Novel obstacle-crossing pickup type garbage cleaning trolley
By designing a new type of pick-up garbage cleaning cart, using mechanical claws and distance adjustment mechanisms, and combining cameras for garbage sorting and collecting, the problem that existing robots cannot overcome obstacles and sort, and efficient garbage cleaning and classification is achieved.
Patent Information
- Application Number
- CN202422366407.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-07-18
- Estimated Expiration
- 2034-09-27
AI Technical Summary
The existing home and outdoor garbage cleaning robots cannot effectively deal with ladders and obstacles, have large size and single functions, cannot adapt to complex scenarios, and have low garbage classification efficiency.
A new type of obstacle-surging garbage cleaning car is designed, and a mechanical claw is used to combine the distance adjustment mechanism and the camera for garbage sorting and collecting, and is equipped with an adaptive height adjustment and stair climbing mechanism to realize multi-angle garbage grabbing and classification.
It improves the efficiency and classification accuracy of garbage cleaning, expands the working scope, adapts to complex terrain, solves the problem that existing robots cannot overcome obstacles, and realizes efficient classification and cleaning of garbage.
Smart Images
Figure CN223118969U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic obstacle crossing, in particular to a novel obstacle-crossing picking-up type garbage cleaning trolley. Background Art
[0002] With the rise of many emerging small and medium-sized cities and the continuous expansion of urbanization scale, road surface cleaning and maintenance have become increasingly important, and the development prospect of road sweepers will be better and better. In terms of functional diversity, it develops from a single function to a multi-functional direction; in terms of the transmission system, it develops from mechanical transmission to full hydraulic transmission; in terms of dust removal, it develops from dry dust removal to wet dust removal; in terms of the cleaning method, it develops from pure suction type and pure sweeping type to suction-sweeping combined type; in terms of weight and volume, it develops from large-sized and heavy-weight road sweepers to small-sized, portable and high-comprehensive-utilization-value road sweepers.
[0003] After retrieval, it is found that the following problems exist in the related technologies: The main disadvantages of existing home floor-sweeping robots are: home floor-sweeping robots can only be used for flat garbage cleaning and dust suction work, and cannot clean larger garbage, and manual cleaning is still required. They still cannot work well in some indoor scenarios;
[0004] The disadvantages of existing outdoor garbage cleaning robots are:
[0005] First, outdoor garbage cleaning robots are still dominated by flat dust suction, and cannot cope with scenarios with many stairs and obstacles, and they are large in size and single in function;
[0006] Second, the volume of garbage sorting robots is also large, and they are not applicable in small scenarios and are inconvenient to move;
[0007] Therefore, we propose a novel obstacle-crossing picking-up type garbage cleaning trolley.
[0008] It should be noted that the information disclosed in the above background art section is only used to strengthen the understanding of the background art section of the present application, and therefore may include prior art information that does not constitute known to those of ordinary skill in the art. Summary of the Utility Model
[0009] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies. To solve the problem of garbage cleaning existing in the above prior art, the utility model provides a novel obstacle-crossing picking-up type garbage cleaning trolley, which adopts a garbage grabbing structure combined with a garbage collection structure to achieve the effect of facilitating garbage cleaning. The specific technical solution is as follows:
[0010] A new type of obstacle - crossing picking - up garbage cleaning cart, including an obstacle - crossing vehicle. A partition platform is fixedly installed on the obstacle - crossing vehicle. A garbage bin is fixedly installed on the top of the partition platform. In front of the garbage bin, there is a mechanical claw for grabbing garbage, and the mechanical claw is arranged on the obstacle - crossing vehicle through a multi - angle adjustment component. Below the partition platform, there is a ground cleaning component, and on the obstacle - crossing vehicle, there is a distance - adjusting mechanism for adjusting the distance between the ground cleaning component and the ground.
[0011] In the above - mentioned technical solution, the distance - adjusting mechanism includes a lead screw rotatably arranged on the obstacle - crossing vehicle. A distance - adjusting seat is threadedly connected to the outer wall of the lead screw. The ground cleaning component is fixedly installed on the side wall of the distance - adjusting seat away from the obstacle - crossing vehicle.
[0012] The ground cleaning component is arc - shaped.
[0013] A partition board is embedded in the inner cavity of the garbage bin, and the partition board divides the garbage bin into two recycling chambers.
[0014] At the bottom of the garbage bin, there is a discharge slope, and the discharge slope corresponds to the outlet of the garbage bin.
[0015] On the obstacle - crossing vehicle, there are cameras corresponding to the two recycling chambers.
