Garbage can transfer equipment

Abstract

The utility model relates to the technical field of garbage carrying, and provides garbage can transfer equipment which comprises a moving platform and a grabbing mechanism, the moving platform has the length direction and the height direction, and a containing position suitable for containing a garbage can is arranged at the top of the moving platform; the grabbing mechanism is arranged at the top of the moving platform and comprises a grabbing piece suitable for grabbing the edge of the garbage can and a moving structure, and the moving structure is suitable for driving the grabbing piece to move in the length direction and the height direction and carrying the garbage can to the containing position. The garbage can transfer equipment can automatically grab and transfer garbage cans and can work for 24 hours, the workload of medical staff is relieved, the garbage can carrying efficiency is improved, the hospital logistics management efficiency is improved, labor is reduced, and the cost rate is reduced; and the grabbing pieces can grab the edges of the garbage cans, move in the height direction and the length direction and carry the garbage cans to the containing positions on the top of the moving platform, carrying of the garbage cans is more convenient, and the safety coefficient is higher.

Description

Technical Field

[0001] This utility model relates to the field of waste handling technology, and further to a waste bin transfer device. Background Technology

[0002] Each ward in the hospital is equipped with a waste bin for general household waste and a waste bin for medical waste. Nursing staff regularly move the waste bins to the garbage room and replace them with an empty one for each ward. This results in a heavy workload for hospital staff, low efficiency in moving the waste bins, significant time consumption, and an inability to operate 24 / 7. Therefore, in recent years, more and more hospitals have been using logistics robots to replace manual transportation of hospital logistics management materials, including medical waste and general household waste. Utility Model Content

[0003] To address the aforementioned technical problems, the purpose of this utility model is to provide a trash can transfer device. This device can automatically grab and transfer trash cans, operate 24 hours a day, reduce the workload of medical staff, improve the efficiency of trash can handling, enhance hospital logistics management, reduce manpower, and lower costs. Furthermore, the gripping component can grasp the edge of the trash can and move it along the height and length directions, transporting the trash can to the placement position at the top of the mobile platform, making trash can handling more convenient and safer.

[0004] To achieve the above objectives, this utility model provides a garbage bin transfer device, including a mobile platform and a gripping mechanism; the mobile platform has a length direction and a height direction, and the top of the mobile platform is provided with a placement position suitable for placing garbage bins; the gripping mechanism is disposed on the top of the mobile platform, and the gripping mechanism includes a gripping element suitable for gripping the edge of the garbage bin and a moving structure, the moving structure being adapted to drive the gripping element to move along the length direction and the height direction and transport the garbage bin to the placement position.

[0005] In some embodiments, the movable structure further includes a first support, a first movable component, a second support, and a second movable component. The first support is movably mounted on the movable platform along the length direction via the first movable component, and the second support is movably mounted on the first support along the height direction via the second movable component. The gripper is mounted on one end of the second support along the length direction.

[0006] In some embodiments, the first moving component includes a pair of first moving parts, and the moving platform further has a width direction, with the pair of first moving parts symmetrically disposed at both ends of the placement position in the width direction;

[0007] The first bracket has a first movable component connected to each of its two ends, and the second movable component is installed at one end of the first bracket in the length direction.

[0008] In some embodiments, the second movable component is disposed at the middle of the first bracket in the width direction, and the second bracket is slidably mounted on the first bracket at both ends in the width direction.

[0009] In some embodiments, the gripping member includes a pair of gripping parts disposed along the height direction and adapted to abut against the inner sidewall of the edge of the trash can; the pair of gripping parts are symmetrically disposed on both sides of the first bracket in the width direction.

[0010] In some embodiments, the gripping member further includes a plurality of first support portions, which are symmetrically arranged on both sides of the first bracket in the width direction and located opposite to the gripping portion, and the first support portions are adapted to abut against the side door of the trash can.

[0011] In some embodiments, the gripping member further includes a plurality of second support portions, and a plurality of first support portions are symmetrically arranged on both sides of the first bracket in the width direction and located opposite to the outer side of the first support portions, and the second support portions are adapted to abut against the two side walls of the trash can in the width direction.

