Household garbage intelligent classification equipment with autonomous recognition function

Abstract

The utility model discloses household garbage intelligent classification equipment with an automatic recognition function. The household garbage intelligent classification equipment comprises an aluminum profile frame, a two-degree-of-freedom cross shaft plane moving mechanism, a clamping mechanism, an opening and closing wing plate mechanism and an overturning type temporary storage table mechanism. Side plates are arranged on the side faces of the aluminum profile frame, and a feeding opening upper cover plate is arranged at the top. The aluminum profile frame is divided into two layers through a bottom-layer partition plate and a middle-layer aluminum profile beam, and a plurality of partition plates are arranged between the bottom-layer partition plate and the middle-layer aluminum profile beam to form a plurality of compartments for garbage classification; a compression mechanism is arranged between the bottom-layer partition plate and the middle-layer aluminum profile beam; the two-degree-of-freedom cross shaft plane mechanism is arranged below the throwing opening upper cover plate; the clamping mechanism is mounted in the two-degree-of-freedom cross shaft plane mechanism; the opening and closing wing plate mechanism is arranged below the two-degree-of-freedom cross shaft plane mechanism; the overturning type temporary storage table mechanism is installed on the middle-layer aluminum profile beam and located below the opening and closing wing plate mechanism.

Description

Technical Field

[0001] The utility model belongs to the field of small-sized automation equipment, in particular to a kind of intelligent classification equipment for household garbage with an autonomous identification function. Background Art

[0002] In order to assist the implementation of urban waste classification plans, facilitate the classification and management of urban domestic waste, and solve the problems of "disorderly disposal and difficult implementation" in waste classification, a type of intelligent waste classification equipment has appeared on the market, which combines machine learning, computer vision and sensing technology to identify different types of domestic waste and classify them into corresponding containers, such as recyclables, kitchen waste, hazardous waste, etc.

[0003] An intelligent trash can device (CN113148477A) uses a mechanical structure, a camera and an electric control to complete the sorting and classification storage of garbage. It has few components, simple assembly, and easy maintenance. It uses an intelligent control unit to regulate the linkage, and has a high degree of automation. The outer shell is made of transparent material, which is convenient for users to clearly observe the situation in each classified trash can. At the same time, the device is equipped with a full-load automatic detection function, which is convenient for people of all ages to use. It includes a sorting mechanism, a classification mechanism, four barrels, a camera and a controller; the sorting mechanism is arranged above the classification mechanism, and the classification mechanism is arranged above the four barrels. However, the efficiency of the rotary disc classification mechanism used on the mechanical structure can be improved; the equipment cost is relatively high, including maintenance, installation and manufacturing; and the case clearly states that it is limited to household garbage classification and the applicable environment is relatively limited; the case does not have a specific type of compression function.

[0004] At present, the intelligent classification equipment for domestic waste on the market mainly faces the following technical problems:

[0005] 1. Identification accuracy and efficiency: The equipment needs to be able to accurately identify various types of garbage, including recyclables, kitchen waste, hazardous waste, etc. However, different types of garbage may have similar appearance characteristics, resulting in low recognition accuracy or misclassification.

[0006] 2. Adapt to complex environments: Garbage sorting equipment may need to work in different environmental conditions, including indoor and outdoor environments, different light conditions, climate changes, etc. The equipment needs to be able to adapt to these complex environments and maintain stable recognition performance.

[0007] 3. User interaction and experience: The device needs to have a user-friendly interface and interaction method that can attract the user's attention and encourage them to use the device correctly. How to design a simple and intuitive user interface has become a problem that needs to be solved.

[0008] 4. Equipment cost and maintenance: The manufacturing, installation and maintenance costs of waste sorting equipment may be high, which is a challenge for urban management departments and communities. The equipment needs to be able to maintain stability and reliability during long-term use to reduce maintenance costs. Utility Model Content

[0009] In view of the above problems and background, the utility model of intelligent classification equipment for domestic waste with autonomous identification function is designed with a two-degree-of-freedom cross-axis plane mobile clamping mechanism, an opening and closing wing plate and a tilting temporary storage table mechanism, a compression mechanism, a human-computer interaction screen, and a visual recognition system, which can realize single garbage classification and delivery, multi-garbage intelligent identification, full load alarm, and compression functions of specific categories.

[0010] The utility model is implemented by at least one of the following technical solutions.

[0011] An intelligent household waste classification device with an autonomous identification function, comprising an aluminum profile frame, a two-degree-of-freedom cross-axis plane moving mechanism, a clamping mechanism, an opening and closing wing plate mechanism, and a tilting temporary storage platform mechanism;

[0012] The aluminum profile frame is provided with side panels on the sides and a loading port upper cover plate on the top;

[0013] The aluminum profile frame is divided into two layers through a bottom partition and a middle aluminum profile beam. A plurality of partitions are arranged between the bottom partition and the middle aluminum profile beam to form a plurality of compartments for garbage classification. A compression mechanism is arranged between the bottom partition and the middle aluminum profile beam.

[0014] The two-degree-of-freedom cross-axis plane mechanism is arranged below the upper cover plate of the loading port; the clamping mechanism is installed in the two-degree-of-freedom cross-axis plane mechanism;

[0015] The opening and closing wing plate mechanism is arranged below the two-degree-of-freedom cross-axis plane mechanism;

[0016] The tipping temporary storage platform mechanism is installed on the middle aluminum profile beam and is located below the opening and closing wing plate mechanism.

[0017] Furthermore, four partitions are arranged between the bottom partition and the middle aluminum profile beam to form four compartments for garbage classification.