[0016] The multi - angle adjustment component includes a base, and the base is rotatably connected to the mechanical claw through a number of servo motors in sequence.
[0017] On the inner wall of the clamping end of the mechanical claw, there are clamping teeth.
[0018] An inclination sensor is arranged on the obstacle - crossing vehicle, and the inclination sensor is electrically connected to the obstacle - crossing adjustment component.
[0019] The obstacle - crossing adjustment component includes a driving part arranged at the bottom of the obstacle - crossing vehicle. The output end of the driving part is provided with an obstacle - crossing part, and the free end of the obstacle - crossing part is provided with an obstacle - crossing wheel.
[0020] Compared with the prior art, the beneficial effects of the present utility model are as follows: This new type of obstacle - crossing picking - up garbage cleaning cart:
[0021] First, by adjusting the distance between the ground cleaning component and the ground through the distance - adjusting mechanism, during the process of cleaning the ground, the ground cleaning component is moved to a position where it fits the ground, and the ground is scraped and cleaned by the ground cleaning component, thereby improving the effect of ground cleaning. After the cleaning is completed, the ground cleaning component is adjusted to a position where it is separated from the ground, thus playing a protective effect on the ground cleaning component.
[0022] Second, when adjusting the distance between the ground cleaning part and the ground, the control center module on the obstacle-crossing vehicle connects the motor to the power supply, so that the output shaft of the motor drives the lead screw to rotate, and the distance-adjusting seat threadedly connected to the lead screw drives the ground cleaning part to move, thereby improving the efficiency of the garbage cleaning process.
[0023] Third, the mechanical claw and the ground cleaning part are separated in two parts of space by the separation table, so that during the process of the ground cleaning part cleaning the ground garbage and dust, the dust caused by the cleaning process is prevented from affecting the mechanical claw, thereby playing a protective effect on the mechanical claw.
[0024] Fourth, the mechanical claw can adjust its position in three directions through the multi-angle adjustment component. After the mechanical claw grabs the garbage, through the adjustment in three directions, the garbage is put into the inside of the garbage bin, ensuring the accuracy of the classified placement of the garbage.
[0025] Fifth, when it is necessary to gather the garbage, adjust to an appropriate height to concentrate the garbage. The cross-section of the side wall of the ground cleaning part in contact with the ground is smaller than the cross-section of the side wall of the distance-adjusting seat in contact. Through the side wall close to the tip, the effect of ground cleaning is improved, and the arc-shaped ground cleaning part improves the gathering of garbage during the cleaning process.
[0026] Sixth, the type of garbage is determined by the camera, and then the signal is transmitted to the driving module of the mechanical claw. After that, the mechanical claw classifies and collects the garbage, thereby playing a protective effect on the environment. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 is a schematic structural diagram of a new type of obstacle-crossing picking-up garbage cleaning cart of the present utility model;
[0028] Figure 2 is an exploded schematic structural diagram of a new type of obstacle-crossing picking-up garbage cleaning cart of the present utility model;
[0029] Figure 3 is a schematic structural diagram of the cleaning part of the present utility model;
[0030] Figure 4 is a schematic structural diagram of the mechanical claw part of the present utility model;
[0031] Among them, Figures 1 to 4 the corresponding relationship between the reference numerals in the drawings and the component names is: 1 - obstacle-crossing vehicle, 2 - separation table, 3 - garbage bin, 4 - mechanical claw, 5 - camera, 6 - partition board, 7 - ground cleaning part, 8 - bracket, 9 - lead screw, 10 - distance-adjusting seat, 11 - driving part, 12 - obstacle-crossing part, 13 - obstacle-crossing wheel, 14 - inclination sensor, 15 - gear teeth, 16 - base. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0032] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0033] Next, in combination with specific implementation cases and the attached Figures 1-4 The present utility model will be further described, but the present utility model is not limited to these embodiments.
[0034] A new type of obstacle-crossing picking-up garbage cleaning trolley, including an obstacle-crossing vehicle 1, on which a partition table 2 is fixedly installed, and a garbage bin 3 is fixedly installed on the top of the partition table 2. The partition table 2 is fixedly and embeddedly installed in the cavity surrounded by the front side of the obstacle-crossing vehicle 1, and the garbage bin 3 is fixedly attached to the top of the partition table 2, and the garbage bin 3 is in a position perpendicular to the partition table 2.
