Recycling robot for recognizing and sorting garbage

Abstract

The invention discloses a recycling robot for garbage recognition and sorting. The recycling robot comprises a chassis, a rack, a transfer barrel, a first clamping device, a plurality of garbage cans, an arched structure, a second clamping device, a high-definition camera and a processing module. The processing module is connected with the first clamping device, the second clamping device and the high-definition camera and used for controlling the first clamping device to grab garbage on the ground and transfer the garbage into the transfer barrel through the opening, and the processing module is further used for recognizing garbage types according to garbage photos shot by the high-definition camera. And the second clamping device is controlled to grab the garbage in the transfer barrel and transfer the garbage into the corresponding garbage can. And environmental protection and resource recycling are facilitated. Garbage can be recognized and classified and recycled. Manual intervention is reduced through automatic operation, and the garbage classification speed and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the field of garbage recycling equipment, and particularly to a recycling robot for garbage identification and sorting. Background Art

[0002] In vast rural areas, due to relatively weak awareness of garbage classification and resource recycling, residents generally lack a systematic understanding and standardized operation of scientific garbage classification, resulting in common phenomena of random disposal and mixed placement of domestic garbage. This extensive garbage management method not only affects the overall environmental hygiene of the village but also poses potential threats to the surrounding soil, water bodies, and air quality, thereby hindering the improvement of the rural human settlement environment quality and the realization of the goal of ecological sustainable development. At present, the treatment of rural garbage still mainly relies on traditional manual collection and centralized transportation methods. Problems such as unreasonable distribution of garbage disposal sites and imperfect supporting facilities are widespread, further increasing the work intensity and operating costs in subsequent sorting and transportation links. Summary of the Invention

[0003] Therefore, a recycling robot for garbage identification and sorting is needed, which can identify garbage and classify and recycle it.

[0004] To achieve the above object, the inventor provides a recycling robot for garbage identification and sorting, including: a chassis, a frame, a transfer barrel, a first clamping device, a plurality of trash cans, an arch structure, a second clamping device, a high-definition camera, and a processing module;

[0005] The frame is arranged on the chassis, and the top of the frame has an opening;

[0006] The transfer barrel is arranged inside the frame and is located below the opening;

[0007] The first clamping device is arranged on the chassis;

[0008] A plurality of the trash cans are arranged on the chassis and are located inside the frame, below the transfer barrel;

[0009] The arch structure is arranged between the edges of two adjacent trash cans;

[0010] The second clamping device is arranged inside the frame and is located above the transfer barrel and the trash cans;

[0011] The high-definition camera is arranged inside the frame and is used to take pictures of the garbage in the transfer barrel;

[0012] The processing module is respectively connected to the first clamping device, the second clamping device, and the high-definition camera, and is used to control the first clamping device to grab the garbage on the ground and transfer it to the transfer bucket through the opening, and is also used to identify the type of garbage according to the garbage photos taken by the high-definition camera, and control the second clamping device to grab the garbage in the transfer bucket and transfer it to the corresponding trash can.

[0013] Optionally: The second clamping device includes a second robotic arm and a two-axis moving mechanism;

[0014] The second robotic arm is arranged in the frame through the two-axis moving mechanism and is located above the transfer bucket and the trash can. The two-axis moving mechanism is used to move the second robotic arm on a horizontal plane, and the second robotic arm is used to grab garbage.

[0015] Optionally: The second robotic arm includes a scissor lift structure, a lifting motor, and a jaw:

[0016] The upper end of the scissor lift structure is arranged on the two-axis moving mechanism and moves along with the movement of the two-axis moving mechanism;

[0017] The lifting motor is arranged on the scissor lift structure and is connected to the processing module, and is used to drive the scissor lift structure to deform to achieve lifting;

[0018] The jaw is arranged at the lower end of the scissor lift structure and moves up and down along with the lifting of the scissor lift structure, and is used to grab garbage.

[0019] Optionally: The scissor lift structure includes an upper connecting seat, a first link group, a second link group, a third link group, a fourth link group, a fifth link group, a sixth link group, and a lower connecting seat;

[0020] The upper connecting seat is arranged on the slider of the longitudinal guide rail assembly. The upper connecting seat has two connecting plates in the transverse direction, and the two connecting plates are located on both sides of the slider of the longitudinal guide rail assembly;

[0021] The first link group includes two first links arranged side by side in the transverse direction. The upper ends of the two first links are respectively hinged on the connecting plates and have a first external tooth part;

[0022] The second link group includes two second links arranged side by side in the transverse direction. The upper ends of the two second links are respectively hinged on the connecting plates and have a second external tooth part, and the first external tooth part and the second external tooth part are meshed;

[0023] The third link group includes two third links arranged side by side in the transverse direction. The upper ends of the two third links are respectively hinged to the lower ends of the two first links;

[0024] The fourth connecting rod group includes two fourth connecting rods arranged side by side in a transverse direction, the upper ends of the two fourth connecting rods are respectively hinged to the lower ends of the two second connecting rods, and the middle parts of the third connecting rod and the fourth connecting rod are hinged;

[0025] The lifting motor is arranged on the fourth connecting rod, and the output shaft thereof passes through the fourth connecting rod and is fixed on the third connecting rod, so as to drive the third connecting rod to rotate relative to the fourth connecting rod;

[0026] The fifth connecting rod group includes two fifth connecting rods arranged side by side in a transverse direction, the upper ends of the two fifth connecting rods are respectively hinged to the lower ends of the two third connecting rods, the lower end of the fifth connecting rod is hinged to the lower connecting seat and has a third external tooth portion;

[0027] The sixth connecting rod assembly includes two sixth connecting rods arranged side by side in a transverse direction, the upper ends of the two sixth connecting rods are respectively hinged to the lower ends of the two fourth connecting rods, the lower end of the sixth connecting rod is hinged to the lower connecting seat and has a fourth external tooth portion, and the third external tooth portion is meshed with the fourth external tooth portion;

[0028] The clamping claw is arranged on the lower end of the lower connecting seat.

