CN107117417B - A kind of automatic collecting cart of corridor garbage - Google Patents
A kind of automatic collecting cart of corridor garbage Download PDFInfo
- Publication number
- CN107117417B CN107117417B CN201710535995.5A CN201710535995A CN107117417B CN 107117417 B CN107117417 B CN 107117417B CN 201710535995 A CN201710535995 A CN 201710535995A CN 107117417 B CN107117417 B CN 107117417B
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- module
- bulkhead
- headstock
- collecting cart
- chassis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/24—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle
- B65F3/26—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle by tipping the tank
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention belongs to technical field of electric automation equipment, and in particular to a kind of automatic collecting cart of corridor garbage.The collecting cart is made of chassis, wheel, freight house and vehicle first class sections, and battery, driving motor, automatic control system, mechanical gripper, mechanical compression finger and high-definition camera is arranged in vehicle head part；Freight house can pass through electromagnetic fixing device and hydraulic telescopic rod control folding and handling, the present invention is controlled the collection transhipment for completing corridor garbage by automatic control system, different floors are reached using elevator, and working environment can be monitored, cope with emergency situations in time.Work efficiency is high for the automatic collecting cart of a kind of corridor garbage provided by the invention, and environmentally protective safety, operating noise is low, has very big practical value.
Description
Technical field
The invention belongs to the technical fields of electric automatization equipment, and in particular to a kind of automatic collecting cart of corridor garbage.
Background technique
In many apartments and residential building, property management personnel can help owner to handle rubbish, and owner only needs will be daily
The packing of rubbish refuse bag, which installs, is placed on doorway, and the cleaning worker of estate management side can help owner that rubbish is sent to garbage transfer
It stands, then rubbish is uniformly processed by the relevant departments of city management.Since the height of present building is very high, the residence that every building is moved in
People's amount is also very much, and the rubbish for handling every household is a hard work, and cleaning worker will also be responsible for public domain
Health sweep, in order to deal with so big workload, estate management side has to employ more cleaning workers, and this work
The cost of work eventually marries again each household resident on one's body, and resident can bear higher management for infrastructure fee thus.
Patent publication No. CN 105836350A discloses a kind of refuse collector, which is provided with one on the car body
Multi-stage telescopic arms, telescopic arm front end are provided with suction nozzle, and suction nozzle passes through suction pipe again and is connected with the vacuum pump in car body collecting chamber, utilize
Telescopic arm reaches suction nozzle at the dumping of road shoulder, and rubbish is drawn into collecting chamber, in this way to the rubbish in roadside
It is collected, this refuse collector can be very good the ground refuse of processing pavement garbage and other open places, not need
It is artificial to sweep, the working efficiency that public places sanitary is kept a public place clean can be greatly improved and save manpower.But this refuse collector is only
It can apply in outdoor sanitary clean and garbage collection, for the narrow working environment in corridor, cannot carry out the work well, and
And this equipment needs at least one operator to drive, and cannot be automatically performed related work content, cannot deal with needs and arrive
Up to the vertical operation environment of different floors, and it is this by pull of vacuum carry out garbage collection in the way of can generate very big make an uproar
Sound can impact the daily life of resident.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of automatic collecting cart of corridor garbage, this buildings
Each household resident can be placed on the automatic garbage-collecting on doorway by road Automatic garbage collection vehicle, be transported to garbage transfer station, be saved
The working strength of cleaning worker, and collection work can be carried out in night or the stream of people less period, it avoids to resident's
Life impacts.
A kind of automatic collecting cart of corridor garbage, including wheel, chassis and driving motor, wheel are located under chassis, pass through biography
Dynamic system is connect with driving motor；It further include headstock and freight house, freight house and headstock are respectively positioned on chassis, before headstock is fixed on chassis
Portion, freight house are arranged at chassis rear portion；Setting automatic control system and battery inside headstock, headstock top setting mechanical gripper,
Mechanical compression finger and high-definition camera, mechanical gripper are fixedly connected on headstock by first mechanical arm, mechanical compression finger
It is fixedly connected on headstock by second mechanical arm, high-definition camera and the support rod being fixed on headstock pass through direction controller
Connection；The side of headstock also sets up power management port.
