A manipulator for garbage sorting

Abstract

The utility model relates to the technical field of domestic waste treatment, specifically a manipulator for garbage sorting, comprising a transmission frame, a grabbing arm and a dustproof device, the grabbing arm is arranged at one side of the transmission frame, the surface of the grabbing arm is provided with a grabbing claw, the surface of the grabbing claw is provided with a sorting camera, the dustproof device is arranged on the surface of the grabbing claw, the dustproof device comprises a shell, the shell is fixedly connected to the surface of the grabbing claw, a slide groove is provided on the surface of the shell, and a driving member is slidably connected to the inner wall of the slide groove. The utility model, by arranging the dustproof device, is convenient for protecting the identification camera in the manipulator, can effectively reduce the phenomenon that the camera in the manipulator is easily scratched and damaged by collision with garbage, reduces the situation that stains on the surface of the garbage are easily stained on the lens to cause occlusion and affect sorting, thereby improving the overall practicality of the equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of domestic garbage treatment, in particular to a manipulator for garbage sorting. Background Art

[0002] With the development of society, sorting robots are often used to sort and pick up domestic waste.

[0003] Prior art such as the utility model with publication number CN214865383U, the utility model discloses a daily life garbage sorting robot, including a multi-directional sorting mechanism, a conveying mechanism is arranged on one side of the multi-directional sorting mechanism, a supporting mechanism is arranged at the lower end of the multi-directional sorting mechanism, a rotating mechanism is installed at the upper end of the supporting mechanism, a rotating rod is arranged at the lower end of the rotating mechanism, an electric lifting rod is connected to the middle position of the lower side of one end of the rotating rod away from the supporting mechanism, and a grabbing mechanism is connected to the lower end of the electric lifting rod. The utility model identifies the garbage transported on the conveying mechanism through the identification and processing mechanism, identifies the same type of garbage and then controls the rotation drive motor to start It drives the rotating rod to rotate, controls the electric lifting rod to extend and retract, and controls the two-way telescopic rod to start, so that the left grabbing claw and the right grabbing claw rotate and close to grab the identified garbage and move it to the outside of the conveyor belt for placement, completing the fully automatic garbage sorting and sorting operation. It solves the problem of the need to sort garbage in the existing urban domestic garbage environmental protection recycling production line. The work of garbage sorting is completed by 4 to 8 workers. The sorting room where the workers are located is equipped with air conditioners and exhaust fans. During the operation of the garbage production line, the air conditioners and exhaust fans cannot completely purify the air environment in the sorting studio. The air is still filled with dust and odor, which is harmful to the health of workers who have been engaged in garbage sorting for a long time.

[0004] The inventor found in his daily work that during the sorting process, the sorting robot uses a camera to identify and grab the garbage. However, during the grabbing process, some garbage can easily hit the camera by mistake, causing scratches on the camera. At the same time, the stains on the garbage can easily be stained on the camera on the robot, resulting in unclear recognition and affecting the sorting. In turn, the sorting robot is easily infected by the garbage, resulting in unclear recognition and affecting the sorting. Utility Model Content

[0005] The utility model aims to solve the defect in the prior art that the sorting manipulator is easily infected by garbage, resulting in unclear identification and affecting sorting, and proposes a manipulator for garbage sorting.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a manipulator for garbage sorting, comprising a transmission frame, a grabbing arm and a dustproof device, the grabbing arm is arranged on one side of the transmission frame, the surface of the grabbing arm is provided with a grabbing claw, the surface of the grabbing claw is provided with a sorting camera, the dustproof device is arranged on the surface of the grabbing claw, the dustproof device includes a shell, the shell is fixedly connected to the surface of the grabbing claw, the surface of the shell is provided with a slide groove, the inner wall of the slide groove is slidably connected with a driving member, the sorting camera can be protected by the shell, the phenomenon of scratches caused by garbage colliding with the sorting camera is reduced, and the driving member can wipe the stains on the surface of the shell.

[0007] Preferably, a cleaning plate is fixedly connected to one side surface of the driving member, the cleaning plate is inclined and abuts against the shell, and an ash discharge port is provided on one side inner wall of the slide groove on the shell surface, and the ash discharge port is for the cleaning plate to pass through. By setting the cleaning plate, the stains accumulated in the shell can be scraped off, and the ash discharge port can push away the garbage scraped off by the cleaning plate.

