CN108341257B - Sanitation robot for carrying and unloading dustbin and control method thereof - Google Patents

Abstract

The invention discloses an environmental sanitation robot for carrying and unloading a dustbin and a control method thereof, wherein the environmental sanitation robot consists of a rotatable grabbing mechanism, a dumping mechanism and a chassis, the rotatable grabbing mechanism is driven by the rotating mechanism to rotate in the horizontal direction, the grabbing mechanism is driven by a lifting mechanism to linearly slide in the vertical direction, grabbing and moving of pulling are realized, the dumping mechanism is driven by a rotating frame driving mechanism, the rotating shaft drives the rotating frame to turn back and forth along an inclined plane supporting frame, and dumping of the dustbin is realized. The invention realizes the integration of the carrying mechanism and the dumping mechanism, can conveniently and sequentially finish the replacement of the dustbin and the dumping of the garbage, solves the problem of untimely garbage cleaning, beautifies the environment and also liberates labor force.

Description

Sanitation robot for carrying and unloading dustbin and control method thereof

Technical Field

The invention belongs to the technical field of carrying and unloading equipment, is suitable for public places such as parks, campuses and communities, and particularly relates to an environmental sanitation robot for carrying and unloading a dustbin and a control method thereof.

Background

With the continuous development of human society, the life quality of people is higher and higher, and the generated garbage is more and more, especially the sidewalks in communities, campuses and parks. However, with the development of current technology and the pursuit of people for good life, most people are no longer willing to engage in cleaning work with great workload and low income, such as transporting sanitation garbage and loading and unloading vehicles; and because rubbish is too much, often appear the dustbin to replace untimely and lead to dustbin rubbish to spill over, influence the city appearance to the malignant circulation problem of being difficult to clear up more.

The replacement and dumping of the dustbin are realized by the two mechanisms of the conventional garbage can sanitation robot, namely the conventional garbage can sanitation robot is oversized, automatic control cannot be realized, and a fixed person is still required to operate a vehicle to dump garbage. Unmanned robots developed by the Wolwa ROAR project can scan and tell the robot the position of the dustbin to grasp the dustbin by the unmanned robots, however this process requires at least one driver to maneuver the unmanned robots and the vehicle for unloading, and is still limited in terms of liberating labor; the robot trolley needs a garbage truck to follow along with the truck, and the space occupation is large.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides an environmental sanitation robot for carrying and unloading a dustbin and a control method thereof, so as to solve the problem that the dustbin is not replaced in the prior public place, improve the appearance of the city and simultaneously liberate labor force, and the technical scheme of the invention is as follows in combination with the accompanying drawings of the specification:

an environmental sanitation robot for carrying and unloading a dustbin consists of a rotatable grabbing mechanism 1, a dumping mechanism 2 and a chassis 3;

the rotatable grabbing mechanism 1 is arranged at the front end of the chassis 3 and consists of a rotating mechanism 11, a lifting mechanism 12 and a grabbing mechanism 13;

the rotating mechanism 11 is arranged at the bottom of the rotatable grabbing mechanism 1, the lifting mechanism 12 is vertically and fixedly arranged above a turntable 114 of the rotating mechanism 11, and the grabbing mechanism 13 is slidably arranged on the side surface of the lifting mechanism 12 through a sliding block 1210; under the drive of the rotating mechanism 11, the grabbing mechanism 13 rotates in the horizontal direction, and under the drive of the lifting mechanism 12, the grabbing mechanism 13 slides linearly in the vertical direction, so that the dustbin is grabbed and moved;

the dumping mechanism 2 consists of a rotating frame 21, a rotating frame driving mechanism, an inclined plane supporting frame 26 and a rotating shaft 27;

the inclined plane support frame 26 is fixed at the rear end of the chassis 3, the rotating shaft 27 is rotatably arranged above the inclined plane support frame 26 and is fixedly connected with the output end of the rotating frame driving mechanism coaxially, the middle part of the rotating frame 21 is fixedly connected with the rotating shaft 27, and the rotating shaft 27 drives the rotating frame 21 to turn back and forth along the inclined plane support frame 26 under the driving of the rotating frame driving mechanism, so that dumping of the dustbin is realized.

The rotating mechanism 11 consists of a motor B111, a belt pulley 112, a belt 113, a turntable 114 and a turntable support 115, wherein the motor B111 and the turntable support 115 are both fixed on the chassis 3, the turntable 114 is rotatably arranged on the turntable support 115, the belt pulley 112 and the turntable 114 are in transmission connection through the belt 113, and the belt pulley 112 drives the turntable 114 to rotate through the belt 113 under the driving of the motor B111.

