Crawler for picking up ice surface garbage

Abstract

The utility model relates to a crawler for picking up ice garbage, which comprises a main body mounting plate, wheels are fixedly mounted at the bottom end of the main body mounting plate, and the crawler is convenient to move; the manipulator assemblies are fixedly mounted at the front end and the rear end of the main body mounting plate and are suitable for picking up articles or garbage; and the collecting basket assembly is fixedly mounted in the middle of the main body mounting plate and is suitable for containing articles or garbage. The manipulators are fixedly mounted at the front end and the rear end of the crawler, so that the stability can be improved, and the tipping phenomenon is avoided; the front mechanical arm and the rear mechanical arm can independently pick up garbage and can also be matched with each other to move the garbage, the pick-up modes are diversified, the mechanical arm is suitable for various types of objects or garbage, the application range is wide, and the objects or the garbage can be accurately picked up; the degree of freedom of the front manipulator is larger than that of the rear manipulator, control difficulty can be lowered while complex actions are achieved, garbage picking efficiency is high, and cost is low.

Description

TECHNICAL FIELD

[0001] The utility model belongs to tracked vehicle technical field relates to the tracked vehicle of picking up garbage, especially a kind of tracked vehicle for picking up ice surface garbage. BACKGROUND

[0002] Winter weather is cold, lake or river surface freezes, cannot be picked up by boat again, and garbage needs to be picked up by artificial picking;And ice surface often appears frozen not thick condition, cannot bear the weight of person, there is security risk, once in the place far from shore drops article or garbage, exceeds the range of salvage pole and in visual range, then it is difficult to pick up;Traditional tracked vehicle for picking up garbage, shovel-shaped garbage bin is fixedly installed in front of vehicle, and garbage is collected by shovel in the process of advancing, this way can only be used to clean relatively large garbage, and relatively small, thin garbage cannot be accurately cleaned;And because the shovel shape of garbage bin is fixed, the garbage in corner is not convenient to clean, and garbage picking efficiency is not high.

[0003] Therefore, we propose a kind of tracked vehicle for picking up ice surface garbage to solve the above problems. CONTENT OF UTILITY MODEL

[0004] The utility model aims at overcoming the deficiencies of prior art, and provides a kind of tracked vehicle for picking up ice surface garbage, which is efficient and flexible, and simple in structure.

[0005] To solve the above problems, the technical scheme of the utility model is as follows:

[0006] A kind of tracked vehicle for picking up ice surface garbage, comprising:

[0007] Main body mounting plate, bottom end part fixedly installed wheel, facilitate movement;

[0008] Mechanical hand assembly, fixedly installed in the front and rear end of main body mounting plate, suitable for picking up article or garbage;

[0009] Collecting basket assembly, fixedly installed in the middle of main body mounting plate, suitable for containing article or garbage.

[0010] In further embodiments, the mechanical hand assembly includes a front mechanical hand and a rear mechanical hand, and the degree of freedom of the front mechanical hand is greater than that of the rear mechanical hand.

[0011] In further embodiments, the four wheels are fixedly installed at the four corners of the main body mounting plate.

[0012] In further embodiments, the wheels are triangular track wheels.

[0013] In a further embodiment, the collecting basket assembly comprises a collecting basket body, a movable plate, a rope and a winding and unwinding assembly, one end of the collecting basket body is rotatably installed with the movable plate, the rope is installed on the periphery of the collecting basket body, and two ends of the rope are fixedly installed on two sides of the movable plate respectively.

[0014] The winding and unwinding assembly is fixedly installed on the collecting basket body and is adapted to wind and unwind the rope, thereby driving the movable plate to rotate.

[0015] In a further embodiment, the movable plate is located on the side of the main body mounting plate and between the two crawler wheels and is adapted to be lowered by rotating the movable plate.

[0016] In a further embodiment, when the movable plate is in a vertical state, the movable plate and the collecting basket body form a rectangular parallelepiped with an open top end.

[0017] When the movable plate is in a lowered state, the movable plate forms an inclined plane between the collecting basket body and the ice surface.

