CN103350845B - Automatic garbage collection vehicle - Google Patents

Automatic garbage collection vehicle Download PDF

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Publication number
CN103350845B
CN103350845B CN201310238223.7A CN201310238223A CN103350845B CN 103350845 B CN103350845 B CN 103350845B CN 201310238223 A CN201310238223 A CN 201310238223A CN 103350845 B CN103350845 B CN 103350845B
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CN
China
Prior art keywords
hinged
handgrip
bar
motor
gangbar
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CN201310238223.7A
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Chinese (zh)
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CN103350845A (en
Inventor
常秋香
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宁波大红鹰学院
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Priority to CN201310238223.7A priority Critical patent/CN103350845B/en
Publication of CN103350845A publication Critical patent/CN103350845A/en
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Abstract

The invention relates to an automatic garbage collection vehicle, and is designed for solving the problem that the conventional like products are lower in intelligentization, and poor in garbage clamping structural design. The vehicle body of the collection vehicle comprises a baseplate, travelling wheels and a dustbin, wherein position sensors are arranged on mechanical arms and the dustbin respectively. The collection vehicle is characterized in that long arm levers and short arm levers of the mechanical arm are arranged symmetrically in two-to-two correspondence; a crank arm motor is arranged at the hinged part at one end of the mechanical arm; the other end of each long arm lever is hinged with an arm seat; an electromagnetic air cylinder is arranged in front of the hinged part of the latter end of the long arm lever and the arm seat; one end of the electromagnetic air cylinder is hinged with the long arm levers; a hinging gripper and a gripper motor are arranged on a front seat plate of the short arm levers; the screw hole lever of the hinging gripper is connected with a gripper screw; one end of the gripper screw is connected with the motor shaft of the gripper motor; the gripper screw drives the hinging gripper to open and clamp through the gripper motor. The automatic garbage collection vehicle is reasonable in structural design, high in intelligentization degree, convenient to use, and good in garbage positioning and gripping effect, is suitable for gripping solid garbage, and is structural improvement on the like products.