[0029] Optionally: the two-axis moving mechanism includes a longitudinal guide rail assembly, a first transverse guide rail assembly, a second transverse guide rail assembly, a first motor, a first synchronous belt assembly, a second motor and a second synchronous belt assembly;

[0030] The guide rails of the first transverse guide rail assembly and the second transverse guide rail assembly are both arranged on the frame and arranged side by side in the transverse direction of the horizontal plane. The sliders of the first transverse guide rail assembly and the second transverse guide rail assembly respectively support the guide rails of the longitudinal guide rail assembly. The longitudinal guide rail assembly is arranged in the longitudinal direction of the horizontal plane and spans above the first transverse guide rail assembly and the second transverse guide rail assembly. The sliders of the longitudinal guide rail assembly support the second mechanical arm.

[0031] The first motor is arranged on the frame, and a first driving wheel is arranged on the output shaft of the first motor. The first synchronous belt of the first synchronous belt assembly is respectively connected to the first driving wheel and the slider of the longitudinal guide rail assembly. The plurality of pulleys of the first synchronous belt assembly are respectively arranged on the slider of the first transverse guide rail assembly, the slider of the second transverse guide rail assembly and the frame.

[0032] The second motor is provided on the frame, and a second driving pulley is provided on its output shaft. The first synchronous belt of the first synchronous belt assembly is respectively in transmission connection with the second driving pulley and the slider of the longitudinal guide rail assembly. A plurality of pulleys of the second synchronous belt assembly are respectively provided on the slider of the first transverse guide rail assembly, the slider of the second transverse guide rail assembly, and the frame;

[0033] The first motor and the second motor are respectively connected to the processing module.

[0034] Optionally: A plurality of pulleys of the first synchronous belt assembly are respectively a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, and a sixth pulley;

[0035] The first pulley and the second pulley are located at one end of the guide rail of the first transverse guide rail assembly. The third pulley is located at the other end of the guide rail of the first transverse guide rail assembly. The fourth pulley is provided on the slider of the first transverse guide rail assembly. The fifth pulley is provided on the slider of the second transverse guide rail assembly. The sixth pulley is located at one end of the guide rail of the second transverse guide rail assembly. The first pulley, the second pulley, and the sixth pulley are located on the same side horizontally. The first synchronous belt sequentially bypasses the first pulley, the first driving pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, and the sixth pulley;

[0036] A plurality of pulleys of the second synchronous belt assembly are respectively a seventh pulley, an eighth pulley, a ninth pulley, a tenth pulley, an eleventh pulley, and a twelfth pulley;

[0037] The seventh pulley is located at one end of the guide rail of the first transverse guide rail assembly. The eighth pulley is provided on the slider of the first transverse guide rail assembly. The ninth pulley is provided on the slider of the second transverse guide rail assembly. The tenth pulley is located at the other end of the guide rail of the second transverse guide rail assembly. The eleventh pulley and the twelfth pulley are located at one end of the guide rail of the second transverse guide rail assembly. The seventh pulley, the eleventh pulley, and the twelfth pulley are located on the same side horizontally. The second synchronous belt sequentially bypasses the seventh pulley, the eighth pulley, the ninth pulley, the tenth pulley, the eleventh pulley, the second driving pulley, and the twelfth pulley;

[0038] The first synchronous belt assembly and the second synchronous belt assembly are staggered up and down.

[0039] Optionally: There are four trash bins, and the four trash bins are arranged in two rows and two columns. There are four arched structures, and the arched structures are bent L-shaped plates.

[0040] Optionally: It further includes a garbage compression device;

[0041] The garbage compression device is connected to the processing module and is used to compress the garbage in the trash can.

[0042] Optionally, it further includes a tipping device;

[0043] The tipping device is installed on the frame and is connected to the bottom of the transfer barrel, and is used to adjust the tilt angle of the transfer barrel.

[0044] Optionally, it further includes a plurality of ultrasonic sensors;

[0045] The ultrasonic sensors are installed on the upper part of the trash can, one ultrasonic sensor corresponds to one trash can, and the ultrasonic sensors are connected to the processing module.

[0046] Different from the prior art, the above technical solution has the following beneficial effects:

[0047] The chassis travels on the ground, uses the first clamping device to pick up garbage from the ground, and puts it into the transfer barrel through the opening at the top of the frame. The high-definition camera takes pictures of the garbage in the transfer barrel, and the pictures are sent to the processing module. The processing module uses image recognition technology to analyze the content of the pictures and identify the specific types of garbage. According to the recognition results, the processing module instructs the second clamping device to take out the corresponding garbage from the transfer barrel and accurately place it into the trash can of the corresponding type. It helps environmental protection and resource recycling. The automated operation reduces manual intervention and improves the speed and accuracy of garbage classification. It reduces the cost of garbage disposal.

[0048] The above relevant description of the invention content is only an overview of the technical solution of this application. In order to enable those of ordinary skill in the art to more clearly understand the technical solution of this application, and then can be implemented according to the content recorded in the text of the specification and the drawings, and in order to make the above objects, other objects, features and advantages of this application more easily understood, the following is described in conjunction with the specific implementation manners and drawings of this application. Description of the Drawings

[0049] The drawings are only used to illustrate the principles, implementation methods, applications, features and effects of the specific implementation manners of the present invention and other related contents, and cannot be considered as a limitation to this application.

[0050] Figure 1 It is a three-dimensional view of the intelligent garbage classification robot in this embodiment;

[0051] Figure 2 It is a three-dimensional view of the frame, the second clamping device and the high-definition camera in this embodiment;

[0052] Figure 3Isometric view of the second clamping device in this embodiment;

[0053] Figure 4 Isometric view of the first synchronous belt assembly in this embodiment;

[0054] Figure 5 Isometric view of the second synchronous belt assembly in this embodiment;

[0055] Figure 6 Isometric view of the first synchronous belt and the second synchronous belt in this embodiment;

[0056] Figure 7 One of the kinematic diagrams of the second clamping device in this embodiment;

[0057] Figure 8 Another kinematic diagram of the second clamping device in this embodiment;

[0058] Figure 9 A third kinematic diagram of the second clamping device in this embodiment;

[0059] Figure 10 A fourth kinematic diagram of the second clamping device in this embodiment;

[0060] Figure 11 Isometric view of the scissor lift structure and the lifting motor in this embodiment;

[0061] Figure 12 Isometric view of the transfer barrel and the dumping device in this embodiment;

