Traction two-degree-of-freedom fixed side-mounted manipulator type garbage collection vehicle

Abstract

The utility model discloses a tractable two-degree-of-freedom fixed side-mounted manipulator type garbage collection vehicle which is characterized by comprising a two-degree-of-freedom self-positioning cohesion claw, a garbage storage mechanism, a clamping claw lifting and overturning mechanism, a multi-adaptability traction mechanism, a dip angle lifting mechanism and a vehicle frame, the garbage storage mechanism is hinged to the vehicle frame, the inclination angle lifting mechanism is connected with the garbage storage mechanism and the vehicle frame, and the multi-adaptability traction mechanism is installed on the vehicle frame. The utility model relates to the technical field of garbage collection and transportation equipment, in particular to a tractable two-degree-of-freedom fixed side-mounted manipulator type garbage collection vehicle. The technical problem to be solved by the utility model is to provide a tractable two-degree-of-freedom fixed side-mounted manipulator type garbage collection vehicle, which effectively solves the problem that the clamping force is difficult to guarantee due to the pose positioning of a garbage can in actual work and the problem that a collection and transportation device is difficult to continue to work when a vehicle body breaks down in the actual work process.

Description

Technical Field

[0001] The utility model relates to the technical field of garbage collection and transportation equipment, in particular to a towable two-degree-of-freedom fixed side-mounted manipulator type garbage collection vehicle. Background Art

[0002] Garbage collection trucks are mainly of two types: side-loading and rear-loading. Most of them use a garbage bin handling device to adjust the position of the garbage bin, and then dump the garbage into the collection truck for centralized collection and transportation.

[0003] However, most current domestic garbage collection and transportation equipment integrates the collection and transportation device with the vehicle body. For example, patent CN206720081U discloses a multifunctional garbage collection and transportation vehicle with an integrated garbage collection and transportation device. This makes it difficult to separate the garbage collection and transportation device from the vehicle body during use. If the vehicle body malfunctions during collection and transportation operations, the vehicle body cannot be replaced, and the collection and transportation device cannot continue to complete collection and transportation operations.

[0004] Meanwhile, domestic garbage collection and transportation equipment primarily uses gripping of trash bins using two-sided gripping jaws. For example, the side-mounted manipulator for garbage collection vehicles disclosed in patent CN219585032U uses two side gripping jaws to grip the trash bin. These jaws initially position the bin using an arc-shaped structure, but this structure makes it difficult to further adjust the bin's position when operating in different positions, resulting in poor positioning and difficulty maintaining a sufficient grip. Utility Model Content

[0005] The technical problem to be solved by the present invention is to provide a towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle, which holds the garbage bin by a two-degree-of-freedom self-positioning gripper, and at the same time, the whole machine is designed with a towing structure, which effectively solves the problem of the garbage bin's posture positioning and difficulty in ensuring the holding force in actual work, and the problem of the collection and transportation device being difficult to continue operating when the vehicle body fails during actual work.

[0006] The utility model adopts the following technical solutions to achieve the purpose of the invention:

[0007] A two-degree-of-freedom fixed side-mounted manipulator garbage collection truck capable of towing is characterized in that it includes: a two-degree-of-freedom self-positioning engaging claw, a garbage storage mechanism, a clamping claw lifting and flipping mechanism, a multi-adaptive traction mechanism, an inclination lifting mechanism and a frame; the rear end of the garbage storage mechanism is rotationally connected to the rear end roller of the frame, the inclination lifting mechanism connects the garbage storage mechanism and the frame, the multi-adaptive traction mechanism is installed on the frame, the two-degree-of-freedom self-positioning engaging claw is connected to the clamping claw lifting and flipping mechanism, and the clamping claw lifting and flipping mechanism is connected to the bottom of the garbage storage mechanism.

[0008] As a further limitation of the present technical solution, the garbage storage mechanism consists of a box cover lifting module, a garbage storage box body, a limit sensor block, a fixed angle bracket, a traction mechanism connecting frame, a bottom connecting roller and an opening and closing box cover; wherein, the right side of the garbage storage box body is connected to the traction mechanism connecting frame by welding; the box cover lifting module assembly consists of two groups of cylinders and their hinged connecting parts, which are respectively hinged through the single ears on both sides set on the lower side of the opening and closing box cover and the ground inside the garbage storage box body, through an intermediate rotating pin and an elastic retaining ring; the opening and closing box cover and the garbage storage box body are hinged through two sets of leaf structures, and the limit sensor blocks are provided on both sides of the garbage storage box body, and the limit sensor blocks are fixedly connected to the garbage storage box body through the fixed angle bracket, the bottom connecting roller is fixedly connected to the double-ear plate welded on the lower side of the garbage storage box body, and the bottom connecting roller is rotatably connected to the double ears at the front end of the frame.

