A bush rubbish cleaning device and robot

Abstract

This application discloses a bush litter cleaning device and robot, belonging to the field of bush litter cleaning technology. It includes a robot and a robotic arm. The robotic arm comprises a main arm body and an end effector. The main arm body is composed of multiple arm sections, each including a first rod, a first motor, a second rod, a second motor, a third rod, a third motor, a fourth rod, and a fourth motor. The end effector includes a gripping mechanism and a suction mechanism. Multiple electric pulleys are provided at the bottom of the robot. This application features a novel design and ingenious device, enabling efficient litter cleaning in complex environments such as bushes and flower beds. It improves cleaning efficiency, reduces damage to vegetation, provides strong support for the maintenance of urban green areas, and is a litter cleaning mechanical device that does not damage vegetation.

Description

Technical Field

[0001] This application relates to the field of bush litter removal technology, and more particularly to a bush litter removal device and robot. Background Technology

[0002] Currently, garbage cleaning in garden and green areas, especially inside shrubbery and flower beds, mostly relies on manual labor. This method is not only inefficient, but also makes it difficult for cleaners to reach deep waste in some dense or tall shrubs, leading to garbage accumulation, which affects the aesthetics and damages the ecological environment.

[0003] The common practice is for cleaners to use handheld tools (such as clips or simple nets) to reach between plants to pick up debris. There are also cases where small power tools are used to help improve the cleaning speed. While the former can better protect vegetation from damage, it limits work efficiency. While the latter can improve cleaning efficiency to some extent, it is easy to damage the branches and leaves of shrubs and even their roots.

[0004] Therefore, both manual and simple mechanized methods have problems such as low efficiency, high labor intensity, and potential environmental damage, which are particularly evident in places with complex terrain or limited space.

[0005] Therefore, this application proposes a bush litter cleaning device and robot. Utility Model Content

[0006] This application proposes a shrub litter cleaning device and robot to solve the problems mentioned in the background art; it can achieve efficient litter cleaning in complex environments such as shrubs and flower beds, improve cleaning efficiency, reduce damage to vegetation, provide strong support for the maintenance of urban green areas, and is a litter cleaning mechanical device that does not damage vegetation.

[0007] To achieve the above objectives, this application adopts the following technical solution:

[0008] A bush litter cleaning device and robot includes a robot and a robotic arm. The robotic arm includes an arm body and an end effector. The arm body is composed of multiple arm segments, each segment including a first rod, a first motor, a second rod, a second motor, a third rod, a third motor, a fourth rod, and a fourth motor. The end effector includes a gripping mechanism and a suction mechanism. The robot has multiple electric pulleys at its bottom.

[0009] In one preferred embodiment, the robot is internally rotatably connected to a first rod, and externally fixedly connected to a first motor, with the output end of the first motor extending into the first rod and fixedly connected to it.

[0010] By activating the first motor, the first motor drives the first rod to rotate inside the robot, and the angle and length can be adjusted according to the target position, thereby improving the practicality of the device.

[0011] In a preferred embodiment, a second rod is rotatably connected to the inside of the first rod, a second motor is fixedly connected to the outside of the first rod, and the output end of the second motor extends into the inside of the second rod and is fixedly connected to the second rod.

[0012] By activating the second motor, the second rod rotates within the first rod, allowing the angle and length to be adjusted according to the target position, thus improving the device's practicality.

[0013] In a preferred embodiment, a third rod is rotatably connected to the inside of the second rod, and a third motor is fixedly connected to the outside of the second rod, with the output end of the third motor extending into the inside of the third rod and fixedly connected to the third rod.

[0014] By activating the third motor, the third rod rotates within the second rod, allowing the angle and length to be adjusted according to the target position, thus improving the device's practicality.

[0015] In a preferred embodiment, a fourth rod is rotatably connected to the inside of the third rod, and a fourth motor is fixedly connected to the outside of the third rod, with the output end of the fourth motor extending into the inside of the fourth rod and fixedly connected to it.

[0016] By activating the fourth motor, the fourth motor drives the fourth rod to rotate within the third rod, allowing the angle and length to be adjusted according to the target position, thereby improving the practicality of the device.

[0017] In a preferred embodiment, a fixing plate is fixedly connected to the bottom end of the fourth rod, and a clamping mechanism is installed at the bottom of the fixing plate. The clamping mechanism includes two clamping members, both of which are disposed at the bottom of the fixing plate.

