Four-degree-of-freedom manipulator of garbage cleaning robot
The four-degree-of-freedom manipulator for garbage cleaning robots addresses size and flexibility issues by incorporating a rotating base and camera, enabling efficient garbage collection in diverse environments.
Patent Information
- Application Number
- CN202420785847.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-16
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2034-04-16
AI Technical Summary
Existing manipulators for garbage collection are large in size, inflexible, and unable to operate in narrow environments or hazardous conditions, lacking environmental monitoring capabilities, which affects their applicability and efficiency.
A four-degree-of-freedom manipulator for a garbage cleaning robot, comprising a rotating base, multi-joint mechanical arm, camera, and mechanical claws, enabling flexible garbage clamping and environmental monitoring in a 360-degree range.
The manipulator allows for flexible garbage clamping in narrow spaces and hazardous environments while monitoring the surroundings, enhancing applicability and work efficiency.
Smart Images
Figure CN222135018U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to a four-degree-of-freedom manipulator for a garbage cleaning robot. Background Art
[0002] At present, with the continuous development of intelligent equipment, the use of manipulators for picking up garbage has emerged. In the existing technology, most of the large garbage is collected by manipulators, which results in a large size of manipulators and weak flexibility, and is only suitable for garbage picking in open places; in a narrow environment, extreme temperature, extreme pressure, odor, toxic gas and other environments that are not suitable for manual picking, the existing manipulators are large in size and low in flexibility, and cannot pick up garbage in these environments. At the same time, they cannot monitor the surrounding environment, resulting in low applicability and affecting work efficiency. Utility Model Content
[0003] The utility model aims to solve the deficiencies in the prior art and provides a garbage cleaning robot with a four-degree-of-freedom manipulator, which can flexibly clamp garbage in a narrow environment. The rotating base is combined with a trolley, which can clamp garbage in an all-round manner of 360 degrees while moving; at the same time, it can monitor the environment from all directions.
[0004] To achieve the above-mentioned purpose, the technical solution provided by the utility model is: a four-degree-of-freedom manipulator of a garbage cleaning robot, comprising a base component, a multi-joint mechanical arm component, a camera component and a manipulator component; the base component comprises a rotating base, one end of the multi-joint mechanical arm component is installed on the rotating base, and the multi-joint mechanical arm component can follow the base component to form a rotational fit; the manipulator component comprises a first mechanical claw assembly and a second mechanical claw assembly, one end of the first mechanical claw assembly is meshed with one end of the second mechanical claw assembly, the first mechanical claw assembly is connected to the other end of the multi-joint mechanical arm assembly, and the first mechanical claw assembly is connected to a first servo for controlling the clamping activity of the manipulator component; the camera component is installed below the manipulator component, a second servo is installed between the camera component and the second mechanical claw assembly, and the second servo is connected to the camera component for controlling the steering of the camera component.
[0005] Further, the multi-joint robotic arm component includes a third steering gear, a first robotic arm assembly, a fourth steering gear, a second robotic arm assembly and a fifth steering gear; the first robotic arm assembly includes two U-shaped brackets, the closed ends of the two U-shaped brackets are connected together, and the open ends of the two U-shaped brackets are respectively connected to the steering disc of the third steering gear and the steering disc of the fourth steering gear, the third steering gear is installed on a rotating base, the fourth steering gear is connected to the closed end of the second robotic arm assembly, and the open end of the second robotic arm assembly is connected to the steering disc of the fifth steering gear.
[0006] Furthermore, the first mechanical claw assembly includes an L-shaped bracket, a mechanical claw base, a first gear handle, a first upper mechanical claw, a first lower mechanical claw and a hollow support column; the mechanical claw base, the first gear handle and the first upper mechanical claw are connected together in sequence from top to bottom through a bolt assembly and a gasket, and the first lower mechanical claw is installed below the first upper mechanical claw through a hollow support column to form a gap with a preset distance; the first steering gear is installed above the mechanical claw base through a support column, and the steering wheel of the first steering gear is connected to the first gear handle through a steering shaft passing through the mechanical claw base to form a rotational fit; the mechanical claw base is fixedly connected to the fifth steering gear through an L-shaped bracket.
[0007] Furthermore, the second mechanical claw assembly includes a second gear handle, a second upper mechanical claw, a second lower mechanical claw and a hollow support column; the second gear handle and the second upper mechanical claw are sequentially connected together from top to bottom through a bolt assembly, and the second lower mechanical claw is installed below the second upper mechanical claw through the hollow support column to form a gap of a preset distance; the second gear handle is meshed with the first gear handle.
[0008] Furthermore, the second steering gear is connected to a support plate for supporting the second steering gear, and the other end of the support plate is connected to the fifth steering gear.
[0009] Furthermore, the camera component includes a camera, a camera bracket and a steering shaft; the camera bracket is installed below the manipulator component, the camera is installed in the camera bracket, and the camera bracket is connected to the second servo through the steering shaft to form a rotational fit.
