Truss robot capable of grabbing transfer box and used for short garbage collection station

Abstract

The truss robot capable of grabbing the transfer box and used for the short garbage collection station is characterized in that the short garbage collection station comprises the transfer box and a station house, the transfer box comprises a box body, a tail gate and a grabbing connector, the station house comprises a beam bottom plane, a compression system, a steel structure and the truss robot, and the compression system comprises an opening device. The steel structure comprises a track, and the truss robot comprises a vehicle body, a walking wheel device, a lifting device and a grabbing device. The top surface of the walking wheel device is lower than the beam bottom plane by a set distance; after the truss robot grabs the grabbing connector, the top plane of the transfer box is lifted to be higher than the bottom plane of the vehicle body through the lifting device, and at the moment, the top plane of the transfer box is lower than the lower plane of the track by a set distance; and the truss robot can hoist the empty transfer box on the empty box position to the compression position. The garbage collection station has the main advantages that equipment in the garbage collection station is small in occupied area and not prone to corrosion, the phenomenon that the equipment is blocked by garbage is avoided, and the operation environment is friendly.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage treatment, and specifically to a truss robot for a low garbage collection station that can grasp a transfer box. Background Art

[0002] At present, in cities of our country, several trash cans are set at certain intervals, and several trash cans are also set in each residential community at the same time. These trash cans at the front end of the garbage treatment process not only cover a wide area and have a large quantity, but also the amount of garbage they transport is highly random. It may be bulky foam goods, or it may be items that are small in volume but heavy in weight. And landfills, incineration treatment plants or large transfer stations at the back end of the garbage treatment process are all located far away from the urban area. Therefore, it is impossible to directly transport the trash cans at the front end of the treatment process to the garbage treatment plants at the back end of the treatment process. Because of this, several garbage collection stations are also arranged in urban street areas; and because urban land is expensive, the area of garbage collection stations is particularly small.

[0003] The basic treatment process of urban garbage at present is as follows: 1) The garbage collection vehicle equipped at the garbage collection station travels along a specified route, collects the garbage in the trash cans along the way into the garbage collection vehicle, and then transports it to the garbage collection station.

[0004] 2) At the garbage collection station, first, the garbage collected by each garbage collection vehicle is gathered together, compressed by a compression treatment device and loaded into a garbage transfer box, and then a hook-arm vehicle transports the full transfer box from the garbage collection station to the garbage treatment plant.

[0005] 3) The hook-arm vehicle first places the empty transfer box pulled back from the garbage back-end treatment plant at the non-compression work station (empty box position) of the garbage collection station, then pulls the full transfer box at the compression work station of the garbage collection station to an open space outside the garbage collection station for caching. Then the hook-arm vehicle transports the empty transfer box at the empty box position to the compression work station, and finally pulls away the full transfer box.

[0006] The main disadvantages of this operation method are: the labor intensity of sanitation workers is high, the efficiency is low, and it also has a certain impact on the lives of nearby residents.

[0007] Therefore, in recent years, the construction of garbage collection stations has tended to complete the transfer of empty transfer boxes between the empty box position and the compression position indoors. However, the existing technologies all complete it through a ground conveying device. But the ground conveying device is sometimes blocked by garbage. In this case, manual treatment is required, and the operators often have negative emotions because of this. Its main disadvantages are: the equipment in the garbage collection station occupies a large area, is prone to corrosion, and the working environment is not very friendly. Summary of the Invention

[0008] In view of the problems existing in the prior art, the purpose of the present invention is to provide a truss robot for use in short garbage collection stations that can grasp transfer boxes, so as to solve the problems mentioned in the above background technology.

