A cleaning robot waste recycling compacting device

Abstract

The utility model relates to cleaning robot technology discloses a kind of cleaning robot garbage recycling compaction device, including lower bottom unit, upper shell unit, mechanical arm unit and gripper unit, and drive wheel is provided in lower bottom unit inside. Upper shell unit is installed above lower bottom unit, the mechanical arm unit is arranged at the side of upper shell unit, and the gripper unit is connected with the mechanical arm unit magnetic suction cooperation. Upper shell unit includes compaction component, and the compaction component includes storage box, first pressing plate and second pressing plate, and the first pressing plate is fixedly installed at the side of storage box, and the second pressing plate is movably arranged in storage box. Utilize drive cylinder to push second pressing plate and fixed first pressing plate cooperation, realize the two-way compaction of garbage, effectively reduce garbage volume, improve garbage storage capacity, prolong robot working time, reduce cleaning frequency.

Description

Technical Field

[0001] This utility model relates to cleaning robot technology, and in particular to a waste recycling and compaction device for a cleaning robot. Background Technology

[0002] With the widespread application of service robots in indoor and outdoor environments, the functions of cleaning robots have expanded from simple sweeping to the automatic recycling and processing of waste. However, existing cleaning robots with waste recycling capabilities still face a series of specific technical bottlenecks in practical applications, particularly in the integration of waste transfer and compaction: First, regarding the connection between the robotic arm and the gripper, common rigid connections or simple plug-in structures have significant drawbacks. Rigid connections make quick replacement and maintenance of the gripper difficult; while simple plug-in structures are prone to loosening or even detachment due to vibration when the robot moves or grips heavy objects, resulting in insufficient reliability and stability. Furthermore, traditional connection methods lack active locking and status feedback mechanisms, failing to ensure a flawless connection state before task execution, thus posing operational risks.

[0003] Secondly, in the waste compaction stage, existing designs often struggle to be efficiently deployed within the limited internal space of the robot. Some solutions employ vertical compaction, requiring significant vertical travel space, which contradicts the robot's flattened structural design. Other solutions, while using horizontal compaction, typically place their drive mechanisms, such as linear motors or large cylinders, on the sides or top of the storage bin, severely encroaching on the robot's lateral or longitudinal space, resulting in a bulky overall structure that runs counter to the trend of miniaturization and integration in cleaning robots. Furthermore, unidirectional compaction has limited effectiveness, offering a low compression ratio for loose, mixed waste.

[0004] Therefore, there is an urgent need in this field for a waste recycling and compaction device that is deeply optimized for cleaning robots. It must be able to solve the problem of fast, reliable and secure connection between the robotic arm and the gripper, while realizing an extremely compact and highly efficient compaction mechanism, and seamlessly integrating the two to form an efficient and reliable automatic waste recycling and compaction system. Utility Model Content

[0005] To address the shortcomings of the existing technology, this utility model proposes a waste recycling and compaction device for cleaning robots.

[0006] The technical solution of this utility model is implemented as follows: A garbage recycling and compaction device for a cleaning robot includes a lower base unit, an upper shell unit, a robotic arm unit, and a gripper unit, characterized in that a drive wheel is provided inside the lower base unit; The upper shell unit is installed above the lower bottom unit, the robotic arm unit is located on one side of the upper shell unit, and the gripper unit is magnetically connected to the robotic arm unit. The upper shell unit includes a compaction assembly, which includes a storage box, a first pressure plate, and a second pressure plate. The first pressure plate is fixedly installed on one side of the storage box, and the second pressure plate is horizontally movable inside the storage box.

[0007] Furthermore, the compaction assembly also includes a drive cylinder, a hinge block, a lifting seat, a first slider, and a second slider; the first slider is slidably connected to the inner side of the first pressure plate. A drive cylinder is mounted on the first slider, and a hinge block is mounted on the output shaft of the drive cylinder. The hinge block is installed in the middle of the lifting seat. The top of the lifting seat is connected to the second pressure plate through the second slider, and the drive cylinder is used to drive the lifting seat to move.

[0008] Furthermore, the robotic arm unit includes a robotic arm body and a connecting end, which magnetically engages with the gripper unit.

[0009] Furthermore, the connecting end includes an end shaft and an extension plate, and a first electromagnetic block is provided on one side of the extension plate; The connecting end also includes a locking shaft, which has at least one positioning pin on one circumferential side, and a number of bead grooves are provided circumferentially at equal intervals on the outer surface of the locking shaft.

[0010] Furthermore, the gripper unit includes a base and an end block, the end block is slidably connected to the base, and a locking groove is provided in the middle of the end block, the locking groove being sleeved with the locking shaft. A second electromagnetic block is disposed above the end block, and the second electromagnetic block attracts the first electromagnetic block; a gripper is disposed on one side of the end block.

