Garbage collection and transportation robot

Abstract

The garbage collection and transportation robot comprises a moving vehicle and a mechanical arm, the mechanical arm is installed on the moving vehicle, the garbage collection and transportation robot further comprises clamping plates, the number of the clamping plates is two, the two clamping plates are installed on the mechanical arm, the mechanical arm is used for driving the two clamping plates to get close to each other or get away from each other, and the clamping plates are L-shaped clamping plates; a plurality of clamping teeth are arranged at one end of the clamping plate, the clamping teeth are distributed on the clamping plate in a parallel and non-contact state, a soft rubber block is arranged at one end of each clamping tooth, each clamping tooth is provided with a contact inclined plane, the contact inclined planes are located at the soft rubber blocks, the Ra value of the surface roughness of the contact inclined planes is larger than 50, and mounting blind holes are formed in the contact inclined planes. All the contact slopes of the same clamping plate are located in the same plane. The robot has the following beneficial effects that the two rows of clamping teeth are arranged, and each clamping tooth is provided with a soft rubber block and a contact inclined plane with relatively large roughness, so that the two clamping plates can stably clamp sheet-shaped objects and columnar objects.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a garbage collection and transportation robot. Background Art

[0002] Currently, patrol robots are used in many situations to clean up garbage on the patrol roads. Patent announcement document CN208005690U discloses a garbage cleaning robot. The robot with this structure uses its own gripper (numbered 31 in the document) to clamp garbage. There is a problem with the robot with this structure when clamping garbage. That is, the gripper of the robot with this structure is a circular arc plate. When grabbing some relatively smooth garbage (such as paper dropped on the ground), the gripper of this structure cannot grab these garbage. Utility Model Content

[0003] Aiming at the above problems, the utility model proposes a garbage collection and transportation robot.

[0004] The technical solutions adopted by this utility model are as follows:

[0005] A garbage collection and transportation robot includes a mobile vehicle and a robotic arm, wherein the robotic arm is installed on the mobile vehicle and also includes a splint. There are two splints, which are installed on the robotic arm. The robotic arm is used to drive the two splints to move closer to or away from each other. The splint is an L-shaped splint, and one end of the splint is provided with a plurality of clamping teeth. The clamping teeth are distributed in a parallel and non-contact state on the splint. A soft rubber block is provided at one end of the clamping teeth, and a contact inclined surface is provided on the clamping teeth. The contact inclined surface is located at the soft rubber block, and the surface roughness Ra value of the contact inclined surface is greater than 50. A mounting blind hole is provided on the contact inclined surface, and all contact inclined surfaces of the same splint are located in the same plane.

[0006] In this garbage collection and transportation robot, a mechanical arm is set on a mobile vehicle, and two clamps that can move closer to or away from each other are installed on the mechanical arm. When the clamps move closer to or away from each other, they can drive the two rows of clamping teeth to move closer to or away from each other. A soft rubber block is set on each clamp. When the clamp is clamping an object (or garbage) on the ground, the soft rubber block on the clamping tooth first contacts the object. The friction between the soft rubber block and the sheet-like object is relatively large, so the object can be clamped stably. Similarly, since a contact inclined surface is set on each clamping tooth, and the surface of the contact inclined surface is relatively rough (Ra value is greater than 50), when the two clamping teeth are used to clamp objects such as bottles (columns) (the two rows of contact inclined surfaces are in contact with the side wall of the bottle), the object can be clamped stably.

[0007] In summary, this robot is equipped with two rows of clamping teeth, and each clamping tooth is equipped with a soft rubber block and a contact slope with relatively large roughness, so as to ensure that the two clamping plates can stably clamp sheet and columnar objects.

[0008] Optionally, the mobile vehicle includes a frame and wheels, the wheels are rotatably mounted on the frame, a motor is provided in the frame, the shaft of the motor is engaged with the wheels, and the robotic arm is provided on the frame.

[0009] The specific function of the motor is to drive the wheels to rotate, and the rotation of the wheels drives the frame to move forward.

[0010] Optionally, the mobile vehicle is provided with a laser radar.

[0011] The function of the laser radar is to detect whether there are obstacles around the moving vehicle and the distance between the obstacles.

[0012] Optionally, a camera is provided on the mobile vehicle.

[0013] The function of the camera is to obtain image information in the direction of vehicle travel and to determine whether there is garbage on the road and the type of garbage.

[0014] Optionally, a hopper is provided on the mobile vehicle.

