Autonomous patrol mobile grabbing robot with mechanical arm and four-wheel-drive four-turn chassis

Abstract

The invention relates to the technical field of robots, in particular to an autonomous patrol mobile grabbing robot with a mechanical arm and a four-wheel-drive four-rotation chassis, which comprises a chassis and a garbage collection assembly arranged at the end part of the chassis, and the garbage collection assembly comprises a collection dumping piece and a leakage-proof piece which are arranged at the end part of the chassis. A driving picking assembly is arranged at the end of the chassis, an induction assembly is arranged at the end of the chassis, when garbage needs to be collected, the driving picking assembly is started, and the driving picking assembly conducts positioning picking of the garbage under induction operation of the induction assembly and picks the garbage into a collecting barrel. And when the garbage is fully collected, the driving picking assembly is started to convey the garbage to a required position, the collecting and dumping piece is started at the moment, and the collecting and dumping piece automatically dumps the garbage out.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an autonomous patrolling and grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis. Background Technology

[0002] Waste collection is an important part of environmental protection today, so the development of automated waste collection robots is an important project. Waste collection robots are widely used in various public places.

[0003] During use, existing technology requires transporting the garbage to the garbage storage area after it is full, and then emptying the garbage from the robot. The process of emptying the garbage using existing technology is very cumbersome and difficult to empty completely.

[0004] Based on this, the present invention designs an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis to solve the above problems. Summary of the Invention

[0005] In view of the cumbersome waste disposal problems existing in the above or prior art, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis.

[0007] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, which includes a robotic arm and a four-wheel drive and four-rotor chassis, the robot includes a chassis.

[0008] The waste collection assembly disposed at the end of the chassis includes a collection and dumping component disposed at the end of the chassis;

[0009] The collection and pouring component includes an outer frame disposed at the end of the chassis, a collection bucket disposed inside the outer frame, a sliding rod disposed at the end of the collection bucket, a sliding groove opened at the end of the outer frame, and a clearance groove opened at the end of the outer frame.

[0010] The end of the chassis is provided with a drive pickup component;

[0011] The end of the chassis is provided with a sensing component;

[0012] The collection bucket is moved to the end of the outer frame and then rotated so that the opening faces downwards.

[0013] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the collecting and tilting component further includes a slider, the end of the slider rod is provided with a slider, the end of the outer frame is provided with a motor, the end of the motor is provided with a threaded rod, and the threaded rod passes through the slider.

[0014] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the garbage collection component further includes a leak-proof component, and the end of the outer frame is provided with a leak-proof component.

[0015] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the anti-leakage component includes an electric push rod, the end of the outer frame is provided with an electric push rod, and the end of the electric push rod is provided with a baffle.

[0016] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the robotic arm and four-wheel drive four-rotor chassis are provided with: the drive and picking components include drive components, the drive components are provided on the chassis, and the picking components are provided at the ends of the chassis.

[0017] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the driving component includes a four-wheel drive vehicle, the lower end of the chassis is provided with the four-wheel drive vehicle, and the end of the chassis is provided with a rear protective plate.

[0018] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the picking component includes a support plate, the end of the chassis is provided with a support plate, the end of the support plate is provided with a front protective plate, the top of the support plate is provided with a robotic arm, and the end of the robotic arm is provided with a gripper.

[0019] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the sensing components include a positioning sensor, the outer wall of the chassis is provided with a positioning sensor, and the top of the chassis is provided with a garbage sensor.

[0020] As a preferred embodiment of the autonomous patrol and mobile grasping robot of the present invention, the positioning sensing element includes a distance sensor, the distance sensors are arranged around the chassis, and a signal receiver is arranged on the top of the chassis.

[0021] As a preferred embodiment of the autonomous patrolling and mobile grasping robot of the present invention, comprising a robotic arm and a four-wheel drive, four-rotor chassis, wherein: the waste sensing component includes an alarm, the alarm is disposed on the top of the chassis, and a waste sensor is disposed on the outside of the alarm.

[0022] The beneficial effects of the autonomous patrol and mobile grasping robot of the present invention, consisting of a robotic arm and a four-wheel drive, four-rotor chassis, are as follows: When it is necessary to collect garbage, the drive-picking component is activated. Under the sensing operation of the sensing component, the drive-picking component locates and picks up the garbage and puts it into the collection bin. At this time, the anti-leakage component prevents the garbage in the collection and dumping component from flying out. When the garbage collection is full, the drive-picking component is activated to transport the garbage to the required location. At this time, the collection and dumping component is activated to automatically dump the garbage. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis according to the present invention.