[0062] Figure 13 Is Figure 12 Enlarged view of the dumping device in

[0063] Explanation of reference numerals:

[0064] 1. Chassis;

[0065] 2. Frame; 21. Opening; 22. Vertical rod;

[0066] 3. Transfer barrel;

[0067] 4. First clamping device;

[0068] 5. Trash can; 51. Arch structure;

[0069] 6. Second clamping device; 61. Second robotic arm; 611. Scissor lift structure; 6111. First connecting rod; 61111. First external tooth part; 6112. Second connecting rod; 61121. Second external tooth part; 6113. Third connecting rod; 6114. Fourth connecting rod; 6115. Fifth connecting rod; 61151. Third external tooth part; 6116. Sixth connecting rod; 61161. Fourth external tooth part; 6117. Upper connecting seat; 6118. Lower connecting seat; 612. Lifting motor; 613. Jaw; 62. Two-axis moving mechanism; 621. Longitudinal guide rail assembly; 6211. Guide rail of the longitudinal guide rail assembly; 6212. Slide block of the longitudinal guide rail assembly; 622. First transverse guide rail assembly; 6221. Guide rail of the first transverse guide rail assembly; 6222. Slide block of the first transverse guide rail assembly; 623. Second transverse guide rail assembly; 6231. Guide rail of the second transverse guide rail assembly; 6232. Slide block of the second transverse guide rail assembly; 624. First synchronous belt assembly; 6241. First synchronous belt; 6242. First driving wheel; 6243. First pulley; 6244. Second pulley; 6245. Third pulley; 6246. Fourth pulley; 6247. Fifth pulley; 6248. Sixth pulley; 625. Second synchronous belt assembly; 6251. Second synchronous belt; 6252. Second driving wheel; 6253. Seventh pulley; 6254. Eighth pulley; 6255. Ninth pulley; 6256. Tenth pulley; 6257. Eleventh pulley; 6258. Twelfth pulley; M1. First motor; M2. Second motor;

[0070] 7. High-definition camera;

[0071] 8. Processing module;

[0072] 9. Garbage compression device; 91. Electric push rod; 92. Push plate;

[0073] 10. Dumping device; 101. First servo motor; 102. Lower bracket; 103. Upper bracket; 104. Second servo motor. Detailed implementation mode

[0074] To illustrate in detail the possible application scenarios, technical principles, specific implementable solutions, achievable purposes and effects of this application, the following is a detailed description in conjunction with the listed specific embodiments and with reference to the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of this application, so they are only examples and cannot be used to limit the protection scope of this application.

[0075] References to "embodiments" in this document mean that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present application. The term "embodiment" appearing at various positions in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or relevance to other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0076] Unless otherwise defined, the meanings of the technical terms used in this document are the same as those commonly understood by those skilled in the technical field to which this application belongs; the use of the relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0077] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that there can be three relationships, for example, A and / or B, which means: the existence of A, the existence of B, and the simultaneous existence of both A and B. In addition, the character " / " in this document generally represents an "or" logical relationship between the associated objects before and after.

[0078] In this application, terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual quantitative, primary-secondary, or sequential relationship between these entities or operations.

[0079] Without further limitation, in this application, the expressions "including", "comprising", "having" or other similar expressions used in a statement are intended to cover non-exclusive inclusion. These expressions do not exclude the possibility that there may be additional elements in the process, method, or product including the said elements, such that a process, method, or product including a series of elements may not only include those defined elements, but also include other elements not explicitly listed, or elements inherent to such a process, method, or product.

[0080] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceeding" are understood not to include the present number; expressions such as "above", "below", "within" are understood to include the present number. In addition, in the description of the embodiments of this application, the meaning of "multiple" is two or more (including two), and similar expressions related to "many" are understood in the same way, such as "multiple groups", "multiple times", etc., unless otherwise specifically defined.

[0081] In the description of the embodiments of the present application, the spatially related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "perpendicular", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or the drawings. It is only for the convenience of describing the specific embodiments of the present application or for the reader's understanding, rather than indicating or implying that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present application.

[0082] Unless otherwise clearly specified or limited, in the description of the embodiments of the present application, the terms "installed", "connected", "connected to", "fixed", "set", etc. should be understood in a broad sense. For example, the "connection" may be a fixed connection, a detachable connection, or an integral setting; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium; it may be the communication inside two components or the interaction relationship between two components. For those skilled in the art to which the present application pertains, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0083] Please refer to Figures 1 to 13 , this embodiment provides a recycling robot for garbage recognition and sorting, including: a chassis 1, a frame 2, a transfer barrel 3, a first clamping device 4, a plurality of trash cans 5, an arch structure 51, a second clamping device 6, a high-definition camera 7, and a processing module 8;

[0084] The frame 2 is arranged on the chassis 1, and the top of the frame 2 has an opening 21;

[0085] The transfer barrel 3 is arranged inside the frame 2 and is located below the opening 21;

[0086] The first clamping device 4 is arranged on the chassis 1;

[0087] A plurality of trash cans 5 are arranged on the chassis 1 and are located inside the frame 2, below the transfer barrel 3;

[0088] The arch structure 51 is arranged between the edges of two adjacent trash cans 5;

[0089] The second clamping device 6 is arranged inside the frame 2 and is located above the transfer barrel 3 and the trash cans 5;

[0090] The high-definition camera 7 is arranged inside the frame 2 and is used to take pictures of the garbage in the transfer barrel 3;

[0091] The processing module 8 is respectively connected to the first clamping device 4, the second clamping device 6, and the high-definition camera 7. It is used to control the first clamping device 4 to grab the garbage on the ground and transfer it to the transfer bin 3 through the opening 21. It is also used to identify the type of garbage according to the garbage photos taken by the high-definition camera 7, and control the second clamping device 6 to grab the garbage in the transfer bin and transfer it to the corresponding trash can 5.

[0092] The working principle of the recycling robot is as follows:

[0093] The chassis 1 travels on the ground, uses the first clamping device 4 to pick up the garbage from the ground, and puts it into the transfer bin 3 through the opening 21 at the top of the frame 2. The high-definition camera 7 takes pictures of the garbage in the transfer bin 3, and the pictures are sent to the processing module 8. The processing module 8 uses image recognition technology to analyze the content of the pictures and identify the specific type of garbage. According to the recognition result, the processing module 8 instructs the second clamping device 6 to take out the corresponding garbage from the transfer bin 3 and accurately place it into the trash can 5 of the corresponding type.

