Intelligent classification garbage can based on multifunctional gripper sorting

Abstract

The invention relates to the technical field of environment-friendly garbage cans, in particular to an intelligent classification garbage can based on multifunctional gripper sorting, which comprises a rack, the upper part of the rack is respectively provided with a grabbing mechanism and a turning plate mechanism, the grabbing mechanism is arranged above the turning plate mechanism, a controller system is arranged above the grabbing mechanism, and a loading mechanism is arranged below the turning plate mechanism; a compression mechanism and a storage mechanism are arranged on the lower portion of the rack, and the storage mechanism is arranged below the compression mechanism. The top of the rack is provided with a starting key, a garbage throwing opening and a touchable display screen. And a clamping hub is arranged at the bottom of the rack. Garbage can be recognized, grabbed, compressed, sorted and recycled through one-time operation, classification treatment of various kinds of garbage is achieved, the garbage classification accuracy is further improved, time is saved, resources and manpower are reduced, the burden of sanitation workers is reduced, the urban environment management level is improved, upgrading and transformation of the environmental protection industry are promoted, and the economic benefit is improved. Sustainable development of environmental protection is realized; and the resource utilization efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of environmentally friendly trash cans, and in particular to an intelligent classification trash can based on multifunctional gripper sorting. Background Art

[0002] As people's living standards improve, the amount of garbage generated in daily life continues to increase, and the impact on the environment is becoming increasingly significant. In order to meet this challenge, the country and society have increasingly stringent requirements for garbage classification. As an emerging solution, smart classification trash cans are gradually gaining attention.

[0003] However, the smart classification trash cans on the market are mainly concentrated in commercial buildings, public places and other high-traffic areas, and their functions and performance still have many deficiencies. Usually, they are simply equipped with sensors and cameras, which can identify the types of garbage and automatically classify them, but the accuracy of garbage classification is not high. They still rely on centralized recycling and then classification and treatment. The garbage treatment efficiency is low, which still causes many difficulties for subsequent treatment. Moreover, it is impossible to compress the garbage, and the existing trash cans are often full, which is actually a virtual full state, resulting in a waste of space and increasing the workload of relevant personnel. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings existing in the prior art, and to propose an intelligent classification trash can based on multi-functional gripper sorting, which can complete garbage identification, grabbing, compression, sorting and recycling in one operation, realize the classification and processing of various types of garbage, further improve the accuracy of garbage classification, save time, reduce resources and manpower, reduce the burden on sanitation workers, improve the level of urban environmental management, and promote the upgrading and transformation of the environmental protection industry, so as to achieve sustainable development of environmental protection and improve resource utilization efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An intelligent classification trash can based on multifunctional gripper sorting comprises a frame, wherein a gripping mechanism and a flap mechanism are respectively arranged on the upper part of the frame, wherein the gripping mechanism is arranged above the flap mechanism, a controller system is arranged above the gripping mechanism, and a loading mechanism is arranged below the flap mechanism; The lower part of the frame is provided with a compression mechanism and a storage mechanism, and the storage mechanism is provided below the compression mechanism; The top of the frame is provided with a start button, a garbage delivery port and a touch screen; the bottom of the frame is provided with a locking wheel hub; The gripping mechanism includes a plug screw, a Y-direction limit block, a mounting block, a guide rail slider, a multifunctional gripper connection seat, a camera, a multifunctional gripper, a synchronous belt, a synchronous wheel, an idler wheel, a motor connection block, a stepper motor, an X-direction limit block, an X-direction linear guide rail, and a Y-direction linear guide rail; The X-direction linear guide and the Y-direction linear guide are both installed on the frame, and the X-direction linear guide is vertically arranged with the Y-direction linear guide; the X-direction linear guide and the Y-direction linear guide are both slidably provided with guide sliders, and the guide sliders are provided with mounting blocks; the stepper motor is connected to the frame through a motor connecting block, a synchronous wheel is sleeved on the output shaft of the stepper motor, an idler wheel is provided on one side of the synchronous wheel, and the idler wheels are multiple, and the multiple idler wheels and the synchronous wheels are connected through a synchronous belt, and the idler wheel is connected to the guide slider through a mounting block, and the idler wheel and the synchronous wheel are fixed to the mounting block through plug screws; an X-direction limit block is provided on the mounting block of the X-direction linear guide, and a Y-direction limit block is provided on the guide slider of the Y-direction linear guide, and the Y-direction limit block is installed with a multifunctional gripper through a multifunctional gripper connecting seat, and a camera is provided on the front side of the Y-direction linear guide.

