CN105970862A - Waste picking robot - Google Patents
Waste picking robot Download PDFInfo
- Publication number
- CN105970862A CN105970862A CN201610589557.2A CN201610589557A CN105970862A CN 105970862 A CN105970862 A CN 105970862A CN 201610589557 A CN201610589557 A CN 201610589557A CN 105970862 A CN105970862 A CN 105970862A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- wheel
- fixed
- cylinder
- support platform
- 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
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
Abstract
The invention belongs to the field of robots handling hazardous articles, and particularly relates to a waste picking robot. The robot comprises a supporting platform with a waste containing cavity, a traveling mechanism, an oscillating shaft mechanism, an arm mechanism and a fixture mechanism; the traveling mechanism is installed on the lower end face of the supporting platform, and the oscillating shaft mechanism is installed on the upper end face of the supporting platform and is in link connection with the arm mechanism and the fixture mechanism; the oscillating shaft mechanism comprises a support frame, a rotary table support frame is fixed on the support frame through a screw, the rotary table support frame is matched with the support frame to form a containing cavity, and an oscillating cylinder is installed in the containing cavity; a rotary column is movably installed on the rotary table support frame, and the rotary column is connected with a rotating shaft of the oscillating cylinder. According to the waste picking robot, the problem that personnel directly or indirectly make contact with toxic waste when the personnel transport and handle toxic industrial waste is avoided; injury of the toxic waste to the personnel is reduced.
Description
Technical field
The invention belongs to process the robot field of dangerous materials, be specifically related to a kind of pickup rubbish robot.
Background technology
Automatization refers to that machine or device are automatically carried out the process operating or controlling in the case of unmanned the intervention by predetermined program or instruction, and mechanical automation is exactly the process that machine or device realize Automated condtrol mechanically.
Machinery production is led to a new field by the realization of mechanical automation, by automatic control system, it is really achieved big commercial production and has reduced labor intensity, having improve labor efficiency, the level of production making All Around The World has stepped a new step, and thus extends electric automatization；And current industry-by-industry has be unable to do without automated system.
In current industrial society, due to the high speed development of science and technology, the industrial refuse that a lot of corrosion is the most poisonous can be produced in commercial production is lived, need transhipment and process；By artificial treatment in prior art, the harm on workman's health even life can be brought；Operator are by the simple and mechanical rubbish collecting pickup indusrial toxic, although can reduce operator due to the toxic refuse harm to health, but can not avoid completely, then with the presence of the artificial inefficient technical problem of pickup rubbish.This case is aiming at above-mentioned technical problem and draws.
Summary of the invention
It is an object of the invention to provide a kind of pickup rubbish robot, during to avoid personnel due to transhipment and to process poisonous industrial refuse, direct or indirect contacts with toxic refuse；Reduce the toxic refuse injury to personnel.
For achieving the above object, the technical scheme that the present invention specifically provides is: a kind of pickup rubbish robot, including support platform, walking mechanism, swinging axle mechanism, arm mechanism and clamp mechanism with rubbish containing cavities；Described walking mechanism is installed on support platform lower surface, and described swinging axle mechanism is installed on support platform upper surface and is connected with arm mechanism and clamp mechanism；
Described swinging axle mechanism includes bracing frame, and bracing frame is fixed with turret supports frame by screw rod, and turret supports frame and bracing frame cooperatively form a cavity volume, be provided with an oscillating cylinder in this cavity volume；Being movably installed with a rotary column on described turret supports frame, this rotary column is connected with the rotating shaft of oscillating cylinder.
Further, support frame as described above extends formation boss in cavity volume, in order to fixing described oscillating cylinder.
