Intelligent hydraulic wall grabbing type trash remover

Abstract

The invention belongs to the technical field of trash-cleaning machines, and particularly relates to an intelligent hydraulic wall-grabbing trash-cleaning machine which comprises a mechanical arm rod and a grab bucket, the bottom end of the mechanical arm rod is hinged to the grab bucket, a first hydraulic cylinder is hinged between the mechanical arm rod and the grab bucket, the grab bucket is provided with a fixing plate, and the fixing plate is provided with a second hydraulic cylinder. A hydraulically-rotating welting plate is arranged on one side of the fixing plate, a hydraulically-rotating gripper plate is arranged on the other side of the fixing plate, the welting plate and the gripper plate are both arranged to be in a grid shape, the fixing plate, the welting plate and the gripper plate can define a frame body, rotatable baffle mechanisms are arranged at the opening positions of the two ends of the frame body, and the two ends of the frame body are each provided with a baffle plate. A plurality of pressure detection units are arranged on the side, away from the gripper plate, of the welt plate. Hydraulic drive is controlled through feedback of the pressure detection unit to adjust the inclination angle of the welt plate so as to be attached to the outer wall of the trash holding gate, and the baffle mechanism rotates to guide the interior of a small-size dustbin frame on the outer side of the end through water flow dispersed at the two ends.

Description

Technical Field

[0001] The invention relates to the technical field of garbage cleaning machines, and in particular to an intelligent hydraulic wall-grabbing type garbage cleaning machine. Background Art

[0002] Usually in water conservancy projects, a trash gate is installed at the corresponding position of the river (especially in front of the water conservancy station). Generally, the trash gate in the prior art only intercepts the dirt on the water surface through a fence, and the dirt often needs to be cleaned over time.

[0003] The prior art often uses a garbage cleaning machine to clean up the garbage at the trash gate. A method for online trajectory correction control of a grab-arm type garbage cleaning robot with application number CN202011246779.7 discloses that the motion path from P1 to P3 is divided into 5 stages according to the grab arm space trajectory planning technology; the big arm connecting rod is driven to rotate relative to the track moving vehicle, the small arm hydraulic cylinder is installed on the big arm connecting rod, and the small arm connecting rod is driven to rotate relative to the big arm connecting rod. The grab bucket hydraulic cylinder is installed on the small arm connecting rod, and the grab bucket is driven to rotate relative to the small arm connecting rod, so that the grab bucket moves downward along the trash rack. However, in the process of moving the grab bucket to grab the garbage, the garbage is only clamped and lifted by the gripper parts that can be opened and closed on both sides of the lower opening of the grab bucket, which often causes part of the garbage to flow out with the moving water, or some small-volume garbage on the outside cannot be clamped at all times, which affects the actual cleaning effect. Summary of the invention

[0004] Based on the technical problems of the background technology, the present invention proposes an intelligent hydraulic wall-grabbing garbage cleaning machine.

[0005] The present invention proposes an intelligent hydraulic wall-grabbing garbage cleaning machine, comprising a mechanical arm and a grab bucket, wherein the bottom end of the mechanical arm is hinged to the grab bucket, a hydraulic cylinder is hinged between the mechanical arm and the grab bucket, the grab bucket is provided with a fixed plate, a hydraulically rotating edging plate is provided on one side of the fixed plate, a hydraulically rotating gripping plate is provided on the other side of the fixed plate, the edging plate and the gripping plate are both arranged in a grid shape, the fixed plate, the edging plate and the gripping plate can be surrounded by a frame, rotatable baffle mechanisms are provided at the opening positions at both ends of the frame, and a plurality of pressure detection units are provided on the side of the edging plate away from the gripping plate.

[0006] Preferably, a hole one is opened at a position of the side wall of the edging plate corresponding to the pressure detection unit, a vertically arranged hole two is opened at the end of the hole one close to the gripping plate, the pressure detection unit is provided with a contact block slidably connected to the inner wall of the hole one, the inner diameter of the end of the hole one away from the gripping plate gradually decreases outward, a spring is fixed to the inner wall of the end of the hole two away from the hole one, a connecting block slidably connected to the inner wall of the hole two is fixed to one end of the spring, a pressure detector is fixed to the inner wall of the end of the hole two away from the hole one, and both ends of the contact block and the connecting block are arranged to be protruding hemispherical structures.

[0007] Preferably, electric guide rails are provided at both ends of the bottom of the fixed plate, the bottom end of the electric guide rails is connected to a vertically placed support frame, the baffle mechanism is provided with a mounting frame horizontally fixed to the bottom end of the support frame, a guide wheel and a driving wheel are rotatably provided at the end of the mounting frame, the guide wheel and the outer walls of the driving wheel are meshed, the end of the guide wheel facing the opening of the frame is fixed with blades distributed in a circular array, the side of the grip plate close to the edging plate is fixed with a rack with an arc structure, the rack is meshed with the outer wall of the driving wheel.