[0094] The beneficial effects of the recycling robot are as follows:

[0095] It can adapt to relatively complex working environments, such as terrain changes and uneven garbage distribution. It effectively promotes the correct classification of garbage, which is helpful for environmental protection and resource recycling. Automated operation reduces manual intervention and improves the speed and accuracy of garbage classification.

[0096] Please refer to Figures 1 to 3 , in this embodiment, the second clamping device 6 includes a second robotic arm 61 and a two-axis moving mechanism 62; the second robotic arm 61 is arranged in the frame 2 through the two-axis moving mechanism 62 and is located above the transfer bin 3 and the trash can 5. The two-axis moving mechanism 62 is used to move the second robotic arm 61 on the horizontal plane, and the second robotic arm 61 is used to grab the garbage. The second robotic arm 61 is a multi-degree-of-freedom robotic arm with a clamping function, and a grasping component such as a gripper or a suction cup is provided at the end, which can achieve stable grasping of garbage objects. The two-axis moving mechanism 62 can drive the second robotic arm 61 to move horizontally in the transverse and longitudinal directions above the trash can 5 or the transfer bin 3.

[0097] Please refer to Figures 3 to 6 , in this embodiment, the two-axis moving mechanism 62 includes a longitudinal guide rail assembly 621, a first transverse guide rail assembly 622, a second transverse guide rail assembly 623, a first motor M1, a first synchronous belt assembly 624, a second motor M2, and a second synchronous belt assembly 625;

[0098] The guide rails of the first transverse guide rail assembly 622 and the second transverse guide rail assembly are both arranged on the frame 2, and are arranged side by side in the longitudinal direction of the horizontal plane. The sliders of the first transverse guide rail assembly 622 and the second transverse guide rail assembly respectively support the guide rail 6211 of the longitudinal guide rail assembly. The longitudinal guide rail assembly 621 is arranged in the longitudinal direction of the horizontal plane, spanning above the first transverse guide rail assembly 622 and the second transverse guide rail assembly 623. The slider 6212 of the longitudinal guide rail assembly supports the second mechanical arm 61.

[0099] The first motor M1 is arranged on the frame 2, and a first driving wheel 6242 is arranged on its output shaft. The first synchronous belt 6241 of the first synchronous belt assembly 624 is respectively connected to the first driving wheel 6242 and the slider 6212 of the longitudinal guide rail assembly. The plurality of pulleys of the first synchronous belt assembly 624 are respectively arranged on the slider 6222 of the first transverse guide rail assembly, the slider 6232 of the second transverse guide rail assembly and the frame 2.

[0100] The second motor M2 is arranged on the frame 2, and a second driving wheel 6252 is arranged on its output shaft. The first synchronous belt 6241 of the first synchronous belt assembly 624 is respectively connected to the second driving wheel 6252 and the slider 6212 of the longitudinal guide rail assembly. The plurality of pulleys of the second synchronous belt assembly 625 are respectively arranged on the slider 6222 of the first transverse guide rail assembly, the slider 6232 of the second transverse guide rail assembly and the frame 2.

[0101] The first motor M1 and the second motor M2 are connected to the processing module 8 respectively.

[0102] The first transverse guide rail assembly 622, the second transverse guide rail assembly 623 and the longitudinal guide rail assembly 621 each have a guide rail and a slider, and the slider can slide on the guide rail. The first transverse guide rail assembly 622 and the second transverse guide rail assembly 623 both extend in the transverse direction, and the two are arranged side by side in the frame 2, and are arranged at intervals along the front and rear direction (i.e., longitudinal direction) of the robot. The longitudinal guide rail assembly 621 extends in the front and rear direction of the robot, spanning over the sliders of the two transverse guide rail assemblies. The first transverse guide rail assembly 622, the second transverse guide rail assembly 623 and the longitudinal guide rail assembly 621 form an I-shape. The processing module 8 coordinates and controls the actions of the two motors according to the target position, so that the second robotic arm 61 can move to the specified position in the transverse and longitudinal directions, grab the garbage from the transfer barrel 3, and put it into the corresponding classified garbage bin 5.

[0103] See also Figures 3 to 6 In this embodiment, the plurality of pulleys of the first synchronous belt assembly 624 are respectively a first pulley 6243, a second pulley 6244, a third pulley 6245, a fourth pulley 6246, a fifth pulley 6247 and a sixth pulley 6248. Figure 4 As shown;

[0104] The first pulley 6243 and the second pulley 6244 are located at one end of the guide rail 6221 of the first lateral guide rail assembly. The third pulley 6245 is located at the other end of the guide rail 6221 of the first lateral guide rail assembly. The fourth pulley 6246 is provided on the slider 6222 of the first lateral guide rail assembly. The fifth pulley 6247 is provided on the slider 6232 of the second lateral guide rail assembly. The sixth pulley 6248 is located at one end of the guide rail 6231 of the second lateral guide rail assembly. The first pulley 6243, the second pulley 6244 and the sixth pulley 6248 are located on the same side horizontally. The first synchronous belt 6241 sequentially bypasses the first pulley 6243, the first driving pulley 6242, the second pulley 6244, the third pulley 6245, the fourth pulley 6246, the fifth pulley 6247, and the sixth pulley 6248;

[0105] The several pulleys of the second synchronous belt assembly 625 are respectively the seventh pulley 6253, the eighth pulley 6254, the ninth pulley 6255, the tenth pulley 6256, the eleventh pulley 6257 and the twelfth pulley 6258, as Figure 5 shown;

[0106] The seventh pulley 6253 is located at one end of the guide rail 6221 of the first lateral guide rail assembly. The eighth pulley 6254 is provided on the slider 6222 of the first lateral guide rail assembly. The ninth pulley 6255 is provided on the slider 6232 of the second lateral guide rail assembly. The tenth pulley 6256 is located at the other end of the guide rail 6231 of the second lateral guide rail assembly. The eleventh pulley 6257 and the twelfth pulley 6258 are located at one end of the guide rail 6231 of the second lateral guide rail assembly. The seventh pulley 6253, the eleventh pulley 6257 and the twelfth pulley 6258 are located on the same side horizontally. The second synchronous belt 6251 sequentially bypasses the seventh pulley 6253, the eighth pulley 6254, the ninth pulley 6255, the tenth pulley 6256, the eleventh pulley 6257, the second driving pulley 6252, and the twelfth pulley 6258;

[0107] The first synchronous belt assembly 624 and the second synchronous belt assembly 625 are staggered vertically. Preferably, the second synchronous belt 6251 is located above the first synchronous belt 6241 and they are parallel to each other, as Figure 6 shown.

