Side-mounted garbage collection and transportation manipulator

Abstract

The utility model discloses a side-mounted garbage collection and transportation manipulator which comprises a grabbing mechanism, a lifting mechanism, a transverse position adjusting mechanism, a telescopic mechanism, a visual auxiliary operation mechanism and a control mechanism. The grabbing mechanism is provided with a single-finger clamping jaw and a double-finger clamping jaw which can be adjusted independently or simultaneously, and the single-finger clamping jaw is located in a gap in the middle of the double-finger clamping jaw. A sensor is arranged on the tail end clamping jaw; the lifting mechanism drives the grabbing mechanism and the transverse position adjusting mechanism to ascend and descend, and overturning and dumping of the dustbin are achieved. The transverse position adjusting mechanism is used for adjusting the position of the grabbing mechanism in the transverse direction; the telescopic mechanism is used for driving the supporting and lifting mechanism to stretch forwards or retract backwards, and the visual auxiliary operating mechanism obtains an image at the grabbing mechanism and conveys the image to the control mechanism; and the control mechanism is provided with a controller for controlling other parts to work. The grabbing mechanism is controlled to be opened and closed more accurately, and the garbage can is prevented from being shrunken by clamping or falling off in the grabbing process; and the adjustment in the lifting or horizontal direction is more accurate.

Description

Technical Field

[0001] The utility model relates to a manipulator, in particular to a side-mounted garbage collection and transportation manipulator. Background Art

[0002] Domestic garbage bin collection and transportation work is done by either sanitation workers manually loading and unloading them onto garbage trucks or by robotic arms gripping them.

[0003] Among them, manual operation has high work intensity, harsh working environment and slow loading and unloading speed.

[0004] The gripping operation of the manipulator is generally performed by a side-mounted garbage collection and transportation vehicle, which is equipped with a garbage collection manipulator to locate, grab, retract, dump and reset the garbage bins in the garbage collection area. For example, a side-mounted compression dump truck disclosed in Chinese patent CN215556298U has a two-finger gripping structure in its gripping part, which cannot adjust the gripping posture according to the posture of the garbage bin for precise gripping, which easily causes damage to the garbage bin.

[0005] In comparison, the utility model can adjust the gripping posture of the gripper according to the placement of the garbage can, achieve precise grasping of the garbage can, and cooperate with the sensor on the end gripper to provide real-time feedback on the force applied, effectively preventing damage to the garbage can. Utility Model Content

[0006] The technical problem to be solved by the utility model is to provide a side-mounted garbage collection and transportation robot, which can adjust the gripping posture of the gripper according to the placement of the garbage can, so as to achieve precise grasping of the garbage can, and cooperate with the sensor on the end gripper to provide real-time feedback on the force applied, so as to effectively prevent the garbage can from being damaged; at the same time, the position adjustment in the lifting and horizontal directions is more convenient and accurate.

[0007] In order to solve the above technical problems, the utility model adopts the following technical means:

[0008] A side-mounted garbage collection and transportation manipulator consists of a grasping mechanism, a lifting mechanism, a lateral position adjustment mechanism, a telescopic mechanism, a visual auxiliary operation mechanism, and a control mechanism.

[0009] The gripping mechanism grabs or releases the bin.

[0010] The grasping mechanism consists of a single-finger gripper, a double-finger gripper, a horn frame, a servo hydraulic connecting rod, a rotating shaft, a rotating shaft bearing one, a fastening bolt, a mechanical sensor, a sensor mounting bracket, a horn frame fixing plate, a gripper rotating shaft, a rotating shaft bearing two, a secondary rotating shaft, a secondary rotating shaft bearing, and a servo hydraulic rod fulcrum two. The grasping mechanism is used to grasp the target trash can.

[0011] The servo hydraulic connecting rod is provided with a primary servo hydraulic connecting rod and a secondary servo hydraulic connecting rod.

[0012] The left and right sides of the grabbing mechanism are respectively a single-finger clamp and a double-finger clamp hinged to the horn rack fixing plate. The single-finger clamp and the double-finger clamp are complementary structures. The single-finger clamp is located in the gap between the double-finger clamp. When clamping the trash can, the trash can can be better fixed to prevent it from falling off and uneven force.

[0013] Both the single-finger clamp and the double-finger clamp are composed of a starting clamp and a terminal clamp. One end of the starting clamp is hingedly connected to the connecting end of the horn frame. A first-level servo hydraulic connecting rod is provided between the starting clamp and the fixing plate of the horn frame. The first-level servo hydraulic connecting rod drives the starting clamp to rotate and adjust the clamping angle; the other end of the starting clamp is hingedly connected to the middle part of the terminal clamp, and the end of the terminal clamp close to the starting clamp is hingedly connected to the two ends of the second-level servo hydraulic connecting rod with the starting clamp respectively. The second-level servo hydraulic connecting rod drives the terminal clamp to rotate around the end of the starting clamp to adjust the clamping angle.

[0014] The first-level servo hydraulic connecting rod rotates around the rotating shaft through the rotating shaft and the rotating shaft bearing 1, and the starting clamping jaw moves through the feeding. The second-level servo hydraulic connecting rod rotates around the second fixed axis of the servo hydraulic rod fulcrum through the second-level rotating shaft and the second-level rotating shaft bearing, and the end clamping jaw moves through the feeding. The servo hydraulic connecting rod realizes the linkage of the starting clamping jaw and the end clamping jaw through the second-level joint push, so that the clamping jaw can adjust the clamping posture according to the placement posture of the trash can, so as to realize the precise grasping of the trash can.

[0015] The starting jaw and the end jaw are driven to adjust the clamping angle through the first-level servo hydraulic connecting rod and the second-level servo hydraulic connecting rod respectively, so that the starting jaw and the end jaw can adjust the clamping angle individually or simultaneously, so that there are more holding postures when clamping, and the holding posture can be adaptively adjusted according to the different placement postures of the trash can.

[0016] The clamping claw at the start end is hingedly connected with the horn frame through the rotating shaft and the rotating shaft bearing 1. The horn frame is fixed on the outer shell of the control mechanism through fastening bolts to ensure the stability of the entire clamping mechanism.

[0017] The mechanical sensor is installed at the sensor mounting bracket at the end of the end gripper. When the end gripper contacts the trash can, the mechanical sensor feedbacks the magnitude of the applied force, senses the surface pressure to indicate the force of the clamping, and senses the surface friction to indicate the degree of clamping. Through the feedback signal, the control mechanism takes the above signal to accurately control the grasping mechanism to respond.

[0018] The lifting mechanism drives the grabbing mechanism and the lateral position adjustment mechanism to lift and lower, and the garbage bin on the grabbing mechanism is turned over and dumped during the lifting process;

[0019] The lateral position adjustment mechanism is used to adjust the position of the grabbing mechanism in the lateral direction, that is, in the direction perpendicular to the lifting direction;

[0020] The telescopic mechanism is connected to the supporting lifting mechanism to drive the supporting lifting mechanism to extend or retract, thereby adjusting its working position;

[0021] A visual auxiliary operation mechanism is arranged at the control mechanism, acquires an image on one side of the grasping mechanism, and transmits the image to the control mechanism;

[0022] The control mechanism is connected and arranged on the lateral position adjustment mechanism, and is provided with a controller for controlling the operation of other components.

[0023] Compared with the prior art, the utility model adopting the above technical solution has the following outstanding features:

[0024] First: In the horizontal direction, the single-finger gripper of the utility model is located in the gap in the middle of the double-finger gripper, so that the single-finger gripper and the double-finger gripper cooperate with each other to form a three-finger gripping structure. A mechanical sensor is provided on the sensor mounting support of the end gripper to feedback the gripping force and gripping torque of the end, and to control the opening and closing of the gripping mechanism to prevent the trash can from being clamped or falling off during the gripping process.