[0012] In some embodiments, the gripping mechanism further includes microswitches and / or photoelectric sensors adapted to control the first moving component and the second moving component.

[0013] In some embodiments, the mobile platform is further provided with a sensing component at one end in the length direction, the sensing component including an object recognition camera, a depth camera, and a 3D LiDAR.

[0014] In some embodiments, the mobile platform is further provided with a walking mechanism adapted to drive the mobile platform to walk on the ground and reach a designated position; the mobile platform is further provided with a display platform at the other end of the length direction, and a display screen is provided on the top of the display platform.

[0015] Compared with the prior art, the garbage bin transfer device provided by this utility model has at least one of the following beneficial effects:

[0016] 1. The trash can transfer equipment can automatically grab and transfer trash cans. The equipment can work 24 hours a day, reducing the workload of medical staff, improving the efficiency of trash can handling, improving hospital logistics management, reducing manpower, and lowering costs. Moreover, the gripping component can grab the edge of the trash can and move it along the height and length directions to transport the trash can to the placement position at the top of the mobile platform, making trash can handling more convenient and safer.

[0017] 2. A pair of first moving parts are symmetrically arranged at both ends of the placement position in the width direction and connected to both ends of the first bracket, so that the center of gravity of the gripping mechanism is more stable and the first moving parts can drive the first bracket to move more stably and reliably in the length direction.

[0018] 3. The first support is adapted to hold the side door of the trash can and fix the side of the trash can, so as to prevent the trash can from tipping over during the movement of the grabbing mechanism and improve the safety of the grabbing mechanism in handling the trash can.

[0019] 4. The sensing component can identify the trash can and align the gripping structure with it, making it easier for the gripping part of the gripping mechanism to reach below the edge of the trash can, thus increasing the accuracy of the gripping mechanism. Attached Figure Description

[0020] The preferred embodiments will be described below in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages and implementation methods of this utility model.

[0021] Figure 1 This is an overall diagram of a garbage bin transfer device;

[0022] Figure 2 This is a front view of a garbage bin transfer device;

[0023] Figure 3 This is a structural diagram of a mobile platform;

[0024] Figure 4 This is a structural diagram of a trash can.

[0025] Explanation of icon numbers:

[0026] Mobile platform 1, length direction 101, height direction 102, width direction 103, placement position 11.

[0027] Gripping mechanism 2, gripping component 21, gripping part 211, first support part 212, first bracket 22, first moving component 23, first moving piece 231, second bracket 24, second moving component 25.

[0028] Sensor component 3, object recognition camera 31, depth camera 32, 3D LiDAR 33

[0029] Display stand 4, trash can 5, edge 51. Detailed Implementation

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the specific implementation methods of this utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0031] To keep the drawings concise, each figure only schematically shows the parts relevant to the utility model, and these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0032] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] Furthermore, in the description of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

[0035] refer to Figures 1 to 3This utility model provides a garbage bin transfer device, including a mobile platform 1 and a gripping mechanism 2. The mobile platform 1 has a length direction 101 and a height direction 102. The top of the mobile platform 1 is provided with a placement position 11 suitable for placing a garbage bin 5. The gripping mechanism 2 is disposed on the top of the mobile platform 1. The gripping mechanism 2 includes a gripping member 21 suitable for gripping the edge 51 of the garbage bin 5 and a moving structure. The moving structure is suitable for driving the gripping member 21 to move along the length direction 101 and the height direction 102 and transporting the garbage bin 5 to the placement position 11.

[0036] In this embodiment, the trash can transfer equipment can automatically grab and transfer trash cans 5. The trash can transfer equipment can work 24 hours a day, reducing the workload of medical staff, improving the efficiency of trash can 5 transportation, improving hospital logistics management efficiency, reducing manpower, and lowering cost. Moreover, the gripping component 21 can grab the edge 51 of the trash can 5 and move it along the height direction 102 and the length direction 101 to transport the trash can 5 to the placement position 11 at the top of the mobile platform 1, making the transportation of trash can 5 more convenient and safer.

