Robot capable of recycling garbage and control method thereof

Abstract

The invention belongs to the technical field of garbage recycling robots, and particularly relates to a robot capable of recycling garbage and a control method of the robot. A robot capable of recycling garbage comprises a robot shell, one side of the robot shell is connected with a rotating mechanism, and the rotating mechanism is connected with a clamping mechanism; the PLC is awakened, and the PLC controls the robot to be started; a camera collects a garbage signal, then after a fifth motor receives an instruction from a PLC, the fifth motor can drive wheels to move so as to drive the robot to move forwards or backwards, and then the action of clamping garbage by the robot can be achieved under the combined action of a first motor, a second motor, a third motor, a fourth motor and a ninth motor; the invention further provides a control method of the robot capable of recycling the garbage, and the robot capable of recycling the garbage is convenient for operators to use and understand.

Description

Technical Field

[0001] The present invention belongs to the technical field of garbage recycling robots, and in particular, relates to a garbage recycling robot and a control method thereof. Background Art

[0002] With the acceleration of urbanization and the increase in population density, garbage disposal has become one of the environmental challenges that need to be urgently addressed worldwide. Traditional garbage sorting methods rely on manual operations, which are not only inefficient and costly, but also difficult to ensure classification accuracy, especially when faced with the growing amount of urban domestic waste. In addition, incorrect classification will also lead to low resource recycling rates, increase the difficulty of subsequent processing and the risk of environmental pollution. Therefore, it is particularly important to develop an intelligent robot system that can automatically complete garbage identification, collection, and classification and has a certain degree of autonomous mobility.

[0003] At present, some products have appeared in the market that try to improve this situation by introducing automation technology, such as using sensors installed at fixed positions and conveyor belts for preliminary screening, or using drones to assist in monitoring environmental sanitation conditions in specific areas. However, these solutions are either limited to their fixed working range or have many inconveniences in actual operation, making it difficult to meet the needs of large-scale deployment.

[0004] A Chinese patent (publication number: 104278650A) discloses an automatic garbage recycling robot. The automatic garbage recycling robot has four hands, two of which can collect garbage and classify the recycled garbage. The other two hands can clean, and a mop is installed at the bottom to mop the floor. Using such an automatic garbage recycling robot can greatly reduce the number of cleaning workers, reduce labor intensity, and improve efficiency. Summary of the invention

[0005] The present invention is made to solve the above-mentioned problems, and aims to provide a robot that can automatically recycle garbage. In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a robot that can recycle garbage, including a robot shell, including a rotating mechanism connected to one side of the robot shell, and the rotating mechanism is connected to a clamping mechanism.

[0006] The clamping mechanism includes a first disc, which is arranged on one side of the robot shell, and first fixed blocks are connected to both ends of the first disc, a first motor is arranged on the first fixed block, the first motor shaft is connected to the first connecting plate, a second motor is arranged at one end of the first connecting plate, the second motor shaft is connected to the second connecting plate, a third motor is arranged at one end of the second connecting plate, the third motor shaft is connected to the third connecting plate, a fourth motor is arranged at one end of the third connecting plate, the fourth motor shaft is connected to the fourth connecting plate, a ninth motor is arranged at both ends of the fourth connecting plate, the ninth motor shaft is connected to the first connecting rod, one end of the first connecting rod is connected to the first clamp, the other end of the first clamp is connected to the second connecting rod, and the second connecting rod shaft is connected to the fourth connecting plate.

[0007] The rotating mechanism includes a first connecting column, which is arranged on one side of the robot shell. A seventh motor is arranged in the first connecting column. The seventh motor is connected to a first gear, the first gear is connected to a second gear, and the second gear shaft extends out of the first connecting column to connect to the first disk.

[0008] A sixth motor is arranged at the top of the robot shell, and the sixth motor shaft extends out of the robot shell and is connected to the first rotating shaft, the first rotating shaft is connected to the first sphere, a camera is arranged on the first sphere, a PLC controller is arranged in the first sphere, and the PLC controller is connected to the first motor, the second motor, the third motor, the fourth motor, the sixth motor, the seventh motor, the ninth motor, the camera and the PLC controller.

