Crawler-type garbage cleaning and compressing robot

Abstract

The utility model discloses a crawler-type garbage cleaning and compressing robot which comprises a robot frame and is characterized in that a crawler belt is arranged at the bottom of the robot frame, a swing arm mechanism and a lifting turnover mechanism which are matched with each other are arranged on the front portion of the robot frame, and a garbage can is arranged on the rear portion of the robot frame. A compression mechanism is arranged in the garbage can, the swing arm mechanism comprises a pair of swing arms rotationally connected to the robot frame, a detector frame is arranged at the front ends of the swing arms, an ultrasonic ranging module and an infrared detection module are arranged on the detector frame, and a rotating shaft is rotationally supported on the swing arms on the inner side of the detector frame; a rolling brush is arranged on the rotating shaft, and meanwhile one end of the rotating shaft is connected with the output end of a rolling brush driving motor arranged on the swing arm through a belt wheel transmission pair.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a crawler type garbage cleaning and compression robot. Background Art

[0002] Garbage collection has always been an important issue in urban management, and is of great significance for ensuring urban environmental sanitation and reducing waste of waste resources. The traditional way of garbage collection is for sanitation workers to sweep and collect garbage, which has high labor costs, low work efficiency, and is very inconvenient to operate in some specific places (such as beaches).

[0003] In response to the manual cleaning method, there are now some robots that can clean and collect garbage. Most of these robots are of a vacuum type structure. Robots with this structure cannot handle some larger garbage, which will affect the garbage collection efficiency. It may also cause the vacuum port to be blocked, affecting the normal operation of the robot.

[0004] At the same time, the collected garbage is of different sizes and shapes, and the cleaned garbage takes up a large space, which not only affects work efficiency, but also causes certain problems for subsequent transportation and processing.

[0005] Therefore, a method or device capable of solving the above problems is now needed. Summary of the invention

[0006] The utility model aims to solve the above-mentioned deficiencies in the prior art and proposes a robot which has a simple structure, ingenious design, reasonable layout and can realize garbage cleaning and compression in various environments.

[0007] The technical solution of the utility model is: a crawler type garbage cleaning and compression robot, comprising a robot frame 1, characterized in that: a crawler 2 is arranged at the bottom of the robot frame 1, a swing arm mechanism and a lifting and flipping mechanism matching each other are arranged at the front of the robot frame 1, a garbage bin 3 is arranged at the rear of the robot frame 1, and a compression mechanism is arranged in the garbage bin 3,

[0008] The swing arm mechanism includes a pair of swing arms 4 rotatably connected to the robot frame 1, a detector frame 5 is provided at the front end of the swing arm 4, an ultrasonic ranging module 6 is provided on the detector frame 5, the swing arm 4 is driven by an electric push rod 7 rotatably supported on the robot frame 1, a rotating shaft 8 is also rotatably supported on the swing arm 4 inside the detector frame 5, a roller brush 9 is provided on the rotating shaft 8, and one end of the rotating shaft 8 is connected to the output end of a roller brush driving motor 11 provided on the swing arm 4 through a pulley transmission pair 10.

[0009] The lifting and flipping mechanism includes a pair of inclined guide rails 12 arranged on the robot frame 1, and a lifting platform 13 is slidably connected to the inclined guide rails 12. The lifting and flipping mechanism also includes a lifting motor 14 located at the bottom of the inclined guide rails 12. A lifting screw 15 is arranged at the output end of the lifting motor 14. The lifting screw 15 is threadedly connected to a nut seat arranged in the lifting platform 13. The top of the lifting platform 13 is connected to a swing member 17 through a horizontally distributed flip shaft 16. The flip shaft 16 is controlled by the flip motor, and the swing member 17 is fixedly connected to the back side of the flip bucket 18.