[0006] By adopting the above technical solutions: it can automatically classify the input garbage and accurately divide it into four categories: recyclable garbage, hazardous garbage, kitchen waste and other garbage. The trash can is built with a multi-functional sorting gripper, which has the ability to quickly identify, grab, compress and sort recycled garbage. In addition, the trash can is also equipped with a fully automated classification system, which can record relevant data during the classification process through an intelligent communication connection terminal and promptly feedback this information to the display screen.

[0007] Preferably, the multifunctional gripper comprises a servo, a flexible mechanical claw, a fire extinguishing nozzle, a three-finger mechanical claw, a vertical rotating joint, a rotary joint and a two-finger mechanical claw; the servo is connected to the multifunctional gripper connecting seat, the servo is connected to a vertical rotating joint through a rotary joint below, a three-finger mechanical claw is provided below the vertical rotating joint, a flexible mechanical claw, a fire extinguishing nozzle and a two-finger mechanical claw are respectively connected to the vertical rotating joint, and the flexible mechanical claw, fire extinguishing nozzle and two-finger mechanical claw are distributed in a circular shape.

[0008] Preferably, the flap mechanism includes an aluminum profile, a servo connecting block, a flap servo, a flap connecting block, a baffle and a pressure sensor; there are four aluminum profiles, the four aluminum profiles are surrounded to form a rectangular frame, the inner side of each aluminum profile is provided with an inclined baffle, and the four baffles are surrounded to form a funnel shape; each baffle is connected to the servo connecting block through the flap connecting block, one end of the flap connecting block is connected to the baffle, and the other end of the flap connecting block is connected to the servo connecting block, the servo connecting block is connected to the aluminum profile, a flap servo is installed on the servo connecting block, and a pressure sensor is provided on the baffle.

[0009] Preferably, the compression mechanism includes an electric push rod, a front push steel plate, an auxiliary push optical shaft, a pressure-bearing steel plate and a lower supporting plate, an electric push rod is provided on the upper side of the lower supporting plate, a front push steel plate is provided at the front end of the electric push rod, a pressure-bearing steel plate is provided at the front end of the front push steel plate, an auxiliary push optical shaft is provided between the pressure-bearing steel plate and the electric push rod, and the front push steel plate is socketed with the auxiliary push optical shaft.

[0010] Preferably, the storage mechanism includes a box tube, a slide groove lower plate, a thickened lower plate and an installation lower plate, the installation lower plate is fixed to the positioning wheel hub, a thickened lower plate is provided above the installation lower plate, the thickened lower plate is fixed to the frame, a slide groove lower plate is provided above the thickened lower plate, the slide groove lower plate is provided with a groove, and the slide groove lower plate is provided with multiple box tubes through the grooves.

[0011] Preferably, the loading mechanism includes a loading tray, a vertical connecting member, a transverse motor, a transverse connecting member, a vertical motor and a motor mounting block; the bottom of the loading tray is connected to the transverse connecting member via a vertical connecting member, a transverse motor is installed on the transverse connecting member, a vertical motor is provided below the transverse connecting member, and the vertical motor is mounted and fixed to the frame via a motor mounting block.

[0012] Preferably, a light strip is provided on the inner side of the flap mechanism, and the light strip is installed on the frame.

[0013] Preferably, a full load detection device is provided on one side of the storage mechanism, and the full load detection device is installed on the frame.

[0014] Preferably, the plurality of boxes are distributed in a rectangular shape, and each box is square in shape.

