CN102114982A - Manipulator device for feeding garbage - Google Patents

Manipulator device for feeding garbage Download PDF

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Publication number
CN102114982A
CN102114982A CN 201010602593 CN201010602593A CN102114982A CN 102114982 A CN102114982 A CN 102114982A CN 201010602593 CN201010602593 CN 201010602593 CN 201010602593 A CN201010602593 A CN 201010602593A CN 102114982 A CN102114982 A CN 102114982A
Authority
CN
China
Prior art keywords
manipulator
robot
reciprocating
rubbish
loading
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN 201010602593
Other languages
Chinese (zh)
Inventor
何世琪
黄文荟
陈桦
刘建敏
刘伟
布宁中
郭登科
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HUBEI HEJIA ENVIRONMENT EQUIPMENT CO Ltd
Original Assignee
HUBEI HEJIA ENVIRONMENT EQUIPMENT CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HUBEI HEJIA ENVIRONMENT EQUIPMENT CO Ltd filed Critical HUBEI HEJIA ENVIRONMENT EQUIPMENT CO Ltd
Priority to CN 201010602593 priority Critical patent/CN102114982A/en
Publication of CN102114982A publication Critical patent/CN102114982A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a manipulator device for feeding garbage and belongs to garbage processing equipment. The manipulator device comprises a beam, a cart traveling mechanism, a trolley running gear, an up and down moving mechanism, a manipulator swing device, a catching manipulator and a hydraulic device; the beam is arranged on the cart traveling mechanism; the trolley running gear is arranged on the beam and can freely move along the beam; the up and down moving mechanism is arranged on the trolley running gear; the lower end of the up and down moving mechanism is connected with the catching manipulator through the manipulator swing device; and the hydraulic device is arranged on the trolley running gear, and is respectively connected with the up and down moving mechanism, the manipulator swing device and the catching manipulator through hydraulic pipelines so as to drive the up and down moving mechanism to move the catching manipulator up and down, and the manipulator swing device to swing the catching manipulator. The manipulator device has simple structure and high catching speed, and can controllably swing the catching manipulator to quickly catch materials on a slope, thereby improving the catching efficiency.