[0108] Among them, the fifth pulley 6247 and the seventh pulley 6253 can be coaxially arranged, and the sixth pulley 6248 and the twelfth pulley 6258 can be coaxially arranged.

[0109] Figure 5In the shown structure, the first pulley 6243, the second pulley 6244, the first driving pulley 6242 and the seventh pulley 6253 are located at the upper left corner of the frame 2. The sixth pulley 6248, the eleventh pulley 6257, the twelfth pulley 6258 and the second driving pulley 6252 are located at the upper right corner of the frame 2. The fourth pulley 6246 and the eighth pulley 6254 are located at the middle left position of the frame 2. The fifth pulley 6247 and the ninth pulley 6255 are located at the middle right position of the frame 2. The third pulley 6245 is located at the lower left corner of the frame 2. The tenth pulley 6256 is located at the lower right corner of the frame 2. The above-mentioned pulleys are respectively rotatably arranged on the rotating shaft, and the rotating shaft is perpendicular to the horizontal plane and parallel to the output shaft of the motor. The first synchronous belt 6241 is in a "6" shape, and the second synchronous belt 6251 is in a "6" shape.

[0110] Such a structure uses fewer mechanical components, is simpler to install and maintain. Using a parallel belt drive method, it will not generate lateral force and reduces the vibration caused by movement. Preferably, the first motor M1 and the second motor M2 are stepper motors. The motors can be fixed on the frame 2 through an aluminum profile frame, reducing the weight on the guide rail and reducing the vibration of the motors. At the same time, since the two motors cooperate to control the movement of each slider, it can provide very high precision and speed for the slider, enabling the second robotic arm 61 to accurately position when picking up garbage and not vibrate violently and cause dropping.

[0111] Please refer to Figures 7 to 10 , and the principle of the two-axis moving mechanism 62 causing the second robotic arm 61 to move will be introduced below:

[0112] The CoreXY structure of the two-axis moving mechanism 62 establishes the relationship between the rotational displacements of the two motors and the displacement of the clamping platform. The relationship between the two is as follows. The positive direction of the coordinate system is as Figure 7 the ΔY and ΔX in.

[0113] Set the linear displacement of the first motor M1 rotating counterclockwise alone as ΔA. The moving direction of the synchronous belt is as shown by the arrow in Figure 8 . The first synchronous belt 6241 under the first motor M1 is the tight side, which is the side for transmitting power. According to the force analysis, the slider 6212 of the longitudinal guide rail assembly will move along the positive X direction and the positive Y direction simultaneously and the moving displacements are equal. ΔX = ΔY = 1 / 2ΔA. The combined movement effect of the slider 6212 of the longitudinal guide rail assembly is to move obliquely downward to the left, and the slider of the transverse guide rail assembly moves downward (positive X direction). When the first motor M1 rotates clockwise alone, the slider 6212 of the longitudinal guide rail assembly moves obliquely upward to the right, and the slider of the transverse guide rail assembly moves downward (positive X direction), as shown in Figure 8 .

[0114] Similarly, when the second motor M2 rotates alone, it will also cause the slider 6212 of the longitudinal guide rail assembly and the slider of the transverse guide rail assembly to move, and the moving direction is related to the rotation of the second motor M2. When the first motor M1 and the second motor M2 rotate simultaneously at the same speed, different effects will occur. When the first motor M1 and the second motor M2 rotate counterclockwise at the same speed, the slider 6212 of the longitudinal guide rail assembly accelerates and moves to the left (Y positive direction). Since the linear displacements generated by the first motor M1 and the second motor M2 on the slider of the transverse guide rail assembly cancel each other out, the slider does not move, as Figure 9 shown.

[0115] When the first motor M1 rotates clockwise and the second motor M2 rotates counterclockwise at the same speed, since the linear displacements in the X direction generated by the first motor M1 and the second motor M2 on the slider 6212 of the longitudinal guide rail assembly cancel each other out, the slider 6212 of the longitudinal guide rail assembly moves upward (Y negative direction), while the slider of the transverse guide rail assembly accelerates and moves upward (X positive direction), as Figure 10 shown.

[0116] Please refer to Figure 11 , in this embodiment: The second robotic arm 61 includes a scissor lift structure 611, a lift motor 612, and a jaw 613: The upper end of the scissor lift structure 611 is provided on the two-axis moving mechanism 62 and moves along with the movement of the two-axis moving mechanism 62; The lift motor 612 is provided on the scissor lift structure 611 and is connected to the processing module 8, and is used to drive the scissor lift structure 611 to deform to achieve lifting; The jaw 613 is provided at the lower end of the scissor lift structure 611 and moves up and down along with the lifting of the scissor lift structure 611, and is used to grab garbage. The scissor structure has good stability during operation and is not easy to shake. Based on the second robotic arm 61 of the scissor lift structure 611 + lift motor 612 + jaw 613, it can achieve precise garbage grabbing, lifting control, and fixed-point dropping.