[0009] As a further limitation of the present technical solution, the two-degree-of-freedom self-positioning engaging claws are composed of multiple rows of engaging claws, cylinder ejecting claws, ejecting cylinders, engaging claw connecting arms, bearing blocks, deep groove ball bearings, connecting rod shafts, primary base plates, sensor blocks, limit sensors, main beams, primary connecting arms, connectors, engaging claw cylinders, ejecting cylinder connecting frames, secondary base plates and expansion sleeves; the multiple rows of engaging claws are provided with six equidistantly arranged curved single claws, which are connected to the multiple rows of engaging claws by welding; the multiple rows of engaging claws are connected to the engaging claw connecting arms by two fixing screws at the back; the engaging claw connecting arms are connected to the connecting rod shaft by the expansion sleeve arranged at the end of the connecting rod shaft, and the expansion sleeve is arranged inside the engaging claw connecting arm, and the inner ring of the deep groove ball bearing is fixedly connected to both sides of the connecting rod shaft; the outer ring of the deep groove ball bearing is fixedly connected to the bearing block; the bearing block is fixedly connected to the The first-level base plate; the first-level connecting arm is fixedly connected to the connecting rod shaft; the engaging claw cylinder is connected to the rear side of the first-level base plate through the link plates on both sides; the front end of the engaging claw cylinder is fixedly connected to the connecting head; the first-level connecting arm and the connecting head form a movable hinge through the middle connecting pin and the spring retaining ring; the connecting head is rotatably connected to the ejection cylinder connecting frame, the ejection cylinder connecting frame is fixedly connected to the ejection cylinder, and the ejection cylinder is connected to the cylinder ejection claw; the main crossbeam is connected to the two first-level base plates, and is respectively installed on the upper and lower sides of the first-level base plates to serve as the main support of the module; at the same time, the limit sensors fixed by the sensor stand are provided on both sides of the main crossbeam, and the limit sensors are adjusted in posture by the adjusting nut to facilitate limiting the engaging claw connecting arm; the secondary base plate is fixedly connected to the rear sides of the two main crossbeams.

[0010] As a further limitation of the present technical solution, the gripper lifting and flipping mechanism is composed of a three-phase asynchronous motor, a two-stage worm gear reducer, a flipping assembly, and a horizontal displacement assembly, wherein the output shaft of the three-phase asynchronous motor is connected to the input shaft of the two-stage worm gear reducer; the output shaft of the two-stage worm gear reducer is connected to the flipping assembly; the flipping assembly is connected to the horizontal displacement assembly; and the horizontal displacement assembly realizes the overall X-axis displacement and Y-axis extension of the flipping assembly.

[0011] As a further limitation of the present technical solution, the flip assembly consists of a frame, a connecting rod 1, a flip assembly base plate, a steel profile, a flip assembly bearing seat, a flip shaft, a support column and a connecting rod 2; the flip shaft is fixedly connected to the output shaft of the secondary worm gear reducer; the flip shaft is equidistantly installed on the flip assembly base plate through three of the flip assembly bearing seats; two of the steel profiles are fixedly connected on both sides of the back of the flip assembly base plate; single ears are provided on both sides of the flip assembly base plate to rotate and connect the connecting rod 1, and the frame is welded by steel plates, while the middle fixed connection support column acts as the main supporting structure, and the frame is fixedly connected to the secondary base plate by setting full-circle bolts; open single ears are provided on both sides of the frame to rotate and connect the connecting rod 1 hinge; a group of single ears are provided on the lower side of the frame to rotate and connect the connecting rod 2 hinge; the connecting rod 2 has a hinged hole, which is interference fit with the flip shaft through a sleeve to fix it to the flip shaft.

[0012] As a further limitation of the present technical solution, the horizontal displacement assembly is composed of a horizontal upper slider, a horizontal lower rail, an extended square tube, a fixed square tube, a Y-axis extended electric cylinder, a Y-axis extended electric cylinder end connector, an X-axis displacement electric cylinder, an electric cylinder connecting plate, and an X-axis displacement electric cylinder connector; the fixed square tube is formed by welding two square tubes through an intermediate connecting tube, and the fixed square tube is fixedly connected to the garbage storage box; the extended square tube fits in the fixed square tube, and a gap is provided to facilitate the sliding of the extended square tube in the fixed square tube; the extended square tube is fixedly connected to the horizontal lower rail ; The horizontal upper slider is nested on the horizontal lower rail; the horizontal upper slider is fixedly connected to the steel profile; the horizontal upper slider is fixedly connected to the electric cylinder connecting plate; the X-axis displacement electric cylinder is fixedly connected to the horizontal lower rail; the end of the X-axis displacement electric cylinder is fixedly connected to the electric cylinder connecting plate through the X-axis displacement electric cylinder connecting piece, and a fixed single ear is provided on the X-axis displacement electric cylinder, which is rotatably connected to the end connecting piece of the Y-axis extension electric cylinder, and the Y-axis extension electric cylinder is fixedly connected to the end connecting piece of the Y-axis extension electric cylinder; the Y-axis extension electric cylinder is fixedly connected to the fixed square tube connection.

[0013] As a further limitation of the present technical solution, the multi-adaptive traction mechanism is composed of a first-level connecting frame, a first-level connecting shaft, a limit pin, a fixed iron wire, a connecting rotating head, a second-level connecting frame and a second-level connecting shaft; the first-level connecting frame is welded by steel plates and steel pipes on both sides, and connecting holes are opened on both sides, and the first-level connecting shaft is connected to the traction mechanism connecting frame through the limit of the limit pin and the fixed iron wire; the connecting rotating head is rotatably connected to the front end of the first-level connecting frame, and the connecting rotating head is rotatably connected to the second-level connecting frame, and the second-level connecting frame is welded by a profile frame and a square tube, and a connecting hole is opened at the bottom, and it is connected to the vehicle frame through the second-level connecting shaft; wherein two connecting holes are opened at the upper end of the second-level connecting frame.