[0035] In front of the garbage bin 3, there is a mechanical claw 4 for grasping garbage, and the mechanical claw 4 is arranged on the obstacle-crossing vehicle 1 through a multi-angle adjustment component. Through the multi-angle adjustment component, the mechanical claw 3 can be adjusted in position in three directions. After the mechanical claw 4 grabs the garbage, through the adjustment in three directions, the garbage is put into the interior of the garbage bin 3. The mechanical claw 4 and the ground cleaning part 7 are separated in two parts of space by the partition table 2, so that during the process of cleaning the ground garbage and dust, the dust caused by the cleaning process is prevented from affecting the mechanical claw 4, thereby playing a protective effect on the mechanical claw 4.
[0036] Below the partition table 2, there is a ground cleaning part 7, and on the obstacle-crossing vehicle 1, there is a distance adjustment mechanism for adjusting the distance between the ground cleaning part 7 and the ground. The distance between the ground cleaning part 7 and the ground is adjusted through the distance adjustment mechanism. During the process of cleaning the ground, the ground cleaning part 7 is moved to a position in contact with the ground, and the ground is scraped and cleaned through the ground cleaning part 7, thereby improving the effect of ground cleaning. After the cleaning is completed, the ground cleaning part 7 is adjusted to a position separated from the ground, thereby playing a protective effect on the ground cleaning part 7.
[0037] By combining a stair-climbing mechanism and a picking-up robotic arm, a garbage picking-up and cleaning robot trolley has been designed. The trolley can achieve a smooth turning-up and going-upstairs action through the mutual cooperation of an adaptive height adjustment mechanism and a crank-slider mechanism. The adaptive height adjustment mechanism can change the height of the overall center of gravity of the mechanism relative to the contact point, thereby realizing the up and down movement of the mechanism.
[0038] The crank rocker mechanism adopts a design method of double wheels and half a cycle. The turning angle is only half a cycle, reducing the control difficulty and the difficulty of realizing the climbing motion. At the same time, the one-way ratchet locking mechanism prevents the ratchet from slipping due to insufficient radial friction. In this way, even after the power completely disappears, the mechanism can stop stably on the stairs. Finally, the crank phase detection mechanism can stop sending signals to the motor when the mechanism and the stairs find the specified fulcrum, increasing the stability of the mechanism movement.
[0039] Among them, the distance adjustment mechanism includes a lead screw 9 rotatably arranged on the obstacle-crossing vehicle 1. A bracket 8 is fixedly installed on the obstacle-crossing vehicle 1 under the partition table 2. Bearings are embedded on the inner walls on both the upper and lower sides of the bracket 8, and both ends of the lead screw 9 are respectively embedded inside the two bearings. The distance adjustment seat 10 is connected to the lead screw 9 through a threaded through hole longitudinally opened through the inner cavity. The motor is fixed on the obstacle-crossing vehicle 1 through a machine base. The output shaft of the motor penetrates one side of the bracket 8 and is fixedly connected to the corresponding end of the lead screw 9. The motor is electrically connected to the storage battery on the obstacle-crossing vehicle 1 through a wire.
[0040] The outer wall of the lead screw 9 is threadedly connected with a distance adjustment seat 10, and the ground cleaning member 7 is fixedly installed on the side wall of the distance adjustment seat 10 away from the obstacle-crossing vehicle 1. The ground cleaning member 7 made of silicone material is not easily contaminated and is easy to clean. The arc-shaped ground cleaning member 7 is fixed on the surface of the distance adjustment seat 10 away from the obstacle-crossing vehicle. The ground cleaning member 7 is "crescent-shaped". When adjusting the distance between the ground cleaning member 7 and the ground, the motor is connected to the power supply through the control center module on the obstacle-crossing vehicle 1, so that the output shaft of the motor drives the lead screw 9 to rotate, and the distance adjustment seat 10 threadedly connected to the lead screw 9 drives the ground cleaning member 7 to move, thereby improving the efficiency of the garbage cleaning process.
[0041] The climbing and obstacle-crossing mechanism realizes the expansion of the working range and adaptability of the full garbage cleaning trolley, achieves the effect of crossing floors through stairwells, enhances the stability and reliability during the moving work while the balance mechanism is transporting, and ensures that the trolley will not tip over.
[0042] It should be noted that the ground cleaning member 7 is arc-shaped. The silicone broom is softer and can adapt to more terrains to prevent scratching and jamming with obstacles. The silicone broom is softer and can adapt to more terrains to prevent scratching and jamming with obstacles. An adjustable up-and-down moving silicone broom is designed at the bottom of the obstacle-crossing vehicle 1. The position of the ground cleaning member 7 is adjusted by a 35-step motor.