[0010] The compression mechanism includes a fixed frame 19, in which a compression screw 20 is rotatably connected, and the compression screw 20 is driven by a compression motor 21 arranged under the trash can 3. A longitudinal moving beam 22 is also movably connected in the fixed frame 19, and a nut seat arranged in the middle of the longitudinal moving beam 22 is threadedly connected to the compression screw 20. A compression frame 23 capable of reciprocating in the horizontal direction is movably connected in the trash can 3. The fixed frame 19 and the compression frame 23 are connected to each other through a pair of scissor-fork mechanisms 24. The scissor-fork mechanism 24 consists of a first connecting rod 25 and a second connecting rod 26 hinged to each other, wherein one end of the first connecting rod 25 is hinged to the bottom of the fixed frame 19, and the other end is slidably connected to the compression frame 23, one end of the second connecting rod 26 is rotatably connected to the end of the longitudinal moving beam 22, and the other end is hinged to the bottom of the compression frame 23.

[0011] A front camera 28 is arranged on the front end surface of the robot frame 1 , and a trash bin camera 27 is arranged on the robot frame 1 above the trash bin 3 .

[0012] Compared with the prior art, the utility model has the following advantages:

[0013] The crawler type garbage cleaning and compression robot of this structural form has a simple structure, ingenious design and reasonable layout. It is designed with a special structure to solve various problems existing in the working process of traditional automatic garbage cleaning robots. It can automatically find garbage, collect garbage and compress the collected garbage, so as to improve the space utilization rate and work efficiency. It can realize the automatic collection of garbage in a variety of places and effectively save human resources. At the same time, its manufacturing process is simple and the manufacturing cost is low. Therefore, it can be said that it has many advantages and is particularly suitable for promotion and application in this field. Its market prospect is very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the utility model.

[0015] Figure 2It is the front view of the embodiment of the utility model.

[0016] Figure 3 It is a structural schematic diagram of the roller brush part in the embodiment of the utility model.

[0017] Figure 4 It is a structural schematic diagram of the lifting and flipping mechanism part in the embodiment of the utility model.

[0018] Figure 5 It is a structural schematic diagram of the compression mechanism part in the embodiment of the utility model. DETAILED DESCRIPTION

[0019] The specific implementation of the present utility model will be described below in conjunction with the accompanying drawings. Figures 1 to 5 As shown: A crawler type garbage cleaning and compression robot comprises a robot frame 1, characterized in that: a crawler 2 is arranged at the bottom of the robot frame 1, a swing arm mechanism and a lifting and flipping mechanism matching each other are arranged at the front of the robot frame 1, a garbage bin 3 is arranged at the rear of the robot frame 1, and a compression mechanism is arranged in the garbage bin 3,

[0020] The swing arm mechanism includes a pair of swing arms 4 rotatably connected to the robot frame 1, a detector frame 5 is provided at the front end of the swing arm 4, an ultrasonic ranging module 6 is provided on the detector frame 5, the swing arm 4 is driven by an electric push rod 7 rotatably supported on the robot frame 1, a rotating shaft 8 is also rotatably supported on the swing arm 4 inside the detector frame 5, a roller brush 9 is provided on the rotating shaft 8, and one end of the rotating shaft 8 is connected to the output end of a roller brush driving motor 11 provided on the swing arm 4 through a pulley transmission pair 10.

[0021] The lifting and flipping mechanism includes a pair of inclined guide rails 12 arranged on the robot frame 1, and a lifting platform 13 is slidably connected to the inclined guide rails 12. The lifting and flipping mechanism also includes a lifting motor 14 located at the bottom of the inclined guide rails 12. A lifting screw 15 is arranged at the output end of the lifting motor 14. The lifting screw 15 is threadedly connected to a nut seat arranged in the lifting platform 13. The top of the lifting platform 13 is connected to a swing member 17 through a horizontally distributed flip shaft 16. The flip shaft 16 is controlled by the flip motor, and the swing member 17 is fixedly connected to the back side of the flip bucket 18.