[0018] Furthermore, the two-degree-of-freedom cross-axis planar mechanism includes two stepping motors, a synchronous pulley, a cross slider, and a scissor-type telescopic mechanism;

[0019] The two stepper motors are respectively located at the top corners of the aluminum profile frame frame, and are used to drive the synchronous pulleys in the x direction and the y direction; the synchronous pulleys are fixed to the aluminum profile frame through the bearing seat and the inner transmission shaft, and the synchronous pulleys are provided with synchronous belts; the four sides of the top of the aluminum profile frame are distributed with synchronous belts;

[0020] An outer transmission shaft is fixed under each synchronous belt, and the two ends of the outer transmission shaft are respectively installed on the aluminum profile frame through supports, and large connecting pieces are provided on the synchronous belts on two opposite sides, and small connecting pieces are provided on the synchronous belts on the other two opposite sides. At the same time, the two large connecting pieces and the two small connecting pieces are installed on the outer transmission shaft through linear bearings, and slide on the outer transmission shaft under the action of the synchronous belt; a middle transmission shaft is provided between the relatively large connecting pieces and the relatively small connecting pieces, and the two middle transmission shafts are cross-arranged to form a cross shaft;

[0021] The cross slider is provided with two linear bearings, and the cross slider is arranged on two middle transmission shafts through the two linear bearings; the lower surface of the cross slider is provided with a clamping claw rotating steering gear, and the scissor-type telescopic mechanism is connected with the clamping claw rotating steering gear.

[0022] Furthermore, the scissor-type telescopic mechanism comprises a cross slide and a multi-joint clamp, the cross slide is connected to the cross slider, a straight-line servo arm is provided on the upper surface of the cross slide, and the straight-line servo arm is connected to the clamp rotating servo;

[0023] The lower surface of the cross slide is provided with two telescopic connecting rods 1, the two telescopic connecting rods 1 are respectively connected to telescopic connecting rods 2, and the two telescopic connecting rods 1 are respectively connected to two telescopic steering gears;

[0024] The multi-joint clamp includes a clamp base and a clamp joint connecting rod; a large torque steering gear is provided on the clamp base; the clamp base is connected to the telescopic connecting rod 2;

[0025] The large torque steering gear is connected with a gripping steering gear arm, and the two ends of the gripping steering gear arm are respectively connected with gripping joint connecting rods, and the other ends of the two gripping joint connecting rods are respectively connected with clamping claws.

[0026] Furthermore, each clamping joint connecting rod is mounted on the clamping servo arm by means of screws, and a gasket is provided between the clamping joint connecting rod and the clamping servo arm.

[0027] Furthermore, two slide grooves are provided on the clamping jaw base, and two screws pass through the corresponding slide grooves respectively. When the large torque servo controls the gripping servo arm to rotate, the joint connecting rod is driven to move, and the two screws slide in the slide grooves at the same time.

[0028] Furthermore, the opening and closing wing plate mechanism includes four temporary storage platform wing plates that drive each other, each temporary storage platform wing plate has two sleeves with flanges fixed on the transmission aluminum rod, the transmission aluminum rod is fixed on the aluminum profile frame, one end of one of the transmission aluminum rods is a bevel gear, and the other end is a large cylindrical spur gear, and the other three transmission aluminum rods have bevel gears fixed at both ends;

[0029] The large cylindrical spur gear is connected to the wing plate control steering gear, and a small gear is fixedly connected to the steering gear shaft of the wing plate control steering gear. The advance force of the small gear is transmitted to the large cylindrical spur gear to complete the rotational movement of the first temporary storage platform wing plate around the axis.

[0030] Furthermore, the tipping temporary storage platform mechanism includes a temporary storage platform, a temporary storage platform horizontal direction control steering gear, a temporary storage platform vertical direction control steering gear, and a support platform, wherein the temporary storage platform is arranged on the support platform; the support platform is arranged on the temporary storage platform horizontal direction control steering gear through a cross-shaped steering platform; the temporary storage platform horizontal direction control steering gear is fixed on the middle-layer aluminum profile beam through an aluminum profile angle piece;

[0031] The temporary storage platform vertical direction control steering gear is installed on the inner side of the supporting platform, and the temporary storage platform vertical direction control steering gear and the temporary storage platform horizontal direction control steering gear are used to realize the rotational movement of the temporary storage platform with two degrees of freedom.

[0032] Furthermore, a compression mechanism is provided in the recyclable compartment, and the compression mechanism includes a high-torque motor, a first guide wheel shaft, a second guide wheel shaft, two parallel guide U-shaped grooves, an inclined plate, and a tilting plate;

[0033] The connecting rod on the output shaft of the high torque motor is connected to the crank connecting rod 1, and the other end of the crank connecting rod 1 is connected to the crank connecting rod 2; the end of the crank connecting rod 2 is connected to a compression plate;

[0034] The guide U-shaped groove is installed on the partition plate through the U-shaped groove fixing angle code, and the two ends of the guide wheel shaft 1 and the guide wheel shaft 2 are respectively provided with guide rubber bearings, and the crank connecting rod 2 is connected to the guide wheel shaft 2. Under the action of the crank connecting rod 1 and the high-torque motor, the guide rubber bearing slides in the guide U-shaped groove;

[0035] The overturning plate is located below the compression plate; the inclined plate is located above the large torque motor and the compression plate; and the overturning plate is connected to the overturning steering gear.

[0036] Furthermore, a tilting plate shaft is provided on one side of the tilting plate, which is connected to the tilting servo. The tilting servo controls the rotation of the tilting plate shaft, thereby controlling the tilting plate to open and allowing the garbage to fall into the recyclable compartment.

[0037] Compared with the existing technology, the beneficial effects of the utility model are:

[0038] The main purpose of the intelligent household waste classification device with autonomous identification function of the utility model is to help users conveniently dispose of household waste through autonomous identification and classification functions in indoor intelligent waste classification scenarios. In addition to the basic waste classification function, it also has the following features and functions:

[0039] 1. Mobile gripping mechanism: The equipment is designed with a two-degree-of-freedom cross-axis plane mobile gripping mechanism, which can flexibly move and grip garbage. This mechanism can make the equipment adapt to garbage of different shapes and positions, and improve the accuracy of identification and gripping.

