The first end plate 231 cooperates with the two top rod sliders 263.

[0049] When the two main clamping blocks 210 move to abut against the waste, under pressure, the main clamping blocks 210 and the first slide rod 230 will move towards the base 130. At this time, the first end plate 231 moves between the two push rod sliders 263 and squeezes the two push rod sliders 263, causing the fixed push rod 262 to move. This pushes out the brake block 264 through the fixed push rod 262, causing the two brake blocks 264 to abut against the inner wall of the first slide groove 131, and the main clamping device 200 is in a fixed state. When the waste falls, under the action of the first elastic component 280, the first slide rod 230 returns to its initial state. After losing the squeezing force of the first end plate 231, under the action of the second spring 265, the fixed push rod 262 drives the brake block 264 back into the mounting groove, and the main clamping device 200 is released from the fixed state.

[0050] Please see Figure 4 In one example of the gripping device for the waste sorting robot of the present invention, a limiting plate 251 is provided on the second connecting part 250, and the limiting plate 251 cooperates with the unloading rod 211. The first elastic component 280 includes a first retaining ring and a third spring. The first retaining ring and the third spring are both sleeved on the outside of the first slide rod 230. The first retaining ring is located at one end facing the main gripping block 210 and is fixedly connected to the first slide rod 230. The two ends of the third spring are respectively fixedly connected to the first retaining ring and the inner wall of the first through hole 220. The limiting plate 251 limits the push plate 400 and can provide a certain protection for the unloading rod 211, preventing the push plate 400 from squeezing and damaging the unloading rod 211.

[0051] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an auxiliary clamping device in one embodiment of the clamping device for a waste sorting robot of the present invention. In one example of the clamping device for a waste sorting robot of the present invention, the auxiliary clamping device 300 includes a third connecting part 320 and a fourth connecting part 330. The stop block 500 is provided between the third connecting part 320 and the fourth connecting part 330. The third connecting part 320 is slidably connected to the base 130, and the fourth connecting part 330 is slidably connected to the mounting hole of the push plate 400.

[0052] Please see Figure 5In one example of the gripping device for the waste sorting robot of the present invention, the third connecting part 320 is cylindrical, and the base 130 is provided with a second sliding groove that cooperates with the third connecting part 320. A fourth spring is provided in the second sliding groove, and the fourth spring is sleeved on the outside of the third connecting part 320. One end of the fourth spring facing the fourth connecting part 330 is fixedly connected to the second sliding groove, and the other end of the fourth spring is fixedly connected to the end of the third connecting part 320. The fourth connecting part 330 is cuboid, and the shape of the mounting hole matches the cross-section of the fourth connecting part 330. The second elastic component includes a second retaining ring and a fifth spring. Both the second retaining ring and the fifth spring are sleeved on the outside of the second sliding rod. The second retaining ring is located at the end facing the auxiliary gripping block 310 and is fixedly connected to the second sliding rod. The two ends of the fifth spring are fixedly connected to the second retaining ring and the inner wall of the second through hole, respectively. When clamped, the second spring is compressed. When the clamping is released, the auxiliary clamping device 300 can quickly return to its initial position under the elastic force of the second spring, preparing for the next garbage clamping.

[0053] Please see Figure 3 In one example of the gripping device for the waste sorting robot of the present invention, the third elastic component 340 includes a third slide rod. One end of the third slide rod is fixedly connected to the auxiliary gripping block 310, and the other end of the third slide rod extends toward the push plate 400 and passes through the push plate 400 and is slidably connected with the push plate 400. A sixth spring is sleeved on the third slide rod between the auxiliary gripping block 310 and the push plate 400.

[0054] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of the first and second switch assemblies in one embodiment of the gripping device for a waste sorting robot of the present invention. In one example of the gripping device for a waste sorting robot of the present invention, the first switch assembly 410 includes a first switch push rod 411. The side walls of the main gripping device 200 and the auxiliary gripping device 300 are respectively provided with third sliding grooves communicating with the first through hole 220 and the second through hole. The first switch push rod 411 is slidably installed in the third sliding groove. The first switch push rod 411 is elastically connected to the third sliding groove by a seventh spring 412. One end of the first switch push rod 411 cooperates with the protrusion 430. The second switch assembly 420 includes a second switch push rod 421. The inner wall of the mounting hole is provided with a fourth sliding groove. The second switch push rod 421 is slidably installed in the fourth sliding groove. The second switch push rod 421 is elastically connected to the fourth sliding groove by an eighth spring 422. The first switch push rod 411 cooperates with the second switch push rod 421.

[0055] In the initial state, the second switch rod 421 is located in the third groove under the action of the eighth spring 422 and abuts against the end face of the first switch rod 411. At this time, the main clamping device 200 and the auxiliary clamping device 300 are in a fixed connection state. When the protrusion 430 moves to below the first switch rod 411, under the squeezing action of the protrusion 430, the first switch rod 411 moves upward and pushes the second switch rod 421 out of the third groove. At this time, the main clamping device 200 and the auxiliary clamping device 300 are in a sliding connection state.