[0025] Second: By setting the lifting mechanism and the lateral position adjustment mechanism, the height and the clamping position in the horizontal direction can be easily adjusted. By setting the telescopic mechanism, it can be easily extended or retracted, making the lifting or horizontal adjustment more precise.

[0026] As a further improvement to this technical solution:

[0027] The lifting mechanism includes a roller chain, a hydraulic push rod, a driving sprocket, a driven sprocket, a lifting drive motor, an output shaft, a driven shaft, a transmission bearing, and a rib plate; the roller chain is connected to the driving sprocket and the driven sprocket, the driving sprocket is connected to the key of the output shaft through a keyway, the driven sprocket is connected to the key of the driven shaft through a keyway, the output shaft and the driven shaft cooperate with the transmission bearing, the transmission bearing is located in the bearing hole of the rib plate, the rib plate is located on both sides of the sprocket and is symmetrical about the sprocket, and there is a lifting maximum displacement limiter on the rib plate, which limits the displacement of dumping, prevents the garbage can and the grabbing mechanism from colliding with the vehicle body during the whole process, and prevents the grabbing mechanism from leaving the lifting track.

[0028] The lifting mechanism is driven by an electric motor and has a rapid response. When encountering an emergency, the reaction action can be taken quickly. The lifting drive motor is installed on both sides of the output shaft. The two are connected by a key to realize the driving of the lifting drive motor to the output shaft, so that the output shaft can rotate through the transmission bearing. The rotation of the output shaft drives the rotation of the driving sprocket. The roller chain cooperates with the driving sprocket to achieve rolling. The rolling of the roller chain drives the driven sprocket and the driven shaft to rotate through the transmission bearing. The roller chain is connected to the lateral position adjustment mechanism to drive the lateral position adjustment mechanism to rise and fall. A hydraulic push rod is arranged under the lateral position adjustment mechanism. In the initial stage when the lateral position adjustment mechanism is pulled up, the hydraulic push rod supports and pushes the lateral position adjustment mechanism upward for a distance. In the final stage of the descent of the lateral position adjustment mechanism, the hydraulic push rod supports the hydraulic push rod to retract synchronously and supports the lateral position adjustment mechanism to reset. The hydraulic push rod makes the lateral position adjustment mechanism more balanced in the initial stage and the reset stage of being pulled up, reduces the vibration of the components of the lateral position adjustment mechanism, and improves the stability of the movement. When the roller chain drives the lateral position adjustment mechanism to move to the top of the rib plate and flips to the other side, the lateral position adjustment mechanism also flips accordingly to complete the dumping action.

[0029] The lateral position adjustment mechanism includes an I-shaped sliding shaft, a slideway, a stopper, a lateral position adjustment slider module, a module-specific screw, a slider, a small drive motor, a slider module lead screw, a slide table, and a slide table bearing. The lateral position adjustment slider module is provided with a lateral position adjustment slider module 1 and a lateral position adjustment slider module 2.

[0030] The I-shaped sliding shaft is arranged in the slide groove of the slide, and four connecting parts are symmetrically arranged at the rear of the slide. The roller chain and the connecting parts symmetrically arranged at the rear of the slide are hingedly connected through a pin shaft; the slide is provided with three slide grooves in total, and stress concentration is avoided through three fulcrums. The lateral position adjustment slider module is arranged in the middle slide groove, and the lateral position adjustment slider module 1 is fixed on the top of the middle slide groove through the module special screws, and is rigidly connected to the I-shaped sliding shaft through the slider, and the lateral position adjustment slider module 2 is fixed on the top of the middle slide groove through the module special screws, and the slider is rigidly connected to the I-shaped sliding shaft. A small driving motor is arranged at the end of the lateral position adjustment slider module; the transmission shaft on the small driving motor is concentrically matched with the hole of the slider module screw, and the internal thread of the slider is matched with the slider module screw; the small driving motor rotates to drive the slider module screw to rotate, and the rotation of the slider module screw drives the movement of the slider. The circular holes at both ends of the slide are equipped with slide bearings, and the slider module lead screw cooperates with the slide bearings. The compensation function of the module is used to compensate for the position adjustment of the clamping in the lateral direction of the car body to achieve precise clamping. The servo motor is used to control the slider module lead screw transmission, which has smooth control and can effectively reduce the resonance problem of the robot during the compensation process of clamping the trash can along the car body.

[0031] After the dumping is completed, the roller chain reverses and drives the slide to reset. When the slide reaches the starting position of the flip, the hydraulic push rod and the roller chain drive the slide down at the same speed and direction. When the slide returns to the position before rising, the roller chain and the hydraulic push rod stop moving at the same time.

[0032] As a further improvement of the present technical solution, the telescopic mechanism comprises a bearing box, an outer shell, a push rod, a primary left slide rail, a primary left slider, a primary right slide rail, a primary right slider, a secondary left lead screw, a secondary left slider, a secondary middle lead screw, a secondary middle slider, a secondary right lead screw, a secondary right slider, a drive motor No. 1, a drive motor No. 2, a drive motor No. 3, a drive motor No. 4, a motor base plate, a motor plate, a primary middle lead screw, an inner bracket, and a coupler; the bearing box is connected to one end of the push rod, and the other end of the push rod is connected to the slide rail module, which is driven to move by the sliding module; the bearing box is used to connect and set the lifting mechanism; the slide rail module is divided into a primary slide rail module, a secondary lead screw module and a driving module; the primary slide rail module comprises a primary left slide rail, a primary left slider, a primary right slide rail and a primary right slider; the primary left slide rail and the primary left slider slide in cooperation, the primary right slide rail and the primary right slider slide in cooperation, and the components of the primary slide rail module are arranged It is placed on the top of the shell; the secondary screw module includes a secondary left screw, a secondary left slider, a secondary middle screw, a secondary middle slider, a secondary right screw and a secondary right slider; the secondary screw module is fixedly installed on the bottom of the shell for installing the slider and providing a motion platform for the slider; the slider in the secondary screw module is installed on the screw and is fixed to the push rod for driving the push rod to make a linear motion; the slider in the primary slide rail is arranged on the slide rail and is fixed to the push rod; the primary slider and the secondary slider are cross-distributed so that the force on the push rod is more uniform when making a linear motion; the driving module includes driving motor No. 1, driving motor No. 2, driving motor No. 3, driving motor No. 4, motor base plate, motor plate, primary middle screw, inner bracket, and connector. The motor is installed on the motor plate and is connected to the screw through the connector. The rotation of the motor drives the screw to rotate, and the screw drives the movement of the slider, thereby driving the movement of the push rod, and the push rod drives the movement of the bearing box.

[0033] As a further improvement of the technical solution, the visual-assisted operating mechanism includes motor No. 1, coupling No. 1, motor No. 2, coupling No. 2, camera bearing, camera support, primary transmission shaft, secondary transmission shaft, primary bevel gear, secondary bevel gear, motor mounting seat, motor mounting base, and camera; mounting holes are provided on the left and right sides of the motor mounting base, and camera bearings are installed inside the mounting holes; the primary transmission shaft and the secondary transmission shaft rotate by cooperating with the camera bearings; two motor mounting seats are symmetrically arranged on the left and right outer sides of the motor mounting base; motor No. 1 and motor No. 2 are respectively installed on two motor mounting seats, and the motor mounting seats support the motors; motor No. 1 is connected to coupling No. 1, and motor No. 2 is connected to coupling No. 2; Coupling No. 1 is used to connect motor No. 1 and the primary transmission shaft; coupling No. 2 is used to connect motor No. 2 and the primary transmission shaft; one end of the secondary transmission shaft is connected to the camera, and the other end is connected to the secondary bevel gear; the primary bevel gear is rigidly connected to the primary transmission shaft, and it is vertically meshed with the secondary bevel gear fixed on the secondary transmission shaft placed horizontally on the upper part; when motor No. 2 is working, it drives the primary transmission shaft and the primary bevel gear to rotate, and the secondary bevel gear rotates the camera under the drive of the primary bevel gear, completing the rotation of the camera; motor No. 1 is used to compensate for the rotation error of motor No. 2 to ensure the precise rotation of the camera.

