CN106426221B - A kind of Domestic refuse Automatic-dumping robot - Google Patents
A kind of Domestic refuse Automatic-dumping robot Download PDFInfo
- Publication number
- CN106426221B CN106426221B CN201611137791.8A CN201611137791A CN106426221B CN 106426221 B CN106426221 B CN 106426221B CN 201611137791 A CN201611137791 A CN 201611137791A CN 106426221 B CN106426221 B CN 106426221B
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- CN
- China
- Prior art keywords
- hinge
- electric cylinders
- cabinet
- cargo bed
- stents
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- 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.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Domestic refuse Automatic-dumping robot, including a collecting box and a transfer robot, it is characterised in that：The transfer robot is fixed on collecting box by two claws, and the cargo bed of transfer robot is located in the box body portion；The collecting box includes cabinet, three the first electric cylinders, top board, side plate, two the second electric cylinders, bottom plate, two fixed blocks, and the cabinet is square structure, and lower end surface is equipped with the bottom plate that length is greater than cabinet length, and the front-back of cabinet is unlimited；The present invention will be put into cargo bed after garbage-compressing, and rubbish is poured into dustbin from airflight by transfer robot, does not need to take the rubbish in high-rise building on ground to, high-efficient, be not necessarily to manual intervention.
Description
Technical field
The present invention relates to garbage transporting technical fields, in particular to a kind of Domestic refuse Automatic-dumping robot.
Background technique
With the development of skyscraper, it generally requires to take down rubbish from very high floor in life, the life to people
Work causes many inconvenience, therefore is badly in need of a kind of Domestic refuse Automatic-dumping robot.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of Domestic refuse Automatic-dumping robot, after rubbish is compressed
Rubbish is put into cargo bed, rubbish is poured by dustbin by transfer robot, it is high-efficient, it is not necessarily to manual intervention.
Technical solution used in the present invention is：A kind of Domestic refuse Automatic-dumping robot, including collecting box and
One transfer robot, it is characterised in that：The transfer robot is fixed on collecting box by two claws, conveying robot
The cargo bed of people is located in the box body portion；
The collecting box includes cabinet, three the first electric cylinders, top board, side plate, two the second electric cylinders, bottom plate, two
A fixed block, the cabinet are square structure, and lower end surface is equipped with the bottom plate that length is greater than cabinet length, and the front-back of cabinet is
It is open；Three first electric cylinders are fixedly mounted on cabinet upper surface straight down, and the top board is fixedly mounted on
Three the first electric cylinders telescopic rod lower ends；Two second electric cylinders are fixedly mounted at left and right sides of bottom plate upper surface, described
Side plate be fixedly mounted on two the second electric cylinders telescopic rod ends；Rear portion is respectively provided with a ladder at left and right sides of the cabinet
Shape fixed block；
The transfer robot include cargo bed, two the first joints, two baffles, two claws, two it is first hinged
Frame, two the second hinge stents, two third hinge stents, the 4th hinge stent, two third electric cylinders, two the 5th hinge stents, support
Seat, the 6th hinge stent, the 4th electric cylinders, two first supports, two support frames, rack, four motor cabinets, four brushless motors,
Four propellers, control module, cameras, are inverted trapezoidal structure inside the cargo bed, and square aperture arranged at cargo bed bottom, two
Baffle passes through the opening two sides that two the first joints are symmetrically mounted on cargo bed bottom respectively, and first joint is direct by steering engine
Driving；Two the first hinge stents are symmetrically arranged at left and right sides of the cargo bed rear portion, it is hinged to be equipped with third on the inside of the first hinge stent
Frame, the cargo bed lower rear left and right sides are symmetrically arranged with two the 5th hinge stents, are equipped with the 4th hinge stent above cargo bed posterior central,
It is respectively hinged on two the first hinge stents in the middle part of two claws, claw inner end is equipped with the second hinge stent, described
Third electric cylinders one end is hinged on the second hinge stent, and the other end is hinged on the ipsilateral third hinge stent of the second hinge stent；It is described
Support base be hinged on two the 5th hinge stents by two first supports of front end；The support base upper surface rear is set
There is the 6th hinge stent；The 4th described electric cylinders one end is hinged on the 4th hinge stent, and the other end is hinged on the 6th hinge stent；Institute
The support base lower end surface two sides stated are fixedly mounted on rack rear upper end face by two support frames；The fixed peace of the camera
Mounted in rack rear portion, control module is fixedly mounted on frame front；It is symmetrical at left and right sides of the rack that there are four motors
Seat, four brushless motors are separately mounted to four motor cabinet lower end surfaces, and motor shaft is downward, and four propellers are separately mounted to four
On brushless motor motor shaft；
The rack is located at two baffle following location directly and is equipped with rectangular pour spout.
