A cleaning system based on structurally adaptive flexible holding claws

Abstract

The present invention discloses a cleaning system based on a structurally adaptive flexible holding claw, characterized in that it comprises: a structurally adaptive clamping claw, a clamping claw lifting and flipping module, a garbage lifting side-mounted arm, a secondary vibration cleaning module, a station switching linear module, a multi-stage cleaning and solid-liquid separation module, an inner adaptive holding module and a frame; the secondary vibration cleaning module comprises a connecting stand, an X-direction adjustment module, a Y-direction adjustment module and a four-stage vibration module. The present invention relates to the field of cleaning technology, and specifically, to a cleaning system based on a structurally adaptive flexible holding claw. The technical problem to be solved by the present invention is to provide a cleaning system based on a structurally adaptive flexible holding claw, which holds a garbage can from three directions by setting a structurally adaptive clamping claw, and sets a secondary vibration cleaning module, thereby avoiding the problem of incomplete garbage removal after garbage dumping, and integrating garbage collection and transportation with garbage can cleaning.

Description

Technical Field

[0001] The invention relates to the field of cleaning technology, and in particular to a cleaning system based on structurally adaptive flexible holding claws. Background Art

[0002] There are two main types of garbage collection and transportation vehicles: side-loading and rear-loading. Most of them use a garbage bin handling device to adjust the posture of the garbage bin, and then pour the garbage into the collection and transportation vehicle to concentrate the garbage, thereby realizing the collection and transportation of garbage.

[0003] In actual garbage collection and transportation, most of the garbage is dumped into garbage cans, but in actual work, the composition of garbage in the cans is complex, and a lot of garbage will remain on the inner wall of the garbage can and is difficult to pour out.

[0004] At the same time, the gripping claws of the garbage bins used in domestic garbage collection and transportation equipment mainly grip the two sides of the claws. For example, the side-mounted garbage collection and transportation vehicle manipulator disclosed in patent CN219585032U grips the garbage bin with the two side claws. The two side claws use an arc structure to initially limit the position of the garbage bin, but when the garbage bin is working in different positions, its structure is difficult to further adjust the position of the garbage bin, the positioning is poor, and it is difficult to ensure a good gripping force.

[0005] In actual use, trash cans have various shapes. Currently, most engaging claws are based on a single fixed shape, which makes it difficult to engage with trash cans of different sizes. At the same time, most engaging claws are based on a rigid structure, which can easily cause damage to the trash can when engaging.

[0006] In the actual social environment maintenance, after a period of use, the debris stuck on the inner wall of the trash can easily produce odor, so it needs to be cleaned. However, most of the cleaning equipment on the market is mainly cleaning vehicles, which have a single function and need to clean the trash can again after completing the garbage removal operation. This method is inefficient and has high operating costs. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a cleaning system based on a structurally adaptive flexible holding claw, which holds the trash can from three directions by setting a structurally adaptive clamp, and sets a secondary vibration cleaning module to perform secondary vibration on the trash can after the trash is dumped, and cleans the inner wall of the trash can after dumping through the inner adaptive holding module and the multi-stage cleaning and solid-liquid separation module. The structurally adaptive clamp achieves a tight fit with the outer walls of different types of trash cans, and the flexible setting in three directions avoids damage to the trash can. It also avoids the problem of incomplete garbage removal after the garbage is dumped, and integrates garbage collection and transportation with trash can cleaning.

[0008] The present invention adopts the following technical solutions to achieve the invention objectives:

[0009] A cleaning system based on a structurally adaptive flexible holding claw, characterized in that it comprises: a structurally adaptive clamping claw, a clamping claw lifting and flipping module, a garbage lifting side-loading arm, a secondary vibration cleaning module, a station switching linear module, a multi-stage cleaning and solid-liquid separation module, an inner adaptive holding module and a frame; the secondary vibration cleaning module comprises a connecting stand, an X-direction adjustment module, a Y-direction adjustment module and a four-stage vibration module; the connecting stand is fixedly connected to the upper side of the frame; the X-direction adjustment module is vertically fixedly connected to the connecting stand; the Y-direction adjustment module is installed on the X-direction adjustment module slider; the four-stage vibration module is installed on the Y-direction adjustment module slider; so as to facilitate the direction adjustment of the four-stage vibration module.

[0010] As a further limitation of the present technical solution, the multi-stage cleaning and solid-liquid separation module includes a multi-stage high-pressure suction and spraying integrated tower, a water tank, a three-phase asynchronous motor, a fixed box, a fixed profile, a sewage discharge switch, a V-belt pulley and a V-belt; the water tank is composed of an upper and lower layer, the lower layer is a clean water layer, and the upper layer is a sewage collection layer, and a drain pipe extends outward from the upper layer; the drain pipe of the water tank is fixedly connected to the sewage discharge switch; the multi-stage high-pressure suction and spraying integrated tower is in the shape of a tower, with a hydraulic motor inside, and multiple layers of water pipes on it and arranged in groups of six, and ... The chemical tower is fixedly connected to the water tank, penetrating from the lower layer to the upper layer of the water tank, absorbing water from the lower layer and spraying it out from the exposed part of the upper layer; the three-phase asynchronous motor and the water tank are installed inside the fixed box body; the lower end of the multi-stage high-pressure suction and spraying integrated tower and the output shaft of the three-phase asynchronous motor are respectively fixedly connected to the V-belt pulley; the two ends of the V-belt respectively surround the corresponding V-belt pulleys, and the three-phase asynchronous motor forms a transmission with the multi-stage high-pressure suction and spraying integrated tower through the V-belt; the fixed box body is fixedly connected to the frame through the two fixed profiles.

[0011] As a further limitation of the present technical solution, the structural adaptive clamp comprises an adaptive terminal head, an embracing arm, a connecting rod 1, a base, an embracing cylinder, a rear extension block, an articulated connecting shaft and an end angle adaptive connecting block; the base is connected to the clamp lifting and flipping module, and the embracing arm is rotatably connected to a single ear arranged in front of the base; the base is fixedly connected to the embracing cylinder; the two piston rod ends of the embracing cylinder are rotatably connected to the corresponding embracing arms, and the embracing arms are rotatably connected to the connecting rod 1; the connecting rod 1 is rotatably connected to the rear extension block; the end angle adaptive connecting block is rotatably connected to the embracing arm via the articulated connecting shaft, and has a certain adaptable angle range; the end angle adaptive connecting block and the rear extension block are respectively fixedly connected to the corresponding adaptive terminal head.