[0014] As a further limitation of the present technical solution, the tilt angle lifting mechanism is composed of a first-level lifting rod, a second-level lifting rod, a lifting cylinder and a third-level lifting rod; the first-level lifting rod is fixedly connected to the vehicle frame; the second-level lifting rod is rotatably connected to the first-level lifting rod; the third-level lifting rod is rotatably connected to the second-level lifting rod, and the third-level lifting rod is rotatably connected to two single ears provided on the lower side of the garbage storage box; one end of the lifting cylinder is rotatably connected to the first-level lifting rod, and the other end of the lifting cylinder is rotatably connected to the third-level lifting rod.

[0015] Compared with the related art, the towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle provided by the present invention has the following beneficial effects:

[0016] (1) This device uses a two-degree-of-freedom self-positioning grip to hold the trash can, and at the same time, the whole machine is designed with a traction structure, which effectively solves the problem of the trash can's posture positioning in actual work and the difficulty of ensuring the holding force, as well as the problem of the collection and transportation device being unable to continue operating when the vehicle body fails during actual work;

[0017] (2) Multiple rows of gripping claws are distributed on both sides of the held trash bin, and their single grips are curved. When the multiple rows of gripping claws on both sides are engaged, the rear cylinder ejects the claws at the same time, realizing two-degree-of-freedom three-direction self-centering positioning of the trash bin in different postures, effectively solving the problem of positioning the trash bin in actual work but being unable to ensure the gripping force.

[0018] (3) The multi-adaptable traction mechanism is installed on the vehicle frame. Its multi-adaptable structure makes it easy to replace different power sources. In the actual working process, if the vehicle body fails and its collection and transportation device is difficult to continue operating, it can be applied to the replacement of multiple power sources and meet the needs of most vehicle models.

[0019] (4) The multi-adaptive traction mechanism is simplified in lightweight topology through ANSYS, and then set through welding process. By welding the simplified steel plates and square tubes on both sides, a low-cost structural design that meets the maximum tensile stress required by actual operations is achieved.

[0020] (5) The flip assembly and the horizontal displacement assembly are respectively controlled by a large transmission ratio reduction gearbox and a servo motor, achieving the characteristics of smooth transmission, large load-bearing capacity and high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the utility model.

[0022] Figure 2 This is the axonometric view of the garbage storage mechanism of the present invention. Figure 1 .

[0023] Figure 3 This is the axonometric view of the garbage storage mechanism of the present invention. Figure 2 .

[0024] Figure 4 Axonometric measurement of the two-degree-of-freedom self-positioning clamping claw of the utility model Figure 1 .

[0025] Figure 5 Axonometric measurement of the two-degree-of-freedom self-positioning clamping claw of the utility model Figure 2 .

[0026] Figure 6 Axonometric view of the clamping jaw lifting and flipping mechanism of the present invention Figure 1 .

[0027] Figure 7 Axonometric view of the clamping jaw lifting and flipping mechanism of the present invention Figure 2 .

[0028] Figure 8 It is an axonometric view of the multi-adaptable traction mechanism of the utility model.

[0029] Figure 9 This is the axle measurement after the tilt angle lifting mechanism and the frame of the utility model are assembled Figure 1 .

[0030] Figure 10 This is the axle measurement after the tilt angle lifting mechanism and the frame of the utility model are assembled Figure 2 .

[0031] In the picture:

[0032] 1. Garbage storage mechanism, 101. Lid lifting module, 102. Garbage storage box, 103. Limit sensor block, 104. Fixed angle bracket, 105. Traction mechanism connecting frame, 106. Bottom connecting roller, 107. Lid opening and closing;

[0033] 2. Two-degree-of-freedom self-positioning clutch claw; 201. Multi-row clutch claw, 202. Cylinder ejector claw, 203. Ejector cylinder, 204. Clamping claw connecting arm, 205. Bearing block, 206. Deep groove ball bearing, 207. Connecting rod shaft, 208. Primary base plate, 209. Sensor stand, 210. Limit sensor, 211. Adjusting nut, 212. Main beam, 213. Primary connecting arm, 214. Connector, 215. Clamping claw cylinder, 216. Ejector cylinder connecting frame, 217. Secondary base plate, 218. Expansion sleeve;

[0034] 3. Gripper lifting and flipping mechanism, 301. Three-phase asynchronous motor, 302. Two-stage worm gear reducer, 303. Flipping assembly, 3031. Frame, 3032. Connecting rod 1, 3033. Flipping assembly base, 3034. Profile steel, 3035. Flipping assembly bearing seat, 3036. Flipping shaft, 3037. Support column, 3038. Connecting rod 2, 304. Horizontal displacement assembly, 3041. Horizontal upper slider, 3042. Horizontal lower rail, 3043. Extended square tube, 3044. Fixed square tube, 3045. Y-axis extension cylinder, 3046. Y-axis extension cylinder end connector, 3047. X-axis displacement cylinder, 3048. Cylinder connecting plate, 3049. X-axis displacement cylinder connector;