[0008] Preferably, the plurality of blades are provided with circular hollow surfaces in the center area of ​​the guide wheel, a plurality of through holes are opened on the outer wall of the end of the guide wheel at the circumferential position of the circular hollow surface, and a drainage groove distributed in a circular array is opened on the outer wall of the end of the guide wheel away from the frame opening, the width of the drainage groove gradually increases toward the center position, and the depth of the drainage groove gradually decreases toward the center position.

[0009] Preferably, the end of the guide wheel facing the frame opening is provided with a plurality of concentric guide grooves in annular structure, and the outer side of the guide groove is provided with a plurality of step grooves, the depth of the step grooves gradually decreases toward the position away from the center of the circle.

[0010] Preferably, multiple downward extending partition bars 1 are fixed to the outer walls at both ends of the fixed plate near the side of the edging plate, and multiple partition bars 2 are fixed to the outer walls at both ends of the grab plate. The partition bars 2 are inclined upward toward the edging plate, and multiple auxiliary flow grooves are opened on the side walls of the partition bars 1 and 2 near the frame.

[0011] Preferably, a fixing frame is fixed to the top of the fixing plate, the top of the fixing frame is hinged to the bottom end of the mechanical arm rod, the two ends of the hydraulic cylinder one are respectively hinged to the mechanical arm rod and the fixing frame, an installation cavity with openings on both sides is provided in the fixing frame, hydraulic cylinder two is hinged between the side plate and the inner wall of the installation cavity, and hydraulic cylinder three is hinged between the gripping plate and the inner wall of the installation cavity.

[0012] Preferably, fixing grooves are provided on both sides of the fixed plate, the edging plate is provided with a folding plate 1 at the top end which is rotatably connected to the fixing groove, a plurality of cross-connected connecting plates 1 and a grille bar 1 are provided below the folding plate 1, the bottom end of the grille bar 1 is provided with an edging portion whose thickness gradually decreases downward, the side wall of the grille bar 1 is provided with a perforation, and the top end of the folding plate 1 is inclined upward toward the side close to the fixed plate.

[0013] Preferably, the gripping plate is provided with a folding plate 2 at the top end rotatably connected to the fixed groove, a plurality of cross-connected connecting plates 2 and grille bars 2 are provided below the folding plate 2, the gripping plate is arranged into a curved "7" shape structure, and a vertically arranged grabbing portion is provided at one end of the grille bar 2 away from the folding plate 2, the grille bar 2 and the grille bar 1 are arranged to be spaced apart, and the length of the fixed plate is greater than the height of the edging plate.

[0014] The beneficial effects of the present invention are:

[0015] 1. In the embodiment of the present invention, the feedback of the pressure detection unit is used to control the hydraulic drive to adjust the inclination angle of the side plate to fit the outer wall of the trash gate. When the grab bucket descends, the grip plate rotates toward the side of the side plate and closes to grab, and the grab bucket rises, the baffle mechanism rotates to use the dispersed water flow at both ends to guide the small volume of garbage outside the end into the frame body, so as to ensure that the small volume of garbage that fits the outer wall or the end of the trash gate is effectively guided and cleaned, and the water flow generated during descent causes part of the garbage to flow out and affect the cleaning efficiency, thereby improving the actual cleaning effect and working efficiency.

[0016] 2. In the embodiment of the present invention, the guide wheel arranged by the baffle mechanism utilizes the arrangement of multiple through holes to partially divert water from the inside of the frame, and utilizes multiple drainage grooves near the inner side of the frame to allow the outer water to flow along the drainage grooves to the through holes near the center position, thereby increasing the negative pressure state in the frame, effectively preventing the internal sewage from flowing out and increasing the attraction of some small-volume garbage from the outside, thereby further improving the actual operation effect of utilizing rotating water diversion to improve the grabbing operation.

[0017] 3. In the embodiment of the present invention, the vertical length of the opened gripping plate is greater than the vertical length of the side plate, so that the side plate can be used to fit the outer wall of the trash gate to gather the trash into the grab bucket, and the longer gripping plate and the baffle mechanisms at both ends are used to block it; and in the grabbing operation process, the rotation path range of the gripping plate is greater than the range of the side plate, and the rotation drainage of the baffle mechanism ensures that the trash is grabbed in the area between the side plate and the gripping plate, and effectively prevents the trash from flowing out to the outside with the water flow of the grabbing movement, so as to further enhance the actual cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a grab bucket of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0019] Figure 2 This is a schematic diagram of the side plate structure of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0020] Figure 3 This is a schematic cross-sectional structural diagram of the contact block position of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of a gripping plate of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0022] Figure 5 This is a schematic diagram of the guide wheel and drive wheel structure of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0023] Figure 6 This is a schematic diagram of the guide wheel and mounting frame structure of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0024] Figure 7 This is a schematic diagram of the guide wheel structure of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0025] Figure 8 This is a schematic diagram of the fixed frame structure of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0026] Fig. 9 This is a schematic diagram of the fixed plate structure of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0027] Fig.10 This is a schematic diagram of the opening of an intelligent hydraulic wall-grabbing garbage cleaning machine for cleaning garbage on a vertical surface proposed by the present invention;

[0028] Fig.11 A schematic diagram of an opening for cleaning a downward outward inclined surface of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0029] Fig.12 This is a schematic diagram of an opening for cleaning a downward inward inclined surface of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0030] Fig.13 A schematic diagram of the grabbing and cleaning state of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention;

[0031] Fig.14 This is a schematic diagram of the lifting state after grabbing of an intelligent hydraulic wall-grabbing garbage cleaning machine proposed by the present invention.