The lifting mechanism 12 consists of a guide rail 121, a motor C122, a gear A123, a gear B124, a sprocket shaft A125, a sprocket shaft B126, a sprocket C127, a sprocket T128, a chain B129 and a sliding block 1210;

the guide rail 121 is vertically fixed on the turntable 114, and the motor 121 is horizontally fixed on the turntable 114; the chain wheel axle A125 and the chain wheel axle B126 are respectively and rotatably arranged below and above the inner side of the guide rail 121, the chain wheel C127 and the chain wheel T128 are respectively arranged on the chain wheel axle A125 and the chain wheel axle B126, the chain wheel C127 and the chain wheel T128 are in transmission connection through the chain B129, and the sliding block 1210 is fixedly connected to the chain B129;

the gear A123 is connected to the output shaft of the motor C122, the gear B124 is arranged outside the guide rail 121 and is fixedly connected with the sprocket shaft A125 coaxially, and the gear A123 is meshed with the gear B124;

under the drive of the motor C122, the gear A123 is meshed with the gear B124 for transmission, the sprocket shaft A125 is driven to rotate, and a chain transmission mechanism consisting of the sprocket C127, the sprocket D128 and the chain B129 is driven to operate, so that the slider 1210 is driven to move up and down along the guide rail 121.

The gripping mechanism 13 is composed of a longitudinal moving mechanism 131 and a rotary clamping mechanism 132.

The longitudinal moving mechanism 131 is composed of a base 1311, a longitudinal moving driving mechanism, a longitudinal moving transmission mechanism and a moving support 1316; the base 1311 is fixedly connected with the sliding block 1210 on the lifting mechanism 12, the longitudinal movement transmission mechanism is arranged on the base 1311, the input end of the longitudinal movement transmission mechanism is connected with the output end of the longitudinal movement driving mechanism, the movable support 1316 is connected to the longitudinal movement transmission mechanism, and the longitudinal movement transmission mechanism drives the movable support 1316 to slide back and forth under the driving of the longitudinal movement driving mechanism;

the rotary clamping mechanism 132 consists of a motor 1321, a gear propyl 1322, a gear butyl 1323, a gear shaft 1324, a flange plate A1325, a flange plate B1326, a right clamping arm 1327 and a left clamping arm 1328; the motor pentane 1321 is vertically fixed on the movable support 1316, the gear propane 1322 and the flange plate A1325 are sequentially and coaxially connected to an output shaft of the motor pentane 1321 from bottom to top, and the right clamping arm 1327 is fixedly connected with the flange plate A1325; the gear shaft 1324 is vertically and rotatably installed on the movable support 1316, the gear wheel block 1323 and the flange plate b 1326 are sequentially and coaxially connected to the gear shaft 1324 from bottom to top, the gear wheel block 1323 is meshed with the gear wheel c 1322, and the left clamping arm 1328 is fixedly connected with the flange plate b 1326; under the drive of the motor 1321, the gear propyl 1322 is meshed with the gear propyl 1322 for transmission, and drives the right clamping arm 1327 and the left clamping arm 1328 above the gear propyl 1322 to rotate respectively, and the right clamping arm 1327 and the left clamping arm 1328 are opened or clamped to release or clamp the dustbin.

The longitudinal movement driving mechanism consists of a motor block 1312, a bevel gear A1313 and a bevel gear B1314;

the motor block 1312 is horizontally arranged and fixed on the base 1311, the bevel gear A1313 is coaxially and fixedly connected with the output shaft of the motor block 1312, the bevel gear B1314 is coaxially connected with the longitudinal movement transmission mechanism, and the bevel gear A1313 is meshed with the bevel gear B1314.

The longitudinal movement transmission mechanism adopts a ball screw 1315, the ball screw 1315 is coaxially connected with the output end of the longitudinal movement driving mechanism, two ends of the ball screw 1315 are arranged on a base 1311 through bearing supports, and a movement support 1316 is connected with the ball screw 1315 through a screw pair.

The rotating frame driving mechanism comprises a sprocket A22, a sprocket B23, a chain A24 and a motor A25;

the motor A25 is horizontally fixed on the chassis 3, the sprocket A22 is coaxially and fixedly connected with an output shaft of the motor A25, the sprocket B23 is coaxially and fixedly connected with the rotating shaft 27, and the sprocket A22 and the sprocket B23 are in transmission connection through the chain A24.

The rotating frame 21 consists of a supporting frame 211, two supporting rods 212, a clamping wheel plate A213 and a clamping wheel plate B214, wherein the two supporting rods 212 are vertically fixed with a transverse frame at the bottom of the supporting frame 211 along a horizontal plane and are used for bearing a dustbin; the clamping wheel plate A213 and the clamping wheel plate B214 are respectively fixed on two sides below the supporting frame 211 and used for clamping and fixing the bottom roller of the dustbin.