[0009] A first fixed plate is provided at the bottom of the robot shell, one end of the first fixed plate is connected to an L-shaped plate, a fifth motor is provided on the L-shaped plate, a distance measuring sensor is provided on the first fixed plate, a wheel is connected to the fifth motor shaft, and the fifth motor and the distance measuring sensor are connected to a PLC controller.

[0010] An eighth motor is arranged at the bottom of the robot housing, the shaft of the eighth motor is connected to the first fixing plate, and the eighth motor is connected to the PLC controller.

[0011] A solar panel is arranged on the top of the robot shell, a battery is arranged on one side of the robot shell, the battery charging end is connected to the solar panel, and the battery output end is connected to the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the seventh motor, the eighth motor, the ninth motor, the camera and the PLC controller.

[0012] A first slot is provided in the robot housing, and a garbage collection box is arranged in the first slot.

[0013] At least one garbage collection box is provided.

[0014] The present invention also provides a control method for a garbage recycling robot, comprising the following steps:

[0015] Step 101: Wake up the PLC controller, and the PLC controller controls the movement of the robot;

[0016] Step 102: The PLC controller generates a motor control instruction according to the data collected by the camera;

[0017] Step 103: The PLC controller controls the movement of the robot and the picking up of garbage;

[0018] Step 104: The PLC controller controls the robot to place the garbage into the garbage recycling bin.

[0019] The technical effects of the present invention are as follows: the PLC controller is started, and the PLC controller controls the robot to start; the battery supplies power to the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the seventh motor and the eighth motor, the camera and the PLC controller; the camera collects garbage signals, and the camera transmits the garbage signals to the PLC controller, and the PLC controller receives the data collected by the camera and generates motor control instructions; then after the fifth motor receives the instruction from the PLC controller, the fifth motor can drive the wheels to move, thereby driving the robot forward or backward, and when the wheels drive the robot to move to a suitable position, the ranging sensor transmits a signal to the PLC controller, and the PLC controller controls the moving robot to stop, and controls the robot to perform a gripping action, and the robot can grip the garbage under the joint action of the first motor, the second motor, the third motor, the fourth motor and the ninth motor, and the PLC controller controls the robot to put the garbage into the garbage recycling bin. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] This specification includes the following drawings, which show the following contents:

[0021] Figure 1 This is an overall structural diagram of a robot capable of recycling garbage according to the present invention;

[0022] Figure 2 The present invention is a robot capable of recycling garbage Figure 1 The enlarged view of point A in the middle;

[0023] Figure 3 This is a front structural diagram of a robot capable of recycling garbage according to the present invention;

[0024] Figure 4 It is an enlarged view of the rotating mechanism of a robot capable of recycling garbage according to the present invention.

[0025] The markings in the figure are: 1. robot shell; 101. sixth motor; 102. first rotating shaft; 103. first sphere; 104. eighth motor; 105. first fixing plate; 106. fifth motor; 107. wheel; 108. camera; 109. L-shaped plate; 2. rotating mechanism; 201. first connecting column; 202. seventh motor; 203. first gear; 204. second gear; 3. clamping mechanism; 301. first disc; 302. first fixing block; 303. first motor; 304. first connecting plate; 305. second motor; 306. second connecting plate; 307. third motor; 308. third connecting plate; 309. fourth motor; 310. first connecting rod; 311. first clamp; 312. second connecting rod; 313. fourth connecting plate; 314. ninth motor; 4. solar panel; 5. battery; 6. first slot; 7. garbage collection box. DETAILED DESCRIPTION

[0026] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention and facilitating their implementation.

[0027] like Figures 1 to 4 As shown, a robot capable of recycling garbage includes a robot housing 1, a rotating mechanism 2 connected to one side of the robot housing 1, and a gripping mechanism 3 connected to the rotating mechanism 2. The robot housing 1 is the support of the entire robot, the rotating mechanism 2 can drive the gripping mechanism 3 to move in the vertical direction, and the gripping mechanism 3 can swing in the horizontal direction. The gripping mechanism 3 is responsible for picking up garbage and putting it into a garbage recycling box 7.