[0032] In the figure: 1 mechanical arm rod, 2 fixed plate, 201 fixed groove, 3 welt plate, 4 gripper plate, 5 hydraulic cylinder 1, 6 hydraulic cylinder 2, 7 hydraulic cylinder 3, 8 cover plate, 9 contact block, 10 limit slide bar, 11 spring, 12 connecting block, 13 pressure detector, 14 support frame, 15 mounting frame, 16 guide wheel, 1601 wheel blade, 1602 guide groove, 1603 step groove, 1604 through hole, 1605 drainage groove, 17 driving wheel, 18 rack, 19 partition bar 1, 20 partition bar 2, 21 auxiliary flow groove, 22 fixed frame, 2201 connecting part, 2202 supporting part, 23 ear plate, 24 folding plate 1, 25 connecting plate 1, 26 grille bar 1, 2601 perforation, 27 welt part, 28 folding plate 2, 29 connecting plate 2, 30 grille bar 2, 31 grabbing part. DETAILED DESCRIPTION

[0033] Example 1

[0034] Reference Figure 1-Figure 3 An intelligent hydraulic wall-grabbing garbage cleaning machine comprises a mechanical arm rod 1 and a grab bucket, wherein the bottom end of the mechanical arm rod 1 is hinged to the grab bucket, a hydraulic cylinder 5 is hinged between the mechanical arm rod 1 and the grab bucket, the grab bucket is provided with a fixed plate 2, a hydraulically rotating side plate 3 is provided on one side of the fixed plate 2, a hydraulically rotating gripping plate 4 is provided on the other side of the fixed plate 2, the side plate 3 and the gripping plate 4 are both arranged in a grid shape, the fixed plate 2, the side plate 3 and the gripping plate 4 can be surrounded by a frame, and the side of the side plate 3 away from the gripping plate 4 is arranged There are multiple pressure detection units. Before grabbing, the side plate 3 and the bottom of the gripping plate 4 are opened and the grab bucket is lowered by the mechanical arm 1. The side plate 3 is rotated by hydraulic pressure to make the side with the pressure detection unit fit the outer wall of the trash gate and move downward. The feedback of the pressure detection unit is used to control the hydraulic drive to adjust the inclination angle of the side plate 3 to fit the outer wall of the trash gate, so as to quickly adjust to the outer wall to sink the grab bucket for cleaning, and ensure that the garbage fitting the outer wall of the trash gate is grabbed and cleaned.

[0035] In the present invention, reference is made to Figure 3A hole 1 is provided at a position corresponding to the pressure detection unit on the side wall of the edging plate 3, and a vertically arranged hole 2 is provided at the end of the hole 1 near the gripping plate 4. A cover plate 8 for blocking the hole 1 and the hole 2 is embedded and fixed on the side of the edging plate 3 near the gripping plate 4. A limiting slide bar 10 is fixed on the position corresponding to the side wall of the cover plate 8 and the hole 1. The pressure detection unit is provided with a contact block 9 slidably connected to the outer wall of the limiting slide bar 10, and the outer wall of the contact block 9 is slidably connected to the inner wall of the hole 1. The inner diameter of the end of the hole 1 away from the gripping plate 4 gradually decreases outward, and a spring 11 is fixed to the inner wall of the end of the hole 2 away from the hole 1, and a connecting block 12 slidably connected to the inner wall of the hole 2 is fixed at one end of the spring 11, and a pressure detector 13 is fixed to the inner wall of the end of the hole 2 away from the hole 1. Both ends of the contact block 9 and the connecting block 12 are configured to be convex hemispherical structures. In fact, in a normal state, the spring 11 is used to squeeze the connecting block 12 into the hole 1, and the end of the connecting block 12 is used to press the connecting block 12 into the hole 1. The arc surface of the outer part squeezes the end arc surface of the contact block 9, and the contact block 9 is limited by the outward contraction opening of the channel 1, so that the end of the contact block 9 leaks out a part of the channel and blocks the channel 1. When the grab bucket is moved and the side plate 3 is rotated to make the side plate 3 close to the outer wall of the trash gate, the outer wall of the trash gate squeezes the contact block 9 and pushes the connecting block 12 inward, so that the pressure is detected by using multiple pressure detectors 13 to adjust the inclination angle of the side plate 3, and ensure that the side plate 3 is in contact with the outer wall of the trash gate and descends to grab and clean the garbage adhered nearby; and the arc setting of the end of the contact block 9 and the connecting block 12 and the matching channel 1 and channel 2 can avoid the pressure detector 13 from being detected in the water, and the contact block 9 and the connecting block 12 move in the vertical direction to disperse the force, while ensuring the detection operation, avoid the pressure detector 13 from being damaged due to excessive impact strength caused by rapid installation, thereby improving the effectiveness of the actual equipment in the long-term pollution cleaning operation.