[0018] By using a high-elasticity shape memory alloy to create a finger-like structure for the gripping mechanism, it can flexibly adapt to changes in the size of the object being gripped, thereby improving the device's practicality.

[0019] In a preferred embodiment, an adsorption mechanism is provided at the bottom of the fixing plate and on one side of the clamping mechanism. The adsorption mechanism includes an electric telescopic rod, a suction cup body, a suction hole, a buffer pad, and a suction cup pad. The electric telescopic rod is fixedly connected to the top of the fixing plate, and the telescopic end of the electric telescopic rod extends to the bottom of the fixing plate and is fixedly connected to the suction cup body.

[0020] By incorporating an adsorption mechanism based on negative pressure to fix the surface of objects, this device is particularly suitable for handling paper and film packaging waste. Compressed air is input into the suction cup body, creating a special directional flow within the body. This creates a backflow between the suction cup body and the waste object, with high-speed gas generating negative pressure. Suction cup pads maintain a certain distance between the suction cup body and the waste object, ensuring air circulation and allowing for gentler gripping of the waste. The suction cup body is made of aluminum alloy, which is wear-resistant and rust-proof, resulting in stronger and more stable adsorption capacity, thus enhancing the device's practicality.

[0021] In a preferred embodiment, the suction cup body has multiple suction holes inside, and a buffer pad is provided at the bottom of the suction cup body. Multiple suction cup pads are fixedly connected to the bottom of the buffer pad.

[0022] The large-area buffer pads provide effective cushioning and even force distribution, reducing the possibility of damage to waste objects during the adsorption process. The buffer pads can be made of flat sponge or flat silicone, thereby improving the practicality of the device.

[0023] The beneficial effects of this application are:

[0024] 1. This bush litter cleaning device and robot features a gripping mechanism made of a high-elasticity memory alloy in a finger-like structure, which can flexibly adapt to changes in the size of the object being gripped. The suction mechanism is based on the principle of negative pressure to fix the surface of the object, making it particularly suitable for handling paper and film packaging waste. The suction cup body is fed with compressed air, which creates a special directional flow inside the suction cup body. This creates a backflow between the suction cup body and the waste object. The high-speed gas creates negative pressure between the suction cup body and the waste object. The suction cup pads maintain a certain distance between the suction cup body and the waste object, ensuring air circulation and allowing for gentler gripping of the waste object, greatly improving the practicality of the device.

[0025] 2. This bush litter cleaning device and robot features a large-area buffer pad that provides effective cushioning, even force distribution, and reduces the possibility of damage to waste objects during the suction action. The buffer pad can be made of flat sponge or flat silicone, and the suction cup body is made of aluminum alloy, which is wear-resistant and rust-proof, with stronger and higher suction capacity and more stable suction performance, greatly improving the practicality of the device. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the main body of the device in this application;

[0027] Figure 2 This is a schematic diagram of the internal structure of the device described in this application;

[0028] Figure 3This is a schematic diagram of the bottom of the suction cup body of the device in this application.

[0029] Numbered in the diagram: 1. Robot; 2. Manipulator; 21. Arm body; 211. Arm lever; 2111. First lever; 2112. First motor; 2113. Second lever; 2114. Second motor; 2115. Third lever; 2116. Third motor; 2117. Fourth lever; 2118. Fourth motor; 22. End effector; 3. Fixing plate; 4. Clamping mechanism; 41. Clamping component; 5. Adsorption mechanism; 51. Electric telescopic rod; 52. Suction cup body; 521. Suction hole; 522. Buffer pad; 523. Suction cup pad; 6. Electric pulley. Detailed Implementation

[0030] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0031] Reference Figure 1-3 A bush litter cleaning device and robot includes a robot 1 and a robotic arm 2. The robotic arm 2 includes an arm body 21 and an end effector 22. The arm body 21 is composed of multiple arm segments 211, each of which includes a first arm 2111, a first motor 2112, a second arm 2113, a second motor 2114, a third arm 2115, a third motor 2116, a fourth arm 2117, and a fourth motor 2118. The end effector 22 includes a clamping mechanism 4 and an adsorption mechanism 5. The robot 1 has multiple electric pulleys 6 at its bottom.

