Automatic garbage recycling device and sand beach garbage recycling vehicle

Abstract

The invention is suitable for the technical field of robots, and provides an automatic garbage recycling device and a sand beach garbage recycling truck. The transmission assembly is arranged on the base, and a grabber is arranged at the free end of the transmission assembly; the first camera is mounted on the transmission assembly and is used for identifying the position of the garbage; the garbage collecting mechanism is arranged on the base and provided with at least two containing spaces used for containing different types of garbage; and the second camera is arranged on the garbage collecting frame and is used for identifying the type of the garbage grabbed by the grabber. The first camera is arranged to recognize the position of garbage, so that the position of the garbage can be accurately positioned for grabbing, then the second camera recognizes the type of the garbage, the garbage is placed in the corresponding containing space in the garbage collecting mechanism, garbage classification and collection are achieved, manual control is not needed, and the intelligent degree is high.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to an automatic garbage recycling device and a beach garbage recycling vehicle. Background Art

[0002] At present, people are beginning to seek an effective pollutant collection solution to collect pollutants left in the environment. In response to this, various pollutant collection robots have emerged one after another. For example, some robots can sift leaves and plastics from the sand on the beach through a bucket.

[0003] However, the existing pollution-picking robots on the market cannot identify the type of garbage, cannot sort garbage, still require manual control, and have a low level of intelligence. Summary of the invention

[0004] The embodiment of the present application provides an automatic garbage recycling device, which aims to solve the problems that existing automatic garbage recycling devices are unable to classify garbage, still require manual control, and have a low level of intelligence.

[0005] The embodiment of the present application is implemented by providing an automatic garbage recycling device, comprising:

[0006] Base;

[0007] A transmission assembly is arranged on the base, and a gripper is arranged at the free end of the transmission assembly;

[0008] A first camera mounted on the transmission assembly, the first camera being used to identify the location of the garbage;

[0009] A garbage collection mechanism is arranged on the base, and the garbage collection mechanism has at least two receiving spaces for containing different types of garbage; and

[0010] A second camera is arranged on the garbage collection frame, and the second camera is used to identify the type of garbage grabbed by the grabber.

[0011] Further, the garbage collection mechanism includes:

[0012] A garbage collection frame is arranged on the base, wherein a partition is arranged inside the garbage collection frame for dividing the garbage collection frame into at least two containing spaces; and

[0013] A garbage classification component is arranged on the garbage collection frame, and the garbage classification component is used to place the garbage in the corresponding containing space.

[0014] Furthermore, the garbage classification component includes:

[0015] a housing disposed on the garbage collection frame, the housing having a passage for garbage to fall into the receiving space, and a second camera mounted on the housing; and

[0016] Primary and secondary sorting parts installed in the channel;

[0017] The primary classification member includes a primary classification plate, a first driving member and a first roller, the first roller is rotatably connected to the housing, the primary classification plate is connected to the first roller and adapted to the channel, and the first driving member is mounted on the outer surface of the housing and connected to the first roller;

[0018] The secondary classification member includes a secondary classification plate and a second driving member. The secondary classification plate is rotatably connected to the shell and is located below the primary classification plate. The second driving member is installed on the shell and connected to the secondary classification plate.

[0019] Furthermore, the housing is provided with a handle.

[0020] Further, the transmission assembly includes:

[0021] Mounting seat on the base;

[0022] At least two connecting rods rotatably connected to the mounting seat, the at least two connecting rods are hingedly connected in sequence, and the last connecting rod is connected to the grabber;

[0023] a third driving member connected to the connecting rod and the mounting seat, the third driving member being used to drive the connecting rod to rotate relative to the mounting seat; and

[0024] A fourth driving member is provided on the connecting rod, and the fourth driving member is used to drive the connecting rod to extend and retract;

[0025] The last section of the connecting rod is provided with a camera frame, and the camera frame is used to install the first camera.

[0026] Furthermore, the transmission assembly includes a fifth driving member installed on the last section of the connecting rod, the last section of the connecting rod is rotatably connected to the grabber, and the fifth driving member is connected to the grabber for driving the grabber to rotate.

[0027] Further, the gripper includes a gripper, a mechanical gripper base and a servo;

[0028] The mechanical claw base is connected to the last section of the connecting rod;

[0029] The servo is installed on the base of the mechanical claw and connected to the claw to drive the claw to open and close to grab garbage.