[0036] Example 2

[0037] Reference Figure 1An intelligent hydraulic wall-grabbing garbage cleaning machine comprises a mechanical arm rod 1 and a grab bucket, wherein the bottom end of the mechanical arm rod 1 is hinged to the grab bucket, a hydraulic cylinder 5 is hinged between the mechanical arm rod 1 and the grab bucket, the grab bucket is provided with a fixed plate 2, a hydraulically rotatable welt plate 3 is provided on one side of the fixed plate 2, a hydraulically rotatable gripping plate 4 is provided on the other side of the fixed plate 2, the welt plate 3 and the gripping plate 4 are both arranged in a grid shape, the fixed plate 2, the welt plate 3 and the gripping plate 4 can be surrounded by a frame, and a rotatable baffle is provided at both end openings of the frame In the process of the grab bucket descending, the grip plate 4 rotating toward the side plate 3 and closing to grab, and the grab bucket rising, the moving water flow hits the baffle mechanism to make it rotate, and the water flow dispersed at both ends is used to guide the small-volume garbage bin frame outside the end to ensure that the small-volume garbage attached to the outer wall or end of the garbage gate is effectively guided and cleaned, and the water flow generated during descent causes part of the garbage to flow out and affect the cleaning efficiency, thereby improving the actual cleaning effect and working efficiency.

[0038] The present invention refers to Figure 5-Figure 6, electric guide rails are arranged at both ends of the bottom of the fixed plate 2, and the two ends of the electric guide rails in the extension direction are respectively facing the welt plate 3 and the gripping plate 4, and the bottom end of the electric guide rail is connected to a vertically placed support frame 14, and the baffle mechanism is provided with a mounting frame 15 horizontally fixed to the bottom end of the support frame 14, and the mounting frame 15 is provided with a guide wheel 16 and a driving wheel 17 rotating toward the end of the frame opening, and the outer walls of the guide wheel 16 and the driving wheel 17 are meshed, and the end of the guide wheel 16 facing the frame opening is fixed with a circular array of blades 1601, and the gripping plate A rack 18 with an arc structure is fixed on the side near the side plate 3, and the rack 18 is meshed with the outer wall of the driving wheel 17. In actual use, when the grab bucket descends, the bottom of the grip plate 4 opens and the rack 18 does not contact the driving wheel 17. The electric guide rail is used to move the guide wheel 16 to the middle position of the openings at both ends and the driving wheel 17 still does not contact the rack 18. When the grab bucket descends, the guide wheel 16 should be rotated naturally by the collision of the blades 1601 with the water flow, so as to draw water from the center and disperse it inward, thereby helping to prevent small-volume garbage from being carried away by the water. The flow flows out from the end; then when grabbing, the guide wheel 16 is moved to the middle position of the frame end, and when the gripping plate 4 rotates to grab, the rack 18 rotates on the outer wall of the driving wheel 17 to actively rotate the guide wheel 16, thereby increasing the suction force of drawing water and waste inward, thereby avoiding the outflow of some small-volume garbage during the grabbing process; and when raising the grab bucket, the guide wheel 16 is moved to the side of the side plate 3 to separate the driving wheel 17 from the rack 18, and during the lifting process, the guide wheel 16 rotates to drain under the impact of the water flow, thereby avoiding the lifting process. The water flowing out of the basket brings out a large amount of garbage, which is blocked by the guide wheel 16 and the drive wheel 17; when releasing the garbage after grabbing, the guide wheel 16 is moved to make the drive wheel 17 contact with the rack 18, and the gripper plate 4 is opened and released, so that the guide wheel 16 rotates at a high speed to centrifugally throw away the material, thereby avoiding excessive garbage residue affecting the next grabbing operation; thereby, the effectiveness of the actual continuous grabbing operation is improved through the position and structural setting of the guide wheel 16, the drive wheel 17 and the rack 18, and the actual cleaning effect and efficiency are improved.

