CN103464380A - Intelligent garbage classification robot - Google Patents
Intelligent garbage classification robot Download PDFInfo
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- CN103464380A CN103464380A CN2013101946815A CN201310194681A CN103464380A CN 103464380 A CN103464380 A CN 103464380A CN 2013101946815 A CN2013101946815 A CN 2013101946815A CN 201310194681 A CN201310194681 A CN 201310194681A CN 103464380 A CN103464380 A CN 103464380A
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- garbage
- rubbish
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- rack body
- laser
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Abstract
An intelligent garbage classification robot comprises a garbage separation device and a garbage classification device, the garbage separation device is formed by a garbage bucket and a crank rocking bar mechanism, the garbage bucket comprises a garbage baffle board, a baseboard, side boards, a laser transmitting tube I, metal proximity switches, a laser receiver I, a partition board, a metal proximity switch support, a rotation shaft, a steering engine I, a garbage separating column jack and a garbage separating column, the crank rocking bar mechanism comprises a shaft coupling, a crank I, a direct current deceleration motor I and a connecting rod, and the garbage classification device comprises a direct current deceleration motor II, transmission shafts, driving sprocket wheels, a control system, driven sprocket wheels, garbage boxes, a laser transmitting tube II, a solar board, a camera support, chain boards, a camera, a support body, a laser receiver II, a driven gear, a driving gear, a vertical support, a steering engine II, a crank II, slide rails and a slide block. The robot has the advantages of intelligence, high classification efficiency, environmental protection, low price and the like.
Description
Technical field
The present invention relates to a kind of intelligent garbage sorting machine people.
Background technology
Along with social development, the annual quantity of refuse produced is also increasing year by year, realizes to greatest extent the waste resources recycling, reduces the refuse disposal amount, improves the living environment quality, is one of common pressing issues of paying close attention in our times various countries.Waste sorting recycle is an important method.Traditional refuse classification is to adopt the manual sort mostly, and artificial refuse classification has that expense is high, some rubbish easily produces harm, people to human body and easily produces fatigue and cause the shortcomings such as classification effectiveness is low.On Vehicles Collected from Market, intelligent garbage sorting machine people kind is few in number, and day the design's a intelligence reclaims the rubbish robot can intelligence reclaim six kinds of different plastic garbages, has the shortcomings such as the classification kind is single, expensive.Adopt the intelligent robot to realize that mechanized classification has broad application prospects.
Summary of the invention
The object of the present invention is to provide a kind of intelligent garbage sorting machine people, it has, and classification effectiveness is high, cheap, the advantage such as have a extensive future, and it can replace traditional manual sort and can long time continuous working.
The present invention is achieved like this, and it comprises device for separation of waste and garbage classification device, and device for separation of waste is to consist of refuse hopper and crank and rocker mechanism, and wherein refuse hopper comprises garbage baffles, base plate, side plate, the LASER Discharge Tube I, the metal approach switch, the laser pickoff I, dividing plate, the metal approach switch bracket, rotating shaft, the steering wheel I, rubbish splitter jack and rubbish splitter, crank and rocker mechanism comprises shaft coupling, the crank I, DC speed-reducing I and connecting rod, garbage classification device comprises the DC speed-reducing II, power transmission shaft, drive sprocket, control system, driven sprocket, dustbin, the LASER Discharge Tube II, solar panels, camera bracket, carrier bar, camera, rack body, the laser pickoff II, driven gear, driving gear, vertical supports, the steering wheel II, the crank II, slide rail and slide block, is characterized in that in refuse hopper, the left side of base plate, right both sides and front side all are connected with garbage baffles, and base plate is provided with several evenly distributed rubbish splitter jacks, on rubbish splitter jack, is connected with the rubbish splitter, is positioned at the left side of base plate, be connected with side plate between the garbage baffles of right both sides and the front side of base plate, be connected with the LASER Discharge Tube I on side plate, the rear side middle part of base plate is connected with dividing plate, on dividing plate, be connected with the LASER Discharge Tube I over against the laser pickoff I, the rear side of base plate is connected with the metal approach switch bracket, the metal approach switch bracket is provided with several metal approach switches, and a side of metal approach switch bracket is connected with the steering wheel I, and refuse hopper is connected with garbage classification device by the rotating shaft at its rear portion, in crank and rocker mechanism, shaft coupling is connected with the output shaft of DC speed-reducing I, and an end of crank I is connected on shaft coupling, and an end of the other end and connecting rod is hinged, and the other end of connecting rod is connected to the sidepiece of refuse hopper, in garbage classification device, be connected with the DC speed-reducing II on rack body, an end that is positioned at the power transmission shaft of rack body front portion is connected with driven gear, driving gear on DC speed-reducing II output shaft and driven gear engagement, be positioned on the power transmission shaft of rack body front portion and be connected with a drive sprocket and a driven sprocket, be positioned on the power transmission shaft at rear portion of rack body and also be connected with a drive sprocket and a driven sprocket, be connected with respectively a carrier bar between two drive sprockets and two driven sprockets, the rack body that is positioned at the carrier bar below is provided with control system and several dustbins, the both sides of rack body are connected with respectively several vertical supports, over against vertical supports on be respectively equipped with LASER Discharge Tube II and laser pickoff II, the rear side of rack body also is connected with solar panels, camera is connected to the rack body top by camera bracket, the rack body top also is connected with two parallel slide rails, the two ends of slide block are connected on slide rail, slide block is connected with the steering wheel II by the crank II.