[0018] In a further embodiment, the winding and unwinding assembly comprises a winch and a motor, the motor is fixedly installed on the outer side wall of the collecting basket body, the motor is installed with the winch, and the winch is adapted to install the rope.

[0019] The motor drives the winch to rotate and is adapted to wind and unwind the rope.

[0020] In a further embodiment, a plurality of guide wheels are fixedly installed on the collecting basket body at intervals and are adapted to guide and support when the rope is wound and unwound.

[0021] In a further embodiment, the bottom end of the front manipulator is fixedly installed with a camera, and the camera is downwardly inclined.

[0022] Compared with the prior art, the utility model has the beneficial effects that:

[0023] 1、The front and rear ends of the crawler vehicle are fixedly installed with manipulators, which can improve stability and avoid tilting; the front and rear manipulators can be individually operated to pick up garbage within the visual range, or can be cooperated with each other to move garbage through the camera, the picking up mode is various, is suitable for various types of objects or garbage, has a wide application range, can accurately pick up objects or garbage, and has high garbage picking up efficiency and low cost.

[0024] 2, The side end of the collecting basket body of the tracked vehicle is fixedly installed with a movable plate. When the movable plate is retracted, the collecting basket body and the movable plate form an open rectangular prism at the top end, which facilitates the mechanical hand to pick up objects or garbage and put them into the collecting basket body. When the movable plate is lowered, the movable plate forms an inclined surface between the collecting basket body and the ice surface. Two mechanical hands cooperate to move the garbage into the collecting basket body. The picking method is diverse and suitable for various types of objects or garbage, and is flexible and convenient.

[0025] 3, The wheels of the tracked vehicle are tracked wheels, which are not easy to slip on the ice surface and have certain ability to cross bumps and ice cracks. The four tracked wheels are individually driven, and the forward and backward movement of the four tracked wheels is controlled to make the tracked vehicle move forward, backward and turn. The movable plate is located between the two tracked wheels, which can ensure the smooth lowering of the movable plate and connection to the ice surface. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 Figure 1 is a schematic view of a tracked vehicle for picking up ice surface garbage.

[0027] Figure 2 Figure 2 is another schematic view of a tracked vehicle for picking up ice surface garbage.

[0028] Figure 3 Figure 3 is a schematic view of a collecting basket of a tracked vehicle for picking up ice surface garbage.

[0029] In the figure: 1, main body mounting plate; 2, mechanical hand assembly; 21, front mechanical hand; 22, rear mechanical hand; 3, collecting basket assembly; 31, collecting basket body; 311, guide wheel; 32, movable plate; 33, rope; 34, collecting and releasing assembly; 341, winch; 342, motor; 4, battery; 5, control assembly; 51, front control part; 52, rear control part; 6, camera; 7, wheel. DETAILED DESCRIPTION

[0030] In the description of the utility model, need understanding is, the orientation or position relation that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "internal", "external" and the like indicate is based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, construct and operate in a particular orientation, therefore can not be understood as the limitation of the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0031] Embodiment 1:

[0032] A crawler for picking up ice surface garbage, as shown in Figures 1 to 3 It comprises main body mounting plate 1, mechanical hand assembly 2, collecting basket assembly 3 and wheel 7, the front and rear ends of main body mounting plate 1 are fixedly installed mechanical hand assembly 2, the middle part of main body mounting plate 1 is fixedly installed collecting basket assembly 3, collecting basket assembly 3 is fixedly installed control assembly 5, for controlling mechanical hand assembly 2 to clamp the garbage or articles on the ice into collecting basket assembly 3 by mutual cooperation;Four wheels 7 are fixedly installed on the bottom end of main body mounting plate 1, and the fixed height of main body mounting plate 1 is not less than the height of wheel 7. Preferably, main body mounting plate 1 is made of metal material, the length is 500mm, the width is 250mm, and the weight is 3KG;The length of wheel 7 is 275mm, the width is 30mm, and the height is 120mm, so that the height of main body mounting plate 1 from the ice surface is 120mm.