[0012] As a further limitation of the present technical solution, the adaptive terminal head includes an terminal head connecting plate, a secondary adjustment spring steel plate, a primary angle adjustment block base, a primary angle adjustment seat, a primary angle adjustment block, a spring seat, a return spring, a hinged spring head, a connecting rod, a buckle cover, an anti-slip belt, a belt screwed into a base, a coil spring buckle block, a belt screwed into a base buckle cover, a screw-in shaft, a coil spring, a secondary angle adjustment block and a tertiary angle adjustment block; the terminal angle adaptation connection block and the rear side protruding block are respectively fixedly connected to the corresponding terminal head connecting plate, and the primary angle adjustment block base is fixedly connected to the The first-level angle adjustment seat; the first-level angle adjustment block base is rotatably connected to the end head connecting plate, and is hinged through a group of hinged connecting parts, so that the first-level angle adjustment block base can rotate with the end head connecting plate around the axis of the hinge; the second-level adjustment spring steel plate is fixedly connected to the end head connecting plate, and the other side of the second-level adjustment spring steel plate forms a sliding contact with the first-level angle adjustment block base; the first-level angle adjustment block base is fixedly connected to the top of the first-level angle adjustment seat, and the first-level angle adjustment block is nested in the first-level angle adjustment seat, so that the first-level angle adjustment block The first-level angle adjustment seat can slide; the spring seat is installed in the center groove of the first-level angle adjustment block; the return spring is fixedly connected to the spring seat and the hinged spring head; the rod portion of the hinged spring head is arranged in the spring seat, the return spring ring is sleeved on the rod portion of the hinged spring head, and the connecting rod is rotatably connected to the hinged spring head; the upper and lower end surfaces of the second-level angle adjustment block are provided with the buckle cover and a movable gap is left; the third-level angle adjustment block is installed in the second-level angle adjustment block and slides through the guide groove; the first-level angle adjustment block base is fixedly connected to the leather The belt is screwed into the base buckle cover, the belt is screwed into the base buckle cover and is fixedly connected to the belt screwed into the base, the belt screwed into the base is provided with an opening corresponding to the screw-in shaft, the screw-in shaft is nested in the belt screwed into the base buckle cover, and the screw-in shaft is fixedly connected to the anti-slip belt; the anti-slip belt is fixedly connected to the opening on one side of the primary angle adjustment seat; the buckle cover is fixedly connected to the connecting rod, the anti-slip belt forms a covering contact with the buckle cover, and the screw-in shaft is fixedly connected to the coil spring; the belt is screwed into the base and is fixedly connected to the coil spring buckle pressure block, and the coil spring buckle pressure block is fixedly connected to the coil spring.

[0013] As a further limitation of the present technical solution, the gripper lifting and flipping module includes a flipping and lifting base plate, a supporting profile, a side profile, a square profile, a lifting linear module, a flat plate, a supporting column, a sliding plate, a sliding block, a flip bearing, a flip shaft, a flat plate 2, a limiting column, an adjusting nut, a column support seat, a limiting support seat, a flip cylinder and a flip support seat; the flipping and lifting base plate is fixedly connected to a group of the supporting profiles, and the square profile is welded by several groups of profiles; the side profile is installed on both sides of the square profile to increase the structural strength of the module; the flat plate 2 is fixedly connected to the square profile, and the lifting linear module is fixedly connected to the square profile; the lifting linear module is fixedly connected to the flat plate, and the flat plate is fixedly connected to at least one supporting column; the supporting column passes through the sliding block, and the sliding block forms a sliding connection on the supporting column; the sliding block is fixedly connected to the slider of the lifting linear module; the sliding plate is fixedly connected The sliding block, when the lifting linear module is driven, drives the sliding plate to move linearly; the sliding plate is fixedly connected to the base, and the supporting column is fixedly connected to the flat plate two through the column support seat; the flat plate two is fixedly connected to the flip support seat; the flip support seat is fixedly connected to the flip shaft; the flip shaft is fixedly connected to the inner ring of the flip bearing; the outer ring of the flip bearing is fixedly connected to the flip and lifting base plate through the bearing seat; the limit support seat is fixedly connected to the flip and lifting base plate; the limit column is fixedly connected to the limit support seat; the limit support seat plays an angle limiting role for the flat plate two; the adjusting nut is threadedly connected to the limit column, and the limit angle can be adjusted; the flip cylinder is rotatably connected to the flip and lifting base plate; the piston rod of the flip cylinder is rotatably connected to the flat plate two; when the flip cylinder is retracted, the module flips around the axis of the flip support seat.

[0014] As a further limitation of the present technical solution, the garbage lifting side loading arm includes a connecting column, a traction chain, a linear guide, a sprocket, a rotating assembly, a frame, a traction linear module and a slider; the frame as a whole is formed by welding multiple profiles and is L-shaped; the frame bearing is connected to the rotating assembly; the two ends of the rotating shaft of the rotating assembly are respectively fixedly connected to the sprocket; the sprocket is equipped with the traction chain; the traction chain is fixedly connected to the connecting column; the connecting column is fixedly connected to the supporting profile; the supporting profile is fixedly connected to the slider; the slider is nested in the frame; the traction linear module is fixedly connected to the frame; the slider on the traction linear module is fixedly connected to the traction chain; when the traction linear module moves, the side connected to the traction chain moves downward, thereby causing the supporting profile to move in the height direction, and the station switching linear module is installed on the rear side of the frame, and the frame is fixedly connected to the slider of the station switching linear module.

[0015] As a further limitation of the present technical solution, the inner side adaptive holding module includes an inner side adaptive holding claw, a Z-direction primary adjustment module, a second supporting profile, a Y-direction secondary adjustment module, a connecting L plate and a flipping adjustment module; the Z-direction primary adjustment module is fixedly connected to the frame through the second supporting profile; the Y-direction secondary adjustment module is installed on the slider of the Z-direction primary adjustment module; the connecting L plate is fixedly connected to the Y-direction secondary adjustment module slider; the connecting L plate is fixedly connected to the flipping adjustment module; the rotating end of the flipping adjustment module is fixedly connected to the inner side adaptive holding claw; when working; the Z-direction primary adjustment module and the Y-direction secondary adjustment module adjust the inner side adaptive holding claw so that the trash can enters the cleaning range of the multi-stage cleaning and solid-liquid separation module; the flipping adjustment module flips most of the inner side adaptive holding claws, and the inner side adaptive holding claws hold the inner side of the trash can; thereby making the trash can open downward, thereby completing the posture adjustment of the trash can.

[0016] As a further limitation of the present technical solution, the inner adaptive supporting claw includes an upper base plate, a profile square frame, an end adaptive supporting single claw, a lower connecting plate, a stepper motor support frame, a stepper motor, a universal joint and a connecting shaft; the upper base plate is fixedly connected to the profile square frame; the profile square frame is fixedly connected to the lower connecting plate; the end adaptive supporting single claw is arranged in four on the profile square frame; the end adaptive supporting single claw is fixedly connected to the upper base plate, the end adaptive supporting single claw and the output shaft of the stepper motor are respectively fixedly connected to the universal joint, and the two ends of the connecting shaft are respectively fixedly connected to the universal joint; the stepper motor is fixedly connected to the lower side of the upper base plate through the stepper motor support frame; when the stepper motor moves, the power is transmitted to the universal joint and the connecting shaft, so that the four end adaptive supporting single claws are linked, and the clamping claws are extended at the same time.

[0017] As a further limitation of the present technical solution, the terminal adaptive holding single claw includes an adaptive terminal head, an L-vertical support frame, a second extended rack, a gear shaft, and a gear; the adaptive terminal head is fixedly connected to the L-vertical support frame, and the terminal head connecting plate is fixedly connected to the L-vertical support frame; the L-vertical support frame is fixedly connected to the second extended rack; the second extended rack meshes with the gear; the gear is fixedly connected to the gear shaft; the gear shaft bearing is connected to the gear support block, and the gear support block is fixedly connected to the upper base plate; through the adaptive terminal head, the module is adaptable to different types of trash cans.