[0043] When it is necessary to gather garbage, adjust it to a suitable height to concentrate the garbage. The cross-section of the side wall of the ground cleaning member 7 in contact with the ground is smaller than the cross-section of the side wall of the distance adjustment seat 10 in contact. Through the side wall close to the tip, the effect of ground cleaning is improved. The arc-shaped ground cleaning member 7 can reduce the situation of garbage slipping during the process of cleaning the ground garbage, thereby improving the gathering situation of the garbage cleaning process.
[0044] In addition, a partition 6 is embedded in the inner cavity of the trash bin 3, and the partition 6 divides the trash bin 3 into two recycling chambers. The partition 6 is vertically and fixedly embedded inside the trash bin 3. By dividing the trash bin 3 into two recycling chambers through the partition 6, the garbage can be sorted and recycled, thereby playing a protective effect on the environment when dealing with garbage.
[0045] In addition, a discharge slope is provided at the bottom of the trash bin 3, and the discharge slope corresponds to the outlet of the trash bin 3. A 12° angle is provided at the bottom of the trash bin 3 to facilitate garbage storage. Prevent garbage from accumulating on one side close to the robotic arm 4. The discharge slope is fixedly attached to the bottom of the inner wall of the trash bin 3, and a door is provided at the outlet of the trash bin 3. The discharge slope is located at a position corresponding to the door, making the operation of the garbage removal and treatment process more convenient and avoiding garbage retention in the bin.
[0046] Furthermore, cameras 5 corresponding to the two recycling chambers are provided on the obstacle-crossing vehicle 1. Two cameras 5 are fixedly installed on the partition table 2 of the obstacle-crossing vehicle 1, and the two cameras 5 respectively correspond to the two recycling chambers of the trash bin 3. The cameras 5 are electrically connected to the drive module of the robotic arm 4. By judging the type of garbage through the cameras 5, the signal is then transmitted to the drive module of the robotic arm 4, and then the garbage is sorted and collected by the robotic arm 4.
[0047] The multi-angle adjustment assembly includes a base 16, and the base 16 is rotatably connected to the robotic arm 4 through a number of servo motors in sequence. The robotic arm of the robotic arm 4 is controlled by three servo motors to achieve multi-angle and multi-directional clamping. Among them, the robotic arm 4 is controlled by symmetric gears. A robotic arm grasping component is designed at the front end of the robot, which can clamp and pick up garbage such as small plastic bottles, aluminum cans, and paper balls. After picking up, it can be put into the trash bin 3 at the rear end of the vehicle. The trash bin is divided into recyclable and non-recyclable parts, and the types of garbage are identified by cameras to achieve classification during the garbage cleaning process.
[0048] Clamping teeth 15 are provided on the inner wall of the clamping end of the robotic arm 4. Clamping teeth 15 are provided on the opposite inner walls of the two grasping and clamping ends of the robotic arm 4. By providing the clamping teeth 15, the stability of the garbage picking process is increased, and the garbage is prevented from falling.
[0049] The robotic arm 4 can pick up and sort garbage, making up for the shortcoming that a sweeping robot can only vacuum and cannot handle garbage. At the same time, the climbing mechanism makes up for the problem that a sweeping robot can only clean the plane, enabling the garbage cleaning cart to adapt to more different scenarios.
[0050] An inclination sensor 14 is provided on the obstacle-crossing vehicle 1, and the inclination sensor 14 is electrically connected to the obstacle-crossing adjustment component. The inclination sensor 14 timely transmits the signal to the obstacle-crossing part 12, enabling the obstacle-crossing vehicle 1 to adjust the balance in time and ensuring the stability of the moving process.
[0051] The obstacle-crossing adjustment assembly includes a driving member 11 arranged at the bottom of the obstacle-crossing vehicle 1. An obstacle-crossing member 12 is arranged at the output end of the driving member 11, and an obstacle-crossing wheel 13 is arranged at the free end of the obstacle-crossing member 12. An obstacle-crossing wheel 13 is arranged at the free end of the obstacle-crossing member 12. The driving member 11 is driven to drive the obstacle-crossing member 12 to drive the obstacle-crossing wheel 13 to move, so that the obstacle-crossing wheel 13 gradually moves along the garbage cleaning route.