[0056] Please see Figure 10 , Figure 10 This is a schematic diagram of the snap-fit ​​structure in one embodiment of the gripping device for a waste sorting robot of the present invention. In one example of the gripping device for a waste sorting robot of the present invention, the snap-fit ​​structure 440 includes a snap-fit ​​block 441. One end of the snap-fit ​​block 441 is fixedly connected to the push plate 400. The other end of the snap-fit ​​block 441 has a snap-fit ​​hole 442. The inner wall of the snap-fit ​​hole 442 has symmetrically arranged fifth sliding grooves. Ball bearings 443 are slidably installed in the two fifth sliding grooves. The diameter of the opening of the fifth sliding groove is smaller than the diameter of the ball bearings 443. The ball bearings 443 are elastically connected to the fifth sliding grooves through a ninth spring 444. The end of the unloading rod 211 has a snap-fit ​​groove that cooperates with the ball bearings 443. When the unloading rod 211 is inserted into the snap-fit ​​hole 442, the snap-fit ​​groove at the end of the unloading rod 211 cooperates with the two ball bearings 443 to snap-fit. When the push plate 400 moves in the opposite direction, under the action of tension, the unloading rod 211 disengages from the two balls 443.

[0057] Please see Figure 2 In one example of the gripping device for the waste sorting robot of the present invention, the driving device 600 includes a lifting device 610, a driving rod 620, a first driving block 630, and a second driving block 640. The lifting device 610 is installed on the inner wall of the top of the main frame 100, and the lifting end of the lifting device 610 faces the push plate 400. The lifting end of the lifting device 610 is fixedly connected to the driving rod 620. One first driving block 630 is fixedly installed at each end of the driving rod 620. The surfaces of the two first driving blocks 630 that are arranged opposite each other are inclined surfaces, and the distance between the bottom ends of the two first driving blocks 630 is greater than the distance between the top ends. One second driving block 640 is fixedly installed at the top of each of the two push plates 400. T-shaped sliders are provided on the opposing surfaces of the two second driving blocks 640. T-shaped grooves are provided on the inclined surfaces of the two first driving blocks 630. The T-shaped sliders are slidably connected to the T-shaped grooves.

[0058] When the lifting end of the lifting device 610 descends, the drive rod 620 drives the two first drive blocks 630 to descend, and the T-shaped sliders on the two second drive blocks 640 slide along the T-shaped grooves on the inclined surfaces of the two first drive blocks 630, thereby causing the two push plates 400 to move in opposite directions. When the lifting end of the lifting device 610 rises, the drive rod 620 drives the two first drive blocks 630 to rise, and the T-shaped sliders on the two second drive blocks 640 slide along the T-shaped grooves on the inclined surfaces of the two first drive blocks 630, thereby causing the two push plates 400 to move in opposite directions.

[0059] In one example of the gripping device for the waste sorting robot of the present invention, the main gripping block 210 and the auxiliary gripping block 310 are provided with anti-slip pads at the ends away from the base 130.

[0060] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A gripping device for a waste sorting robot, characterized in that, include: The main frame is fixedly connected to the robotic arm of the waste sorting equipment at its top, and has an opening at its bottom. A base is provided on each side of the bottom of the main frame at the opening. The main clamping device comprises two main clamping devices, each slidably mounted on one of the two bases. The two main clamping devices are arranged opposite each other, and each main clamping device has a main clamping block at one end. A first through hole is provided in the main clamping device along its length direction. A first slide rod is slidably mounted in the first through hole. One end of the first slide rod is fixedly connected to the main clamping block, and the other end of the first slide rod cooperates with a fixing mechanism at the end of the main clamping device. An elastic pad is provided at the end of the main clamping device facing the main clamping block. A first elastic component is provided at the end of the first through hole facing the main clamping block along the extension direction of the first through hole. The first slide rod is elastically connected to the first through hole through the first elastic component. An auxiliary clamping device is provided, wherein one auxiliary clamping device is slidably mounted on the base on both sides of each main clamping device, and the four auxiliary clamping devices are arranged opposite each other in pairs. The opposite ends of the auxiliary clamping devices are provided with auxiliary clamping blocks. A second through hole is provided in the auxiliary clamping device along the length direction. A second slide rod is slidably mounted in the second through hole. One end of the second slide rod is fixedly connected to the auxiliary clamping block. A second elastic component is provided at the end of the second through hole facing the auxiliary clamping block along the extension direction of the second through hole. The second slide rod is elastically connected to the second through hole through the second elastic component. The push plate comprises two push plates, each with three mounting holes at its bottom. These three mounting holes are slidably connected to the outer walls of a main clamping device and two auxiliary clamping devices on either side. A stop block is located in the middle of both the main clamping device and the auxiliary clamping devices. The push plate and the base are located on either side of the stop block. A first switch assembly is provided on both the main clamping device and the auxiliary clamping devices on the side of the stop block facing the push plate. The first slide rod and the second slide rod have protrusions that mate with the first switch assembly. A second switch assembly is provided on the inner wall of the mounting hole. The first switch assembly and the second switch assembly cooperate to control whether the main clamping device and the auxiliary clamping device are fixedly connected or slidably connected to the push plate. A drive device is provided on the main frame. The drive device is drivenly connected to the top of the push plate to drive the push plate to move along the extension direction of the main clamping device. A discharge rod is provided at one end of the main clamping block facing the push plate. A snap-fit ​​structure that cooperates with the discharge rod is provided on the push plate. A third elastic component is provided between the auxiliary clamping block and the push plate. The first switch assembly includes a first switch push rod. The side walls of the main clamping device and the auxiliary clamping device are respectively provided with third sliding grooves that communicate with the first through hole and the second through hole. The first switch push rod is slidably installed in the third sliding groove. The first switch push rod is elastically connected to the third sliding groove through a seventh spring. One end of the first switch push rod cooperates with the protrusion. The second switch assembly includes a second switch push rod, and a fourth sliding groove is provided on the inner wall of the mounting hole. The second switch push rod is slidably installed in the fourth sliding groove. The second switch push rod is elastically connected to the fourth sliding groove through an eighth spring. The first switch push rod cooperates with the second switch push rod. The snap-fit ​​structure includes a snap-fit ​​block, one end of which is fixedly connected to the push plate. The other end of the snap-fit ​​block has a snap-fit ​​hole on its end face. The inner wall of the snap-fit ​​hole has symmetrically arranged fifth sliding grooves. Ball bearings are slidably installed in the two fifth sliding grooves. The diameter of the opening of the fifth sliding groove is smaller than the diameter of the ball bearing. The ball bearing is elastically connected to the fifth sliding groove through a ninth spring. The end of the unloading rod has a snap-fit ​​groove that cooperates with the ball bearing.