A control method of an environmental sanitation robot for carrying and unloading a dustbin, the control method comprising: firstly, the sanitation robot loading the empty dustbin 4 moves to the full dustbin 5 according to a planned movement path, the sanitation robot picks up the empty dustbin 4 through the rotatable grabbing mechanism 1 and rotates to the designated position, then the sanitation robot adjusts the position and the posture of the robot according to the position of the full dustbin 5, the full dustbin 5 is picked up through the rotatable grabbing mechanism 1 and rotates to be placed on the dumping mechanism 2, finally, the sanitation robot loading the full dustbin 5 moves to the garbage dumping position according to the planned path, and the full dustbin 5 is turned backwards under the driving of the dumping mechanism 2 to finish garbage unloading.

The control method comprises the following specific processes:

s1: the sanitation robot loaded with the empty dustbin runs according to the planned movement path under the drive of the chassis 3 and moves to the ground position where the dustbin is placed, the sanitation robot judges whether the dustbin on the ground position is full or not through the carried detection equipment and the machine vision method, if the dustbin on the ground position is not full, the sanitation robot continues to run according to the planned movement path until the dustbin 5 is found to be full;

s2: the sanitation robot clamps the loaded empty dustbin 4 through the grabbing mechanism 13, lifts the empty dustbin 4 through the lifting mechanism 12, rotates the empty dustbin 4 through the rotating mechanism 11 to enable the empty dustbin 4 to be located above the placement position, then lowers the empty dustbin 4 through the lifting mechanism 12 and places the empty dustbin on the ground, the grabbing mechanism 13 is loosened, and the sanitation robot moves backwards to finish placement of the empty dustbin 4;

s3: the sanitation robot adjusts the position and the posture of the robot according to the position of the full dustbin 5, enables the grabbing mechanism 13 to face the full dustbin, controls the position and the posture of the grabbing mechanism 13 to clamp the full dustbin 5, then lifts the full dustbin 5 through the lifting mechanism 12, rotates the full dustbin 5 through the rotating mechanism 11 to enable the full dustbin 5 to reach the position above the rotating frame 21, lowers the full dustbin 5 through the lifting mechanism 12 and places the full dustbin 5 on the rotating frame 21, and starts the grabbing mechanism 13 to push the full dustbin 5, so that the position of the full dustbin 5 on the rotating frame 21 is fixed, and grabbing of the full dustbin 5 is completed;

s4: the sanitation robot is loaded with the full dustbin 5, runs to a garbage dumping position according to a planned path, the dumping mechanism 2 starts to work, and the rotating frame driving mechanism drives the rotating frame 21 to turn backwards along the upper edge of the inclined plane supporting frame 26, so that the opening of the full dustbin 5 faces downwards, and garbage is unloaded;

s5: after unloading the garbage in the full garbage can 5, the dumping mechanism 2 drives the empty garbage can 4 to reversely turn over and return to the right;

s6: judging whether the garbage unloading of all the garbage cans in the working area is finished, if so, the sanitation robot enters a rest state and finishes the task, and if not, entering the next working cycle.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the sanitation robot, the carrying mechanism and the dumping mechanism are integrated, the garbage can is replaced and garbage can be dumped in sequence conveniently and quickly, intelligent carrying and garbage unloading of the garbage can in public places such as parks, campuses and communities can be realized through the robot, the problem of untimely garbage cleaning is solved, the environment is beautified, and the labor force is also liberated;

2. the sanitation robot can replace the existing similar robots, does not need extra personnel to operate, and saves labor force;

3. the sanitation robot disclosed by the invention has the advantages of smaller overall size, strong applicability, production cost reduction, energy conservation and convenience in putting and production.

Drawings

FIG. 1 is a schematic view of the overall structure of an environmental sanitation robot according to the present invention;

fig. 2 is a schematic structural view of a rotatable gripping mechanism in the sanitation robot according to the present invention;

FIG. 3 is a schematic view of a dumping mechanism in the sanitation robot;

fig. 4 is a schematic structural view of a turret in the sanitation robot according to the present invention;

FIG. 5 is a schematic structural view of a rotating mechanism in the sanitation robot according to the present invention;

fig. 6 is a schematic structural view of a lifting mechanism in the sanitation robot according to the present invention;

fig. 7 is a schematic structural view of a gripping mechanism in the sanitation robot according to the present invention;

FIG. 8 is a flow chart of a control method of the sanitation robot of the invention;

FIG. 9a is a schematic view of the sanitation robot of the present invention moving from the empty dustbin to the full dustbin position;

FIG. 9b is a schematic view of the sanitation robot of the present invention after placing an empty dustbin at a designated position and clamping a full dustbin;

FIG. 9c is a schematic view of the sanitation robot of the present invention fully loaded with the dustbin;

fig. 9d is a schematic view of the sanitation robot of the present invention dumping garbage in the dustbin;

fig. 9e is a schematic view showing a state that the sanitation robot reloads the empty dustbin according to the present invention.