Technique effect of the present invention is:
1, the present invention can substitute traditional manual sort, and intelligent automated classification has improved classification effectiveness, reduced the classification cost;
2, utilize the equiprobability impaction to realize the rubbish first separation, the differential motion of two carrier bars can realize the secondary separation of rubbish, and for refuse classification is laid a good foundation, and the refuse classification kind is more;
3, utilize the solar powered continuous operation that can effectively guarantee robot, environmental protection.
The accompanying drawing explanation
Fig. 1 is structural front view of the present invention.
Fig. 2 is structure rearview of the present invention.
The structure enlarged drawing that Fig. 3 is structure refuse hopper of the present invention.
The structural representation that Fig. 4 is refuse hopper of the present invention.
The structure enlarged diagram that Fig. 5 is crank and rocker mechanism of the present invention.
Fig. 6 is A place, garbage classification device of the present invention top structure for amplifying schematic diagram.
In the drawings, 1, garbage baffles 2, base plate 3, side plate 4, LASER Discharge Tube I 5, metal approach switch 6, laser pickoff I 7, dividing plate 8, metal approach switch bracket 9, rotating shaft 10, steering wheel I 11, rubbish splitter jack 12, rubbish splitter 13, shaft coupling 14, crank I 15, DC speed-reducing I 16, connecting rod 17, DC speed-reducing II 18, power transmission shaft 19, drive sprocket 20, control system 21, driven sprocket 22, dustbin 23, LASER Discharge Tube II 24, solar panels 25, camera bracket 26, carrier bar 27, camera 28, rack body 29, laser pickoff II 30, driven gear 31, driving gear 32, laser pickoff support 33, steering wheel II 34, crank II 35, slide rail 36, slide block.
The specific embodiment
As depicted in figs. 1 and 2, the present invention is achieved like this, and it comprises device for separation of waste and garbage classification device, and device for separation of waste is to consist of refuse hopper and crank and rocker mechanism, and wherein refuse hopper comprises garbage baffles 1, base plate 2, side plate 3, LASER Discharge Tube I 4, metal approach switch 5, laser pickoff I 6, dividing plate 7, metal approach switch bracket 8, rotating shaft 9, steering wheel I 10, rubbish splitter jack 11 and rubbish splitter 12, crank and rocker mechanism comprises shaft coupling 13, crank I 14, DC speed-reducing I 15 and connecting rod 16, garbage classification device comprises DC speed-reducing II 17, power transmission shaft 18, drive sprocket 19, control system 20, driven sprocket 21, dustbin 22, LASER Discharge Tube II 23, solar panels 24, camera bracket 25, carrier bar 26, camera 27, rack body 28, laser pickoff II 29, driven gear 30, driving gear 31, vertical supports 32, steering wheel II 33, crank II 34, slide rail 35 and slide block 36, its design feature is in refuse hopper, as shown in Figure 3 and Figure 4, the left side of base plate 2, right both sides and front side all are connected with garbage baffles 1, and base plate 2 is provided with several evenly distributed rubbish splitter jacks 11, on rubbish splitter jack 11, is connected with rubbish splitter 12, is positioned at the left side of base plate 2, be connected with side plate 3 between the garbage baffles 1 of right both sides and the front side of base plate 2, be connected with LASER Discharge Tube I 4 on side plate 3, the rear side middle part of base plate 2 is connected with dividing plate 7, on dividing plate 7, be connected with LASER Discharge Tube I 4 over against laser pickoff I 6, the rear side of base plate 2 is connected with metal approach switch bracket 8, metal approach switch bracket 8 is provided with several metal approach switches 5, and a side of metal approach switch bracket 8 is connected with steering wheel I 10, and refuse hopper is connected with garbage classification device by the rotating shaft 9 at its rear portion, in crank and rocker