Automatic control system is by microcomputer control module, memory module, motor drive module, picture recognition module, manipulation mould
Block, wireless communication module and electric power management circuit are constituted, memory module, motor drive module, picture recognition module, manipulation mould
Block, wireless communication module and electric power management circuit are electricly connected with microcomputer control module, wherein motor drive module also with drive
Dynamic electric control connection, picture recognition module also be electrically connecteds with high-definition camera, electric power management circuit include charge-discharge circuit with
Battery capacity indication circuit, this two parts circuit are connect with the charging interface of power management port and battery capacity indication lamp respectively, power supply pipe
Reason circuit is also directly connect with the battery being arranged in inside headstock；Operational module include mechanical gripper control module, it is mechanical by
Press finger controlling module and direction controlling module；Mechanical gripper control module is electricly connected with first mechanical arm and mechanical gripper,
Mechanical compression finger controlling module is electricly connected with second mechanical arm and mechanical compression finger, direction controlling module and direction controlling
Device electricly connects.
Freight house is cuboid-type freight house, including six bulkheads, to lean on the bulkhead of near-car head for preceding bulkhead, upper bulkhead and rear storehouse
By rotation axis connection between wall, the first electromagnetic fixing device is set between upper bulkhead and preceding bulkhead, rear bulkhead and lower bulkhead it
Between the second electromagnetic fixing device is set, in addition to upper bulkhead and rear bulkhead, to be fixedly connected between other four bulkheads；In freight house
Outside, it is lower that first hydraulic telescopic rod is set between bulkhead and chassis, inside freight house, it is arranged second between upper bulkhead and lower bulkhead
The laser emission section of light sensor is arranged close to the position of the first electromagnetic fixing device for hydraulic telescopic rod, the inner wall of preceding bulkhead
Part, and the light receiving part of laser emission part bulkhead setting light sensor after relatively corresponding, light sensor also with
The microcomputer control module of automatic control system connects.
Preferably, chassis length of the invention is less than 1.5 meters, and width is less than 1 meter；Height of the carbody is lower than 2 meters；Convenient for narrow
Narrow indoor channel advances and carries out the work.
Preferably, battery is high-capacity lithium battery group, this kind of battery capacity is big, and the service life is long, and safer.
Preferably, wheel count is 3 pairs, is located at the front end, middle section and rear end on chassis, between adjacent two pairs of wheels
It is equidistant, the stability of the automatic collecting cart of entire corridor garbage can be improved in such wheel group, prevents overturn accident.
Preferably, direction controller can control high-definition camera and rotate in the horizontal direction, can also incline along the vertical direction
Tiltedly, the field range for expanding camera improves entire collecting cart to the adaptibility to response of complex situations.
Preferably, first mechanical arm has 3 freedom degrees.
Preferably, second mechanical arm also has 3 freedom degrees.
Preferably, wireless communication module selects NFC module.
A kind of corridor garbage automatic collecting device provided by the invention, has the following beneficial effects:
The rubbish in corridor can be collected automatically, and the collection transport process of entire rubbish is completely complete by automatic control system
At not needing manual operation, both improved the working efficiency of garbage collection process, also save to employ and be accomplished manually related work
Expense, be estate management unit and owner's Clean Living spending.
Freight house of the invention can be with automatic open-close, and when loading, the first electromagnetic fixing device is closed, by the second hydraulically extensible
Bar opens upper bulkhead, carries out cargo loading；When unloading, the second electromagnetic fixing device is closed, and is lifted freight house by the first telescopic rod
It rising, the rubbish in cargo hold can be poured out automatically by door after the freight house of unlatching, and during waste transportation, freight house is in
Completely enclosed state, the taste that rubbish can be prevented unpleasant come out, it is also ensured that will not occur in rubbish powdery or
The part of liquid leaks, and pollutes the environment.
The automatic collecting cart of a kind of corridor garbage provided by the invention, it is small using motor drive operational noise, it can be at night
Or the section work of other flow of the people hours, reduce the influence to resident living；Each floor can be reached automatically by elevator,
Each household is positioned by NFC module, the rubbish of any family in front of the door will not be missed, also uses high-definition camera and image recognition
Module is monitored environment, will not bump against pedestrian or other articles, and safety and working efficiency are all very high.