[0030] Furthermore, the gripper comprises an elastic rope, and adjacent clamping jaws are connected by the elastic rope.

[0031] Further, the base includes a profile bracket, wheels, a sixth driving member, a mechanical arm support plate and a shock absorbing structure;

[0032] The profile bracket includes an upper bracket and a lower bracket, and the upper bracket is connected to the lower bracket through a shock absorbing structure;

[0033] The garbage collection mechanism and the mechanical arm support plate are arranged on the upper bracket, and the transmission assembly is mounted on the mechanical arm support plate;

[0034] The wheels are mounted on the lower bracket;

[0035] The sixth driving member is installed on the profile bracket and connected to the wheel, and is used for driving the wheel to rotate.

[0036] In a second aspect, the present application also provides a beach garbage collection vehicle, comprising the automatic garbage collection device as described above.

[0037] Beneficial effects of the present application: The automatic garbage recycling device provided by the present application includes a base; a transmission assembly arranged on the base, a gripper arranged at the free end of the transmission assembly; a first camera installed on the transmission assembly, the first camera is used to identify the location of the garbage; a garbage collection mechanism arranged on the base, the garbage collection mechanism has at least two storage spaces for holding different types of garbage; and a second camera arranged on the garbage collection frame, the second camera is used to identify the type of garbage grabbed by the gripper. By setting the first camera to identify the location of the garbage, the location of the garbage can be accurately located for grabbing, and then the second camera identifies the type of garbage and places it into the corresponding storage space in the garbage collection mechanism, thereby realizing the classification and collection of garbage without manual control and with a high degree of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the automatic garbage recycling device provided by the present application;

[0039] Figure 2 It is a structural schematic diagram of a base of an embodiment of an automatic garbage recycling device provided by the present application;

[0040] Figure 3 It is a schematic diagram of a shock-absorbing structure of an embodiment of the automatic garbage recycling device provided by the present application;

[0041] Figure 4 is a schematic diagram of a shock-absorbing structure of another embodiment of the automatic garbage recycling device provided by the present application;

[0042] Figure 5 It is a structural schematic diagram of a transmission assembly of an embodiment of an automatic garbage recycling device provided by the present application;

[0043] Figure 6 It is a structural schematic diagram of a transmission assembly of another embodiment of the automatic garbage recycling device provided by the present application;

[0044] Figure 7It is a structural schematic diagram of a grabber of an embodiment of the automatic garbage recycling device provided by the present application;

[0045] Figure 8 It is a structural schematic diagram of a garbage collection mechanism of an embodiment of the automatic garbage recycling device provided by the present application;

[0046] Fig. 9 It is a structural schematic diagram of a garbage collection frame of an embodiment of the automatic garbage recycling device provided by the present application;

[0047] Fig.10 It is a structural schematic diagram of a garbage classification component of an embodiment of an automatic garbage recycling device provided by the present application;

[0048] Fig.11 This is a schematic diagram of a classified structure of an embodiment of an automatic garbage recycling device provided by the present application;

[0049] Fig.12 It is a structural diagram of the secondary classification of an embodiment of the automatic garbage recycling device provided by the present application;

[0050] Fig.13 It is a side cross-sectional structural schematic diagram of a garbage collection mechanism of an embodiment of the automatic garbage recycling device provided by the present application;

[0051] Fig.14 It is a front cross-sectional structural schematic diagram of a garbage collection mechanism of an embodiment of the automatic garbage recycling device provided in the present application.

[0052] Description of reference numerals:

