Garbage sorting and carrying integrated robot

Abstract

The invention relates to an integrated robot, in particular to a garbage sorting and carrying integrated robot, which belongs to the technical field of cleaning robots and comprises a garbage carrying frame consisting of a lower partition plate, a middle partition plate and an upper partition plate, power driving wheels are arranged on two sides of the lower partition plate, and a driving mechanism is arranged on the lower partition plate. A garbage picking assembly is arranged on one side of the garbage carrying frame and comprises a garbage storing and sorting disc and a lifting platform used for obtaining garbage, the vacuum pump technology is ingeniously used for achieving garbage grabbing operation, so that the whole lifting platform is stably driven to ascend, and then the garbage can be picked up by means of an advanced camera system located at the top. According to the garbage collection device, the garbage can be accurately recognized and classified, the garbage is accurately poured into the storage bins of the corresponding types, the problem of redundancy of the front end space of a traditional trolley is ingeniously solved through the design, the device can contain more garbage, and meanwhile, the inherent instability and complexity of a traditional mechanical grabbing structure are effectively avoided.

Description

Technical Field

[0001] The invention relates to an integrated robot, in particular to a garbage sorting and handling integrated robot, belonging to the technical field of cleaning robots. Background Art

[0002] Robot is the common name for automatic control machines. Automatic control machines include all machines that simulate human behavior or thoughts and simulate other organisms (such as robot dogs, robot cats, etc.). There are many classifications and controversies in the narrow definition of robots. Some computer programs are even called robots. In contemporary industry, robots refer to man-made machine devices that can perform tasks automatically to replace or assist human work. The ideal high-simulation robot is the product of advanced integrated cybernetics, mechatronics, computers and artificial intelligence, materials science and bionics. The scientific community is currently conducting research and development in this direction. There are many types of robots, and cleaning robots are more common in our daily lives.

[0003] The existing intelligent garbage sorting robot (CN116985090A) includes a motion module, an action module and a control system; the motion module includes a chassis walking device composed of four Mecanum wheels and a motor; the action module includes a six-axis mechanical arm and a mechanical claw; the wrist of the six-axis mechanical arm is equipped with an Intel Real Sense D455 binocular camera; the bottom control system completes the control of the motor and the steering gear and the obstacle avoidance sensor signal processing, and the upper processing system completes SLAM mapping, positioning and navigation, garbage classification, and positioning and path planning of mechanical arm grabbing based on laser radar and ROS. The information processed by the upper processing system is sent to the bottom control system through serial communication, and the speed of the motor and the various steering gears of the control arm are adjusted, thereby controlling the movement of the robot and the movement of the mechanical arm. The present invention recognizes the domestic garbage in the designated area, distinguishes the type of garbage to which it belongs, completes the positioning, picking, and classification operations, and realizes the fully automatic unmanned garbage sorting work in the designated area through the mobile search of the robot.

[0004] There is an existing intelligent garbage sorting robot (Announcement No.: CN115921359B), which includes a robot body and a walking base, wherein the robot body is installed on the walking base, and an actuator is installed on the tool end of the robot body, wherein the actuator includes a shell, and an electromagnet is slidably arranged in the shell, and the electromagnet is connected to a first driving component for driving the electromagnet to slide. Two symmetrically arranged mechanical claws are arranged on the walking base, and the two mechanical claws are arranged at an interval, and the mechanical claws are connected to a second driving component for driving the two mechanical claws to move relative to each other. A number of steel needles are fixedly connected to the end of the shell, and a visual recognition component is also included for identifying the type of garbage. The present invention can classify and identify garbage, thereby performing different treatments on metal and non-metal garbage, and can take both away for recycling, thereby improving garbage sorting efficiency and reducing urban garbage pollution.

[0005] The above existing technical solutions can improve the efficiency of garbage sorting, but the above devices all use mechanical arms to clamp the garbage, which has the following disadvantages:

[0006] 1. Unstable clamping may occur during the clamping process;

[0007] 2. The amount of garbage picked up by the mechanical arm is small;

[0008] 3. Garbage picking can be achieved by designing a robotic arm. This design is relatively complex and not concise enough, and can be optimized and improved.

[0009] In view of this, the present invention is proposed. Summary of the invention

[0010] The purpose of the present invention is to provide an integrated garbage sorting and handling robot in order to solve the above-mentioned problems, which has the advantages of stable suction, high garbage acquisition capacity and simple structure.