Since present invention employs above-mentioned technical proposal, the present invention is had the following advantages that：
The present invention will be put into cargo bed after garbage-compressing, and rubbish is poured into rubbish from airflight by transfer robot
Bucket, does not need to take the rubbish in high-rise building on ground to, high-efficient, is not necessarily to manual intervention.
Detailed description of the invention
Fig. 1, Fig. 2 are the structural schematic diagram after of the invention be completed.
Fig. 3, Fig. 4 are the structural schematic diagram of collecting box of the invention.
Fig. 5, Fig. 6, Fig. 7, Fig. 8 are the structural schematic diagram of transfer robot of the invention.
Drawing reference numeral：1- collecting box；2- transfer robot；101- cabinet；The first electric cylinders of 102-；103- top board；104-
Side plate；The second electric cylinders of 105-；106- bottom plate；107- fixed block；201- cargo bed；The first joint 202-；203- baffle；204- card
Pawl；The first hinge stent of 205-；The second hinge stent of 206-；207- third hinge stent；The 4th hinge stent of 208-；209- third electric cylinders；
The 5th hinge stent of 210-；211- support base；The 6th hinge stent of 212-；The 4th electric cylinders of 213-；214- first support；215- support
Frame；216- rack；217- motor cabinet；218- brushless motor；219- propeller；220- control module；221- camera.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of Domestic refuse Automatic-dumping robot, including
One collecting box 1 and a transfer robot 2, it is characterised in that：The transfer robot 2 is fixed by two claws 204
On collecting box 1, the cargo bed 201 of transfer robot 2 is located inside cabinet 101；
The collecting box 1 includes 101, three the first electric cylinders 102 of cabinet, top board 103, side plate 104, two second
106, two electric cylinders 105, bottom plate fixed blocks 107, the cabinet 101 are square structure, and lower end surface is equipped with length and is greater than cabinet
The bottom plate 106 of 101 length, the front-back of cabinet are unlimited；Three first electric cylinders 102 are fixedly mounted on straight down
101 upper surface of cabinet, the top board 103 are fixedly mounted on three the first electric cylinders, 102 telescopic rod lower end；Described two
Second electric cylinders 105 are fixedly mounted at left and right sides of 106 upper surface of bottom plate, and the side plate 104 is fixedly mounted on two second
105 telescopic rod end of electric cylinders；A trapezoidal fixed block 107 is respectively provided at 101 left and right sides rear portion of cabinet；
The transfer robot 2 include 201, two 202, two, the first joint, 203, two claws 204 of baffle of cargo bed,
208, two two the first hinge stents, 205, two the second hinge stents, 206, two third hinge stents 207, the 4th hinge stent thirds
Electric cylinders 209, two 213, two the 5th hinge stents 210, support base 211, the 6th hinge stent 212, the 4th electric cylinders first supports
214, two support frames 215,218, four propellers 219 of the brushless motor of motor cabinet 217, four of rack 216, four, control mould
Block 220, camera 221 are inverted trapezoidal structure inside the cargo bed 201, and square aperture, two baffles are arranged at 201 bottom of cargo bed
203 are symmetrically mounted on the opening two sides of 201 bottom of cargo bed by two the first joints 202 respectively, first joint 202 by
Steering engine directly drives；Two the first hinge stents 205, the first hinge stent 205 are symmetrically arranged at left and right sides of 201 rear portion of cargo bed
Inside is equipped with third hinge stent 207, is symmetrically arranged with two the 5th hinge stents 210, cargo bed at left and right sides of 201 lower rear of cargo bed
The 4th hinge stent 208 is equipped with above 201 posterior centrals, be respectively hinged in the middle part of two claws 204 two it is first hinged
On frame 205,204 inner end of claw is equipped with the second hinge stent 206, and described 209 one end of third electric cylinders is hinged on the second hinge stent
On 206, the other end is hinged on the ipsilateral third hinge stent 207 of the second hinge stent 206；The support base 211 passes through front end
Two first supports 214 be hinged on two the 5th hinge stents 210；The 211 upper surface rear of support base is equipped with the 6th
Hinge stent 212；Described 213 one end of the 4th electric cylinders is hinged on the 4th hinge stent 208, and the other end is hinged on the 6th hinge stent