[0018] As a further limitation of the present technical solution, the flip adjustment module includes a flip frame, a support frame body, a cylinder end connection block, a cylinder connection frame, a cylinder hinged connection piece and a flip cylinder 2; the flip frame is fixedly connected to the lower connection plate, and the flip frame is rotatably connected to the support frame body; the flip frame is rotatably connected to the cylinder end connection block, and the cylinder end connection block is fixedly connected to the piston rod of the flip cylinder 2; the flip cylinder 2 is fixedly connected to the cylinder hinged connection piece, and the cylinder connection frame is rotatably connected to the cylinder hinged connection piece; the cylinder connection frame is fixedly connected to the support frame body, and the cylinder connection frame is fixedly connected to the connecting L plate;

[0019] The four-stage vibration module includes a vibration base, an extension plate, a rack seat, a vibration module, an adjustment nut 2, a spring seat 2, a spring, an intermediate transmission gear ring, a transmission gear, an extension rack, a servo motor support seat, a servo motor and a plum blossom coupling; the vibration base is installed on the Y-direction adjustment module slider, and four rack seats are installed on the vibration base; the extension rack is installed on the rack seat to form a sliding fit; the end of the extension rack is fixedly connected to the extension plate; four spring seats 2 are arranged on the extension plate; the spring seat 2 bearings are connected to a group of adjustment nuts 2, The second adjusting nut is threadedly connected to the spring, and the spring is fixedly connected to the extending plate; the vibration module is fixedly connected to the second spring seat so as to maintain the balance of the fitting force between the module and the inner wall of the trash can; the servo motor support seat is installed on the rear side of the vibration base; the servo motor is installed on the servo motor support seat; the output shaft of the servo motor passes through the vibration base, and the output shaft of the servo motor is fixedly connected to one of the transmission gears through the plum blossom coupling, the vibration base bearing is connected to the intermediate transmission gear ring, and the transmission gear meshes with the intermediate transmission gear ring.

[0020] Compared with the prior art, the advantages and positive effects of the present invention are:

[0021] 1. This device adopts the design of structural adaptive clamping claws. In the XY plane direction, the three-level adjustment structure makes different adjustments to the plane change amplitude, and the secondary reset structure makes the module have good contact with the trash can; at the same time, in the ZX direction, when the contact surface is tilted, the trash can as a whole presents a cone or its plane is tilted, and the elastic part is rotated at the hinge to achieve angle displacement compensation, and at the same time, the trash can is flexible. At the end of the clamping claw, there is an anti-slip belt to ensure that the surface of the trash can will not be damaged, and to further ensure its stability.

[0022] 2. This device extends the rear end connecting rod of the structurally adaptive gripper to achieve self-centering gripping of the three claws, thereby realizing automatic positioning of the trash can and avoiding changes in the posture of the trash can that make it difficult to achieve stable gripping.

[0023] 3. This device emits a vibration frequency through the setting of a secondary vibration cleaning module to facilitate the secondary removal of garbage with different viscosities. At the same time, the device is provided with elastic parts to ensure the contact force between the end vibrator and the inner wall of the garbage can to facilitate the completion of subsequent work.

[0024] 4. This device completes the displacement of the second station of the trash can through the inner adaptive holding module, so that it switches from the external grasping of the structural adaptive gripper to the internal grasping, and relies on the all-round posture compensation of the adaptive end head to achieve stable adjustment of the posture of the trash can.

[0025] 5. This device uses a multi-stage cleaning and solid-liquid separation module design to make a double-layer design for the water tank, so that the sewage and clean water are separated. At the same time, through the design of a multi-stage high-pressure suction and spraying integrated tower, the clean water is further used to clean the inner wall of the garbage can. At the same time, the solid-liquid separation in the sewage is completed through the integrated design of the water tank, and a sewage dispatch pipe is provided to facilitate the discharge of sewage. This further realizes the integrated operation equipment for garbage collection and cleaning, greatly improving the efficiency of the operation and reducing the operation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 .

[0027] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 .

[0028] Figure 3 It is a schematic diagram of the three-dimensional structure of the structurally adaptive clamping jaw of the present invention.

[0029] Figure 4 It is a schematic diagram of the three-dimensional structure of the adaptive terminal head of the present invention.

[0030] Figure 5 The schematic diagram of the local three-dimensional structure of the adaptive terminal head of the present invention is shown in FIG. Figure 1 .

[0031] Figure 6 The schematic diagram of the local three-dimensional structure of the adaptive terminal head of the present invention is shown in FIG. Figure 2 .

[0032] Figure 7 The three-dimensional structure diagram of the gripper lifting and flipping module of the present invention is shown in FIG. Figure 1 .

[0033] Figure 8 The three-dimensional structure diagram of the gripper lifting and flipping module of the present invention is shown in FIG. Figure 2 .

[0034] Fig. 9It is a schematic diagram of the three-dimensional structure of the garbage lifting side loading arm of the present invention.

[0035] Fig.10 It is a schematic diagram of the three-dimensional structure of the secondary vibration cleaning module of the present invention.

[0036] Fig.11 It is a schematic diagram of the three-dimensional structure of the four-stage vibration module of the present invention.

[0037] Fig.12 It is a schematic diagram of the partial three-dimensional structure of the four-stage vibration module of the present invention.

[0038] Fig.13 The three-dimensional structure of the multi-stage cleaning and solid-liquid separation module of the present invention is shown in FIG. Figure 1 .

[0039] Fig.14 The three-dimensional structure of the multi-stage cleaning and solid-liquid separation module of the present invention is shown in FIG. Figure 2 .

[0040] Fig.15 The three-dimensional structure of the inner adaptive support module of the present invention is shown in FIG. Figure 1 .

[0041] Fig.16 The three-dimensional structure of the inner adaptive support module of the present invention is shown in FIG. Figure 2 .

[0042] Fig.17 The three-dimensional structure of the inner adaptive supporting claw of the present invention is shown in FIG. Figure 1 .

[0043] Fig.18 The three-dimensional structure of the inner adaptive supporting claw of the present invention is shown in FIG. Figure 2 .

[0044] Fig.19 It is a schematic diagram of the three-dimensional structure of the end adaptive holding single claw of the present invention.

[0045] Fig. 20 It is a schematic diagram of the three-dimensional structure of the flip adjustment module of the present invention.

[0046] In the figure:

[0047] 1. Structural adaptive clamping jaws, 101. Adaptive end head, 10101. End head connecting plate, 10102. Secondary adjustment spring steel plate, 10103. Primary angle adjustment block base, 10104. Primary angle adjustment seat, 10105. Primary angle adjustment block, 10106. Spring seat, 10107. Reset spring, 10108. Articulated spring head, 10109. Connecting rod, 10110. Buckle cover, 10111. Anti-slip leather Belt, 10112, belt screwed into base, 10113, coil spring buckle block, 10114, belt screwed into base buckle cover, 10115, screwed into shaft, 10116, coil spring, 10117, secondary angle adjustment block, 10118, tertiary angle adjustment block, 102, embracing arm, 103, connecting rod 1, 104, base, 105, embracing cylinder, 106, rear side extension block, 107, hinged connecting shaft, 108, end angle adaptation connecting block;

[0048] 2. Gripper lifting flip module, 201, flip lifting base plate, 202, supporting profile, 203, side profile, 204, square profile, 205, lifting linear module, 206, flat plate, 207, supporting column, 208, sliding plate, 209, sliding block, 210, flip bearing, 211, flip shaft, 212, flat plate 2, 213, limiting column, 214, adjusting nut, 215, column support seat, 216, limiting support seat, 217, flip cylinder, 218, flip support seat;

[0049] 3. Garbage lifting side-mounted arm, 301. Connecting column, 302. Drag chain, 303. Linear guide rail, 304. Sprocket, 305. Rotating assembly, 306. Frame, 307. Drag linear module, 308. Slider;