[0053] 100-base, 101-wheel, 102-transmission belt, 103-sixth driving member, 110-mechanical arm support plate, 111-profile bracket, 120-first shock absorbing spring, 121-second shock absorbing spring, 130-upper bracket, 131-first aluminum profile, 132-second aluminum profile, 140-lower bracket, 141-axle, 200-transmission assembly, 201-mounting seat, 202-first connecting rod, 203-second connecting rod, 204-camera frame, 205-third driving member, 206-first joint driving member, 207-second joint driving member, 208-fifth driving member, 210-grabber, 211-gripper, 2 11-claw, 212-elastic rope, 213-mechanical claw base, 214-servo, 215-gear, 220-first camera, 300-garbage collection mechanism, 301-garbage collection bottom frame, 302-first square bucket, 303-second square bucket, 304-third party bucket, 310-housing, 311-handle, 320-primary classification plate, 321-first driving member, 322-first bearing, 323-second bearing, 324-bolt, 325-first roller, 331-secondary classification plate, 332-vertical bearing, 334-fourth connecting rod, 335-fifth connecting rod, 333-second driving member, 350-second camera. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application. In addition, it should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "left", "right", "horizontal", "top", "bottom", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0059] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference values ​​and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0060] The automatic garbage recycling device provided by the present application includes a base; a transmission assembly arranged on the base, a gripper arranged at the free end of the transmission assembly; a first camera installed on the transmission assembly, the first camera is used to identify the location of the garbage; a garbage collection mechanism arranged on the base, the garbage collection mechanism has at least two storage spaces for holding different types of garbage; and a second camera arranged on the garbage collection frame, the second camera is used to identify the type of garbage grabbed by the gripper. By setting the first camera to identify the location of the garbage, the location of the garbage can be accurately located for grabbing, and then the second camera identifies the type of garbage and places it into the corresponding storage space in the garbage collection mechanism, so as to realize the classification and collection of garbage without manual control and with a high degree of intelligence.

[0061] like Figures 1 to 9 As shown, an embodiment of the present application provides an automatic garbage recycling device, comprising:

[0062] Base 100;

[0063] A transmission assembly 200 is disposed on the base 100, and a gripper 210 is disposed at a free end of the transmission assembly 200;

[0064] A first camera 220 mounted on the transmission assembly 200, the first camera 220 is used to identify the location of the garbage;

[0065] A garbage collection mechanism 300 disposed on the base 100, the garbage collection mechanism 300 having at least two receiving spaces for containing different types of garbage; and

[0066] The second camera 350 is arranged on the garbage collection frame, and the second camera 350 is used to identify the type of garbage grabbed by the grabber 210.

[0067] During implementation, the automatic garbage recycling device provided by the present application can be used in urban environments or beach environments, such as a beach garbage recycling vehicle, without limitation.

[0068] Optionally, the base 100 is the base of an automatic garbage recovery device. Taking a beach garbage recovery vehicle as an example, the base 100 may be the bottom part of the beach garbage recovery vehicle, wherein the bottom part may drive the beach garbage recovery vehicle to move, thereby picking up garbage from different locations.

[0069] One end of the transmission assembly 200 is connected to the base 100, and the other end of the transmission assembly 200 is connected to the gripper 210. During implementation, the transmission assembly 200 can adopt a mechanical arm, a telescopic rod or other structure that can drive the gripper 210 to move relative to the base 100, without limitation.

[0070] Optionally, the first camera 220 is mounted on the transmission assembly 200, and the first camera 220 is used to identify the location of the garbage. In implementation, the first camera 220 can be set at a higher position of the transmission assembly 200, thereby increasing the shooting range of the first camera 220 and being able to effectively identify the location of the garbage.

[0071] As a possible implementation, the automatic garbage recycling device provided in the present application is also provided with a processor, and the processor is electrically connected to the first camera 220, so as to obtain the image captured by the first camera 220 to identify the location of the garbage, and then drive the transmission assembly 200 to drive the grabber 210 to grab the garbage, which will not be elaborated.

[0072] Optionally, a garbage collection mechanism 300 is provided on the base 100, and the garbage collection mechanism 300 is divided into at least two independent storage spaces. At the same time, a second camera 350 is provided on the garbage collection frame. The second camera 350 is used to identify the type of garbage grabbed by the grabber 210, so as to place different types of garbage in corresponding storage spaces to achieve garbage classification.

[0073] The automatic garbage recycling device provided by the present application includes a base 100; a transmission assembly 200 arranged on the base 100, and a gripper 210 is arranged at the free end of the transmission assembly 200; a first camera 220 installed on the transmission assembly 200, and the first camera 220 is used to identify the location of the garbage; a garbage collection mechanism 300 arranged on the base 100, and the garbage collection mechanism 300 has at least two storage spaces for holding different types of garbage; and a second camera 350 arranged on the garbage collection frame, and the second camera 350 is used to identify the type of garbage grabbed by the gripper 210. By setting the first camera 220 to identify the location of the garbage, the location of the garbage can be accurately located for grabbing, and then the second camera 350 identifies the type of garbage and places it into the corresponding storage space in the garbage collection mechanism 300, so as to realize the classification and collection of garbage without manual control, and the degree of intelligence is high.