Description

The robot device that is used for the rubbish material loading
Technical field
The present invention relates to the equipment that disposal of refuse is used, especially relate to a kind of robot device that is used for the rubbish material loading.
Background technology
There have been multiple means such as burning, compost, landfill to handle domestic waste at present, with the harm of avoiding rubbish that environment for human survival is caused.In various processing methods, often will expect the scattered domestic waste in hole or the discharging hall, grab in the fixing feed hopper.For fear of operator ' s health is damaged, existing at present can putting in the production practice by remotely-controlled general grab crane, this type of grab crane equipment comprises electrical equipment, dolly, cart, the operating unit that hoists, grab bucket, driver's cab etc.
And present will expect in the hole or there is following problem at least in equipment that the sporadic material in discharging hall grabs fixing feed hopper: (1) is big because of the weight of grab bucket, makes grasp speed slow, lose liter weight greatly, the power that increase hoists; (2) for control discharging amount, need repeatedly folding during the grab bucket discharging, increase driver's operation easier and the time; (3) the bigger material of the gradient is grasped in inconvenience; (4) batch turning is at the bottom of the efficient of refining.5) the circular grab bucket of many claw flap types can not be removed the rubbish at angle, hole; (6) for reaching same function, the weight of general grab crane is big, and the cost of productive costs and operating maintenance is very high.
Summary of the invention
Based on above-mentioned existing in prior technology problem, embodiment of the present invention provides a kind of robot device that is used for the rubbish material loading, the speed piece of its material loading discharging, the power of efficient height, consumption is little, light in structure quantizes, and can effectively solve the deficiency that existing grab crane exists.
The objective of the invention is to be achieved through the following technical solutions:
Embodiment of the present invention provides a kind of robot device that is used for the rubbish material loading, comprising:
Crossbeam, cart walking mechanism, carriage walking device, reciprocating mechanism, manipulator pendulous device, material grasping manipulator and hydraulic efficiency gear;
Described crossbeam is arranged on the cart walking mechanism;
Described carriage walking device is arranged on the described crossbeam, can move freely along described crossbeam;
Described reciprocating mechanism is arranged on the carriage walking device, and the reciprocating mechanism lower end is connected with the material grasping manipulator through the manipulator pendulous device; On the described carriage walking device hydraulic efficiency gear is set, be connected with described reciprocating mechanism, manipulator pendulous device and material grasping manipulator respectively by hydraulic tubing, can drive described reciprocating mechanism and drive material grasping machinery on hand, move down, and the drives mechanical hand pendulous device drives the swing of material grasping manipulator.
The technical scheme that provides by the embodiment of the invention as can be seen, the robot device in the embodiment of the invention is simple in structure, grasp speed is fast, the material grasping manipulator of controlled swing can grasp the material on the slope rapidly, improves and grasps efficient; Big chaff interference (as sofa, mattress, trunk, stone etc.) during refining, batch turning, rapid eliminating are expected quickly, this robot device adopts lightweight structure, the efficient height, the power of consumption is little, can effectively reduce and produce and operating cost.
Description of drawings
The main TV structure scheme drawing of the robot device that Fig. 1 provides for the embodiment of the invention;
The plan structure scheme drawing of the robot device that Fig. 2 provides for the embodiment of the invention;
Each label is represented among the figure:
The 1-cart walking mechanism; The 2-crossbeam; 3-carriage walking device; The 4-counter weight device; The 5-reciprocating mechanism of grabbing bucket; 6-hydraulic pressure material grasping manipulator; 7-hydraulic pressure material grasping manipulator pendulous device; 8-oil pipe drum mechanism built; The 9-Hydraulic Station; 10-control cabin and electrical equipment; The 11-apron conveyor; 12-material hole or discharging hall; The 13-belt conveyer; The 14-feed hopper.
The specific embodiment
The invention will be further described below in conjunction with specific embodiment.
Embodiment
Present embodiment provides a kind of robot device that is used for the rubbish material loading, when being used in to garbage disposal, rubbish is carried out material loading, as shown in Figure 1, 2, this robot device comprises: crossbeam 2, cart walking mechanism 1, carriage walking device 3, reciprocating mechanism 4, manipulator pendulous device 7, material grasping manipulator 6 and hydraulic efficiency gear 9;
Wherein, crossbeam 2 two ends are arranged on the cart walking mechanism 1, and the road wheel of cart walking mechanism 1 is arranged on the track in material hole 12 (or discharging halls), can drive crossbeam 2 along track and move;
Carriage walking device 3 is arranged on the crossbeam 2, carriage walking device 3 is made of support body, wheel and actuating device, wherein, support body is a tower structure, support body is provided with wheel, actuating device is arranged on the support body, is connected with wheel, can move automatically on crossbeam 2 by drive wheels drive carriage walking device 3;
Reciprocating mechanism 5 is arranged on the carriage walking device 3, reciprocating mechanism 5 is made of support and hydraulically extensible oil cylinder, support is a tower structure, and the hydraulically extensible oil cylinder is set in the support, and reciprocating mechanism 5 lower ends are connected with material grasping manipulator 6 through manipulator pendulous device 7; The hydraulically extensible oil cylinder lower end that is reciprocating mechanism 5 is connected with material grasping manipulator 6 through manipulator pendulous device 7, reciprocating mechanism 5 can drive manipulator pendulous device 7 and material grasping manipulator 6 upper and lower moving, and manipulator pendulous device 7 can drive 6 swings of material grasping manipulator;
Hydraulic efficiency gear 9 is set on the carriage walking device 3, be connected with reciprocating mechanism 5, manipulator pendulous device 7 and material grasping manipulator 6 respectively by hydraulic tubing, can drive reciprocating mechanism 5, manipulator pendulous device 7 and drive material grasping manipulator 6 upper and lower moving, and drives mechanical hand pendulous device 7 drives 6 swings of material grasping manipulator.
Also comprise in the above-mentioned robot device: oil pipe drum mechanism built 8, be arranged on the reciprocating mechanism 5, can furl the hydraulic tubing of hydraulic efficiency gear 9.
Reciprocating mechanism 5 at above-mentioned robot device can also be provided with balance weight mechanism 4, plays the weight of balance reciprocating mechanism, improves the effect of reciprocating mechanism hoisting depth.
On the basis of above-mentioned robot device, electric apparatus control apparatus 10 and a plurality of sensor can also be set, electric apparatus control apparatus 10 is connected with a plurality of sensors respectively, be used for the signal that arrives according to each sensor, the actuating device of hydraulic efficiency gear 9, cart walking mechanism 1 and the actuating device of carriage walking device 3 are controlled.A plurality of sensors wherein comprise: the position transduser etc. that is used to detect detector, pressure sensor, cart walking mechanism and the carriage walking device of rubbish material height of embankment degree.Electric apparatus control apparatus 10 can adopt PLC electrical equipment control technology.Cooperate by electric apparatus control apparatus 10 and a plurality of sensor, make this robot device can realize automation control, grasp the operation of rubbish material easily.
When above-mentioned robot device uses, cart walking mechanism 1 along material hole 12 longitudinal directions can make crossbeam 2 move along material hole longitudinal direction, crossbeam 2 along the 12 transverse directions setting of material hole, carriage walking device 3 is walked on crossbeam 2, be installed in the reciprocating mechanism 5 on the carriage walking device 3, material grasping manipulator 6 is moved up and down, and then the extracting of rubbish material is carried out in any position that can make material grasping manipulator 6 arrive material hole 12 (or discharging halls); Be installed in the counter weight device 4 on the reciprocating mechanism 5, balance the weight of reciprocating mechanism 5; Be installed in pin tooth transmission device can be set on the carriage walking device 3, make material grasping manipulator 6 have the function of dialling by pin tooth transmission device; Be installed in the manipulator pendulous device on the reciprocating mechanism 5, can make material grasping manipulator 6 quick, the convenient materials that grasp on the slope; Material grasping manipulator 6 is grabbed tooth by the arc that can fasten of two flexible connections, makes the extracting domestic waste faster, strong, plays certain broken bag effect, and can grab the chaff interference in the discharging garbage more easily.Rubbish material in the feed hopper 14 on the last apron conveyor 11 can be sent on the belt conveyer 13 and outwards transport.
In sum, the robot device of the embodiment of the invention, by the cooperation of each mechanism, have material grasping pressure height, grasp speed fast, improved the speed of material loading, discharging, the power of efficient height, consumption is little; By counter weight device lifting weight is effectively improved, and hoisting power reduce greatly, carriage walking device, big chaff interference (as sofa, mattress, trunk, stone etc.) in refining, batch turning, the rapid eliminating material quickly; The robot device of controlled swing can grasp the material on the slope rapidly, improves and grasps efficient, and reduce production costs.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.