[0011] Furthermore, the inner diameter of the groove is provided with a number of retaining beads, which cooperate with the retaining bead groove.

[0012] Furthermore, the end block is provided with a positioning hole, which cooperates with a positioning pin to restrict the circumferential rotation of the end block.

[0013] Furthermore, the gripper integrates a drive motor, which controls the opening and closing of the gripper.

[0014] Furthermore, both the first electromagnetic block and the second electromagnetic block are connected to a controller, which is used to control the energizing state and electromagnetic intensity of the first electromagnetic block and the second electromagnetic block.

[0015] The waste recycling and compaction device for cleaning robots according to this utility model has the following beneficial effects: By setting up a compaction component, the second pressure plate is pushed by a drive cylinder to cooperate with the fixed first pressure plate, thereby achieving bidirectional compaction of the waste, effectively reducing the volume of waste, increasing the waste storage capacity, extending the robot's working time, and reducing the frequency of cleaning.

[0016] The robotic arm unit and the gripper unit are connected by magnetic attraction. Combined with the positioning pin, locking ball and electromagnetic block structure, it effectively prevents circumferential rotation and axial sliding, ensuring stability and accuracy in the process of gripping and moving garbage, and reducing the failure rate.

[0017] The compaction component concentrates the drive mechanism on one side of the storage box, saving lateral space and facilitating its integration into the cleaning robot, thus achieving miniaturization and lightweighting of the device and adapting it to various application scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the waste recycling compaction device of this utility model; Figure 2 This is another structural schematic diagram of the waste recycling compaction device of this utility model; Figure 3 This is a partial structural schematic diagram of the robotic arm unit of this utility model; Figure 4 This is a schematic diagram of the gripper unit of this utility model; Figure 5 This is a partial structural schematic diagram of the waste recycling compaction device of this utility model; Figure 6 This is a schematic diagram of the compaction component of this utility model; Figure 7 This is a partial structural schematic diagram of the compaction component of this utility model; Figure 8 This is a schematic diagram of the compaction component of this utility model from another angle.

[0019] The reference numerals in the attached drawings are as follows: 10 - lower base unit, 11 - drive wheel, 20 - upper shell unit, 21 - outer shell, 22 - cover, 23 - compaction component, 231 - storage box, 232 - first pressure plate, 233 - first slider, 234 - drive cylinder, 235 - hinge block, 236 - lifting seat, 237 - second slider, 238 - second pressure plate, 30 - robotic arm unit, 31 - robotic arm body, 32 - connecting end, 321 - end shaft, 322 - extension plate, 323 - engaging shaft, 324 - positioning pin, 325 - ball groove, 326 - first electromagnetic block, 40 - gripper unit, 41 - base, 42 - end block, 43 - engaging groove, 45 - ball, 46 - second electromagnetic block, 47 - gripper. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0021] Reference Figures 1 to 8 As shown, this embodiment proposes a garbage recycling and compaction device for a cleaning robot, including a lower base unit 10, an upper shell unit 20, a robotic arm unit 30, and a gripper unit 40. The lower base unit 10 is equipped with a motor-controlled drive wheel 11, used to move the cleaning robot to the desired cleaning location.

[0022] The upper shell unit 20 is installed above the lower bottom unit 10, and the robotic arm unit 30 is located on one side of the upper shell unit 20. The gripper unit 40 is magnetically connected to the robotic arm unit 30.

[0023] Furthermore, the upper shell unit 20 includes a shell 21, a cover 22, and a compaction assembly 23. The compaction assembly 23 is located inside the shell 21.

[0024] The compaction assembly 23 includes a storage tank 231, on one side of which a first pressure plate 232 is mounted. The first pressure plate 232 is fixedly connected to one side of the storage tank 231. A first slider 233 is slidably connected to the inner side of the first pressure plate 232, and a drive cylinder 234 is mounted on the first slider 233. A hinge block 235 is mounted on the output shaft of the drive cylinder 234, and the hinge block 235 is installed in the middle of the lifting seat 236.

[0025] The top of the lifting seat 236 is provided with a second pressure plate 238 via a second slider 237. The second pressure plate 238 can move horizontally within the storage box 231 and compact the garbage inside the storage box 231.

[0026] Furthermore, the robotic arm unit 30 includes a robotic arm body 31 and a connecting end 32. The connecting end 32 is magnetically engaged with the gripper unit 40. The connecting end 32 includes an end shaft 321, one end of which is provided with an extension plate 322, and one side of the extension plate 322 is provided with a first electromagnetic block 326.