[0074] Furthermore, the garbage collection mechanism 300 includes:

[0075] A garbage collection frame is disposed on the base 100, wherein a partition is disposed inside the garbage collection frame for dividing the garbage collection frame into at least two containing spaces; and

[0076] A garbage classification component is arranged on the garbage collection frame, and the garbage classification component is used to place the garbage in the corresponding containing space.

[0077] During implementation, the top of the garbage collection frame is opened, and the internal space of the garbage collection frame is divided by a partition to form at least two receiving spaces. The garbage sorting component is located at the top opening, and the garbage sorting component can place the garbage in the corresponding receiving space.

[0078] Optionally, the partition can also be replaced by square barrels. For example, three square barrels are placed in the garbage collection frame, namely the first square barrel 302, the second square barrel 303 and the third square barrel 304. Among them, the first square barrel 302 is relatively large in volume and is used to store recyclable garbage in beach garbage. The second square barrel 303 and the third square barrel 304 are used to store hazardous garbage and other garbage respectively. The square barrels can be taken out of the garbage collection frame to facilitate the disposal of garbage.

[0079] Furthermore, the garbage classification component includes:

[0080] a housing 310 disposed on the garbage collection frame, the housing 310 having a passage for garbage to fall into the receiving space, and a second camera 350 mounted on the housing 310; and

[0081] Primary and secondary sorting parts installed in the channel;

[0082] The primary classification member includes a primary classification plate 320, a first driving member 321 and a first roller 325, the first roller 325 is rotatably connected to the housing 310, the primary classification plate 320 is connected to the first roller 325 and adapted to the channel, and the first driving member 321 is installed on the outer surface of the housing 310 and connected to the first roller 325;

[0083] The secondary classification member includes a secondary classification plate 331 and a second driving member 333 . The secondary classification plate 331 is rotatably connected to the housing 310 and is located below the primary classification plate 320 . The second driving member 333 is installed on the housing 310 and connected to the secondary classification plate 331 .

[0084] During implementation, the secondary classification component is located below the primary classification component, wherein the primary classification plate 320 is fixed together with the first roller 325, and the first roller 325 can be rotatably installed on the outer shell 310. For example, the outer shell 310 is provided with a first bearing 322 and a second bearing 323, and the two ends of the first roller 325 are respectively matched with the first bearing 322 and the second bearing 323, so that the primary classification plate 320 can rotate relative to the outer shell 310, and the primary classification plate 320 is driven to rotate by the first driving member 321 so that the garbage falling on the primary classification plate 320 falls onto the secondary classification component or falls into the corresponding accommodation space.

[0085] The secondary classification part is mainly composed of a secondary classification plate 331 and a second driving member 333, and the second driving member 333 can drive the secondary classification plate 331 to rotate. For example, taking the first square barrel 302, the second square barrel 303 and the third barrel 304 as examples, when garbage falls on the primary classification plate 320, the second camera 350 identifies the type of garbage and controls the first driving member 321 to drive the primary classification plate 320 to rotate. For example, when the type of garbage is recyclable garbage, the garbage will be dumped into the first square barrel 302 to realize the collection of recyclable garbage; if the type of garbage is other garbage and hazardous garbage, the primary classification plate 320 will dump the garbage to the opposite side, and the garbage will be classified at the second level.

[0086] During implementation, several storage spaces (or square barrels) correspond to several secondary classifications, for example, the second square barrel 303 and the third-party barrel 304 correspond to one secondary classification respectively. When garbage enters the secondary classification, the two secondary classification plates 331 are closed. If the garbage is hazardous garbage, the secondary classification plate 331 above the second square barrel 303 will rotate downward, allowing the garbage to slide naturally into the second square barrel 303. If it is other garbage, the secondary classification plate 331 above the third-party barrel 304 will rotate downward, allowing the garbage to slide naturally into the third-party barrel 304, thereby achieving classified collection of garbage.