mechanism, as shown in Figure 5 and Figure 6, shaft coupling 13 is connected with the output shaft of DC speed-reducing I 15, and an end of crank I 14 is connected on shaft coupling 13, one end of the other end and connecting rod 16 is hinged, and the other end of connecting rod 16 is connected to the sidepiece of refuse hopper, in garbage classification device, be connected with DC speed-reducing II 17 on rack body 28, an end that is positioned at the power transmission shaft of rack body 28 front portions is connected with driven gear 30, driving gear 31 on DC speed-reducing II 17 output shafts and driven gear 30 engagements, be positioned on the power transmission shaft 18 of rack body 28 front portions and be connected with a drive sprocket 19 and a driven sprocket 21, be positioned on the power transmission shaft 18 at rack body 28 rear portions and also be connected with a drive sprocket 19 and a driven sprocket 21, be connected with respectively a carrier bar 26 between two drive sprockets 19 and two driven sprockets 21, the rack body 28 that is positioned at carrier bar 26 belows is provided with control system 20 and several dustbins 22, the both sides of rack body 28 are connected with respectively several vertical supports 32, over against vertical supports 32 on be respectively equipped with LASER Discharge Tube II 23 and laser pickoff II 29, the rear side of rack body 28 also is connected with solar panels 24, camera 27 is connected to rack body 28 tops by camera bracket 25, rack body 28 tops also are connected with two parallel slide rails 35, the two ends of slide block 36 are connected on slide rail 35, slide block 36 is connected with steering wheel II 33 by crank II 34, as shown in Figure 6.
The course of work of the present invention is such:
The refuse hopper body initial position of device for separation of waste becomes 35 ° of angles (minimum point) with carrier bar 26 planes, place, receives the extraneous rubbish produced.After receiving rubbish, crank and rocker mechanism is started working, and DC speed-reducing I 15 drives crank I 14 by shaft coupling 13, and crank I 14 passes motion to connecting rod 16, and connecting rod 16 drives the refuse hopper body and rotates along rotating shaft 9.The refuse hopper body constantly raises, and rubbish glides along refuse hopper body base plate 2 surface, in the downslide process under the collision inhibition of rubbish splitter 12 rubbish along different passages, glide.
(1) only has a rubbish: when arriving peak, rubbish arrives refuse hopper body lowermost end (near LASER Discharge Tube I 4), when the laser pickoff I 6 that is positioned at dividing plate 7 both sides has the laser of LASER Discharge Tube I 4 emissions that can't accept refuse hopper body biside plate, (metal approach switch 5 is in running order, if rubbish belongs to metal, now metal approach switch 5 receives signal, and pass the signal to control system 20), crank and rocker mechanism quits work, steering wheel I 10 is started working, driving metal approach switch bracket 8 rotates, passage is opened, rubbish enters garbage classification device, for refuse classification is prepared.
(2) two rubbish: when arriving peak, if be positioned at the laser pickoff I 6 of dividing plate 7 both sides only have an end can receive the laser that two LASER Discharge Tube I 4 on side plate send (metal approach switch 5 is in running order, if rubbish belongs to metal, now metal approach switch 5 receives signal, and passes the signal to control system 20) show that rubbish is positioned at a passage simultaneously.Now crank and rocker mechanism works on, rubbish turns back to starting point, do not show that rubbish is in two different passages until be positioned at when two of the laser pickoffs of dividing plate 7 both sides all receive the laser that two LASER Discharge Tube I 4 on side plate send, now crank and rocker mechanism quits work, steering wheel I 10 is started working, steering wheel I 10 drives metal approach switch bracket 8 and rotates, and rubbish enters in garbage classification device.
