Recognition mechanism and hydraulic grabbing arm type trash cleaning robot

Abstract

The utility model relates to the technical field of trash cleaning robots, in particular to an identification mechanism and a hydraulic grabbing arm type trash cleaning robot. An identification mechanism comprises a support used for being connected with a mechanical arm. The support is connected with a machine vision camera; the support is provided with a protective cover used for covering the machine vision camera and a third positioning piece used for being connected with the protective cover. The third positioning piece is used for enabling the protective cover to be detachably connected to the support. The protective cover can cover the machine vision camera, and after the machine vision camera is covered, even if the mechanical arm and the identification mechanism enter water, impurities in the water cannot affect the service life and the safety of the mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robot technology, specifically to an identification mechanism and a hydraulic gripper-type cleaning robot. Background Technology

[0002] With the development of artificial intelligence, cleaning robots are revolutionizing the traditional manual cleaning model and are used for cleaning water bodies such as hydropower stations, reservoirs, lakes, and rivers. They mainly consist of an identification mechanism and a gripping mechanism. The identification mechanism locates and classifies the garbage, while the gripping mechanism installed on the robotic arm grabs the garbage.

[0003] Existing identification mechanisms mainly consist of machine vision cameras. These cameras are mounted on robotic arms and close to the gripping mechanism to ensure identification efficiency. However, when the cleaning robot grabs or grips pollutants from deeper waters, the robotic arm and the machine vision camera become contaminated with pollutants, causing damage to the camera. Utility Model Content

[0004] This invention provides an identification mechanism and a hydraulic gripper-type cleaning robot, which can overcome the shortcomings of existing cleaning robots where the robotic arm and machine vision camera become contaminated with pollutants when grabbing or holding pollutants in deeper water, causing damage to the machine vision camera.

[0005] According to the present invention, an identification mechanism includes a bracket for connection to a robotic arm; a machine vision camera is connected to the bracket.

[0006] The bracket is equipped with a protective cover for covering the machine vision camera, and a third positioning element for connecting the protective cover; the third positioning element is used to enable the protective cover to be detachably connected to the bracket.

[0007] The protective cover of this utility model can cover the machine vision camera. Even if the robotic arm and the recognition mechanism enter the water after the machine vision camera is covered, the impurities in the water will not affect its lifespan and safety.

[0008] Preferably, the bracket is provided with a flip frame; the machine vision camera is connected to a mounting plate, which is detachably connected to one end face of the flip frame by fasteners; the third positioning component includes a third fixed seat connected to the end face of the flip frame away from the machine vision camera; the interior of the third fixed seat is provided with a third sliding cavity arranged along the length of the third fixed seat; the third sliding cavity is slidably fitted with two third sliders; a second compression spring is pressed between the two third sliders; a third locking block is provided at the opposite end of the third sliders, extending out of the third sliding cavity; the flip frame is provided with two insertion ports penetrating both end faces; the opening of the protective cover is connected to an insertion plate that can pass through the insertion ports; the insertion plate is provided with a positioning port for the third locking block to pass through.

[0009] In this invention, the protective cover can be quickly installed and removed from the machine vision camera by means of the third positioning component, which can improve efficiency when the protective cover and the machine vision camera need to be replaced or cleaned. The mounting plate and the flip frame are detachably connected, allowing different models of machine vision cameras to be installed at the flip frame.

[0010] Preferably, the third fixed seat has a third sliding groove that communicates with the third sliding cavity on the side wall away from the flipping frame; the third slider is connected to a paddle that passes through the third sliding groove.

[0011] In this invention, the two third locking blocks can be disengaged from the positioning port by pinching with two fingers using a paddle, enabling quick assembly and disassembly.

[0012] Preferably, the tilting frame is hinged to the support, and the support is equipped with a motor for driving the tilting frame to tilt.

[0013] In this invention, a rotating frame is hinged and equipped with a motor, allowing the rotating frame to be rotated to observe the water area, the robotic arm, or other locations of the cleaning robot, so as to facilitate the operator's judgment.

[0014] Preferably, the protective cover is hemispherical with concentric limiting grooves at the opening, and the limiting grooves are fitted with sealing rings.

[0015] In this invention, the sealing ring is embedded in the limiting groove. When the opening of the protective cover is in contact with the flipping frame, the sealing ring can prevent water and impurities from entering the interior of the protective cover, thus achieving a certain sealing and protective effect.

[0016] A hydraulic gripper-type cleaning robot includes a robotic arm and any of the identification mechanisms described above. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main body;

[0018] Figure 2 This is a schematic diagram of the first clamping configuration of the clamping mechanism;

[0019] Figure 3 A schematic diagram showing the second clamping configuration of the clamping mechanism.