[0087] Optionally, the secondary classification also includes a vertical bearing 332, a fourth connecting rod 334 and a fifth connecting rod 335, wherein the two vertical bearings 332 are fixedly installed in the outer shell 310, and the secondary classification plate 331 is rotatably connected to the two vertical bearings 332, and the second driving member 333 drives the fourth connecting rod 334 and the fifth connecting rod 335 to rotate, thereby achieving the effect of driving the secondary classification plate 331 to rotate, and the secondary classification plate 331, the fourth connecting rod 334 and the fifth connecting rod 335 form a double rocker mechanism, through which the secondary classification plate 331 can be precisely controlled.

[0088] Furthermore, the outer shell 310 is detachably connected to the garbage collection frame via a latch. Through the above arrangement, the outer shell 310 can be disassembled relative to the garbage collection frame, making it convenient to clean up the garbage.

[0089] Furthermore, the housing 310 is provided with a handle 311 to facilitate lifting the garbage sorting assembly so as to extract the square bucket and then clean up the garbage.

[0090] Further, the transmission assembly 200 includes:

[0091] A mounting seat 201 is mounted on the base 100;

[0092] At least two connecting rods rotatably connected to the mounting base 201, the at least two connecting rods are hingedly connected in sequence, and the last connecting rod is connected to the grabber 210;

[0093] a third driving member 205 connected to the connecting rod and the mounting seat 201, the third driving member 205 being used to drive the connecting rod to rotate relative to the mounting seat 201; and

[0094] A fourth driving member is provided on the connecting rod, and the fourth driving member is used to drive the connecting rod to extend and retract;

[0095] The last section of the connecting rod is provided with a camera frame 204 , and the camera frame 204 is used to install the first camera 220 .

[0096] Exemplarily, taking the example of a connecting rod including a first connecting rod 202 and a second connecting rod 203, the first end of the first connecting rod 202 is rotatably connected to the mounting base 201, the second end of the first connecting rod 202 is hinged to the first end of the second connecting rod 203, the second end of the second connecting rod 203 is connected to the grabber 210, the third driving member 205 drives the connecting rod to rotate relative to the mounting base 201, and the fourth driving member includes a first joint driving member 206 and a second joint driving member 207, the first joint driving member 206 and the second joint driving member 207 are respectively arranged at the first end of the first connecting rod 202 and the second end of the first connecting rod 202, so that the first connecting rod 202 can rotate a corresponding angle relative to the mounting base 201, and / or the second connecting rod 203 can rotate a corresponding joint angle relative to the first connecting rod 202, thereby driving the grabber 210 to the position of the garbage to grab the garbage.

[0097] It should be noted that the number of the above-mentioned connecting rods and the fourth driving member is an example of the embodiment of the present application, and is not a specific limitation of the present application. In some other embodiments, other numbers can also be used, for example, the connecting rod is provided with three sections, four sections, five sections or other numbers of sections, without limitation.

[0098] Furthermore, the transmission assembly 200 includes a fifth driving member 208 installed on the last section of the connecting rod, the last section of the connecting rod is rotatably connected to the grabber 210, and the fifth driving member 208 is connected to the grabber 210 to drive the grabber 210 to rotate. After the grabber 210 grabs the garbage, there may be a lot of sand in the garbage. The fifth driving member 208 is responsible for rotating the grabber 210 to throw out the sand by centrifugal force.

[0099] Further, the gripper 210 includes a gripper 211, a mechanical gripper base 213 and a servo 214;

[0100] The mechanical claw base 213 is connected to the last section of the connecting rod;

[0101] The servo 214 is installed on the mechanical claw base 213 and connected to the clamping claw 211, and is used to drive the clamping claw 211 to open and close to grab garbage.

[0102] During implementation, at least two clamps 211 may be provided, for example, there are four clamps 211 in total, and the clamp 211 is provided with a gear 215. By driving another clamp 211 to move through the gear 215, the effect of controlling two clamps 211 with one servo 214 can be achieved. Therefore, the four clamps 211 are controlled by two servos 214.

[0103] Optionally, the tip of the clamping jaw 211 is sharpened to make it easier to insert into the sand and reduce resistance to better grasp the garbage.