[0015] By adopting the above technical solution: the trash can is powered by the battery in the controller system to achieve its normal operation. During operation, the user first starts the trash can by pressing the start button. Then, multiple garbage are thrown in from the garbage delivery port together. The garbage will pass through the surrounding protection of the flap mechanism and finally fall on the carrier mechanism. At this time, the built-in camera of the trash can will identify and locate, and then drive the grabbing mechanism to grab various types of garbage one by one, and accurately put them into the corresponding trash bin. If you encounter compressible garbage such as cans, the multifunctional gripper will put it into the compression mechanism for compression processing, and then drop the compressed garbage into the corresponding storage mechanism. Through this series of steps, the intelligent classification trash can can efficiently complete the garbage classification work.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes efficient sorting and compression processing of mixed garbage through the synergistic effect of the grabbing structure, the flap structure, the compression structure, the carrying mechanism and the chassis storage structure.

[0017] 2. In the present invention, when garbage is put into the delivery port, the grabbing mechanism and the flap mechanism will first spread the mixed garbage on the loading mechanism. Then, the camera will identify the garbage and transmit the coordinate information of each garbage to the grabbing mechanism. The multifunctional grabber of the grabbing mechanism will switch different grabbers according to the type of garbage, sort the garbage accurately and put it into the corresponding box. If it is recyclable garbage, the grabber will put it on the lower support plate of the compression device, and the push rod will push the pressure plate to compress it.

[0018] 3. The present invention reduces resource waste, effectively reduces the amount of garbage, alleviates environmental pollution, and significantly improves the intelligence level of garbage bins through accurate garbage sorting. At the same time, garbage detection, classification and compression can be completed simultaneously, greatly improving the operating efficiency of the garbage sorting device. In addition, the design of the compression mechanism not only improves the compression efficiency and compression ratio of recyclable garbage, but also greatly reduces the space occupied by garbage, thereby reducing the cleaning frequency and reducing the workload of relevant personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the grabbing mechanism in the present invention; Figure 3 is a schematic diagram of the multifunctional gripper of the present invention; Figure 4 is a schematic diagram of the flap mechanism in the present invention; Figure 5 is a schematic diagram of the compression mechanism in the present invention; Figure 6 is a schematic diagram of the storage mechanism of the present invention; Figure 7 It is a schematic diagram of the carrying mechanism in the present invention.

[0020] In the figure: 1 Start button; 2 grabbing mechanism, 201 plug screw, 202 Y direction limit block, 203 mounting block, 204 guide rail slider, 205 multi-function gripper connection seat, 206 camera, 207 multi-function gripper, 208 synchronous belt, 209 synchronous wheel, 210 idler wheel, 211 motor connection block, 212 stepping motor, 213 X direction limit block, 214 X direction linear guide, 215 Y direction linear guide; 207 multifunctional gripper, 2072 steering gear, 2073 flexible mechanical claw, 2074 fire sprinkler, 2075 three-finger mechanical claw, 2076 vertical rotation joint, 2077 rotary joint, 2078 two-finger mechanical claw; 3 flap mechanism, 301 aluminum profile, 302 servo connection block, 303 flap servo, 304 flap connection block, 305 baffle, 306 pressure sensor; 4 compression mechanism, 401 electric push rod, 402 front push steel plate, 403 auxiliary push optical axis, 404 pressure steel plate, 405 lower bearing plate; 5 storage mechanism, 501 box tube, 502 slide lower plate, 503 thickened lower plate, 504 installation lower plate; 6 garbage inlet, 7 touch screen, 8 controller system, 9 light strip; 10 loading mechanism, 1001 loading tray, 1002 vertical connection piece, 1003 horizontal motor, 1004 horizontal connection piece, 1005 vertical motor, 1006 motor mounting block; 11 fully loaded inspection equipment, 12 parking wheel hubs. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, thereby making a clearer definition of the protection scope of the present invention. The embodiments described in the present invention are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1-Figure 7 , an intelligent classification trash can based on multifunctional gripper sorting, comprising a frame, the upper part of which is provided with a grabbing mechanism 2 and a flap mechanism 3, the grabbing mechanism 2 is arranged above the flap mechanism 3, a controller system 8 is arranged above the grabbing mechanism 2, and a loading mechanism 10 is arranged below the flap mechanism 3; The lower part of the frame is provided with a compression mechanism 4 and a storage mechanism 5, and the storage mechanism 5 is provided below the compression mechanism 4; The top of the frame is provided with a start button 1, a garbage delivery port 6 and a touch screen 7; the bottom of the frame is provided with a locking wheel hub 12; Reference Figure 2 The gripping mechanism 2 includes a plug screw 201, a Y-direction limit block 202, a mounting block 203, a guide rail slider 204, a multifunctional gripper connection seat 205, a camera 206, a multifunctional gripper 207, a synchronous belt 208, a synchronous wheel 209, an idler wheel 210, a motor connection block 211, a stepper motor 212, an X-direction limit block 213, an X-direction linear guide 214 and a Y-direction linear guide 215; The X-direction linear guide 214 and the Y-direction linear guide 215 are both installed on the frame, and the X-direction linear guide 214 is vertically arranged with the Y-direction linear guide 215; the X-direction linear guide 214 and the Y-direction linear guide 215 are both slidably provided with a guide slider 204, and the guide slider 204 is provided with a mounting block 203; the stepper motor 212 is connected to the frame through a motor connecting block 211, and a synchronous wheel 209 is sleeved on the output shaft of the stepper motor 212, and an idler wheel 210 is provided on one side of the synchronous wheel 209, and the idler wheel 210 is multiple, and the multiple idler wheels 210 and the synchronous The wheels 209 are connected by a synchronous belt 208, the idler wheel 210 is connected to the guide slider 204 through the mounting block 203, and the idler wheel 210 and the synchronous wheel 209 are fixed to the mounting block 203 by screws 201; an X-direction limit block 213 is provided on the mounting block 203 of the X-direction linear guide 214, and a Y-direction limit block 202 is provided on the guide slider 204 of the Y-direction linear guide 215, and the Y-direction limit block 202 is installed with a multifunctional gripper 207 through a multifunctional gripper connecting seat 205, and a camera 206 is provided on the front side of the Y-direction linear guide 215.