[0009] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: the short garbage collection station 1 includes a transfer box 2 and a station building 3, the transfer box 2 includes a box body 2A and a grabbing interface 2C, the tail gate 2B is located at the tail end of the box body 2A, and the grabbing interface 2C is located on the box body 2A, the station building 3 includes a beam bottom plane 3B, an access door 3C, an empty box position 3D, a compression position 3E, a compression system 4, a steel structure 5 and a truss robot 6, the steel structure 5 includes a track 5A, and the truss robot 6 includes a vehicle body 6A, a walking wheel device 6B, a lifting device 6C and a grabbing device 6D; the walking wheel device 6B and the lifting device 6C are both installed on the vehicle body 6A, and the grabbing device 6D is installed on the lifting device 6C, and the top surface of the walking wheel device 6B running on the track 5A is lower than the distance set by the beam bottom plane 3B; The truss robot 6 grabs the grabbing interface 2C through the grabbing device 6D, and then lifts the top plane of the transfer box 2 to a level higher than the bottom plane of the vehicle body 6A through the lifting device 6C. At this time, the top plane of the transfer box 2 is lower than the set distance of the lower plane of the track 5A; the truss robot 6 can lift the empty transfer box 2 on the empty box position 3D to the compression position 3E.

[0010] As a further solution of the present invention: the vehicle body 6A includes a U-shaped vehicle body 6U, and the opening of the U-shaped vehicle body 6U that surrounds the transfer box 2 on three sides in the top view is located on the side of the opening device 4A; when the upper plane of the transfer box 2 is higher than the lower plane of the U-shaped vehicle body 6U, the truss robot 6 and the transfer box 2 do not interfere with each other.

[0011] As a further solution of the present invention: the transfer box 2 includes a box bottom frame 2D and box running wheels 2E, the box running wheels 2E are installed on the box bottom frame 2D, the grabbing interface 2C includes the bottom planes on both sides of the box bottom frame 2D, and the grabbing device 6D includes a telescopic cylinder 6D1 and a base 6D2; when the telescopic cylinder 6D1 installed on the base 6D2 is extended, the telescopic cylinder 6D1 can support the bottom planes on both sides of the box bottom frame 2D.

[0012] As a further solution of the present invention, the lifting device 6C includes a multi-stage lifting device 7, which includes a rigid guide device 7A and a flexible traction device 7B. The rigid guide device 7A includes a column device 7A1 and a slider 7A2. The base 6D2 is integrally connected to the slider 7A2. The column device 7A1 includes a fixed column 7A1A and an intermediate column device 7A1B. The base 6D2 is mounted on the slider 7A2. The slider 7A2 moves vertically on the intermediate column device 7A1B. The intermediate column device 7A1B moves vertically on the fixed column 7A1A. The fixed column 7A1A is mounted on the U-shaped vehicle body 6U. One end of the flexible traction device 7B is fixed on the base 6D2, and the other end is fixed on the fixed column 7A1A or the U-shaped vehicle body 6U; the vertical lifting of the base 6D2 can be realized through the flexible traction device 7B, and the swaying of the base 6D2 during operation can be prevented through the rigid guiding device 7A.

[0013] As a further solution of the present invention: the top surface of the multi-stage lifting device 7 is higher than the lower plane of the track 5A and lower than the distance set by the bottom plane of the beam 3B.

[0014] As a further solution of the present invention: the transfer box 2 includes a tail gate 2B at the tail end of the box body 2A, and the compression system 4 includes an opening device 4A for opening or closing the tail gate 2B; when the truss robot 6 hoists the empty transfer box 2 and runs, it does not interfere with the opening device 4A, and the track 5A is located between the opening device 4A and the access door 3C.

[0015] As a further solution of the present invention: the low garbage collection station 1 includes a hook-arm vehicle 8, and the hook-arm vehicle 8 places the empty transfer box 2 on the empty box position 3D and then transports the full transfer box 2 away from the compression position 3E.