[0025] Figure 2 This is a schematic diagram of the picking component structure of an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis according to the present invention.

[0026] Figure 3 This is a schematic diagram of the baffle structure of an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis according to the present invention.

[0027] Figure 4 This is a schematic diagram of the rear protective plate structure of an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis according to the present invention.

[0028] Figure 5 This is a schematic diagram of the chute structure of an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis according to the present invention.

[0029] Figure 6 This is a schematic diagram of the sliding bar structure of an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis according to the present invention.

[0030] The labels in the diagram represent: 1. Chassis; 2. Waste collection assembly; 21. Collection and dumping component; 211. Outer frame; 212. Collection bin; 213. Slide chute; 214. Slide rod; 215. Slider; 216. Motor; 217. Threaded rod; 218. Clearance groove; 22. Leak-proof component; 221. Electric push rod; 222. Baffle; 3. Drive-picking assembly; 31. Drive component; 311. Four-wheel drive vehicle; 312. Rear protective plate; 32. Picking component; 321. Support plate; 322. Front protective plate; 323. Robotic arm; 324. Gripper; 4. Sensing assembly; 41. Positioning sensor; 411. Distance sensor; 412. Signal receiver; 42. Waste sensor; 421. Alarm; 422. Waste sensor; 423. Central processing unit. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0034] Example 1, referring to Figures 1 to 6 This is the first embodiment of the present invention. This embodiment provides an autonomous patrol and mobile grasping robot with a robotic arm and a four-wheel drive and four-rotor chassis, which can achieve the effect of automatically picking up and dumping garbage. It includes a chassis 1.

[0035] Specifically, the waste collection assembly 2, which is located at the end of the chassis 1, includes a collection and dumping component 21 located at the end of the chassis 1;

[0036] Furthermore, a waste collection assembly 2 is connected to the top of chassis 1;

[0037] The waste collection component 2 includes a collection and dumping component 21, which is connected to the top front end of the chassis 1;

[0038] Specifically, the collection and dumping component 21 includes an outer frame 211 disposed at the end of the chassis 1, a collection bucket 212 disposed inside the outer frame 211, a slide bar 214 disposed at the end of the collection bucket 212, a slide groove 213 opened at the end of the outer frame 211, and a clearance groove 218 opened at the end of the outer frame 211.

[0039] Furthermore, the collection and dumping component 21 includes an outer frame 211. The outer frame 211 is fixedly connected to the top front end of the chassis 1. The left and right ends of the inner side of the outer frame 211 are both snapped with collection buckets 212. The lower ends of the side walls of the outer frame 211 on both the front and rear sides of the collection buckets 212 are provided with sliding grooves 213. The ends of the collection buckets 212 that are close to each other on the inner side of the sliding grooves 213 are connected with sliding rods 214. The bottom plates of the outer frame 211 are provided with clearance grooves 218 at both ends.

[0040] The slide bar 214 passes through the slide groove 213 and is slidably connected to the slide groove 213;

[0041] The collection bucket 212 is moved to the end of the outer frame 211 and then rotated so that the opening faces downward;

[0042] Specifically, the collecting and tilting component 21 also includes a slider 215, the end of the slider 214 is provided with a slider 215, the end of the outer frame 211 is provided with a motor 216, the end of the motor 216 is provided with a threaded rod 217, and the threaded rod 217 passes through the slider 215.

[0043] Furthermore, the collection and pouring component 21 also includes a slider 215. The slider 215 is fixedly connected to the end of the slider 214 away from the collection bucket 212. The motor 216 is fixedly connected to the lower end of the front side wall of the outer frame 211. The output end of the motor 216 is fixedly connected to a threaded rod 217. The threaded rod 217 passes through the slider 215 and is threadedly connected to the slider 215. The end of the threaded rod 217 away from the motor 216 is rotatably connected to the outer frame 211.

[0044] Specifically, the waste collection component 2 also includes a leak-proof component 22, which is provided at the end of the outer frame 211;

[0045] Furthermore, the waste collection component 2 also includes a leak-proof component 22, which is connected to the top of the outer frame 211;

[0046] Specifically, the leak-proof component 22 includes an electric push rod 221, an electric push rod 221 is provided at the end of the outer frame 211, and a baffle 222 is provided at the end of the electric push rod 221.

[0047] Furthermore, the leak-proof component 22 includes an electric push rod 221, which is fixedly connected to the top of the outer frame 211. A baffle 222 is fixedly connected to the output end of the electric push rod 221, and the baffle 222 is located above the opening of the collection bucket 212.