[0037] Specifically, the mobile platform 1 is a garbage bin transfer device, which has a walking mechanism adapted to drive the mobile platform 1 to move on the ground and reach a designated position. A placement position 11 is provided on the top of the mobile platform 1, suitable for placing the garbage bin 5. The mobile platform 1 also has a length direction 101 and a height direction 102, with the height direction 102 perpendicular to the length direction 101. The inventive point of this application is that the gripping member 21 of the gripping mechanism 2 can move along the height direction 102 and the length direction 101 to transport the garbage bin 5 to the placement position 11 on the top of the mobile platform 1. The garbage bin 5 is then transported by the movement of the mobile platform 1. During the transport process, the garbage bin 5 is fixedly placed on the placement position 11, effectively preventing the garbage bin 5 from shaking during transport. The placement position 11 is located at the center of the top of the mobile platform 1, making the center of gravity of the garbage bin 5 level with the center of gravity of the mobile platform 1, making the garbage bin 5 more stable and less prone to shaking during transport by the mobile platform 1. Furthermore, when the trash can 5 is placed on the placement position 11, the trash can 5 is relatively located inside the moving platform 1, that is, the outer edge of the trash can 5 does not exceed the outer edge of the moving platform 1, which can also effectively prevent the trash can 5 from hitting other objects. The gripping component 21 includes, but is not limited to, hooks, fixing slots, etc., as long as the gripping component 21 is suitable for inserting into the edge 51 of the trash can 5.

[0038] refer to Figure 2The moving structure includes a first support 22, a first moving component 23, a second support 24, and a second moving component 25. The first support 22 is movably mounted to the moving platform 1 along the length direction 101 via the first moving component 23. The second support 24 is movably mounted to the first support 22 along the height direction 102 via the second moving component 25. A gripping member 21 is mounted at one end of the second support 24 along the length direction 101. The moving structure includes microswitches and / or photoelectric sensors adapted to control the first moving component 23 and the second moving component 25, so that the first support 22 and the second support 24 reach a designated position.

[0039] The process of the garbage can transfer equipment moving garbage can 5 is as follows: The garbage can transfer equipment is aligned with the garbage can 5. The second moving component 25 of the gripping mechanism 2 drives the second support 24 to slide along the height direction 102 and reach the bottom of the first support 22. Then the first moving component 23 drives the first support 22 to move to the left along the length direction 101 until the first support 22 reaches the end of the moving platform 1, or the gripping member 21 is located below the edge 51 of the garbage can 5. Then the second moving component 25 drives the second support 24 to slide upward along the height direction 102 and make the gripping member 21 connect with the edge 51 of the garbage can 5. The first moving component 23 then drives the first support 22 to move to the right along the length direction 101 until the garbage can 5 reaches above the placement position 11.

[0040] When unloading the trash can 5, the first moving component 23 drives the first support 22 to move to the left along the length direction 101 until the first support 22 reaches the end of the moving platform 1. At this time, the trash can 5 is completely placed outside the moving platform 1. The second moving component 25 then drives the second support 24 to slide down along the height direction 102 to place the trash can 5 on the ground.

[0041] It is worth noting that the first moving component 23 and the second moving component 25 include, but are not limited to, commonly used drive structures in the art such as lead screws and motors. As long as the first bracket 22 can move along the length direction 101 and the second bracket 24 can move along the height direction 102, they are within the protection scope of this application.

[0042] Furthermore, the first moving component 23 includes a pair of first moving parts 231, and the moving platform 1 also has a width direction 103. The pair of first moving parts 231 are symmetrically arranged at both ends of the placement position 11 in the width direction 103. The two ends of the first bracket 22 are respectively connected to a first moving part 231, and the second moving component 25 is installed at one end of the first bracket 22 in the length direction 101.

[0043] In this embodiment, a pair of first moving parts 231 are symmetrically arranged at both ends of the placement position 11 in the width direction 103 and connected to both ends of the first bracket 22, so that the center of gravity of the gripping mechanism 2 is more stable and the first moving parts 231 can drive the first bracket 22 to move more stably and reliably in the length direction 101.