[0040] 2. Opening and closing wing plate and overturning temporary storage platform mechanism: The opening and closing wing plate and overturning temporary storage platform mechanism can help the garbage sorting equipment to put the garbage into the correct container after identification. This mechanism can effectively prevent garbage mixing and improve the efficiency of garbage sorting.

[0041] 3. Visual recognition system: The device is equipped with a visual recognition system, which can realize single garbage classification and multi-garbage intelligent recognition. Through machine learning and computer vision technology, the device can accurately identify different types of garbage and automatically classify and place them.

[0042] To sum up, the intelligent classification equipment for domestic waste with autonomous identification function not only has the basic waste classification function, but also improves the intelligence, convenience and efficiency of the waste classification equipment through innovations in intelligent identification system and special mechanism design. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the three-dimensional structure of a household waste intelligent classification device with an autonomous identification function according to an embodiment of the present invention;

[0044] Figure 2 It is a schematic diagram of the aluminum profile frame of the embodiment;

[0045] Figure 3 A partial view of the storage area for the embodiment;

[0046] Figure 4 This is an axonometric diagram of the second degree of freedom cross-axis plane moving mechanism of embodiment;

[0047] Figure 5 A partial view of a synchronous pulley of an embodiment;

[0048] Figure 6 It is a partial view of the motor and the synchronous wheel of the embodiment;

[0049] Figure 7 It is a partial view of the transmission part of the second degree of freedom cross-axis plane moving mechanism of embodiment;

[0050] Figure 8 It is a schematic diagram of the structure of the cross slider in the embodiment;

[0051] Fig. 9 It is a partial structural diagram of the splint of the embodiment;

[0052] Fig.10 It is a structural diagram of the splint of the embodiment;

[0053] Fig.11 It is an axonometric view of the clamping mechanism of the embodiment;

[0054] Fig.12 It is a partial structural diagram of the clamping part of the clamping mechanism of the embodiment;

[0055] Fig.13 is a structural diagram of the clamping jaw base of the embodiment;

[0056] Fig.14 Axonometric drawing of the wing plate of the temporary storage platform for the embodiment;

[0057] Fig.15 The structure diagram of the transmission part of the wing plate of the temporary storage platform of the embodiment;

[0058] Fig.16 It is a schematic diagram of the structure of the meshing of the wing plate gear of the temporary storage platform in the embodiment;

[0059] Fig.17 An axonometric diagram of the temporary storage platform mechanism for the embodiment;

[0060] Fig.18 It is a structural schematic diagram of the tipping temporary storage platform mechanism of the embodiment;

[0061] Fig.19 It is a partial structural diagram of the tipping temporary storage platform mechanism of the embodiment;

[0062] Fig. 20 An axonometric view of a compression mechanism of an embodiment;

[0063] Fig.21 It is a partial structural diagram of the compression mechanism of the embodiment;

[0064] Fig. 22 It is a partial view of the transmission part of the compression mechanism of the embodiment;

[0065] Fig.23 It is a partial structural diagram of the inclined plate of the embodiment;

[0066] Fig.24 This is a structural diagram of the guide rubber-coated bearing of the compression mechanism of the embodiment;

[0067] In the figure: 1-aluminum profile frame, 2-gripping mechanism, 3-opening and closing wing plate mechanism, 4-tilting temporary storage platform mechanism, 5-compression mechanism, 6-top cover of the delivery port, 7-aluminum profile, 8-L-shaped corner horse, 9-profile corner horse, 10-bottom partition 11-first partition, 12-second partition, 13-bottom corner code, 14-partition corner code, 15-corner code mounting hole, 16-servo engine mounting hole, 17-third partition, 18-fourth partition, 19-middle aluminum profile beam, 20-middle corner code, 21-stepping motor, 22-large connector, 23-bearing seat, 24-corner code, 25-small connector, 26-external transmission shaft, 27-M6t nut, 2 8-support, 29-M6 screw, 30-synchronous belt, 31-synchronous wheel, 32-aluminum column, 33-M3 screw, 34-flange bearing, 35-M2 screw, 36-inner transmission shaft, 37-claw rotation servo, 38-linear bearing, 39-cross slider, 40-M4 nut, 41-first clamp, 42-M4 screw, 43-second clamp, 44-second middle transmission shaft, 45-I-shaped servo arm, 46-cross slide, 47-telescopic servo, 48-telescopic link 1, 49-telescopic link 2, 50-claw servo arm, 51-claw joint link, 52-claw, 53-weight reduction hole, 54-M5 screw 1, 55-M 5 screw 2, 56-washer 1, 57-washer 2, 58-high torque servo, 59-grip base, 60-temporary storage platform wing plate, 61-transmission aluminum rod, 62-temporary storage platform, 63-conical gear, 64-bearing seat, 65-T-nut, 66-cup head screw, 67-sleeve, 68-servo fixing seat, 69-wing plate control servo, 70-large cylindrical spur gear, 71-small gear, 72-short beam, 73-long beam, 74-angle code, 75-temporary storage platform horizontal direction control servo, 76-temporary storage platform vertical direction control servo, 77-L-type fixed angle code, 78-bearing, 79-table support, 80-aluminum profile angle piece, 81-cross rudder platform, 8 2-round head fixing screw, 83-circular steering disc, 84-inclined plate fixing angle code, 85-right angle code, 86-motor seat fixing angle code, 87-compression plate, 88-tipping plate transition fixing part 1, 89-guide U-shaped groove, 90-U-shaped groove fixing angle code, 91-tipping plate, 92-tipping plate transition fixing part 2, 93-guide wheel shaft 1, 94-guide wheel shaft 2, 95-high torque motor, 96-motor seat, 97-motor seat support column, 98-shaft plate connecting block, 99-guide rubber-coated bearing, 100-tipping servo, 101-crank connecting rod 1, 102-crank connecting rod 2, 103-flange bearing, 104-inclined plate shaft, 105-inclined plate. DETAILED DESCRIPTION

[0068] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0069] like Figure 1 As shown in (a) and (b), an intelligent classification device for domestic waste with autonomous identification function in this embodiment includes an aluminum profile frame 1, a two-degree-of-freedom cross-axis plane moving mechanism, a clamping mechanism 2, an opening and closing wing mechanism 3, a tilting temporary storage table mechanism 4, and a compression mechanism 5.