Further, described walking mechanism includes two rear wheel unit, each of which rear wheel unit includes the rear-wheel motor being fixed in support platform, a minor sprocket it is fixed with on the motor shaft of rear-wheel motor, be positioned at support platform lower surface corresponding with rear-wheel motor is fixed with a rear leg, and rear leg is movably installed with a drive shaft by bearing, and drive shaft and minor sprocket respective side are fixed with a big sprocket wheel, the opposite side of drive shaft is fixed with a trailing wheel, and described big sprocket wheel is connected by belt with minor sprocket.
Further, described walking mechanism also includes two wheel units, wherein a wheel units includes the front turbin generator being fixed in support platform, front turbin generator one end connects the first shaft coupling, first shaft coupling end is connected with decelerator, the second shaft coupling and front steering leg in turn, front steering leg is connected with front-wheel by front-wheel follower shaft, and described two front-wheels realize the synchronous axial system of two front-wheels by the steering link of the two front-wheel follower shafts that are connected；Described front steering leg is connected with support platform by two gearing connecting rods.
Further, described arm mechanism includes first connecting rod and the second connecting rod being connected successively on rotary column；Described second connecting rod is positioned at the junction of first connecting rod and is provided with a junction, and this connecting portion is connected with the second cylinder being fixed on first connecting rod；Being connected with the first cylinder on the oblique arm of described first connecting rod, the other end of this first cylinder is movably connected on the epimere portion of rotary column, and one end of described second connecting rod connects clamp mechanism.
Further, described clamp mechanism includes jaw, jaw connecting rod and for driving the 3rd cylinder of jaw, the expansion link of the 3rd cylinder connects a plate, an air cylinder connecting rod it is fixed with on connecting plate, described jaw connecting rod is provided with long loose slot, and described jaw is connected by the long loose slot of some jaw connecting rods and converged on air cylinder connecting rod.
Further, described second connecting rod being provided with a stand frame, this stand frame is additionally provided with a limitting casing, limitting casing is in order to limit the position of described air cylinder connecting rod.
The method have the benefit that the present invention passes through the dangerous poisonous industrial refuse of robot pickup, it is to avoid when personnel are owing to transporting and processing poisonous industrial refuse, direct or indirect contacts with toxic refuse；Reduce the toxic refuse injury to personnel.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；Fig. 2 is top view of the present invention；Fig. 3 is the present invention two wheel units structural representation；Fig. 4 is the present invention two rear wheel unit structural representation；Fig. 5 is the structural representation of present clip mechanism.
Detailed description of the invention
As Figure 1-5, what the present invention disclosed is a kind of pickup rubbish robot, including support platform 1, walking mechanism 2, swinging axle mechanism 3, arm mechanism 4 and clamp mechanism 5 with rubbish containing cavities 11；Described walking mechanism 2 is installed on support platform 1 lower surface, and described swinging axle mechanism 3 is installed on support platform 1 upper surface and is connected with arm mechanism 4 and clamp mechanism 5；
Described swinging axle mechanism 3 includes bracing frame 31, and bracing frame 31 is fixed with turret supports frame 33 by screw rod 32, and turret supports frame 33 and bracing frame 31 cooperatively form a cavity volume 34, be provided with an oscillating cylinder 35 in this cavity volume 34；Being movably installed with a rotary column 36 on described turret supports frame 33, this rotary column 36 is connected with the rotating shaft of oscillating cylinder 35；Support frame as described above 31 extends formation boss 37 in cavity volume 34, in order to fixing described oscillating cylinder 35.
Described walking mechanism 2 includes two rear wheel unit 21, each of which rear wheel unit 21 includes the rear-wheel motor 212 being fixed in support platform, a minor sprocket 213 it is fixed with on the motor shaft of rear-wheel motor 212, be positioned at support platform 1 lower surface corresponding with rear-wheel motor 212 is fixed with a rear leg 214, it is movably installed with a drive shaft 216 by bearing 215 on rear leg 214, drive shaft 216 and minor sprocket 213 respective side are fixed with a big sprocket wheel 217, the opposite side of drive shaft 216 is fixed with a trailing wheel 211, and described big sprocket wheel 217 is connected by belt with minor sprocket 213.