[0050] 4. Secondary vibration cleaning module, 401. Connecting stand, 402. X-direction adjustment module, 403. Y-direction adjustment module, 404. Four-stage vibration module, 40401. Vibration base, 40402. Extension plate, 40403. Rack seat, 40404. Vibration module, 40405. Adjustment nut 2, 40406. Spring seat 2, 40407. Spring, 40408. Intermediate transmission gear ring, 40409. Transmission gear, 40410. Extension rack, 40411. Servo motor support seat, 40412. Servo motor, 40413. Plum blossom coupling;

[0051] 5. Linear module for station switching;

[0052] 6. Multi-stage cleaning and solid-liquid separation module, 601. Multi-stage high-pressure suction and spraying integrated tower, 602. Water tank, 603. Three-phase asynchronous motor, 604. Fixed box, 605. Fixed profile, 606. Sewage discharge switch, 607. V-belt pulley, 608. V-belt;

[0053] 7. Inner adaptive support module, 701. Inner adaptive support claw, 7011. Upper base plate, 7012. Profile square frame, 7013. End adaptive support single claw, 70131. L-shaped support frame, 70132. Extended rack 2, 70133. Gear support block, 70134. Gear shaft, 70135. Gear, 7014. Lower connecting plate, 7015. Stepper motor support frame, 7016. Stepper Motor, 7017, universal joint, 7018, connecting shaft, 702, Z-direction primary adjustment module, 703, supporting profile II, 704, Y-direction secondary adjustment module, 705, connecting L plate, 706, flip adjustment module, 7061, flip frame, 7062, supporting frame body, 7063, cylinder end connection block, 7064, cylinder connecting frame, 7065, cylinder hinged connection piece, 7066, flip cylinder II;

[0054] 8. Frame. DETAILED DESCRIPTION

[0055] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0056] A cleaning system based on a structurally adaptive flexible holding claw, comprising a structurally adaptive clamping claw 1, a clamping claw lifting and flipping module 2, a garbage lifting side loading arm 3, a secondary vibration cleaning module 4, a station switching linear module 5, a multi-stage cleaning and solid-liquid separation module 6 and a frame 8; the structurally adaptive clamping claw 1 is connected to the clamping claw lifting and flipping module 2; the clamping claw lifting and flipping module 2 is connected to the garbage lifting side loading arm 3; the garbage lifting side loading arm 3 is connected to the station switching linear module 5; the station switching linear module 5 is installed on the upper side of the frame 8; the secondary vibration cleaning module 4 is installed on the rear side of the frame 8; the multi-stage cleaning and solid-liquid separation module 6 and the inner side adaptive holding module 7 are installed on the front side of the frame 8, and the multi-stage cleaning and solid-liquid separation module 6 and the inner side adaptive holding module 7 are installed on the front side of the frame 8. The liquid separation module 6 is installed below the inner adaptive holding module 7; the structural adaptive clamp 1 is provided with an adaptive end head 101, which adaptably fits the outer wall of the trash can to achieve holding under different shapes; after the structural adaptive clamp 1 clamps, the garbage lifting side loading arm 3 drives the structural adaptive clamp 1 and the clamp lifting and flipping module 2 to lift, and then the clamp lifting and flipping module 2 causes the structural adaptive clamp 1 to dump; the secondary vibration cleaning module 4 completes the secondary vibration of the trash can; the station switching linear module 5 moves the garbage lifting side loading arm 3 to the cleaning station, and the inner adaptive holding module 7 flips the trash can for a second time, so that its opening faces downward, and then it goes deep into the multi-stage cleaning and solid-liquid separation module 6 to complete the cleaning.

[0057] The present invention comprises: a structure-adaptive clamping jaw 1, a clamping jaw lifting and flipping module 2, a garbage lifting side loading arm 3, a secondary vibration cleaning module 4, a station switching linear module 5, a multi-stage cleaning and solid-liquid separation module 6, an inner side adaptive holding module 7 and a frame 8; the secondary vibration cleaning module 4 comprises a connecting stand 401, an X-direction adjustment module 402, a Y-direction adjustment module 403 and a four-stage vibration module 404; the connecting stand 401 is fixedly connected to the upper side of the frame 8; the X-direction adjustment module 402 is vertically connected to the connecting stand 401 The Y-direction adjustment module 403 is installed on the slider of the X-direction adjustment module 402; the four-stage vibration module 404 is installed on the slider of the Y-direction adjustment module 403; so as to facilitate the direction adjustment of the four-stage vibration module 404; the multi-stage cleaning and solid-liquid separation module 6 includes a multi-stage high-pressure suction and spraying integrated tower 601, a water tank 602, a three-phase asynchronous motor 603, a fixed box 604, a fixed profile 605, a sewage discharge switch 606, a V-belt pulley 607 and a V-belt 608; the water tank 6 02 consists of two layers, the lower layer is for clean water, the upper layer is for collecting sewage, and a drainage pipe extends outward from the upper layer; the drainage pipe of the water tank 602 is fixedly connected to the sewage discharge switch 606; the multi-stage high-pressure suction and spraying integrated tower 601 is in the shape of a tower, with a hydraulic motor inside, and multiple layers of water pipes arranged in groups of six. The multi-stage high-pressure suction and spraying integrated tower 601 is fixedly connected to the water tank 602, and penetrates from the lower layer of the water tank 602 to the upper layer, and absorbs water from the lower layer and sprays it out from the exposed part of the upper layer; the three asynchronous The motor 603 and the water tank 602 are installed inside the fixed box 604; the lower end of the multi-stage high-pressure suction and spraying integrated tower 601 and the output shaft of the three-phase asynchronous motor 603 are respectively fixedly connected to the V-belt pulley 607; the two ends of the V-belt 608 respectively surround the corresponding V-belt pulley 607, and the three-phase asynchronous motor 603 forms a transmission with the multi-stage high-pressure suction and spraying integrated tower 601 through the V-belt 608; the fixed box 604 is fixedly connected to the frame 8 through the two fixed profiles 605.

[0058] The structural adaptive gripper 1 comprises an adaptive end head 101, an embracing arm 102, a connecting rod 103, a base 104, an embracing cylinder 105, a rear extension block 106, a hinged connecting shaft 107 and an end angle adaptive connecting block 108; the base 104 is connected to the gripper lifting and flipping module 2, and the base 104 is welded from multiple steel plates and has two single ears at the front; the embracing arm 102 is rotatably connected to the single ear at the front of the base 104; the base 104 is fixedly connected to the embracing cylinder 105; the The two piston rod ends of the embracing cylinder 105 form a rotational connection with the corresponding embracing arm 102, and the embracing arm 102 is rotationally connected to the connecting rod 103; the connecting rod 103 is rotationally connected to the rear extension block 106; the terminal angle adaptation connection block 108 is rotationally connected to the embracing arm 102 through the hinge connection shaft 107, and has a certain adaptable angle range; the terminal angle adaptation connection block 108 and the rear extension block 106 are respectively fixedly connected to the corresponding adaptive terminal head 101.