In the figure:

1. a rotatable grabbing mechanism, 2, a dumping mechanism, 3, a chassis, 4 and an empty dustbin,

5. full of the dustbin;

11. the device comprises a rotating mechanism 12, a lifting mechanism 13 and a grabbing mechanism;

111. a motor B, 112, a belt pulley, 113, a belt, 114, a turntable,

115. a turntable support;

121. guide rails 122, a motor C, 123, a gear A, 124 and a gear B,

125. sprocket shafts A, 126, sprocket shafts B, 127, sprocket shafts C, 128, sprocket shafts D,

129. chain B, 1210, slide block;

131. a longitudinal movement mechanism 132, a rotary clamping mechanism;

1311. a base, 1312, a motor block, 1313, a bevel gear A, 1314, a bevel gear B,

1315. ball screw 1316, moving support;

1321. a motor (five, 1322), a gear (three, 1323), a gear (four, 1324) and a gear shaft,

1325. flange a, 1326, flange b, 1327, right, 1328, left clamping arm.

21. A rotating frame, 22, a sprocket A, 23, a sprocket B, 24 and a chain A,

25. the motor A, 26, the inclined plane support frame, 27, the rotation axis;

211. the support frame 212, the support rods 213, the clamping wheel plates A, 214 and the clamping wheel plates B;

Detailed Description

For further explanation of the technical scheme of the invention, the specific embodiments of the invention are as follows, in combination with the accompanying drawings of the specification:

as shown in fig. 1, the invention discloses an environmental sanitation robot for carrying and unloading a dustbin, which consists of a rotatable grabbing mechanism 1, a dumping mechanism 2 and a chassis 3. The rotatable grabbing mechanism 1 is rotatably installed at the front end of the chassis 3, and the dumping mechanism 2 is fixedly installed at the rear end of the chassis 3. The chassis 3 is used for transporting the sanitation robot to a designated position, the rotatable grabbing mechanism 1 is used for grabbing a dustbin and placing the dustbin at the designated position, and the dumping mechanism 2 is used for dumping and unloading garbage in the dustbin.

As shown in fig. 2, the rotatable gripping mechanism 1 is composed of a rotating mechanism 11, a lifting mechanism 12 and a gripping mechanism 13; the rotating mechanism 11 is arranged at the bottom of the rotatable grabbing mechanism 1, the lifting mechanism 12 is vertically and fixedly arranged above a turntable 114 of the rotating mechanism 11, and the grabbing mechanism 13 is slidably arranged on the side surface of the lifting mechanism 12 through a sliding block 1210; the grabbing mechanism 13 is driven by the rotating mechanism 11 to rotate in the horizontal direction, and the grabbing mechanism 13 is driven by the lifting mechanism 12 to linearly slide in the vertical direction.

As shown in fig. 5, the rotating mechanism 11 is composed of a motor b 111, a pulley 112, a belt 113, a turntable 114, and a turntable support 115. The motor B111 and the turntable support 115 are both fixed on the chassis 3, the turntable 114 is rotatably mounted on the turntable support 115, so that the turntable 114 can rotate relative to the chassis 3, the belt pulley 112 and the turntable 114 are in transmission connection through the belt 113, and under the driving of the motor B111, the belt pulley 112 drives the turntable 114 to rotate through the belt 113, so that the components above the turntable 114 are driven to synchronously rotate.

As shown in fig. 6, the lifting mechanism 12 is composed of a guide rail 121, a motor c 122, a gear a 123, a gear b 124, a sprocket shaft a 125, a sprocket shaft b 126, a sprocket c 127, a sprocket block 128, a chain b 129 and a slider 1210. Wherein, the guide rail 121 is vertically arranged and fixedly installed on the turntable 114, and the motor 121 is horizontally arranged and fixedly installed on the turntable 114; the two ends of the chain wheel axle A125 are horizontally supported and installed below the inner side of the guide rail 121 through bearings, the chain wheel C127 is coaxially and fixedly installed on the chain wheel axle A125, the two ends of the chain wheel axle B126 are horizontally supported and installed above the inner side of the guide rail 121 through bearings, the chain wheel T128 is coaxially and fixedly installed on the chain wheel axle A125, the chain wheel C127 and the chain wheel T128 are in transmission connection through a chain B129, and the sliding block 1210 is fixedly connected on the chain B129; the first gear 123 is connected to the output shaft of the third motor 122, the second gear 124 is mounted below the outer side of the guide rail 121 and is fixedly connected with the first sprocket shaft 125 coaxially, and the first gear 123 is meshed with the second gear 124. Under the drive of the motor C122, the gear A123 is meshed with the gear B124 for transmission, and drives the sprocket shaft A125 to rotate, so as to drive the chain transmission mechanism consisting of the sprocket C127, the sprocket D128 and the chain B129 to operate, and finally drive the slider 1210 to move up and down along the guide rail 121.