[0052] The obstacle-crossing vehicle 1 is equipped with an adaptive height adjustment function, and the transmission system of the adaptive height adjustment function adopts a transmission method of an electric motor cooperating with a two-stage gear transmission. The adaptive height adjustment function can change the height of the overall center of gravity of the obstacle-crossing vehicle 1 relative to the contact point, and then realize the up and down movement of the mechanism. During the movement, when the obstacle-crossing vehicle 1 encounters a height obstacle such as a staircase with a certain height, the control system will drive the electric motor to drive the gears, and the gears will then drive the gears to realize the up and down movement of the rack, thereby modifying the relative height of the rear wheels to ensure its contact with the staircase surface.
[0053] The guide rail of the obstacle-crossing vehicle 1 adopts a slider that is relatively stationary with the frame, allowing the guide rail and the slider to slide relative to each other, and then adjusting the height, so as to realize the tangency of the wheel body 4 with the staircase and the flat ground, and at the same time meet the requirements of adapting to staircases of different heights and the requirements of the mechanism moving on the flat ground. In order to ensure the consistency and stability of the movement on both sides, two connecting shafts are also used for power transmission.
[0054] By applying different control signals to the transmission motors on both sides and applying different rotational speeds to the wheel bodies, differential operation can be realized, allowing the mechanism to turn, steer and other movements, and the direction angle of the mechanism moving forward can also be accurately adjusted, greatly improving the flexibility of the mechanism moving on the flat ground.
[0055] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "center", "both ends", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.
[0056] In addition, the terms "first", "second", "third", "fourth" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", "fourth" may explicitly or implicitly include at least one of the features.
[0057] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "setting", "connection", "fixation", "swivel connection", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0058] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.
Claims
1. A new type of obstacle - crossing picking - up garbage cleaning cart, characterized in that: It includes an obstacle-crossing vehicle (1), on which a partition platform (2) is fixedly installed. On the top of the partition platform (2), a garbage bin (3) is fixedly installed. In front of the garbage bin (3), a mechanical claw (4) for grasping garbage is provided, and the mechanical claw (4) is arranged on the obstacle-crossing vehicle (1) through a multi-angle adjusting component. Below the partition platform (2), a ground cleaning member (7) is provided, and on the obstacle-crossing vehicle (1), a distance adjusting mechanism for adjusting the distance between the ground cleaning member (7) and the ground is provided.
2. The novel obstacle-crossing picking-up type garbage cleaning trolley according to claim 1, wherein: The distance adjusting mechanism includes a lead screw (9) rotatably arranged on the obstacle-crossing vehicle (1). The outer wall of the lead screw (9) is threadedly connected with a distance adjusting seat (10). The ground cleaning member (7) is fixedly installed on the side wall of the distance adjusting seat (10) away from the obstacle-crossing vehicle (1).
3. A novel obstacle-crossing picking-up type garbage cleaning trolley according to claim 1, characterized in that: The ground cleaning member (7) is arc-shaped.
4. A novel obstacle - crossing picking - type garbage cleaning trolley according to claim 1, characterized in that: A partition board (6) is embedded in the inner cavity of the garbage bin (3). The partition board (6) divides the garbage bin (3) into two recycling chambers.
5. A novel obstacle - crossing picking - type garbage cleaning trolley according to claim 1, wherein: A discharge slope is arranged at the bottom of the garbage bin (3), and the discharge slope corresponds to the outlet of the garbage bin (3).
6. A novel obstacle - crossing picking - up type garbage cleaning cart according to claim 4, characterized in that: On the obstacle-crossing vehicle (1), cameras (5) corresponding to the two recycling chambers are provided.
7. A novel obstacle - crossing picking - type garbage cleaning trolley according to claim 1, characterized in that: The multi-angle adjusting component includes a base (16), and the base (16) is rotatably connected to the mechanical claw (4) through a number of servo motors in sequence.
8. A novel obstacle - crossing picking - type garbage cleaning cart according to claim 1, characterized in that: The inner wall of the clamping end of the mechanical claw (4) is provided with clamping teeth (15).
9. A novel obstacle - crossing picking - up type garbage cleaning trolley according to claim 1, characterized in that: An inclination sensor (14) is provided on the obstacle-crossing vehicle (1), and the inclination sensor (14) is electrically connected to the obstacle-crossing adjusting component.
10. A novel obstacle-crossing picking-up type garbage cleaning trolley according to claim 9, characterized in that: The obstacle-crossing adjusting component includes a driving member (11) arranged at the bottom of the obstacle-crossing vehicle (1). The output end of the driving member (11) is provided with an obstacle-crossing member (12). The free end of the obstacle-crossing member (12) is provided with an obstacle-crossing wheel (13).