Detailed description of the invention
It is described in detail referring to the following drawings to made by specific embodiment by reading, other feature of the invention, mesh
And advantage will become more apparent upon:
Fig. 1 is a kind of schematic diagram of the automatic collecting cart unloaded state of corridor garbage of the present embodiment；
Fig. 2 is a kind of schematic diagram of the automatic collecting cart loading condition of corridor garbage of the present embodiment；
Fig. 3 is a kind of module diagram of the automatic collecting cart automatic control system of corridor garbage of the present embodiment；
In the figure, it is marked as 1, chassis；2, freight house；3, wheel；4, headstock；21, the first hydraulic telescopic rod；22, second is hydraulic
Telescopic rod；23, rotary shaft；24, light sensor；25, the first electromagnetic fixing device；26, the second electromagnetic fixing device；41, machine
Tool handgrip；42, mechanical compression finger；43, high-definition camera；44, power management port, 45, automatic control system；401, microcomputer
Control module；402, memory module；403, motor drive module；404, picture recognition module；405, electric power management circuit；406,
Battery；407, wireless communication module；408, operational module；411, first mechanical arm；421, second mechanical arm；431, direction is controlled
Device processed；441, battery capacity indication lamp；442, charging interface.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that embodiment be merely to illustrate the present invention without
For limiting the scope of the invention.
A kind of automatic collecting cart of corridor garbage, including wheel 3, chassis 1 and driving motor, wheel 3 are located under chassis 1, lead to
Transmission system is crossed to connect with driving motor；It further include headstock 4 and freight house 3, freight house 3 and headstock 4 are respectively positioned on chassis 1, and headstock 4 is solid
It is scheduled on 1 front of chassis, freight house 2 is arranged at 1 rear portion of chassis；Automatic control system 45 and battery 406, vehicle are set inside headstock 4
First 4 top setting mechanical gripper 41, mechanical compression finger 42 and high-definition camera 43, mechanical gripper 41 pass through first mechanical arm
411 are fixedly connected on 4 on headstock, and mechanical compression finger 42 is fixedly connected on headstock 4 by second mechanical arm 421, and high definition is taken the photograph
It is connect by direction controller 431 with the support rod that is fixed on headstock 4 as first 43；The side of headstock 4 also sets up power management
Port 44.
Automatic control system 45 is by microcomputer control module 401, memory module 402, motor drive module 403, image recognition
Module 404, operational module 408, wireless communication module 407 and electric power management circuit 405 are constituted, memory module 402, motor driven
Module 403, picture recognition module 404, operational module 408, wireless communication module 407 and electric power management circuit 405 are and microcomputer
Control module 401 electricly connects, wherein motor drive module 403 is also electricly connected with driving motor, picture recognition module 404
It is also electrically connected with high-definition camera 43, electric power management circuit 405 includes charge-discharge circuit and battery capacity indication circuit, this two parts electricity
Road is connect with the charging interface 442 of power management port 44 and battery capacity indication lamp 441 respectively, and electric power management circuit 405 is also direct
It is connect with the battery 406 being arranged in inside headstock 4；Operational module 408 includes mechanical gripper control module, mechanical compression finger
Control module and direction controlling module；Mechanical gripper control module is electricly connected with first mechanical arm 411 and mechanical gripper 41, machine
Tool pressing finger controlling module is electricly connected with second mechanical arm 421 and mechanical compression finger 42, direction controlling module and direction
Controller 431 electricly connects.
Freight house 2 is cuboid-type freight house, including six bulkheads, with by the bulkhead of near-car head, for preceding bulkhead, upper bulkhead is with after
It is connected between bulkhead by rotary shaft 23, the first electromagnetic fixing device 25 is set between upper bulkhead and preceding bulkhead, and rear bulkhead is under
Second electromagnetic fixing device 26 is set between bulkhead, is fixed company between other four bulkheads in addition to upper bulkhead and rear bulkhead
It connects；Outside freight house 2, the first hydraulic telescopic rod 21 is set between lower bulkhead and chassis 1, inside freight house 2, upper bulkhead and lower storehouse
Second hydraulic telescopic rod 22 is set between wall, and the inner wall of preceding bulkhead is passed close to the position of the first electromagnetic fixing device 25 setting light
The laser emission part of sensor 24, the light receiver of rear bulkhead setting light sensor 24 relatively corresponding with laser emission part
Component, light sensor 24 are also connect with the microcomputer control module 401 of automatic control system 45.
1 length of chassis of the invention is less than 1.5 meters, and width is less than 1 meter；Height of the carbody is lower than 2 meters；Convenient in narrow room
Internal channel advances and carries out the work.Battery 496 is high-capacity lithium battery group, this kind of battery capacity is big, and the service life is long, and more
Safety.3 quantity of wheel is 3 pairs, is located at the front end, middle section and rear end on chassis 1, the distance between adjacent two pairs of wheels 3 phase
Deng the stability of the automatic collecting cart of entire corridor garbage can be improved in such wheel group, prevents overturn accident.Direction control
Device 431 processed can control high-definition camera 43 and rotate in the horizontal direction, can also tilt along the vertical direction, expand high-definition camera
43 field range improves entire collecting cart to the adaptibility to response of complex situations.