[0033] As Figure 1 , Figure 2As shown, the mechanical hand assembly 2 includes a front mechanical hand 21 and a rear mechanical hand 22, the front mechanical hand 21 is fixedly installed at the front end of the main body mounting plate 1, and the rear mechanical hand 22 is fixedly installed at the rear end of the main body mounting plate 1, which is convenient for balancing the center of gravity of the tracked vehicle, so that the center of gravity of the tracked vehicle is closer to the middle position, improves the stability, and reduces the risk of overturning; the front mechanical hand 21 is a six-axis six-degree-of-freedom mechanical arm, and the rear mechanical hand 22 is a three-axis three-degree-of-freedom mechanical arm; the front mechanical hand 21 has a larger degree of freedom and can realize complex actions and flexibly pick up garbage; the rear mechanical hand 22 has a smaller degree of freedom and reduces the complexity of control, and is used for picking up garbage or objects missed by the front mechanical hand 21; the two mechanical hands can also be used for picking up garbage or objects alone, or can be used for cooperating with each other to perform operations such as shifting, picking up, and holding garbage or objects on the side of the main body mounting plate 1, and accurately cleaning the garbage or objects.

[0034] As shown in Figure 3 The collection basket assembly 3 is used for storing picked objects or garbage, and includes a collection basket body 31, a movable plate 32, a rope 33, and a folding assembly 34; the collection basket body 31 and the movable plate 32 form a rectangular parallelepiped with an open top, the movable plate 32 is located on the side of the collection basket body 31, and the folding assembly 34 is used for folding the movable plate 32 to the collection basket body 31. Figure 1 , Figure 2As shown, the movable plate 32 can rotate up and down with the bottom edge as the axis. When the movable plate 32 is retracted, it forms a cuboid with the collecting basket body 31, which is convenient for holding articles or garbage. When the movable plate 32 is lowered, it forms a ramp on the side of the main body mounting plate 1. The front mechanical arm 21 and the rear mechanical arm 22 cooperate with the ramp to move the garbage or articles into the collecting basket body 31, thereby increasing the way of picking up articles. For articles that are not easy to be directly grabbed by the mechanical arm, the articles or garbage can be collected along the movable plate 32 into the collecting basket body 31 through the moving way, which is convenient for picking up different kinds of articles and garbage, has a wide range of applications, improves the picking efficiency, and is convenient for the garbage or articles collected in the collecting basket body 31 to be poured out. The retractable assembly 34 is fixedly installed on the outer side wall of the collecting basket body 31. The retractable assembly 34 is connected with the rope 33. The rope 33 is installed on the top side of the collecting basket body 31. The two ends of the rope 33 are fixedly installed on the two sides of the top end of the movable plate 32. The retractable assembly 34 controls the rotation of the movable plate 32 through the rope 33. The retractable assembly 34 includes a winch 341 and a motor 342. The motor 342 is fixedly installed on the outer side wall of the collecting basket body 31. The winch 341 is used for accommodating the rope 33. A plurality of guide wheels 311 are uniformly and interval fixedly installed on the outer side wall of the collecting basket body 31. The rope 33 is located on the guide wheels 311, which is suitable for guiding and supporting when the rope 33 is retracted. The motor 342 drives the winch 341 to rotate, drives the rope 33 to retract, and controls the movable plate 32 to rotate up and down. Preferably, the collecting basket body 31 with a large volume is used, which is convenient for reducing the number of picking operations of articles or garbage and improving the work efficiency.