[0010] Furthermore, the base component also includes a steering gear fixing bracket, which is installed on the rotating base and has an installation position for limiting the movement of the steering gear, and the third steering gear is installed on the installation position.
[0011] Furthermore, a trolley is connected to the bottom of the base component.
[0012] Compared with the prior art, the utility model has the following advantages and beneficial effects:
[0013] The utility model robot arm realizes four-degree-of-freedom movement, and the robot arm is relatively short and small in size, so it can flexibly clamp garbage in a narrow environment. The rotating base is combined with the trolley to realize the effect of all-round clamping of garbage while moving. At the same time, it has a flexible camera component to monitor the surrounding environment from all directions. It is suitable for a variety of scenarios and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a structural side view of the utility model.
[0015] Figure 2 This is one of the structural schematic diagrams of the camera component and the robot component.
[0016] Figure 3 This is the second structural schematic diagram of the camera component and the robot component.
[0017] Figure 4 This is the third structural schematic diagram of the camera component and the robot component.
[0018] Figure 5 This is the fourth structural schematic diagram of the camera component and the robot component.
[0019] Figure 6 A schematic diagram of the structure of the base component.
[0020] Figure 7 It is a schematic diagram of the installation structure of the base component and the multi-joint robotic arm component. DETAILED DESCRIPTION
[0021] The utility model is further described below in conjunction with specific embodiments.
[0022] See also Figures 1 to 7 As shown, the four-degree-of-freedom manipulator of the garbage cleaning robot provided in this embodiment includes a base component 1, a multi-joint mechanical arm component, a camera component and a manipulator component 4;
[0023] The base member 1 comprises a rotating base 101 and a steering gear fixing bracket 102. The rotating base 101 is a base capable of 360° rotation. The steering gear fixing bracket 102 is installed on the rotating base 101 and has a mounting position for limiting the movement of the steering gear. A trolley (not shown) is connected to the bottom of the base member 1.
[0024] The multi-joint mechanical arm component includes a third steering gear 201, a first mechanical arm assembly 202, a fourth steering gear 203, a second mechanical arm assembly 204 and a fifth steering gear 205; the first mechanical arm assembly 202 includes two U-shaped brackets 2021, the closed ends of the two U-shaped brackets 2021 are connected together, and the open ends of the two U-shaped brackets 2021 are respectively connected to the steering disc 2011 of the third steering gear 201 and the steering disc of the fourth steering gear 203, and the third steering gear 201 is installed on the installation position of the steering gear fixing bracket 102, so that the multi-joint mechanical arm component 2 can follow the base component 1 to form a 360° rotation fit; the second mechanical arm assembly 204 is also a U-shaped bracket, the fourth steering gear 203 is connected to the closed end of the second mechanical arm assembly 204, and the open end of the second mechanical arm assembly 204 is connected to the steering disc of the fifth steering gear 205;
[0025] The manipulator component 4 includes a first mechanical claw component 401 and a second mechanical claw component 402, one end of the first mechanical claw component 401 is meshed with one end of the second mechanical claw component 402, the first mechanical claw component 401 is connected to the other end of the multi-joint mechanical arm component, and the first mechanical claw component 401 is installed with a first servo 5 for controlling the clamping activity of the manipulator component 4; wherein the first mechanical claw component 401 includes an L-shaped bracket 4011, a mechanical claw bottom plate 4012, a first gear handle 4013, a first upper mechanical claw 4014, a first lower mechanical claw 4015 and Hollow support column 4016; the mechanical claw base plate 4012, the first gear handle 4013 and the first upper mechanical claw 4014 are connected together in sequence from top to bottom through bolt assembly a, and the first lower mechanical claw 4015 is installed below the first upper mechanical claw 4014 through the hollow support column 4016, forming a gap with a preset distance, so that the mechanical claw has enough width to clamp objects; the first servo 5 is connected to the mechanical claw base plate 4012 through the support column 501 to form a rotational fit; the mechanical claw base plate 4012 is fixedly connected to the fifth servo 205 through the L-shaped bracket 4011. The second mechanical claw assembly 402 includes a second gear handle 4021, a second upper mechanical claw 4022, a second lower mechanical claw 4023 and a hollow support column 4024; the second gear handle 4021 and the second upper mechanical claw 4022 are connected together in sequence from top to bottom through a bolt assembly a, and the second lower mechanical claw 4023 is installed below the second upper mechanical claw 4022 through a hollow support column 4024, forming a gap with a preset distance, so that the mechanical claw has enough width to clamp the object; the second gear handle 4021 is engaged with the first gear handle 4013 to realize the linkage between the first mechanical claw assembly 401 and the second mechanical claw assembly 402.
