Waste picking robot

Abstract

The utility model provides a waste picking robot, and relates to the technical field of intelligent garbage cleaning, the waste picking robot comprises a walking chassis, a multi-degree-of-freedom manipulator and an intelligent control unit, the multi-degree-of-freedom manipulator comprises a rotary table mechanism, a plurality of stages of rotary arm mechanisms connected end to end and a clamping jaw mechanism, and the rotary table mechanism rotates on a horizontal plane. Each stage of rotating arm mechanism overturns up and down relative to the horizontal plane, the first stage of rotating arm mechanism is rotatably connected with the rotary table mechanism, the last stage of rotating arm mechanism is rotatably connected with the clamping jaw mechanism, the clamping jaw mechanism comprises an arm seat, two oppositely arranged clamping arms, two oppositely meshed gears and a first driver, and the two gears are rotatably arranged on the arm seat; the two gears are rotationally connected with the two clamping arms correspondingly, the first driver is arranged on the arm base and rotationally connected with one clamping arm so as to drive the ends, away from the gears, of the two clamping arms to be away from and close to each other, and the intelligent control unit controls the walking chassis to intelligently walk according to the surrounding environment. According to the utility model, various garbage with different sizes can be picked up.

Description

Technical Field

[0001] This utility model relates to the field of intelligent garbage cleaning technology, and in particular to a garbage collection robot. Background Technology

[0002] With economic development, population growth, and improved living standards, the amount of household waste is increasing daily. In order to process household waste quickly and effectively, a waste-collecting robot has been developed to improve the efficiency of waste disposal and reduce the waste of human resources.

[0003] Specifically, the scavenging robot is developed based on artificial intelligence and robotics technologies. It can perceive its environment through sensors and cameras, automatically identify and sort garbage. In addition, it has the ability to move autonomously, and can autonomously cruise in environments such as cities and scenic spots to achieve automatic garbage collection and processing.

[0004] However, current scavenging robots are usually designed to handle trash of a specific size. If the trash is too big for the robot to grasp, it cannot be effectively sorted. Utility Model Content

[0005] Therefore, the purpose of this utility model is to provide a scavenging robot that is capable of picking up various sizes of garbage.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] This utility model provides a scavenging robot, including a walking chassis, a multi-degree-of-freedom manipulator, and an intelligent control unit. Both the multi-degree-of-freedom manipulator and the intelligent control unit are mounted on the walking chassis. The multi-degree-of-freedom manipulator includes a turntable mechanism, a multi-stage rotating arm mechanism connected end-to-end, and a gripper mechanism. The turntable mechanism rotates in a horizontal plane, and each stage of the rotating arm mechanism flips vertically relative to the horizontal plane. The first-stage rotating arm mechanism is rotatably connected to the turntable mechanism, and the gripper mechanism is rotatably connected to the last-stage rotating arm mechanism. The gripper mechanism includes an arm base, two opposing gripping arms, two meshing gears, and a first driver. Both gears are rotatably mounted on the arm base and rotatably connected to the two gripping arms respectively. The first driver is mounted on the arm base and is driven by one of the gears to drive the ends of the two gripping arms away from the gears to move away from and closer to each other. The intelligent control unit is used to control the walking chassis to move intelligently according to the surrounding environment and to control the gripping posture of the multi-degree-of-freedom manipulator.

[0008] In addition, the scavenging robot described above according to this utility model may also have the following additional technical features:

[0009] Furthermore, the turntable mechanism includes a turntable and a second driver. The turntable is rotatably mounted on the chassis. The first-stage rotating arm mechanism is rotatably connected to the turntable. The second driver is mounted on the chassis and is poweredly connected to the turntable to drive the turntable to rotate in a horizontal plane.

[0010] Furthermore, the scavenging robot also includes a waste processing device, which is mounted on the walking chassis and electrically connected to the intelligent control unit. This device is used to crush and store the waste transported by the multi-degree-of-freedom robotic arm.

[0011] Furthermore, the waste treatment device includes a housing and a blade assembly. The housing is mounted on a chassis and has a receiving cavity and a feed inlet communicating with the receiving cavity. The blade assembly is rotatably mounted inside the receiving cavity.

[0012] Furthermore, the scavenging robot also includes a fire extinguishing device, which is mounted on the chassis and electrically connected to the intelligent control unit, and is used to spray fire extinguishing agent onto the fire source.