Description

Automatic garbage collection vehicle
Technical field
The present invention relates to small-sized rubbish collecting cart, is a kind of Automatic garbage collection vehicle.
Background technology
Rubbish generally refers to not to be needed or useless solid matter, but also has and comprise liquid substance, and it is seen everywhere in people's daily life or production, and sweeping and clearing up of this type of solid refuse is a comparatively loaded down with trivial details job.Therefore, for ease of the collection of rubbish, some refuse collectors arise at the historic moment; As the patent No. ZL200920066513.7 disclosed in Chinese patent literature, authorized announcement date on November 4th, 2009, utility model title " sanitation robot ", this sanitation robot comprises car body; Described car body is by the program chip control module regulation speed being placed in car predecessor; An infrared probe is settled in car predecessor; On the right side of car predecessor, other arrangement one can visit the probe of special color pattern on sewage disposer; One is placed on the top of car predecessor by the mechanical arm of chip controls; Robot can advance along the path of setting in advance, and sewage disposer can be put in car.But above-mentioned robot and like product intelligence degree poor; Meanwhile, trash folder locking structure is comparatively simple, less stable.
Summary of the invention
For overcoming above-mentioned deficiency, the object of the invention is the Automatic garbage collection vehicle providing a kind of intellectuality higher to this area, make it solve existing like product intellectuality lower, trash folder locking structure designs not good enough technical matters.Its objective is and to be achieved through the following technical solutions.
A kind of Automatic garbage collection vehicle, the car body of this collecting cart comprises base plate, road wheel, rubbish container, and described rubbish container is arranged at the side of base plate plane, and mechanical arm is arranged at the opposite side of base plate plane, the planar base of base plate is provided with road wheel, and mechanical arm and rubbish container are respectively equipped with position sensor; Mechanical arm captures rubbish by position sensor, and rubbish is dropped into rubbish container, and road wheel is convenient to advancing of car body.Its structure design main points are that described mechanical arm comprises arm seat, electromagnetism cylinder, long-armed bar, connecting lever motor, galianconism bar, handgrip motor, fore beam, hinged handgrip, handgrip screw rod, control capsule and storage battery, described long-armed bar, galianconism bar are symmetrical arranged respectively between two, its hinged place, one end is provided with connecting lever motor, the motor shaft of connecting lever motor is connected with galianconism bar, the other end of long-armed bar is hinged with arm seat respectively, be provided with electromagnetism cylinder before this hinged place, one end and the long-armed bar of electromagnetism cylinder are hinged; The other end of galianconism bar is connected with fore beam respectively, fore beam is provided with hinged handgrip and handgrip motor, handgrip motor is arranged between symmetrical galianconism bar, the screw bar center of hinged handgrip is connected with handgrip screw rod by tapped bore, one end of handgrip screw rod is connected with the motor shaft of handgrip motor, and handgrip screw rod rotarily drives hinged handgrip by handgrip motor and opens and clamp; The periphery of base plate is provided with inductor, is provided with road wheel motor in road wheel, and described road wheel motor, inductor, connecting lever motor, handgrip motor, electromagnetism cylinder, storage battery are connected with the circuit card in control capsule by circuit.Namely by handgrip driven by motor handgrip screw rod rotate, be subjected to displacement change between handgrip screw rod and screw bar, handgrip screw rod thus drive hinged handgrip realize clamping and expansion action; Meanwhile, make the hinged handgrip of this mechanical arm have self-locking performance by handgrip screw rod, after clamping, rubbish not easily drops.Electromagnetism cylinder by solenoid control cylinder, thus drives long-armed bar to realize lifting; Connecting lever driven by motor galianconism bar overturns centered by the jointed shaft of galianconism bar and long-armed bar; Above-mentioned road wheel motor, inductor, connecting lever motor, handgrip motor, electromagnetism cylinder respond to control or remote pilot automatically by the program of control capsule interior circuit board.
Opening and clamping structure scheme one of above-mentioned hinged handgrip: described hinged handgrip comprises screw bar, grabs bar, gangbar, articulated bracket, describedly grab bar, both sides that gangbar, articulated bracket are symmetricly set in handgrip screw rod, gangbar and articulated bracket be arranged in parallel respectively, gangbar and each one end of articulated bracket hinged with the one end of grabbing bar respectively, gangbar and each other end of articulated bracket are hinged with the handgrip seat of fore beam respectively, and the two ends of screw bar are articulated with in the chute of gangbar respectively.Namely hinged handgrip drives the displacement of screw bar by handgrip screw rod, the chute of screw bar and gangbar pin jointed end, and grab bar, gangbar, articulated bracket three be hinged, realize interlock and clamp or open.
Opening and clamping structure scheme two of above-mentioned hinged handgrip: described hinged handgrip comprises screw bar, grabs bar, gangbar, articulated bracket, describedly grab bar, both sides that gangbar, articulated bracket are symmetricly set in handgrip screw rod, gangbar and articulated bracket be arranged in parallel respectively, one end of gangbar and articulated bracket is respectively with to grab each one end of bar hinged, and gangbar and each other end of articulated bracket are hinged with the handgrip seat of fore beam respectively; Screw bar is made up of left linkages, and is symmetrical arranged centered by handgrip screw rod, and one end of left linkages is hinged with gangbar respectively, and the other end is hinged, and wherein the center of a connecting rod is connected with handgrip screw rod by tapped bore.The structure of scheme two also can the identical technique effect of implementation one, and its screw pole pair has changed into the left linkages hinge-point of screw bar in the drive of gangbar.
The bar of grabbing of described hinged handgrip captures section relative inner undulate.The grasping end that bar is convenient to grab bar of grabbing of wavy shaped configuration clamps irregular rubbish, namely increases the contact point of grabbing between bar and article, improves the validity of hinged handgrip gripping rubbish.
Described electromagnetism cylinder and arm seat are arranged at the plane of base plate by rotary disk basement, and the base plate of rotary disk basement is provided with rotating machine, and rotating machine is connected with the circuit card in control capsule by circuit.Said structure is convenient to the further integral-rotation of mechanical arm on rotary disk basement, regulates the angle that rubbish captures.
The rear side of described rubbish container is provided with overhead door, and be provided with lifting cylinder and electromagnetic valve bottom the opposite side base plate of overhead door symmetry, electromagnetic valve is connected with the circuit card in control capsule.The rubbish that said structure is convenient in rubbish container pours out rubbish container automatically by lifting cylinder and overhead door.
The case mouth of described rubbish container is provided with rubbish inductor, and rubbish inductor is connected with the circuit card in control capsule.Rubbish inductor is convenient to respond to the quantity of refuse in rubbish container, thus automatically pours out the rubbish in rubbish container.