[0023] In this embodiment, the trash can is powered by a battery in the controller system 8 to achieve its normal operation. During operation, the user first starts the trash can by pressing the start button 1. Then, multiple garbage is thrown in from the garbage inlet 6. The garbage will pass through the surrounding protection of the flap mechanism 3 and finally fall on the carrying mechanism 10. At this time, the camera 206 built into the trash can will identify and locate, and then drive the grabbing mechanism 2 to grab various types of garbage one by one, and accurately put them into the corresponding trash bin. If you encounter compressible garbage such as cans, the multifunctional gripper will put it into the compression mechanism 4 for compression processing, and then drop the compressed garbage into the corresponding storage mechanism 5. Through this series of steps, the intelligent classification trash can can efficiently complete the garbage classification work.

[0024] Among them, the grabbing mechanism 2 is driven by two stepper motors 212, which can realize the movement of the entire grabbing mechanism in the X direction and the Y direction respectively. The idler wheel 210 and the synchronous wheel 209 are fixed to the mounting block 203 by the plug screw 201. The synchronous belt 208 connects the connecting blocks 203 in the plane to each other, and the connecting blocks 203 are installed on the guide rail slider 204, and the guide rail slider 204 is installed in conjunction with the linear guide 214, so as to ensure that the multifunctional gripper 207 can move smoothly in the fixed plane. The moving range of the entire mechanism in the plane is jointly limited by the Y-direction limit block 202 and the X-direction limit block 213. When the garbage is put in, the camera 206 locates the garbage and compiles the transmission signal to the stepper motor 212. The stepper motor 212 rotates, driving the entire grabbing mechanism to start running from the reset state to sort the garbage. After sorting each piece of garbage, the multifunctional gripper 207 will reset back to the origin and touch the limit switches in the X and Y directions to achieve "stop when returning to the original position".

[0025] Reference Figure 3 Specifically, the multifunctional gripper 207 includes a steering gear 2072, a flexible mechanical claw 2073, a fire extinguishing nozzle 2074, a three-finger mechanical claw 2075, a vertical rotation joint 2076, a rotary joint 2077 and a two-finger mechanical claw 2078; the steering gear 2072 is connected to the multifunctional gripper connecting seat 205, and the steering gear 2072 is connected to a vertical rotation joint 2076 through a rotary joint 2077 below, and a three-finger mechanical claw 2075 is provided below the vertical rotation joint 2076, and the vertical rotation joint 2076 is respectively connected to a flexible mechanical claw 2073, a fire extinguishing nozzle 2074 and a two-finger mechanical claw 2078, and the flexible mechanical claw 2073, the fire extinguishing nozzle 2074 and the two-finger mechanical claw 2078 are distributed in a circular shape.