[0048] In use, when the robotic arm 323 controls the gripper 324 to pick up the garbage and place it above the collection bin 212, the electric push rod 221 is activated. The electric push rod 221 controls the baffle 222 to move away from the collection bin 212. When the baffle 222 moves away from the collection bin 212, the gripper 324 is released. At this time, the garbage picked up by the gripper 324 falls into the collection bin 212. Then, the gripper 324 is moved away from the collection bin 212, and the electric push rod 221 is activated. The electric push rod 221 drives the baffle 222 to move above the collection bin 212. At this time, the baffle 222 seals the top of the collection bin 212, thereby preventing the garbage inside the collection bin 212 from flying out.

[0049] When the collection bin 212 is full of garbage, the robot moves to the garbage dumping area. At this time, the motor 216 is started, which drives the threaded rod 217 to rotate. The slider 215 moves away from each other. The slider 215, through the sliding rod 214, drives the collection bin 212 to move away from each other under the limit of the sliding groove 213. When the sliding rod 214 moves to the end of the sliding groove 213 that is away from each other, the bottom plate of the collection bin 212 moves to the outside of the clearance groove 218. At this time, the collection bin 212 rotates downward under the action of gravity until the bottom plate of the collection bin 212 contacts the outside of the clearance groove 218. The side wall of the clearance groove 218 is closed, and the opening of the collection bin 212 faces downward, allowing the garbage inside the collection bin 212 to be poured out, thus realizing automatic garbage dumping. After the garbage is dumped, the motor 216 is started to drive the slide bar 214 to move towards each other. At this time, the collection bin 212 rotates upward under the obstruction of the side wall of the clearance groove 218. When the bottom of the collection bin 212 slides to the top of the bottom plate of the outer frame 211, the opening of the collection bin 212 faces upward. When the collection bin 212 is completely inside the outer frame 211, the robot can continue to be started to collect garbage.

[0050] Example 2, refer to Figures 1 to 4 This is the second embodiment of the present invention, which differs from the previous embodiment in that it includes a drive picking component 3;

[0051] Specifically, a drive pickup component 3 is provided at the end of the chassis 1;

[0052] Furthermore, drive pickup components 3 are connected to the front and rear ends and the bottom of the chassis 1, and a protective compartment is fixedly connected to the chassis 1 behind the outer frame 211, and a sensing component 4 is connected to the protective compartment.

[0053] Specifically, the drive pickup component 3 includes a drive component 31, which is mounted on the chassis 1 and a pickup component 32 is mounted at the end of the chassis 1.

[0054] Furthermore, the drive pickup component 3 includes a drive pickup component 3, a drive component 31 is connected to the lower end and rear end of the chassis 1, and a pickup component 32 is connected to the front end of the chassis 1.

[0055] Specifically, the drive unit 31 includes a four-wheel drive vehicle 311, the lower end of the chassis 1 is provided with the four-wheel drive vehicle 311, and the end of the chassis 1 is provided with a rear protective plate 312.

[0056] Furthermore, the drive unit 31 includes a four-wheel drive vehicle 311, the four-wheel drive vehicle 311 is fixedly connected to the lower end of the chassis 1, and the rear protective plate 312 is fixedly connected to the rear end of the chassis 1.

[0057] Specifically, the picking component 32 includes a support plate 321, the end of the chassis 1 is provided with a support plate 321, the end of the support plate 321 is provided with a front protective plate 322, the top of the support plate 321 is provided with a robotic arm 323, and the end of the robotic arm 323 is provided with a gripper 324.

[0058] Furthermore, the picking component 32 includes a support plate 321, the front end of the chassis 1 is fixedly connected to the support plate 321, the front end of the support plate 321 is fixedly connected to the front guard plate 322, the top of the support plate 321 is fixedly connected to the robotic arm 323, and the end of the robotic arm 323 is connected to the gripper 324.

[0059] A sensing component 4 is provided at the end of the chassis 1;

[0060] Specifically, the sensing component 4 includes a positioning sensor 41, a positioning sensor 41 is provided on the outer wall of the protective compartment above the chassis 1, and a waste sensor 42 is provided on the top of the chassis 1.

[0061] Furthermore, the sensing component 4 includes a positioning sensor 41, which is connected to the outer wall of the protective compartment above the chassis 1, and a waste sensor 42 is connected to the upper end of the protective compartment.

[0062] Specifically, the positioning sensor 41 includes a distance sensor 411, the distance sensor 411 is arranged around the chassis 1, and a signal receiver 412 is arranged on the top of the chassis 1.