Described long-armed bar is at least provided with two groups of hinged armed levers, and hinged place is respectively equipped with hinged motor, and the motor shaft of hinged motor is connected with last hinged armed lever, and hinged motor is connected with the circuit card in control capsule respectively.It is freely movable that said structure is convenient to long-armed bar more piece, thus improve the flexibility ratio of mechanical arm further, and this structure is also applicable to galianconism bar.
The circuit card of described control capsule is provided with wireless signal receiver, and this collecting cart also comprises remote controller.Namely be convenient to this collecting cart remote manual control control or automatically run.
Reasonable in design of the present invention, intelligence degree is high, easy to use, and rubbish is located, it is effective to capture; Be suitable for the crawl as solid refuse, ex hoc genus anne the structural development of product.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is part detonation configuration schematic diagram of the present invention, omits road wheel in figure.
Fig. 3 is sectional structure schematic diagram of the present invention, omits road wheel in figure.
Fig. 4 is improved structure schematic diagram of the present invention, omits road wheel in figure.
In figure, the name of sequence number is called: 1, base plate, 2, road wheel, 3, rubbish container, 301, overhead door, 4, rotary disk basement, 5, arm seat, 6, electromagnetism cylinder, 7, long-armed bar, 8, connecting lever motor, 9, galianconism bar, 10, handgrip motor, 11, fore beam, 1101, handgrip seat, 12, hinged handgrip, 1201, screw bar, 1202, bar is grabbed, 1203, gangbar, 1204, articulated bracket, 13, handgrip screw rod, 14, rotating machine, 15, control capsule.
Detailed description of the invention
Now by reference to the accompanying drawings, the invention will be further described.As shown in Figures 1 to 3, this collecting cart comprises car body and mechanical arm, car body comprises base plate 1, road wheel 2, rubbish container 3, and mechanical arm comprises arm seat 5, electromagnetism cylinder 6, long-armed bar 7, connecting lever motor 8, galianconism bar 9, handgrip motor 10, fore beam 11, hinged handgrip 12, handgrip screw rod 13, control capsule 15 and storage battery.Rubbish container is arranged at the side of base plate plane, and mechanical arm is arranged at the opposite side of base plate plane, and the planar base of base plate is provided with road wheel, and mechanical arm and rubbish container are respectively equipped with position sensor, and the case mouth of rubbish container is provided with rubbish inductor.Long-armed bar, galianconism bar are symmetrical arranged respectively between two, its hinged place, one end is provided with connecting lever motor, and the motor shaft of connecting lever motor is connected with galianconism bar, and the other end of long-armed bar is hinged with arm seat respectively, be provided with electromagnetism cylinder before this hinged place, one end and the long-armed bar of electromagnetism cylinder are hinged; Electromagnetism cylinder and arm seat are arranged at the plane of base plate by rotary disk basement 4, and the base plate of rotary disk basement is provided with rotating machine 14.The other end of galianconism bar is connected with fore beam respectively, fore beam is provided with hinged handgrip and handgrip motor, handgrip motor is arranged between symmetrical galianconism bar, screw bar 1201 center of hinged handgrip is connected with handgrip screw rod by tapped bore, one end of handgrip screw rod is connected with the motor shaft of handgrip motor, and handgrip screw rod rotarily drives hinged handgrip by handgrip motor and opens and clamp.The concrete structure of hinged handgrip is: hinged handgrip comprises screw bar, grabs bar 1202, gangbar 1203, articulated bracket 1204, describedly grab bar, both sides that gangbar, articulated bracket are symmetricly set in handgrip screw rod 13, gangbar and articulated bracket be arranged in parallel respectively, gangbar and each one end of articulated bracket hinged with the one end of grabbing bar respectively, gangbar and each other end of articulated bracket are hinged with the handgrip seat 1101 of fore beam respectively, and the two ends of screw bar are articulated with in the chute of gangbar respectively; The bar of grabbing of hinged handgrip captures section relative inner undulate.The periphery of base plate is provided with inductor, is provided with road wheel motor in road wheel, and above-mentioned road wheel motor, inductor, connecting lever motor, handgrip motor, electromagnetism cylinder, rubbish inductor, rotating machine, storage battery are connected with the circuit card in control capsule by circuit.
During use, start the power supply of this collecting cart, car body is advanced automatically by road wheel, and car body detects rubbish automatically by the inductor of floor peripheral; When detecting that rubbish appears in front, road wheel stops advancing automatically, according to the size of rubbish, shape and position, automatically height and the position of hinged handgrip is regulated by electromagnetism cylinder and connecting lever motor, mechanical arm regulates, moves to the clamped position of rubbish, and the position sensor of mechanical arm sends instruction to handgrip motor, and handgrip driven by motor handgrip screw rod rotates, handgrip screw rod drives hinged handgrip generation deformation and displacement, performs the action of clamping rubbish.After rubbish clamping, again automatically by electromagnetism cylinder, connecting lever motor, and the position sensor of mechanical arm and rubbish container, the induction position of rubbish container and the action of adjusting mechanical arm, move to the rubbish that mechanical arm clamps above rubbish container.The position sensor of mechanical arm sends instruction again to handgrip motor, and hinged handgrip, according to above-mentioned identical principle, performs the action of unclamping rubbish; When the rubbish inductor generation rubbish of rubbish container has expired instruction to control capsule, this collecting cart sends rubbish completely alarm.Mechanical arm to be performed by the program that control capsule interior circuit board sets for the selection of rubbish shape, size and position and controls; Rubbish clamped position selected, the course of car body and direction, and encumbrance collision or near time change direction and travel line, also performed by the program that circuit card sets and control.
According to said structure and using method, as shown in Figure 4, the rear side of rubbish container sets up overhead door 301, and arrange lifting cylinder and electromagnetic valve bottom the opposite side base plate of overhead door symmetry, electromagnetic valve is connected with the circuit card in control capsule; The rubbish can be convenient in rubbish container pours out rubbish container automatically by lifting cylinder and overhead door.The structure of the slide of gangbar is passed through at the two ends of screw bar, change screw bar into be made up of left linkages, and be symmetrical arranged centered by handgrip screw rod, one end of left linkages is hinged with gangbar respectively, the other end is hinged, and wherein the center of a connecting rod is connected with handgrip screw rod by tapped bore.Or long-armed bar is at least provided with two groups of hinged armed levers, and hinged place is respectively equipped with hinged motor, the motor shaft of hinged motor is connected with last hinged armed lever, and hinged motor is connected with the circuit card in control capsule respectively; Above-mentioned long-armed bar can multi-joint activity.And the circuit card of control capsule also can arrange wireless signal receiver, this collecting cart increases remote controller.