Wherein, first mechanical arm 411 has 3 freedom degrees.Second mechanical arm 421 also has 3 freedom degrees.Wireless communication
Module 407 selects NFC module.
In use, from the after-sale service personnel of equipment manufacturer in advance to 401 burning working procedure of microcomputer control module, equipment
Image is shot using high-definition camera 43 and carries out image recognition, uses mechanical compression finger into elevator according to the instruction of program
42 press the elevator button of a certain floor；After reaching the floor, because the waste deposit point of each household is provided with NFC electronics mark
Note, the signal that collecting cart can use NFC module find the accurate location of the waste deposit point at each family, will using mechanical gripper 41
Rubbish is grabbed and is put into freight house 2.
During loading, the first electromagnetism fixed module 25 on freight house 2 is closed, and the second hydraulic telescopic rod 22 is by upper storehouse
Wall jacks up, and mechanical gripper 41 is put into rubbish in freight house 2 by suitable for reading, and the light sensor 24 of 2 upper end of freight house can check goods
Whether filled in storehouse 2；If freight house 2 is already filled with, collecting cart will record current floor and family information, and data are by micro-
Machine control module 401 is stored into memory module 402, and rubbish is then transported to transhipment website, is again returned to after the completion of unloading
A upper position continues garbage collection work.
During unloading, the second electromagnetic fixing device 26 can be closed, and the first hydraulic telescopic rod 21 jacks up freight house, by
In the effect of gravity, rear bulkhead can be rotated along rotary shaft 23, and freight house automatically opens, and the rubbish in freight house is under inclined situation
It will be unloaded out automatically.
Battery 406 provides power supply for whole system, and the high-capacity lithium battery group that the present invention uses is green safe, vehicle
The power management port 44 of head side is equipped with battery capacity indication lamp 441, and administrative staff are according to the instruction of battery capacity indication lamp 441, in electricity
It when pond electricity is lower, charges to battery 406, charging interface 442 is also disposed in power management port 44.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (8)
1. a kind of automatic collecting cart of corridor garbage, including wheel, chassis and driving motor, wheel are located under chassis, pass through transmission
System is connect with driving motor；It is characterized by:
It further include headstock and freight house, freight house and headstock are respectively positioned on chassis, and headstock is fixed on chassis front, and freight house is arranged on chassis
Rear portion；Setting automatic control system and battery inside the headstock, headstock top be arranged mechanical gripper, mechanical compression finger and
High-definition camera, mechanical gripper are fixedly connected on headstock by first mechanical arm, and mechanical compression finger passes through second mechanical arm
It is fixedly connected on headstock, high-definition camera is connect with the support rod being fixed on headstock by direction controller；The side of headstock
Face also sets up power management port；
The automatic control system is by microcomputer control module, memory module, motor drive module, picture recognition module, manipulation mould
Block, wireless communication module and electric power management circuit are constituted, wherein memory module, motor drive module, picture recognition module, manipulation
Module, wireless communication module and electric power management circuit are electricly connected with microcomputer control module, wherein motor drive module also with
Driving motor electricly connects, and picture recognition module is also electrically connected with high-definition camera, and electric power management circuit includes charge-discharge circuit
With battery capacity indication circuit, this two parts circuit is connect with the charging interface of power management port and battery capacity indication lamp respectively, power supply
Management circuit is also directly connect with the battery being arranged in inside headstock；The operational module include mechanical gripper control module,
Mechanical compression finger controlling module and direction controlling module；Mechanical gripper control module and first mechanical arm and mechanical gripper are automatically controlled
Connection, mechanical compression finger controlling module are electricly connected with second mechanical arm and mechanical compression finger, direction controlling module and side
It is electricly connected to controller；
The freight house is cuboid-type freight house, including six bulkheads, to lean on the bulkhead of near-car head for preceding bulkhead, upper bulkhead and rear storehouse
By rotation axis connection between wall, the first electromagnetic fixing device is set between upper bulkhead and preceding bulkhead, rear bulkhead and lower bulkhead it
Between the second electromagnetic fixing device is set, in addition to upper bulkhead and rear bulkhead, to be fixedly connected between other four bulkheads；In freight house
Outside, it is lower that first hydraulic telescopic rod is set between bulkhead and chassis, inside freight house, it is arranged second between upper bulkhead and lower bulkhead
The laser emission section of light sensor is arranged close to the position of the first electromagnetic fixing device for hydraulic telescopic rod, the inner wall of preceding bulkhead
Part, and the light receiving part of laser emission part bulkhead setting light sensor after relatively corresponding, light sensor also with
The microcomputer control module of automatic control system connects.
2. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: the chassis length is less than
1.5 meters, width is less than 1 meter；Height of the carbody is lower than 2 meters.
3. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: the battery is large capacity
Lithium battery group.
4. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: the wheel count is 3 pairs,
It is located at the front end, middle section and rear end on chassis, the distance between adjacent two pairs of wheels are equal.
5. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: the direction controller can
Control high-definition camera rotates in the horizontal direction, can also tilt along the vertical direction.
6. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: the first mechanical arm has
3 freedom degrees.
7. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: the second mechanical arm also has
There are 3 freedom degrees.
8. the automatic collecting cart of a kind of corridor garbage according to claim 1, it is characterised in that: wireless communication module NFC
Module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710535995.5A CN107117417B (en) | 2017-07-04 | 2017-07-04 | A kind of automatic collecting cart of corridor garbage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710535995.5A CN107117417B (en) | 2017-07-04 | 2017-07-04 | A kind of automatic collecting cart of corridor garbage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107117417A CN107117417A (en) | 2017-09-01 |
| CN107117417B true CN107117417B (en) | 2019-04-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710535995.5A Active CN107117417B (en) | 2017-07-04 | 2017-07-04 | A kind of automatic collecting cart of corridor garbage |
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| CN (1) | CN107117417B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107814115A (en) * | 2017-09-12 | 2018-03-20 | 合肥富通环保新能源科技有限公司 | A kind of underground garbage collecting pipe applied to house refuse air-transport system |
| CN108861244B (en) * | 2018-05-17 | 2021-06-22 | 徐成刚 | Building rubbish clearance robot assembly and control system thereof |
| CN111076175A (en) * | 2019-11-06 | 2020-04-28 | 温州医科大学 | Medical waste treatment system |
| CN111076174A (en) * | 2019-11-06 | 2020-04-28 | 温州医科大学 | Medical waste treatment process |
| CN112550990A (en) * | 2021-01-12 | 2021-03-26 | 陈常斌 | Intelligent garbage transfer robot capable of collecting garbage at each floor of building, intelligent garbage temporary storage box frame and control system of intelligent garbage temporary storage box frame |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202054354U (en) * | 2011-03-24 | 2011-11-30 | 上海华冠希尔博专用车辆有限公司 | Movable garbage compression box |
| CN103350845B (en) * | 2013-06-14 | 2015-05-06 | 宁波大红鹰学院 | Automatic garbage collection vehicle |
| KR20160004774A (en) * | 2014-07-04 | 2016-01-13 | 한화테크윈 주식회사 | Autonomous driving car for security-cleaning |
| KR101678785B1 (en) * | 2015-07-06 | 2016-11-22 | 충북대학교 산학협력단 | System and Method for Automatic Collection of Food Waste |
| CN105083824B (en) * | 2015-09-06 | 2017-05-03 | 江苏新光数控技术有限公司 | Fully-automatic waste incineration device |
| CN105620990B (en) * | 2016-01-14 | 2017-09-29 | 宁波市智能制造产业研究院 | A kind of intelligent electric garbage truck device |
| CN205574810U (en) * | 2016-03-31 | 2016-09-14 | 齐鲁工业大学 | Full -automatic transport vechicle |
| CN106241135B (en) * | 2016-09-04 | 2018-05-08 | 安徽省唐骏重工机械有限责任公司 | A kind of intelligent garbage cleans environmental sanitation robot vehicle |
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- 2017-07-04 CN CN201710535995.5A patent/CN107117417B/en active Active
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Effective date of registration: 20201014 Address after: Room 3001, citizen service center, Jishan Town, Nanling County, Wuhu City, Anhui Province Patentee after: Anhui Yougu express Intelligent Technology Co., Ltd Address before: 230000 Zhenxing South Road, Gao Liu town, Hefei economic and Technological Development Zone, Anhui, 154 Patentee before: HEFEI ZEJUN ELECTRICAL EQUIPMENT Co.,Ltd. |