[0028] The clamping mechanism 3 includes a first disc 301, which is arranged on one side of the robot housing 1. The first disc 301 is connected to the first fixed block 302 at both ends, and the first fixed block 302 is arranged on the first motor 303. The first motor 303 is connected to the first connecting plate 304 via a rotating shaft. A second motor 305 is arranged at one end of the first connecting plate 304, and the second motor 305 is connected to the second connecting plate 306 via a rotating shaft. A third motor 307 is arranged at one end of the second connecting plate 306, and the third motor 307 is connected to the third connecting plate 308 via a rotating shaft. A fourth motor 309 is arranged at one end of the third connecting plate 308, and the fourth motor 309 is connected to the fourth connecting plate 313 via a rotating shaft. A ninth motor 314 is arranged at both ends of the fourth connecting plate 313, and the ninth motor 314 is connected to the first connecting rod 310 via a rotating shaft. One end of the first connecting rod 310 is connected to the first clamp 311, and the other end of the first clamp 311 is connected to the second connecting rod 312, and the second connecting rod 312 is connected to the fourth connecting plate 313 via a rotating shaft. The first fixing block 302 is responsible for providing an installation position for the first motor 303. The first disc 301 is arranged on one side of the robot housing 1 for connection. The first motor 303 is connected to the first connecting plate 304 with its rotating shaft, which can drive the first connecting plate 304 to rotate. The end of the first connecting plate 304 away from the first motor 303 is connected to the second motor 305. The rotating shaft of the second motor 305 is connected to the second connecting plate 306, which can drive the second connecting plate 306 to move in the horizontal direction. The end of the second connecting plate 306 away from the second motor 305 is provided with a third motor 307. The rotating shaft of the third motor 307 is connected to the second connecting plate 306. The third connecting plate 308 is connected, and the third connecting plate 308 is a giant-shaped plate. The open end of the third connecting plate 308 is connected to the third motor 307, and the third motor 307 can drive the third connecting plate 308 to move in the horizontal direction. The closed end of the third connecting plate 308 is provided with a fourth motor 309, and the fourth motor 309 can drive the fourth connecting plate 313 to rotate. The ninth motor 314 can drive the first connecting rod 310 to move, and the first connecting rod 310 drives the first clamping piece 311 to move. Through the setting of the first connecting rod 310 and the second connecting rod 312, the first clamping pieces 311 at both ends can realize the clamping action.

[0029] A rotating mechanism 2 is provided at the connection between the clamping mechanism 3 and the robot housing 1. The rotating mechanism 2 includes a first connecting column 201, which is provided at one side of the robot housing 1. A seventh motor 202 is provided in the first connecting column 201. The seventh motor 202 is connected to a first gear 203, which is connected to a second gear 204. The rotating shaft of the second gear 204 extends out of the first connecting column 201 and is connected to the first disc 301. The transmission of the first gear and the second gear 204 driven by the seventh motor 202 can drive the first disc 301 to rotate, so that the up and down movement of the clamping mechanism 3 can be realized.

[0030] The sixth motor 101 is arranged at the top of the robot shell 1. The shaft of the sixth motor 101 extends out of the robot shell 1 and is connected to the first rotating shaft 102. The first rotating shaft 102 is connected to the first sphere 103. The first sphere 103 is provided with a camera 108. The first sphere 103 is provided with a PLC controller. The PLC controller is connected with the first motor 303, the second motor 305, the third motor 307, the fourth motor 309, the ninth motor 314, the seventh motor 202 and the camera 108. The sixth motor 101 controls the first rotating shaft 102 to rotate, thereby driving the camera 108 on the first sphere 103 to rotate, so that the camera 108 can see the garbage in all directions without blind spots. The PLC controller can control the robot to start; the PLC controller generates motor control instructions according to the data collected by the camera 108; the PLC controller controls the movement and gripping of the robot; and the PLC controller controls the placement of the garbage in the garbage collection box 7.

[0031] A first fixing plate 105 is provided at the bottom of the robot housing 1, and an L-shaped plate 109 is connected to one end of the first fixing plate 105. A fifth motor 106 is provided on the L-shaped plate 109, and a wheel 107 is connected to the shaft of the fifth motor 106. A distance sensor is provided on the first fixing plate 105, and the distance sensor includes an ultrasonic sensor and an infrared distance sensor. The shaft of the fifth motor 106 is connected to the wheel 107, and the fifth motor 106 and the distance sensor are connected to the PLC controller. The fifth motor 106 can drive the wheel 107 to move, thereby driving the robot forward or backward. When the wheel 107 drives the robot to move to a suitable position, the distance sensor transmits a signal to the PLC controller, and the PLC controller controls the motion robot to stop and controls the robot to perform a clamping action.