[0070] like Figure 2 As shown, the aluminum profile frame 1 is constructed by several aluminum profiles 7, forming three layers inside; the overall shape is a cuboid, the profiles are connected by angle codes, the four surfaces are equipped with PC side panels, and the top is equipped with a PC material delivery port upper cover 6. The two-degree-of-freedom cross-axis plane mechanism is arranged below the delivery port upper cover 6. The clamping mechanism 2 is installed on the cross slider of the two-degree-of-freedom cross-axis plane moving mechanism, the opening and closing wing plate mechanism 3 is arranged below the two-degree-of-freedom cross-axis plane moving mechanism, and the overturning temporary storage platform mechanism 4 is installed below the wing plate.

[0071] Specifically, the interior of the aluminum profile frame 1 is divided into two layers by a bottom layer partition plate 10 and a middle layer aluminum profile beam 19 .

[0072] like Figure 3 As shown, the bottom partition 10 is installed at the bottom of the aluminum profile frame 1, and the bottom partition 10 is fixed to the aluminum profile through the bottom angle code 13; the middle aluminum profile beam 19 is composed of multiple aluminum profiles and the middle angle code 20 to form a plane for supporting the tipping temporary storage table mechanism, and is naturally divided into four compartment areas.

[0073] like Figure 2 As shown, four partitions (11, 12, 17, 18) are arranged between the bottom partition 10 and the middle aluminum profile beam 19 to form four compartments for garbage classification. The partition is provided with an angle code mounting hole 15, and the partitions (11, 12, 17, 18) are connected to the outer PC board through an L-shaped angle code 8, and the four faces are similar; the right-angle connection of each aluminum profile beam is connected and fixed with a profile angle code 9; and the four partitions are installed through the partition angle code 14. The overall frame is built with aluminum profiles. This structure is strong and durable and can withstand the weight of garbage and the operation of the moving device. At the same time, the profile structure also facilitates quick assembly and maintenance.

[0074] Furthermore, the top of the aluminum profile frame 1 is installed with an upper cover plate 6 for the loading port, which is used to cap the entire mechanism and leave a garbage loading port; the two-degree-of-freedom cross-axis plane mechanism is arranged on the upper part of the frame, below the upper cover plate 6 for the loading port. The top corners of the aluminum profile frame 1 are spliced ​​by two corner brackets 24.

[0075] like Figures 4 to 10 As shown, the two-degree-of-freedom cross-axis plane moving mechanism includes two stepper motors 21, a synchronous pulley and an external transmission shaft 26, a linear bearing 38, a large connecting piece 22, a small connecting piece 25, a cross slider 39, a support 28, a bearing seat 23, a scissor-type telescopic mechanism, etc. The stepper motor 21 serves as one of the driving motors of the two-degree-of-freedom cross-axis plane moving mechanism.

[0076] Two stepper motors 21 are vertically placed at the top corners of the aluminum profile frame 1. Four aluminum columns 32 on the stepper motor 21 penetrate the partition and are fixed by M3 screws 33. The two stepper motors 21 are used to control the synchronous wheels 31 of the x-axis and y-axis respectively. Figure 5 As shown, each synchronous wheel 31 is provided with a synchronous belt 30, and the four sides of the top of the aluminum profile frame 1 are distributed with synchronous belts;

[0077] An aluminum outer transmission shaft 26 in the same direction is fixed under each synchronous belt 30. The two ends of the outer transmission shaft 26 are limited by supports 28 respectively, and one support 28 is fixed to the aluminum profile frame 1 by an M6t nut 27 and two M6 screws 29. The bearing seat 23 is located on one side of the stepper motor 21 and is used to install the synchronous wheel. The synchronous wheel 31 is fixed on the bearing seat 23 through the inner transmission shaft 36; a flange bearing 34 is provided in the bearing seat 23. In the two-degree-of-freedom cross-axis plane moving mechanism, the combined application of the synchronous belt 30, the synchronous wheel 31, the aluminum outer transmission shaft 26, the middle transmission shaft 44, and the linear bearing 38 converts the transmission in the frame space into the translation of the plane inside the frame, which greatly saves space occupation.

[0078] like Figure 4 As shown, large connectors 22 are provided on the synchronous belt 30 (x direction) on opposite sides of the aluminum profile frame, and small connectors 25 are provided on the synchronous belt 30 on opposite sides (y direction). The synchronous belt is connected to the two large connectors 22 and the two small connectors 25 through the first clamping plate 41, the second clamping plate 43, the M2 screw 42, and the M4 nut 40. The four connectors are arranged relatively to each other and move horizontally on the synchronous belt 30. At the same time, there are linear bearings in the connectors, and the two large connectors 22 and the two small connectors 25 slide on the outer transmission shaft 26 through the linear bearings.

[0079] The four connecting members are respectively connected to the two middle transmission shafts 44, and the two middle transmission shafts 44 are cross-arranged to form a cross shaft. Each middle transmission shaft 44 has holes at both ends and is fixed to the connecting member by M2 screws 35. As an embodiment, the connecting member (22, 25) is a belt clip.

[0080] An inner transmission shaft 36 is arranged in the vertical direction of the moving direction of the connecting member (large connecting member 22, small connecting member 25), and the opposite sides share an inner transmission shaft 36. The inner transmission shaft 36 is covered with a synchronous wheel 31.