Metal approach switch bracket 8 in device for separation of waste open in two DC speed-reducing II 17 in garbage classification device start working, rubbish is positioned on carrier bar 26.Rubbish moves with two carrier bars 26 after 2～3s, one of them carrier bar 26 stop motion, another carrier bar 26 continues motion, after rubbish moves to laser pickoff II 29 and can't receive the laser that LASER Discharge Tube II 23 sends, another carrier bar 26 stop motions, 27 pairs of rubbish of camera on camera bracket 25 are analyzed identification, after end of identification, if rubbish belongs to category-A rubbish (A, category-B is positioned at the same side, C, the D class is positioned at opposite side), slider-crank mechanism (initial position is in centre) is to C, D class dustbin direction pushes away beats (warming-up exercise), when in the rubbish running, category-A rubbish makes part laser pickoff II 29 can't receive the laser of LASER Discharge Tube II 23 emissions, slider-crank mechanism work, rubbish is pushed away and squeezes into the category-A dustbin, if rubbish belongs to category-B rubbish, slider-crank mechanism (initial position is in centre) pushes away and beats (warming-up exercise) to C, D class dustbin direction, (now in the rubbish motion process, block the laser of generating laser 26 emissions when category-B rubbish makes part laser pickoff II 29 can't receive the laser of LASER Discharge Tube II 23 emission in the rubbish running, slider-crank mechanism is not worked without impact), slider-crank mechanism work, push away rubbish to squeeze into the category-B dustbin, if rubbish belongs to C class rubbish, slider-crank mechanism pushes away and beats (warming-up exercise) to A, category-B dustbin direction, when in the rubbish running, rubbish makes part laser pickoff II 29 can't receive the laser of LASER Discharge Tube II 23 emissions, slider-crank mechanism work, push away rubbish to squeeze into C class dustbin, if rubbish belongs to D class rubbish, slider-crank mechanism pushes away and beats (warming-up exercise) to A, category-B dustbin direction, (now in the rubbish motion process, block the laser of part laser pickoff II 29 emissions when rubbish makes part laser pickoff II 29 can't receive the laser of LASER Discharge Tube II 23 emission in the rubbish running, slider-crank mechanism is not worked without impact), slider-crank mechanism work, push away rubbish to squeeze into D class dustbin, when if rubbish does not belong to any class in A, B, C, D, slider-crank mechanism moves to any side and (now in the rubbish motion process, blocks the laser of part laser pickoff II 29 emissions, slider-crank mechanism is not worked without impact), rubbish moves with carrier bar, until rubbish enters dustbin 22.Then, the rubbish on carrier bar 26 is through identical process, thereby realization is to the classification of rubbish.
This camera only need be by the extraction to the rubbish outline, the profile of identification rubbish, thus rubbish is classified.This camera original graph is gray-scale map, therefore only need carry out two degree, medium filtering, profile, extracts and can identify rubbish.
The concrete assorting process of rubbish is as follows: on square, and park, in the places such as recreation ground, common rubbish has spitball, beverage bottle (plastics), pop can, the rubbish that contains metal (except pop can), not recyclable class rubbish.(1) principle of spitball classification is the profile according to spitball.Spitball is all generally that class is spherical, and its outline has many projections and depression, by camera, extracts image outline, according to the image outline feature, carrys out discriminator.
(2) the beverage bottle principle of classification is according to its profile.Because common beverage bottle is limited, the profile of beverage bottle that can these are common all is stored in chip, sets up a small-sized shape data storehouse.In assorting process, by the identification of the coupling with database, classified.
(3) principle of classification of pop can is to have metallic character and specific profile according to it.Pop can is metal, and after encountering metal approach switch 5, it can reach signal control system 20, then identifies the profile classification by camera.
(4) principle of classification that contains metal species material rubbish is to have metallic character and unique profile according to it.Such rubbish contains metal, and after encountering metal approach switch 5, it can reach signal control system 20, then identifies the profile (general out-of-shape) of rubbish by camera, thereby realizes classification.
(5) principle of classification of not recyclable class rubbish be when rubbish do not belong to front four kinds described when any, rubbish is directly along with the carrier bar motion, final rubbish enters dustbin 22.