[0035] 4. Multi-adaptive traction mechanism, 401. Primary connecting frame, 402. Primary connecting shaft, 403. Limit pin, 404. Fixing wire, 405. Connecting rotating head, 406. Secondary connecting frame, 407. Secondary connecting shaft;

[0036] 5. Inclination lifting mechanism, 501, lifting first-level rod, 502, lifting second-level rod, 503, lifting cylinder, 504, lifting third-level rod;

[0037] 6. Frame. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0039] See also Figure 1, which can tow a two-degree-of-freedom fixed side-mounted manipulator garbage collection truck, includes: a two-degree-of-freedom self-positioning engaging claw 2, a garbage storage mechanism 1, a clamping claw lifting and flipping mechanism 3, a multi-adaptive traction mechanism 4, a tilt lifting mechanism 5 and a frame 6; the rear end of the garbage storage mechanism 1 is rotationally connected with the rear end roller of the frame 6, the tilt lifting mechanism 5 connects the garbage storage mechanism 1 and the frame 6, the multi-adaptive traction mechanism 4 is installed on the frame 6, the two-degree-of-freedom self-positioning engaging claw 2 is connected to the clamping claw lifting and flipping mechanism 3, and the clamping claw lifting and flipping mechanism 3 is connected to the bottom of the garbage storage mechanism 1.

[0040] See also Figure 2-Figure 3 , the garbage storage mechanism 1 is composed of a box cover lifting module 101, a garbage storage box body 102, a limit sensor block 103, a fixed angle frame 104, a traction mechanism connecting frame 105, a bottom connecting twist roller 106 and an opening and closing box cover 107; wherein, the right side of the garbage storage box body 102 is connected to the traction mechanism connecting frame 105 by welding; the box cover lifting module 101 assembly is composed of two groups of cylinders and their hinged connecting parts, which are respectively hinged by the two side single ears set on the lower side of the opening and closing box cover 107 and the internal ground of the garbage storage box body 102 through the middle rotating pin and the elastic retaining ring; the opening and closing box cover 107 and the garbage storage box body 102 are hinged by two sets of leaf structures, so that the opening and closing box cover 10 7 can be opened and closed with the connection as the rotation center; the limit sensor blocks 103 are provided on both sides of the garbage storage box body 102, and the limit sensor blocks 103 are fixedly connected to the garbage storage box body 102 through the fixed angle bracket 104, so as to facilitate feedback on the opening and closing position of the opening and closing box cover 107; the bottom connecting roller 106 is fixedly connected to the double-ear plate welded on the lower side of the garbage storage box body 102, and the bottom connecting roller 106 is rotatably connected to the double ears at the front end of the frame 6; and then when the cylinder of the box cover lifting module 101 is extended, it drives the opening and closing box cover 107 to open and close around the connection between it and the garbage storage box body 102, and at the same time, position feedback is performed through the limit sensor blocks 103.

[0041] See also Figure 4-Figure 5The two-degree-of-freedom self-positioning engaging claw 2 consists of multiple rows of engaging claws 201, cylinder ejecting claws 202, ejecting cylinders 203, engaging claw connecting arms 204, bearing blocks 205, deep groove ball bearings 206, connecting rod shafts 207, primary base plates 208, sensor frames 209, limit sensors 210, main body beams 212, primary connecting arms 213, connectors 214, engaging claw cylinders 215, ejecting cylinder connecting frames 216, secondary base plates 217 and expansion sleeves 218; the multiple rows of engaging claws 201 are provided with six equally spaced curved single claws, which are connected to the multiple rows of engaging claws 201 by welding; the multiple The rows of engaging claws 201 are connected to the engaging claw connecting arm 204 by two fixing screws at the back, and at the same time, two square grooves are provided on the rear side of the multiple rows of engaging claws 201 to connect them to the engaging claw connecting arm 204; the engaging claw connecting arm 204 is connected to the connecting rod shaft 207 by the expansion sleeve 218 provided at the end of the connecting rod shaft 207, and the expansion sleeve 218 is provided inside the engaging claw connecting arm 204, and the engaging claw connecting arm 204 and the connecting rod shaft 207 are interference fit through the expansion sleeve 218; the inner ring of the deep groove ball bearing 206 is fixedly connected to both sides of the connecting rod shaft 207; The outer ring of the deep groove ball bearing 206 is fixedly connected to the bearing block 205; the bearing block 205 is fixedly connected to the primary base plate 208; the primary connecting arm 213 is fixedly connected to the connecting rod shaft 207; the engaging claw cylinder 215 is connected to the rear side of the primary base plate 208 through the link plates on both sides; the front end of the engaging claw cylinder 215 is fixedly connected to the connecting head 214; the primary connecting arm 213 and the connecting head 214 are movably hinged through the middle connecting pin and the spring retaining ring; the connecting head 214 is rotatably connected to the ejection cylinder connecting frame 216, and the ejection cylinder connecting frame 216 is fixedly connected The ejection cylinder 203 is connected to the cylinder ejection claw 202; the main crossbeam 212 is connected to the two primary base plates 208, and is respectively installed on the upper and lower sides of the primary base plates 208 to serve as the main support of the module; at the same time, the limit sensors 210 fixed by the sensor stand 209 are provided on both sides of the main crossbeam 212, and the limit sensors 210 are adjusted in posture by the adjusting nut 211 to facilitate limiting the engaging claw connecting arm 204; the secondary base plate 217 is fixedly connected to the rear sides of the two main crossbeams 212.