Claims (8)

1. a robot device that is used for the rubbish material loading is characterized in that, comprising:
Crossbeam, cart walking mechanism, carriage walking device, reciprocating mechanism, manipulator pendulous device, material grasping manipulator and hydraulic efficiency gear;
Described crossbeam is arranged on the cart walking mechanism;
Described carriage walking device is arranged on the described crossbeam, can move freely along described crossbeam;
Described reciprocating mechanism is arranged on the carriage walking device, and the reciprocating mechanism lower end is connected with the material grasping manipulator through the manipulator pendulous device; On the described carriage walking device hydraulic efficiency gear is set, be connected with described reciprocating mechanism, manipulator pendulous device and material grasping manipulator respectively by hydraulic tubing, can drive described reciprocating mechanism and drive material grasping machinery on hand, move down, and the drives mechanical hand pendulous device drives the swing of material grasping manipulator.
2. the robot device that is used for the rubbish material loading according to claim 1 is characterized in that, described robot device also comprises: the oil pipe drum mechanism built, be arranged on the described reciprocating mechanism, and can furl the hydraulic tubing of hydraulic efficiency gear.
3. the robot device that is used for the rubbish material loading according to claim 1 is characterized in that, described robot device also comprises: balance weight mechanism is arranged on the described reciprocating mechanism.
4. the robot device that is used for the rubbish material loading according to claim 1 is characterized in that, described reciprocating mechanism comprises: support and hydraulically extensible oil cylinder;
Described support is a tower structure, and the hydraulically extensible oil cylinder is set in the support.
5. the robot device that is used for the rubbish material loading according to claim 1 is characterized in that, described carriage walking device comprises:
Support body, wheel and actuating device;
Described support body is a tower structure, and support body is provided with wheel, and actuating device is arranged on the support body, is connected with wheel, can drive wheels rotate.
6. the robot device that is used for the rubbish material loading according to claim 1, it is characterized in that, described robot device also comprises: electric apparatus control apparatus and a plurality of sensor, electric apparatus control apparatus is connected with each sensor respectively, be used for the signal that arrives according to each sensor, the actuating device of hydraulic efficiency gear, cart walking mechanism and the actuating device of carriage walking device are controlled.
7. the robot device that is used for the rubbish material loading according to claim 1 is characterized in that the two ends of described crossbeam are arranged on the cart walking mechanism.
8. the robot device that is used for the rubbish material loading according to claim 1 is characterized in that, described material grasping machinery hand comprises that the arc that can fasten of two flexible connections grabs tooth.
CN 201010602593 2010-12-14 2010-12-14 Manipulator device for feeding garbage Pending CN102114982A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010602593 CN102114982A (en) 2010-12-14 2010-12-14 Manipulator device for feeding garbage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201010602593 CN102114982A (en) 2010-12-14 2010-12-14 Manipulator device for feeding garbage