[0034] As a further improvement to the technical solution, the control mechanism includes a control mechanism housing, a central controller, a signal converter, and a servo hydraulic cylinder.

[0035] The central controller is provided with No. 1 central controller and No. 2 central controller. The servo hydraulic connecting rod is controlled by the central controller to control the amount of hydraulic oil given by the servo hydraulic cylinder to control its feed amount. The signal converter is provided with No. 1 signal converter and No. 2 signal converter.

[0036] Central controller No. 1 controls the single-finger gripper, and sends out signal instructions through the force signal fed back by the mechanical sensor. Signal converter No. 1 converts the signal into the amount of hydraulic oil given by the servo hydraulic cylinder, controls the hydraulic oil pump out, thereby controlling the feed amount of the servo hydraulic connecting rod of the single-finger gripper, and further controls the posture of the starting and ending grippers of the single-finger gripper; Central controller No. 2 controls the double-finger gripper, and sends out signal instructions through the force signal fed back by the mechanical sensor. Signal converter No. 2 converts the signal into the amount of hydraulic oil given by the servo hydraulic cylinder, controls the hydraulic oil pump out, thereby controlling the feed amount of the servo hydraulic connecting rod of the double-finger gripper, and further controls the posture of the starting and ending grippers of the double-finger gripper; The central control part receives image feedback from the visual auxiliary operation mechanism, controls the telescopic mechanism and the lateral position adjustment mechanism to move to the required position for work, then controls the grasping mechanism to clamp, then controls the lifting mechanism to complete dumping, and finally resets.

[0037] Compared with the prior art, the advantages and positive effects of the utility model are:

[0038] 1. The gripping mechanism is equipped with a three-finger two-joint gripper, a servo hydraulic connecting rod and a rotating shaft. The servo hydraulic connecting rod realizes the linkage of the starting gripper and the end gripper through a two-stage joint push. The gripping posture of the gripper can be adjusted according to the placement of the trash can to achieve accurate gripping of the trash can.

[0039] 2. Set up the end mechanical sensor. The control system can control the clamping of the gripper through the data fed back by the mechanical sensor, and prevent the trash can from being crushed or falling off during the clamping process by controlling the opening and closing of the grasping mechanism.

[0040] 3. The lifting mechanism is driven by an electric motor and has a quick response. It can quickly respond to emergencies. The roller chain is used as the transmission mechanism, which has stable transmission and can achieve stability in the entire action of dumping and resetting. There is a maximum lifting displacement limit on the rib plate to limit the displacement of dumping, prevent the garbage can and the grabbing mechanism from colliding with the vehicle body during the whole process, and prevent the grabbing mechanism from leaving the lifting track.

[0041] 4. The lateral position adjustment mechanism is provided with an I-shaped sliding shaft, a slideway, a limiter and a lateral position adjustment slider module; the I-shaped sliding shaft is arranged in the slide groove of the slideway, and the slideway is provided with three slide grooves in total. Stress concentration is avoided by three fulcrums. The lateral position adjustment slider module is arranged in the middle slide groove. The lateral position adjustment slider module 1 is fixed to the top of the middle slide groove by a module-specific screw, and is rigidly connected to the I-shaped sliding shaft through a slider. The lateral position adjustment slider module 2 is fixed to the top of the middle slide groove by a module-specific screw, and is connected to the I-shaped sliding shaft through a slider. A small drive motor is installed at the end of the lateral position adjustment slider module. The compensation function of the module is utilized to compensate for the error of clamping in the direction of the vehicle body, so as to realize precise clamping. The servo motor is used to control the screw transmission, and the control is stable, which can effectively reduce the resonance problem of the manipulator in the process of clamping the trash can along the vehicle body for compensation.

[0042] 5. The telescopic mechanism is provided with a bearing box, a shell, and a push rod. The bearing box is rigidly connected to the push rod, the shell is connected to the garbage truck, and the push rod is driven to move by the slide rail module; the slide rail module is divided into a primary slide rail module, a secondary lead screw module and a driving module; the primary slide rail module includes a primary left slide rail, a primary left slider, a primary right slide rail and a primary right slider; the secondary lead screw module includes a secondary left lead screw, a secondary left slider, a secondary middle lead screw, a secondary middle slider, a secondary right lead screw and a secondary right slider; the secondary lead screw module is fixed to the bottom of the shell, used to install the slider and provide a motion platform for the slider; the slider in the secondary lead screw module is installed on the lead screw and fixed to the push rod, Used to drive the push rod to make linear motion; the slider in the first-level slide rail is arranged on the slide rail and is fixed to the push rod; the first-level slider and the second-level slider are cross-distributed, so that the force on the push rod is more uniform when making linear motion; the driving module includes driving motor No. 1, driving motor No. 2, driving motor No. 3, driving motor No. 4, motor base plate, motor plate, first-level middle screw, inner bracket, and coupler. The motor is installed on the motor plate and connected to the screw through the coupler. The rotation of the motor drives the screw to rotate, and the screw drives the movement of the slider, thereby driving the movement of the push rod; the inner bracket transmits the force between the two push rods, so that the force is more uniform; the two-level modules cooperate with each other to realize the smooth transmission of the telescopic mechanism, the slider is connected to the push rod at different positions, and the slider is cross-arranged to ensure uniform force and ensure that the push rod will not break due to overturning torque during the telescopic process.

[0043] 6. The visual-assisted operating mechanism participates in the construction of the visual-assisted operating system. The camera captures the image of the trash can and quickly locates it to facilitate rapid grabbing. The control mechanism controls the rotation of the motor and the pumping of the hydraulic oil through the feedback of the image and coordinate information, so that the manipulator can quickly grab, retract, dump and reset, thereby improving the efficiency of the entire recycling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The utility model is a structural diagram of a side-mounted garbage collection and transportation manipulator applied by the utility model.

[0045] Figure 2 yes Figure 1 The schematic structural diagram of the grabbing mechanism in the side-mounted garbage collection and transportation robot is shown.

[0046] Figure 3 It is a top view of the grabbing mechanism in the side-mounted garbage collection and transportation manipulator of the utility model.

[0047] Figure 4 yes Figure 2 Schematic diagram of the structure of the fastening bolts in the grabbing mechanism shown.

[0048] Figure 5 yes Figure 1 The front view of the lifting mechanism in the side-mounted garbage collection and transportation robot is shown.

[0049] Figure 6 yes Figure 5 The shown diagram is a partial schematic structural diagram of the lifting mechanism.

[0050] Figure 7 It is a schematic diagram of the lifting mechanism at the beginning of the flipping action.

[0051] Figure 8 It is a schematic diagram of the lifting mechanism performing a flipping action.

[0052] Fig. 9 It is a schematic diagram of the lifting mechanism performing a flipping action and reaching the maximum flipping angle.

[0053] Fig.10 It is a partial schematic structural diagram of the lateral position adjustment mechanism in the side-mounted garbage collection and transportation manipulator of the utility model.

[0054] Fig.11 yes Fig.10 The schematic structural diagram of the lateral position adjustment slider module in the lateral position adjustment mechanism of the side-mounted garbage collection and transportation robot is shown.

[0055] Fig.12 yes Figure 1 The schematic structural diagram of the telescopic mechanism in the side-mounted garbage collection and transportation robot is shown.

[0056] Fig.13 yes Figure 1 A top view of the telescopic mechanism in the side-mounted garbage collection and transportation robot is shown.

[0057] Fig.14 yes Figure 1 A top view of the secondary screw module of the telescopic mechanism in the side-mounted garbage collection and transportation robot is shown.