[0015] The function of the hopper is to place the garbage collected by the robotic arm.

[0016] Optionally, the hopper is a square hopper.

[0017] Optionally, the soft rubber block is a triangular soft rubber block.

[0018] The specific soft rubber block has three contact surfaces, one of which is bonded and fixed to the clamping teeth, and the other two contact surfaces are used to contact the object when clamping the object.

[0019] Optionally, the mounting blind hole is a circular mounting blind hole.

[0020] The specific function of the blind hole is to install a cylinder when needed. After the cylinder is inserted and installed in the blind hole, the entire splint can be used to clamp and suspend some objects.

[0021] The beneficial effect of the utility model is that by arranging two rows of clamping teeth and arranging a soft rubber block and a contact inclined surface with relatively large roughness on each clamping tooth, it is ensured that the two clamping plates can stably clamp sheet-like objects and column-like objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the garbage collection and transportation robot;

[0023] Figure 2 yes Figure 1 Enlarged schematic diagram of point A in the middle.

[0024] The reference numerals in the figure are: 1. hopper; 2. robotic arm; 3. frame; 4. wheel; 6. lidar; 7. camera; 8. splint; 801. clamping teeth; 8011. mounting blind hole; 8012. contact slope; 802. soft rubber block. DETAILED DESCRIPTION

[0025] The present invention will be described in detail below with reference to the accompanying drawings.

[0026] As attached Figure 1 And attached Figure 2 A garbage collection and transportation robot includes a mobile vehicle and a robotic arm 2. The robotic arm 2 is installed on the mobile vehicle and also includes a splint 8. The splint 8 has two pieces. The two splints 8 are installed on the robotic arm 2. The robotic arm 2 is used to drive the two splints 8 to move closer to or away from each other. The splint 8 is an L-shaped splint 8. One end of the splint 8 is provided with a plurality of clamping teeth 801. The clamping teeth 801 are distributed in a parallel and non-contact state on the splint 8. A soft rubber block 802 is provided at one end of the clamping teeth 801. A contact inclined surface 8012 is provided on the clamping teeth 801. The contact inclined surface 8012 is located at the soft rubber block 802. The surface roughness Ra value of the contact inclined surface 8012 is greater than 50. A mounting blind hole 8011 is provided on the contact inclined surface 8012. All contact inclined surfaces 8012 of the same splint 8 are located in the same plane.

[0027] In this garbage collection and transportation robot, a mechanical arm 2 is set on the mobile vehicle, and two clamps 8 are installed on the mechanical arm 2, which can move closer to or away from each other. When the clamps 8 move closer to or away from each other, they can drive the two rows of clamping teeth 801 to move closer to or away from each other. A soft rubber block 802 is set on each clamp. When the clamp 8 clamps an object (or garbage) on the ground, the soft rubber block 802 on the clamping tooth 801 first contacts the object. The friction between the soft rubber block 802 and the sheet-like objects is relatively large, so the object can be clamped stably. Similarly, since a contact inclined surface 8012 is set on each clamping tooth 801, and the surface of the contact inclined surface 8012 is relatively rough (Ra value is greater than 50), when the two clamping teeth 801 clamp objects such as bottles (columns) (the two rows of contact inclined surfaces 8012 are in contact with the side wall of the bottle), the object can be clamped stably.

[0028] In summary, this robot is provided with two rows of clamping teeth 801 , and each clamping tooth 801 is provided with a soft rubber block 802 and a contact slope 8012 with relatively large roughness, so as to ensure that the two clamping plates 8 can stably clamp sheet-like objects and column-like objects.

[0029] As attached Figure 1 And attached Figure 2 The mobile vehicle includes a frame 3 and wheels 4. The wheels 4 are rotatably mounted on the frame 3. A motor is provided in the frame 3. The shaft of the motor cooperates with the wheels 4. The robotic arm 2 is provided on the frame 3.

[0030] The specific function of the motor is to drive the wheels 4 to rotate, and the rotation of the wheels 4 drives the frame 3 to move forward.

[0031] Specifically in this robot, four wheels 4 are provided on the frame 3, and four motors can be provided in the frame 3, so that each motor can drive one wheel 4 to rotate. Each wheel 4 is independently driven by a motor, which can give the entire mobile vehicle greater flexibility during operation. For example, the mobile vehicle can move sideways and turn on the spot.

[0032] As attached Figure 1 And attached Figure 2 , a laser radar 6 is provided on the mobile vehicle.