[0039] In the present invention, reference is made to Figure 6-Figure 7, a plurality of blades 1601 are provided with a circular hollow surface in the center area of ​​the guide wheel 16, a plurality of through holes 1604 are provided on the outer wall of the end of the guide wheel 16 at the circumferential position of the circular hollow surface, and a ring array of drainage grooves 1605 are provided on the outer wall of the end of the guide wheel 16 away from the frame opening, the width of the drainage grooves 1605 gradually increases toward the center position, and the depth of the drainage grooves 1605 gradually decreases toward the center position. In actual use, when the guide wheel 16 hits the blades 1601 due to water flow, When the rack 18 rotates, water is drawn into the circular empty surface, and a plurality of through holes 1604 are used to partially draw water from the inside of the frame. A plurality of drainage grooves 1605 near the inside of the frame are used to make the outside water flow along the drainage grooves 1605 to the through holes 1604 near the center position, thereby increasing the negative pressure state in the frame, effectively preventing the internal dirt from flowing out and increasing the attraction of some small-volume garbage from the outside, thereby further improving the actual use of rotating water diversion to improve the working effect of the grabbing operation.

[0040] In the present invention, reference is made to Figure 7 The guide wheel 16 is provided with a plurality of concentric annular guide grooves 1602 at the end of the opening of the frame, and a plurality of step grooves 1603 are provided on the outer side of the guide groove 1602. The depth of the step groove 1603 gradually decreases toward the position away from the center of the circle. Therefore, when the solid garbage on the outer side is introduced by the guide wheel 16 and dispersed to the periphery during the rotation of the guide wheel 16, the setting of the annular guide groove 1602 increases the movement of the water flow in the circumferential direction, and the step groove 1603 makes the water flow have a vertical movement impact effect in the radial direction. The guide groove 1602 and the step groove 1603 are used to disperse the water flow to reduce the intensity buffer of the water directly flowing out to the outside, so as to ensure that the dispersed solid garbage is centrifuged to the inner wall of the frame, and avoid a large amount of garbage being washed out with the water flow during centrifugation, thereby further improving the operation effect of single-time garbage grabbing and cleaning, and improving the overall operation effect of cleaning the outer wall of the garbage gate.

[0041] Example 3

[0042] Embodiment 3 includes all structures and methods of Embodiment 1 and Embodiment 2, and refers to Figure 1, an intelligent hydraulic wall-grabbing garbage cleaning machine, also includes a mechanical arm rod 1 and a grab bucket, the bottom end of the mechanical arm rod 1 is hinged with the grab bucket, a hydraulic cylinder 5 is hinged between the mechanical arm rod 1 and the grab bucket, the grab bucket is provided with a fixed plate 2, one side of the fixed plate 2 is provided with a hydraulically rotating side plate 3, and the other side of the fixed plate 2 is provided with a hydraulically rotating gripping plate 4, the side plate 3 and the gripping plate 4 are both arranged in a grid shape, the fixed plate 2, the side plate 3 and the gripping plate 4 can be surrounded by a frame, and the opening positions at both ends of the frame are provided with a rotatable baffle mechanism, and a plurality of pressure detection units are provided on the side of the side plate 3 away from the gripping plate 4, before grabbing, the side plate 3 and the gripping plate 4 are opened below and the mechanical arm rod 1 is used to lower the grab bucket, and the side plate 3 with the pressure detection unit is hydraulically rotated to fit the baffle The outer wall of the garbage gate moves downward, and the feedback of the pressure detection unit is used to control the hydraulic drive to adjust the inclination angle of the side plate 3 to fit the outer wall of the garbage gate, so as to quickly adjust to the outer wall to sink the grab bucket for cleaning, and ensure that the garbage that fits the outer wall of the garbage gate is grabbed and cleaned; in the process of the grab bucket descending, the grab plate 4 turning toward the side of the side plate 3 and closing to grab, and the grab bucket rising, the moving water flow hits the baffle mechanism to make it rotate, and the water flow dispersed at both ends is used to guide the small volume garbage box frame outside the end, so as to ensure that the small volume garbage that fits the outer wall or end of the garbage gate is effectively guided and cleaned, and avoid the water flow generated during descent causing part of the garbage to flow out and affect the cleaning efficiency, thereby improving the actual cleaning effect and working efficiency.

[0043] Example 4

[0044] On the basis of Example 2 or Example 3, refer to Figure 1 , Figure 5-Figure 6 and Fig. 9 The invention discloses an intelligent hydraulic wall-grabbing garbage cleaning machine. A plurality of downward extending partition bars 19 are fixed on the outer walls of both ends of the fixed plate 2 near the side of the side plate 3. A plurality of partition bars 20 are fixed on the outer walls of both ends of the gripping plate 4. The partition bars 20 are inclined upward toward the side plate 3 when the frame is closed. A plurality of auxiliary flow grooves 21 are provided on the side walls of the partition bars 19 and the partition bars 20 near the frame, so that when the gripping plate 4 is opened, the partition bars 20 are separated to ensure the rotation of the guide wheel 16 to guide the material. When and after grabbing, the partition bars 1 are used to guide the material. 19 and barrier bar 20 assist in shielding the side peripheral areas of the openings at both ends of the frame, while the center position is blocked by a baffle mechanism, on the one hand to prevent a large amount of internal garbage from flowing out; on the other hand, a small area of ​​opening is provided in the middle area of ​​the frame end, and a guide wheel 16 is used to introduce small-volume garbage from the middle area and disperse it to the peripheral barrier bar 19 and barrier bar 20 areas, and then enter the frame, thereby utilizing the distribution of barrier bar 19 and barrier bar 20 to cooperate with the operation of the baffle mechanism to further improve the actual grabbing and cleaning operation effect.