[0081] like Figure 8 As shown, a linear bearing 38 is provided in the cross slider 39 , and the linear bearing 38 is interference fit with the cross slider 39 , and the cross slider 39 is arranged on two middle transmission shafts 44 through two linear bearings.

[0082] There is a certain height difference between the large connector 22 and the small connector 25 on the synchronous belt 30, so that the two middle transmission shafts 44 only appear as a cross in the top view, and do not cross in the true sense, to avoid interference. At the intersection of the cross, the cross slider 39 connects the two middle transmission shafts 44 in four directions through a linear bearing 38, and the clamp is fixed under the cross slider, so that the movement of the clamp has two degrees of freedom. The lower surface of the cross slider 39 is provided with a clamp rotation servo 37.

[0083] The two degrees of freedom satisfy the movement of the clamp in any direction in the plane. Driven by the stepper motor, the accuracy of the movement of the clamp and the cross slider 39 in the plane is guaranteed, and the probability of successfully grabbing garbage is greatly improved. At the same time, the clamp rotation servo installed between the cross slider and the clamp enables the clamp to complete the angle rotation, making it more flexible. This means that the trash can can not only accurately grab garbage, but also handle items of different sizes and shapes to meet the diverse garbage sorting needs.

[0084] like Fig.11 As shown, the scissor-type telescopic mechanism includes a cross slide 46 connected to the cross slide 39 and a multi-joint clamp. The cross slide 46 is connected and fixed to the cross slide 39 by screws. A straight-line servo arm 45 is provided on the upper surface of the cross slide 46, and the straight-line servo arm 45 is connected to the clamp rotating servo 37.

[0085] The lower surface of the cross slide 46 is provided with two telescopic links 1 48, and the two telescopic links 1 48 are respectively connected to telescopic links 2 49, and the two telescopic links 1 48 are respectively connected to two telescopic steering gears 47; the two telescopic steering gears 47, the telescopic links 48 connected to the two telescopic steering gears 47, and the cross slide 46 equipped with two telescopic steering gears 47 enable the clamp to move accurately and quickly, and the clamp is connected and fixed to the cross slide 46 through the telescopic links 1 48 and the telescopic links 2 49, and the cross slide 46 is equipped with dual steering gears. After the visual system confirms the best grasping position, the steering gear is controlled to rotate the clamp to grasp garbage of different sizes and shapes for precise delivery. The visual system is developed using a Linux system based on a Jetson nano high-performance development board, equipped with a high-definition and high-frame-rate visual camera, and trained using a YoloV5 model.

[0086] like Fig.12 , Fig.13 As shown, the multi-joint clamp includes a clamp base 59 and a clamping joint connecting rod 51; a large torque steering engine 58 is provided on the clamp base 59, and the large torque steering engine 58 is installed on the clamp base 59 through an M5 screw 54; the clamp base 59 is connected to a telescopic connecting rod 49, and vertical movement is achieved through the telescopic connecting rod. A weight reduction hole 53 is provided on the clamp base 59.

[0087] The large torque servo 58 is connected to a gripping servo arm 50, and the two ends of the gripping servo arm 50 are respectively connected to gripping joint connecting rods 51, and the other ends of the two gripping joint connecting rods 51 are respectively connected to clamping claws 52. The large torque servo 58 controls the gripping servo arm 50 to rotate, so that the gripping joint connecting rods 51 drive the clamping claws 52 to move inwards for clamping, ensuring that the clamped garbage will not fall accidentally, thereby ensuring the effective collection of garbage.

[0088] Each clamping joint connecting rod 51 is installed on the clamping servo arm 50 by M5 screws 55, and gaskets (56, 57) are arranged between the clamping joint connecting rod 51 and the clamping servo arm 50. The telescopic connecting rod and the multi-joint clamping claw are 3D printed with PETG consumables, which can achieve the purpose of lightweight while ensuring strength.

[0089] Furthermore, two slide grooves are provided on the clamping jaw base 59, and two M5 screws 55 pass through the corresponding slide grooves respectively. When the high torque servo 58 controls the gripping servo arm 50 to rotate, the joint connecting rod 51 is driven to move, and the two M5 screws 55 slide in the slide grooves.

[0090] The two-degree-of-freedom cross-axis plane moving mechanism locates the garbage through visual recognition. The visual camera located in the center just above the temporary storage platform 62 uses the Yolo model to obtain the position information and type information of the existing garbage on the temporary storage platform 62 (including the coordinates of the location on the temporary storage platform, the direction of the garbage, and which of the four major categories the garbage belongs to) by making a difference between the pixels of the photos before and after the placement. The two-degree-of-freedom cross-axis plane moving mechanism is controlled to move, so that the clamp moves to the coordinate position where the garbage is located. The scissor-type lifting structure lowers the clamp to grab and clamp the garbage, and then opens the temporary storage platform wing 60, moves the clamp to the upper part of the type compartment where the garbage is located, releases the clamp, and the garbage falls into the compartment, and then closes the temporary storage platform wing 60. Next, the above-mentioned treatment is performed on the remaining types of garbage still existing on the temporary storage platform 62, until the last type of garbage of the same type is left, and the temporary storage platform 62 is directly rotated to the compartment direction of the garbage, so that all the remaining garbage of the same type is poured into the compartment, and the classification is completed.

[0091] The hardware of the visual system is a jetson nano integrated development board, which is fixed on the upper cover plate 6.

[0092] like Fig.14 As shown, the middle layer inside the aluminum profile frame 1 is provided with a tilting temporary storage platform mechanism 4 and an opening and closing wing plate mechanism 3, and the opening and closing wing plate mechanism 3 includes four temporary storage platform wing plates 60 that transmit power to each other, and each temporary storage platform wing plate 60 has two flanged sleeves 67 fixed on the transmission aluminum rod 61, and the transmission aluminum rod 61 is fixed on the aluminum profile frame 1, one end of one of the transmission aluminum rods 61 is a bevel gear 63, and the other end is a large cylindrical spur gear 70, and the two ends of the remaining three transmission aluminum rods 61 are fixed with bevel gears 63, and there are four driven wing plate systems that mesh with each other to transmit power.