[0033] The function of the laser radar 6 is to detect whether there are obstacles around the moving vehicle and the distance between the obstacles.

[0034] As attached Figure 1 And attached Figure 2 , a camera 7 is provided on the mobile vehicle.

[0035] Specifically in this type of robot, a battery and a control main board are also provided in the frame 3. The control main board is electrically connected to the robotic arm 2, camera 7, laser radar 6 and each motor in the frame 3. The operation of each motor in the frame 3 is controlled by the control main board. The information obtained by the camera 7 and the laser radar 6 is transmitted to the control main board and processed by the control main board.

[0036] Similarly, the battery in this type of robot is used to power each device that requires electricity.

[0037] The function of the camera 7 is to obtain the image information in the direction of the vehicle's travel and determine whether there is garbage on the road and the type of garbage. Therefore, this type of robot can patrol on a fixed path according to the program set in the control motherboard. If garbage is found on the patrol path, the robot arm 2 will clean it up.

[0038] As attached Figure 1 And attached Figure 2 , a hopper 1 is provided on the mobile vehicle.

[0039] The function of the hopper 1 is to place the garbage collected by the robotic arm 2.

[0040] As attached Figure 1 And attached Figure 2 , the hopper 1 is a square hopper 1.

[0041] As attached Figure 1 And attached Figure 2 , the soft rubber block 802 is a triangular soft rubber block 802.

[0042] Specifically, the soft rubber block 802 has three contact surfaces, one of which is bonded and fixed to the clamping teeth 801 , and the other two contact surfaces are used to contact the object when clamping the object.

[0043] The soft rubber block 802 may be made of rubber or silicone material.

[0044] Specifically in this robot, the clamping teeth 801 and the clamping plate 8 are integrally formed. The clamping plate 8 is made of metal material (such as steel), and the clamping teeth 801 and the soft rubber block 802 can be fixed together by bonding or by heat welding.

[0045] As attached Figure 1 And attached Figure 2 , the mounting blind hole 8011 is a circular mounting blind hole 8011.

[0046] The specific function of the blind hole 8011 is to install a cylinder when needed. After the cylinder is inserted and installed in the blind hole 8011, the entire splint 8 can be used to clamp and suspend some objects.

[0047] Specifically, the robotic arm used in this embodiment may be a robotic arm as shown in patent publication documents JP5525339B2 or JP5286457B1 or CN212666060U or CN208196791U.

[0048] The above description is only a preferred embodiment of the present invention and does not limit the scope of patent protection of the present invention. Any equivalent transformation made using the contents of the present invention specification, directly or indirectly applied in other related technical fields, is also included in the scope of protection of the present invention.

Claims

1. A garbage collection and transportation robot, comprising a mobile vehicle and a mechanical arm, wherein the mechanical arm is mounted on the mobile vehicle, and is characterized in that: It also includes a splint, which has two pieces. The two splints are installed on a robotic arm, and the robotic arm is used to drive the two splints to move closer to or away from each other. The splint is an L-shaped splint, and a plurality of clamping teeth are provided at one end of the splint. The clamping teeth are distributed in a parallel and non-contact state on the splint. A soft rubber block is provided at one end of the clamping teeth, and a contact inclined surface is provided on the clamping teeth. The contact inclined surface is located at the soft rubber block, and the surface roughness Ra value of the contact inclined surface is greater than 50. A mounting blind hole is provided on the contact inclined surface, and all contact inclined surfaces of the same splint are located in the same plane.

2. The garbage collection and transportation robot according to claim 1, characterized in that: The mobile vehicle comprises a frame and wheels, wherein the wheels are rotatably mounted on the frame, a motor is arranged in the frame, the shaft of the motor is matched with the wheels, and the mechanical arm is arranged on the frame.

3. The garbage collection and transportation robot according to claim 1, characterized in that: The mobile vehicle is provided with a laser radar.

4. The garbage collection and transportation robot according to claim 1, characterized in that: The mobile vehicle is provided with a camera.

5. The garbage collection and transportation robot according to claim 1, characterized in that: The mobile vehicle is provided with a hopper.

6. The garbage collection and transportation robot according to claim 5, characterized in that: The hopper is a square hopper.

7. The garbage collection and transportation robot according to claim 1, characterized in that: The soft rubber block is a triangular soft rubber block.

8. The garbage collection and transportation robot according to claim 1, characterized in that: The mounting blind hole is a circular mounting blind hole.

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