[0026] In this embodiment, in order to complete the garbage grabbing operation, the multifunctional gripper 207 is the core component of the mechanism. Among them, the flexible mechanical claw 2073 is mainly used to grab irregularly shaped garbage, and the controller controls its kneading degree to achieve precise grabbing; the three-finger mechanical claw 2075 is mainly used to grab square garbage and can provide stable grabbing force; the two-finger mechanical claw 2078 is mainly used to grab canned or compressible garbage, which is suitable for grabbing smaller garbage; the fire extinguishing nozzle 2074 is specially used to handle flammable garbage such as cigarette butts. When the detection element recognizes that flammable materials are thrown in, the multifunctional gripper will first switch to the fire extinguishing nozzle 2074 through the rotating joint 2077 for fire extinguishing, and then perform grabbing and sorting operations.

[0027] Reference Figure 4Specifically, the flap mechanism 3 includes an aluminum profile 301, a servo connection block 302, a flap servo 303, a flap connection block 304, a baffle 305 and a pressure sensor 306; there are four aluminum profiles 301, and the four aluminum profiles 301 are surrounded to form a rectangular frame, and the inner side of each aluminum profile 301 is provided with an inclined baffle 305, and the four baffles 305 are surrounded to form a funnel shape; each baffle 305 is connected to the servo connection block 302 through the flap connection block 304, one end of the flap connection block 304 is connected to the baffle 305, and the other end of the flap connection block 304 is connected to the servo connection block 302, the servo connection block 302 is connected to the aluminum profile 301, the servo connection block 302 is installed with a flap servo 303, and the baffle 305 is provided with a pressure sensor 306.

[0028] In this embodiment, the main function of the flap mechanism 3 is to ensure that the garbage can accurately fall onto the tray of the loading mechanism after being put in by controlling the opening and closing of the baffle 305. When the grabbing mechanism is reset to the origin, the flap servo 303 receives the signal and gathers the four baffles 305 around. After the garbage is put in, the garbage falls due to gravity. However, due to different placement positions, some garbage may fall on the baffle 305. At this time, the pressure sensor 306 installed on the baffle will feel the impact and immediately feed back the signal to the controller. The controller then instructs the flap servo 303 to apply an upward force to accurately move the garbage into the tray. Subsequently, the grabbing mechanism grabs the garbage. At this time, the flap servo 303 receives the signal again and opens the four baffles 305 around so that the sorted garbage can be put in smoothly.

[0029] Reference Figure 5 , refer to Figure 4 Specifically, the compression mechanism 4 includes an electric push rod 401, a front push steel plate 402, an auxiliary push optical axis 403, a pressure-bearing steel plate 404 and a lower supporting plate 405. The electric push rod 401 is provided on the upper side of the lower supporting plate 405, the front end of the electric push rod 401 is provided with a front push steel plate 402, the front end of the front push steel plate 402 is provided with a pressure-bearing steel plate 404, an auxiliary push optical axis 403 is provided between the pressure-bearing steel plate 404 and the electric push rod 401, and the front push steel plate 402 is socketed with the auxiliary push optical axis 403.

[0030] In this embodiment, when the recyclable garbage falls onto the lower support plate 405, its built-in pressure sensor detects the pressure change and transmits the signal to the controller. After receiving the signal, the controller sends a command to the electric push rod 401 and supplies power. The electric push rod 401 is powered on to push the front push steel plate 402 forward within the travel range of the electric push rod, pushing the recyclable garbage forward. Among them, there are two groups of auxiliary push light axes 403, each group has three, and the six auxiliary push light axes 403 play an auxiliary role in this process to ensure that the recyclable garbage does not swing at will during the pushing process. When the recyclable garbage is pushed to the compressed steel plate 404 by the front push steel plate 402, the garbage will be subjected to the reaction force of the compressed steel plate, thereby deforming and being compressed. As the deformation degree of the garbage continues to increase, when it reaches a certain degree, the garbage will be compressed to a sufficiently small volume and eventually fall into the box tube. At this point, the entire compression process is completed.