[0117] Please refer to Figure 11, in this embodiment, the scissor lift structure 611 includes an upper connecting seat 6117, a first link group, a second link group, a third link group, a fourth link group, a fifth link group, a sixth link group and a lower connecting seat; the upper connecting seat 6117 is assembled on the slider 6212 of the longitudinal guide rail assembly, and the upper connecting seat 6117 has two connecting plates in the transverse direction, and the two connecting plates are located on both sides of the slider 6212 of the longitudinal guide rail assembly; the first link group includes two first links 6111 arranged side by side in the transverse direction, the upper ends of the two first links 6111 are respectively hinged on the connecting plates, and have a first external tooth portion 61111; the second link group includes two second links 6112 arranged side by side in the transverse direction, the upper ends of the two second links 6112 are respectively hinged on the connecting plates, and have a second external tooth portion 61121, and the first external tooth portion 61111 and the second external tooth portion 61121 are engaged; the third link group includes two third links 6113 arranged side by side in the transverse direction, the upper ends of the two third links 6113 are respectively hinged to the lower ends of the two first links 6111; the fourth link group includes two fourth links 6114 arranged side by side in the transverse direction, the upper ends of the two fourth links 6114 are respectively hinged to the lower ends of the two second links 6112, and the middle parts of the third link 6113 and the fourth link 6114 are hinged; the lifting motor 612 is arranged on the fourth link 6114, and its output shaft passes through the fourth link 6114 and is fixed on the third link 6113, and is used to drive the third link 6113 to rotate relative to the fourth link 6114; the fifth link group includes two fifth links 6115 arranged side by side in the transverse direction, the upper ends of the two fifth links 6115 are respectively hinged to the lower ends of the two third links 6113, the lower ends of the fifth links 6115 are hinged to the lower connecting seat 6118, and have a third external tooth portion 61151; the sixth link group includes two sixth links 6116 arranged side by side in the transverse direction, the upper ends of the two sixth links 6116 are respectively hinged to the lower ends of the two fourth links 6114, the lower ends of the sixth links 6116 are hinged to the lower connecting seat 6118, and have a fourth external tooth portion 61161, and the third external tooth portion 61151 and the fourth external tooth portion 61161 are engaged; the clamping jaw 613 is arranged on the lower end of the lower connecting seat 6118.

[0118] The lifting motor starts, and its output shaft drives the third link 6113 to rotate relative to the fourth link 6114. The middle hinge point of the third link 6113 and the fourth link 6116 serves as a fulcrum. When the third link 6113 is driven, it will drive the fourth link 6114 to rotate relatively. Since the first link 6111 and the second link are meshed through external teeth, the first link 6111 and the second link 6112 will also rotate relatively synchronously. Similarly, the fifth link 6115 and the sixth link 6116 are also meshed through external teeth, and the fifth link 6115 and the sixth link 6116 will also rotate relatively synchronously. During the above linkage process of the links, the entire scissor structure will undergo telescopic deformation. The scissor structure then unfolds or contracts, thereby realizing the lifting motion. The design of the tooth meshing ensures the motion accuracy, enabling the scissor structure to maintain high straightness and stability during the telescopic process.

[0119] It should be mentioned that there is a set of the first link, the second link, the third link, the fourth link, the fifth link, and the sixth link directly below one connecting plate, and there is a set of the first link, the second link, the third link, the fourth link, the fifth link, and the sixth link directly below the other connecting plate. The same hinge positions of the two first links can be connected by a stabilizer bar, and the hinge parts of the other links are the same. There can be only one lifting motor, or a lifting motor can be provided on each of the two fourth links.

[0120] Please refer to Figure 12 , in this embodiment, the recycling robot further includes a garbage compression device 9; the garbage compression device 9 is connected to the processing module 8 and is used to compress the garbage in the trash can 5. The garbage compression device 9 can adopt the method of up-and-down compression or left-and-right compression for at least one of the multiple trash cans 5. Preferably, the garbage compression device 9 is used for the trash can 5 for recyclable garbage. Through compression, the space occupied by the garbage can be significantly reduced. In this way, not only the storage capacity of a single trash can 5 is increased, but also the number of transports is reduced, and the logistics cost is lowered.

[0121] Please refer to Figure 12, in this embodiment, the garbage compression device 9 includes an electric push rod 91 and a push plate 92; the electric push rod 91 is arranged on the chassis 1 and connected to the processing module 8. The side wall of the garbage can 5 has a through hole, and the push rod of the electric push rod 91 passes through the through hole into the garbage can 5; the push plate 92 is arranged at the end of the push rod away from the electric push rod 91 and is located inside the garbage can 5. Among them, the push plate 92 can be made of acrylic board, with small height baffles with arcs around it to ensure that the force on the compressed garbage is concentrated. The processing module 8 judges whether to start the compression operation; if the condition is met, a control instruction is sent to the electric push rod 91 to drive the push rod to extend; the push rod drives the push plate 92 to move forward to compress the garbage in the garbage can 5; during the compression process, the push plate 92 continues to move forward until it reaches the preset stroke or encounters the resistance upper limit and then stops. After the compression is completed, the electric push rod 91 runs in the reverse direction to drive the push plate 92 to return to the original position. The electric push rod 91 can adopt a high-thrust DC push rod motor, and the forward and backward movement of the push rod can be realized by controlling the reverse connection of the positive and negative poles through a relay.

[0122] Please refer to Figure 1 , Figure 10 and Figure 12 , preferably, there are four garbage cans 5, and the four garbage cans 5 are arranged in two rows and two columns on the chassis 1. The four garbage cans 5 can respectively correspond to recyclable garbage cans, harmful garbage cans, kitchen waste (wet) garbage cans, and other (dry) garbage cans. The height of one of the garbage cans 5 is less than the height of the other three garbage cans 5. This garbage can 5 with such a height and angle is fixed on the chassis 1 by means of elevation, and the space below is used to accommodate the electric push rod 91. The overall structure is more compact.

[0123] Please refer to Figure 1 and Figure 13 , in this embodiment, the recycling robot further includes a tipping device 10. The tipping device 10 is arranged on the frame 2 and connected to the bottom of the transfer bucket 3 for adjusting the tilt angle of the transfer bucket 3. When it is necessary to transfer the garbage in the transfer bucket 3 to the operable range of the second clamping device 6, the processing module 8 starts the tipping device 10 to tilt the transfer bucket 3 to facilitate the sliding or positioning of the garbage.