[0022] The compression mechanism includes a fixed frame 19, in which a compression screw 20 is rotatably connected, and the compression screw 20 is driven by a compression motor 21 arranged under the trash can 3. A longitudinal moving beam 22 is also movably connected in the fixed frame 19, and a nut seat arranged in the middle of the longitudinal moving beam 22 is threadedly connected to the compression screw 20. A compression frame 23 capable of reciprocating in the horizontal direction is movably connected in the trash can 3. The fixed frame 19 and the compression frame 23 are connected to each other through a pair of scissor-fork mechanisms 24. The scissor-fork mechanism 24 consists of a first connecting rod 25 and a second connecting rod 26 hinged to each other, wherein one end of the first connecting rod 25 is hinged to the bottom of the fixed frame 19, and the other end is slidably connected to the compression frame 23, one end of the second connecting rod 26 is rotatably connected to the end of the longitudinal moving beam 22, and the other end is hinged to the bottom of the compression frame 23.

[0023] A front camera 28 is arranged on the front end surface of the robot frame 1 , and a trash bin camera 27 is arranged on the robot frame 1 above the trash bin 3 .

[0024] The working process of the crawler type garbage cleaning and compression robot of the utility model embodiment is as follows: when working, the front camera 28 will collect video information on the ground near the robot, and the recognition system in the built-in control system of the robot will recognize the garbage. When garbage that needs to be collected is found, the control system controls the crawler 2 to work, and the robot moves to the front of the garbage. During the movement, the ultrasonic ranging module 6 can detect the distance between the garbage and the detector frame 5. When the trigger distance is reached, the robot stops moving, the control system controls the electric push rod 7 to move, and the swing arm 4 swings upward to make room for the garbage in front, and then After that, the robot moves forward a certain distance (in the detection state, the distance between the detector frame 5 and the entrance of the tipping bucket 18 is a constant distance H, so the control system only needs to control the robot to continue to move forward H to make the entrance position of the tipping bucket 18 align with the garbage), and at the same time, the swing arm 4 swings in the opposite direction. At this time, the garbage is located between the roller brush 9 and the tipping bucket 18. The control system sends a signal to the roller brush drive motor 11, and the roller brush drive motor 11 drives the rotating shaft 8 to rotate through the pulley transmission pair 10. In combination with the robot's moving action, the action of sweeping the garbage into the tipping bucket 18 by using the roller brush 9 can be realized;

[0025] After the roller brush driving motor 11 is activated, the control system controls the lifting motor 14 to work, and the lifting motor 14 drives the lifting screw 15 to rotate, thereby driving the lifting platform 13 to move upward along the direction of the inclined guide rail 12. When the lifting platform 13 moves to the top of the inclined guide rail 12, the lifting motor 14 stops working, and the control system controls the flipping motor to work, and the flip shaft 16 drives the swing member 17 to rotate, thereby driving the flip bucket 18 to flip in space. At this time, the garbage in the flip bucket 18 will slide down along the inner wall of the flip bucket 18 under the action of gravity into the garbage bin 3 below;

[0026] After the tipping bucket 18 maintains the dumping posture for a certain period of time, the tipping motor drives it back to the material receiving posture, and at the same time, the lifting motor 14 drives the lifting screw 15 to rotate in the opposite direction, and the tipping bucket 18 returns to the initial position, waiting for the next garbage collection action;

[0027] After the above actions are repeated for many times, the garbage in the garbage bin 3 becomes more and more, and the garbage bin camera 27 arranged above it will always detect the situation in the garbage bin 3. When it is found that garbage overflows and falls from the garbage bin 3, the control system will control the compression mechanism to work and compress the garbage therein to achieve the purpose of saving space;