[0058] Fig.15 yes Figure 1 The front view of the visually assisted operating mechanism in the side-mounted garbage collection and transportation robot is shown.

[0059] Fig.16 yes Figure 1 The visually assisted operating mechanism in the side-mounted garbage collection and transportation robot shown Figure 2 (and Fig.15 different perspectives).

[0060] Fig.17 yes Figure 1 The figure shows a rear view of the control mechanism in the side-mounted garbage collection and transportation robot.

[0061] Description of reference numerals:

[0062] Grasping mechanism 100, single-finger clamp 101, starting clamp 1001, end clamp 1002, double-finger clamp 102, horn frame 103, servo hydraulic connecting rod 104, first-level servo hydraulic connecting rod 1041, second-level servo hydraulic connecting rod 1042, rotating shaft 105, rotating shaft bearing 106, fastening bolt 107, mechanical sensor 108, sensor mounting support 109, horn frame fixing plate 110, clamping jaw rotating shaft 111, rotating shaft bearing 2 112, second-level rotating shaft 113, second-level rotating shaft bearing 114, servo hydraulic rod fulcrum 2 115;

[0063] Lifting mechanism 200, roller chain 201, hydraulic push rod 202, driving sprocket 203, driven sprocket 204, lifting driving motor 205, output shaft 206, driven shaft 207, transmission bearing 208, rib plate 209;

[0064] Transverse position adjustment mechanism 300, I-shaped sliding shaft 301, slideway 302, stopper 303, transverse position adjustment slider module 304, transverse position adjustment slider module 1 3041, transverse position adjustment slider module 2 3042, module special screw 305, slider 306, small drive motor 307, slider module lead screw 308, slide table 309, slide table bearing 310;

[0065] Telescopic mechanism 400, carrying box 401, housing 402, push rod 403, primary left slide rail 404, primary left slider 405, primary right slide rail 406, primary right slider 407, secondary left lead screw 408, secondary left slider 409, secondary middle lead screw 410, secondary middle slider 411, secondary right lead screw 412, secondary right slider 413, drive motor No. 1 414, drive motor No. 2 415, drive motor No. 3 416, drive motor No. 4 417, motor bottom plate 418, motor plate 419, primary middle lead screw 420, inner bracket 421, connector 422;

[0066] Visual aid operating mechanism 500, No. 1 motor 501, No. 1 coupling 502, No. 2 motor 503, No. 2 coupling 504, camera bearing 505, camera support 506, primary transmission shaft 507, secondary transmission shaft 508, primary bevel gear 509, secondary bevel gear 510, motor mounting seat 511, motor mounting base 512, camera 513;

[0067] Control mechanism 600 , control mechanism housing 601 , central controller 602 , central controller No. 1 6021 , central controller No. 2 6022 , signal converter 603 , signal converter No. 1 6031 , signal converter No. 2 6032 , servo hydraulic cylinder 604 . DETAILED DESCRIPTION

[0068] The present invention will be further described below in conjunction with the embodiments.

[0069] See also Figure 1-Figure 17 It can be seen that the side-mounted garbage collection and transportation manipulator of the utility model is composed of a grabbing mechanism 100, a lifting mechanism 200, a lateral position adjustment mechanism 300, a telescopic mechanism 400, a visual auxiliary operation mechanism 500, and a control mechanism 600;

[0070] The grabbing mechanism 100 grabs or releases the trash can;

[0071] The lifting mechanism 200 drives the grabbing mechanism 100 and the lateral position adjustment mechanism 300 to lift and lower, and the garbage bin on the grabbing mechanism 100 is turned over and dumped during the lifting and lowering process;

[0072] The lateral position adjustment mechanism 300 is used to adjust the position of the grabbing mechanism 100 in the lateral direction, i.e., in a direction perpendicular to the lifting direction;

[0073] The telescopic mechanism 400 is connected to the supporting and lifting mechanism 200 to drive the supporting and lifting mechanism 200 to extend or retract and adjust its working position;

[0074] The visual auxiliary operation mechanism 500 is arranged at the control mechanism 600, acquires an image of one side of the grasping mechanism 100, and transmits the image to the control mechanism 600;

[0075] The control mechanism 600 is connected to the lateral position adjustment mechanism 300 and is provided with a controller to control the operation of other components.

[0076] The specific structure of each part is described as follows:

[0077] See also Figure 2-Figure 4 It can be seen that the grasping mechanism 100 is composed of a single-finger gripper 101, a double-finger gripper 102, a horn frame 103, a servo hydraulic connecting rod 104, a rotating shaft 105, a rotating shaft bearing 106, a fastening bolt 107, a mechanical sensor 108, a sensor mounting support 109, a horn frame fixing plate 110, a gripper rotating shaft 111, a rotating shaft bearing 112, a secondary rotating shaft 113, a secondary rotating shaft bearing 114, and a servo hydraulic rod fulcrum 2 115. The grasping mechanism 100 is used to realize the grasping of the target trash can.

[0078] The servo hydraulic connecting rod 104 is provided with a primary servo hydraulic connecting rod 1041 and a secondary servo hydraulic connecting rod 1042 .

[0079] The left and right sides of the grasping mechanism 100 are respectively a single-finger clamp 101 and a double-finger clamp 102 hinged to the horn rack fixing plate 110. The single-finger clamp 101 and the double-finger clamp 102 are complementary structures. The single-finger clamp 101 is located in the gap between the double-finger clamp 102. When clamping the trash can, the trash can can be better fixed to prevent the trash can from falling off and uneven force.

[0080] Both the single-finger clamp 101 and the double-finger clamp 102 are composed of a starting clamp 1001 and a terminal clamp 1002. One end of the starting clamp 1001 is hingedly connected to the connecting end of the horn rack 103. A first-level servo hydraulic connecting rod 1041 is provided between the starting clamp 1001 and the horn rack fixing plate 110. The first-level servo hydraulic connecting rod 1041 drives the starting clamp 1001 to rotate and adjust the clamping angle; the other end of the starting clamp 1001 is hingedly connected to the middle part of the terminal clamp 1002, and one end of the terminal clamp 1002 close to the starting clamp 1001 is hingedly connected to the starting clamp 1001 and the two ends of the second-level servo hydraulic connecting rod 1042 respectively. The second-level servo hydraulic connecting rod 1042 drives the terminal clamp 1002 to rotate around the end of the starting clamp 1001 to adjust the clamping angle.

[0081] The first-level servo hydraulic connecting rod 1041 rotates around the rotating shaft 105 through the rotating shaft 105 and the rotating shaft bearing 1 106, and the starting clamp 1001 is moved by feeding. The second-level servo hydraulic connecting rod 1042 rotates around the servo hydraulic rod fulcrum 2 115 through the second-level rotating shaft 113 and the second-level rotating shaft bearing 114, and the end clamp 1002 is moved by feeding. The servo hydraulic connecting rod 104 realizes the linkage of the starting clamp 1001 and the end clamp 1002 through the second-level joint push, so that the clamp can adjust the clamping posture of the clamp according to the placement posture of the trash can, thereby realizing accurate grasping of the trash can.

[0082] The starting clamp 1001 and the ending clamp 1002 are driven to adjust the clamping angle by the primary servo hydraulic connecting rod 1041 and the secondary servo hydraulic connecting rod 1042 respectively, so that the starting clamp 1001 and the ending clamp 1002 can adjust the clamping angle individually or simultaneously, so that there are more holding postures when clamping, and the holding posture can be adaptively adjusted according to the different placement postures of the trash can.

[0083] The starting clamping jaw 1001 is hingedly connected to the horn frame 103 through the rotating shaft 105 and the rotating shaft bearing 106. The horn frame 103 is fixed to the control mechanism housing 601 through the fastening bolts 107 to ensure the stability of the entire clamping mechanism.