[0124] Please refer to Figure 13, in this embodiment, the dumping device 10 includes a first servo 101, a lower bracket 102, and a second servo 104; inside the frame 2, there is a longitudinal rod 22, and the first servo 101 is arranged on the longitudinal rod 22; the lower bracket 102 is arranged on the first servo 101 and rotates left and right following the drive of the first servo 101; the upper bracket 103 is hinged to the lower bracket 102, the upper bracket 103 supports the transfer barrel 3, and the second servo 104 is arranged on the lower bracket 102 and connected to the upper bracket 103 for driving the upper bracket 103 to rotate up and down relative to the lower bracket 102. Preferably, the longitudinal rod 22 is between two rows of trash cans 5, so that the supported transfer barrel 3 is located above the center of the four trash cans 5. The first servo 101 is responsible for the left and right rotation of the transfer barrel 3, providing angle adjustment in the horizontal direction; the second servo 104 is responsible for the inclination of the transfer barrel 3, providing angle adjustment in the vertical direction; the two work together to achieve flexible attitude control of the transfer barrel 3 in multiple directions, greatly improving the flexibility and adaptability of the device. The angle of the transfer barrel 3 can be dynamically adjusted according to the position of the garbage, and the robotic arm is coordinated to throw the garbage into the lower classified trash can 5. The trash can 5 and the transfer barrel 3 can process multiple input garbage at the same time, which brings convenience compared with the dual-servo control for discarding single garbage.

[0125] In this embodiment, the recycling robot further includes a plurality of ultrasonic sensors; the ultrasonic sensors are arranged on the upper part of the trash can 5, facing the inside of the trash can 5, and one ultrasonic sensor corresponds to one trash can 5, and the ultrasonic sensors are connected to the processing module 8. Specifically, there is an ultrasonic sensor on the top of each trash can 5, which detects the full-load situation at a certain angle downward. The ultrasonic detection principle is utilized, and specifically, the processing module 8 (an Arduino development board can be selected) is used to give an over-standard alarm. First, the verification distance of the ultrasonic module is set. When the distance between the object and the ultrasonic module is less than 110 mm (millimeters), it indicates that the garbage has reached three-quarters of the trash can at this time. After the Arduino development board receives the data, a full-load alarm is issued. The full-load alarm can be an intelligent voice reminder of garbage overload issued by the asrpro voice unit.

[0126] Please refer to Figure 1 , in this embodiment, the chassis 1 is an omnidirectional chassis 1 with Mecanum wheels, having the function of four-wheel independent drive, a turning radius ≤ 0.5 meters, the passing rate of the roadway is increased by 90%, the load capacity ≥ 100 kg, and it can carry 4 240L classified trash cans 5 (meeting the daily processing demand of 2 tons).

[0127] Please refer to Figure 1, in this embodiment, the first clamping device 4 includes a first robotic arm, which is a multi-degree-of-freedom robotic arm with a clamping function. A gripping component such as a jaw or a suction cup is provided at the end, capable of stably gripping garbage objects. The gripping forces of the first robotic arm and the second robotic arm are ≥50 N, the operating speed is 0.5 m / s, and the accuracy is ±1 mm.

[0128] Please refer to Figure 1 , in this embodiment, the processing module 8 can be arranged on the frame 2 and is located above the second clamping device 6. The processing module 8 has a transfer learning model, based on the TensorFlow Lite framework, and the pre-trained model is adapted to the characteristics of regional garbage. Only 1000 samples are required to achieve an accuracy of 95%. The processing module 8 has an edge-cloud collaborative architecture: Jetson Orin Nano processes images locally (delay ≤50 ms); Raspberry Pi 4B synchronizes to a private cloud to generate the "Monthly Report on Village-level Waste Sorting". The processing module 8 has a Jetson Orin Nano development kit, providing AI recognition and edge computing capabilities. Optimized with the YOLOv5 algorithm, the recognition accuracy is ≥95%. The control chip of the processing module 8 can be selected as STM32F103C8T6.

[0129] In this embodiment, the processing module has multimodal interaction: supporting triple operations of "voice + touch screen + APP", and the adaptation rate of elderly users is increased by 60%.

[0130] In this embodiment, a battery is provided on one side of the processing module 8, and the battery powers the processing module 8, the camera, the first clamping device 4, the second clamping device 6, the tipping device 10, the garbage compressing device 9, and the chassis 1.

[0131] Finally, it should be noted that although the above embodiments have been described in the text and drawings of the specification of this application, the patent protection scope of this application cannot be limited thereby. Any technical solutions obtained by equivalent structure or equivalent process substitution or modification based on the essential concept of this application and using the content recorded in the text and drawings of the specification of this application, as well as those directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are all included in the patent protection scope of this application.

Claims

1. A recycling robot for garbage recognition and sorting, characterized in that, Comprising: A chassis, a frame, a transfer barrel, a first clamping device, a plurality of trash cans, an arch structure, a second clamping device, a high-definition camera, and a processing module; The frame is arranged on the chassis, and the top of the frame has an opening; The transfer barrel is arranged inside the frame and is located below the opening; The first clamping device is arranged on the chassis; A plurality of the trash cans are arranged on the chassis and are located inside the frame, below the transfer barrel; The arch structure is arranged between the edges of two adjacent trash cans; The second clamping device is arranged inside the frame and is located above the transfer barrel and the trash cans; The high-definition camera is arranged inside the frame and is used for taking pictures of the trash in the transfer barrel; The processing module is respectively connected to the first clamping device, the second clamping device, and the high-definition camera, and is used for controlling the first clamping device to grab the trash on the ground and transfer it to the transfer barrel through the opening, and is also used for identifying the type of trash according to the trash pictures taken by the high-definition camera, and controlling the second clamping device to grab the trash in the transfer barrel and transfer it to the corresponding trash can.

2. The recycling robot according to claim 1, wherein: The second clamping device includes a second robotic arm and a two-axis moving mechanism; The second robotic arm is arranged inside the frame through the two-axis moving mechanism and is located above the transfer barrel and the trash cans. The two-axis moving mechanism is used for moving the second robotic arm on a horizontal plane, and the second robotic arm is used for grabbing trash.

3. The recycling robot according to claim 2, characterized in that: The second robotic arm includes a scissor lift structure, a lifting motor, and a gripper: The upper end of the scissor lift structure is arranged on the two-axis moving mechanism and moves along with the movement of the two-axis moving mechanism; The lifting motor is arranged on the scissor lift structure and is connected to the processing module, and is used for driving the scissor lift structure to deform to realize lifting; The gripper is arranged at the lower end of the scissor lift structure and moves up and down along with the lifting of the scissor lift structure, and is used for grabbing trash.