[0031] Reference Figure 6 Specifically, the storage mechanism 5 includes a box tube 501, a slide groove lower plate 502, a thickened lower plate 503 and an installation lower plate 504. The installation lower plate 504 is fixed to the positioning wheel hub 12. A thickened lower plate 503 is provided above the installation lower plate 504. The thickened lower plate 503 is fixed to the frame. A slide groove lower plate 502 is provided above the thickened lower plate 503. The slide groove lower plate 502 is provided with grooves. The slide groove lower plate 502 is provided with multiple box tubes 501 through the grooves.

[0032] The plurality of boxes 501 are distributed in a rectangular shape, and each box 501 is square in shape.

[0033] In this embodiment, the boxes 501 are arranged in a square shape and are used to store recyclable garbage, kitchen waste, hazardous waste and other garbage. A groove is provided on the lower plate 502 of the chute. On the one hand, the box can be pulled out along the groove to facilitate garbage recycling; on the other hand, the box can be firmly clamped by the limiting function of the groove. In addition, the thickened lower plate 503 is used to install the entire storage mechanism on the overall frame, and the installation lower plate 504 is convenient for installing the clamping hub 11.

[0034] Reference Figure 7 Specifically, the loading mechanism 10 includes a loading tray 1001, a vertical connecting member 1002, a horizontal motor 1003, a horizontal connecting member 1004, a vertical motor 1005 and a motor mounting block 1006; the bottom of the loading tray 1001 is connected to the horizontal connecting member 1004 via the vertical connecting member 1002, the horizontal motor 1003 is installed on the horizontal connecting member 1004, and a vertical motor 1005 is provided below the horizontal connecting member 1004, and the vertical motor 1005 is fixed to the frame via the motor mounting block 1006.

[0035] In this embodiment, the main function of the loading tray 1001 is to receive the garbage thrown in from the delivery port, provide a stable platform for garbage sorting, and facilitate the grabbing mechanism to perform accurate garbage sorting on it. The vertical connecting member 1002 is installed above the horizontal motor 1003, and the horizontal connecting member 1004 is installed on the vertical motor 1005. This structural design enables the loading tray 1001 to achieve rotational motion under the drive of the horizontal motor 1003, and at the same time achieve vertical pitching motion under the drive of the vertical motor 1005. This dual motion capability provides greater flexibility for garbage sorting. When there is only the same type of garbage on the loading tray 1001, there is no need to drive the grabbing mechanism to perform complex operations. At this time, it is only necessary to transmit the signal to the two motors (horizontal motor 1003 and vertical motor 1005) on the loading mechanism, so that the loading tray 1001 directly pours the garbage into the corresponding box barrel through rotation and pitching motion. This design greatly improves the efficiency of garbage sorting, reduces the repeated actions of the grabbing mechanism, and optimizes the entire garbage disposal process. Finally, the entire loading mechanism is firmly mounted on the frame through the motor mounting block 1006 to ensure its stability and reliability during operation.

[0036] Wherein, a light strip 9 is provided on the inner side of the flap mechanism 3, and the light strip 9 is installed on the frame.

[0037] Wherein, a full load detection device 11 is provided on one side of the storage mechanism 5, and the full load detection device 11 is installed on the frame.

[0038] When the present invention is used, the user first starts the trash can by pressing the start button 1. Then, multiple pieces of garbage are thrown in from the garbage inlet 6. The garbage will pass through the surrounding protection of the flap mechanism 3 and finally fall onto the loading mechanism 10. At this time, the camera 206 built into the trash can will identify and locate, and then drive the grabbing mechanism 2 to grab each type of garbage one by one, and accurately put it into the corresponding trash bin. If compressible garbage such as cans is encountered, the multifunctional gripper will put it into the compression mechanism 4 for compression processing, and then the compressed garbage will fall into the corresponding storage mechanism 5. Through this series of steps, the intelligent classification trash can can efficiently complete the garbage classification work.