[0059] The self-adaptive terminal head 101 comprises a terminal head connecting plate 10101, a secondary adjustment spring steel plate 10102, a primary angle adjustment block base 10103, a primary angle adjustment seat 10104, a primary angle adjustment block 10105, a spring seat 10106, a return spring 10107, a hinged spring head 10108, a connecting rod 10109, a buckle cover 10110, an anti-skid belt 10111, a belt screwed into a base 10112, a coil spring buckle block 10113, a belt screwed into a base buckle cover 10114, a screw-in shaft 10115, a coil spring 10116, a secondary angle adjustment block 10117 and a tertiary angle adjustment block 10118; the terminal angle adaptation connecting block 108 and the rear side protruding block 106 are fixedly connected to the Corresponding to the end head connecting plate 10101, the first-level angle adjustment block base 10103 is fixedly connected to the first-level angle adjustment seat 10104; the first-level angle adjustment block base 10103 is rotatably connected to the end head connecting plate 10101, and is hinged through a group of hinged connecting parts, so that the first-level angle adjustment block base 10103 can rotate with the end head connecting plate 10101 around the axis of the hinge; the second-level adjustment spring steel plate 10102 is fixedly connected to the end head connecting plate 10101, and the other side of the second-level adjustment spring steel plate 10102 forms a sliding contact with the first-level angle adjustment block base 10103; the first-level angle adjustment block base 10103 is fixedly connected to the first-level angle adjustment seat 10 104, the first-level angle adjustment block 10105 is nested in the first-level angle adjustment seat 10104, so that the first-level angle adjustment block 10105 can slide in the first-level angle adjustment seat 10104; the spring seat 10106 is installed in the center groove of the first-level angle adjustment block 10105; the return spring 10107 is fixedly connected to the spring seat 10106 and the hinged spring head 10108; the rod of the hinged spring head 10108 is arranged in the spring seat 10106, the return spring 10107 is sleeved on the rod of the hinged spring head 10108, and the connecting rod 10109 is rotatably connected to the hinged spring head 10108; the upper and lower end surfaces of the second-level angle adjustment block 10117 The buckle cover 10110 is provided and a movable gap is left; the three-stage angle adjustment block 10118 is installed in the two-stage angle adjustment block 10117 and slides through the guide groove; the first-stage angle adjustment block base 10103 is fixedly connected to the belt screw-in base buckle cover 10114, the belt screw-in base buckle cover 10114 is fixedly connected to the belt screw-in base 10112, the belt screw-in base 10112 is provided with an opening corresponding to the screw-in shaft 10115, the screw-in shaft 10115 is nested in the belt screw-in base buckle cover 10114, and the screw-in shaft 10115 is fixedly connected to the anti-slip belt 10111; the anti-slip belt 10111 is fixedly connected to the opening on one side of the first-stage angle adjustment seat 10104;The buckle cover 10110 is fixedly connected to the connecting rod 10109, the anti-skid belt 10111 forms a covering contact with the buckle cover 10110, and the screw-in shaft 10115 is fixedly connected to the coil spring 10116; the belt is screwed into the base 10112 and fixedly connected to the coil spring buckle block 10113, and the coil spring buckle block 10113 is fixedly connected to the coil spring 10116. ;

[0060] The gripper lifting and flipping module 2 includes a flipping and lifting base plate 201, a supporting profile 202, a side profile 203, a square profile 204, a lifting linear module 205, a plate 206, a supporting column 207, a sliding plate 208, a sliding block 209, a flip bearing 210, a flip shaft 211, a second plate 212, a limiting column 213, an adjusting nut 214, a column support seat 215, a limiting support seat 216, a flip cylinder 217 and a flip support seat 218; the flipping and lifting base plate 201 is fixedly connected to a group of the supporting profiles 202, and the square profile 204 is welded by several groups of profiles; The side profile 203 is installed on both sides of the square profile 204 to increase the structural strength of the module; the flat plate 212 is fixedly connected to the square profile 204, and the lifting linear module 205 is fixedly connected to the square profile 204; the lifting linear module 205 is fixedly connected to the flat plate 206, and the flat plate 206 is fixedly connected to at least one supporting column 207; the supporting column 207 passes through the sliding block 209, and the sliding block 209 forms a sliding connection with the supporting column 207; the sliding block 209 is fixedly connected to the slider of the lifting linear module 205; the sliding plate 2 08 is fixedly connected to the sliding block 209, and when the lifting linear module 205 is driven, the sliding plate 208 is driven to move linearly; the sliding plate 208 is fixedly connected to the base 104, and the supporting column 207 is fixedly connected to the flat plate 212 through the column support seat 215; the flat plate 212 is fixedly connected to the flip support seat 218; the flip support seat 218 is fixedly connected to the flip shaft 211; the flip shaft 211 is fixedly connected to the inner ring of the flip bearing 210; the outer ring of the flip bearing 210 is fixedly connected to the flip lifting base plate 20 through the bearing seat 1; the limit support seat 216 is fixedly connected to the flip and lifting base plate 201; the limit column 213 is fixedly connected to the limit support seat 216; the limit support seat 216 plays an angle limiting role on the flat plate 212; the adjusting nut 214 is threadedly connected to the limit column 213, and the limit angle can be adjusted; the flip cylinder 217 is rotatably connected to the flip and lifting base plate 201; the piston rod of the flip cylinder 217 is rotatably connected to the flat plate 212; when the flip cylinder 217 is retracted, the module flips around the axis of the flip support seat 218.

[0061] The garbage lifting side loading arm 3 includes a connecting column 301, a traction chain 302, a linear guide 303, a sprocket 304, a rotating assembly 305, a frame 306, a traction linear module 307 and a slider 308; the frame 306 is formed by welding multiple profiles as a whole and is L-shaped; the frame 306 is connected to the rotating assembly 305 by a bearing; the two ends of the rotating shaft of the rotating assembly 305 are respectively fixedly connected to the sprocket 304; the traction chain 302 is installed on the sprocket 304; the traction chain 302 is fixedly connected to the connecting column 301; the connecting column 301 is fixedly connected to the support The supporting profile 202; the supporting profile 202 is fixedly connected to the slider 308; the slider 308 is nested in the frame 306; the traction linear module 307 is fixedly connected to the frame 306; the upper slider of the traction linear module 307 is fixedly connected to the traction chain 302; when the traction linear module 307 moves, the side connected to the traction chain 302 moves downward, thereby causing the supporting profile 202 to move in the height direction, the workstation switching linear module 5 is installed on the rear side of the frame 8, and the frame 306 is fixedly connected to the slider of the workstation switching linear module 5.

[0062] The inner side adaptive holding module 7 includes an inner side adaptive holding claw 701, a Z-direction primary adjustment module 702, a second support profile 703, a Y-direction secondary adjustment module 704, a connecting L plate 705 and a flip adjustment module 706; the Z-direction primary adjustment module 702 is fixedly connected to the frame 8 through the second support profile 703; the Y-direction secondary adjustment module 704 is installed on the slider of the Z-direction primary adjustment module 702; the connecting L plate 705 is fixedly connected to the slider of the Y-direction secondary adjustment module 704; the connecting L plate 705 is fixedly connected to the flip adjustment module 706. The entire module 706; the rotating end of the flip adjustment module 706 is fixedly connected to the inner adaptive holding claw 701; when working; the Z-direction primary adjustment module 702 and the Y-direction secondary adjustment module 704 adjust the inner adaptive holding claw 701, so that the trash can enters the cleaning range of the multi-stage cleaning and solid-liquid separation module 6; the flip adjustment module 706 flips most of the inner adaptive holding claws 701, and the inner adaptive holding claws 701 hold the inner side of the trash can; and then the trash can is opened downward, thereby completing the posture adjustment of the trash can.