[0011] The present invention achieves the above-mentioned purpose through the following technical solutions. The integrated garbage sorting and handling robot includes a garbage handling frame composed of a lower partition, a middle partition and an upper partition. The lower partition, the middle partition and the upper partition are equidistantly arranged in the vertical direction. Power drive wheels are arranged on both sides of the lower partition. A driving mechanism is arranged on the lower partition. A garbage picking assembly is arranged on one side of the garbage handling frame. The garbage picking assembly includes a garbage storage and sorting disc, a lifting platform for obtaining garbage, a camera and a vacuum pump. An ascending channel is opened at the center of the garbage storage and sorting disc. A plurality of storage bins are arranged inside the garbage storage and sorting disc. A lifting assembly for lifting the lifting platform along the ascending channel is arranged above the garbage storage and sorting disc.

[0012] Furthermore, in order to provide driving force for the power drive wheel through the drive motor, and at the same time provide supporting force for the garbage handling frame through the universal wheel, and enable the robot to approach garbage in different directions through the universal wheel, the drive mechanism is a drive motor, and the drive mechanism is symmetrically fixed on the upper surface of the lower partition, and the output ends of the symmetrically arranged drive mechanism are respectively fixedly connected to the power drive wheels on both sides of the lower partition, and the lower surface of the lower partition is symmetrically provided with universal wheels.

[0013] Furthermore, in order to connect the lower partition, the middle partition and the upper partition through the support columns, the support columns are made of copper, and the upper partition, the middle partition and the lower partition are all made of acrylic plates, which can greatly enhance the stability of the robot structure. The lower partition, the middle partition and the upper partition are fixedly connected by distributed support columns.

[0014] Furthermore, in order to facilitate the staff to lay the lines required for the device and avoid line entanglement, thereby greatly enhancing the stability of the robot structure, wire holes are reserved on the surfaces of the lower partition, the middle partition and the upper partition.

[0015] Furthermore, in order to power the electrical components of the device through the battery, a battery is provided on the surface of the middle partition, and a single-chip microcomputer is fixedly mounted on the upper surface of the upper partition via a support frame.

[0016] Furthermore, in order to support the stabilizing plate, the support rod is made of copper, which can increase the stability of the robot structure. At the same time, the lifting assembly can provide driving force for the lifting of the lifting platform. The outer surface of the garbage storage and sorting disc is fixedly connected to the end of the garbage handling frame, and the upper surface of the garbage storage and sorting disc is clamped with a covering plate. The camera is fixedly installed at the center position of the lower surface of the covering plate, and a stabilizing plate is fixedly installed on the upper surface of the covering plate through the support rod. Four lifting assemblies are provided, and the lifting assemblies are evenly distributed and fixedly installed on the upper surface of the stabilizing plate.

[0017] Furthermore, in order to enable the control shaft to drive the lifting platform to rise through the cooperation of the evenly arranged pan-tilt motors, the lifting speed of the control shaft can be adjusted by controlling the running speed of the pan-tilt motor, so that the control shaft can be lifted and lowered at different speeds, and then the angle of the lifting platform can be controlled by the set universal ball head connector, the lifting assembly includes a pan-tilt motor and a control shaft, the pan-tilt motor is fixedly mounted on the upper surface of the stabilizing plate, the control shaft is fixedly connected to the output end of the pan-tilt motor, the lower end of the control shaft is laid along the ascending channel, the lifting platform is located below the ascending channel, and universal ball head connectors are provided at the four corners of the upper surface of the lifting platform, and the lower end of the control shaft is connected to the universal ball head connector.

[0018] Furthermore, in order to increase the negative pressure on one side of the lifting platform by using a vacuum pump, thereby improving the efficiency of garbage acquisition, and to have a strong suction force and high accuracy, the vacuum pump is fixedly connected to the bottom surface of the garbage storage and sorting disc, and the vacuum pump is located on one side of the lifting platform.