[0039] In summary, the present invention reduces resource waste, effectively reduces the amount of garbage, alleviates environmental pollution, and significantly improves the intelligence level of the garbage can through accurate garbage sorting. At the same time, the detection, classification and compression of garbage can be completed simultaneously, which greatly improves the operating efficiency of the garbage sorting device. In addition, the design of the compression mechanism not only improves the compression efficiency and compression ratio of recyclable garbage, but also greatly reduces the space occupied by garbage, thereby reducing the cleaning frequency and reducing the workload of relevant personnel.

[0040] The description and practice disclosed in the present invention are easy to think and understand for ordinary technicians in the technical field, and several improvements and modifications can be made without departing from the principles of the present invention. Therefore, modifications or improvements made without departing from the spirit of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent classification trash can based on multifunctional gripper sorting, comprising a frame, characterized in that: The upper part of the frame is provided with a gripping mechanism (2) and a flap mechanism (3), the gripping mechanism (2) is provided above the flap mechanism (3), a controller system (8) is provided above the gripping mechanism (2), and a loading mechanism (10) is provided below the flap mechanism (3); A compression mechanism (4) and a storage mechanism (5) are respectively provided at the lower part of the frame, and the storage mechanism (5) is provided below the compression mechanism (4); The top of the frame is provided with a start button (1), a garbage delivery port (6) and a touch screen (7); the bottom of the frame is provided with a locking wheel hub (12); The gripping mechanism (2) comprises a driving screw (201), a Y-direction limit block (202), a mounting block (203), a guide rail slider (204), a multifunctional gripper connecting seat (205), a camera (206), a multifunctional gripper (207), a synchronous belt (208), a synchronous wheel (209), an idler wheel (210), a motor connecting block (211), a stepping motor (212), an X-direction limit block (213), an X-direction linear guide rail (214) and a Y-direction linear guide rail (215); The X-direction linear guide (214) and the Y-direction linear guide (215) are both mounted on the frame, and the X-direction linear guide (214) and the Y-direction linear guide (215) are arranged perpendicularly; a guide slider (204) is slidably mounted on the X-direction linear guide (214) and the Y-direction linear guide (215), and a mounting block (203) is disposed on the guide slider (204); the stepping motor (212) is connected to the frame via a motor connecting block (211), a synchronous wheel (209) is sleeved on the output shaft of the stepping motor (212), an idler wheel (210) is disposed on one side of the synchronous wheel (209), and the idler wheel (210) is multiple, and the multiple idler wheels (210) and the synchronous wheel (209) are connected to each other. 09) are connected by a synchronous belt (208), the idler wheel (210) is connected to the guide rail slider (204) through a mounting block (203), and the idler wheel (210) and the synchronous wheel (209) are fixed to the mounting block (203) by a screw (201); an X-direction limit block (213) is provided on the mounting block (203) of the X-direction linear guide (214), a Y-direction limit block (202) is provided on the guide rail slider (204) of the Y-direction linear guide (215), and a multifunctional gripper (207) is installed on the Y-direction limit block (202) through a multifunctional gripper connecting seat (205), and a camera (206) is provided on the front side of the Y-direction linear guide (215).

2. According to claim 1, the intelligent classification trash can based on multifunctional gripper sorting is characterized in that: The multifunctional gripper (207) comprises a steering gear (2072), a flexible mechanical claw (2073), a fire extinguishing nozzle (2074), a three-finger mechanical claw (2075), a vertical rotation joint (2076), a rotary joint (2077) and a two-finger mechanical claw (2078); the steering gear (2072) is connected to the multifunctional gripper connection seat (205); the steering gear (2072) is connected to a vertical rotation joint (2076) via a rotary joint (2077) below the steering gear (2072); a three-finger mechanical claw (2075) is provided below the vertical rotation joint (2076); the flexible mechanical claw (2073), the fire extinguishing nozzle (2074) and the two-finger mechanical claw (2078) are respectively connected to the vertical rotation joint (2076); the flexible mechanical claw (2073), the fire extinguishing nozzle (2074) and the two-finger mechanical claw (2078) are distributed in a circular shape.