[0027] In this embodiment, a locking shaft 323 is coaxially arranged with the end shaft 321, and at least one positioning pin 324 is provided on one circumferential side of the locking shaft 323. A plurality of bead-locking grooves 325 are provided circumferentially at equal intervals on the outer surface of the locking shaft 323.

[0028] Furthermore, the gripper unit 40 includes a base 41, on which an end block 42 that engages with the connecting end 32 is slidably connected.

[0029] An engagement groove 43 is provided in the middle of the end block 42, which is sleeved with the engagement shaft 323. A positioning hole 323 is provided on one side of the engagement groove 43, which cooperates with the positioning pin 324 to restrict the circumferential rotation of the end block 42. A second electromagnetic block 46 is provided above the end block 42, which is attracted to the first electromagnetic block 326 to restrict the sliding of the end block 42 along its axis.

[0030] The inner diameter of the engaging groove 43 is provided with a plurality of retaining beads 45, which engage with the retaining bead groove 325. A gripper 47 is also provided on one side of the end block 42, and the gripper 47 integrates a drive motor, which controls the opening and closing of the gripper 47.

[0031] Preferably, both the first electromagnetic block 326 and the second electromagnetic block 46 are provided with a controller, which is used to control whether the first electromagnetic block 326 and the second electromagnetic block 46 are energized and the electromagnetic strength of the first electromagnetic block 326 and the second electromagnetic block 46.

[0032] In this embodiment, the cleaning robot moves to the location of the trash via the drive wheels 11 of the lower unit 10. Then, the robotic arm unit 30 begins operation, and the robotic arm body 31 adjusts the position of the connecting end 32 so that the gripper unit 40 aligns with the trash. The gripper unit 40 controls the gripper 47 to open and pick up the trash via its integrated drive motor.

[0033] The gripper unit 40 and the robotic arm unit 30 are connected via magnetic attraction: the engaging shaft 323 of the connecting end 32 is inserted into the engaging groove 43 of the gripper unit 40, and the positioning pin 324 engages with the positioning hole to restrict the circumferential rotation of the end block 42. At the same time, the first electromagnetic block 326 and the second electromagnetic block 46 are energized and attract each other, fixing the axial position of the end block 42 and ensuring a stable connection. The locking ball 45 engages with the locking ball groove 325 to further enhance the reliability of the connection.

[0034] After picking up the waste, the robotic arm unit 30 moves the gripper unit 40 above the compaction assembly 23 of the upper housing unit 20. The gripper 47 opens, releasing the waste into the storage bin 231. Subsequently, the compaction assembly 23 initiates the compaction process: the drive cylinder 234 pushes the hinge block 235, causing the lifting seat 236 to slide along the first slider 233. The lifting seat 236, through the second slider 237, drives the second pressure plate 238 to move horizontally within the storage bin 231. The second pressure plate 238 pushes the waste against the fixedly installed first pressure plate 232, compressing the waste through bidirectional pressure, reducing its volume, and improving storage efficiency. After compaction is complete, the drive cylinder 234 resets, and the second pressure plate 238 returns to its initial position, ready for the next compaction operation.

[0035] Specifically, the cleaning robot moves to the vicinity of the target waste via its drive wheels 11 at the bottom. The robotic arm unit 30 begins operation, and the robotic arm body 31 adjusts the connecting end 32 at its end to a suitable position and posture. The connecting end 32 approaches the end block 42 of the gripper unit 40. At this time, the first electromagnetic block 326 and the second electromagnetic block 46 are energized, generating a strong magnetic force that attracts each other, achieving initial axial locking. Simultaneously, the engaging shaft 323 at the front end of the connecting end 32 is precisely inserted into the engaging groove 43 of the gripper unit 40. The positioning pin 324 on the engaging shaft 323 is embedded in the positioning hole of the end block 42, effectively preventing the gripper from rotating circumferentially during operation. Under the pressure of the mechanical structure, the retaining beads 45 on the inner wall of the engaging groove 43 are engaged into the retaining bead groove 325 on the surface of the engaging shaft 323, forming a second mechanical lock to ensure connection stability. After the connection is secure, the drive motor integrated into the gripper unit 40 controls the gripper 47 to open and pick up the waste.

[0036] The robotic arm unit 30, carrying the gripper unit 40 that has already picked up the waste, moves to above the disposal port on the top of the upper shell unit 20. The gripper 47 opens and puts the waste into the storage box 231 of the compaction component 23.