[0013] Furthermore, the scavenging robot also includes a garbage shovel assembly, which is mounted on the chassis and electrically connected to the intelligent control unit, for vertical movement relative to the chassis to collect garbage.

[0014] Furthermore, the garbage shovel assembly includes a base, a lifting seat, a garbage shovel body, and a drive assembly. The base is fixed on the chassis, the lifting seat is movably mounted on the base, the garbage shovel body is connected to the lifting seat, and the drive assembly drives the lifting seat to move up and down relative to the base.

[0015] Furthermore, the drive assembly includes a limiting guide post, a lead screw, and a third driver. The limiting guide post is fixed on the chassis, the lifting seat slides through the limiting guide post, the lead screw is threadedly connected to the lifting seat, and the third driver is located on the base and is poweredly connected to the lead screw to drive the lead screw to rotate.

[0016] Furthermore, the chassis is a tracked chassis.

[0017] The beneficial effects of this utility model include at least the following: by intelligently driving the walking chassis to move and with the cooperation of a multi-degree-of-freedom robotic arm, it can achieve the function of autonomously picking up garbage. At the same time, by setting the multi-degree-of-freedom robotic arm to be a gripper arm that can change the gripping distance, it can achieve the function of picking up garbage of various sizes, thus improving the intelligent practicality of the garbage collection robot. Attached Figure Description

[0018] Figure 1 This is a first-view structural diagram of a scavenging robot according to an embodiment of the present invention.

[0019] Figure 2 This is a structural schematic diagram of a scavenging robot from a second perspective in one embodiment of the present invention.

[0020] Figure 3 This is a first-view structural schematic diagram of a multi-degree-of-freedom manipulator according to an embodiment of the present invention;

[0021] Figure 4 This is a second-view structural schematic diagram of a multi-degree-of-freedom manipulator according to an embodiment of the present invention;

[0022] Explanation of key component symbols:

[0023] The system includes: a walking chassis 100, a multi-degree-of-freedom manipulator 200, a turntable mechanism 210, a turntable 211, a second driver 212, a rotating arm mechanism 220, a gripper mechanism 230, an arm seat 231, a gripper arm 232, a gear 233, a first driver 234, a waste disposal device 300, a container 310, a receiving cavity 311, a feed inlet 312, a fire extinguishing device 400, a waste shovel assembly 500, a base 510, a lifting seat 520, a waste shovel body 530, a drive assembly 540, a limit guide column 541, a lead screw 542, and a third driver 543.

[0024] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this utility model. Detailed Implementation

[0025] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] Please refer to Figures 1 to 4The present invention provides a scavenging robot, including a walking chassis 100, a multi-degree-of-freedom manipulator 200, and an intelligent control unit (not shown in the accompanying drawings).

[0029] Specifically, the multi-degree-of-freedom manipulator 200 and the intelligent control unit are both fixed on the walking chassis 100. The multi-degree-of-freedom manipulator 200 includes a turntable mechanism 210, a multi-stage, end-to-end connected rotating arm mechanism 220, and a gripper mechanism 230. The turntable mechanism 210 rotates in a horizontal plane, thus achieving left and right rotation. It should be noted that the horizontal plane here refers to the plane where the top of the walking chassis 100 is located. Each stage of the rotating arm mechanism 220 flips up and down relative to the horizontal plane, thus achieving a telescopic function. The gripper mechanism 230 is used to pick up trash. In specific assembly, the first-stage rotating arm mechanism 220 is rotatably connected to the turntable mechanism 210, and the gripper mechanism 230 is rotatably connected to the last-stage rotating arm mechanism 220, thus allowing adjustment of the angle at which trash is gripped. Optionally, the rotation of the turntable mechanism 210 and the rotating arm mechanism 220 can be achieved via servo motors.

[0030] The gripper mechanism 230 includes an arm base 231, two opposing gripping arms 232, two meshing gears 233, and a first driver 234. The arm base 231 is rotatably connected to the last-stage rotating arm mechanism 220. Specifically, the driver can be installed at the front end of the last-stage rotating arm mechanism 220, and then the driver can be controlled to drive the arm base 231 to rotate. Optionally, the driver can be a servo motor. Both gears 233 are rotatably mounted on the arm base 231 and are rotatably connected to the two gripping arms 232 respectively. The first driver 234 is mounted on the arm base 231 and is driven by one of the gears 233. When the first driver 234 drives the gear 233 to rotate, the ends of the two gripping arms 232 away from the gear 233 move away from and closer to each other. By controlling the rotation stroke of the first driver 234, the distance between the two gripping arms 232 can be adjusted, thus allowing the picking up of trash of different sizes. Optionally, the first driver 234 can be a servo motor.