As shown in fig. 7, the grasping mechanism 13 is composed of a longitudinal moving mechanism 131 and a rotary holding mechanism 132.

The longitudinal moving mechanism 131 consists of a base 1311, a motor block 1312, a bevel gear A1313, a bevel gear B1314, a ball screw 1315 and a moving support 1316; the base 1311 is fixed with the sliding block 1210 on the lifting mechanism 12, the motor block 1312 is horizontally arranged and fixed on the base 1311, the bevel gear A1313 is coaxially and fixedly connected with the output shaft of the motor block 1312, the bevel gear B1314 is coaxially and fixedly connected with the ball screw 1315, the bevel gear A1313 is meshed with the bevel gear B1314, two ends of the ball screw 1315 are supported and mounted on the base 1311 through bearings, the movable support 1316 is connected with the ball screw 1315 through a screw pair, the movable support 1316 moves linearly along the ball screw 1315, and the movable support 1316 contacts with the surface on the base 1311 to form a plane pair. Under the drive of the motor block 1312, the bevel gear A1313 is meshed with the bevel gear B1314 to drive the ball screw 1315 to rotate, and then the movable support 1316 is driven to move forwards or backwards through the screw pair.

The rotary clamping mechanism 132 is composed of a motor 1321, a gear propyl 1322, a gear butyl 1323, a gear shaft 1324, a flange plate A1325, a flange plate B1326, a right clamping arm 1327 and a left clamping arm 1328. The motor beam 1321 is vertically arranged and fixed on the upper surface of the movable support 1316, the gear propyl 1322 and the flange plate methyl 1325 are sequentially and coaxially fixed on the output shaft of the motor beam 1321 from bottom to top, and the right clamping arm 1327 and the flange plate methyl 1325 are fixedly connected together; the gear shaft 1324 is vertically arranged and is rotatably arranged on the movable support 1316 through a bearing, the gear block 1323 and the flange plate B1326 are sequentially and coaxially fixed on the gear shaft 1324 from bottom to top, the gear block 1323 is meshed with the gear plate C1322, the left clamping arm 1328 and the flange plate B1326 are fixedly connected together, the right clamping arm 1327 and the left clamping arm 1328 are oppositely arranged, and the formed clamping profile is matched with the outer profile of the dustbin. Under the drive of the motor 1321, the gear propyl 1322 is meshed with the gear propyl 1322 for transmission, and drives the right clamping arm 1327 and the left clamping arm 1328 above the gear propyl 1322 to rotate respectively, so that the right clamping arm 1327 and the left clamping arm 1328 are opened or clamped.

As shown in fig. 3, the dumping mechanism 2 is composed of a rotating frame 21, a sprocket a 22, a sprocket b 23, a chain a 24, a motor a 25, a bevel support 26 and a rotating shaft 27. The inclined plane support frame 26 is supported and fixed on the chassis 3, and the inclined plane of the inclined plane support frame faces outwards; the rotating shaft 27 is horizontally arranged and is arranged above the inclined plane supporting frame 26 through a bearing; the motor A25 is horizontally arranged and fixedly arranged on the chassis 3 through a motor support, the sprocket A22 is fixedly connected with an output shaft of the motor A25 coaxially, the sprocket B23 is fixedly connected with the rotating shaft 27 coaxially, and the sprocket A22 and the sprocket B23 are in transmission connection through the chain A24; the rotating frame 21 is vertically arranged on the inner side of the inclined plane supporting frame 26, and the middle part of the rotating frame 21 in the vertical direction is fixedly connected with the rotating shaft 27. Under the drive of the motor A25, a chain transmission mechanism consisting of the chain wheel A22, the chain wheel B23 and the chain A24 runs to drive the rotating shaft 27 to rotate, so that the rotating frame 21 is driven to turn back and forth along the upper edge of the inclined plane supporting frame 26, and the rotating frame 21 turns back and finally falls on the inclined plane of the inclined plane supporting frame 26.

As shown in fig. 4, the rotating frame 21 is composed of a supporting frame 211, a supporting rod 212, a clamping wheel plate a 213 and a clamping wheel plate b 214. Two support rods 212 are vertically fixed on a transverse frame at the bottom of the supporting frame 211; the clamping wheel plate A213 and the clamping wheel plate B214 are respectively fixed on two sides below the supporting frame 211 and used for clamping and fixing the bottom roller of the dustbin.