[0008] Preferably, two hollow seats are fixedly connected to one side surface of the shell, and a transmission screw is rotatably connected to the inner wall of the hollow seat. A threaded hole is opened on the surface of the driving member, and the transmission screw is threadedly connected to the threaded hole. By setting the transmission screw, it is convenient to control the movement of the driving member.

[0009] Preferably, a driving motor is fixedly connected to the surface of the shell, and the output end of the driving motor is fixedly connected to one end of the transmission screw. By providing the driving motor, it is convenient to control the rotation of the transmission screw, so as to facilitate automatic cleaning.

[0010] Preferably, the surface of the grabbing arm is provided with a wire bundling device, and there are two of the wire bundling devices, the wire bundling device includes a wire pay-off seat, the wire pay-off seat is fixedly connected to the surface of the grabbing arm, the surface of the wire pay-off seat is provided with two circular grooves, the inner walls of the circular grooves are slidably connected with a sliding rod, one end of the sliding rod is fixedly connected with a cover plate, the surface of the cover plate is provided with two rectangular holes, the inner walls of the rectangular holes are slidably connected with a clamping piece, the surface of the wire pay-off seat is provided with a clamping slot, the clamping piece is clamped with the inner wall of the clamping slot, and the cover plate can cooperate with the wire pay-off seat to limit the line in the manipulator through the clamping piece cooperating with the clamping slot on the surface of the wire pay-off seat, thereby reducing the restriction on line bundling by cable ties when the equipment is in use, and when disassembly is required, the cable ties need to be exposed and disassembled, resulting in waste due to inability to reuse.

[0011] Preferably, a positioning spring is provided on the inner wall of the circular groove on the surface of the wire-paying seat, and the two ends of the positioning spring are respectively fixedly connected to the sliding rod and the inner wall of the circular groove on the surface of the wire-paying seat. By providing the positioning spring, the bundling sliding rod and the cover plate reset control are facilitated.

[0012] Preferably, a reset spring is fixedly connected to one side of the clamp corresponding to the inner wall of the rectangular hole on the cover plate surface, and there are two reset springs. By providing the reset spring, it is convenient to control the reset of the clamp and improve the binding effect of the clamp.

[0013] Compared with the prior art, the advantages and positive effects of the utility model are:

[0014] 1. In the utility model, the transmission frame transports the garbage, the sorting camera identifies the garbage, and the grabbing arm cooperates with the grabbing claw to sort. By setting a dustproof device, the sorting camera is shielded and protected by the shell, the driving motor is turned on, the driving motor drives the transmission screw to rotate, and the transmission screw drives the driving part and the cleaning plate to move, and the stains on the surface of the shell are scraped away. By setting a dustproof device, it is convenient to protect the identification camera in the manipulator, which can effectively reduce the phenomenon that the camera in the manipulator is easily scratched and damaged by collision with garbage, and reduce the situation that the stains on the surface of the garbage are easily stained on the lens to cause obstruction and affect sorting, thereby improving the overall practicality of the equipment.

[0015] 2. In the utility model, by setting a wire bundling device, when the equipment needs to be used, the line is placed in the wire-paying seat, the card is pushed, the reset spring is stressed, the cover plate is pressed down, the positioning spring is stressed, and when the card is inserted into the slot on the surface of the wire-paying seat, the card is released, and the reset spring drives the card to abut against the inner wall of the slot, so that the line can be restricted. By setting a wire bundling device, it is convenient for the equipment to restrict the line of the manipulator, and the restriction on line bundling by using cable ties can be effectively reduced. When disassembly is required, the cable ties need to be exposed and disassembled, resulting in a waste caused by inability to reuse, thereby improving the overall usability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The utility model provides a three-dimensional structural schematic diagram of a manipulator for garbage sorting;

[0017] Figure 2 A partial structural schematic diagram of a manipulator for garbage sorting is proposed for the utility model;

[0018] Figure 3 The utility model provides a schematic diagram of the structure of a dustproof device for a manipulator used for garbage sorting;

[0019] Figure 4 The utility model provides a partial structural schematic diagram of a dustproof device of a manipulator for garbage sorting;

[0020] Figure 5 The utility model provides a schematic cross-sectional structure diagram of a wire harness device of a manipulator for garbage sorting;

[0021] Figure 6 The utility model provides a schematic cross-sectional structure diagram of a wire harness device of a manipulator for garbage sorting.