Described walking mechanism also includes two wheel units 22, wherein a wheel units 22 includes the front turbin generator 221 being fixed in support platform 1, front turbin generator 221 one end connects the first shaft coupling 222, first shaft coupling 222 end is connected with decelerator the 224, second shaft coupling 225 and front steering leg 226 in turn, front steering leg 226 is connected with front-wheel 228 by front-wheel follower shaft 227, and described two front-wheels 228 realize the synchronous axial system of two front-wheels 228 by the steering link 229 of the two front-wheel follower shafts 227 that are connected；Described front steering leg 226 is connected with support platform 1 by two gearing connecting rods 223.
Described arm mechanism 4 includes first connecting rod 41 and the second connecting rod 42 being connected successively on rotary column 36；The junction that described second connecting rod 42 is positioned at first connecting rod 41 is provided with a junction 43, and this connecting portion 43 is connected 44 with the second cylinder being fixed on first connecting rod 41；Being connected with the first cylinder 45 on the oblique arm of described first connecting rod 41, the other end of this first cylinder 45 is movably connected on the epimere portion of rotary column 36, and one end of described second connecting rod 42 connects clamp mechanism 5.
Described clamp mechanism 5 includes jaw 51, jaw connecting rod 55 and for driving the 3rd cylinder 52 of jaw 51, the expansion link of the 3rd cylinder 52 connects a plate 53, an air cylinder connecting rod 54 it is fixed with on connecting plate 53, described jaw connecting rod 55 is provided with long loose slot 56, and described jaw 51 is connected by the long loose slot 56 of some jaw connecting rods 55 and converged on air cylinder connecting rod 54.
Being provided with a stand frame 61 on described second connecting rod 42, this stand frame 61 is additionally provided with a limitting casing 62, limitting casing 62 is in order to limit the position of described air cylinder connecting rod 54.
Above-described embodiment is only used for illustrating the inventive concept of the present invention, rather than the restriction to rights protection of the present invention, all changes utilizing this design that the present invention carries out unsubstantiality, all should fall into protection scope of the present invention.
Claims (3)
1. a pickup rubbish robot, it is characterised in that: include the support platform with rubbish containing cavities, walking mechanism, swinging axle mechanism, arm mechanism and clamp mechanism；Described walking mechanism is installed on support platform lower surface, and described swinging axle mechanism is installed on support platform upper surface and is connected with arm mechanism and clamp mechanism；
Described swinging axle mechanism includes bracing frame, and bracing frame is fixed with turret supports frame by screw rod, and turret supports frame and bracing frame cooperatively form a cavity volume, be provided with an oscillating cylinder in this cavity volume；Being movably installed with a rotary column on described turret supports frame, this rotary column is connected with the rotating shaft of oscillating cylinder；Support frame as described above extends formation boss in cavity volume, in order to fixing described oscillating cylinder；
Described walking mechanism includes two rear wheel unit, each of which rear wheel unit includes the rear-wheel motor being fixed in support platform, a minor sprocket it is fixed with on the motor shaft of rear-wheel motor, be positioned at support platform lower surface corresponding with rear-wheel motor is fixed with a rear leg, it is movably installed with a drive shaft by bearing on rear leg, drive shaft and minor sprocket respective side are fixed with a big sprocket wheel, and the opposite side of drive shaft is fixed with a trailing wheel, and described big sprocket wheel is connected by belt with minor sprocket；
Described walking mechanism also includes two wheel units, wherein a wheel units includes the front turbin generator being fixed in support platform, front turbin generator one end connects the first shaft coupling, first shaft coupling end is connected with decelerator, the second shaft coupling and front steering leg in turn, front steering leg is connected with front-wheel by front-wheel follower shaft, and described two front-wheels realize the synchronous axial system of two front-wheels by the steering link of the two front-wheel follower shafts that are connected；Described front steering leg is connected with support platform by two gearing connecting rods；
Described arm mechanism includes first connecting rod and the second connecting rod being connected successively on rotary column；Described second connecting rod is positioned at the junction of first connecting rod and is provided with a junction, and this connecting portion is connected with the second cylinder being fixed on first connecting rod；Being connected with the first cylinder on the oblique arm of described first connecting rod, the other end of this first cylinder is movably connected on the epimere portion of rotary column, and one end of described second connecting rod connects clamp mechanism.