[0037] The entire compaction assembly 23 is compactly integrated inside the robot housing 21. A first pressure plate 232 is fixedly mounted on one side of the storage tank 231, serving as a reference surface for the compaction operation and part of the working chamber. Opposite to the first pressure plate 232 is a second pressure plate 238, which is mounted on a lifting seat 236 via a second slider 237, allowing the second pressure plate 238 to move horizontally inside the storage tank 231.

[0038] The design of fixing the first pressure plate 232 and making the second pressure plate 238 movable allows the drive mechanism to be concentrated on one side or the bottom of the storage box, eliminating the need to arrange the actuators on both sides of the box, which greatly saves lateral space and realizes the miniaturization and integration of the device.

[0039] The piston rod of the drive cylinder 234 extends, pushing the hinge block 235 at its front end. The hinge block 235 transmits the thrust to the lifting seat 236. The lifting seat 236 slides on the guide rail inside the first pressure plate 232 via the first slider 233 at its bottom. This ingenious design transforms the linear thrust of the drive cylinder into a stable and well-guided translational motion of the lifting seat 236.

[0040] The lifting seat 236 moves horizontally along with the second pressure plate 238 on its top towards the fixed first pressure plate 232. During the movement, the second pressure plate 238 pushes the waste in the storage box 231, squeezing it between the first pressure plate 232 and the second pressure plate 238, thus achieving strong compression of the waste.

[0041] After compaction is completed, the piston rod of the drive cylinder 234 retracts, and the hinge block 235 pulls the lifting seat 236 and the second pressure plate 238 back to the initial position along the original path, preparing to receive the next batch of garbage.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A waste recycling and compaction device for a cleaning robot, comprising a lower base unit (10), an upper shell unit (20), a robotic arm unit (30), and a gripper unit (40), characterized in that, The lower base unit (10) is equipped with a drive wheel (11). The upper shell unit (20) is installed above the lower bottom unit (10), the robotic arm unit (30) is located on one side of the upper shell unit (20), and the gripper unit (40) is magnetically connected to the robotic arm unit (30). The upper shell unit (20) includes a compaction assembly (23), which includes a storage box (231), a first pressure plate (232), and a second pressure plate (238). The first pressure plate (232) is fixedly installed on one side of the storage box (231), and the second pressure plate (238) is horizontally movable inside the storage box (231).

2. The waste recycling compaction device according to claim 1, characterized in that, The compaction assembly (23) also includes a drive cylinder (234), a hinge block (235), a lifting seat (236), a first slider (233), and a second slider (237); the first slider (233) is slidably connected to the inner side of the first pressure plate (232). A drive cylinder (234) is mounted on the first slider (233), and a hinge block (235) is mounted on the output shaft of the drive cylinder (234). The hinge block (235) is mounted in the middle of the lifting seat (236). The top of the lifting seat (236) is connected to the second pressure plate (238) through the second slider (237). The drive cylinder (234) is used to drive the lifting seat (236) to move.

3. The waste recycling compaction device according to claim 1, characterized in that, The robotic arm unit (30) includes a robotic arm body (31) and a connecting end (32), which magnetically engages with the gripper unit (40).

4. The waste recycling compaction device according to claim 3, characterized in that, The connecting end (32) includes an end shaft (321) and an extension plate (322), and a first electromagnetic block (326) is provided on one side of the extension plate (322). The connecting end (32) also includes a locking shaft (323), which has at least one positioning pin (324) on one side of its circumferential direction, and a number of locking ball grooves (325) are provided on the outer surface of the locking shaft (323) at equal intervals in the circumferential direction.

5. The waste recycling compaction device according to claim 4, characterized in that, The gripper unit (40) includes a base (41) and an end block (42). The end block (42) is slidably connected to the base (41). A locking groove (43) is provided in the middle of the end block (42), and the locking groove (43) is sleeved with the locking shaft (323). A second electromagnetic block (46) is provided above the end block (42), and the second electromagnetic block (46) and the first electromagnetic block (326) attract each other; a gripper (47) is provided on one side of the end block (42).

6. The waste recycling compaction device according to claim 5, characterized in that, The inner diameter of the groove (43) is provided with a number of retaining beads (45), and the retaining beads (45) cooperate with the retaining bead groove (325).

7. The waste recycling compaction device according to claim 5, characterized in that, The end block (42) is provided with a positioning hole, which cooperates with the positioning pin (324) to restrict the circumferential rotation of the end block (42).

8. The waste recycling compaction device according to claim 5, characterized in that, The gripper (47) is integrated with a drive motor, which controls the opening and closing of the gripper (47).

9. The waste recycling compaction device according to claim 5, characterized in that, The first electromagnetic block (326) and the second electromagnetic block (46) are both connected to a controller, which is used to control the energization state and electromagnetic intensity of the first electromagnetic block (326) and the second electromagnetic block (46).

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