[0020] Figure 4 This is a schematic diagram of the second clamping configuration of the clamping mechanism in closed position.

[0021] Figure 5 This is a schematic diagram of the third clamping configuration of the clamping mechanism;

[0022] Figure 6 This is a schematic diagram of the second material handling component after the grippers have been disassembled;

[0023] Figure 7 This is a schematic diagram showing the through hole after it has been opened;

[0024] Figure 8 A schematic diagram of the identification mechanism;

[0025] Figure 9 This is a schematic diagram showing the protective cover and sealing ring after disassembly.

[0026] Figure 10 This is a schematic diagram of the third positioning component;

[0027] Figure 11 for Figure 6 Enlarged view of point A;

[0028] Figure 12 for Figure 7 Enlarged diagram of point B. Detailed Implementation

[0029] To further understand the content of this utility model, a detailed description of the utility model is provided in conjunction with the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the utility model.

[0030] Example 1

[0031] like Figure 1-12 As shown, this embodiment provides a hydraulic gripper-type cleaning robot, which includes a body 100. The body 100 includes a gripping mechanism 120 and a robotic arm 110 for driving the gripping mechanism 120 to move in the water. The gripping mechanism 120 includes a first material-grabbing component 223 and a second material-grabbing component 224. The first material-grabbing component 223 includes two grippers 2230 that can move towards each other and form a gripping area 2232, and a drive member 222 for driving the grippers 2230 to move.

[0032] The second material handling assembly 224 includes a material handling frame 2240 detachably connected to the gripper 2230; the two material handling frames 2240 are used to form a receiving groove 2246 together after the two grippers 2230 move relative to each other, and the receiving groove 2246 can contain fluid.

[0033] Through the second material-retrieving component 224 in this embodiment, the clamping mechanism 120 can have multiple clamping modes via the detachable material-retrieving frame 2240, allowing different clamping modes to be selected to remove different types of pollutants from the water. For example, the first clamping mode is when only the grippers 2230 of the first material-retrieving component 223 are used to grasp pollutants, which can grasp large and relatively strong pollutants. The second clamping mode is when the material-retrieving frame 2240 of the second material-retrieving component 224 is installed, and the two material-retrieving frames 2240 can jointly form a receiving groove 2246 after the relative displacement of the grippers 2230. This mode can accommodate fluids, small or fragile items, such as glass bottles, aged plastic parts, excessively proliferating aquatic plants, river silt, and other fragile pollutants that are easy to slip through the gaps of the grippers 2230. The receiving groove 2246 is open at one end and closed at the other, which can accommodate the above-mentioned pollutants and remove them from the water for treatment without the need for other equipment or manual entry into the water for treatment.

[0034] In this embodiment, the first material handling component 223 further includes a mounting base 221; the mounting base 221 is connected to the robotic arm 110 through one end face; two grippers 2230 are rotatably engaged at the other end face of the mounting base 221; the driving component 222 includes two cylinders 2220 that are arranged crosswise and hinged to the mounting base 221, and the output ends of the two cylinders 2220 are respectively hinged to the opposite faces of the two grippers 2230; the grippers 2230 are composed of a plurality of L-shaped claw teeth 2231 that are spaced apart along the length direction of the mounting base 221, and the claw teeth 2231 of the two grippers 2230 are staggered; sealing strips 2241 are provided at the side walls where the two material handling frames 2240 fit together.

[0035] By setting the drive component 222 in this embodiment, the two cylinders 2220 can drive the two grippers 2230 and the two picking frames 2240 to move, so that different types of contaminants can be clamped in two clamping modes; wherein the sealing strip 2241 can ensure the sealing of the receiving groove 2246.

[0036] In this embodiment, a first positioning element 225 is provided at the gripper 2230; the first positioning element 225 includes two first fixing seats 11250 symmetrically arranged on opposite sides of the gripper 2230; the two first fixing seats 11250 are spaced apart along the length of the mounting base 221 and are rotatably engaged with a bidirectional screw 11252; the interior of the first fixing seat 11250 is provided with a first sliding cavity 11251; the two threads of the bidirectional screw 11252 respectively extend into the two first sliding cavities 11251. Each of the first sliding blocks 11254 is threadedly fitted to slide in the first sliding cavity 11251; the opposite end of the first sliding block 11254 is connected to a first locking block 11256 that can extend out of the first sliding cavity 11251; the side of the material picking frame 2240 away from the receiving groove 2246 is provided with two fixing blocks 7242; the two first fixing seats 11250 are pressed between the two fixing blocks 7242, and the fixing blocks 7242 are provided with a locking slot 7243 for the first locking block 11256 to extend into.