[0028] In the initial state, the compression frame 23 is in a state of being in contact with the fixed frame 19, and the two are located together on one side of the inner wall of the garbage bin 3. The garbage entering the garbage bin 3 will fall between the compression frame 23 and the inner wall on the other side of the garbage bin 3; when the compression mechanism is working, the compression motor 21 drives the compression screw 20 to rotate, thereby driving the longitudinal movement beam 22 to move longitudinally. The movement of the longitudinal movement beam 22 will drive the scissor mechanism 24 to move, and the scissor mechanism 24 drives the compression frame 23 to move in the horizontal direction, that is, the compression frame 23 moves toward the other side of the garbage bin 3. During the movement, the compression frame 23 and the inner wall of the garbage bin 3 together compress the garbage into a relatively small pancake shape;

[0029] After the compression is completed, the compression frame 23 returns to the initial position, and the garbage can continue to be dumped into the garbage bin 3. When the garbage bin camera 27 detects that garbage overflows and falls from the garbage bin 3 again, the above compression action is repeated;

[0030] When the compression mechanism has completed n compression actions in a cleaning activity (n is the maximum number of compressions preset by the control system), the trash bin 3 is considered to be full, and the control system will control the robot to return to the garbage disposal center, where the staff on duty will empty the garbage in the trash bin 3, thus completing a complete cleaning activity.

Claims

1. A crawler-type garbage cleaning and compression robot, comprising a robot frame (1), characterized in that: The bottom of the robot frame (1) is provided with a crawler (2); the front of the robot frame (1) is provided with a swing arm mechanism and a lifting and flipping mechanism that match each other; the rear of the robot frame (1) is provided with a trash box (3); and a compression mechanism is provided in the trash box (3). The swing arm mechanism comprises a pair of swing arms (4) rotatably connected to the robot frame (1); a detector frame (5) is provided at the front end of the swing arm (4); an ultrasonic distance measurement module (6) is provided on the detector frame (5); the swing arm (4) is driven by an electric push rod (7) rotatably supported on the robot frame (1); a rotating shaft (8) is also rotatably supported on the swing arm (4) inside the detector frame (5); a roller brush (9) is provided on the rotating shaft (8); and one end of the rotating shaft (8) is connected to an output end of a roller brush driving motor (11) provided on the swing arm (4) via a pulley transmission pair (10). The lifting and flipping mechanism comprises a pair of inclined guide rails (12) arranged on the robot frame (1), and a lifting platform (13) is slidably connected to the inclined guide rails (12). The lifting and flipping mechanism also comprises a lifting motor (14) located at the bottom of the inclined guide rails (12), and a lifting screw (15) is arranged at the output end of the lifting motor (14). The lifting screw (15) is threadedly connected to a nut seat arranged in the lifting platform (13). The top of the lifting platform (13) is connected to a swing component (17) via a horizontally distributed flip shaft (16). The flip shaft (16) is controlled by the flip motor, and the swing component (17) is fixedly connected to the back side of the flip bucket (18). The compression mechanism comprises a fixed frame (19), a compression screw (20) being rotatably connected inside the fixed frame (19), the compression screw (20) being driven by a compression motor (21) arranged below the trash bin (3), a longitudinal shift beam (22) being movably connected inside the fixed frame (19), a nut seat arranged in the middle of the longitudinal shift beam (22) being threadedly connected to the compression screw (20), and a compression frame (22) being movably connected inside the trash bin (3) and capable of reciprocating in the horizontal direction. 23), the fixed frame (19) and the compression frame (23) are connected to each other via a pair of scissor-type mechanisms (24), the scissor-type mechanisms (24) being composed of a first connecting rod (25) and a second connecting rod (26) which are hinged to each other, wherein one end of the first connecting rod (25) is hinged to the bottom of the fixed frame (19), and the other end is slidably connected to the compression frame (23), one end of the second connecting rod (26) is rotatably connected to the end of the longitudinal beam (22), and the other end is hinged to the bottom of the compression frame (23), A front camera (28) is arranged on the front end surface of the robot frame (1), and a trash bin camera (27) is arranged on the robot frame (1) above the trash bin (3).

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