[0063] The inner adaptive supporting claw 701 includes an upper base plate 7011, a profile square frame 7012, an end adaptive supporting single claw 7013, a lower connecting plate 7014, a stepper motor support frame 7015, a stepper motor 7016, a universal joint 7017 and a connecting shaft 7018; the upper base plate 7011 is fixedly connected to the profile square frame 7012; the profile square frame 7012 is fixedly connected to the lower connecting plate 7014; the end adaptive supporting single claw 7013 is arranged in four on the profile square frame 7012; the end adaptive supporting single claw 7013 is fixedly connected to the upper The base plate 7011, the end adaptive supporting single claw 7013 and the output shaft of the stepper motor 7016 are respectively fixedly connected to the universal joint 7017, and the two ends of the connecting shaft 7018 are respectively fixedly connected to the universal joint 7017; the stepper motor 7016 is fixedly connected to the lower side of the upper base plate 7011 through the stepper motor support frame 7015; when the stepper motor 7016 moves, the power is transmitted to the universal joint 7017 and the connecting shaft 7018, thereby making the four end adaptive supporting single claws 7013 linked, so that the clamps are extended at the same time.

[0064] The terminal adaptive holding single claw 7013 includes an adaptive terminal head 101, an L-standing support frame 70131, an extended rack 2 70132, a gear shaft 70134, and a gear 70135; the adaptive terminal head 101 is fixedly connected to the L-standing support frame 70131, and the terminal head connecting plate 10101 is fixedly connected to the L-standing support frame 70131; the L-standing support frame 70131 is fixedly connected to the extended rack 2 70132; the extended rack 2 70132 meshes with the gear 70135; the gear 70135 is fixedly connected to the gear shaft 70134; the gear shaft 70134 bearing is connected to the gear support block 70133, and the gear support block 70133 is fixedly connected to the upper base plate 7011; the adaptive terminal head 101 makes the module adaptable to different types of trash cans.

[0065] The flip adjustment module 706 includes a flip frame 7061, a support frame body 7062, a cylinder end connection block 7063, a cylinder connection frame 7064, a cylinder hinge connection 7065 and a flip cylinder 2 7066; the flip frame 7061 is fixedly connected to the lower connection plate 7014, and the flip frame 7061 is rotatably connected to the support frame body 7062; the flip frame 7061 is rotatably connected to the cylinder end connection block 7063, and the cylinder end connection block 7063 is fixedly connected to the flip The piston rod of the rotating cylinder 7066; the flipping cylinder 7066 is fixedly connected to the cylinder hinged connector 7065, and the cylinder connecting frame 7064 is rotatably connected to the cylinder hinged connector 7065; the cylinder connecting frame 7064 is fixedly connected to the support frame body 7062, and the cylinder connecting frame 7064 is fixedly connected to the connecting L-plate 705; when the flipping cylinder 7066 is retracted, the flipping frame 7061 flips 90° around the hinge axis between it and the support frame body 7062.

[0066] The four-stage vibration module 404 includes a vibration base 40401, an extension plate 40402, a rack seat 40403, a vibration module 40404, an adjustment nut 40405, a spring seat 40406, a spring 40407, an intermediate transmission gear ring 40408, a transmission gear 40409, an extension rack 40410, a servo motor support seat 40411, a servo motor 40412 and a plum blossom coupling 40413; the vibration base 40401 0401 is installed on the slider of the Y-direction adjustment module 403, and four rack seats 40403 are installed on the vibration base 40401; the extended rack 40410 is installed on the rack seat 40403 to form a sliding fit; the end of the extended rack 40410 is fixedly connected to the extended plate 40402; four spring seats 2 40406 are arranged on the extended plate 40402; the spring seat 2 40406 is connected to a bearing The adjusting nut 2 40405 is assembled, the adjusting nut 2 40405 is threadedly connected to the spring 40407, and the spring 40407 is fixedly connected to the extending plate 40402; the vibration module 40404 is fixedly connected to the spring seat 2 40406, so as to maintain the balance of the fitting force between the module and the inner wall of the trash can; the servo motor support seat 40411 is installed on the rear side of the vibration base 40401; the servo motor 40412 is installed on the servo motor support seat 40411; the output shaft of the servo motor 40412 passes through the vibration base 40401, and the output shaft of the servo motor 40412 is fixedly connected to one of the transmission gears 40409 through the plum blossom coupling 40413, the vibration base 40401 bearing is connected to the intermediate transmission gear ring 40408, and the transmission gear 40409 meshes with the intermediate transmission gear ring 40408.

[0067] The workflow of the present invention is:

[0068] Step 1:

[0069] The driver drives the vehicle so that the trash can is located on the side of the vehicle's gripper lifting and flipping module 2. At this time, the structural adaptive gripper 1 completes the embrace of the trash can, and at the same time, its adaptive end head 101 completes the fit to the outer wall of the trash can. The garbage lifting side arm 3 drives the structural adaptive gripper 1 and the gripper lifting and flipping module 2 to lift, and then the gripper lifting and flipping module 2 starts to work, so that the structural adaptive gripper 1 drives the trash can to complete a 100-degree flip, thereby completing the initial dumping of the garbage.

[0070] The control of the clasping cylinder 105 extends to drive the clasping arm 102 to swing, the clasping arm 102 drives the connecting rod 103 to swing, and the connecting rod 103 drives the rear extension block 106 to move, so that the adaptive end heads 101 on both sides clamp the outer wall of the trash can, and the adaptive end head 101 in the middle resists the outer wall of the trash can. When the anti-skid belt 10111 contacts the outer wall of the trash can, the secondary adjustment spring steel plate 10102 can send elastic deformation, the screw-in shaft 10115 nests the belt and screws into the base buckle cover 10114, and can move along the belt screwed into the base buckle cover 10114, the primary angle adjustment block base 10103 can rotate with the end head connecting plate 10101 around the axis of the hinge, and the rod of the hinged spring head 10108 is set in the spring seat 10106 to achieve flexible clamping of the trash can.

[0071] When the lifting linear module 205 moves, the sliding plate 208 moves, and the sliding block 209 moves along the supporting column 207, so that the structural adaptive clamp 1 drives the trash can to move. When the flip cylinder 217 is extended and retracted, the flat plate 212 is driven to swing, thereby realizing the swing of the structural adaptive clamp 1.

[0072] The traction linear module 307 works and moves on one side connected to the traction chain 302. The traction chain 302 drives the sprocket 304 to rotate, so that the connecting column 301 drives the supporting profile 202 to move in the height direction, thereby realizing the movement of the gripper lifting and flipping module 2 and the structural adaptive gripper 1 in the height direction.

[0073] Step 2:

[0074] Control the XY posture adjustment of the secondary vibration cleaning module 4 so that it can push the fourth-level vibration module 404 deep into the interior of the trash can and fit it against the inner wall, control the vibration module 40404 and the servo motor 40412 to start working, the servo motor 40412 drives a transmission gear 40409 to rotate through the plum blossom coupling 40413, and a transmission gear 40409 drives the intermediate transmission gear ring 40408 to rotate, so as to realize the rotation of the remaining transmission gears 40409, the transmission gear 40409 drives the rack seat 40403, the extension plate 40402 and the vibration module 40404 to move, and the vibration module 40404 drives the trash can to vibrate, so that the inner wall of the trash can that has not yet been poured out of the garbage is further cleaned.

[0075] Step 3:

[0076] The station switching linear module 5 starts working, so that the garbage lifting side loading arm 3 drives the clamp lifting flip module 2 and the structural adaptive clamp 1 to the cleaning operation position, and then controls the inner adaptive holding module 7 to complete the extension and flipping action, so that it completes the holding of the garbage can. At the same time, the structural adaptive clamp 1 releases the holding of the garbage can, and through the adjustment module in the inner adaptive holding module 7, the garbage can opening is aligned with the multi-stage cleaning and solid-liquid separation module 6.