[0093] The large cylindrical spur gear 70 is connected to the wing plate control steering gear 69, and a small gear 71 is fixedly connected to the steering gear shaft of the wing plate control steering gear 69. The power of the small gear 71 is transmitted to the large cylindrical spur gear 70 to complete the axial rotation movement of the first temporary storage platform wing plate 60, which is called opening and closing. Then, the power is continued to be transmitted by the above-mentioned mutually meshing bevel gears 63, forming the effect of simultaneous opening and closing of four wing plates.

[0094] Specifically, for the structure of the temporary storage platform wing plate 60, in the four aluminum frames of the aluminum profile frame 1, the two sides of each side frame are equipped with bearing seats 64, and the bearing seats 64 are fixed to the aluminum profile frame 1 by T-shaped nuts 65 and cup head screws 66. The power transmission system is composed of a wing plate control steering gear 69 and a pinion 71. The wing plate control steering gear 69 is connected to the bearing seat 64 through a steering gear fixing seat 68, so as to be fixed to the frame, as shown in FIG. Fig.15 , Fig.16 shown.

[0095] In the dormant state, the sides of the temporary storage platform wing plate 60 are close to each other, and together with the temporary storage platform 62 of the tipping temporary storage platform mechanism 4, a closed space is formed to prevent garbage from accidentally falling into the classification area. When the system is started, the wing plate control steering gear 69 drives the large cylindrical gear 70 meshing with the pinion 71 to rotate by a certain angle, and the large cylindrical gear 70 transmits the rotation to the transmission aluminum rod 61 in the bearing seat 64 fixed on the frame through the flange bearing, so that the temporary storage platform wing plate 60 connected to the sleeve 67 on the transmission aluminum rod 61 rotates outward at a specific angle. At the same time, the meshing of the bevel gears 63 fixed at both ends of each aluminum rod ensures the synchronous rotation of each aluminum rod 61, realizes the synchronous outward expansion of the four-sided temporary storage platform wing plates 60, and accurately controls the directional delivery of garbage to the classification area.

[0096] like Fig.17 As shown, the tipping temporary storage table mechanism 4 includes a temporary storage table 62. In the temporary storage table 62 and the bottom garbage classification area whose frame is composed of four compartments, and in the temporary storage facility for the middle layer of garbage composed of the tipping temporary storage table mechanism 4 and the temporary storage table wing plate 60, a complex mechanical transmission structure is adopted to realize the automatic switching of the temporary storage table wing plate between the open and closed states.

[0097] In order to enhance the rigidity and stability of the overall structure, aluminum profiles are used as structural materials to ensure light weight and high stability. Fig.18 As shown, it includes a temporary storage platform 62, a temporary storage platform horizontal direction control steering gear 75, a temporary storage platform vertical direction control steering gear 76, and a support platform 79. The temporary storage platform 62 is arranged on the support platform 79; the temporary storage platform horizontal direction control steering gear 75 is fixed on the middle layer aluminum profile beam 19 through an aluminum profile angle piece 80; the support platform 79 is arranged on the temporary storage platform horizontal direction control steering gear 75 through a cross-shaped steering platform 81;

[0098] As an embodiment, the middle aluminum profile beam 19 is mainly supported by a long beam 73 running through the entire structure, and two auxiliary short beams 72 extend outward from the center of the main supporting long beam 73 to form a stable cross structure support beam. The aluminum profiles of the cross structure support beam are fixedly connected by four aluminum profile angle brackets 74 and trapezoidal nuts and screws.

[0099] like Fig.19 As shown, an aluminum profile angle piece 80 is used above the center of the cross structure support beam to fix the temporary storage platform horizontal direction control steering gear 75, and the cross-shaped steering platform 81 above the temporary storage platform horizontal direction control steering gear 75 is embedded with the upper bottom of the inverted U-shaped support platform 79. Through the precise angle control of the steering gear, the temporary storage platform 62 can achieve horizontal rotation movement.

[0100] A temporary storage platform vertical direction control steering gear 76 is installed on one side of the support platform 79, and its circular steering disc 83 is precisely fitted with the L-shaped fixed angle code 77, while the other side is connected to the L-shaped angle code 77 through a round head fixing screw 82 and a bearing 78; the L-shaped angle codes on both sides are tightly fitted with the temporary storage platform 62 above. By switching the control steering gear 76 on the vertical direction of the temporary storage platform on one side, the temporary storage platform 62 can be driven to rotate in the vertical direction. By utilizing this two-degree-of-freedom rotational motion, the garbage can be smoothly dropped into the garbage classification area on the bottom layer during the shaking process of the temporary storage platform 62, thereby completing the garbage classification and delivery process. This design not only reflects the ingenuity of the structural design, but also improves the efficiency and accuracy of garbage disposal through precise mechanical control, while also providing convenience for the maintenance and operation of the equipment.