[0084] The mechanical sensor 108 is installed at the position of the sensor mounting bracket 109 at the end of the end clamp 1002. When the end clamp 1002 contacts the trash can, the mechanical sensor 108 feedbacks the size of the force applied, senses the surface pressure to indicate the clamping force, and senses the surface friction to indicate the degree of clamping. Through the feedback signal, the control mechanism 600 adopts the above signal to accurately control the grasping mechanism 100 to respond.

[0085] See also Figure 5-Figure 9 It can be seen that the lifting mechanism 200 includes a roller chain 201 , a hydraulic push rod 202 , a driving sprocket 203 , a driven sprocket 204 , a lifting drive motor 205 , an output shaft 206 , a driven shaft 207 , a transmission bearing 208 , and a rib 209 .

[0086] Specifically, the roller chain 201 is connected to the driving sprocket 203 and the driven sprocket 204. The driving sprocket 203 is connected to the key of the output shaft 206 through a keyway. The driven sprocket 204 is connected to the key of the driven shaft 207 through a keyway. The output shaft 206 and the driven shaft 207 cooperate with the transmission bearing 208. The transmission bearing 208 is located in the bearing hole of the rib plate 209. The rib plate 209 is located on both sides of the sprocket and is symmetrical about the sprocket. There is a maximum lifting displacement limit on the rib plate 209, which limits the tipping displacement, prevents the garbage can and the grabbing mechanism from colliding with the vehicle body during the whole process, and prevents the grabbing mechanism from leaving the lifting track.

[0087] The lifting mechanism 200 is driven by a motor and has a quick response. When encountering an emergency, a response action can be taken quickly. The lifting drive motor 205 is installed on both sides of the output shaft 206. The two are connected by a key to realize the driving of the lifting drive motor 205 on the output shaft 206, so that the output shaft 206 can rotate through the transmission bearing 208. The rotation of the output shaft 206 drives the rotation of the driving sprocket 203. The roller chain 201 cooperates with the driving sprocket 203 to achieve rolling. The rolling of the roller chain 201 drives the driven sprocket 204 to rotate with the driven shaft 207 through the transmission bearing 208. The roller chain 201 is connected to the lateral position adjustment mechanism 300 to drive The lateral position adjustment mechanism 300 is raised and lowered; a hydraulic push rod 202 is arranged below the lateral position adjustment mechanism 300, and the hydraulic push rod 202 supports and pushes the lateral position adjustment mechanism 300 upward for a distance in the initial stage when the lateral position adjustment mechanism 300 is pulled up; the hydraulic push rod 202 supports the hydraulic push rod 202 to retract synchronously and supports the lateral position adjustment mechanism 300 to reset in the final stage when the lateral position adjustment mechanism 300 is lowered. The hydraulic push rod 202 makes the force of the lateral position adjustment mechanism 300 in the initial stage and the reset stage when it is pulled up more balanced, reduces the vibration of the components of the lateral position adjustment mechanism 300, and improves the stability of the movement.

[0088] When the roller chain 201 drives the lateral position adjustment mechanism 300 to move to the top of the rib plate 209 and flip to the other side, the lateral position adjustment mechanism 300 also flips over to complete the dumping action.

[0089] See also Figure 10-11 It can be seen that the lateral position adjustment mechanism 300 includes an I-shaped sliding shaft 301, a slideway 302, a stopper 303, a lateral position adjustment slider module 304, a module-specific screw 305, a slider 306, a small drive motor 307, a slider module lead screw 308, a slide table 309, and a slide table bearing 310. The lateral position adjustment slider module 304 is provided with a lateral position adjustment slider module 1 3041 and a lateral position adjustment slider module 2 3042.

[0090] Specifically, the lateral position adjustment mechanism is provided with an I-shaped sliding shaft 301, a slideway 302, a limiter 303 and a lateral position adjustment slider module 304; the I-shaped sliding shaft 301 is arranged in the slide groove of the slideway 302, and four connecting pieces are symmetrically arranged at the rear of the slideway 302, and the roller chain 201 is hingedly connected to the connecting pieces symmetrically arranged at the rear of the slideway 302 through a pin shaft; the slideway 302 is provided with three slide grooves in total, and stress concentration is avoided through three fulcrums, and the lateral position adjustment slider module 304 is arranged in the middle slide groove, and the lateral position adjustment slider module 1 3041 is fixed to the top of the middle slide groove by a module-specific screw 305 , the slider 306 is rigidly connected to the I-shaped sliding shaft 301, the horizontal position adjustment slider module 2 3042 is fixed above the middle slide groove through the module special screw 305, the slider 306 is rigidly connected to the I-shaped sliding shaft 301, and a small drive motor 307 is provided at the end of the horizontal position adjustment slider module 304; the transmission shaft on the small drive motor 307 is concentrically matched with the hole of the slider module screw 308, and the internal thread of the slider 306 is matched with the slider module screw 308; the small drive motor 307 rotates to drive the slider module screw 308 to rotate, and the rotation of the slider module screw 308 drives the movement of the slider 306. The circular holes at both ends of the slide 309 are equipped with slide bearings 310, and the slider module screw 308 cooperates with the slide bearing 310. The compensation function of the module is utilized to compensate for the position adjustment of the clamping in the lateral direction of the vehicle body to achieve precise clamping. The servo motor is used to control the screw transmission, and the control is stable, which can effectively reduce the resonance problem of the manipulator during the compensation process of clamping the trash can along the vehicle body.

[0091] See also Figure 12-14It can be seen that the telescopic mechanism 400 includes a carrying box 401, an outer shell 402, a push rod 403, a first-level left slide rail 404, a first-level left slider 405, a first-level right slide rail 406, a first-level right slider 407, a second-level left lead screw 408, a second-level left slider 409, a second-level middle lead screw 410, a second-level middle slider 411, a second-level right lead screw 412, a second-level right slider 413, a drive motor No. 1 414, a drive motor No. 2 415, a drive motor No. 3 416, a drive motor No. 4 417, a motor base plate 418, a motor plate 419, a first-level middle lead screw 420, an inner bracket 421, and a connector 422.

[0092] The carrying box 401 is connected to one end of the push rod 403 , and the other end of the push rod 403 is connected to the slide rail module, and is driven to move by the slide rail module. The carrying box 401 is used to connect and set the lifting mechanism 200 .

[0093] The slide rail module is divided into a primary slide rail module, a secondary lead screw module and a drive module; the primary slide rail module includes a primary left slide rail 404, a primary left slider 405, a primary right slide rail 406 and a primary right slider 407; the primary left slide rail 404 and the primary left slider 405 are slidably matched, the primary right slide rail 406 and the primary right slider 407 are slidably matched, and the components of the primary slide rail module are arranged on the top of the shell 402; the secondary lead screw module includes a secondary left lead screw 408, a secondary left slider 409, a secondary middle lead screw 410, a secondary middle slider 411, a secondary right lead screw 412 and a secondary right slider 413; the secondary lead screw module is fixedly installed at the bottom of the shell 402, used to install the slider and provide a moving platform for the slider; the slider in the secondary lead screw module is installed on the lead screw and fixed to the push rod 403, Used to drive the push rod 403 to make linear motion; the slider in the first-level slide rail is arranged on the slide rail and is fixed to the push rod 403; the first-level slider and the second-level slider are cross-distributed, so that the force on the push rod 403 is more uniform when making linear motion; the driving module includes driving motor No. 1 414, driving motor No. 2 415, driving motor No. 3 416, driving motor No. 4 417, motor base plate 418, motor plate 419, first-level middle screw 420, inner bracket 421, and connector 422. The motor is installed on the motor plate and connected to the screw through the connector 422. The rotation of the motor drives the screw to rotate, and the screw drives the movement of the slider, thereby driving the movement of the push rod 403, and the push rod 403 drives the carrying box 401 to move.