[0077] By controlling the Z-axis primary adjustment module 702 and the Y-axis secondary adjustment module 704, the flip adjustment module 706 and the inner adaptive holding claw 701 can move along the Z and Y axis directions.

[0078] When the second flip cylinder 7066 is extended or retracted, it drives the cylinder end connection block 7063 to move, and the cylinder end connection block 7063 drives the flip frame 7061 to swing, thereby realizing the swing of the inner adaptive holding claw 701.

[0079] When the stepper motor 7016 rotates, the gear shaft 70134 and the gear 70135 are driven to rotate through the universal joint 7017 and the connecting shaft 7018, and the gear 70135 drives the extended rack 2 70132 to move, thereby realizing the movement of the L-shaped support frame 70131 and the corresponding adaptive end head 101.

[0080] Step 4:

[0081] The multi-stage cleaning and solid-liquid separation module 6 starts to work, and the three-phase asynchronous motor 603 rotates, driving the multi-stage high-pressure suction and spraying integrated tower 601 to rotate through the V-belt pulley 607 and the V-belt 608, completing the cleaning of the inner wall of the garbage can and completing the sewage separation operation. Then the inner adaptive holding module 7 places the garbage can on the structural adaptive clamp 1, and the structural adaptive clamp 1 completes the holding of the garbage can. At the same time, the inner adaptive holding module 7 releases its holding, and then sequentially switches the linear module 5, the garbage lifting side loading arm 3, and the clamp lifting and flipping module 2 through the movement of the workstation switching linear module 5, the garbage lifting side loading arm 3, and the clamp lifting and flipping module 2 to put the garbage can back to the initial position before the step one operation.

[0082] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A cleaning system based on a structurally adaptive flexible holding claw, characterized in that: include: Structural adaptive gripper (1), gripper lifting and flipping module (2), garbage lifting side-mounted arm (3), secondary vibration cleaning module (4), station switching linear module (5), multi-stage cleaning and solid-liquid separation module (6), inner side adaptive holding module (7) and frame (8); The secondary vibration cleaning module (4) comprises a connecting stand (401), an X-direction adjustment module (402), a Y-direction adjustment module (403) and a four-stage vibration module (404); the connecting stand (401) is fixedly connected to the upper side of the frame (8); the X-direction adjustment module (402) is vertically fixedly connected to the connecting stand (401); the Y-direction adjustment module (403) is mounted on a slider of the X-direction adjustment module (402); and the four-stage vibration module (404) is mounted on a slider of the Y-direction adjustment module (403); The structural adaptive clamp (1) comprises an adaptive end head (101), an embracing arm (102), a connecting rod (103), a base (104), an embracing cylinder (105), a rear extension block (106), a hinged connection shaft (107) and an end angle adaptive connection block (108); The base (104) is connected to the gripper lifting and flipping module (2), and the embracing arm (102) is rotatably connected to a single ear arranged in front of the base (104); the base (104) is fixedly connected to the embracing cylinder (105); the two piston rod ends of the embracing cylinder (105) are rotatably connected to the corresponding embracing arm (102), and the embracing arm (102) is rotatably connected to the connecting rod 1 (103); the connecting rod 1 (103) is rotatably connected to the rear extension block (106); the end angle adaptation connection block (108) is rotatably connected to the embracing arm (102) via the hinged connection shaft (107); the end angle adaptation connection block (108) and the rear extension block (106) are respectively fixedly connected to the corresponding adaptive end head (101); The adaptive end head (101) comprises an end head connecting plate (10101), a secondary adjustment spring steel plate (10102), a primary angle adjustment block base (10103), a primary angle adjustment seat (10104), a primary angle adjustment block (10105), a spring seat (10106), a return spring (10107), a hinged spring head (10108), a connecting rod (10109), a buckle cover (10110), an anti-slip belt (10111), a belt screwed into a base (10112), a coil spring buckle block (10113), a belt screwed into a base buckle cover (10114), a screw-in shaft (10115), a coil spring (10116), a secondary angle adjustment block (10117) and a tertiary angle adjustment block (10118); The end angle adapting connection block (108) and the rear side extending block (106) are respectively fixedly connected to the corresponding end head connecting plate (10101); the first-level angle adjustment block base (10103) is fixedly connected to the first-level angle adjustment seat (10104); the first-level angle adjustment block base (10103) is rotatably connected to the end head connecting plate (10101); the second-level adjustment spring steel plate (10102) is fixedly connected to the end head connecting plate (10101), and the other side of the second-level adjustment spring steel plate (10102) forms a sliding contact with the first-level angle adjustment block base (10103); the first-level angle adjustment block base (10103) is fixedly connected to the top of the first-level angle adjustment seat (10104), and the first-level angle The adjustment block (10105) is nested in the first-level angle adjustment seat (10104); the spring seat (10106) is installed in the center groove of the first-level angle adjustment block (10105); the return spring (10107) is fixedly connected to the spring seat (10106) and the hinged spring head (10108); the rod portion of the hinged spring head (10108) is arranged in the spring seat (10106), and the connecting rod (10109) is rotatably connected to the hinged spring head (10108); the buckle cover (10110) is provided on both upper and lower end surfaces of the second-level angle adjustment block (10117) and a gap is left; the third-level angle adjustment block (10118) is installed in the second-level angle adjustment block (10117) and slides through the guide groove; The primary angle adjustment block base (10103) is fixedly connected to the belt screw-in base buckle cover (10114), the belt screw-in base buckle cover (10114) is fixedly connected to the belt screw-in base (10112), the belt screw-in base (10112) is provided with an opening corresponding to the screw-in shaft (10115), the screw-in shaft (10115) is nested in the belt screw-in base buckle cover (10114), and the screw-in shaft (10115) is fixedly connected to the anti-slip belt (10111); the anti-slip belt (1 0111) is fixedly connected to an opening on one side of the primary angle adjustment seat (10104); the buckle cover (10110) is fixedly connected to the connecting rod (10109), the anti-slip belt (10111) forms a covering contact with the buckle cover (10110), and the screw-in shaft (10115) is fixedly connected to the coil spring (10116); the belt is screwed into the base (10112) and fixedly connected to the coil spring buckle block (10113), and the coil spring buckle block (10113) is fixedly connected to the coil spring (10116); The inner side adaptive holding module (7) comprises an inner side adaptive holding claw (701), a Z-direction primary adjustment module (702), a second supporting profile (703), a Y-direction secondary adjustment module (704), a connecting L-plate (705) and a flip adjustment module (706); The Z-direction primary adjustment module (702) is fixedly connected to the vehicle frame (8) via the second supporting profile (703); the Y-direction secondary adjustment module (704) is mounted on a slider of the Z-direction primary adjustment module (702); the connecting L-plate (705) is fixedly connected to the slider of the Y-direction secondary adjustment module (704); the connecting L-plate (705) is fixedly connected to the flip adjustment module (706); the rotating end of the flip adjustment module (706) is fixedly connected to the inner adaptive holding claw (701); The inner adaptive holding claw (701) comprises an upper base plate (7011), a profile square frame (7012), a terminal adaptive holding single claw (7013), a lower connecting plate (7014), a stepping motor support frame (7015), a stepping motor (7016), a universal joint (7017) and a connecting shaft (7018); The upper base plate (7011) is fixedly connected to the profile square frame (7012); the profile square frame (7012) is fixedly connected to the lower connecting plate (7014); four end adaptive support single claws (7013) are arranged on the profile square frame (7012); the end adaptive support single claw (7013) is fixedly connected to the upper base plate (7011), the end adaptive support single claw (7013) and the output shaft of the stepping motor (7016) are respectively fixedly connected to the universal joint (7017), and the two ends of the connecting shaft (7018) are respectively fixedly connected to the universal joint (7017); the stepping motor (7016) is fixedly connected to the lower side of the upper base plate (7011) through the stepping motor support frame (7015); The terminal adaptive holding single claw (7013) comprises an adaptive terminal head (101), an L-shaped support frame (70131), a second extended rack (70132), a gear shaft (70134), and a gear (70135); The adaptive end head (101) is fixedly connected to the L-shaped support frame (70131); the L-shaped support frame (70131) is fixedly connected to the second extended rack (70132); the second extended rack (70132) is meshed with the gear (70135); the gear (70135) is fixedly connected to the gear shaft (70134); the gear shaft (70134) is bearing-connected to the gear support block (70133), and the gear support block (70133) is fixedly connected to the upper base plate (7011); The flip adjustment module (706) comprises a flip frame (7061), a support frame body (7062), a cylinder end connection block (7063), a cylinder connection frame (7064), a cylinder hinge connection piece (7065) and a second flip cylinder (7066); The flip frame (7061) is fixedly connected to the lower connecting plate (7014), and the flip frame (7061) is rotatably connected to the supporting frame body (7062); the flip frame (7061) is rotatably connected to the cylinder end connecting block (7063), and the cylinder end connecting block (7063) is fixedly connected to the piston rod of the second flip cylinder (7066); the second flip cylinder (7066) is fixedly connected to the cylinder hinge connecting piece (7065), and the cylinder connecting frame (7064) is rotatably connected to the cylinder hinge connecting piece (7065); the cylinder connecting frame (7064) is fixedly connected to the supporting frame body (7062), and the cylinder connecting frame (7064) is fixedly connected to the connecting L-plate (705); The four-stage vibration module (404) includes a vibration base (40401), an extension plate (40402), a rack seat (40403), a vibration module (40404), a second adjustment nut (40405), a second spring seat (40406), a spring (40407), an intermediate transmission gear ring (40408), a transmission gear (40409), an extension rack (40410), a servo motor support seat (40411), a servo motor (40412) and a plum blossom coupling (40404). 0413); the vibration base (40401) is mounted on the slider of the Y-direction adjustment module (403); four rack seats (40403) are mounted on the vibration base (40401); the extended rack (40410) is mounted on the rack seat (40403); the end of the extended rack (40410) is fixedly connected to the extended plate (40402); four spring seats (40406) are arranged on the extended plate (40402); the spring seat The second (40406) bearing is connected to a set of the second adjustment nut (40405), the second adjustment nut (40405) is threadedly connected to the spring (40407), and the spring (40407) is fixedly connected to the extension plate (40402); the vibration module (40404) is fixedly connected to the second spring seat (40406), and the servo motor support seat (40411) is installed on the rear side of the vibration base (40401); the servo motor (40412) is installed The servo motor support base (40411) is mounted on the servo motor support base (40411); the output shaft of the servo motor (40412) passes through the vibration base (40401); the output shaft of the servo motor (40412) is fixedly connected to a transmission gear (40409) through the plum blossom coupling (40413); the bearing of the vibration base (40401) is connected to the intermediate transmission gear ring (40408); and the transmission gear (40409) meshes with the intermediate transmission gear ring (40408).