On 212；The 211 lower end surface two sides of support base are fixedly mounted on 216 rear upper end face of rack by two support frames 215；
The camera 221 is fixedly mounted on 216 rear portion of rack, and control module 220 is fixedly mounted on 216 front of rack；Described
216 left and right sides of rack is symmetrical there are four motor cabinet 217, and four brushless motors 218 are separately mounted to four motor cabinets 217
Lower end surface, motor shaft is downward, and four propellers 219 are separately mounted on four 218 motor shafts of brushless motor；
The rack 216 is located at two 203 following location directly of baffle and is equipped with rectangular pour spout.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Working principle of the present invention：Collecting box 1 is fixed on the outside of the window of building by the present invention first when in use, then will
Rubbish is put into collecting box 1, and three the first electric cylinders 102 drive top board 103 downwards to compress rubbish simultaneously, and two second
Electric cylinders 105 push side plate 104 that rubbish is pushed into cargo bed 201, and two contractions of third electric cylinders 209 unclamp two claws 204
Two fixed blocks 107, while the contraction of the 4th electric cylinders 213 makes 201 front end of cargo bed be flipped up certain angle to prevent rubbish from falling, under
One brushless motor 218 of step four drives four propellers 219 to rotate, and robot flies out collecting box 1, when flying to above dustbin,
Two the first joint 202 rotations downwardly turn over two baffles 203, and rubbish pours into dustbin by the pour spout in rack 216,
Robot flies back after the completion, fixed again by two claws and collecting box 1.
In the description of the present invention, it should be noted that the instruction such as term " on ", "lower", "front", "rear", "left", "right"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
Claims (1)
1. a kind of Domestic refuse Automatic-dumping robot, including a collecting box (1) and a transfer robot (2), feature
It is：The transfer robot (2) is fixed on collecting box (1) by two claws (204), the goods of transfer robot (2)
It is internal that bucket (201) is located at cabinet (101)；
The collecting box (1) includes cabinet (101), three the first electric cylinders (102), top board (103), side plate (104), two
A second electric cylinders (105), bottom plate (106), two fixed blocks (107), the cabinet (101) are square structure, and lower end surface is set
There is length to be greater than the bottom plate (106) of cabinet (101) length, the front-back of cabinet is unlimited；Three first electric cylinders
(102) it is fixedly mounted on cabinet (101) upper surface straight down, the top board (103) is fixedly mounted on three first electricity
Cylinder (102) telescopic rod lower end；Two second electric cylinders (105) are fixedly mounted at left and right sides of bottom plate (106) upper surface,
The side plate (104) is fixedly mounted on two the second electric cylinders (105) telescopic rod ends；In cabinet (101) left and right
Two sides rear portion is respectively provided with a trapezoidal fixed block (107)；
The transfer robot (2) includes cargo bed (201), two the first joints (202), two baffles (203), two claws
(204), two the first hinge stents (205), two the second hinge stents (206), two third hinge stents (207), the 4th hinge stents
(208), two third electric cylinders (209), two the 5th hinge stents (210), support base (211), the 6th hinge stents (212), the 4th
Electric cylinders (213), two first supports (214), two support frames (215), rack (216), four motor cabinets (217), four nothings
Brush motor (218), four propellers (219), control module (220), camera (221), the cargo bed (201) are internal for
Square aperture is arranged at trapezium structure, cargo bed (201) bottom, and two baffles (203) are symmetrically pacified by two the first joints (202) respectively
Mounted in the opening two sides of cargo bed (201) bottom, first joint (202) is directly driven by steering engine；The cargo bed (201)
It is symmetrically arranged with two the first hinge stents (205) at left and right sides of rear portion, is equipped with third hinge stent on the inside of the first hinge stent (205)
(207), two the 5th hinge stents (210), cargo bed (201) posterior central are symmetrically arranged at left and right sides of cargo bed (201) lower rear
Top is equipped with the 4th hinge stent (208), is respectively hinged at two the first hinge stents (205) in the middle part of two claws (204)