Pickup the most according to claim 1 rubbish robot, it is characterized in that: described clamp mechanism includes jaw, jaw connecting rod and for driving the 3rd cylinder of jaw, the expansion link of the 3rd cylinder connects a plate, an air cylinder connecting rod it is fixed with on connecting plate, described jaw connecting rod is provided with long loose slot, and described jaw is connected by the long loose slot of some jaw connecting rods and converged on air cylinder connecting rod.
Pickup the most according to claim 1 rubbish robot, it is characterised in that: being provided with a stand frame on described second connecting rod, this stand frame is additionally provided with a limitting casing, limitting casing is in order to limit the position of described air cylinder connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610589557.2A CN105970862A (en) | 2016-07-22 | 2016-07-22 | Waste picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610589557.2A CN105970862A (en) | 2016-07-22 | 2016-07-22 | Waste picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105970862A true CN105970862A (en) | 2016-09-28 |
Family
ID=56950700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610589557.2A Pending CN105970862A (en) | 2016-07-22 | 2016-07-22 | Waste picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105970862A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107022965A (en) * | 2017-05-17 | 2017-08-08 | 巢湖学院 | A kind of New-type refuse vehicle is picked up and sorter |
| CN108755629A (en) * | 2018-05-28 | 2018-11-06 | 张超 | A kind of amphibious refuse collector |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1514506A2 (en) * | 2003-09-15 | 2005-03-16 | Hako-Werke GMBH | Floor cleaning machine |
| CN203623808U (en) * | 2013-12-09 | 2014-06-04 | 上海德圣米高电梯有限公司 | Four-wheel independent-drive transport trolley |
| CN103981831A (en) * | 2014-06-10 | 2014-08-13 | 厦门理工学院 | Beach cleaning trolley |
| CN104669274A (en) * | 2013-12-03 | 2015-06-03 | 常州新江南能源设备有限公司 | Pneumatic manipulator |
| CN204711889U (en) * | 2015-06-13 | 2015-10-21 | 王迪蔚 | Manipulator |
| CN105544443A (en) * | 2016-01-29 | 2016-05-04 | 巢湖学院 | Amphibious garbage picking robot |
-
2016
- 2016-07-22 CN CN201610589557.2A patent/CN105970862A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1514506A2 (en) * | 2003-09-15 | 2005-03-16 | Hako-Werke GMBH | Floor cleaning machine |
| CN104669274A (en) * | 2013-12-03 | 2015-06-03 | 常州新江南能源设备有限公司 | Pneumatic manipulator |
| CN203623808U (en) * | 2013-12-09 | 2014-06-04 | 上海德圣米高电梯有限公司 | Four-wheel independent-drive transport trolley |
| CN103981831A (en) * | 2014-06-10 | 2014-08-13 | 厦门理工学院 | Beach cleaning trolley |
| CN204711889U (en) * | 2015-06-13 | 2015-10-21 | 王迪蔚 | Manipulator |
| CN105544443A (en) * | 2016-01-29 | 2016-05-04 | 巢湖学院 | Amphibious garbage picking robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107022965A (en) * | 2017-05-17 | 2017-08-08 | 巢湖学院 | A kind of New-type refuse vehicle is picked up and sorter |
| CN108755629A (en) * | 2018-05-28 | 2018-11-06 | 张超 | A kind of amphibious refuse collector |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160928 |