[0035] Two batteries 4 are fixedly installed on the main body mounting plate 1, and are respectively located at the front and rear ends of the collecting basket body 31 to provide power for the tracked vehicle; a camera 6 is fixedly installed at the bottom end of the front mechanical arm 21, can rotate with the front mechanical arm 21, and can observe the surrounding situation; the camera 6 is inclined downward to facilitate better observation of the ice surface; the camera 6 is internally provided with a WIFI transmission module, transmits the image obtained by the camera 6 to the display screen, and facilitates observation by the user; the control assembly 5 includes a front control part 51 and a rear control part 52, the front control part 51 and the rear control part 52 are respectively fixedly installed on the front and rear sidewalls of the collecting basket body 31, and the front control part 51 and the rear control part 52 each include a signal receiver and an STM32-based development board; the signal receiver is provided with a controller, the user manipulates the controller, the controller transmits a control instruction signal to the signal receiver through Bluetooth remote control technology, the signal receiver transmits the control instruction to the development board, and the tracked vehicle is remotely controlled; the front control part 51 controls the movement of the front mechanical arm 21, the rear control part 52 controls the forward movement, backward movement, turning, folding and unfolding of the movable plate 32, and the movement of the rear mechanical arm 22; the wheels 7 are tracked wheels, facilitating movement on the ice surface, avoiding slipping, and easily crossing uneven ice surface obstacles such as lake shores, lake island edges, snow blocks, and ice surface cracks; the four tracked wheels are individually driven, and the forward and backward movement of the four tracked wheels controls the forward and backward movement and turning of the tracked vehicle.

[0036] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A tracked vehicle for picking up ice surface litter, characterized in that The utility model relates to a kind of intelligent garbage collection vehicle, including: Main body mounting plate (1), bottom end part is fixedly installed wheel (7), convenient for moving; Mechanical hand assembly (2), fixedly installed in the front, rear end part of the main body mounting plate (1), suitable for picking up goods or garbage; Collect basket assembly (3), fixedly installed in the middle of the main body mounting plate (1), suitable for containing the goods or garbage.

2. The tracked vehicle for picking up ice surface litter according to claim 1, characterized in that, The mechanical hand assembly (2) includes front mechanical hand (21) and rear mechanical hand (22), and the degree of freedom of the front mechanical hand (21) is greater than that of the rear mechanical hand (22).

3. A track-laying vehicle for picking up ice surface litter according to claim 2, characterized in that The wheel (7) is provided with four, and is fixedly installed at four corners of the main body mounting plate (1) respectively.

4. The track-laying vehicle for picking up ice surface garbage according to claim 3, characterized in that, The wheel (7) is a triangular track wheel.

5. A track-laying vehicle for picking up ice surface litter according to claim 4, characterized in that The collect basket assembly (3) includes collect basket body (31), movable plate (32), rope (33) and take-up assembly (34), one end of the collect basket body (31) is rotatably installed the movable plate (32), the rope (33) is installed on the circumferential side of the collect basket body (31), and both ends of the rope (33) are fixedly installed on the two sides of the movable plate (32) respectively; The take-up assembly (34) is fixedly installed on the collect basket body (31), and the take-up assembly (34) is suitable for taking up the rope (33), so as to drive the movable plate (32) to rotate.

6. A track-laying vehicle for picking up ice surface litter according to claim 5, characterized in that The movable plate (32) is located on the side of the main body mounting plate (1) and between the two track wheels, and is suitable for the movable plate (32) to rotate and drop.

7. A track-laying vehicle for picking up ice surface litter according to claim 6, characterized in that When the movable plate (32) is in vertical state, the movable plate (32) and the collect basket body (31) form a rectangular parallelepiped with the top end opening; When the movable plate (32) is in drop state, the movable plate (32) forms an inclined plane between the collect basket body (31) and the ice surface.

8. A track-laying vehicle for picking up ice surface litter according to claim 7, characterized in that The take-up assembly (34) includes winch (341) and motor (342), the motor (342) is fixedly installed on the outer side wall of the collect basket body (31), the motor (342) is installed the winch (341), and the winch (341) is suitable for installing the rope (33); The motor (342) drives the winch (341) to rotate, and is suitable for taking up the rope (33).

9. The track-laying vehicle for picking up ice surface garbage according to claim 8, characterized in that, A plurality of guide wheels (311) are fixedly installed on the collect basket body (31) at intervals, suitable for guiding and supporting when the rope (33) is taken up.

10. The track-laying vehicle for picking up ice surface garbage according to claim 9, characterized in that, The bottom end of the front mechanical hand (21) is fixedly installed with a camera (6), and the camera (6) is downwardly inclined.

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