[0101] The compression mechanism 5 is provided in the recyclable compartment, and the compression mechanism 5 includes a high-torque motor 95, a guide wheel shaft 1 93 and a guide wheel shaft 2 94, two parallel guide U-shaped grooves 89, a compression plate 87, an inclined plate 105, and a tipping plate 91. The high-torque motor 95 is fixed to the partition through a motor seat 96 and a motor seat support column 97, and the motor seat 96 is fixed to the partition through a motor seat fixing angle code 86; the output shaft of the high-torque motor 95 is provided with a connecting rod;

[0102] like Fig.23 As shown, the connecting rod of the output shaft of the high torque motor 95 is connected to the crank connecting rod 1 101, and the other end of the crank connecting rod 101 is connected to the crank connecting rod 2 102. The high torque motor 95 drives the crank connecting rod 101 to rotate, thereby driving the crank connecting rod 2 102 to move;

[0103] like Fig.24 As shown, the guide U-shaped groove 89 is installed on the partition through the U-shaped groove fixing angle code 90, and the two ends of the guide wheel shaft 1 93 and the guide wheel shaft 2 94 are respectively provided with guide rubber bearings 99, and the crank connecting rod 2 102 is connected to the guide wheel shaft 2 94. Under the action of one end of the crank connecting rod 101 and the high-torque motor 95, the guide rubber bearing 99 slides in the guide U-shaped groove 89;

[0104] The end of the crank connecting rod 102 is connected to the compression plate 87 through the shaft plate connecting block 98; the compression plate 87 carried at the end of the crank connecting rod 102 can achieve lateral movement under the action of the guide rubber-coated bearing 99 and the guide U-shaped groove 89.

[0105] Specifically, the guide rubber-coated bearing 99 is fixed at both ends of the guide wheel shaft 1 93 and the guide wheel shaft 2 94, and can slide in the guide U-shaped groove 89. The guide wheel shaft 2 94 and the compression plate 87 are fixed together by the shaft-plate connecting block 98. The guide wheel shaft 2 94 can rotate in the end hole of the crank connecting rod 2 102. Therefore, the guide rubber-coated bearing, the guide wheel shaft, the guide rubber-coated bearing, and the compression plate are a whole that perform linear reciprocating motion together. Therefore, the guide wheel and the guide groove ensure that the whole has accurate linear motion and plays a guiding role. Together with the outer PC side plate fixed on the aluminum profile, it squeezes low-density and large-volume recyclable garbage, reduces the volume of the garbage, increases the storage capacity of the garbage can, and is also beneficial to the recycling and reuse of garbage.

[0106] like Fig. 20 As shown, the inclined plate 105 is located above the high torque motor 95 and the compression plate 87, so that the garbage rolls along the inclined plate 105 and overturns the overturning plate 91 and enters the recyclable compartment. Specifically, the two sides of the inclined plate 105 are respectively installed on the compartment through the inclined plate fixing angle bracket 84 and the right angle angle bracket 85.

[0107] A tilting plate 91 is provided at the lower part of the compression plate 87, which is connected to the tilting servo 100. The tilting servo 100 controls the tilting plate 91 to open, and the garbage falls into the recyclable compartment.

[0108] As a specific embodiment, the tilting servo 100 is fixed on the partition through the servo mounting hole 16 on the partition, and a slant plate shaft 104 is provided on one side of the tilting plate 91, and the slant plate shaft 104 is connected to the tilting servo 100, and the tilting servo 100 controls the rotation of the slant plate shaft 104, thereby controlling the tilting plate 91 to open; the tilting plate 91 is fixed on the partition through the tilting plate transfer fixture 1 88 and the tilting plate transfer fixture 2 92, and flange bearings 103 are provided between the slant plate shaft 104 and the tilting plate transfer fixture 1 88 and the tilting plate transfer fixture 2 92. The compression plate 87 and the partitions on both sides serve as sides to form an open square groove area for temporarily accommodating garbage (cans) to be compressed. When the visual system recognizes small-volume garbage, the tilting servo 100 controls the tilting plate 91 to open, and the garbage falls into the barrel. The "barrel" here refers to the recyclable garbage compartment among the four compartments separated by partitions in the storage area. For the convenience of description, it is called a "barrel". The four storage compartments store recyclable garbage, kitchen waste, hazardous waste, and other garbage respectively.

[0109] When a specific type of garbage (in this case, cans) is identified, the tipping plate 91 is closed, and the compression mechanism is driven by a high-torque motor 95 to drive the connecting rod to rotate clockwise, which is converted into the reciprocating motion of the guide shaft 2 94, the guide shaft 1 93, the guide rubber-coated bearing 99, and the compression plate 87 as a whole through the crank connecting rod 101, generating a compression action. The garbage is pushed toward the PC side plate by the compression plate 87 and compressed under pressure. After the action is completed, the tipping plate 91 is opened, and the compressed garbage (cans) falls into the barrel.

[0110] Finally, it should be noted that the above is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the aforementioned examples, it is clear to those skilled in the art that, without departing from the technical principles of the present utility model, several improvements and modifications may be made to the present utility model, all of which shall be included in the protection scope of the present application model.

Claims

1. An intelligent household waste classification device with autonomous identification function, characterized in that: It includes an aluminum profile frame, a two-degree-of-freedom cross-axis plane moving mechanism, a clamping mechanism, an opening and closing wing plate mechanism, and a tilting temporary storage table mechanism; The aluminum profile frame is provided with side panels on the sides and a loading port upper cover plate on the top; The aluminum profile frame is divided into two layers through a bottom partition and a middle aluminum profile beam. A plurality of partitions are arranged between the bottom partition and the middle aluminum profile beam to form a plurality of compartments for garbage classification. A compression mechanism is arranged between the bottom partition and the middle aluminum profile beam. The two-degree-of-freedom cross-axis plane mechanism is arranged below the upper cover plate of the loading port; the clamping mechanism is installed in the two-degree-of-freedom cross-axis plane mechanism; The opening and closing wing plate mechanism is arranged below the two-degree-of-freedom cross-axis plane mechanism; The tipping temporary storage platform mechanism is installed on the middle aluminum profile beam and is located below the opening and closing wing plate mechanism.

2. The intelligent household waste classification device with autonomous identification function according to claim 1 is characterized in that: Four partitions are arranged between the bottom partition and the middle aluminum profile beam to form four compartments for garbage classification.