[0063] Furthermore, the positioning sensor 41 includes a distance sensor 411. The distance sensor 411 is fixedly connected to the four sides of the protective compartment above the chassis 1, and a signal receiver 412 is fixedly connected to the rear side wall of the protective compartment.

[0064] Specifically, the garbage sensor 42 includes an alarm 421, which is located on the top of the chassis 1, and a garbage sensor 422 is located on the outside of the alarm 421.

[0065] Furthermore, the waste sensor 42 includes an alarm 421, which is fixedly connected to the middle of the top plate of the protective compartment, and waste sensors 422 are fixedly connected to the front and rear ends of the top plate of the protective compartment.

[0066] In use, when garbage collection is required, the four-wheel drive vehicle 311 is activated. The four-wheel drive vehicle 311, via the support plate 321 and the robotic arm 323, drives the gripper 324 to move. Distance is sensed by the distance sensor 411. When the robot approaches an obstacle, the distance sensor 411 detects this and transmits information to the signal receiver 412. The signal receiver 412 then controls the four-wheel drive vehicle 311 via the central processing unit 423 to adjust its direction, thus preventing the robot from colliding with obstacles. Simultaneously, a warning is issued via the alarm device 421. When the vehicle 311 is in operation, it drives the garbage sensor 422 to move. At this time, the garbage sensor 422 senses and locates the garbage on the ground. When the front protective plate 322 completes the sensing and positioning of the garbage, the central processing unit 423 drives the robotic arm 323 and the gripper 324 to pick up the garbage. At the same time, the garbage sensor 422 senses and sorts the garbage. Then, the gripper 324 picks up the garbage and puts it into the corresponding collection bin 212. At this time, the automatic collection and sorting of garbage can be realized. When the robot moves, the front protective plate 322 and the rear protective plate 312 protect the front and rear ends of the robot.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis, characterized in that: Including the chassis (1); and, The waste collection assembly (2) disposed at the end of the chassis (1) includes a collection and dumping component (21) disposed at the end of the chassis (1); wherein, The collecting and pouring component (21) includes an outer frame (211) disposed at the end of the chassis (1), a collecting bucket (212) disposed inside the outer frame (211), a sliding rod (214) disposed at the end of the collecting bucket (212), a sliding groove (213) opened at the end of the outer frame (211), and a clearance groove (218) opened at the end of the outer frame (211); and, The end of the chassis (1) is provided with a drive pickup assembly (3); and, A sensing component (4) is provided at the end of the chassis (1); wherein, The collection bucket (212) is moved to the end of the outer frame (211) and then rotated so that the opening faces downward.

2. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 1, characterized in that: The collecting and pouring component (21) also includes a slider (215), the end of the slider (214) is provided with a slider (215), the end of the outer frame (211) is provided with a motor (216), the end of the motor (216) is provided with a threaded rod (217), and the threaded rod (217) passes through the slider (215).

3. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 2, characterized in that: The waste collection assembly (2) also includes a leak-proof component (22), and the end of the outer frame (211) is provided with a leak-proof component (22).

4. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 3, characterized in that: The leak-proof component (22) includes an electric push rod (221), the end of the outer frame (211) is provided with an electric push rod (221), and the end of the electric push rod (221) is provided with a baffle (222).

5. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 4, characterized in that: The drive pickup assembly (3) includes a drive component (31), the drive component (31) is provided on the chassis (1), and a pickup component (32) is provided at the end of the chassis (1).

6. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 5, characterized in that: The drive unit (31) includes a four-wheel drive vehicle (311), the lower end of the chassis (1) is provided with the four-wheel drive vehicle (311), and the end of the chassis (1) is provided with a rear protective plate (312).

7. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 6, characterized in that: The picking component (32) includes a support plate (321), the end of the chassis (1) is provided with a support plate (321), the end of the support plate (321) is provided with a front protective plate (322), the top of the support plate (321) is provided with a robotic arm (323), and the end of the robotic arm (323) is provided with a gripper (324).

8. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 7, characterized in that: The sensing component (4) includes a positioning sensor (41), the positioning sensor (41) is provided on the outer wall of the chassis (1), and a garbage sensor (42) is provided on the top of the chassis (1).

9. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 8, characterized in that: The positioning sensor (41) includes a distance sensor (411), the distance sensor (411) is arranged around the chassis (1), and a signal receiver (412) is arranged on the top of the chassis (1).

10. The autonomous patrolling and mobile grasping robot with a robotic arm and a four-wheel drive, four-rotor chassis as described in claim 9, characterized in that: The waste sensor (42) includes an alarm (421), which is located above the chassis (1), and a waste sensor (422) is located on the outside of the alarm (421).

Images