[0044] Specifically, the width direction 103 and the length direction 101 are located on the same horizontal plane and perpendicular to each other. The second moving component 25 is disposed in the middle of the first support 22 in the width direction 103, and the second moving component 25 provides better movement for the second support 24. The second support 24 is slidably mounted on the first support 22 at both ends in the width direction 103, which can effectively prevent the second support 24 from separating from the first support 22. Preferably, the gripping member 21 includes a pair of gripping parts 211, which are disposed along the height direction 102 and are adapted to abut against the inner sidewall of the edge 51 of the trash can 5; the pair of gripping parts 211 are symmetrically disposed on both sides of the first support 22 in the width direction 103. When the trash can 5 is placed on the placement position 11, the bottom of the trash can 5 is positioned between a pair of first moving parts 231. The first moving parts 231 act as abutments against both ends of the trash can 5 in the width direction 103, preventing the bottom of the trash can 5 from swaying arbitrarily in the width direction 103 and reducing the risk of the trash can 5 swaying left and right and colliding with other objects. It is worth noting that the two first moving parts 231 of the first moving assembly 23 are controlled by the same driver, ensuring that the two first moving parts 231 are synchronized in the length direction. The first moving assembly 23 and the second moving assembly 25 are controlled separately. The first moving assembly 23 moves in the length direction 101, while the second moving assembly 25 moves in the height direction. Of course, in a modified embodiment, the placement position 11 may also be provided with several abutment blocks, which are adapted to abut against the edge of the bottom of the trash can 5.

[0045] Furthermore, the gripping component 21 also includes a plurality of first support portions 212, which are symmetrically arranged on both sides of the first bracket 22 in the width direction 103 and located opposite to the gripping portion 211. The first support portions 212 are adapted to support the side door of the trash can 5.

[0046] In this embodiment, the first support 212 is adapted to hold the side door of the trash can 5 and fix the side of the trash can 5, so as to prevent the trash can 5 from tipping over during the movement of the gripping mechanism 2 and improve the safety of the gripping mechanism 2 in handling the trash can 5.

[0047] Specifically, there are four first support parts 212, which respectively abut the four corners of the side door of the trash can 5 to prevent the trash can 5 from tilting. At the same time, the four first support parts 212 are symmetrically arranged along the height direction 102, and all four first support parts 212 are located below the gripping part 211. In this embodiment, the first support parts 212 and the gripping part 211 are located on the same vertical plane, which makes the stability of the first support parts 212 and the gripping part 211 more effective.

[0048] It is worth noting that the gripping member 21 also includes several second support portions, which have the same function as the first support portion 212. These second support portions are symmetrically arranged on both sides of the first support 22 in the width direction 103 and are located opposite to the first support portion 212. The second support portions do not contact the trash can 5 and support the trash can 5 on both sides in the width direction 103. In this embodiment, the second support portions support the trash can 5 on both sides in the width direction 103, increasing the stability of the trash can 5 and preventing deformation and tilting of the second support 24 when the trash can 5 is overloaded. In a modified embodiment, the gripping member 21 also includes a third support portion, which is adapted to abut or engage with a position on the trash can 5 to stably position the trash can 5 on the placement position 11. Of course, other support portions can also be provided in this application, and no further limitations are made here.

[0049] Further, refer to Figure 1 and Figure 4 The mobile platform 1 is also provided with a sensing component 3 at one end of its length direction 101. The sensing component 3 includes an object recognition camera 31, a depth camera 32, and a 3D LiDAR 33.

[0050] In this embodiment, the sensing component 3 can identify the trash can 5 and align the gripping structure with the trash can 5, so that the gripping part 211 of the gripping mechanism 2 can reach below the edge 51 of the trash can 5, thereby increasing the accuracy of the gripping mechanism 2.

[0051] Specifically, the sensing component 3 is located at the end of the mobile platform 1 furthest from the display platform 4. The object recognition camera 31 and the depth camera 32 are a pair and are respectively located on both sides of the end of the mobile platform 1. The sensing component 3 can sense and align the trash can 5, which is prior art in this application and will not be described further here.