[0031] The intelligent control unit is used to control the walking chassis to move intelligently based on the surrounding environment. Specifically, the intelligent control unit can control the walking chassis 100 to move intelligently based on the surrounding environment information collected by various sensors and intelligent algorithms. Simultaneously, when picking up trash, the multi-degree-of-freedom robotic arm 200 can be controlled to grasp the trash according to its condition. It should be noted that the intelligent control unit falls within the scope of existing technology and will not be elaborated upon here.

[0032] In some alternative embodiments, such as Figure 3 , Figure 4As shown, the turntable mechanism 210 includes a turntable 211 and a second driver 212. The turntable 211 is rotatably mounted on the chassis 100. The first-stage swing arm mechanism 220 is rotatably connected to the turntable 211. The second driver 212 is mounted on the chassis 100 and is poweredly connected to the turntable 211. During operation, the second driver 212 drives the turntable 211 to rotate in a horizontal plane, thereby achieving the function of left and right rotation. It should be noted that the horizontal plane here refers to the plane where the top of the chassis 100 is located.

[0033] In some alternative embodiments, such as Figure 3 As shown, the scavenging robot also includes a waste processing device 300, which is mounted on the chassis 100 and electrically connected to the intelligent control unit. When the scavenging robot is working, the multi-degree-of-freedom robotic arm 200 picks up the waste and transports it to the waste processing device 300 for crushing and processing, and stores the processed waste fragments. When the intelligent control unit detects that the amount of waste fragments stored in the waste processing device 300 exceeds a certain amount, it controls the multi-degree-of-freedom robotic arm 200 to stop picking up waste.

[0034] In some alternative embodiments, such as Figure 1 As shown, the waste processing device 300 includes a housing 310 and a blade assembly (not shown in the figures). The housing 310 is mounted on a chassis 100 and has a receiving cavity 311 and a feed inlet 312 communicating with the receiving cavity 311. The blade assembly is rotatably disposed within the receiving cavity 311. When the scavenging robot is working, the waste grasped by the multi-degree-of-freedom manipulator 200 is transported from the feed inlet 312 into the receiving cavity 311. After being crushed by the blade assembly, the final processed waste fragments are stored in the receiving cavity 311. Optionally, the intelligent control unit can detect whether the waste fragments stored in the housing 310 exceed the maximum capacity of the receiving cavity 311 using a weight sensor. To further reduce the volume of waste and facilitate storage and transportation, the blade assembly includes multiple layers of blades stacked vertically, which thoroughly crush the waste.

[0035] At some patrol points, in order to effectively prevent and extinguish initial fires, in some optional embodiments, such as Figure 1As shown, the scavenging robot also includes a fire extinguishing device 400, which is mounted on the chassis 100 and electrically connected to the intelligent control unit. When the intelligent control unit detects a fire source, it quickly controls the chassis 100 and the fire extinguishing device 400 to respond. First, it controls the chassis 100 to move the scavenging robot to the fire source, and then it controls the fire extinguishing device 400 to spray extinguishing agent onto the fire source, thereby protecting the scenic area environment and the safety of tourists. Optionally, the intelligent control unit can detect the fire source using an infrared detector. The infrared detector also allows the scavenging robot to work at night or in environments with poor visibility, thus increasing the robot's working time. Furthermore, the infrared detector can assist in intelligent navigation to quickly avoid obstacles.

[0036] In some alternative embodiments, such as Figure 1 , Figure 2 As shown, the scavenging robot also includes a garbage shovel assembly 500, which is mounted on the chassis 100 and electrically connected to the intelligent control unit. By including the garbage shovel assembly 500, it is possible to collect accumulated garbage or garbage that is relatively concentrated in one area. Furthermore, to adapt to more complex terrains, such as collecting garbage on steps, the garbage shovel assembly 500 is configured to move vertically up and down relative to the chassis 100.

[0037] In some alternative embodiments, such as Figure 2 As shown, specifically, the garbage shovel assembly 500 includes a base 510, a lifting seat 520, a garbage shovel body 530, and a drive assembly 540. The base 510 is fixed on the walking chassis 100, the lifting seat 520 is movably mounted on the base 510, the garbage shovel body 530 is connected to the lifting seat 520, and the drive assembly 540 drives the lifting seat 520 to move up and down relative to the base 510. The up and down movement of the lifting seat 520 drives the garbage shovel body 530 to move up and down.