[0019] Technical effects and advantages of the present invention: The device cleverly uses vacuum pump technology to realize the garbage grabbing operation, and through the four pan-tilt motors carefully configured on the stabilizing plate, accurately drives the four corners of the lifting platform at the bottom that carries the garbage, thereby steadily driving the entire lifting platform to rise, and then, with the help of the advanced camera system located on the top, accurate identification and classification are carried out, and the garbage is accurately poured into the storage bin of the corresponding category. This design ingeniously avoids the redundancy problem of the front-end space of the traditional trolley, allowing the device to accommodate more garbage. At the same time, it also effectively avoids the instability and complexity inherent in the traditional mechanical grabbing structure, showing a higher design wisdom. Overall, the device has a stable and reliable structure, excellent automation level, and demonstrates extremely high technical content and innovative spirit. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the position of the driving mechanism of the present invention;

[0022] Figure 3 This is a schematic diagram of the internal structure of the garbage storage and sorting disc of the present invention;

[0023] Figure 4 It is a schematic diagram of the position of the wire hole of the present invention;

[0024] Figure 5 It is a schematic diagram of the position of the battery of the present invention;

[0025] Figure 6 for Figure 3 A magnified view of the structure at center A;

[0026] Figure 7 for Figure 3 A magnified view of the structure at point B.

[0027] In the figure: 1. garbage handling frame; 101. lower partition; 102. middle partition; 103. upper partition; 2. power drive wheel; 3. drive mechanism; 4. garbage picking assembly; 401. garbage storage and sorting disc; 402. lifting platform; 403. camera; 404. vacuum pump; 405. ascending channel; 406. storage bin; 5. lifting assembly; 501. pan / tilt motor; 502. control shaft; 503. universal ball joint connector; 6. universal wheel; 7. support column; 8. wire hole; 9. battery; 10. support frame; 11. single chip microcomputer; 12. cover plate; 13. support rod; 14. stabilizing plate. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-Figure 7As shown, the integrated robot for garbage sorting and handling comprises a garbage handling frame 1 composed of a lower partition 101, a middle partition 102 and an upper partition 103, the lower partition 101, the middle partition 102 and the upper partition 103 are equidistantly arranged in the vertical direction, power drive wheels 2 are arranged on both sides of the lower partition 101, a driving mechanism 3 is arranged on the lower partition 101, a garbage picking component 4 is arranged on one side of the garbage handling frame 1, the garbage picking component 4 comprises a garbage storage and sorting disc 401, a lifting platform 402 for obtaining garbage, a camera 403 and a vacuum pump 404, an ascending channel 405 is opened at the center of the garbage storage and sorting disc 401, a plurality of storage bins 406 are arranged inside the garbage storage and sorting disc 401, a lifting component 5 for lifting the lifting platform 402 along the ascending channel 405 is arranged above the garbage storage and sorting disc 401, and the device can pick up garbage through the garbage picking component 4 Sorting and storage, when the robot approaches the garbage, the vacuum pump 404 can accurately absorb the garbage and suck the garbage onto the surface of the lifting platform 402, which reflects the accuracy of the robot in obtaining the garbage. At the same time, compared with the traditional way of grabbing garbage by manipulators, it is more sensitive and concise, and the pan-tilt motor 501 in the lifting component 5 drives the control shaft 502 to rise and fall, and the control shaft 502 drives the lifting and falling of the lifting platform 402, and then after the camera 403 visually classifies the garbage, by controlling the running speed of the pan-tilt motor 501, the running speed of the pan-tilt motor 501 is different, and the lifting height of the control shaft 502 can be different, so that the lifting platform 402 can be tilted, and the vacuum pump 404 can realize accurate classification and storage of garbage, which greatly reduces the risk of inaccurate and unstable garbage grabbing by the transmission robot arm, thereby enhancing the practical effect of the device.

[0030] As shown in the figure, the driving mechanism 3 is a driving motor, and the driving mechanism 3 is symmetrically fixedly installed on the upper surface of the lower partition 101. The output ends of the symmetrically arranged driving mechanism 3 are respectively fixedly connected to the power driving wheels 2 on both sides of the lower partition 101, and the lower surface of the lower partition 101 is symmetrically provided with universal wheels 6, so that the power driving wheels 2 can be driven by the driving mechanism 3, and then the movement of the robot can be realized under the mutual cooperation of the power driving wheels 2 and the universal wheels 6, and then the infrared sensor arranged in the device (because the infrared sensor is a feature of the prior art, the structure of the device is not described) can approach and identify the garbage, and the driving motor is a stepping motor.

[0031] As shown in the figure, the lower partition 101, the middle partition 102 and the upper partition 103 are fixedly connected by distributed support columns 7 to improve the stability of the robot. The lower partition 101, the middle partition 102 and the upper partition 103 are all made of acrylic, and the support columns 7 are made of copper.