Claims (9)

1. an Automatic garbage collection vehicle, the car body of this collecting cart comprises base plate (1), road wheel (2), rubbish container (3), described rubbish container is arranged at the side of base plate plane, mechanical arm is arranged at the opposite side of base plate plane, the planar base of base plate is provided with road wheel, and mechanical arm and rubbish container are respectively equipped with position sensor; It is characterized in that described mechanical arm comprises arm seat (5), electromagnetism cylinder (6), long-armed bar (7), connecting lever motor (8), galianconism bar (9), handgrip motor (10), fore beam (11), hinged handgrip (12), handgrip screw rod (13), control capsule (15) and storage battery, described long-armed bar, galianconism bar are symmetrical arranged respectively between two, its hinged place, one end is provided with connecting lever motor, the motor shaft of connecting lever motor is connected with galianconism bar, the other end of long-armed bar is hinged with arm seat respectively, be provided with electromagnetism cylinder before this hinged place, one end and the long-armed bar of electromagnetism cylinder are hinged; The other end of galianconism bar is connected with fore beam respectively, fore beam is provided with hinged handgrip and handgrip motor, handgrip motor is arranged between symmetrical galianconism bar, screw bar (1201) center of hinged handgrip is connected with handgrip screw rod by tapped bore, one end of handgrip screw rod is connected with the motor shaft of handgrip motor, and handgrip screw rod rotarily drives hinged handgrip by handgrip motor and opens and clamp; The periphery of base plate (1) is provided with inductor, is provided with road wheel motor in road wheel, and described road wheel motor, inductor, connecting lever motor, handgrip motor, electromagnetism cylinder, storage battery are connected with the circuit card in control capsule by circuit.
2. Automatic garbage collection vehicle according to claim 1, it is characterized in that described hinged handgrip (12) comprises screw bar (1201), grab bar (1202), gangbar (1203), articulated bracket (1204), describedly grab bar, gangbar, articulated bracket is symmetricly set in the both sides of handgrip screw rod (13), gangbar and articulated bracket be arranged in parallel respectively, gangbar and each one end of articulated bracket hinged with the one end of grabbing bar respectively, gangbar and each other end of articulated bracket are hinged with the handgrip seat (1101) of fore beam (11) respectively, the two ends of screw bar are articulated with in the chute of gangbar respectively.
3. Automatic garbage collection vehicle according to claim 1, it is characterized in that described hinged handgrip (12) comprises screw bar (1201), grabs bar (1202), gangbar (1203), articulated bracket (1204), describedly grab bar, both sides that gangbar, articulated bracket are symmetricly set in handgrip screw rod (13), gangbar and articulated bracket be arranged in parallel respectively, gangbar and each one end of articulated bracket hinged with the one end of grabbing bar respectively, gangbar and each other end of articulated bracket are hinged with the handgrip seat (1101) of fore beam (11) respectively; Screw bar is made up of left linkages, and is symmetrical arranged centered by handgrip screw rod, and one end of left linkages is hinged with gangbar respectively, and the other end is hinged, and wherein the center of a connecting rod is connected with handgrip screw rod by tapped bore.
4. the Automatic garbage collection vehicle according to Claims 2 or 3, is characterized in that the bar (1202) of grabbing of described hinged handgrip (12) captures section relative inner undulate.
5. Automatic garbage collection vehicle according to claim 1, it is characterized in that described electromagnetism cylinder (6) and arm seat (5) are arranged at the plane of base plate (1) by rotary disk basement (4), the base plate of rotary disk basement is provided with rotating machine (14), and rotating machine is connected with the circuit card in control capsule (15) by circuit.
6. Automatic garbage collection vehicle according to claim 1, it is characterized in that the rear side of described rubbish container (3) is provided with overhead door (301), opposite side base plate (1) bottom of overhead door symmetry is provided with lifting cylinder and electromagnetic valve, and electromagnetic valve is connected with the circuit card in control capsule (15).
7. the Automatic garbage collection vehicle according to claim 1 or 6, it is characterized in that the case mouth of described rubbish container (3) is provided with rubbish inductor, rubbish inductor is connected with the circuit card in control capsule (15).
8. Automatic garbage collection vehicle according to claim 1, it is characterized in that described long-armed bar (7) is at least provided with two groups of hinged armed levers, hinged place is respectively equipped with hinged motor, the motor shaft of hinged motor is connected with last hinged armed lever, and hinged motor is connected with the circuit card in control capsule (15) respectively.
9. Automatic garbage collection vehicle according to claim 1, it is characterized in that the circuit card of described control capsule (15) is provided with wireless signal receiver, this collecting cart also comprises remote controller.
CN201310238223.7A 2013-06-14 2013-06-14 Automatic garbage collection vehicle CN103350845B (en)