[0038] In some alternative embodiments, such as Figure 2 As shown, the drive assembly 540 includes a limiting guide post 541, a lead screw 542, and a third actuator 543. The limiting guide post 541 is fixed on the chassis 100. One or more limiting guide posts 541 can be used. The lifting seat 520 passes through the limiting guide post 541 and can slide up and down on it. The lead screw 542 is threadedly connected to the lifting seat 520. The third actuator 543 is mounted on the base 510 and is poweredly connected to the lead screw 542. When the third actuator 543 operates, it drives the lead screw 542 to rotate. Since the lifting seat 520 cannot rotate due to the limiting effect of the limiting guide post 541, the rotation of the lead screw 542 causes the lifting seat 520 to move up and down.

[0039] In order to enable the scavenging robot to adapt to various terrains, such as grasslands, sandy areas, and gravel roads, in some optional embodiments, the walking chassis 100 is a tracked chassis.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of protection of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the scope of protection of this utility model. Therefore, the scope of protection of this utility model should be determined by the appended claims.

Claims

1. A scavenger robot, characterized in that, The scavenging robot comprises: a walking chassis; a multi-degree-of-freedom manipulator arranged on the walking chassis, the multi-degree-of-freedom manipulator comprising a rotary table mechanism, a plurality of rotary arm mechanisms connected in series, and a gripper mechanism; wherein the rotary table mechanism rotates in a horizontal plane, each rotary arm mechanism is flipped up and down relative to the horizontal plane, the first rotary arm mechanism is rotationally connected to the rotary table mechanism, and the gripper mechanism is rotationally connected to the last rotary arm mechanism; the gripper mechanism comprises an arm base, two oppositely arranged gripper arms, two oppositely meshed gears, and a first driver; both gears are rotationally arranged on the arm base, and both gears are rotationally connected to the two gripper arms, respectively; and the first driver is arranged on the arm base and is drivingly connected to one of the gears to drive the two gripper arms to move away from each other or move close to each other at one end away from the gears; an intelligent control unit arranged on the walking chassis, configured to control the walking chassis to intelligently walk according to the surrounding environment, and control the gripping posture of the multi-degree-of-freedom manipulator.

2. The scavenger robot according to claim 1, characterized in that The rotary table mechanism comprises: a rotary table rotationally arranged on the walking chassis, and the first rotary arm mechanism is rotationally connected to the rotary table; a second driver arranged on the walking chassis and drivingly connected to the rotary table to drive the rotary table to rotate in the horizontal plane.

3. The scavenger robot according to claim 1, characterized in that, The scavenging robot further comprises a garbage disposal device arranged on the walking chassis and electrically connected to the intelligent control unit, configured to crush and store the garbage transmitted by the multi-degree-of-freedom manipulator.

4. The scavenger robot according to claim 3, characterized in that The garbage disposal device comprises: a box arranged on the walking chassis, the box being provided with a receiving cavity and a feeding port communicating with the receiving cavity; a blade assembly rotationally arranged in the receiving cavity.

5. The scavenger robot according to claim 1, characterized in that, The scavenging robot further comprises a fire extinguishing device arranged on the walking chassis and electrically connected to the intelligent control unit, configured to spray fire extinguishing agent to a fire source.

6. The scavenger robot according to claim 1, characterized in that, The scavenging robot further comprises a garbage shovel assembly arranged on the walking chassis and electrically connected to the intelligent control unit, configured to move vertically relative to the walking chassis to collect garbage.

7. The scavenger robot according to claim 6, characterized in that The garbage shovel assembly comprises: a base fixedly arranged on the walking chassis; a lifting seat movably arranged on the base; a garbage shovel body connected to the lifting seat; a driving assembly configured to drive the lifting seat to move up and down relative to the base.

8. The scavenger robot according to claim 7, characterized in that The driving assembly comprises: a limiting guide column fixedly arranged on the walking chassis, the lifting seat being slidably arranged on the limiting guide column; a lead screw threadedly connected to the lifting seat; a third driver arranged on the base, the third driver being drivingly connected to the lead screw to drive the lead screw to rotate.

9. The scavenger robot according to any one of claims 1 to 8, characterized in that, The walking chassis is a tracked chassis.

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