Based on the composition structure of the sanitation robot, the invention also provides a control method of the sanitation robot for carrying and unloading the dustbin, which comprises the following steps: and (3) the process of loading, transporting, placing and grabbing and dumping the empty dustbin and the full dustbin.

As shown in fig. 8, the control method of the sanitation robot comprises the following steps:

s1: the sanitation robot loaded with the empty dustbin runs according to the planned movement path under the drive of the chassis 3 and moves to the ground position where the dustbin is placed, the sanitation robot judges whether the dustbin on the ground position is full or not through the detection equipment carried by the sanitation robot by a machine vision method and the like, if the dustbin on the ground position is not full, the sanitation robot continues to run according to the planned movement path until the full dustbin 5 is found, as shown in fig. 9 a;

s2: the sanitation robot clamps the loaded empty dustbin 4 through the rotary clamping mechanism 132 of the grabbing mechanism 13, lifts the empty dustbin 4 through the lifting mechanism 12, rotates the empty dustbin 4 by a certain angle through the rotating mechanism 11 to enable the empty dustbin 4 to be located above the placing position, then lowers the empty dustbin 4 through the lifting mechanism 12 and places the empty dustbin on the ground, the rotary clamping mechanism 132 on the grabbing mechanism 13 is loosened, the sanitation robot moves backwards, and the placing work of the empty dustbin 4 is completed, as shown in fig. 9 b;

s3: the sanitation robot adjusts the position and posture of the robot according to the position of the full dustbin 5, so that the clamping arm of the rotary clamping mechanism 132 faces the full dustbin, after the detection position is accurate, the position and posture of the right clamping arm 1327 and the left clamping arm 1328 are controlled to clamp the full dustbin 5, as shown in fig. 9b, then the full dustbin 5 is lifted by the lifting mechanism 12, the full dustbin 5 is rotated by a certain angle through the rotating mechanism 11, the full dustbin 5 reaches the position right above the supporting rod 212 of the rotating frame 21, the full dustbin 5 is lowered by the lifting mechanism 12 and placed on the supporting rod 212, the motor block 1312 of the longitudinal moving mechanism 131 is started, the full dustbin 5 is pushed by the longitudinal moving mechanism 131, rollers at two sides of the bottom of the full dustbin 5 are respectively clamped in the clamping wheel plate A213 and the clamping wheel plate B214 below the rotating frame 21 to realize fixation, and the grabbing process of the full dustbin is completed, as shown in fig. 9 c;

s4: the sanitation robot is loaded with the full dustbin 5 and runs to a garbage dumping position according to a planned path, when the distance between the robot and the garbage dumping position reaches a specified distance, the dumping mechanism 2 starts to work, the rotating frame 21 is driven by the motor A25 to turn backwards along the upper edge of the inclined plane supporting frame 26 and finally falls on the inclined plane of the inclined plane supporting frame 26, so that the opening of the full dustbin 5 faces downwards to dump garbage, and the garbage dumping is carried out as shown in fig. 9 d;

s5: when the garbage in the full garbage can 5 is dumped completely and becomes an empty garbage can 4, at the moment, the motor A25 is controlled to rotate reversely to drive the rotating frame 21 to rotate reversely and return to the right, as shown in fig. 9 e;

s6: judging whether the garbage dumping work of all the garbage cans in the working area is finished or not, namely, whether all the full garbage cans are dumped completely or not, if so, enabling the sanitation robot to enter a rest state, and ending the task; if not, the next working cycle is entered.

Claims (8)

1. A sanitation robot for dustbin transport and uninstallation, its characterized in that:

comprises a rotatable grabbing mechanism (1), a dumping mechanism (2) and a chassis (3);

the rotatable grabbing mechanism (1) is arranged at the front end of the chassis (3) and consists of a rotating mechanism (11), a lifting mechanism (12) and a grabbing mechanism (13);

the rotating mechanism (11) is arranged at the bottom of the rotatable grabbing mechanism (1), the lifting mechanism (12) is vertically and fixedly arranged above a turntable (114) of the rotating mechanism (11), and the grabbing mechanism (13) is slidably arranged on the side surface of the lifting mechanism (12) through a sliding block (1210); under the drive of the rotating mechanism (11), the grabbing mechanism (13) rotates in the horizontal direction, and under the drive of the lifting mechanism (12), the grabbing mechanism (13) slides linearly in the vertical direction, so that the grabbing and moving of the dustbin are realized;

the dumping mechanism (2) consists of a rotating frame (21), a rotating frame driving mechanism, an inclined plane supporting frame (26) and a rotating shaft (27);

the inclined plane support frame (26) is fixed at the rear end of the chassis (3), the rotating shaft (27) is rotatably arranged above the inclined plane support frame (26) and is fixedly connected with the output end of the rotating frame driving mechanism in a coaxial way, the middle part of the rotating frame (21) is fixedly connected with the rotating shaft (27), and the rotating shaft (27) drives the rotating frame (21) to turn back and forth along the inclined plane support frame (26) under the driving of the rotating frame driving mechanism, so that the garbage can is overturned;

the rotating mechanism (11) consists of a motor B (111), a belt pulley (112), a belt (113), a turntable (114) and a turntable support (115), wherein the motor B (111) and the turntable support (115) are both fixed on the chassis (3), the turntable (114) is rotatably mounted on the turntable support (115), the belt pulley (112) and the turntable (114) are in transmission connection through the belt (113), and the belt pulley (112) drives the turntable (114) to rotate through the belt (113) under the driving of the motor B (111).