[0037] The first positioning component 225 in this embodiment enables the second material handling component 224 to be detachably connected. By rotating the bidirectional screw 11252, the two first locking blocks 11256 can be extended and retracted, cooperating with the locking slot 7243 at the material handling frame 2240, thus enabling the material handling frame 2240 to be assembled and disassembled. The first locking blocks 11256 and the locking slot 7243 are polygonal. When only the first clamping mode, i.e., the gripper 2230, is used to hold the contaminant, it is not necessary to remove the second material handling component 224. The rotation angle of the second material handling component 224 can be changed so that the gripper 2230 is not interfered with by the second material handling component 224 when holding the contaminant. In this way, it is not necessary to frequently pick up and put down the second material handling component 224. When switching modes, the operation can be performed directly at the gripper 2230.

[0038] In this embodiment, the side wall of the first fixed seat 11250 is provided with a first sliding groove 11253 that communicates with the first sliding cavity 11251; the side wall of the first slider 11254 is detachably connected with a first lever 11257 that passes through the first sliding groove 11253; the bidirectional screw 11252 is coaxially connected with a polygonal fixing ring 11255; the fixing ring 11255 is located between the two first fixed seats 11250.

[0039] By setting the first lever 11257 in this embodiment, the first locking block 11256 will not disengage from the first sliding cavity 11251 due to excessive rotation of the bidirectional screw 11252, thus playing a limiting role; the polygonal fixing ring 11255 can more easily rotate the bidirectional screw 11252.

[0040] In this embodiment, the body 100 also includes a linear module 140, which enables the robotic arm 110 to move in a straight line.

[0041] The linear module 140 in this embodiment allows the robotic arm 110 to move via the linear module 140, enabling the robotic arm 110, gripping mechanism 120, and identification mechanism 130 to move to different locations in the water area. The linear module 140 can be installed on the shore or on a mobile vehicle. The mobile vehicle allows the cleaning robot to reach various water areas for cleaning work. The linear module 140 is a prior art technology, mainly composed of a motor, lead screw, nut, and slide. The robotic arm 110 is connected to the slide and is driven by the motor. The robotic arm 110 is a common type of hydraulically driven robotic arm in the prior art. The gripping mechanism 120 and identification mechanism 130 are installed at the end of the robotic arm 110 and can extend into the water area.

[0042] Example 2

[0043] This embodiment also includes a material picking frame 2240 having multiple through holes 2244 communicating with the receiving groove 2246 at its bottom, and grooves 2245 communicating with the through holes 2244; a sealing assembly 226 for controlling the opening and closing of the through holes 2244 is provided at the material picking frame 2240; the sealing assembly 226 includes a sealing plate 5260 connected to two fixing blocks 7242; the sealing plate 5260 includes a connecting plate 5261 and a rubber plate 5262 stacked together; a rotating shaft 12263 is connected to the connecting plate 5261, and a connecting hole 12247 for the rotating shaft 12263 to rotate and engage is provided at the fixing block 7242; the rubber plate 5262 is used to engage with the groove 2245.

[0044] The through hole 2244 and sealing component 226 in this embodiment enable the clamping mechanism 120 to have a third clamping mode. The third clamping mode is used for lighter pollutants that are easy to float on the water surface, such as paper scraps and leaves. Since the second clamping mode can place the water and pollutants together in the receiving tank 2246, the aforementioned paper scraps, leaves and other pollutants will detach from the water surface of the receiving tank 2246 and fall back into the water during the movement of the robotic arm 110, affecting the cleaning efficiency. Therefore, when using the third clamping mode, excess water will flow out from the through hole 2244, leaving the pollutants in the receiving tank 2246. In this way, when the robotic arm 110 moves, it can ensure that the pollutants stay in the receiving tank 2246 and are brought back to the ground. The rubber plate 5262 of the sealing plate 5260 can cooperate with the groove 2245 to seal the through hole 2244, so that the clamping mechanism 120 returns to the second clamping mode. Therefore, the sealing component 226 is used for switching between the second clamping mode and the third clamping mode.

[0045] In this embodiment, a second positioning member 327 is provided at the material picking frame 2240; the second positioning member 327 includes a second fixing seat 12270 connected to the material picking frame 2240 and near one end of the rotating shaft 12263; the second fixing seat 12270 has a second sliding cavity 12271 inside; a second slider 13374 that can extend out of the second sliding cavity 12271 is slidably fitted inside the second sliding cavity 12271; a polygonal second locking block 12276 is connected to the side wall of the second slider 13374; the rotating shaft 1226 One end of 3 is provided with a slot 12264 for the second locking block 12276 to engage; the interior of the second sliding cavity 12271 is provided with a first compression spring 12272 that abuts against the second slider 13374; the first compression spring 12272 is used to enable the second locking block 12276 to maintain engagement with the slot 12264; the side wall of the second fixed seat 12270 is provided with a second sliding groove 12273 that communicates with the second sliding cavity 12271; the second slider 13374 is connected to a second lever 12275 that passes through the second sliding groove 12273.