[0042] See also Figure 6-Figure 7The gripper lifting and flipping mechanism 3 is composed of a three-phase asynchronous motor 301, a two-stage worm gear reducer 302, a flipping assembly 303, and a horizontal displacement assembly 304, wherein the output shaft of the three-phase asynchronous motor 301 is connected to the input shaft of the two-stage worm gear reducer 302; the output shaft of the two-stage worm gear reducer 302 is connected to the flipping assembly 303; the flipping assembly 303 is connected to the horizontal displacement assembly 304; the horizontal displacement assembly 304 realizes the overall X-axis displacement and Y-axis extension of the flipping assembly 303.

[0043] The flip assembly 303 is composed of a frame 3031, a connecting rod 1 3032, a flip assembly base plate 3033, a steel profile 3034, a flip assembly bearing seat 3035, a flip shaft 3036, a support column 3037 and a connecting rod 2 3038; the flip shaft 3036 is fixedly connected to the output shaft of the two-stage worm gear reducer 302; the flip shaft 3036 is equidistantly installed on the flip assembly base plate 3033 through three flip assembly bearing seats 3035; two steel profiles 3034 are fixedly connected to the two sides of the back of the flip assembly base plate 3033 to serve as the main bearing part of the assembly; the flip assembly base plate 3033 is fixedly connected to the two sides of the back of the flip assembly base plate 3033 to serve as the main bearing part of the assembly; 033 is provided with a single ear on both sides to rotate and connect the connecting rod 1 3032, so that it rotates around there; the frame 3031 is welded from steel plates, and the middle fixed connecting support column 3037 acts as the main supporting structure, and the frame 3031 is fixedly connected to the secondary base plate 217 by setting bolts all around; the frame 3031 is provided with an open single ear on both sides to rotate and connect the connecting rod 1 3032 for hinged connection; the lower side of the frame 3031 is provided with a group of single ears to rotate and connect the connecting rod 2 3038 for hinged connection; the connecting rod 2 3038 is provided with a hinged hole, which is interference fit with the flip shaft 3036 through an expansion sleeve to fix it to the flip shaft 3036.

[0044] The connecting rod 1 3032, the support column 3037, the connecting rod 2 3038, the flip shaft 3036 and the flip component base plate 3033 form a parallel four-bar mechanism, wherein the rotation of the flip shaft 3036 drives the connecting rod 2 3038 to swing, thereby causing the connecting rod 1 3032 to rotate around the connection between it and the flip component base plate 3033, thereby causing the frame 3031 to achieve flipping motion.

[0045] The horizontal displacement assembly 304 is composed of a horizontal upper slider 3041, a horizontal lower rail 3042, an extending square tube 3043, a fixed square tube 3044, a Y-axis extending electric cylinder 3045, a Y-axis extending electric cylinder end connector 3046, an X-axis displacement electric cylinder 3047, an electric cylinder connecting plate 3048, and an X-axis displacement electric cylinder connector 3049.

[0046] The fixed square tube 3044 is formed by welding two square tubes through an intermediate connecting tube, and the fixed square tube 3044 is fixedly connected to the garbage storage box 102; the protruding square tube 3043 fits in the fixed square tube 3044, and a gap is provided to facilitate the sliding of the protruding square tube 3043 in the fixed square tube 3044; the protruding square tube 3043 is fixedly connected to the horizontal lower slide 3042; the horizontal upper slider 3041 is nested on the horizontal lower slide 3042; the horizontal upper slider 3041 is fixedly connected to the profile steel 3034; the horizontal upper slider 3041 is fixedly connected to the electric cylinder connecting plate 3048; the X-axis displacement electric cylinder 3047 is fixedly connected to the horizontal lower slide 3042; The end of the displacement cylinder 3047 is fixedly connected to the cylinder connecting plate 3048 through the X-axis displacement cylinder connecting piece 3049, so that when the X-axis displacement cylinder 3047 is in operation, it drives the horizontal upper slider 3041 to slide on the horizontal lower slide rail 3042; the X-axis displacement cylinder 3047 is provided with a fixed single ear, which is rotatably connected to the Y-axis extension cylinder end connecting piece 3046, and the Y-axis extension cylinder 3045 is fixedly connected to the Y-axis extension cylinder end connecting piece 3046; the Y-axis extension cylinder 3045 is fixedly connected to the fixed square tube 3044; when the Y-axis extension cylinder 3045 is extended, it drives the extension square tube 3043 to slide in the fixed square tube 3044, thereby extending the module.

[0047] The housing of the three-phase asynchronous motor 301 is fixedly connected to the housing of the two-stage worm gear reduction box 302 , and the housing of the two-stage worm gear reduction box 302 is fixedly connected to the corresponding profiled steel 3034 .