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CN103350845B true CN103350845B (en) 2015-05-06

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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103950668B (en) * 2014-04-22 2015-11-18 江西省机械科学研究所 A kind of have the waste-skip butt buster structure becoming born of the same parents' function
CN104090574A (en) * 2014-07-03 2014-10-08 邢淦琛 Intelligent environment cleaning machine
CN104060568A (en) * 2014-07-03 2014-09-24 邢淦琛 Intelligent gripper for cleaning environment
CN104724426A (en) * 2015-03-30 2015-06-24 济南大学 Intelligent garbage collection vehicle
CN107117417B (en) * 2017-07-04 2019-04-23 合肥择浚电气设备有限公司 A kind of automatic collecting cart of corridor garbage
CN108691289A (en) * 2018-06-07 2018-10-23 宝鸡文理学院 Expressway garbage pickup device
CN108858123A (en) * 2018-08-30 2018-11-23 重庆工程职业技术学院 Scout car based on computer control
CN111169871A (en) * 2020-01-13 2020-05-19 佛山科学技术学院 Method for grabbing garbage can by intelligent manipulator of garbage truck and manipulator

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Publication number Priority date Publication date Assignee Title
EP0818403A1 (en) * 1996-07-12 1998-01-14 Zöller-Kipper GmbH Container gripping device
CN201338836Y (en) * 2009-01-06 2009-11-04 上海市枫泾中学 Environmental health robot
CN201971369U (en) * 2011-03-12 2011-09-14 随州市东正专用汽车有限公司 Hand grip for dust cart
CN102910401A (en) * 2012-10-30 2013-02-06 青岛同辉汽车技术有限公司 Hydraulic garbage can holding device
CN203345536U (en) * 2013-06-14 2013-12-18 滕明明 Garbage collection trolley

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0818403A1 (en) * 1996-07-12 1998-01-14 Zöller-Kipper GmbH Container gripping device
CN201338836Y (en) * 2009-01-06 2009-11-04 上海市枫泾中学 Environmental health robot
CN201971369U (en) * 2011-03-12 2011-09-14 随州市东正专用汽车有限公司 Hand grip for dust cart
CN102910401A (en) * 2012-10-30 2013-02-06 青岛同辉汽车技术有限公司 Hydraulic garbage can holding device
CN203345536U (en) * 2013-06-14 2013-12-18 滕明明 Garbage collection trolley

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