[0045] Example 5

[0046] Based on the above embodiments, Figure 8 and Fig. 9 , an intelligent hydraulic wall-grabbing garbage cleaning machine, a fixing frame 22 is fixed on the top of the fixing plate 2, and ear plates 23 are fixed on both ends of the mechanical arm rod 1 at the top of the fixing frame 22, and the ear plates 23 are hinged to the bottom end of the mechanical arm rod 1, and the two ends of the hydraulic cylinder 1 are respectively hinged to the mechanical arm rod 1 and the fixing frame 22, and a mounting cavity with openings on both sides is arranged in the fixing frame 22, and the fixing frame 22 is provided with a connecting portion 2201 horizontally placed at the top and bottom, and a vertically placed supporting portion 2202 is fixed at both ends between the two connecting portions 2201, and both sides of the supporting portion 2202 are arranged to be an arc structure concave inwardly, and a hydraulic cylinder 2 6 is hinged between the side plate 3 and the inner wall of the mounting cavity, and a hydraulic cylinder 3 7 is hinged between the gripping plate 4 and the inner wall of the mounting cavity. By setting the mounting cavity in the fixing frame, it is convenient to disperse the fixing points of the hydraulic cylinder 2 6 and the hydraulic cylinder 3 7 so as to disperse the supporting force of the grabbing during the working process, so as to improve the stability of the grab bucket.

[0047] In the present invention, reference is made to Fig. 9 and Figure 2 , both sides of the fixed plate 2 are provided with fixing grooves 201, the welt plate 3 is provided with a folding plate 24 at the top end and rotatably connected to the fixing groove 201, a plurality of cross-connected connecting plates 25 and a grille bar 26 are provided below the folding plate 24, the bottom end of the grille bar 26 is provided with a welt portion 27 with a thickness gradually decreasing downward, the side of the welt portion 27 away from the gripping plate 4 is arranged parallel to the side wall of the grille bar 26, the side wall of the grille bar 26 is provided with a through hole 2601, the top of the folding plate 24 is inclined upward toward the side close to the fixed plate 2, and the pressure detection unit is arranged on the connecting plate On the grating bar 25, the hydraulic cylinder 26 is hinged with the folding plate 24, so that the perforations 2601 distributed on the grille bar 26 are used to disperse the water from both sides to reduce the impact strength of the water outflow, thereby avoiding the outflowing water from carrying out too much small-volume garbage, and ensuring the effect of a single grabbing and cleaning operation; and by setting the folding plate 24 for connection at the top to be inclined toward the inside of the grab bucket, when the edging plate 3 is tilted inwardly at the bottom, the folding plate 24 for connection at the top will not protrude from the outside, thereby ensuring the edging plate 3 and the outer wall of the trash gate are in contact and lowered to grab the garbage.

[0048] In the present invention, reference is made to Figure 4The gripping plate 4 is provided with a folding plate 28 at the top end and rotatably connected to the fixed groove. The hydraulic cylinder 3 7 is hinged with the folding plate 28. A plurality of cross-connected connecting plates 29 and grille bars 2 30 are provided below the folding plate 28. The gripping plate 4 is arranged in a curved "7"-shaped structure. A vertically arranged grabbing portion 31 is provided at one end of the grille bar 2 30 away from the folding plate 28. The grille bar 2 30 and the grille bar 1 26 are arranged to be spaced apart. The length of the fixed plate 2 is greater than the height of the edging plate 3, so that when the grab bucket is lowered, When the handle plate 4 is opened, the vertical length of the opened handle plate 4 is greater than the vertical length of the side plate 3, so that the side plate 3 can be used to fit the outer wall of the trash gate to gather the trash into the grab bucket, and the longer handle plate 4 and the baffle mechanisms at both ends are used to block it; and in the grabbing operation process, the rotation path range of the handle plate 4 is greater than the range of the side plate 3, and the rotation drainage of the baffle mechanism is used to ensure that the trash is grabbed in the area between the side plate 3 and the handle plate 4, and the trash is effectively prevented from flowing out to the outside with the water flow of the grabbing movement, so as to further enhance the actual cleaning effect.