[0032] The first fixing plate 105 is used to connect to the L-shaped plate 109. The fifth motor 106 on the L-shaped plate 109 can drive the wheels 107 to rotate, thereby realizing the horizontal movement of the robot.

[0033] The bottom of the robot housing 1 is provided with an eighth motor 104, the shaft of the eighth motor 104 is connected to the first fixing plate 105, and the eighth motor 101 is connected to the PLC controller. The shaft of the eighth motor 101 is connected to the first fixing plate 105 to enable the robot to turn.

[0034] A solar panel 4 is provided at the top of the robot housing 1, and a battery 5 is provided at one side of the robot housing 1. The charging end of the battery 5 is connected to the solar panel 4, and the output end of the battery 5 is connected to the first motor 303, the second motor 305, the third motor 307, the fourth motor 309, the fifth motor 106, the sixth motor 101, the seventh motor 202, and the eighth motor 101. The solar panel 4 can collect the energy of sunlight and store it in the battery 5. The battery 5 is provided with a charging port, and the battery 5 can be charged through the charging port. The battery 5 supplies power to the first motor 303, the second motor 305, the third motor 307, the fourth motor 309, the fifth motor 106, the sixth motor 101, the seventh motor 202, the eighth motor 101, the ninth motor 314, the camera 108, and the PLC controller.

[0035] A first slot 6 is formed in the robot housing 1 , and a garbage collection box 7 is arranged in the first slot 6 .

[0036] The first slot 6 is used for storing the garbage collection box 7. The robot can place the picked up garbage into the garbage collection box 7. The garbage collection box 7 is used for storing garbage.

[0037] At least one garbage collection box 7 is provided. By providing a plurality of garbage collection boxes 7, it can be prevented that one garbage box is not enough to store garbage.

[0038] A control method for a garbage recycling robot comprises the following steps:

[0039] Step 101: Wake up the PLC controller, which controls the movement of the robot; the battery 5 supplies power to the first motor 303, the second motor 305, the third motor 307, the fourth motor 309, the fifth motor 106, the sixth motor 101, the seventh motor 202, the eighth motor 101, the ninth motor 314, the camera 108 and the PLC controller.

[0040] Step 102: The camera 108 collects garbage signals, and the camera 108 transmits the garbage signals to the PLC controller. The PLC controller receives the data collected from the camera 108 and generates a motor control instruction;

[0041] Step 103: The PLC controller controls the movement of the robot and the picking up of garbage; the PLC controller controls the movement of the robot. When the robot moves near the garbage, the ranging sensor transmits a signal to the PLC controller. The PLC controller controls the movement of the robot to stop and controls the robot to perform a picking action to pick up the garbage from the ground.

[0042] Step 104: The PLC controller controls the robot to place the garbage into the garbage recycling bin 7. During this process, the seventh motor 202 drives the transmission of the first gear and the second gear 204. The second gear 204 can drive the first disc 301 to rotate, thereby realizing the up and down movement of the clamping mechanism 3, and the garbage can be placed in the garbage recycling bin 7.

[0043] Functions and Effects of the Embodiments

[0044] The PLC controller is awakened, and the PLC controller controls the movement of the machine; the battery 5 supplies power to the first motor 303, the second motor 305, the third motor 307, the fourth motor 309, the fifth motor 106, the sixth motor 101, the seventh motor 202 and the eighth motor 101, the camera 108 and the PLC controller; the camera 108 collects garbage signals, and the camera 108 transmits the garbage signal to the PLC controller. The PLC controller receives the data collected from the camera 108 and generates a motor control instruction; then after the fifth motor 106 receives the instruction from the PLC controller, the fifth motor 106 can drive the wheel 107 to move, thereby driving the robot forward or backward. When the wheel 107 drives the robot to move to a suitable position, the ranging sensor transmits a signal to the PLC controller, and the PLC controller controls the moving robot to stop and controls the robot to perform a gripping action. Under the joint action of the first motor 303, the second motor 305, the third motor 307, the fourth motor 309 and the ninth motor 314, the robot can grip the garbage, and the PLC controller controls the robot to put the garbage into the garbage recycling box 7.