[0016] To sum up, compared with the prior art, the present invention cancels the ground conveyor and creatively uses a truss robot located in the air to complete the transportation of the empty transfer box. Its main advantages are: the equipment in the garbage collection station occupies a small area, is not easily corroded, and there will be no phenomenon of garbage jamming the equipment, and the working environment is friendly. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the transfer box 2 and the station building 3 that make up the low garbage collection station 1, and also a schematic structural diagram of the multi-span station building 31, and also a schematic structural diagram of the box body 2A and the tail gate 2B that make up the transfer box 2, and also a schematic structural diagram of the access door 3C, the empty box position 3D, the compression position 3E, the compression system 4, the steel structure 5 and the truss robot 6 that make up the station building 3, and still a schematic structural diagram of the bottom box frame 2D and the box walking wheels 2E that make up the transfer box 2; Figure 2 It is Figure 1 The A-direction view of, and also a schematic structural diagram of the box body 2A, the tail gate 2B and the grasping interface 2C that make up the transfer box 2, and also a schematic structural diagram of the vehicle body 6A, the walking wheel device 6B, the lifting device 6C and the grasping device 6D that make up the truss robot 6, and also a schematic structural diagram of the telescopic cylinder 6D1 and the base 6D2 that make up the grasping device 6D, and also a schematic structural diagram of the track 5A that makes up the steel structure 5, and still a schematic structural diagram of the bottom plane of the beam 3B that makes up the station building 3; Figure 3 It is Figure 1 The B-B view of, and also a schematic structural diagram of the opening device 4A that makes up the compression system 4; Figure 4 It is a schematic structural diagram of the U-shaped vehicle body 6U that constitutes the vehicle body 6A; Figure 5 It is Figure 4 A partial enlarged view of part I in Figure 6 It is Figure 4 The P-direction view of Figure 7 It is Figure 4 The M-direction view of , and it is also a schematic structural diagram of the rigid guiding device 7A and the flexible traction device 7B that constitute the multi-stage lifting device 7, and it is also a schematic structural diagram of the column device 7A1 and the slider 7A2 that constitute the rigid guiding device 7A, and it is also a schematic structural diagram of the fixed column 7A1A and the intermediate column device 7A1B that constitute the column device 7A1, and it is still a schematic structural diagram of the starting column 7A1B1, the intermediate column 7A1B2, and the ending column 7A1B3 that constitute the intermediate column device 7A1B; Figure 8 It is a schematic structural diagram of the hook arm vehicle 8 that constitutes the low garbage collection station 1.

[0018] Low garbage collection station 1, transfer box 2, box body 2A, tail gate 2B, grasping interface 2C, box bottom frame 2D, box traveling wheels 2E, station house 3, beam bottom plane 3B, access door 3C, empty box position 3D, compression position 3E, multi-span station house 31, compression system 4, opening device 4A, steel structure 5, track 5A, truss robot 6, vehicle body 6A, traveling wheel device 6B, lifting device 6C, grasping device 6D, telescopic cylinder 6D1, base 6D2, U-shaped vehicle body 6U, multi-stage lifting device 7, rigid guiding device 7A, column device 7A1, slider 7A2, fixed column 7A1A, intermediate column device 7A1B, starting column 7A1B1, intermediate column 7A1B2, ending column 7A1B3, slider 7A2, flexible traction device 7B, hook arm vehicle 8. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figures 1-8, in the embodiments of the present invention, the low garbage collection station 1 includes a transfer box 2 and a station house 3. The transfer box 2 includes a box body 2A and a grasping interface 2C. The tail gate 2B is located at the tail end of the box body 2A, and the grasping interface 2C is located on the box body 2A; the station house 3 includes a beam bottom plane 3B, an access door 3C, an empty box position 3D, a compression position 3E, a compression system 4, a steel structure 5 and a truss robot 6. The steel structure 5 includes a track 5A. The truss robot 6 includes a vehicle body 6A, a walking wheel device 6B, a lifting device 6C and a grasping device 6D. The walking wheel device 6B and the lifting device 6C are both installed on the vehicle body 6A, and the grasping device 6D is installed on the lifting device 6C. The top surface of the walking wheel device 6B walking on the track 5A is lower than the beam bottom plane 3B by a set distance; the truss robot 6 grasps the grasping interface 2C through the grasping device 6D, and then lifts the top plane of the transfer box 2 above the bottom plane of the vehicle body 6A through the lifting device 6C. At this time, the top plane of the transfer box 2 is lower than the lower plane of the track 5A by a set distance; the truss robot 6 can lift the empty transfer box 2 on the empty box position 3D to the compression position 3E.

[0021] It should be noted that: the low garbage collection station 1 can also be a garbage transfer station, etc.