On, claw (204) inner end is equipped with the second hinge stent (206), and described third electric cylinders (209) one end is hinged on the second hinge stent
(206) on, the other end is hinged on the ipsilateral third hinge stent (207) of the second hinge stent (206)；The support base (211)
It is hinged on two the 5th hinge stents (210) by two first supports (214) of front end；Described support base (211) upper end
Face rear is equipped with the 6th hinge stent (212)；The 4th described electric cylinders (213) one end is hinged on the 4th hinge stent (208), another
End is hinged on the 6th hinge stent (212)；Support base (211) the lower end surface two sides are fixed by two support frames (215)
It is mounted on rack (216) rear upper end face；The camera (221) is fixedly mounted on rack (216) rear portion, control module
(220) it is fixedly mounted on rack (216) front；It is symmetrical at left and right sides of the rack (216) that there are four motor cabinets
(217), four brushless motors (218) are separately mounted to four motor cabinet (217) lower end surfaces, and motor shaft is downward, four propellers
(219) it is separately mounted on four brushless motor (218) motor shafts；
The rack (216) is located at two baffle (203) following location directly and is equipped with rectangular pour spout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611137791.8A CN106426221B (en) | 2016-12-12 | 2016-12-12 | A kind of Domestic refuse Automatic-dumping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611137791.8A CN106426221B (en) | 2016-12-12 | 2016-12-12 | A kind of Domestic refuse Automatic-dumping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426221A CN106426221A (en) | 2017-02-22 |
| CN106426221B true CN106426221B (en) | 2018-11-16 |
Family
ID=58216893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611137791.8A Expired - Fee Related CN106426221B (en) | 2016-12-12 | 2016-12-12 | A kind of Domestic refuse Automatic-dumping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426221B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107322566B (en) * | 2017-08-14 | 2018-06-22 | 李志远 | A kind of robot for sorting house refuse |
| CN107600843A (en) * | 2017-09-11 | 2018-01-19 | 太仓博轩信息科技有限公司 | A kind of intelligent garbage cleaning car and its control method based on unmanned plane |
| CN112830127A (en) * | 2021-02-04 | 2021-05-25 | 北京交通大学 | Intelligent integrated garbage can capable of collecting takeaway garbage in classified mode |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3131544A1 (en) * | 1981-08-08 | 1983-02-24 | Bauunternehmung E. Heitkamp Gmbh, 4690 Herne | Method and device for transferring waste, in particular domestic waste, from delivery vehicles to vehicles for further transport with the aid of a waste press |
| CN2333671Y (en) * | 1998-01-04 | 1999-08-18 | 徐崇德 | Refuse push-compressing mechanism for rear-loading refuse vehicle |
| CN201217555Y (en) * | 2008-04-02 | 2009-04-08 | 海沃机械(扬州)有限公司 | Movable garbage compression apparatus |
| CN102079087A (en) * | 2009-11-30 | 2011-06-01 | 天津市安维康家科技发展有限公司 | Visible garbage compression robot |
| EP2949459B1 (en) * | 2014-05-28 | 2020-09-02 | Airbus Operations GmbH | Waste compaction system for a vehicle, cabin monument for a vehicle having such a waste compaction system and vehicle having at least one waste compaction system |
| CN204568555U (en) * | 2015-05-07 | 2015-08-19 | 施王明 | A kind of multi-functional refuse receptacle |
| CN204688892U (en) * | 2015-05-27 | 2015-10-07 | 苏州科锐恒机械科技有限公司 | A kind of from dumping type garbage gathering-device |
| CN105858002B (en) * | 2016-06-17 | 2017-10-20 | 浙江龙邦塑业有限公司 | A kind of self-tipping type intelligent dustbin |
-
2016
- 2016-12-12 CN CN201611137791.8A patent/CN106426221B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426221A (en) | 2017-02-22 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Tian Runze Inventor after: Xu Yibao Inventor after: Song Shuwen Inventor after: Tian Lei Inventor after: Liu Wei Inventor before: Tian Runze |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181008 Address after: 312080 No. 2-2, Shuguang Road, Keqiao Town, Keqiao District, Shaoxing, Zhejiang Applicant after: Shaoxing Li Tai Textile Technology Co. Ltd. Address before: 276400 No. 31, Xin Hua Road, Yishui Town, Yishui, Linyi, Shandong Applicant before: Tian Runze |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181116 Termination date: 20201212 |
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| CF01 | Termination of patent right due to non-payment of annual fee |