[0032] The robot 1 is internally connected to a first rod 2111, and externally connected to a first motor 2112. The output end of the first motor 2112 extends into the first rod 2111 and is fixedly connected to it. By activating the first motor 2112, the first motor 2112 drives the first rod 2111 to rotate within the robot 1. The angle and length can be adjusted according to the target position, thereby improving the practicality of the device.

[0033] The first rod 2111 is rotatably connected to the second rod 2113, and the first rod 2111 is fixedly connected to the outside of the first rod 2111. The output end of the second motor 2114 extends into the second rod 2113 and is fixedly connected to the second rod 2113. By starting the second motor 2114, the second motor 2114 drives the second rod 2113 to rotate within the first rod 2111. The angle and length can be adjusted according to the target position, thereby improving the practicality of the device.

[0034] The second rod 2113 is rotatably connected to the third rod 2115, and the second rod 2113 is fixedly connected to the outside of the third motor 2116. The output end of the third motor 2116 extends into the third rod 2115 and is fixedly connected to the third rod 2115. By starting the third motor 2116, the third motor 2116 drives the third rod 2115 to rotate within the second rod 2113. The angle and length can be adjusted according to the target position, thereby improving the practicality of the device.

[0035] The third rod 2115 is rotatably connected to the fourth rod 2117, and the third rod 2115 is fixedly connected to the outside of the fourth motor 2118. The output end of the fourth motor 2118 extends into the fourth rod 2117 and is fixedly connected to the fourth rod 2117. By starting the fourth motor 2118, the fourth motor 2118 drives the fourth rod 2117 to rotate within the third rod 2115. The angle and length can be adjusted according to the target position, thereby improving the practicality of the device.

[0036] The bottom end of the fourth rod 2117 is fixedly connected to a fixing plate 3. A clamping mechanism 4 is installed at the bottom of the fixing plate 3. The clamping mechanism 4 includes two clamping parts 41, both of which are located at the bottom of the fixing plate 3. The clamping mechanism 4 is made of a finger-like structure using a high-elasticity memory alloy, which can flexibly adapt to changes in the size of the object being grasped, thereby improving the practicality of the device.

[0037] An adsorption mechanism 5 is provided at the bottom of the fixed plate 3 and on one side of the clamping mechanism 4. The adsorption mechanism 5 includes an electric telescopic rod 51, a suction cup body 52, a suction hole 521, a buffer pad 522, and a suction cup pad 523. The electric telescopic rod 51 is fixedly connected to the top of the fixed plate 3, and the telescopic end of the electric telescopic rod 51 extends to the bottom of the fixed plate 3 and is fixedly connected to the suction cup body 52. ​​By setting up the adsorption mechanism 5, the adsorption mechanism 5 fixes the surface of the object based on the principle of negative pressure, which is especially suitable for dealing with paper and film packaging waste. The suction cup body 52 is fed with compressed air, which forms a special direction inside the suction cup body 52. ​​A backflow is formed between the suction cup body 52 and the waste object. The high-speed gas forms a negative pressure between the suction cup body 52 and the waste object. The suction cup pad 523 keeps a certain distance between the suction cup body 52 and the waste object to ensure air circulation, thereby making it easier to grasp the waste object. The suction cup body 52 is made of aluminum alloy, which is wear-resistant and rust-proof. Its adsorption capacity is stronger and higher, and its adsorption performance is more stable, thereby improving the practicality of the device.

[0038] The suction cup body 52 has multiple suction holes 521 inside, and a buffer pad 522 is provided at the bottom of the suction cup body 52. ​​Multiple suction cup pads 523 are fixedly connected to the bottom of the buffer pad 522. The large-area buffer pad 522 provides effective cushioning, even force distribution, and reduces the possibility of damage to waste objects by the suction action. The buffer pad 522 can be made of flat sponge or flat silicone, thereby improving the practicality of the device.

[0039] Working principle: When the operator designates a certain area for cleaning through the remote control system, the robotic arm 2 will start the corresponding program to automatically navigate to the designated location, then extend the arm 211 to approach the target object, and activate the gripping function or the suction cup mode to capture the garbage in a timely manner according to the sensor feedback.