4. The recycling robot according to claim 3, wherein: The scissor lift structure includes an upper connection seat, a first link group, a second link group, a third link group, a fourth link group, a fifth link group, a sixth link group, and a lower connection seat; The upper connection seat is arranged on the slider of the longitudinal guide rail assembly. The upper connection seat has two connecting plates in the transverse direction, and the two connecting plates are located on both sides of the slider of the longitudinal guide rail assembly; The first link group includes two first links arranged side by side in the transverse direction. The upper ends of the two first links are respectively hinged to the connecting plates and have a first external tooth part; The second link group includes two second links arranged side by side in the transverse direction. The upper ends of the two second links are respectively hinged to the connecting plates and have a second external tooth part, and the first external tooth part and the second external tooth part are engaged; The third link group includes two third links arranged side by side in the transverse direction. The upper ends of the two third links are respectively hinged to the lower ends of the two first links; The fourth link group includes two fourth links arranged side by side in the transverse direction. The upper ends of the two fourth links are respectively hinged to the lower ends of the two second links, and the middle parts of the third link and the fourth link are hinged; The lifting motor is arranged on the fourth link, and its output shaft passes through the fourth link and is fixed on the third link to drive the third link to rotate relative to the fourth link; The fifth link group includes two fifth links arranged side by side in the transverse direction. The upper ends of the two fifth links are respectively hinged to the lower ends of the two third links. The lower ends of the fifth links are hinged to the lower connecting seat and have third external teeth; The sixth link group includes two sixth links arranged side by side in the transverse direction. The upper ends of the two sixth links are respectively hinged to the lower ends of the two fourth links. The lower ends of the sixth links are hinged to the lower connecting seat and have fourth external teeth. The third external teeth and the fourth external teeth are meshed; The clamping jaw is arranged at the lower end of the lower connecting seat.

5. The recycling robot according to claim 2, characterized in that: The two-axis moving mechanism includes a longitudinal guide rail assembly, a first transverse guide rail assembly, a second transverse guide rail assembly, a first motor, a first synchronous belt assembly, a second motor and a second synchronous belt assembly; The guide rails of the first transverse guide rail assembly and the second transverse guide rail assembly are both arranged on the frame and are arranged side by side in the transverse direction of the horizontal plane. The sliders of the first transverse guide rail assembly and the second transverse guide rail assembly respectively support the guide rail of the longitudinal guide rail assembly. The longitudinal guide rail assembly is arranged in the longitudinal direction of the horizontal plane and straddles above the first transverse guide rail assembly and the second transverse guide rail assembly. The slider of the longitudinal guide rail assembly supports the second robotic arm; The first motor is arranged on the frame, and a first driving wheel is arranged on its output shaft. The first synchronous belt of the first synchronous belt assembly is respectively in transmission connection with the first driving wheel and the slider of the longitudinal guide rail assembly. Several belt wheels of the first synchronous belt assembly are respectively arranged on the slider of the first transverse guide rail assembly, the slider of the second transverse guide rail assembly and the frame; The second motor is arranged on the frame, and a second driving wheel is arranged on its output shaft. The first synchronous belt of the first synchronous belt assembly is respectively in transmission connection with the second driving wheel and the slider of the longitudinal guide rail assembly. Several belt wheels of the second synchronous belt assembly are respectively arranged on the slider of the first transverse guide rail assembly, the slider of the second transverse guide rail assembly and the frame; The first motor and the second motor are respectively connected to the processing module.

6. The recycling robot according to claim 5, characterized in that: Several belt wheels of the first synchronous belt assembly are respectively a first belt wheel, a second belt wheel, a third belt wheel, a fourth belt wheel, a fifth belt wheel and a sixth belt wheel; The first belt wheel and the second belt wheel are located at one end of the guide rail of the first transverse guide rail assembly. The third belt wheel is located at the other end of the guide rail of the first transverse guide rail assembly. The fourth belt wheel is arranged on the slider of the first transverse guide rail assembly. The fifth belt wheel is arranged on the slider of the second transverse guide rail assembly. The sixth belt wheel is located at one end of the guide rail of the second transverse guide rail assembly. The first belt wheel, the second belt wheel and the sixth belt wheel are located on the same side in the transverse direction. The first synchronous belt sequentially bypasses the first belt wheel, the first driving wheel, the second belt wheel, the third belt wheel, the fourth belt wheel, the fifth belt wheel and the sixth belt wheel; The several pulleys of the second synchronous belt assembly are respectively the seventh pulley, the eighth pulley, the ninth pulley, the tenth pulley, the eleventh pulley and the twelfth pulley; The seventh pulley is located at one end of the guide rail of the first transverse guide rail assembly, the eighth pulley is arranged on the slider of the first transverse guide rail assembly, the ninth pulley is arranged on the slider of the second transverse guide rail assembly, the tenth pulley is located at the other end of the guide rail of the second transverse guide rail assembly, the eleventh pulley and the twelfth pulley are located at one end of the guide rail of the second transverse guide rail assembly, the seventh pulley, the eleventh pulley and the twelfth pulley are located on the same side horizontally, and the second synchronous belt sequentially bypasses the seventh pulley, the eighth pulley, the ninth pulley, the tenth pulley, the eleventh pulley, the second driving pulley and the twelfth pulley; The first synchronous belt assembly and the second synchronous belt assembly are staggered up and down.

7. The recycling robot according to claim 1, wherein: There are four trash cans, and the four trash cans are arranged in two rows and two columns. There are four arched structures, and the arched structures are bent L-shaped plates.

8. The recycling robot according to claim 1, wherein: It further includes a garbage compression device; The garbage compression device is connected to the processing module and is used to compress the garbage in the trash can.

9. The recycling robot according to claim 1, wherein: It further includes a dumping device; The dumping device is arranged on the frame and is connected to the bottom of the transfer barrel, and is used to adjust the tilting angle of the transfer barrel.

10. The recycling robot according to claim 1, characterized in that: It further includes a plurality of ultrasonic sensors; The ultrasonic sensors are arranged on the upper part of the trash can, one ultrasonic sensor corresponds to one trash can, and the ultrasonic sensors are connected to the processing module.

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