[0032] As shown in the figure, wire holes 8 are reserved on the surfaces of the lower partition 101, the middle partition 102 and the upper partition 103, so that the staff can use DuPont wires to connect the electrical components to the battery 9 through the reserved wire holes 8, while also avoiding wire entanglement.

[0033] As shown in the figure, a battery 9 is provided on the surface of the middle partition 102, and a single-chip microcomputer 11 is fixedly installed on the upper surface of the upper partition 103 through a support frame 10, so that the device can be controlled by the single-chip microcomputer 11. The single-chip microcomputer 11 is selected as an Ardu i noMega2560 single-chip microcomputer 11.

[0034] As shown in the figure, the outer surface of the garbage storage and sorting disc 401 is fixedly connected to the end of the garbage handling frame 1, and the upper surface of the garbage storage and sorting disc 401 is clamped with a cover plate 12. The camera 403 is fixedly installed at the center position of the lower surface of the cover plate 12. The upper surface of the cover plate 12 is fixedly installed with a stabilizing plate 14 through a support rod 13. Four lifting components 5 are provided, and the lifting components 5 are evenly distributed and fixedly installed on the upper surface of the stabilizing plate 14. The lifting components 5 include a pan-tilt motor 501 and a control shaft 502. The pan-tilt The motor 501 is fixedly mounted on the upper surface of the stabilizing plate 14, the control shaft 502 is fixedly connected to the output end of the pan / tilt motor 501, the lower end of the control shaft 502 is laid along the ascending channel 405, the lifting platform 402 is located below the ascending channel 405, and universal ball connectors 503 are provided at the four corners of the upper surface of the lifting platform 402, the lower end of the control shaft 502 is connected to the universal ball connector 503, the vacuum pump 404 is fixedly connected to the bottom surface of the garbage storage and sorting disc 401, and the vacuum pump 404 is fixedly connected to the bottom surface of the garbage storage and sorting disc 401. The pump 404 is located on one side of the lifting platform 402, so that when the device is running, the infrared sensor provided on the device and the application of the single-chip microcomputer 11 can identify and approach the garbage. At the same time, when the garbage is located on one side of the lifting platform 402, the single-chip microcomputer 11 controls the opening of the vacuum pump 404, and then the garbage is sucked by the vacuum pump 404, and then the garbage can be sucked to the surface of the lifting platform 402, and then the pan-tilt motor 501 in the lifting component 5 is turned on, so that the pan-tilt motor 501 can drive the control shaft 502 to rise and fall, and then the lifting platform 402 can be lifted and lowered along the ascending channel 405, and then when it is lifted to one side of the storage bin 406, by controlling the speed of the pan-tilt motor 501, the lifting height of the control shaft 502 can be different, and then the lifting platform 402 can be tilted and rotated, and then the visual recognition system constructed by the camera 403 can be sorted, and different types of garbage can be placed in different storage bins 406.

[0035] When in use, the staff assembles the robot and then checks whether the robot circuit is normal. Then, when the robot starts to work, the infrared sensor and the distance laser radar (because the distance laser radar is a prior art, this device is described in detail) can be used to determine the location of the garbage and the robot's movement trajectory. At the same time, the driving mechanism 3 drives the power drive wheel 2 to make the robot approach the garbage. Then, when the robot approaches the garbage, the single-chip microcomputer 11 controls the vacuum pump 404 to start, so that the garbage can be sucked onto the surface of the lifting platform 402. This garbage suction design is Compared with the traditional mechanical arm, the structure is more stable, the structure is simple, the design code is simple, and the accuracy is high. When the garbage is sucked onto the surface of the lifting platform 402, the PTZ motor 501 in the lifting component 5 is turned on by the single chip microcomputer 11, so that the PTZ motor 501 can drive the control shaft 502 to rise and fall, and then the lifting platform 402 can be lifted and lowered by the lifting and lowering of the control shaft 502. When the lifting platform 402 rises to one side of the storage bin 406 along the rising channel 405, the rising speed of the control shaft 502 can be controlled by adjusting the running speed of the PTZ motor 501, so that the lifting platform 402 can be lifted and lowered. 2 is tilted, and under the visual recognition of the camera 403, the type of garbage can be distinguished, so that different types of garbage can be placed in different storage bins 406 to achieve classified treatment of garbage. The upper partition 103, the middle partition 102 and the lower partition 101 on the device are all made of acrylic plates, with the acrylic plate as the main body, connected by copper support columns 7, which can make the structure of the robot stable. Compared with the existing technical solutions, the robot changes the grabbing of garbage to suction, which can greatly improve the accuracy of garbage acquisition and thus improve the grabbing efficiency. The robot has a high degree of automation and The garbage is clearly classified and can effectively identify different types of garbage, which reflects the high automation characteristics of this robot. In addition, this robot uses laser SLAM technology to independently build a two-dimensional grid map of the application scenario, and then uses a fusion intelligent algorithm to independently perform dynamic global path planning and local path planning. It can realize accurate identification, sorting, and storage and transportation of garbage, and has high use value. The design of this robot avoids the waste of the front-end space of the garbage handling frame 1, allowing the robot to put down more garbage, while avoiding the instability and complexity of the mechanical grasping structure, which greatly demonstrates the innovation and practicality of this device.