[0045] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A robot capable of recycling garbage, comprising a robot housing (1), characterized in that: The robot shell (1) comprises a rotating mechanism (2) connected to one side thereof, wherein the rotating mechanism (2) is connected to a clamping mechanism (3).

2. A robot capable of recycling garbage according to claim 1, characterized in that: The gripping mechanism (3) comprises a first disc (301), the first disc (301) being arranged on one side of the robot housing (1), the first disc (301) being connected to first fixing blocks (302) at both ends, the first fixing block (302) being provided with a first motor (303), the first motor (303) having a rotating shaft connected to a first connecting plate (304), one end of the first connecting plate (304) being provided with a second motor (305), the second motor (305) having a rotating shaft connected to a second connecting plate (306), one end of the second connecting plate (306) being provided with a third motor (307), The third motor (307) is connected to the third connecting plate (308) via a rotating shaft, a fourth motor (309) is provided at one end of the third connecting plate (308), the fourth motor (309) is connected to the fourth connecting plate (313) via a rotating shaft, a ninth motor (314) is provided at both ends of the fourth connecting plate (313), the ninth motor (314) is connected to the first connecting rod (310) via a rotating shaft, one end of the first connecting rod (310) is connected to the first clamp (311), the other end of the first clamp (311) is connected to the second connecting rod (312), the second connecting rod (312) is connected to the fourth connecting plate (313) via a rotating shaft.

3. The robot capable of recycling garbage according to claim 1, characterized in that: The rotating mechanism (2) comprises a first connecting column (201), the first connecting column (201) being arranged on one side of the robot housing (1), a seventh motor (202) being arranged inside the first connecting column (201), the seventh motor (202) being connected to a first gear (203), the first gear (203) being connected to a second gear (204), and a rotating shaft of the second gear (204) extending out of the first connecting column (201) and being connected to a first disk (301).

4. A robot capable of recycling garbage according to claim 3, characterized in that: A sixth motor (101) is arranged at the top end of the robot housing (1); the shaft of the sixth motor (101) extends out of the robot housing (1) and is connected to a first rotating shaft (102); the first rotating shaft (102) is connected to a first sphere (103); a camera (108) is arranged on the first sphere (103); a PLC controller is arranged in the first sphere (103); the PLC controller is connected to the first motor (303), the second motor (305), the third motor (307), the fourth motor (309), the sixth motor (101), the seventh motor (202), the ninth motor (314), the camera (108) and the PLC controller.

5. The robot capable of recycling garbage according to claim 1, characterized in that: A first fixing plate (105) is arranged at the bottom of the robot housing (1); one end of the first fixing plate (105) is connected to an L-shaped plate (109); a fifth motor (106) is arranged on the L-shaped plate (109); a distance measuring sensor is arranged on the first fixing plate (105); a wheel (107) is connected to the shaft of the fifth motor (106); and the fifth motor (106) and the distance measuring sensor are connected to a PLC controller.

6. The robot capable of recycling garbage according to claim 5, characterized in that: An eighth motor (104) is arranged at the bottom of the robot housing (1); the shaft of the eighth motor (104) is connected to the first fixing plate (105); and the eighth motor (104) is connected to a PLC controller.

7. The robot capable of recycling garbage according to claim 5, characterized in that: A solar panel (4) is arranged at the top of the robot housing (1), a storage battery (5) is arranged at one side of the robot housing (1), a charging end of the storage battery (5) is connected to the solar panel (4), and an output end of the storage battery (5) is connected to a first motor (303), a second motor (305), a third motor (307), a fourth motor (309), a fifth motor (106), a sixth motor (101), a seventh motor (202), an eighth motor (104), a ninth motor (314), a camera (108) and a PLC controller.

8. The robot capable of recycling garbage according to claim 1, characterized in that: A first slot (6) is provided in the robot housing (1), and a garbage collection box (7) is arranged in the first slot (6).

9. The robot capable of recycling garbage according to claim 8, characterized in that: At least one garbage collection box (7) is provided.

10. A control method for a garbage recycling robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 101: Wake up the PLC controller, and the PLC controller controls the movement of the robot; Step 102: The PLC controller generates a motor control instruction based on the data collected by the camera (108); Step 103: The PLC controller controls the movement of the robot and the picking up of garbage; Step 104: The PLC controller controls the robot to place the garbage into the garbage collection box (7).

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