[0022] It should be further noted that: the station house 3 can be a multi-span station house 31, and the track 5A can cover the multi-span station house 31; that is, one truss robot 6 can meet the operation of multiple sets of compression systems 4.

[0023] The vehicle body 6A includes a U-shaped vehicle body 6U. In the top view, the opening of the U-shaped vehicle body 6U that envelopes the transfer box 2 on three sides is located on the side of the opening device 4A; when the top plane of the transfer box 2 is higher than the lower plane of the U-shaped vehicle body 6U, there is no interference between the truss robot 6 and the transfer box 2.

[0024] The transfer box 2 includes a box bottom frame 2D and box walking wheels 2E. The box walking wheels 2E are installed on the box bottom frame 2D. The grasping interface 2C includes the bottom planes on both sides of the box bottom frame 2D. The grasping device 6D includes a telescopic cylinder 6D1 and a base 6D2; when the telescopic cylinder 6D1 installed on the base 6D2 extends, the telescopic cylinder 6D1 can support the bottom planes on both sides of the box bottom frame 2D.

[0025] The lifting device 6C includes a multi-stage lifting device 7. The multi-stage lifting device 7 includes a rigid guiding device 7A and a flexible traction device 7B. The rigid guiding device 7A includes a column device 7A1 and a slider 7A2. The base 6D2 is integrally connected with the slider 7A2. The column device 7A1 includes a fixed column 7A1A and an intermediate column device 7A1B; the base 6D2 is installed on the slider 7A2, and the slider 7A2 moves vertically on the intermediate column device 7A1B, and the intermediate column device 7A1B moves vertically on the fixed column 7A1A. The fixed column 7A1A is installed on the U-shaped vehicle body 6U. One end of the flexible traction device 7B is fixed to the base 6D2, and the other end is fixed to the fixed column 7A1A or the U-shaped vehicle body 6U; the vertical lifting of the base 6D2 can be achieved through the flexible traction device 7B, and the swaying of the base 6D2 during operation can be prevented through the rigid guiding device 7A.

[0026] It should be noted that: the intermediate column device 7A1B may include a starting column 7A1B1, an intermediate column 7A1B2, and an ending column 7A1B3. The slider 7A2 moves vertically on the ending column 7A1B3, the ending column 7A1B3 moves vertically on the intermediate column 7A1B2, the intermediate column 7A1B2 moves vertically on the starting column 7A1B1, and the starting column 7A1B1 moves vertically on the fixed column 7A1A.

[0027] It should also be noted that: the intermediate column device 7A1B may not have the intermediate column 7A1B2. In this case, the ending column 7A1B3 directly moves vertically on the starting column 7A1B1.

[0028] It should further be noted that: the intermediate column device 7A1B may also be a single column; that is, neither the intermediate column 7A1B2 nor the ending column 7A1B3 exists, and the slider 7A2 directly moves vertically on the starting column 7A1B1.

[0029] The top surface of the multi-stage lifting device 7 is higher than the lower plane of the track 5A and lower than the beam bottom plane 3B by a set distance.

[0030] The transfer box 2 includes a tail gate 2B at the tail end of the box body 2A. The compression system 4 includes an opening device 4A for opening or closing the tail gate 2B; when the truss robot 6 hoists the empty transfer box 2 and operates, it does not interfere with the opening device 4A, and the track 5A is located between the opening device 4A and the access door 3C.

[0031] The low garbage collection station 1 includes a hook-arm vehicle 8. The hook-arm vehicle 8 places the empty transfer box 2 on the empty box position 3D and then transports the full transfer box 2 away from the compression position 3E.

[0032] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention 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. Therefore, it cannot be understood as a limitation to the present invention. In the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrally formed connection. It can also be a mechanical connection or an indirect connection through an intermediate medium. The specific meaning of the terms in the present invention can be understood according to the specific situation.