[0040] The main body 21 of the arm is made of high-strength aluminum alloy, ensuring sufficient rigidity while reducing overall weight. The rotating joint is equipped with a motor drive and is controlled wirelessly. The gripping mechanism 4 is made of high-elasticity memory alloy in a finger-like structure, which can flexibly adapt to changes in the size of the object being gripped. The suction mechanism 5 is based on the principle of negative pressure to fix the surface of the object, which is especially suitable for dealing with paper and film packaging waste. The suction cup body 52 is formed by inputting compressed air, which creates a special directional flow inside the suction cup body 52. ​​A backflow is formed between the suction cup body 52 and the waste object. The high-speed gas creates negative pressure between the suction cup body 52 and the waste object. The suction cup pad 523 keeps a certain distance between the suction cup body 52 and the waste object to ensure air circulation, thereby making it easier to grip the waste object. The large-area buffer pad 522 provides effective cushioning, even force distribution, and reduces the possibility of damage to the waste object during the suction action. The buffer pad 522 can be made of flat sponge or flat silicone. The suction cup body 52 is made of aluminum alloy, which is wear-resistant and rust-proof, and has a stronger and higher suction capacity and more stable suction performance.

[0041] By implementing this invention, efficient garbage cleaning can be achieved in complex environments such as shrubbery and flower beds, improving cleaning efficiency, reducing damage to vegetation, providing strong support for the maintenance of urban green areas, and providing a garbage cleaning mechanical device that does not damage vegetation.

[0042] The above are merely preferred embodiments of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and the inventive concept of this application, should be included within the scope of protection of this application.

Claims

1. A bush litter cleaning device and robot, comprising a robot (1) and a robotic arm (2), characterized in that, The robotic arm (2) includes an arm body (21) and an end effector (22). The arm body (21) is composed of multiple arm segments (211). Each arm segment (211) includes a first link (2111), a first motor (2112), a second link (2113), a second motor (2114), a third link (2115), a third motor (2116), a fourth link (2117), and a fourth motor (2118). The end effector (22) includes a gripping mechanism (4) and an adsorption mechanism (5). The robot (1) has multiple electric pulleys (6) at its bottom.

2. The bush litter cleaning device and robot according to claim 1, characterized in that, The robot (1) is rotatably connected to a first rod (2111), and the robot (1) is fixedly connected to a first motor (2112) on the outside. The output end of the first motor (2112) extends into the first rod (2111) and is fixedly connected to the first rod (2111).

3. The bush litter cleaning device and robot according to claim 2, characterized in that, The first rod (2111) is rotatably connected to the second rod (2113), and the first rod (2111) is fixedly connected to the outside of the second motor (2114). The output end of the second motor (2114) extends into the second rod (2113) and is fixedly connected to the second rod (2113).

4. The bush litter cleaning device and robot according to claim 3, characterized in that, The second rod (2113) is rotatably connected to the third rod (2115), and the second rod (2113) is fixedly connected to the outside of the third motor (2116). The output end of the third motor (2116) extends into the third rod (2115) and is fixedly connected to the third rod (2115).

5. A bush litter cleaning device and robot according to claim 4, characterized in that, The third rod (2115) is rotatably connected to the fourth rod (2117), and the third rod (2115) is fixedly connected to the outside of the fourth motor (2118). The output end of the fourth motor (2118) extends into the fourth rod (2117) and is fixedly connected to the fourth rod (2117).

6. The bush litter cleaning device and robot according to claim 5, characterized in that, The bottom end of the fourth rod (2117) is fixedly connected to a fixing plate (3), and a clamping mechanism (4) is installed at the bottom of the fixing plate (3). The clamping mechanism (4) includes two clamping parts (41), and both clamping parts (41) are set at the bottom of the fixing plate (3).

7. A bush litter cleaning device and robot according to claim 6, characterized in that, An adsorption mechanism (5) is provided at the bottom of the fixed plate (3) and on one side of the clamping mechanism (4). The adsorption mechanism (5) includes an electric telescopic rod (51), a suction cup body (52), a suction hole (521), a buffer pad (522), and a suction cup pad (523). The electric telescopic rod (51) is fixedly connected to the top of the fixed plate (3), and the telescopic end of the electric telescopic rod (51) extends to the bottom of the fixed plate (3) and is fixedly connected to the suction cup body (52).

8. A bush litter cleaning device and robot according to claim 7, characterized in that, The suction cup body (52) has multiple suction holes (521) inside, and a buffer pad (522) is provided at the bottom of the suction cup body (52). Multiple suction cup pads (523) are fixedly connected to the bottom of the buffer pad (522).

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