3. According to claim 1, the intelligent classification trash can based on multifunctional gripper sorting is characterized in that: The flap mechanism (3) comprises an aluminum profile (301), a steering gear connection block (302), a flap steering gear (303), a flap connection block (304), a baffle (305) and a pressure sensor (306); the aluminum profiles (301) are four, the four aluminum profiles (301) surround to form a rectangular frame, the inner side of each aluminum profile (301) is provided with an inclined baffle (305), and the four baffles (305) surround to form a funnel shape; each baffle (305) ) are connected to a steering gear connection block (302) via a flap connection block (304); one end of the flap connection block (304) is connected to a baffle (305); the other end of the flap connection block (304) is connected to a steering gear connection block (302); the steering gear connection block (302) is connected to an aluminum profile (301); a flap servo (303) is mounted on the steering gear connection block (302); and a pressure sensor (306) is provided on the baffle (305).

4. According to claim 1, the intelligent classification trash can based on multifunctional gripper sorting is characterized in that: The compression mechanism (4) comprises an electric push rod (401), a front push steel plate (402), an auxiliary push optical axis (403), a pressure-bearing steel plate (404) and a lower support plate (405); an electric push rod (401) is provided on one side above the lower support plate (405); a front push steel plate (402) is provided at the front end of the electric push rod (401); a pressure-bearing steel plate (404) is provided at the front end of the front push steel plate (402); an auxiliary push optical axis (403) is provided between the pressure-bearing steel plate (404) and the electric push rod (401); and the front push steel plate (402) and the auxiliary push optical axis (403) are sleeved.

5. According to claim 1, the intelligent classification trash can based on multifunctional gripper sorting is characterized in that: The storage mechanism (5) comprises a box barrel (501), a slide groove lower plate (502), a thickened lower plate (503) and a mounting lower plate (504); the mounting lower plate (504) is fixedly mounted on the locking wheel hub (12); a thickened lower plate (503) is arranged above the mounting lower plate (504); the thickened lower plate (503) is fixedly mounted on the frame; a slide groove lower plate (502) is arranged above the thickened lower plate (503); a groove is arranged on the slide groove lower plate (502); and a plurality of box barrels (501) are arranged on the slide groove lower plate (502) through the grooves.

6. The intelligent classification trash can based on multifunctional gripper sorting according to claim 1 is characterized in that: The object-carrying mechanism (10) comprises an object-carrying tray (1001), a vertical connecting member (1002), a horizontal motor (1003), a horizontal connecting member (1004), a vertical motor (1005) and a motor mounting block (1006); the bottom of the object-carrying tray (1001) is connected to the horizontal connecting member (1004) via the vertical connecting member (1002), the horizontal motor (1003) is mounted on the horizontal connecting member (1004), a vertical motor (1005) is arranged below the horizontal connecting member (1004), and the vertical motor (1005) is mounted and fixed to the frame via the motor mounting block (1006).

7. The intelligent classification trash can based on multifunctional gripper sorting according to claim 1 is characterized in that: A light strip (9) is provided on the inner side of the flap mechanism (3), and the light strip (9) is mounted on the frame.

8. The intelligent classification trash can based on multifunctional gripper sorting according to claim 1 is characterized in that: A full load detection device (11) is provided on one side of the storage mechanism (5), and the full load detection device (11) is installed on a frame.

9. The intelligent classification trash can based on multifunctional gripper sorting according to claim 5 is characterized in that: The plurality of box tubes (501) are distributed in a rectangular shape, and each box tube (501) is square in shape.

10. The method for using the intelligent classification trash can based on multifunctional gripper sorting according to claim 1 is characterized in that: The method of use comprises the following steps: The user first starts the trash can by pressing the start button (1); then, a plurality of pieces of trash are thrown into the trash inlet (6) at the same time. The pieces of trash will pass through the surrounding protection of the flap mechanism (3) and finally fall onto the loading mechanism (10); at this time, the camera (206) built into the trash can will identify and locate the pieces, and then drive the grabbing mechanism (2) to grab each type of trash one by one and accurately place them into the corresponding trash bin; if compressible trash such as cans is encountered, the multifunctional grabber (207) will place it into the compression mechanism (4) for compression processing, and then the compressed trash will fall into the corresponding storage mechanism (5).

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