2. The gripping device for a waste sorting robot as described in claim 1, characterized in that, The main frame includes a top plate and two side plates. The two ends of the top plate are fixedly connected to the top ends of the two side plates, and the bottom ends of the two side plates are fixedly connected to a base.

3. The gripping device for a waste sorting robot as described in claim 1, characterized in that, The main clamping device includes a first connecting part and a second connecting part, with the stop provided between the first connecting part and the second connecting part. The first connecting part is slidably connected to the base, and the second connecting part is slidably connected to the mounting hole of the push plate.

4. The gripping device for a waste sorting robot as described in claim 3, characterized in that, The first connecting part is cylindrical, and the base is provided with a first sliding groove that mates with the first connecting part. A first spring is provided in the first sliding groove. The first spring is sleeved on the outside of the first connecting part. One end of the first spring facing the second connecting part is fixedly connected to the first sliding groove, and the other end of the first spring is fixedly connected to the end of the first connecting part. The second connecting part is cuboid, and the shape of the mounting hole matches the cross-section of the second connecting part.

5. The gripping device for a waste sorting robot as described in claim 4, characterized in that, The fixing mechanism includes a fixing block and a fixing rod. The fixing block is fixedly connected to the end of the first connecting part and slidably connected to the first sliding groove. The fixing block has a first cavity. Two fixing rods are symmetrically arranged and slidably installed on the side wall of the first cavity. One end of the two fixing rods is provided with a rod slider, and the other end of the fixing rod is provided with a brake block. A second spring is provided between the rod slider and the inner wall of the first cavity. The brake block is slidably installed in the mounting groove on the outer wall of the fixing block. One end of the first rod located in the first cavity is provided with a first end plate, which cooperates with the two rod sliders.

6. The gripping device for a waste sorting robot as described in claim 1, characterized in that, The auxiliary clamping device includes a third connecting part and a fourth connecting part, with the stop block provided between the third connecting part and the fourth connecting part. The third connecting part is slidably connected to the base, and the fourth connecting part is slidably connected to the mounting hole of the push plate.

7. The gripping device for a waste sorting robot as described in claim 1, characterized in that, The third elastic component includes a third slide rod, one end of which is fixedly connected to the auxiliary clamping block, and the other end of which extends toward the push plate and passes through the push plate and is slidably connected to the push plate. A sixth spring is sleeved on the third slide rod between the auxiliary clamping block and the push plate.

8. The gripping device for a waste sorting robot as described in claim 1, characterized in that, The driving device includes a lifting device, a driving rod, a first driving block, and a second driving block. The lifting device is installed on the inner wall of the top of the main frame, with the lifting end of the lifting device facing the push plate. The lifting end of the lifting device is fixedly connected to the driving rod. A first driving block is fixedly installed at each end of the driving rod. The surfaces of the two first driving blocks facing each other are inclined, and the distance between the bottom ends of the two first driving blocks is greater than the distance between their top ends. A second driving block is fixedly installed at the top of each of the two push plates. T-shaped sliders are provided on the opposing surfaces of the two second driving blocks. T-shaped grooves are provided on the inclined surfaces of the two first driving blocks, and the T-shaped sliders are slidably connected to the T-shaped grooves.

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