[0094] See also Figure 15-16 It can be seen that the visual-assisted operating mechanism 500 includes motor No. 1 501, coupling No. 1 502, motor No. 2 503, coupling No. 2 504, camera bearing 505, camera support 506, primary transmission shaft 507, secondary transmission shaft 508, primary bevel gear 509, secondary bevel gear 510, motor mounting seat 511, motor mounting base 512, and camera 513.

[0095] Specifically, the motor mounting base 512 is provided with mounting holes on the left and right sides, and the camera bearing 505 is installed inside the mounting holes; the primary transmission shaft 507 and the secondary transmission shaft 508 are rotated by cooperating with the camera bearing 505; the two motor mounting seats are symmetrically arranged on the left and right outer sides of the motor mounting base 512; the No. 1 motor 501 and the No. 2 motor 503 are respectively installed on the two motor mounting seats, and the motor mounting seat 511 supports the motor; the No. 1 motor 501 and the No. 1 motor 503 are respectively installed on the two motor mounting seats, and the motor mounting seat 511 supports the motor; No. 1 coupling 502 is connected, and No. 2 motor 503 is connected to No. 2 coupling 504; No. 1 coupling 502 is used to connect No. 1 motor 501 and the primary transmission shaft 507; No. 2 coupling 504 is used to connect No. 2 motor 503 and the primary transmission shaft 507; one end of the secondary transmission shaft 508 is connected to the camera 513, and the other end is connected to the secondary bevel gear 510; the primary bevel gear 509 is rigidly connected to the primary transmission shaft 507, and it is vertically meshed with the secondary bevel gear 510 fixed on the upper horizontally placed secondary transmission shaft 508; when No. 2 motor 503 is working, it drives the primary transmission shaft 507 and the primary bevel gear 509 to rotate, and the secondary bevel gear 510 rotates the camera 513 under the drive of the primary bevel gear 509, completing the rotation action of the camera 513; No. 1 motor 501 is used to compensate for the rotation error of No. 2 motor 503 to ensure the accurate rotation of the camera 513.

[0096] The motor mounting base 512 is provided with triangular ribs on the left and right sides to provide stable support.

[0097] See also Fig.17 It can be seen that the control mechanism 600 includes a control mechanism housing 601 , a central controller 602 , a signal converter 603 , and a servo hydraulic cylinder 604 .

[0098] The central controller 602 is provided with a No. 1 central controller 6021 and a No. 2 central controller 6022. The servo hydraulic connecting rod 104 is controlled by the central controller 602 by controlling the amount of hydraulic oil given to the servo hydraulic cylinder 604 to control its feed amount. The signal converter 603 is provided with a No. 1 signal converter 6031 and a No. 2 signal converter 6032.

[0099] The No. 1 central controller 6021 controls the single-finger gripper 101, and sends a signal command through the force signal fed back by the mechanical sensor 108. The No. 1 signal converter 6031 converts the signal into the amount of hydraulic oil given by the servo hydraulic cylinder 604, controls the hydraulic oil pump, and thus controls the feed amount of the servo hydraulic connecting rod 104 of the single-finger gripper 101, and further controls the posture of the starting gripper 1001 and the end gripper 1002 of the single-finger gripper 101; the No. 2 central controller 6022 controls the double-finger gripper 102, and sends a signal command through the force signal fed back by the mechanical sensor 108. Signal converter No. 2 6032 converts the signal into the amount of hydraulic oil supplied to the servo hydraulic cylinder 604, controls the hydraulic oil pump out, thereby controlling the feed amount of the servo hydraulic connecting rod 104 of the two-finger gripper 102, and further controls the posture of the starting gripper 1001 and the end gripper 1002 of the two-finger gripper 102; the central control part receives the image feedback from the visual auxiliary operation mechanism 500, controls the telescopic mechanism 400 and the lateral position adjustment mechanism 300 to move to the required position for work, then controls the grasping mechanism 100 to clamp, then controls the lifting mechanism 200 to complete the dumping, and finally resets.

[0100] The working process of the side-mounted garbage collection and transportation manipulator of the utility model is as follows:

[0101] Step 1

[0102] First, the driver of the vehicle parks the vehicle within the working range of the manipulator through the image information fed back by the visual auxiliary operation mechanism 500. The camera 513 will locate the center of the trash can and feed back the coordinate information of the trash can to the central controller 602 of the control mechanism 600. After processing the feedback signal, the central controller 602 calculates the gripping center of the gripping mechanism 100 and the distance from the center of the trash can in the direction perpendicular to the ground, and calculates the angle that the motor should rotate through the distance parameter combined with the specific working parameters of the lifting drive motor 205. The movement of the lifting drive motor 205 drives the output shaft 206 to rotate, the output shaft 206 drives the driving sprocket 203 to rotate, the driving sprocket 203 drives the roller chain 201 to move, the roller chain 201 drives the driven sprocket 204 to move, and the driven sprocket 204 drives the driven shaft 207 to move, so that the entire sprocket moves. Through the image feedback of the visual-assisted operating mechanism 500, the lateral position adjustment mechanism 300 connected to the roller chain 201 pin moves. The movement of the lateral position adjustment mechanism 300 drives the control mechanism 600 fixed on the I-shaped sliding shaft 301 at the rear part of the control mechanism housing 601 to move, and drives the grasping mechanism 100 connected to the control housing 601 to move in a direction perpendicular to the ground. Finally, the grasping center of the grasping mechanism 100 is on the same horizontal plane as the center of the trash can. The central controller 602 calculates the distance between the center of the trash can and the center of the grabbing mechanism 100 in the direction of the vehicle body, and drives the lateral position adjustment mechanism 300 to move, thereby compensating for the distance between the center of the trash can and the center of the grabbing mechanism 100 in the direction of the vehicle body. The small drive motor 307 of the lateral position adjustment slider module 304 rotates, driving the slider module lead screw 308 connected to it to rotate. The rotation of the slider module lead screw 308 drives the slider 306 to move, thereby driving the I-shaped sliding shaft 301 connected to the slider 306 to move horizontally in the slide groove of the slideway 302, driving the control mechanism 600 fixed at the rear on the I-shaped sliding shaft 301 to move, and then driving the grabbing mechanism 100 connected to the control housing 601 to move in a direction parallel to the ground. Finally, the grabbing center of the grabbing mechanism 100 and the center of the trash can are in a straight line in a direction perpendicular to the vehicle body.The central controller 602 calculates the distance between the center of the trash can and the center of the grabbing mechanism 100 in the direction perpendicular to the vehicle body, and then drives the telescopic mechanism 400 to move. The driving motor No. 1 414 drives the secondary left lead screw 408 to rotate, and the secondary left lead screw 408 drives the secondary left slider 409 to move. The driving motor No. 2 415 drives the secondary middle lead screw 410 to rotate, and the secondary middle lead screw 410 drives the secondary middle slider 411 to move. The driving motor No. 3 416 drives the secondary right lead screw 412 to rotate, and the secondary right lead screw 412 rotates to drive the secondary right slider 413 to move. The driving motor No. 4 417 drives the primary middle lead screw 420, and the primary middle lead screw 420 drives the inner bracket 421 to move. The motors rotate synchronously at the same time. The sliders of the telescopic mechanism 400 are staggered and connected to the push rod 403, driving the push rod 403 to move close to the trash can. Before approaching the trash can, the central controller 602 controls the pumping out of the hydraulic oil of the servo hydraulic cylinder 604 to shrink the servo hydraulic connecting rod 104 and drive the opening of the clamp. After reaching the grasping position, the central controller 602 controls the servo hydraulic cylinder 604 to pump out the hydraulic oil, so that the servo hydraulic connecting rod 104 is fed forward, thereby clamping the trash can. The mechanical sensor 108 provides real-time feedback on the force applied, and the surface pressure sensed indicates the force of the clamping. The central controller 602 sends a signal to control the servo hydraulic cylinder 604 to pump out the hydraulic oil, change the clamping posture of the clamp, and implement precise clamping.