3. The intelligent household waste classification device with autonomous identification function according to claim 1 is characterized in that: The two-degree-of-freedom cross-axis plane mechanism includes two stepping motors, a synchronous pulley, a cross slide block, and a scissor-type telescopic mechanism; The two stepper motors are respectively located at the top corners of the aluminum profile frame frame, and are used to drive the synchronous pulleys in the x direction and the y direction; the synchronous pulleys are fixed to the aluminum profile frame through the bearing seat and the inner transmission shaft, and the synchronous pulleys are provided with synchronous belts; the four sides of the top of the aluminum profile frame are distributed with synchronous belts; An outer transmission shaft is fixed under each synchronous belt, and the two ends of the outer transmission shaft are respectively installed on the aluminum profile frame through supports, and large connecting pieces are provided on the synchronous belts on two opposite sides, and small connecting pieces are provided on the synchronous belts on the other two opposite sides. At the same time, the two large connecting pieces and the two small connecting pieces are installed on the outer transmission shaft through linear bearings, and slide on the outer transmission shaft under the action of the synchronous belt; a middle transmission shaft is provided between the relatively large connecting pieces and the relatively small connecting pieces, and the two middle transmission shafts are cross-arranged to form a cross shaft; The cross slider is provided with two linear bearings, and the cross slider is arranged on two middle transmission shafts through the two linear bearings; the lower surface of the cross slider is provided with a clamping claw rotating steering gear, and the scissor-type telescopic mechanism is connected with the clamping claw rotating steering gear.

4. The intelligent household waste classification device with autonomous identification function according to claim 3 is characterized in that: The scissor-type telescopic mechanism comprises a cross slide and a multi-joint clamp, wherein the cross slide is connected to a cross slider, a straight-line servo arm is provided on the upper surface of the cross slide, and the straight-line servo arm is connected to a clamp rotating servo; The lower surface of the cross slide is provided with two telescopic connecting rods 1, the two telescopic connecting rods 1 are respectively connected to telescopic connecting rods 2, and the two telescopic connecting rods 1 are respectively connected to two telescopic steering gears; The multi-joint clamp includes a clamp base and a clamp joint connecting rod; a large torque steering gear is provided on the clamp base; the clamp base is connected to the telescopic connecting rod 2; The large torque steering gear is connected with a gripping steering gear arm, and the two ends of the gripping steering gear arm are respectively connected with gripping joint connecting rods, and the other ends of the two gripping joint connecting rods are respectively connected with clamping claws.

5. The intelligent household waste classification device with autonomous identification function according to claim 4 is characterized in that: Each clamping joint connecting rod is mounted on the clamping servo arm by means of screws, and a gasket is arranged between the clamping joint connecting rod and the clamping servo arm.

6. The intelligent household waste classification device with autonomous identification function according to claim 5 is characterized in that: The clamping jaw base is provided with two slide grooves, and two screws pass through the corresponding slide grooves respectively. When the large torque steering gear controls the gripping steering gear arm to rotate, the joint connecting rod is driven to move, and the two screws slide in the slide grooves at the same time.

7. The intelligent household waste classification device with autonomous identification function according to claim 1 is characterized in that: The opening and closing wing plate mechanism comprises four temporary storage platform wing plates that drive each other, each temporary storage platform wing plate has two sleeves with flanges fixed on the transmission aluminum rod, the transmission aluminum rod is fixed on the aluminum profile frame, one end of one transmission aluminum rod is a bevel gear, and the other end is a large cylindrical spur gear, and the other three transmission aluminum rods have bevel gears fixed at both ends; The large cylindrical spur gear is connected to the wing plate control steering gear, and a small gear is fixedly connected to the steering gear shaft of the wing plate control steering gear. The advance force of the small gear is transmitted to the large cylindrical spur gear to complete the rotational movement of the first temporary storage platform wing plate around the axis.

8. The intelligent household waste classification device with autonomous identification function according to claim 1 is characterized in that: The tilting temporary storage platform mechanism includes a temporary storage platform, a temporary storage platform horizontal direction control steering gear, a temporary storage platform vertical direction control steering gear, and a support platform. The temporary storage platform is arranged on the support platform; the support platform is arranged on the temporary storage platform horizontal direction control steering gear through a cross-shaped steering platform; the temporary storage platform horizontal direction control steering gear is fixed on the middle-layer aluminum profile beam through aluminum profile angle pieces; The temporary storage platform vertical direction control steering gear is installed on the inner side of the supporting platform, and the temporary storage platform vertical direction control steering gear and the temporary storage platform horizontal direction control steering gear are used to realize the rotational movement of the temporary storage platform with two degrees of freedom.

9. The intelligent household waste classification device with autonomous identification function according to any one of claims 1 to 8, characterized in that: A compression mechanism is provided in the recyclable compartment, and the compression mechanism includes a high-torque motor, a guide wheel shaft 1 and a guide wheel shaft 2, two parallel guide U-shaped grooves, an inclined plate, and a tipping plate; The connecting rod on the output shaft of the high torque motor is connected to the crank connecting rod 1, and the other end of the crank connecting rod 1 is connected to the crank connecting rod 2; the end of the crank connecting rod 2 is connected to a compression plate; The guide U-shaped groove is installed on the partition plate through the U-shaped groove fixing angle code, and the two ends of the guide wheel shaft 1 and the guide wheel shaft 2 are respectively provided with guide rubber bearings, and the crank connecting rod 2 is connected to the guide wheel shaft 2. Under the action of the crank connecting rod 1 and the high-torque motor, the guide rubber bearing slides in the guide U-shaped groove; The overturning plate is located below the compression plate; the inclined plate is located above the large torque motor and the compression plate; and the overturning plate is connected to the overturning steering gear.

10. The intelligent household waste classification device with autonomous identification function according to claim 9, characterized in that: A tilting plate shaft is provided on one side of the tilting plate, and the tilting plate shaft is connected to the tilting servo. The tilting servo controls the rotation of the tilting plate shaft, thereby controlling the tilting plate to open, so that the garbage falls into the recyclable compartment.

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