[0104] Furthermore, the gripper 210 includes an elastic rope 212 , and adjacent clamping jaws 211 are connected by the elastic rope 212 .

[0105] An elastic rope 212 is connected between two adjacent jaws 211. When the gripper 210 is working, the four jaws 211 are first opened by the steering gear 214. At this time, the elastic rope 212 is stretched and lengthened. After the gripper 210 reaches the specified position, the jaws 211 are controlled to close. At the same time, the elastic rope 212 contracts to convert the elastic potential energy previously stored into the kinetic energy of the jaws 211. The jaws 211 are inserted into the sand and clamp the garbage, and the tightening force of the elastic rope 212 can better clamp the garbage. After the gripper 210 is extended, the gripper 210 is rotated by the fifth driving member 208 to throw the sand in the claw out by centrifugal force. Since the mechanical claw only clamps the place where there is garbage, unlike the collection structure of the bucket, which will destroy the surface of the beach on a large scale, the present application can better protect the ecological environment of the beach.

[0106] Further, the base 100 includes a profile bracket 111, wheels 101, a sixth driving member 103, a mechanical arm support plate 110 and a shock absorbing structure;

[0107] The profile bracket 111 includes an upper bracket 130 and a lower bracket 140, and the upper bracket 130 is connected to the lower bracket 140 through a shock absorbing structure;

[0108] The garbage collection mechanism 300 and the robot arm support plate 110 are arranged on the upper bracket 130, and the transmission assembly 200 is installed on the robot arm support plate 110;

[0109] The wheel 101 is mounted on the lower bracket 140;

[0110] The sixth driving member 103 is mounted on the profile bracket 111 and connected to the wheel 101 for driving the wheel 101 to rotate.

[0111] During implementation, the base 100 is a vehicle frame, wherein the upper bracket 130 and the lower bracket 140 are distributed up and down, the wheel 101 is installed on the lower bracket 140, and the sixth driving member 103 can be directly connected to the wheel 101, or the sixth driving member 103 is connected to the wheel 101 through the transmission belt 102.

[0112] Exemplarily, the wheels 101 can be divided into front two wheels and rear two wheels, wherein the front two wheels transmit the torque of the sixth drive member 103 through the transmission belt 102, and the rear two wheels are directly driven by the motor. The robot arm support plate 110 is used to support the transmission assembly 200. Optionally, the robot arm support plate 110 forms a certain angle with the horizontal plane, such as 30°, 40°, 45° or 50°, etc. The advantage of this treatment is that the working space of the robot arm has more intersections with the ground, which facilitates the robot arm to grab garbage better and farther.

[0113] The shock absorbing structure includes a first shock absorbing spring 120 and a second shock absorbing spring 121. The upper bracket 130 and the lower bracket 140 are connected by the first shock absorbing spring 120 and the second shock absorbing spring 121 of two different lengths to achieve the shock absorbing function.

[0114] Optionally, taking the example of two rows of first shock-absorbing springs 120, each row has four first shock-absorbing springs 120, and the profile bracket 111 also includes a first aluminum profile 131, a second aluminum profile 132 and an axle 141, the first aluminum profile 131 is used to support and fix the garbage collection mechanism 300, the second aluminum profile 132 is used to fix the garbage collection mechanism 300 to prevent it from moving forward and backward, and the axle 141 is used to support the wheel 101.

[0115] Optionally, the first driving member 321 , the second driving member 333 , the third driving member 205 , the fourth driving member, the fifth driving member 208 and the sixth driving member 103 may be any one of a motor, a cylinder or a screw assembly, without limitation.

[0116] In a second aspect, the present application provides a beach garbage collection vehicle, including the automatic garbage collection device as described above.

[0117] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the structure and implementation principle of the beach garbage recycling vehicle described above can refer to the corresponding structure and implementation principle in the aforementioned embodiments, and will not be repeated here.