[0033] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A truss robot for a low garbage collection station that can grasp transfer boxes, characterized in that The low garbage collection station (1) includes a transfer box (2) and a station building (3). The transfer box (2) includes a box body (2A) and a grasping interface (2C). A tail gate (2B) is located at the tail end of the box body (2A). The grasping interface (2C) is located on the box body (2A). The station building (3) includes a beam bottom plane (3B), an access door (3C), an empty box position (3D), a compression position (3E), a compression system (4), a steel structure (5), and a truss robot (6). The steel structure (5) includes a track (5A). The truss robot (6) includes a vehicle body (6A), a walking wheel device (6B), a lifting device (6C), and a grasping device (6D). The walking wheel device (6B) and the lifting device (6C) are both installed on the vehicle body (6A). The grasping device (6D) is installed on the lifting device (6C). The top surface of the walking wheel device (6B) that travels on the track (5A) is lower than the beam bottom plane (3B) by a set distance. The truss robot (6) grasps the grasping interface (2C) through the grasping device (6D), and then lifts the top plane of the transfer box (2) above the bottom plane of the vehicle body (6A) through the lifting device (6C). At this time, the top plane of the transfer box (2) is lower than the lower plane of the track (5A) by a set distance. The truss robot (6) can lift the empty transfer box (2) on the empty box position (3D) to the compression position (3E).

2. The truss robot for a low garbage collection station capable of grasping a transfer box according to claim 1, characterized in that The vehicle body (6A) includes a U-shaped vehicle body (6U). In a top view, the opening of the U-shaped vehicle body (6U) that envelopes the transfer box (2) on three sides is located on the side of the opening device (4A). When the top plane of the transfer box (2) is higher than the lower plane of the U-shaped vehicle body (6U), there is no interference between the truss robot (6) and the transfer box (2).

3. The truss robot for a low garbage collection station capable of grasping transfer boxes according to claim 1, characterized in that The transfer box (2) includes a box bottom frame (2D) and box walking wheels (2E). The box walking wheels (2E) are installed on the box bottom frame (2D). The grasping interface (2C) includes the bottom planes on both sides of the box bottom frame (2D). The grasping device (6D) includes a telescopic cylinder (6D1) and a base (6D2). When the telescopic cylinder (6D1) installed on the base (6D2) extends, the telescopic cylinder (6D1) can support the bottom planes on both sides of the box bottom frame (2D).

4. A truss robot for a low garbage collection station capable of grasping a transfer box according to claim 2 or 3, characterized in that The described lifting device (6C) includes a multi-stage lifting device (7). The multi-stage lifting device (7) includes a rigid guiding device (7A) and a flexible traction device (7B). The rigid guiding device (7A) includes a column device (7A1) and a slider (7A2). The base (6D2) is integrally connected to the slider (7A2). The column device (7A1) includes a fixed column (7A1A) and an intermediate column device (7A1B). The base (6D2) is installed on the slider (7A2). The slider (7A2) moves vertically on the intermediate column device (7A1B). The intermediate column device (7A1B) moves vertically on the fixed column (7A1A). The fixed column (7A1A) is installed on the U-shaped vehicle body (6U). One end of the flexible traction device (7B) is fixed to the base (6D2), and the other end is fixed to the fixed column (7A1A) or the U-shaped vehicle body (6U). The vertical lifting of the base (6D2) can be achieved through the flexible traction device (7B), and the swaying of the base (6D2) during operation can be prevented through the rigid guiding device (7A).

5. The truss robot for a low garbage collection station capable of grasping a transfer box according to claim 4, characterized in that The top surface of the described multi-stage lifting device (7) is higher than the lower plane of the track (5A) and lower than the beam bottom plane (3B) by a set distance.

6. The truss robot for a low garbage collection station capable of grasping a transfer box according to claim 5, characterized in that The described transfer box (2) includes a tail gate (2B) at the tail end of the box body (2A). The compression system (4) includes an opening device (4A) for opening or closing the tail gate (2B). When the truss robot (6) lifts and runs the empty transfer box (2), it does not interfere with the opening device (4A). The track (5A) is located between the opening device (4A) and the access door (3C).

7. The truss robot for a low garbage collection station capable of grasping a transfer box according to claim 6, characterized in that The described low-level garbage collection station (1) includes a hook-arm vehicle (8). The hook-arm vehicle (8) places the empty transfer box (2) on the empty box position (3D), and then transports the full transfer box (2) away from the compression position (3E).

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