[0046] By setting the second positioning member 327 in this embodiment, the sealing plate 5260 of the sealing assembly 226 can be positioned after being rotated at different angles, thereby preventing the rubber plate 5262 from failing to seal with the groove 2245 due to cold shrinkage, or preventing the sealing plate 5260 from being lower than the material picking frame 2240 after being kept vertical by gravity, thus affecting the material picking of the material picking frame 2240; wherein the second locking block 12276 and the slot 12264 are polygonal, in use, the second lever 12275 is slid to make the second locking block 12276 disengage from the slot 12264 and compress the first compression spring 12272, then the sealing plate 5260 is rotated to a suitable angle, the second lever 12275 is released and the spring returns to its original state so that the second locking block 12276 engages with the slot 12264, at which time the sealing plate 5260 can be positioned at a suitable angle.

[0047] In this embodiment, a protective component 728 is provided at the second fixing seat 12270; the protective component 728 includes a sealing cover 12280 hinged to the side wall of the second fixing seat 12270; one side of the sealing cover 12280 forms a groove that can cover the side of the second fixing seat 12270 with the second sliding groove 12273; a plurality of spaced limiting plates 12281 are provided inside the groove; a torsion spring 12282 is provided at the hinge of the sealing cover 12280, and the torsion spring 12282 is used to keep the sealing cover 12280 in contact with the second fixing seat 12270.

[0048] The protective component 728 in this embodiment prevents minute impurities in the water from entering the second sliding cavity 12271 and affecting the extension and contraction of the spring and the sliding of the second slider 13374. The torsion spring 12282 ensures that the sealing cover 12280 always covers the second lever 12275 and the second slide groove 12273. The spacing between every two limiting plates 12281 matches the width of the second lever 12275. Since multiple second positioning members 327 can be provided, it is inconvenient for a single person to simultaneously keep multiple second locking blocks 12276 detached from the locking groove 12264. In this state, after one hand lifts up the sealing cover 12280 and slides the second lever 12275 to disengage the second locking block 12276 from the slot 12264, the other hand blocks the end of the second locking block 12276. After releasing the sealing cover 12280 and the second lever 12275, the sealing cover 12280 and the second fixing seat 12270 will fit together, causing the second lever 12275 to be placed between the two limiting plates 12281 in the corresponding position. At this time, one second positioning member 327 is released, and the other second positioning members 327 can be released in sequence so that the sealing plate 5260 can be freely rotated.

[0049] Example 3

[0050] This embodiment differs from Embodiment 1 or Embodiment 2 in that, in this embodiment, the identification mechanism 130 includes a bracket 731 for connection to the robotic arm 110; the bracket 731 is arranged perpendicular to the length direction of the mounting base 221 and is hinged to a tilting frame 732; a motor 733 for driving the tilting frame 732 to tilt is provided at the bracket 731; a machine vision camera 735 is connected to one end face of the tilting frame 732, and the machine vision camera 735 is connected to a mounting plate 734, which is detachably connected to the tilting frame 732 by fasteners.

[0051] With the identification mechanism 130 in this embodiment, the machine vision camera 735 can observe the situation of the corresponding water area and distinguish the types of garbage. Thus, when the clamping mechanism 120 is in the different clamping states, it can grab or clamp the corresponding types of pollutants. After the pollutants are brought ashore, they can be placed in different areas for garbage sorting to facilitate subsequent processing.

[0052] In this embodiment, a protective cover 736 for covering the machine vision camera 735 is provided at one end face of the flipping frame 732, and a third positioning member 738 for connecting the protective cover 736 is provided at the other end face; the protective cover 736 is hemispherical, and a concentric limiting groove 8360 is provided at the opening, and a sealing ring 737 is fitted in the limiting groove 8360; the third positioning member 738 includes a third fixing seat 10382 connected to the end face of the flipping frame 732 away from the machine vision camera 735; the interior of the third fixing seat 10382 is provided with a third sliding cavity 10383 arranged along the length direction of the third fixing seat 10382; the third sliding cavity 10383 is slidably fitted with two third sliders 10388; the two A second compression spring 10385 is abutting between the third sliders 10388; a third locking block 10387 extending out of the third sliding cavity 10383 is provided at the opposite end of the third sliders 10388; two insertion ports 7320 penetrating both end faces are provided at the flipping frame 732; an insertion plate 7380 that can pass through the insertion port 7320 is connected to the opening of the protective cover 736; a positioning port 7381 for the third locking block 10387 to pass through is provided at the insertion plate 7380; a third sliding groove 10386 communicating with the third sliding cavity 10383 is provided on the side wall of the third fixed seat 10382 away from the flipping frame 732; a paddle 10384 passing through the third sliding groove 10386 is connected to the third sliders 10388.