Claims (3)
1. an intelligent garbage sorting machine people, it comprises device for separation of waste and garbage classification device, and device for separation of waste is to consist of refuse hopper and crank and rocker mechanism, and wherein refuse hopper comprises garbage baffles, base plate, side plate, the LASER Discharge Tube I, the metal approach switch, the laser pickoff I, dividing plate, the metal approach switch bracket, rotating shaft, the steering wheel I, rubbish splitter jack and rubbish splitter, crank and rocker mechanism comprises shaft coupling, the crank I, DC speed-reducing I and connecting rod, garbage classification device comprises the DC speed-reducing II, power transmission shaft, drive sprocket, control system, driven sprocket, dustbin, the LASER Discharge Tube II, solar panels, camera bracket, carrier bar, camera, rack body, the laser pickoff II, driven gear, driving gear, vertical supports, the steering wheel II, the crank II, slide rail and slide block, is characterized in that in refuse hopper, the left side of base plate, right both sides and front side all are connected with garbage baffles, and base plate is provided with several evenly distributed rubbish splitter jacks, on rubbish splitter jack, is connected with the rubbish splitter, is positioned at the left side of base plate, be connected with side plate between the garbage baffles of right both sides and the front side of base plate, be connected with the LASER Discharge Tube I on side plate, the rear side middle part of base plate is connected with dividing plate, on dividing plate, be connected with the LASER Discharge Tube I over against the laser pickoff I, the rear side of base plate is connected with the metal approach switch bracket, the metal approach switch bracket is provided with several metal approach switches, and a side of metal approach switch bracket is connected with the steering wheel I, and refuse hopper is connected with garbage classification device by the rotating shaft at its rear portion, in crank and rocker mechanism, shaft coupling is connected with the output shaft of DC speed-reducing I, and an end of crank I is connected on shaft coupling, and an end of the other end and connecting rod is hinged, and the other end of connecting rod is connected to the sidepiece of refuse hopper, in garbage classification device, be connected with the DC speed-reducing II on rack body, an end that is positioned at the power transmission shaft of rack body front portion is connected with driven gear, driving gear on DC speed-reducing II output shaft and driven gear engagement, be positioned on the power transmission shaft of rack body front portion and be connected with a drive sprocket and a driven sprocket, be positioned on the power transmission shaft at rear portion of rack body and also be connected with a drive sprocket and a driven sprocket, be connected with respectively a carrier bar between two drive sprockets and two driven sprockets, the rack body that is positioned at the carrier bar below is provided with control system and several dustbins, the both sides of rack body are connected with respectively several vertical supports, over against vertical supports on be respectively equipped with LASER Discharge Tube II and laser pickoff II, the rear side of rack body also is connected with solar panels, camera is connected to the rack body top by camera bracket, the rack body top also is connected with two parallel slide rails, the two ends of slide block are connected on slide rail, slide block is connected with the steering wheel II by the crank II.
2. a kind of intelligent garbage sorting machine people as claimed in claim 1, it is characterized in that rubbish splitter hole on described base plate arranges along adjacent two line interlacings of side plate direction, and its horizontal and vertical spacing is greater than the maximum spacing of rubbish, utilize the equiprobability impaction to realize that rubbish separates.
3. a kind of intelligent garbage sorting machine people as claimed in claim 1, the two is differential motion to it is characterized in that described carrier bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310194681.5A CN103464380B (en) | 2013-05-23 | 2013-05-23 | Intelligent garbage classification robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310194681.5A CN103464380B (en) | 2013-05-23 | 2013-05-23 | Intelligent garbage classification robot |
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| Publication Number | Publication Date |
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| CN103464380A true CN103464380A (en) | 2013-12-25 |
| CN103464380B CN103464380B (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310194681.5A Expired - Fee Related CN103464380B (en) | 2013-05-23 | 2013-05-23 | Intelligent garbage classification robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109977975A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Article recovery system and article recovery method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201164847Y (en) * | 2008-01-29 | 2008-12-17 | 崔晓莲 | Domestic garbage source sorter |
| CN201791712U (en) * | 2010-07-30 | 2011-04-13 | 崔广武 | Novel household garbage sorting machine |
| CN201871525U (en) * | 2010-07-30 | 2011-06-22 | 崔广武 | Household garbage sorting machine |
| CN202752310U (en) * | 2012-06-29 | 2013-02-27 | 王廷毅 | Garbage automatic sorting machine |
| CN203316405U (en) * | 2013-05-23 | 2013-12-04 | 南昌航空大学 | Intelligent garbage classifying robot |
-
2013
- 2013-05-23 CN CN201310194681.5A patent/CN103464380B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201164847Y (en) * | 2008-01-29 | 2008-12-17 | 崔晓莲 | Domestic garbage source sorter |
| CN201791712U (en) * | 2010-07-30 | 2011-04-13 | 崔广武 | Novel household garbage sorting machine |
| CN201871525U (en) * | 2010-07-30 | 2011-06-22 | 崔广武 | Household garbage sorting machine |
| CN202752310U (en) * | 2012-06-29 | 2013-02-27 | 王廷毅 | Garbage automatic sorting machine |
| CN203316405U (en) * | 2013-05-23 | 2013-12-04 | 南昌航空大学 | Intelligent garbage classifying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109977975A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Article recovery system and article recovery method |
| CN109977975B (en) * | 2017-12-28 | 2022-11-22 | 沈阳新松机器人自动化股份有限公司 | Article recycling system and article recycling method |
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| CN103464380B (en) | 2015-12-02 |
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Granted publication date: 20151202 Termination date: 20160523 |