2. An environmental sanitation robot for carrying and unloading a dustbin as defined in claim 1, wherein:

the lifting mechanism (12) consists of a guide rail (121), a motor C (122), a gear A (123), a gear B (124), a chain wheel axle A (125), a chain wheel axle B (126), a chain wheel C (127), a chain wheel T (128), a chain B (129) and a sliding block (1210);

the guide rail (121) is vertically fixed on the turntable (114), and the motor C (122) is horizontally fixed on the turntable (114); the chain wheel axle A (125) and the chain wheel axle B (126) are respectively rotatably arranged below and above the inner side of the guide rail (121), the chain wheel C (127) and the chain wheel T (128) are respectively arranged on the chain wheel axle A (125) and the chain wheel axle B (126), the chain wheel C (127) and the chain wheel T (128) are in transmission connection through the chain B (129), and the sliding block (1210) is fixedly connected to the chain B (129);

the gear A (123) is connected to the output shaft of the motor C (122), the gear B (124) is arranged on the outer side of the guide rail (121) and is fixedly connected with the sprocket shaft A (125) in a coaxial way, and the gear A (123) is meshed with the gear B (124);

under the drive of the motor C (122), the gear A (123) is meshed with the gear B (124) for transmission, the sprocket shaft A (125) is driven to rotate, and a chain transmission mechanism consisting of the sprocket C (127), the sprocket D (128) and the chain B (129) is driven to operate, so that the sliding block (1210) is driven to move up and down along the guide rail (121).

3. An environmental sanitation robot for carrying and unloading a dustbin as defined in claim 1, wherein:

the grabbing mechanism (13) consists of a longitudinal moving mechanism (131) and a rotary clamping mechanism (132);

the longitudinal moving mechanism (131) consists of a base (1311), a longitudinal moving driving mechanism, a longitudinal moving transmission mechanism and a moving support (1316); the base (1311) is fixedly connected with a sliding block (1210) on the lifting mechanism (12), the longitudinal movement transmission mechanism is arranged on the base (1311), the input end of the longitudinal movement transmission mechanism is connected with the output end of the longitudinal movement driving mechanism, the movement support (1316) is connected to the longitudinal movement transmission mechanism, and the longitudinal movement transmission mechanism drives the movement support (1316) to slide forwards and backwards under the driving of the longitudinal movement driving mechanism;

the rotary clamping mechanism (132) consists of a motor (1321), a gear (1322), a gear (1323), a gear shaft (1324), a flange plate A (1325), a flange plate B (1326), a right clamping arm (1327) and a left clamping arm (1328); the motor (1321) is vertically fixed on the movable support (1316), the gear (1322) and the flange plate (1325) are sequentially and coaxially connected to an output shaft of the motor (1321) from bottom to top, and the right clamping arm (1327) is fixedly connected with the flange plate (1325); the gear shaft (1324) is vertically and rotatably arranged on the movable support (1316), the gear wheel (1323) and the flange plate (1326) are sequentially and coaxially connected to the gear shaft (1324) from bottom to top, the gear wheel (1323) is meshed with the gear wheel (1322), and the left clamping arm (1328) is fixedly connected with the flange plate (1326); under the drive of a motor (1321), the gear C (1322) is meshed with the gear D (1323) for transmission, and the right clamping arm (1327) and the left clamping arm (1328) above the gear C are respectively driven to rotate, and the right clamping arm (1327) and the left clamping arm (1328) are opened or clamped to release or clamp the dustbin.

4. A sanitation robot for carrying and unloading a dustbin as claimed in claim 3, wherein:

the longitudinal movement driving mechanism consists of a motor (1312), a bevel gear A (1313) and a bevel gear B (1314);

the motor T (1312) is horizontally arranged and fixed on the base (1311), the bevel gear A (1313) is coaxially and fixedly connected with the output shaft of the motor T (1312), the bevel gear B (1314) is coaxially connected with the longitudinal movement transmission mechanism, and the bevel gear A (1313) is meshed with the bevel gear B (1314).