[0022] Legend:

[0023] 1. Transmission rack; 2. Grabbing arm; 3. Grabbing claw; 4. Sorting camera; 5. Dust-proof device; 51. Shell; 52. Driving motor; 53. Driving member; 54. Driving screw; 55. Dust-cleaning plate; 56. Dust discharge port; 57. Hollow seat; 6. Wire bundle device; 61. Cover plate; 62. Wire pay-off seat; 63. Sliding rod; 64. Positioning spring; 65. Clamp; 66. Reset spring. DETAILED DESCRIPTION

[0024] See also Figure 1-6 The utility model provides a technical solution: a manipulator for garbage sorting, comprising a transmission frame 1, a grabbing arm 2 and a dustproof device 5, the grabbing arm 2 is arranged on one side of the transmission frame 1, a grabbing claw 3 is arranged on the surface of the grabbing arm 2, a sorting camera 4 is arranged on the surface of the grabbing claw 3, the dustproof device 5 is arranged on the surface of the grabbing claw 3, a wire bundling device 6 is arranged on the surface of the grabbing arm 2, and there are two wire bundling devices 6.

[0025] The specific arrangement and function of the dustproof device 5 and the wire harnessing device 6 will be described in detail below.

[0026] In this embodiment: the dustproof device 5 includes a shell 51, the shell 51 is fixedly connected to the surface of the grab claw 3, a slide groove is provided on the surface of the shell 51, and a driving member 53 is slidably connected to the inner wall of the slide groove. The sorting camera 4 can be protected by the shell 51, reducing the phenomenon of scratches caused by garbage colliding with the sorting camera 4. At the same time, the driving member 53 can wipe the stains on the surface of the shell 51.

[0027] Specifically, a cleaning plate 55 is fixedly connected to one side surface of the driving member 53. The cleaning plate 55 is inclined and abuts against the shell 51. An ash discharge port 56 is provided on one side inner wall of a slide groove on the surface of the shell 51. The ash discharge port 56 is for the cleaning plate 55 to pass through. By setting the cleaning plate 55, stains accumulated in the shell 51 can be scraped off. The ash discharge port 56 can push away the garbage hung on the cleaning plate 55.

[0028] Specifically, two hollow seats 57 are fixedly connected to one side surface of the shell 51, and the inner wall of the hollow seat 57 is rotatably connected to the transmission screw 54. A threaded hole is opened on the surface of the driving member 53, and the transmission screw 54 is threadedly connected to the threaded hole.

[0029] In this embodiment, the transmission screw 54 is provided to facilitate the control of the movement of the driving member 53 .

[0030] Specifically, a driving motor 52 is fixedly connected to the surface of the shell 51, and the output end of the driving motor 52 is fixedly connected to one end of the driving screw 54. By providing the driving motor 52, it is convenient to control the driving screw 54 to rotate, so as to facilitate automatic cleaning.

[0031] In this embodiment: the wire bundling device 6 includes a wire pay-out seat 62, which is fixedly connected to the surface of the grabbing arm 2, and has two circular grooves on the surface of the wire pay-out seat 62, and a sliding rod 63 is slidably connected to the inner wall of the circular groove, and a cover plate 61 is fixedly connected to one end of the sliding rod 63, and two rectangular holes are provided on the surface of the cover plate 61, and a clamping member 65 is slidably connected to the inner wall of the rectangular hole, and a clamping groove is provided on the surface of the wire pay-out seat 62, and the clamping member 65 is clamped with the inner wall of the clamping groove.

[0032] In this embodiment: by cooperating with the card groove on the surface of the wire-paying seat 62 through the clamping member 65, the cover plate 61 can cooperate with the wire-paying seat 62 to restrict the line in the robot, thereby reducing the restriction on the line bundling by the cable ties when the equipment is in use. When disassembly is required, the cable ties need to be exposed and disassembled, resulting in a waste caused by the inability to reuse.

[0033] Specifically, a positioning spring 64 is provided on the inner wall of the circular groove on the surface of the wire-paying seat 62, and the two ends of the positioning spring 64 are respectively fixedly connected to the sliding rod 63 and the inner wall of the circular groove on the surface of the wire-paying seat 62. By providing the positioning spring 64, the bundling sliding rod 63 and the cover plate 61 are easily reset and controlled.

[0034] Specifically, a return spring 66 is fixedly connected to one side of the clamp 65 corresponding to the inner wall of the rectangular hole on the surface of the cover plate 61 , and there are two return springs 66 .

[0035] In this embodiment, a reset spring 66 is provided to facilitate the control of the reset of the clamping member 65 and improve the binding effect of the clamping member 65 .