[0118] The automatic garbage recycling device provided by the present application includes a base 100; a transmission assembly 200 arranged on the base 100, and a gripper 210 is arranged at the free end of the transmission assembly 200; a first camera 220 installed on the transmission assembly 200, and the first camera 220 is used to identify the location of the garbage; a garbage collection mechanism 300 arranged on the base 100, and the garbage collection mechanism 300 has at least two storage spaces for holding different types of garbage; and a second camera 350 arranged on the garbage collection frame, and the second camera 350 is used to identify the type of garbage grabbed by the gripper 210. By setting the first camera 220 to identify the location of the garbage, the location of the garbage can be accurately located for grabbing, and then the second camera 350 identifies the type of garbage and places it into the corresponding storage space in the garbage collection mechanism 300, so as to realize the classification and collection of garbage without manual control, and the degree of intelligence is high.

[0119] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A garbage automatic recycling device, characterized in that: include: Base; A transmission assembly is arranged on the base, and a gripper is arranged at a free end of the transmission assembly; A first camera mounted on the transmission assembly, the first camera being used to identify the location of the garbage; A garbage collection mechanism is arranged on the base, and the garbage collection mechanism has at least two receiving spaces for containing different types of garbage; as well as A second camera is arranged on the garbage collection frame, and the second camera is used to identify the type of garbage grabbed by the grabber.

2. The automatic garbage recycling device according to claim 1, characterized in that: The garbage collection mechanism comprises: A garbage collection frame disposed on the base, wherein a partition is disposed inside the garbage collection frame for dividing the garbage collection frame into at least two containing spaces; and A garbage classification component is arranged on the garbage collection frame, and the garbage classification component is used to place the garbage in the corresponding receiving space.

3. The automatic garbage recycling device according to claim 2, characterized in that: The waste classification component comprises: a housing disposed on the garbage collection frame, the housing having a passage for garbage to fall into the accommodation space, the second camera being mounted on the housing; and A primary sorting member and a secondary sorting member installed in the passage; The primary classification member comprises a primary classification plate, a first driving member and a first roller, the first roller is rotatably connected to the housing, the primary classification plate is connected to the first roller and adapted to the channel, and the first driving member is mounted on the outer surface of the housing and connected to the first roller; The secondary classification member includes a secondary classification plate and a second driving member. The secondary classification plate is rotatably connected to the outer shell and is located below the primary classification plate. The second driving member is installed on the outer shell and connected to the secondary classification plate.

4. The automatic garbage recycling device according to claim 3, characterized in that: The housing is provided with a handle.

5. The automatic garbage recycling device according to claim 1, characterized in that: The transmission assembly comprises: A mounting seat mounted on the base; At least two connecting rods rotatably connected to the mounting seat, wherein at least two connecting rods are hingedly connected in sequence, and the last connecting rod is connected to the grabber; a third driving member connected to the connecting rod and the mounting seat, the third driving member being used to drive the connecting rod to rotate relative to the mounting seat; as well as A fourth driving member is provided on the connecting rod, wherein the fourth driving member is used to drive the connecting rod to extend and retract; The last section of the connecting rod is provided with a camera frame, and the camera frame is used to install the first camera.

6. The automatic garbage recycling device according to claim 5, characterized in that: The transmission assembly includes a fifth driving member installed on the last section of the connecting rod, the last section of the connecting rod is rotatably connected to the grabber, and the fifth driving member is connected to the grabber for driving the grabber to rotate.

7. The automatic garbage recycling device according to claim 5 or 6, characterized in that: The gripper comprises a gripper, a mechanical gripper base and a steering gear; The mechanical claw base is connected to the last section of the connecting rod; The steering gear is installed on the mechanical claw base and connected to the clamping claw, and is used to drive the clamping claw to open and close to grab garbage.

8. The automatic garbage recycling device according to claim 7, characterized in that: The gripper comprises an elastic rope, and adjacent clamping jaws are connected by the elastic rope.

9. The automatic garbage recycling device according to claim 1, characterized in that: The base comprises a profile bracket, wheels, a sixth driving member, a mechanical arm support plate and a shock absorbing structure; The profile bracket comprises an upper bracket and a lower bracket, and the upper bracket is connected to the lower bracket through the shock absorbing structure; The garbage collection mechanism and the mechanical arm support plate are arranged on the upper bracket, and the transmission assembly is mounted on the mechanical arm support plate; The wheel is mounted on the lower bracket; The sixth driving member is mounted on the profile support and connected to the wheel for driving the wheel to rotate.

10. A beach garbage collection vehicle, characterized in that: It comprises the automatic garbage recycling device as claimed in any one of claims 1 to 9.

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