[0049] Example 6

[0050] Based on the above embodiment, a method for using an intelligent hydraulic wall-grabbing garbage cleaning machine includes the following steps:

[0051] S1: Reference Fig.10 In the initial state, the fixing plate 2 is placed horizontally, the welt plate 3 is placed vertically, and the gripping plate 4 is in a "7" shape so that its bottom is open to the welt plate 3. In this state, the bottom end of the gripping plate 4 is located below the bottom end of the welt plate 3;

[0052] S2: Using the mechanical arm 1 to move the grab bucket close to the outer wall of the trash gate, using the pressure detection unit to detect the feedback signal, and controlling the hydraulic cylinder 1 5 and the hydraulic cylinder 2 6 to make the side plate 3 flush with the outer wall;

[0053] If the outer wall of the trash gate is vertical, refer to Fig.10 , the welt plate 3 is vertically downward, and at this time the folding plate 24 is tilted inward, which does not affect the laminating operation of the welt plate 3;

[0054] If the outer wall of the trash gate is inclined away from the grab bucket, refer to Fig.11 , using the hydraulic cylinder 2 6 to make the welt plate 3 adapt and tilt, and using the mechanical arm rod 1 to make the grab bucket tilt downward along the outer wall, and using the feedback signal of the pressure detection unit to adjust the moving direction of the mechanical arm rod 1 to ensure that the welt plate 3 moves in contact with the outer wall;

[0055] If the outer wall of the trash gate is inclined toward the inner side near the grab bucket, refer to Fig.12, the hydraulic cylinder 2 6 is used to make the welt plate 3 adapt and tilt, and the mechanical arm rod 1 is used to make the grab bucket tilt downward along the outer wall, and the feedback signal of the pressure detection unit is used to adjust the moving direction of the mechanical arm rod 1 to ensure that the welt plate 3 moves in contact with the outer wall. At this time, the folding plate 1 24 still remains tilted inward and will not collide with the outer wall of the trash gate to affect the mobile grabbing operation;

[0056] S3: When the grab bucket descends, the guide wheel 16 is moved to the middle position of the open opening by means of the electric guide rail, and the driving wheel 17 is not in contact with the rack 18, so that the guide wheel 16 rotates with the movement of the water flow to assist in guiding the dirt inward;

[0057] S4: When the bottom end of the gripping plate 4 drops to a certain depth, the guide wheel 16 is moved toward the welt plate 3 to the center of the frame, and the gripping plate 4 is rotated by the hydraulic cylinder 3 7 to gather the dirt between the welt plate 3 and the gripping plate 4, and the grab bucket continues to decelerate and descend to press the dirt;

[0058] S5: When the grab bucket continues to descend to a certain depth, the bottom end of the grip plate 4 rotates to cross the center line of the mechanical arm rod 1, and the grab bucket begins to rise, while the grip plate 4 continues to rotate to close the bottom opening for grabbing;

[0059] During S4 and S5, refer to Fig.13 The rack 18 drives the driving wheel 17 to rotate as the gripping plate 4 rotates, so that the guide wheel 16 actively rotates to guide the dirt to gather; the selection of the descending depth of the grab bucket is adjusted according to the actual accumulation degree of dirt, and ensures that the grabbing part 31 at the bottom of the gripping plate 4 is below the accumulated dirt when the grab bucket rises;

[0060] S6: Before the grab bucket rises and extends out of the water, the side plate 3 and the grip plate 4 are closed, and the hydraulic cylinder is used to adjust the overall inclination of the grab bucket so that the intersection of the side plate 3 and the grip plate 4 is in the same vertical plane as the mechanical arm 1. Fig.14 and move the guide wheel 16 toward the side of the welt plate 3, and move the driving wheel 17 away from the rack 18 so that the guide wheel 16 rotates naturally with the impact of the water flow, which is convenient for dirt to be collected and prevented from flowing out and improves the drainage effect;

[0061] S7: After the grab bucket extends out of the water, the guide wheel 16 continues to move toward the welt plate 3, and the grip plate 4 and the welt plate 3 are closed again to squeeze the dirt;

[0062] S8: When releasing the garbage, the gripper plate 4 is rotated to open the lower opening, and the driving wheel 17 is moved to contact the rack 18, so that the guide wheels 17 at both ends actively rotate during the opening process to perform centrifugal material removal, completing a material grabbing and cleaning operation.

[0063] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent hydraulic wall-grabbing garbage cleaning machine, comprising a mechanical arm (1) and a grab bucket, wherein the bottom end of the mechanical arm (1) is hinged to the grab bucket, and a hydraulic cylinder (5) is hinged between the mechanical arm (1) and the grab bucket, characterized in that: The grab bucket is provided with a fixed plate (2), a hydraulically rotatable side plate (3) is provided on one side of the fixed plate (2), and a hydraulically rotatable gripping plate (4) is provided on the other side of the fixed plate (2). The side plate (3) and the gripping plate (4) are both arranged in a grid shape. The fixed plate (2), the side plate (3) and the gripping plate (4) can be surrounded by a frame. The opening positions at both ends of the frame are both provided with rotatable baffle mechanisms. A plurality of pressure detection units are provided on the side of the side plate (3) away from the gripping plate (4).

2. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 1 is characterized in that: A hole one is provided at a position corresponding to the pressure detection unit on the side wall of the edging plate (3); a vertically arranged hole two is provided at the end of the hole one close to the gripping plate (4); the pressure detection unit is provided with a contact block (9) slidably connected to the inner wall of the hole one; the inner diameter of the end of the hole one away from the gripping plate (4) gradually decreases outward; a spring (11) is fixed to the inner wall of the end of the hole two away from the hole one; a connecting block (12) slidably connected to the inner wall of the hole two is fixed to one end of the spring (11); a pressure detector (13) is fixed to the inner wall of the end of the hole two away from the hole one; both ends of the contact block (9) and the connecting block (12) are arranged to be protruding hemispherical structures.

3. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 1 is characterized in that: Electric guide rails are provided at both ends of the bottom of the fixed plate (2), and the bottom end of the electric guide rails is connected to a vertically placed support frame (14). The baffle mechanism is provided with a mounting frame (15) horizontally fixed to the bottom end of the support frame (14), and a guide wheel (16) and a driving wheel (17) are rotatably provided at the end of the mounting frame (15), and the outer walls of the guide wheel (16) and the driving wheel (17) are meshed with each other. The end of the guide wheel (16) facing the frame opening is fixed with wheel blades (1601) distributed in an annular array, and the side of the gripping plate (4) close to the side plate (3) is fixed with a rack (18) with an arc structure, and the rack (18) is meshed with the outer wall of the driving wheel (17).

4. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 3 is characterized in that: The plurality of blades (1601) are provided with a circular hollow surface in the center region of the guide wheel (16); the outer wall of the end of the guide wheel (16) is provided with a plurality of through holes (1604) at the circumferential position of the circular hollow surface; the outer wall of the end of the guide wheel (16) away from the frame opening is provided with drainage grooves (1605) distributed in a circular array; the width of the drainage grooves (1605) gradually increases towards the center position, and the depth of the drainage grooves (1605) gradually decreases towards the center position.

5. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 4 is characterized in that: The end of the guide wheel (16) facing the frame opening is provided with a plurality of concentric guide grooves (1602) in an annular structure, and the outer side surface of the guide groove (1602) is provided with a plurality of stepped grooves (1603), the depth of the stepped grooves (1603) gradually decreasing towards a position away from the center of the circle.

6. An intelligent hydraulic wall-grabbing garbage cleaning machine according to any one of claims 1 to 5, characterized in that: A plurality of downwardly extending barrier bars (19) are fixed to the outer walls at both ends of the fixed plate (2) near the side edges of the edging plate (3), and a plurality of barrier bars (20) are fixed to the outer walls at both ends of the gripping plate (4), wherein the barrier bars (20) are inclined upward toward the edging plate (3), and a plurality of auxiliary flow grooves (21) are provided on the side walls of the barrier bars (19) and the barrier bars (20) near the inside of the frame.

7. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 6 is characterized in that: The grab bucket is tilted when raised so that the intersection of the side plate (3) and the grip plate (4) is in the same vertical plane as the mechanical arm rod (1).

8. An intelligent hydraulic wall-grabbing garbage cleaning machine according to any one of claims 1 to 5, characterized in that: A fixing frame (22) is fixed to the top of the fixing plate (2), the top of the fixing frame (22) is hinged to the bottom of the mechanical arm rod (1), the two ends of the hydraulic cylinder one (5) are respectively hinged to the mechanical arm rod (1) and the fixing frame (22), a mounting cavity with openings on both sides is provided in the fixing frame (22), a hydraulic cylinder two (6) is hinged between the side plate (3) and the inner wall of the mounting cavity, and a hydraulic cylinder three (7) is hinged between the gripping plate (4) and the inner wall of the mounting cavity.

9. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 8, characterized in that: The fixing plate (2) is provided with fixing grooves (201) on both sides, the edge plate (3) is provided with a folding plate (24) at the top end which is rotatably connected to the fixing groove (201), a plurality of cross-connected connecting plates (25) and grille bars (26) are provided below the folding plate (24), the bottom end of the grille bar (26) is provided with an edge portion (27) whose thickness gradually decreases downward, the side wall of the grille bar (26) is provided with a through hole (2601), and the top end of the folding plate (24) is inclined upward toward the side close to the fixing plate (2).

10. The intelligent hydraulic wall-grabbing garbage cleaning machine according to claim 9, characterized in that: The gripping plate (4) is provided with a folding plate (28) at the top end rotatably connected to the fixed groove, and a plurality of cross-connected connecting plates (29) and grille bars (30) are provided below the folding plate (28). The gripping plate (4) is arranged into a curved "7"-shaped structure, and a vertically arranged gripping portion (31) is provided at one end of the grille bar (30) away from the folding plate (28). The grille bar (30) and the grille bar (26) are arranged to be spaced apart, and the length of the fixed plate (2) is greater than the height of the edging plate (3).

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