[0036] Working principle: The transmission frame 1 transports the garbage, the sorting camera 4 identifies the garbage, and the grabbing arm 2 cooperates with the grabbing claw 3 to sort. The dustproof device 5 is set, and the sorting camera 4 is shielded and protected by the shell 51. The driving motor 52 is turned on, and the driving motor 52 drives the transmission screw 54 to rotate. The transmission screw 54 drives the driving member 53 and the cleaning plate 55 to move, and the stains on the surface of the shell 51 are scraped away. By setting the dustproof device 5, it is convenient to protect the identification camera in the manipulator, which can effectively reduce the phenomenon that the camera in the manipulator is easily scratched and damaged by the collision of garbage, and reduce the stains on the surface of the garbage. It is easy to stain on the lens and cause blocking to affect the sorting. The picking situation is improved, thereby improving the overall practicality of the equipment. By setting the wire bundling device 6, when the equipment needs to be used, the line is placed in the wire-releasing seat 62, and the clamp 65 is pushed, the reset spring 66 is stressed, the cover plate 61 is pressed down, and the positioning spring 64 is stressed. When the clamp 65 is inserted into the slot on the surface of the wire-releasing seat 62, the clamp 65 is released, and the reset spring 66 drives the clamp 65 to resist the inner wall of the slot, so that the line can be restricted. By setting the wire bundling device 6, it is convenient for the equipment to restrict the line of the manipulator, and the restriction on the line bundling by the use of cable ties can be effectively reduced. When disassembly is required, the cable ties need to be exposed and disassembled, resulting in the situation that they cannot be reused and cause waste, thereby improving the overall usability of the equipment.

Claims

1. A manipulator for garbage sorting, comprising a transmission frame (1), a grabbing arm (2) and a dust prevention device (5), characterized in that: The grabbing arm (2) is arranged on one side of the transmission frame (1), and a grabbing claw (3) is arranged on the surface of the grabbing arm (2), and a sorting camera (4) is arranged on the surface of the grabbing claw (3). The dust-proof device (5) is arranged on the surface of the grabbing claw (3), and the dust-proof device (5) includes a shell (51), and the shell (51) is fixedly connected to the surface of the grabbing claw (3). A sliding groove is provided on the surface of the shell (51), and a driving member (53) is slidably connected to the inner wall of the sliding groove. A dust cleaning plate (55) is fixedly connected to the surface of one side of the driving member (53), and the dust cleaning plate (55) is inclined and abuts against the shell (51). An ash discharge port (56) is provided on the inner wall of one side of the sliding groove on the surface of the shell (51), and the ash discharge port (56) is for the dust cleaning plate (55) to pass through.

2. A manipulator for garbage sorting according to claim 1, characterized in that: Two hollow seats (57) are fixedly connected to one side surface of the shell (51), a transmission screw (54) is rotatably connected to the inner wall of the hollow seat (57), a threaded hole is opened on the surface of the driving member (53), and the transmission screw (54) is threadedly connected to the threaded hole.

3. A manipulator for garbage sorting according to claim 1, characterized in that: A driving motor (52) is fixedly connected to the surface of the housing (51), and an output end of the driving motor (52) is fixedly connected to one end of a driving screw (54).

4. A manipulator for garbage sorting according to claim 1, characterized in that: The surface of the grabbing arm (2) is provided with a wire bundling device (6), and there are two wire bundling devices (6). The wire bundling device (6) includes a wire pay-off seat (62), and the wire pay-off seat (62) is fixedly connected to the surface of the grabbing arm (2). The surface of the wire pay-off seat (62) is provided with two circular grooves, and the inner wall of the circular groove is slidably connected with a sliding rod (63). One end of the sliding rod (63) is fixedly connected with a cover plate (61), and the surface of the cover plate (61) is provided with two rectangular holes, and the inner wall of the rectangular hole is slidably connected with a clamping member (65). The surface of the wire pay-off seat (62) is provided with a clamping groove, and the clamping member (65) is clamped with the inner wall of the clamping groove.

5. A manipulator for garbage sorting according to claim 4, characterized in that: A positioning spring (64) is provided on the inner wall of the circular groove on the surface of the wire-releasing seat (62), and two ends of the positioning spring (64) are respectively fixedly connected to the sliding rod (63) and the inner wall of the circular groove on the surface of the wire-releasing seat (62).

6. A manipulator for garbage sorting according to claim 4, characterized in that: A return spring (66) is fixedly connected to one side of the clamp (65) corresponding to the inner wall of the rectangular hole on the surface of the cover plate (61), and there are two return springs (66).

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