[0103] Step 2

[0104] After the trash can is grabbed, the motor of the telescopic mechanism 400 drives the lead screw to rotate, thereby driving the grabbing mechanism 100 and the trash can to retract in the opposite direction of the extension direction. Then, the lifting drive motor 205 drives the entire grabbing mechanism 100 and the trash can to rise and then flip to the other side for dumping. The lifting drive motor 205 stops at the dumping position. When the data fed back by the mechanical sensor 108 at the end does not change, it means that the dumping action is completed.

[0105] Step 3

[0106] After the dumping action is completed, the central controller 602 issues a reset command, and the lifting drive motor 205 drives the entire grabbing mechanism 100 and the trash can to descend. When the trash can descends to the same horizontal position as the initial position, the lifting drive motor 205 stops. The telescopic mechanism 400 resets the trash can according to the command at the time of grabbing. After reaching the initial position, the central controller 602 controls the servo hydraulic cylinder 604 to pump out the hydraulic oil and controls the servo hydraulic connecting rod 104 to retract, so that the clamp releases the trash can. The telescopic mechanism 400 retracts, the lateral position adjustment mechanism 300 resets, and the clamp is retracted to a safe position. Finally, the driver on board drives the garbage truck away.

[0107] The above description is only a preferred feasible embodiment of the present utility model, and does not limit the scope of rights of the present utility model. All equivalent structural changes made using the contents of the specification and drawings of the present utility model are included in the scope of rights of the present utility model.

Claims

1. A side-mounted garbage collection and transportation robot, comprising a gripping mechanism (100), a lifting mechanism (200), a lateral position adjustment mechanism (300), a telescopic mechanism (400), a visually assisted operation mechanism (500) and a control mechanism (600), characterized in that: The gripping mechanism (100) grips or releases the trash can; the gripping mechanism (100) comprises a single-finger gripper (101), a double-finger gripper (102), a horn frame (103), a servo hydraulic connecting rod (104), a rotating shaft (105), a first rotating shaft bearing (106), a fastening bolt (107), a mechanical sensor (108), a sensor mounting support (109), a horn frame fixing plate (110), a gripper rotating shaft (111), a second rotating shaft bearing (112), a second rotating shaft (113), a second rotating shaft bearing (114), and a second servo hydraulic rod fulcrum (115); the servo hydraulic connecting rod (104) is provided with a first servo hydraulic connecting rod (1041), a secondary servo hydraulic connecting rod (1042); the left and right sides of the grasping mechanism (100) are respectively a single-finger clamp (101) and a double-finger clamp (102) hinged to the horn frame fixing plate (110), the single-finger clamp (101) and the double-finger clamp (102) are complementary structures, and the single-finger clamp (101) is located in the gap between the double-finger clamp (102); the single-finger clamp (101) and the double-finger clamp (102) are both composed of a starting clamp (1001) and an end clamp (1002), one end of the starting clamp (1001) is hingedly connected to the connecting end of the horn frame (103), and the starting clamp (1001) is fixed to the horn frame A primary servo hydraulic connecting rod (1041) is provided between the plates (110), and the primary servo hydraulic connecting rod (1041) drives the starting clamp (1001) to rotate and adjust the clamping angle; the other end of the starting clamp (1001) is hingedly connected to the middle of the end clamp (1002), and one end of the end clamp (1002) close to the starting clamp (1001) is hingedly connected to the two ends of the secondary servo hydraulic connecting rod (1042) and the starting clamp (1001), respectively; the secondary servo hydraulic connecting rod (1042) drives the end clamp (1002) to rotate around the end of the starting clamp (1001) to adjust the clamping angle; the primary servo hydraulic connecting rod (1041) is hingedly connected to the middle of the end clamp (1002), and the end of the end clamp (1002) close to the starting clamp (1001) is hingedly connected to the two ends of the secondary servo hydraulic connecting rod (1042) The rotating shaft (105) and the rotating shaft bearing (106) rotate around the rotating shaft (105) in a fixed axis, and the starting clamping jaw (1001) is moved by feeding. The secondary servo hydraulic connecting rod (1042) rotates around the servo hydraulic rod fulcrum (115) in a fixed axis through the secondary rotating shaft (113) and the secondary rotating shaft bearing (114), and the end clamping jaw (1002) is moved by feeding. The servo hydraulic connecting rod (104) realizes the linkage of the starting clamping jaw (1001) and the end clamping jaw (1002) through the secondary joint push. The mechanical sensor (108) is installed at the position of the sensor installation support (109) at the end of the end clamping jaw (1002); The lifting mechanism (200) drives the grabbing mechanism (100) and the lateral position adjustment mechanism (300) to lift and lower, and during the lifting and lowering process, the garbage bin on the grabbing mechanism (100) is turned over and dumped; The lateral position adjustment mechanism (300) is used to adjust the position of the grabbing mechanism (100) in the lateral direction, that is, in a direction perpendicular to the lifting direction; The telescopic mechanism (400) is connected to the supporting lifting mechanism (200) and is used to drive the supporting lifting mechanism (200) to extend forward or retract backward, thereby adjusting its working position; The visual auxiliary operation mechanism (500) is arranged at the control mechanism (600), acquires an image of one side of the grasping mechanism (100), and transmits the image to the control mechanism (600); The control mechanism (600) is connected to the lateral position adjustment mechanism (300), and the control mechanism (600) is provided with a controller to control the operation of other components.

2. The side-mounted garbage collection and transportation robot according to claim 1 is characterized in that: The lifting mechanism (200) comprises a roller chain (201), a hydraulic push rod (202), a driving sprocket (203), a driven sprocket (204), a lifting drive motor (205), an output shaft (206), a driven shaft (207), a transmission bearing (208), and a rib plate (209); the roller chain (201) is connected to the driving sprocket (203) and the driven sprocket (204); the driving sprocket (203) is connected to the key of the output shaft (206) via a keyway. The driven sprocket (204) is connected to the key of the driven shaft (207) through a keyway, the output shaft (206) and the driven shaft (207) cooperate with the transmission bearing (208), the transmission bearing (208) is located in the bearing hole of the rib plate (209), the rib plate (209) is located on both sides of the sprocket and is symmetrical about the sprocket; the lifting drive motor (205) is installed on both sides of the output shaft (206), and the two are connected by a key to realize the lifting drive motor (205) to the output shaft (206) 6), the output shaft (206) is driven to rotate through the transmission bearing (208), the output shaft (206) rotates to drive the driving sprocket (203), the roller chain (201) cooperates with the driving sprocket (203) to roll, the roller chain (201) rolls to drive the driven sprocket (204) to rotate with the driven shaft (207) through the transmission bearing (208), the roller chain (201) is connected to the lateral position adjustment mechanism (300), and the lateral position adjustment mechanism is driven The mechanism (300) is raised and lowered; a hydraulic push rod (202) is arranged below the lateral position adjustment mechanism (300); in the initial stage when the lateral position adjustment mechanism (300) is pulled up, the hydraulic push rod (202) supports and pushes the lateral position adjustment mechanism (300) up a certain distance; in the final stage when the lateral position adjustment mechanism (300) is lowered, the hydraulic push rod (202) supports the hydraulic push rod (202) to retract synchronously and supports the lateral position adjustment mechanism (300) to reset.