[0048] See also Figure 8The multi-adaptive traction mechanism 4 consists of a primary connecting frame 401, a primary connecting shaft 402, a limit pin 403, a fixed wire 404, a connecting rotating head 405, a secondary connecting frame 406 and a secondary connecting shaft 407; the primary connecting frame 401 is welded by steel plates and steel pipes on both sides, and connection holes are opened on both sides, and are connected to the traction mechanism connecting frame 105 through the limitation of the primary connecting shaft 402, the limit pin 403 and the fixed wire 404; the primary connecting shaft 402 passes through the traction mechanism connecting frame 105 and the primary connecting frame 401, the limit pin 403 is threadedly connected to the primary connecting shaft 402, and the two ends of the fixed wire 404 are inserted into the corresponding two sides of the limit pin 403 to achieve axial limitation of the limit pin 403. The connecting rotating head 405 is rotatably connected to the front end of the first-level connecting frame 401, and the connecting rotating head 405 is rotatably connected to the second-level connecting frame 406, so that it is convenient for the entire equipment to turn during operation; the second-level connecting frame 406 is made by welding a profile frame and a square tube, wherein a connecting hole is opened at the bottom, and is connected to the frame 6 through the second-level connecting shaft 407; wherein the upper end of the second-level connecting frame 406 has two connecting holes; at the same time, the second-level connecting frame 406 here is light-weight topologically simplified by ANSYS, and then set through welding process, and is welded by the simplified steel plates and square tubes on both sides.

[0049] See also Figure 9-10 The tilt lifting mechanism 5 is composed of a first-level lifting rod 501, a second-level lifting rod 502, a lifting cylinder 503 and a third-level lifting rod 504; the first-level lifting rod 501 is fixedly connected to the vehicle frame 6; the second-level lifting rod 502 is rotatably connected to the first-level lifting rod 501; the third-level lifting rod 504 is rotatably connected to the second-level lifting rod 502, and the third-level lifting rod 504 is rotatably connected to the two single ears set on the lower side of the garbage storage box 102; one end of the lifting cylinder 503 is rotatably connected to the first-level lifting rod 501, and the other end of the lifting cylinder 503 is rotatably connected to the third-level lifting rod 504; when the lifting cylinder 503 is extended, the planar rod-shaped mechanism composed of the tilt lifting mechanism 5, the vehicle frame 6 and the garbage storage box 102 causes the garbage storage box 102 to rotate around the hinge between it and the frame 6.

[0050] The working process of this utility model is as follows:

[0051] Homework 1

[0052] Step 1

[0053] The front-end multi-adaptive traction mechanism 4 of the utility model is connected to the power source. Specifically, the secondary connecting frame 406 is rotatably connected to the power source. This description takes a motor vehicle as an example. The driver drives the vehicle to the side of the trash can so that the two-degree-of-freedom self-positioning clamping claw 2 is roughly aligned with the trash can. Through terminal control, the clamping claw lifting and flipping mechanism 3 sends a signal to adjust the horizontal position of the two-degree-of-freedom self-positioning clamping claw 2. The control of its X-axis displacement electric cylinder 3047 makes the horizontal upper slider 3041, and then the flipping component 303 component X-axis displacement adjustment, finally the two-degree-of-freedom self-positioning clamping claw 2 is aligned with the trash can, and the Y-axis direction is adjusted at the same time. The signal is sent through the Y-axis extension electric cylinder 3045 to make it extend, so that the extending square tube 3043 is extended, and then the flipping component 303 with the two-degree-of-freedom self-positioning clamping claw 2 is extended. At the same time, the two-degree-of-freedom self-positioning clamping claw 2 is in the open state, so that the trash can enters the clamping range of the two-degree-of-freedom self-positioning clamping claw 2.

[0054] Step 2

[0055] By sending a signal, the two-degree-of-freedom self-positioning engaging claw 2 in the engaging claw cylinder 215 is extended, so that the multiple rows of engaging claws 201 on both sides are engaged. At the same time, the ejection cylinder 203 is also ejected, and then the two-degree-of-freedom three-centering posture adjustment of the trash can and the support of the trash can are achieved through the engagement of the multiple rows of engaging claws 201 and the ejection of the cylinder ejection claw 202.

[0056] The engaging claw cylinder 215 extends to drive the connecting head 214, the ejection cylinder connecting frame 216, the ejection cylinder 203 and the cylinder ejection claw 202 to extend, the connecting head 214 drives the first-level connecting arm 213 to swing, the first-level connecting arm 213 drives the connecting rod shaft 207 to rotate, and the connecting rod shaft 207 drives the expansion sleeve 218, the engaging claw connecting arm 204 and the multi-row engaging claws 201 to swing.

[0057] Step 3

[0058] A signal is generated to the three-phase asynchronous motor 301, which transmits power to the flip shaft 3036, thereby driving the connecting rod 2 3038 to rotate, causing the frame 3031 and the support column 3037 to flip, and the frame 3031 drives the connecting rod 1 3032 to swing, and finally drives the trash can to flip 100° around the axis of the flip shaft 3036 through the two-degree-of-freedom self-positioning engaging claw 2, thereby dumping the garbage in the trash can.

[0059] Assignment 2

[0060] When the garbage in the garbage storage mechanism 1 is unloaded, the rear cover of the garbage storage box 102 is opened, and at the same time a signal is sent to the lifting cylinder 503 to extend it, and the lifting cylinder 503 drives the lifting three-stage rod 504 to swing, and the lifting three-stage rod 504 drives the lifting two-stage rod 502 to swing, thereby causing the tilt lifting mechanism 5 to drive the garbage storage mechanism 1 to tilt, thereby allowing the garbage to be poured out.