2. The cleaning system based on the structure-adaptive flexible holding claw according to claim 1 is characterized in that: The multi-stage cleaning and solid-liquid separation module (6) comprises a multi-stage high-pressure suction and spraying integrated vertical tower (601), a water tank (602), a three-phase asynchronous motor (603), a fixed box (604), a fixed profile (605), a sewage discharge switch (606), a V-belt pulley (607) and a V-belt (608); the drainage pipe of the water tank (602) is fixedly connected to the sewage discharge switch (606); the multi-stage high-pressure suction and spraying integrated vertical tower (601) is fixedly connected to the water tank (602) ); the three-phase asynchronous motor (603) and the water tank (602) are installed inside the fixed box (604); the lower end of the multi-stage high-pressure suction and spraying integrated tower (601) and the output shaft of the three-phase asynchronous motor (603) are respectively fixedly connected to the V-belt pulley (607); the two ends of the V-belt (608) are respectively wrapped around the corresponding V-belt pulley (607); the fixed box (604) is fixedly connected to the frame (8) through the two fixed profiles (605).

3. The cleaning system based on the structure-adaptive flexible holding claw according to claim 2 is characterized in that: The clamping jaw lifting and flipping module (2) comprises a flipping and lifting base plate (201), a supporting profile (202), a side profile (203), a square profile (204), a lifting linear module (205), a plate (206), a supporting column (207), a sliding plate (208), a sliding block (209), a flipping bearing (210), a flipping shaft (211), a second plate (212), a limiting column (213), an adjusting nut (214), a column support seat (215), a limiting support seat (216), a flipping cylinder (217) and a flipping support seat (218); The flip lifting base plate (201) is fixedly connected to a group of the supporting profiles (202); the second plate (212) is fixedly connected to the square profile (204); the lifting linear module (205) is fixedly connected to the square profile (204); the lifting linear module (205) is fixedly connected to the plate (206); the plate (206) is fixedly connected to at least one supporting column (207); the supporting column (207) passes through the sliding block (209); the sliding block (209) is fixedly connected to the slider of the lifting linear module (205); the sliding plate (208) is fixedly connected to the sliding block (209); the sliding plate (208) is fixedly connected to the base (104); the supporting column (207) is fixedly connected to the second plate (212) through the column support seat (215); the second plate (212) is fixedly connected to the flip support seat (218); the flip support seat (218) is fixedly connected to the flip shaft (211); the flip shaft (211) is fixedly connected to the inner ring of the flip bearing (210); the outer ring of the flip bearing (210) is fixedly connected to the flip lifting base plate (201) through the bearing seat; the limit support seat (216) is fixedly connected to the flip lifting base plate (201); the flip cylinder (217) is rotationally connected to the flip lifting base plate (201); the piston rod of the flip cylinder (217) is rotationally connected to the second plate (212).

4. The cleaning system based on the structure-adaptive flexible holding claw according to claim 3 is characterized in that: The garbage lifting side-mounted arm (3) comprises a connecting column (301), a traction chain (302), a linear guide rail (303), a sprocket (304), a rotating assembly (305), a frame (306), a traction linear module (307) and a slider (308); the frame (306) is connected to the rotating assembly (305) by a bearing; both ends of the rotating shaft of the rotating assembly (305) are respectively fixedly connected to the sprocket (304); the traction chain (302) is mounted on the sprocket (304); the traction chain (302) is fixedly connected to the connecting column (301). 01); the connecting column (301) is fixedly connected to the supporting profile (202); the supporting profile (202) is fixedly connected to the slider (308); the slider (308) is nested in the frame (306); the traction linear module (307) is fixedly connected to the frame (306); the upper slider of the traction linear module (307) is fixedly connected to the traction chain (302); the station switching linear module (5) is installed on the rear side of the frame (8), and the frame (306) is fixedly connected to the slider of the station switching linear module (5).

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