5. An environmental sanitation robot for carrying and unloading a dustbin as defined in claim 3 or 4, wherein:

the longitudinal movement transmission mechanism adopts a ball screw (1315), the ball screw (1315) is coaxially connected with the output end of the longitudinal movement driving mechanism, two ends of the ball screw (1315) are supported and installed on the base (1311) through bearings, and the movable support (1316) is connected with the ball screw (1315) through a screw pair.

6. An environmental sanitation robot for carrying and unloading a dustbin as defined in claim 1, wherein:

the rotating frame driving mechanism consists of a chain wheel A (22), a chain wheel B (23), a chain A (24) and a motor A (25);

the motor first (25) is horizontally fixed on the chassis (3), the chain wheel first (22) is coaxially and fixedly connected with an output shaft of the motor first (25), the chain wheel second (23) is coaxially and fixedly connected with the rotating shaft (27), and the chain wheel first (22) and the chain wheel second (23) are in transmission connection through the chain first (24).

7. An environmental sanitation robot for carrying and unloading a dustbin as defined in claim 1, wherein:

the rotating frame (21) consists of a supporting frame (211), two supporting rods (212), a clamping wheel plate A (213) and a clamping wheel plate B (214), wherein the two supporting rods (212) are vertically fixed with a transverse frame at the bottom of the supporting frame (211) along a horizontal plane and are used for bearing a dustbin; the clamping wheel plate A (213) and the clamping wheel plate B (214) are respectively fixed on two sides below the supporting frame (211) and used for clamping and fixing rollers at the bottom of the dustbin.

8. A control method of an environmental sanitation robot for carrying and unloading a dustbin is characterized in that:

the sanitation robot adopts the sanitation robot as claimed in any one of claims 1 to 7;

the control method comprises the following steps: firstly, moving an sanitation robot for loading an empty dustbin (4) to a full dustbin (5) according to a planned movement path, grabbing the empty dustbin (4) by the sanitation robot through a rotatable grabbing mechanism (1) and rotating the empty dustbin (4) to a designated position, then adjusting the position and the posture of the robot by the sanitation robot according to the position of the full dustbin (5), grabbing the full dustbin (5) through the rotatable grabbing mechanism (1) and rotating the full dustbin (5) to be placed on a dumping mechanism (2), and finally moving the sanitation robot for loading the full dustbin (5) to a garbage dumping position according to the planned path, and turning the full dustbin (5) backwards under the driving of the dumping mechanism (2) to finish garbage dumping;

the control method comprises the following specific processes:

s1: the sanitation robot loaded with the empty dustbin runs according to the planned movement path under the drive of the chassis (3) and moves to the ground position where the dustbin is placed, the sanitation robot judges whether the dustbin on the ground position is full or not through the carried detection equipment and the machine vision method, if the dustbin on the ground position is not full, the sanitation robot continues to run according to the planned movement path until the dustbin (5) is found;

s2: the sanitation robot clamps the loaded empty dustbin (4) through the grabbing mechanism (13), lifts the empty dustbin (4) through the lifting mechanism (12), rotates the empty dustbin (4) through the rotating mechanism (11) to enable the empty dustbin (4) to be located above the placing position, then lowers the empty dustbin (4) through the lifting mechanism (12) and places the empty dustbin on the ground, the grabbing mechanism (13) is loosened, and the sanitation robot moves backwards to finish placing of the empty dustbin (4);

s3: the sanitation robot adjusts the position posture of the robot according to the position of the full dustbin (5), enables the grabbing mechanism (13) to face the full dustbin, controls the position posture of the grabbing mechanism (13) to clamp the full dustbin (5), then lifts the full dustbin (5) through the lifting mechanism (12), rotates the full dustbin (5) through the rotating mechanism (11), enables the full dustbin (5) to reach the upper portion of the rotating frame (21), lowers the full dustbin (5) through the lifting mechanism (12) and places the full dustbin (5) on the rotating frame (21), starts the grabbing mechanism (13) to push the full dustbin (5), enables the position of the full dustbin (5) on the rotating frame (21) to be fixed, and achieves grabbing of the full dustbin (5);

s4: the sanitation robot is loaded with a full dustbin (5), the sanitation robot runs to a garbage dumping position according to a planned path, the dumping mechanism (2) starts to work, and the rotating frame driving mechanism drives the rotating frame (21) to turn backwards along the upper edge of the inclined plane supporting frame (26), so that the mouth of the full dustbin (5) faces downwards, and garbage unloading is carried out;

s5: after the garbage in the full garbage can (5) is unloaded, the dumping mechanism (2) drives the empty garbage can (4) to reversely turn and return to the right;

s6: judging whether the garbage unloading of all the garbage cans in the working area is finished, if so, the sanitation robot enters a rest state and finishes the task, and if not, entering the next working cycle.