[0036] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A garbage sorting and handling integrated robot, comprising a garbage handling frame (1) composed of a lower partition (101), a middle partition (102) and an upper partition (103), wherein the lower partition (101), the middle partition (102) and the upper partition (103) are equidistantly arranged in the vertical direction, power drive wheels (2) are arranged on both sides of the lower partition (101), and a drive mechanism (3) is arranged on the lower partition (101), characterized in that: A garbage picking assembly (4) is arranged on one side of the garbage transport frame (1), and the garbage picking assembly (4) comprises a garbage storage and sorting disc (401), a lifting platform (402) for obtaining garbage, a camera (403) and a vacuum pump (404). An ascending channel (405) is provided at the center of the garbage storage and sorting disc (401), and a plurality of storage bins (406) are arranged inside the garbage storage and sorting disc (401). A lifting assembly (5) for lifting the lifting platform (402) along the ascending channel (405) is arranged above the garbage storage and sorting disc (401).

2. The integrated garbage sorting and handling robot according to claim 1, characterized in that: The driving mechanism (3) is a driving motor. The driving mechanism (3) is symmetrically fixedly mounted on the upper surface of the lower partition (101). The symmetrically arranged output ends of the driving mechanism (3) are respectively fixedly connected to the power driving wheels (2) on both sides of the lower partition (101). The lower surface of the lower partition (101) is symmetrically provided with universal wheels (6).

3. The integrated garbage sorting and handling robot according to claim 1, characterized in that: The lower partition (101), the middle partition (102) and the upper partition (103) are all fixedly connected via distributed support columns (7).

4. The integrated garbage sorting and handling robot according to claim 1, characterized in that: Wire holes (8) are reserved on the surfaces of the lower partition (101), the middle partition (102) and the upper partition (103).

5. The integrated garbage sorting and handling robot according to claim 1, characterized in that: A battery (9) is provided on the surface of the middle partition (102), and a single-chip computer (11) is fixedly mounted on the upper surface of the upper partition (103) via a support frame (10).

6. The integrated garbage sorting and handling robot according to claim 1, characterized in that: The outer surface of the garbage storage and sorting disc (401) is fixedly connected to the end of the garbage transport frame (1), and a cover plate (12) is clamped on the upper surface of the garbage storage and sorting disc (401). The camera (403) is fixedly installed at the center position of the lower surface of the cover plate (12). A stabilizing plate (14) is fixedly installed on the upper surface of the cover plate (12) through a support rod (13). Four lifting assemblies (5) are provided, and the lifting assemblies (5) are evenly distributed and fixedly installed on the upper surface of the stabilizing plate (14).

7. The integrated garbage sorting and handling robot according to claim 6, characterized in that: The lifting component (5) comprises a pan-tilt motor (501) and a control shaft (502); the pan-tilt motor (501) is fixedly mounted on the upper surface of the stabilizing plate (14); the control shaft (502) is fixedly connected to the output end of the pan-tilt motor (501); the lower end of the control shaft (502) is laid along the ascending channel (405); the lifting platform (402) is located below the ascending channel (405); universal ball head connectors (503) are arranged at the four corners of the upper surface of the lifting platform (402); and the lower end of the control shaft (502) is connected to the universal ball head connector (503).

8. The integrated garbage sorting and handling robot according to claim 7, characterized in that: The vacuum pump (404) is fixedly connected to the bottom surface of the garbage storage and sorting disc (401), and the vacuum pump (404) is located on one side of the lifting platform (402).

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