[0053] The protective cover 736 and the third positioning component 738 in this embodiment allow the protective cover 736 to be quickly installed and removed from the machine vision camera 735, protecting the machine vision camera 735 from contaminants and impurities. The third positioning component 738, when in use, simply requires pinching the lever 10384 in opposite directions to engage the third locking block 10387 with the positioning port 7381 of the insert plate 7380, enabling quick installation and removal of the protective cover 736. The sealing ring 737 is embedded in the limiting groove 8360. When the opening of the protective cover 736 is in contact with the flipping frame 732, the sealing ring 737 prevents water and impurities from entering the protective cover 736, providing a certain degree of sealing protection. The motor 733 drives the flipping frame 732 to rotate, allowing the flipping frame 732 to rotate and observe the water area, as well as the grippers 2230 and the receiving groove 2246. During the cleaning process, the machine vision camera 735 is used to observe the contaminants in the water area. Furthermore, after grabbing or clamping, the machine vision camera 735 is rotated to observe the situation at the gripper 2230 and the receiving slot 2246. This allows observation of whether the pollutants have been grabbed or clamped by the clamping mechanism 120. Once confirmed, the pollutants can be transported ashore by the robotic arm 110 for processing. The machine vision camera 735 is part of a prior art machine vision system. The cleaning robot of this invention is also equipped with a common machine vision system, which includes an imaging module, an image processing module, and an execution module. The imaging module includes a machine vision camera 735 with a lens and an illumination system for acquiring images of the water. The image processing module contains an image processing algorithm to distinguish the types of pollutants. The execution module sends instructions to the hydraulic system of the robotic arm 110 based on the structure of the image processing. For example, after the robotic arm 110 and the clamping mechanism 120 transport the garbage ashore, the garbage is piled into different areas for differentiation according to the classification of the identification mechanism 130.

[0054] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0055] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited to this. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An identification mechanism, characterized by: Includes a bracket (731) for connection to the robotic arm (110); a machine vision camera (735) is connected to the bracket (731); The bracket (731) is provided with a protective cover (736) for covering the machine vision camera (735) and a third positioning member (738) for connecting the protective cover (736); the third positioning member (738) is used to enable the protective cover (736) to be detachably connected to the bracket (731).

2. The identification mechanism according to claim 1, characterized in that: A flip frame (732) is provided at the bracket (731); a machine vision camera (735) is connected to a mounting plate (734), which is detachably connected to one end face of the flip frame (732) by fasteners; a third positioning member (738) includes a third fixing seat (10382) connected to one end face of the flip frame (732) away from the machine vision camera (735); the interior of the third fixing seat (10382) is provided with a third sliding cavity (10383) arranged along the length direction of the third fixing seat (10382); the third sliding cavity (10383) slides and fits There are two third sliders (10388); a second compression spring (10385) is pressed between the two third sliders (10388); a third locking block (10387) is provided at the opposite end of the third slider (10388) and extends out of the third sliding cavity (10383); two insertion ports (7320) are provided at the flipping frame (732); the opening of the protective cover (736) is connected to the insertion plate (7380) that can pass through the insertion port (7320); the insertion plate (7380) is provided with a positioning port (7381) for the third locking block (10387) to pass through.

3. An identification mechanism according to claim 2, wherein: The third fixed seat (10382) has a third slide groove (10386) that communicates with the third sliding cavity (10383) on the side wall away from the flipping frame (732); the third slider (10388) is connected to a paddle (10384) that passes through the third slide groove (10386).

4. The identification mechanism of claim 2, wherein: The tilting frame (732) is hinged to the support (731), and the support (731) is provided with a motor (733) for driving the tilting frame (732) to tilt.

5. The identification mechanism of claim 1, wherein: The protective cover (736) is hemispherical, with a concentric limiting groove (8360) at the opening, and a sealing ring (737) is fitted into the limiting groove (8360).

6. A hydraulic gripper-type cleaning robot, comprising a robotic arm (110) and an identification mechanism (130) as described in any one of claims 1-5.

Images