Publications (1)

Publication Number Publication Date
CN102114982A true CN102114982A (en) 2011-07-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201010602593 Pending CN102114982A (en) 2010-12-14 2010-12-14 Manipulator device for feeding garbage

Country Status (1)

Country Link
CN (1) CN102114982A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107971247A (en) * 2017-12-30 2018-05-01 张晓彬 A kind of New garbage classification equipment
CN108184441A (en) * 2018-01-30 2018-06-22 中山市锐炬科技有限公司 A kind of corn threshing device
CN108274808A (en) * 2018-01-30 2018-07-13 中山市精镀机电设备有限公司 A kind of pop can flattening equipment
CN109335088A (en) * 2018-08-30 2019-02-15 嘉兴塘东汽车配件有限公司 A kind of material feeding device
CN110925771A (en) * 2019-12-17 2020-03-27 江西南方锅炉股份有限公司 Municipal refuse incinerator that anticorrosive ability is strong
CN111874618A (en) * 2020-08-05 2020-11-03 杭州晋建环保科技有限公司 Garbage picking, flattening and collecting device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3913312A1 (en) * 1989-04-19 1990-10-25 Norbert Schlimm Handling machine for transferring objects - has grab holder sliding in swinging arm able to pick=up and release objects
US5183377A (en) * 1988-05-31 1993-02-02 Mannesmann Ag Guiding a robot in an array
DE19810333A1 (en) * 1998-03-11 1999-09-23 Tilo Klett Automatic tool positioning arrangement
WO2001012394A2 (en) * 1999-08-16 2001-02-22 Oxim Ltd. Cartesian coordinate type robot for transferring objects

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5183377A (en) * 1988-05-31 1993-02-02 Mannesmann Ag Guiding a robot in an array
DE3913312A1 (en) * 1989-04-19 1990-10-25 Norbert Schlimm Handling machine for transferring objects - has grab holder sliding in swinging arm able to pick=up and release objects
DE19810333A1 (en) * 1998-03-11 1999-09-23 Tilo Klett Automatic tool positioning arrangement
WO2001012394A2 (en) * 1999-08-16 2001-02-22 Oxim Ltd. Cartesian coordinate type robot for transferring objects

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107971247A (en) * 2017-12-30 2018-05-01 张晓彬 A kind of New garbage classification equipment
CN108184441A (en) * 2018-01-30 2018-06-22 中山市锐炬科技有限公司 A kind of corn threshing device
CN108274808A (en) * 2018-01-30 2018-07-13 中山市精镀机电设备有限公司 A kind of pop can flattening equipment
CN109335088A (en) * 2018-08-30 2019-02-15 嘉兴塘东汽车配件有限公司 A kind of material feeding device
CN110925771A (en) * 2019-12-17 2020-03-27 江西南方锅炉股份有限公司 Municipal refuse incinerator that anticorrosive ability is strong
CN110925771B (en) * 2019-12-17 2021-06-11 江西南方锅炉股份有限公司 Municipal refuse incinerator that anticorrosive ability is strong
CN111874618A (en) * 2020-08-05 2020-11-03 杭州晋建环保科技有限公司 Garbage picking, flattening and collecting device

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Application publication date: 20110706

RJ01 Rejection of invention patent application after publication