3. The side-mounted garbage collection and transportation robot according to claim 1 is characterized in that: The lateral position adjustment mechanism (300) comprises an I-shaped sliding shaft (301), a slideway (302), a stopper (303), a lateral position adjustment slider module (304), a module-specific screw (305), a slider (306), a small drive motor (307), a slider module lead screw (308), a slide table (309), and a slide table bearing (310); the lateral position adjustment slider module (304) is provided with a lateral position adjustment slider module 1 (3041) and a lateral position adjustment slider module 2 (3042); the I-shaped sliding shaft (301) is arranged in a slide groove of the slideway (302), four connecting members are symmetrically arranged at the rear of the slideway (302), and the roller chain (201) is hingedly connected to the connecting members symmetrically arranged at the rear of the slideway (302) through a pin shaft; the slideway (302) is provided with three slide grooves in total, and stress concentration is avoided by three fulcrums; the lateral position adjustment slider module (304) is arranged in the middle slide groove, and the lateral position adjustment slider The first module (3041) is fixed to the top of the middle slide groove by a module-specific screw (305), and is rigidly connected to the I-shaped sliding shaft (301) by a slider (306). The second horizontal position adjustment slider module (3042) is fixed to the top of the middle slide groove by a module-specific screw (305), and the slider (306) is rigidly connected to the I-shaped sliding shaft (301). A small drive motor (307) is provided at the end of the horizontal position adjustment slider module (304); the small drive motor ( The transmission shaft on the slider module (307) is concentrically matched with the hole of the slider module lead screw (308), and the internal thread of the slider module (306) is matched with the slider module lead screw (308); the small drive motor (307) rotates to drive the slider module lead screw (308) to rotate, and the rotation of the slider module lead screw (308) drives the slider (306) to move; the circular holes at both ends of the slide table (309) are equipped with slide table bearings (310), and the slider module lead screw (308) is matched with the slide table bearings (310).

4. The side-mounted garbage collection and transportation robot according to claim 1 is characterized in that: The telescopic mechanism (400) comprises a carrying box (401), a housing (402), a push rod (403), a first-level left slide rail (404), a first-level left slider (405), a first-level right slide rail (406), a first-level right slider (407), a second-level left lead screw (408), a second-level left slider (409), a second-level middle lead screw (410), a second-level middle slider (411), a second-level right lead screw (412), a second-level right slider (413), a drive motor No. 1 (414), a drive motor No. 2 (415), a drive motor No. 3 (416), a drive motor No. 4 (417), a motor bottom plate (418), a motor plate (419), a first-level middle lead screw (420), an inner bracket (421), A connector (422); the bearing box (401) is connected to one end of the push rod (403); the other end of the push rod (403) is connected to the slide rail module and driven to move by the slide rail module; the bearing box (401) is used to connect and set the lifting mechanism (200); the slide rail module is divided into a primary slide rail module, a secondary screw module and a drive module; the primary slide rail module includes a primary left slide rail (404), a primary left slider (405), a primary right slide rail (406) and a primary right slider (407); the primary left slide rail (404) and the primary left slider (405) are slidably matched, the primary right slide rail (406) and the primary right slider (407) are slidably matched, and the components of the primary slide rail module are arranged on the top of the housing (402); The secondary lead screw module comprises a secondary left lead screw (408), a secondary left slider (409), a secondary middle lead screw (410), a secondary middle slider (411), a secondary right lead screw (412) and a secondary right slider (413); the secondary lead screw module is fixedly mounted on the bottom of the housing (402) and is used to mount the slider and provide a motion platform for the slider; the slider in the secondary lead screw module is mounted on the lead screw and is fixed to the push rod (403). The invention is used to drive the push rod (403) to make linear motion; the slider in the primary slide rail is arranged on the slide rail and is fixed to the push rod (403); the primary slider and the secondary slider are cross-distributed, so that the force on the push rod (403) is more uniform when making linear motion; the driving module comprises a driving motor No. 1 (414), a driving motor No. 2 (415), a driving motor No. 3 (416), a driving motor No. 4 (417), a motor bottom plate (418), a motor plate (419), a primary middle lead screw (420), an inner bracket (421), and a coupler (422); the motor is installed on the motor plate and connected to the lead screw through the coupler (422); the rotation of the motor drives the lead screw to rotate, and the lead screw drives the movement of the slider, thereby driving the movement of the push rod (403); the push rod (403) drives the bearing box (401) to move.

5. The side-mounted garbage collection and transportation robot according to claim 1, characterized in that: The visual aid operating mechanism (500) comprises a No. 1 motor (501), a No. 1 coupling (502), a No. 2 motor (503), a No. 2 coupling (504), a camera bearing (505), a camera support (506), a primary transmission shaft (507), a secondary transmission shaft (508), a primary bevel gear (509), a secondary bevel gear (510), a motor mounting seat (511), a motor mounting base (512), and a camera (513); the motor mounting base (512) is provided with mounting holes on the left and right sides, and the camera bearing (505) is installed inside the mounting holes; the primary transmission shaft (507) and the secondary transmission shaft (508) are rotated by cooperating with the camera bearing (505); two motor mounting seats are symmetrically arranged on the left and right outer sides of the motor mounting base (512); the No. 1 motor (501) and the No. 2 motor (503) are respectively installed on the two motor mounting seats, and the motor mounting seats (511) support the motors; the No. 1 motor (501) and the No. 1 The first coupling (502) is connected to the first motor (501), and the second motor (503) is connected to the second coupling (504); the first coupling (502) is used to connect the first motor (501) and the primary transmission shaft (507); the second coupling (504) is used to connect the second motor (503) and the primary transmission shaft (507); one end of the secondary transmission shaft (508) is connected to the camera (513), and the other end is connected to the secondary bevel gear (510); the primary bevel gear (509) is rigidly connected to the primary transmission shaft (507), and is fixed to the upper The secondary bevel gear (510) on the secondary transmission shaft (508) placed horizontally is vertically meshed; when the No. 2 motor (503) is working, it drives the primary transmission shaft (507) and the primary bevel gear (509) to rotate, and the secondary bevel gear (510) is driven by the primary bevel gear (509) to rotate the camera (513), thereby completing the rotation action of the camera (513); the No. 1 motor (501) is used to compensate for the rotation error of the No. 2 motor (503) to ensure the accurate rotation of the camera (513).

6. The side-mounted garbage collection and transportation robot according to claim 1 is characterized in that: The control mechanism (600) comprises a control mechanism housing (601), a central controller (602), a signal converter (603), and a servo hydraulic cylinder (604); the central controller (602) is provided with a No. 1 central controller (6021) and a No. 2 central controller (6022); the servo hydraulic connecting rod (104) is controlled by the central controller (602) by controlling the amount of hydraulic oil supplied to the servo hydraulic cylinder (604) to control its feed amount; the signal converter (603) is provided with a No. 1 signal converter (6031) and a No. 2 signal converter (6032); the No. 1 central controller (6021) controls the single-finger gripper (101) and sends a signal command through a force signal fed back by a mechanical sensor (108); the No. 1 signal converter (6031) converts the signal into the amount of hydraulic oil supplied to the servo hydraulic cylinder (604), controls the hydraulic oil pump out, and thus controls the servo hydraulic connecting rod (104) of the single-finger gripper (101). The feeding amount is controlled, thereby controlling the posture of the starting clamp (1001) and the end clamp (1002) of the single-finger clamp (101); the No. 2 central controller (6022) controls the double-finger clamp (102), sends a signal command through the force signal fed back by the mechanical sensor (108), and the No. 2 signal converter (6032) converts the signal into the amount of hydraulic oil given by the servo hydraulic cylinder (604), controls the hydraulic oil pump out, thereby controlling the feeding amount of the servo hydraulic connecting rod (104) of the double-finger clamp (102), thereby controlling the posture of the starting clamp (1001) and the end clamp (1002) of the double-finger clamp (102); the central control part receives the image feedback of the visual auxiliary operation mechanism (500), controls the telescopic mechanism (400) and the lateral position adjustment mechanism (300) to move to the required working position, then controls the grasping mechanism (100) to clamp, then controls the lifting mechanism (200) to complete the dumping, and finally resets.

Images