[0061] Assignment 3

[0062] When the power source fails and the operation is interrupted and the power source needs to be replaced, the two connecting pins on the upper end of the secondary connecting frame 406 are pulled out to disconnect the secondary connecting frame 406 from the power source and further replace the power source.

[0063] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A two-degree-of-freedom fixed side-mounted manipulator garbage collection truck, characterized by: include: Two-degree-of-freedom self-positioning gripping claw (2), a garbage storage mechanism (1), a gripping claw lifting and flipping mechanism (3), a multi-adaptive traction mechanism (4), an inclination lifting mechanism (5), and a vehicle frame (6); The rear end of the garbage storage mechanism (1) is connected to the rear end roller of the vehicle frame (6) in a rotational connection; the tilting lifting mechanism (5) connects the garbage storage mechanism (1) and the vehicle frame (6); the multi-adaptive traction mechanism (4) is mounted on the vehicle frame (6); the two-degree-of-freedom self-positioning gripping claw (2) is connected to the clamping claw lifting and flipping mechanism (3); and the clamping claw lifting and flipping mechanism (3) is connected to the bottom of the garbage storage mechanism (1).

2. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 1 is characterized by: The garbage storage mechanism (1) is composed of a box cover lifting module (101), a garbage storage box body (102), a limit sensor block (103), a fixed angle frame (104), a traction mechanism connecting frame (105), a bottom connecting roller (106) and an opening and closing box cover (107); The right side of the garbage storage box (102) is connected to the traction mechanism connecting frame (105) by welding; the box cover lifting module (101) assembly consists of two groups of cylinders and their hinged connecting parts, which are respectively hinged through the two side single ears set on the lower side of the opening and closing box cover (107) and the internal ground of the garbage storage box (102) through an intermediate rotating pin and an elastic retaining ring; the opening and closing box cover (107) and the garbage storage box (102) are hinged through two sets of leaf structures, and the limit sensor blocks (103) are provided on both sides of the garbage storage box (102), and the limit sensor blocks (103) are fixedly connected to the garbage storage box (102) through the fixed angle frame (104); the bottom connecting roller (106) is fixedly connected to the double-ear plate welded on the lower side of the garbage storage box (102), and the bottom connecting roller (106) is rotatably connected to the double ears at the front end of the frame (6).

3. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 2 is characterized by: The two-degree-of-freedom self-positioning clutch claw (2) comprises multiple rows of clutch claws (201), a cylinder ejecting claw (202), an ejecting cylinder (203), a clutch claw connecting arm (204), a bearing stand (205), a deep groove ball bearing (206), a connecting rod shaft (207), a primary base plate (208), a sensor stand (209), a limit sensor (210), a main body beam (212), a primary connecting arm (213), a connector (214), a clutch claw cylinder (215), an ejecting cylinder connecting frame (216), a secondary base plate (217), and an expansion sleeve (218); The multi-row engaging claws (201) are provided with six equidistantly arranged curved single claws, which are connected to the multi-row engaging claws (201) by welding; the multi-row engaging claws (201) are connected to the engaging claw connecting arm (204) by two fixing screws at the back; the engaging claw connecting arm (204) is connected to the connecting rod shaft (207) by the expansion sleeve (218) provided at the end of the connecting rod shaft (207); the expansion sleeve (218) is provided inside the engaging claw connecting arm (204); both sides of the connecting rod shaft (207) are fixedly connected to the inner ring of the deep groove ball bearing (206); the outer ring of the deep groove ball bearing (206) is fixedly connected to the bearing stand (205); the bearing stand (205) is fixedly connected to the primary base plate (208); the primary connecting arm (213) is fixedly connected to the connecting rod shaft (207); The engaging claw cylinder (215) is connected to the rear side of the primary base plate (208) via link plates on both sides; the front end of the engaging claw cylinder (215) is fixedly connected to the connecting head (214); the primary connecting arm (213) and the connecting head (214) are movably hinged via an intermediate connecting pin and a spring retaining ring; the connecting head (214) is rotatably connected to the ejection cylinder connecting frame (216); the ejection cylinder connecting frame (216) is fixedly connected to the ejection cylinder (203); and the ejection cylinder (203) is connected to the cylinder ejection claw (202); The main crossbeam (212) is connected to the two primary base plates (208) and is respectively installed on the upper and lower sides of the primary base plates (208) to serve as the main support member of the module; at the same time, the limit sensors (210) fixed by the sensor stand (209) are provided on both sides of the main crossbeam (212), and the limit sensors (210) are adjusted in posture by adjusting nuts (211) to facilitate limiting the position of the clasping claw connecting arm (204); the secondary base plate (217) is fixedly connected to the rear sides of the two main crossbeams (212).

4. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 3 is characterized by: The gripper lifting and flipping mechanism (3) is composed of a three-phase asynchronous motor (301), a two-stage worm gear reduction box (302), a flipping assembly (303), and a horizontal displacement assembly (304), wherein the output shaft of the three-phase asynchronous motor (301) is connected to the input shaft of the two-stage worm gear reduction box (302); the output shaft of the two-stage worm gear reduction box (302) is connected to the flipping assembly (303); the flipping assembly (303) is connected to the horizontal displacement assembly (304); and the horizontal displacement assembly (304) realizes the overall displacement of the flipping assembly (303) in the X-axis direction and the extension in the Y-axis direction.

5. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 4 is characterized by: The flip assembly (303) is composed of a frame (3031), a connecting rod (3032), a flip assembly base (3033), a steel section (3034), a flip assembly bearing seat (3035), a flip shaft (3036), a support column (3037), and a connecting rod (3038). The flip shaft (3036) is fixedly connected to the output shaft of the secondary worm gear reducer (302); the flip shaft (3036) is equidistantly mounted on the flip assembly base plate (3033) via three flip assembly bearing seats (3035); two sections of steel (3034) are fixedly connected to the back side of the flip assembly base plate (3033); single ears are provided on both sides of the flip assembly base plate (3033) for rotationally connecting the connecting rod 1 (3032); the frame (3031) is welded from steel plates, and a support column (3037) is fixedly connected in the middle to serve as the main supporting structure. The frame (3031) is fixedly connected to the secondary base plate (217) by bolts arranged all around the frame. The frame (3031) is provided with open single ears on both sides for rotationally connecting the first connecting rod (3032) for hinged connection; the lower side of the frame (3031) is provided with a set of single ears for rotationally connecting the second connecting rod (3038) for hinged connection; the second connecting rod (3038) is provided with a hinged hole, which is interference-fitted with the flip shaft (3036) through an expansion sleeve, so that it is fixed to the flip shaft (3036).

6. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 5 is characterized by: The horizontal displacement assembly (304) is composed of a horizontal upper slider (3041), a horizontal lower slide rail (3042), an extended square tube (3043), a fixed square tube (3044), a Y-axis extension electric cylinder (3045), a Y-axis extension electric cylinder end connector (3046), an X-axis displacement electric cylinder (3047), an electric cylinder connecting plate (3048), and an X-axis displacement electric cylinder connector (3049); The fixed square tube (3044) is formed by welding two square tubes through an intermediate connecting tube. The fixed square tube (3044) is fixedly connected to the garbage storage box (102). The extended square tube (3043) fits inside the fixed square tube (3044), and a gap is provided therein to facilitate the sliding of the extended square tube (3043) inside the fixed square tube (3044). The extended square tube (3043) is fixedly connected to the horizontal lower sliding rail (3042). The horizontal upper sliding block (3041) is nested on the horizontal lower sliding rail (3042). The horizontal upper sliding block (3041) is fixedly connected to the profile steel (3034). The horizontal upper sliding block (3043) is fixedly connected to the profile steel (3034). 041) is fixedly connected to the electric cylinder connection plate (3048); the X-axis displacement electric cylinder (3047) is fixedly connected to the horizontal lower sliding rail (3042); the end of the X-axis displacement electric cylinder (3047) is fixedly connected to the electric cylinder connection plate (3048) through the X-axis displacement electric cylinder connector (3049); the X-axis displacement electric cylinder (3047) is provided with a fixed single ear, which is rotatably connected to the Y-axis extension electric cylinder end connector (3046); the Y-axis extension electric cylinder (3045) is fixedly connected to the Y-axis extension electric cylinder end connector (3046); the Y-axis extension electric cylinder (3045) is fixedly connected to the fixed square tube (3044).

7. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 2, characterized in that: The multi-adaptive traction mechanism (4) is composed of a primary connecting frame (401), a primary connecting shaft (402), a limiting pin (403), a fixing wire (404), a connecting rotating head (405), a secondary connecting frame (406) and a secondary connecting shaft (407); The first-level connecting frame (401) is welded by steel plates and steel pipes on both sides, with connecting holes on both sides, and is connected to the traction mechanism connecting frame (105) through the limiting of the first-level connecting shaft (402), the limiting pin (403) and the fixing wire (404); The connecting rotating head (405) is rotatably connected to the front end of the primary connecting frame (401), and the connecting rotating head (405) is rotatably connected to the secondary connecting frame (406). The secondary connecting frame (406) is made by welding a profile frame and a square tube, and has a connecting hole at the bottom. It is connected to the vehicle frame (6) through the secondary connecting shaft (407); wherein the upper end of the secondary connecting frame (406) has two connecting holes.

8. The towable two-degree-of-freedom fixed side-mounted manipulator garbage collection vehicle according to claim 2, characterized in that: The tilt angle lifting mechanism (5) is composed of a first-stage lifting rod (501), a second-stage lifting rod (502), a lifting cylinder (503) and a third-stage lifting rod (504); The first-level lifting rod (501) is fixedly connected to the vehicle frame (6); the second-level lifting rod (502) is rotationally connected to the first-level lifting rod (501); the third-level lifting rod (504) is rotationally connected to the second-level lifting rod (502), and the third-level lifting rod (504) is rotationally connected to two single ears provided on the lower side of the garbage storage box (102); one end of the lifting cylinder (503) is rotationally connected to the first-level lifting rod (501), and the other end of the lifting cylinder (503) is rotationally connected to the third-level lifting rod (504).

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