[0052] The operation process of the garbage can transfer equipment is as follows: Garbage can 5 is full — the department places an order (or places an order on a schedule) — the dispatch system receives the order and assigns it to an idle garbage can transfer equipment — the garbage can transfer equipment receives the order — the garbage can transfer equipment navigates to the department — the garbage can transfer equipment identifies and aligns with garbage can 5 — the garbage can transfer equipment grabs garbage can 5 — the garbage can transfer equipment moves garbage can 5 to the placement position 11 on the moving platform — the garbage can transfer equipment navigates to the garbage recycling station — the garbage can transfer equipment arrives at the garbage can 5 recycling station — the garbage can transfer equipment unloads garbage can 5 — the garbage can transfer equipment returns the new garbage can 5 to the department.

[0053] At the other end of the length direction 101, the mobile platform 1 is also equipped with a display platform 4, and a display screen is also provided on the top of the display platform 4. During the transportation process, the garbage bin transfer equipment slowly approaches the garbage bin 5 until the gripping mechanism 2 is just below the position where it can grip the garbage bin 5. The entire process is based on sensor recognition and judgment. When the gripping mechanism 2 grips, the first support 22 moves away from the display platform 4 and descends. After the gripping mechanism 2 grips the garbage bin 5, the second support 24 rises, lifting the garbage bin 5 above the placement position 11 of the mobile platform 1. Then, the first support 22 begins to move towards the display platform 4, bringing the garbage bin 5 back to the placement position 11 of the mobile platform 1. The garbage bin transfer equipment automatically navigates to the target point.

[0054] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A garbage bin transfer device, characterized in that, include: A mobile platform having a length direction and a height direction, and a placement position suitable for placing a trash can on the top of the mobile platform; A gripping mechanism is disposed on the top of the mobile platform. The gripping mechanism includes a gripping element adapted to grip the edge of the trash can and a moving structure. The moving structure is adapted to drive the gripping element to move along the length direction and the height direction and transport the trash can to the placement position.

2. The garbage bin transfer device according to claim 1, characterized in that, The movable structure includes a first support, a first movable component, a second support, and a second movable component. The first support is movably mounted on the movable platform along the length direction via the first movable component. The second support is movably mounted on the first support along the height direction via the second movable component. The gripper is mounted on one end of the second support along the length direction.

3. A garbage bin transfer device according to claim 2, characterized in that, The first moving component includes a pair of first moving parts, and the moving platform also has a width direction, with the pair of first moving parts symmetrically arranged at both ends of the placement position in the width direction; The first bracket has a first movable component connected to each of its two ends, and the second movable component is installed at one end of the first bracket in the length direction.

4. A garbage bin transfer device according to claim 3, characterized in that, The second movable component is disposed at the middle of the first bracket in the width direction, and the second bracket is slidably mounted on the first bracket at both ends in the width direction.

5. A garbage bin transfer device according to claim 3, characterized in that, The gripping member includes a pair of gripping parts, which are arranged along the height direction and are adapted to abut against the inner sidewall of the edge of the trash can; the pair of gripping parts are symmetrically arranged on both sides of the first bracket in the width direction.

6. A garbage bin transfer device according to claim 5, characterized in that, The gripping component further includes a plurality of first support portions, which are symmetrically arranged on both sides of the first bracket in the width direction and located opposite to the gripping portion. The first support portions are adapted to abut against the side door of the trash can.

7. A garbage bin transfer device according to claim 6, characterized in that, The gripping component further includes several second support portions, and several first support portions are symmetrically arranged on both sides of the first bracket in the width direction and located opposite to the outside of the first support portions. The second support portions are adapted to abut against the two side walls of the trash can in the width direction.

8. A garbage bin transfer device according to claim 7, characterized in that, The gripping mechanism further includes microswitches and / or photoelectric sensors adapted to control the first moving component and the second moving component.

9. A garbage bin transfer device according to any one of claims 1-8, characterized in that, The mobile platform is also equipped with a sensing component at one end of its length direction, the sensing component including an object recognition camera, a depth camera, and a 3D LiDAR.

10. A garbage bin transfer device according to claim 9, characterized in that, The mobile platform is also equipped with a walking mechanism, which is adapted to drive the mobile platform to walk on the ground and reach a designated position; the mobile platform is also equipped with a display platform at the other end of the length direction, and a display screen is also provided on the top of the display platform.

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