[0026] The camera component is installed below the manipulator component 4, and a second steering gear 6 is installed between the camera component and the second mechanical claw assembly 402. The second steering gear 6 is connected to a support plate 601 for supporting the second steering gear 6. The other end of the support plate 601 is connected to the steering disc 2051 of the fifth steering gear 205. The second steering gear 6 is connected to the camera component for controlling the steering of the camera component; wherein the camera component includes a camera 301, a camera bracket 302 and a steering shaft 303; the camera bracket 302 is installed below the manipulator component 4, and the camera 301 is installed in the camera bracket 302. The camera 301 is an OPENMV camera. The camera bracket 302 is connected to the steering disc 602 of the second steering gear 6 through the steering shaft 303 to form a rotational fit. Through the fit between the second steering gear 6, the camera bracket 302 and the steering shaft 303, the camera 301 has stability and can achieve multi-directional imaging by relying on the drive of the second steering gear 6. In addition, the first steering gear 5 , the second steering gear 6 , the third steering gear 201 , the fourth steering gear 203 and the fifth steering gear 205 are all MG996R steering gears.
[0027] The embodiments described above are only preferred embodiments of the present invention, and are not intended to limit the scope of implementation of the present invention. Therefore, all changes made based on the shape and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A four-degree-of-freedom manipulator for a garbage cleaning robot, characterized in that: It includes a base component, a multi-joint robotic arm component, a camera component and a manipulator component; the base component includes a rotating base, one end of the multi-joint robotic arm component is installed on the rotating base, and the multi-joint robotic arm component can follow the base component to form a rotational fit; the manipulator component includes a first mechanical claw assembly and a second mechanical claw assembly, one end of the first mechanical claw assembly is meshed with one end of the second mechanical claw assembly, the first mechanical claw assembly is connected to the other end of the multi-joint robotic arm component, and the first mechanical claw assembly is connected to a first servo for controlling the clamping activity of the manipulator component; the camera component is installed below the manipulator component, a second servo is installed between the camera component and the second mechanical claw assembly, and the second servo is connected to the camera component for controlling the steering of the camera component.
2. A garbage cleaning robot with four degrees of freedom manipulator according to claim 1, characterized in that: The multi-joint robotic arm component includes a third steering gear, a first robotic arm assembly, a fourth steering gear, a second robotic arm assembly and a fifth steering gear; the first robotic arm assembly includes two U-shaped brackets, the closed ends of the two U-shaped brackets are connected together, and the open ends of the two U-shaped brackets are respectively connected to the steering disc of the third steering gear and the steering disc of the fourth steering gear, the third steering gear is installed on a rotating base, the fourth steering gear is connected to the closed end of the second robotic arm assembly, and the open end of the second robotic arm assembly is connected to the steering disc of the fifth steering gear.
3. A garbage cleaning robot with four degrees of freedom according to claim 2, characterized in that: The first mechanical claw assembly includes an L-shaped bracket, a mechanical claw base, a first gear handle, a first upper mechanical claw, a first lower mechanical claw and a hollow support column; the mechanical claw base, the first gear handle and the first upper mechanical claw are connected together in sequence from top to bottom through a bolt assembly and a gasket, and the first lower mechanical claw is installed below the first upper mechanical claw through a hollow support column to form a gap with a preset distance; the first steering gear is installed above the mechanical claw base through a support column, and the steering wheel of the first steering gear is connected to the first gear handle through a steering shaft passing through the mechanical claw base to form a rotational fit; the mechanical claw base is fixedly connected to the fifth steering gear through an L-shaped bracket.
4. The four-degree-of-freedom manipulator of a garbage cleaning robot according to claim 3, characterized in that: The second mechanical claw assembly includes a second gear handle, a second upper mechanical claw, a second lower mechanical claw and a hollow support column; the second gear handle and the second upper mechanical claw are connected together in sequence from top to bottom through a bolt assembly, and the second lower mechanical claw is installed below the second upper mechanical claw through a hollow support column to form a gap of a preset distance; the second gear handle is meshed with the first gear handle.
5. The four-degree-of-freedom manipulator of a garbage cleaning robot according to claim 2, characterized in that: The second steering gear is connected to a support plate for supporting the second steering gear, and the other end of the support plate is connected to the fifth steering gear.
6. The four-degree-of-freedom manipulator of a garbage cleaning robot according to claim 1, characterized in that: The camera component includes a camera, a camera bracket and a steering shaft; the camera bracket is installed below the manipulator component, the camera is installed in the camera bracket, and the camera bracket is connected to the second servo through the steering shaft to form a rotational fit.
7. The four-degree-of-freedom manipulator of a garbage cleaning robot according to claim 2, characterized in that: The base component also includes a steering gear fixing bracket, which is installed on the rotating base and has an installation position for limiting the movement of the steering gear. The third steering gear is installed on the installation position.
8. The four-degree-of-freedom manipulator of a garbage cleaning robot according to claim 1, characterized in that: The bottom of the base component is connected with a trolley.