CN109250369A - The charging method of mechanical arm, garbage truck and garbage truck - Google Patents
The charging method of mechanical arm, garbage truck and garbage truck Download PDFInfo
- Publication number
- CN109250369A CN109250369A CN201811497334.9A CN201811497334A CN109250369A CN 109250369 A CN109250369 A CN 109250369A CN 201811497334 A CN201811497334 A CN 201811497334A CN 109250369 A CN109250369 A CN 109250369A
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- China
- Prior art keywords
- arm joint
- arm
- mechanical arm
- pedestal
- compound
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/0223—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising elements for holding the receptacle
- B65F2003/023—Gripper arms for embracing the receptacle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/025—Constructional features relating to actuating means for lifting or tipping containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/0263—Constructional features relating to discharging means
Abstract
The present invention relates to environmental sanitation mechanical field, the charging method of a kind of mechanical arm, garbage truck and garbage truck is disclosed, the mechanical arm includes: fixture (4)；Pedestal (1), the pedestal (1) can rotate relative to installation foundation around the first pivot axis (14)；Cantilever crane main body (2), one end of the cantilever crane main body (2) is articulated with the pedestal (1), the cantilever crane main body (2) can rotate around the first hinge axes (212) relative to the pedestal (1), and the fixture (4) is installed on the other end of the cantilever crane main body (2) by pivot structure (3).Mechanical arm disclosed in this invention has six-freedom degree, required position can be reached with any attitude in working range, flexibility ratio is high, easy to operate, garbage truck with above-mentioned mechanical arm can utilize disclosed in this invention charging method Automatic-dumping dustbin, the labor intensity of staff is greatly reduced.
Description
Technical field
The present invention relates to environmental sanitation mechanical fields, and in particular, to the feeding side of a kind of mechanical arm, garbage truck and garbage truck
Method.
Background technique
The rubbish being arranged in the dustbin of the positions such as roadside, which is usually focused in garbage truck, uniformly to be transported, handles, rubbish
Equipped with mechanical arm on vehicle, dustbin is removed and rubbish has been poured onto garbage truck.
But the mechanical arm flexibility on existing garbage truck is lower, and the accuracy for grabbing dustbin is poor, leads to work
The labor intensity for making personnel is higher, needs to observe the position of mechanical arm in real time and be adjusted.In addition, existing garbage truck also without
Method realizes automatic transporting dustbin, needs staff that first dustbin is placed on mechanical arm, then hand operating mechanism arm
Movement is dumped rubbish, and staff, which again moves down dustbin from mechanical arm, after the completion of toppling over replaces, and the degree of automation is low, work
It is big to make personnel labor intensity, and staff is needed closely to dump rubbish bucket, operating environment is poor, due to the carrying of dustbin
It is random larger, it is difficult to ensure the uniformity of dustbin position by manual operation.
Thus, it is desirable to have a kind of device can overcome or at least mitigate the drawbacks described above of the prior art.
Summary of the invention
The object of the present invention is to provide a kind of mechanical arm, the mechanical arm flexibility and accuracy are higher.
To achieve the goals above, the present invention provides a kind of mechanical arm, and the mechanical arm includes: fixture；Pedestal, the base
Seat can be relative to installation foundation around the first pivotal axis；Cantilever crane main body, one end of the cantilever crane main body are articulated with described
Pedestal, the cantilever crane main body can be rotated around the first hinge axes relative to the pedestal, and the fixture is pacified by pivot structure
The other end loaded on the cantilever crane main body, wherein the pivot structure includes the first compound arm joint and the second compound arm joint, described
One end of first compound arm joint is articulated with the other end of the cantilever crane main body, and the second compound arm energy conservation is enough around the second articulated shaft
Line is installed on the other end of the described second compound arm joint, the fixture relative to the described first compound arm joint rotation, the fixture
It can be around third pivot axis relative to the described second compound arm joint rotation.
Preferably, first pivot axis extends along the central axis of the pedestal, second pivot axis is along institute
The central axis for stating the first compound arm joint extends and the third pivot axis is along the direction perpendicular to second pivot axis
Extend, first hinge axes extend along the direction of the central axis perpendicular to the pedestal, and second hinge axes are flat
Row is in first hinge axes.
Preferably, the pedestal includes Base body and pedestal driving portion, the pedestal driving portion include drive motor and
It is connected to the transmission mechanism of the shaft of the drive motor, the Base body is fixedly installed in the output of the transmission mechanism
End.
Preferably, the cantilever crane main body includes the first arm joint and the second arm joint, wherein one end of first arm joint is hinged
In the pedestal, the other end of first arm joint is articulated with one end of second arm joint, the other end of second arm joint
It is articulated with the described first compound arm joint, wherein first arm joint can be rotated around the first hinge axes relative to the pedestal,
Second arm joint can be rotated around third hinge axes relative to first arm joint, and the first compound arm energy conservation is enough around the
Two hinge axes are rotated relative to second arm joint, and first hinge axes and the third hinge axes are parallel to each other.
Preferably, the other end of the described first compound arm joint is fixedly installed with the first tilt cylinder, the shaft of first tilt cylinder
It being sequentially connected with one end of the described second compound arm joint, the other end of the second compound arm joint is fixedly installed with the second tilt cylinder,
The fixture is connect with the rotating shaft transmission of second tilt cylinder.
Preferably, the mechanical arm includes control unit and photographic device, and the photographic device can be single to the control
Member issues picture signal, and described control unit is controlled according to the positional information according to described image signal acquisition location information
Make the mechanical arm.
Preferably, the mechanical arm includes first angle sensing member for sensing the rotational angle of the pedestal, is used for
Sense the second angle sensing member of the rotational angle of the described second compound arm joint, rotational angle for sensing the fixture
Three angle sensing members, the first arm joint for sensing the cantilever crane main body inclination angle the first inclination angle sensing member, for sensing
State the second inclination angle sensing member at the inclination angle of the second arm joint of cantilever crane main body and the inclination angle for sensing the described first compound arm joint
Third inclination angle sensing member, each sensing member can to described control unit send angle sensing signal, described control unit root
The real time position of the pedestal, the fixture, the pivot structure and the cantilever crane main body is obtained according to the angle signal.
Preferably, described control unit calculates the pedestal, the fixture and the cantilever crane according to the positional information
The target position of main body, the target position and the real time position simultaneously adjust the machinery according to the comparison result
Arm.
According to another aspect of the present invention, a kind of garbage truck is provided, the garbage truck includes according to machinery described above
Arm, the installation foundation are the vehicle body of the garbage truck, wherein first pivot axis prolongs along the short transverse of garbage truck
It stretches.
According to a further aspect of the invention, a kind of charging method of garbage truck is provided, the garbage truck includes according to upper
The text mechanical arm, the installation foundation are the vehicle body of the garbage truck, and the charging method includes:
The first step, the photographic device obtain the location drawing picture of the dustbin in working region, and picture signal is transmitted
To described control unit, the location information of described control unit dustbin according to described image signal acquisition；
Second step, described control unit control the mechanical arm according to the positional information, so that the fixture grabs institute
State dustbin；
Third step, described control unit controls the mechanical arm and the dustbin is moved to predetermined dump position, and makes
The fixture rotation is obtained to dump rubbish；
4th step, described control unit control the mechanical arm according to the positional information and are moved to the dustbin just
Feeding is completed in beginning position.
Preferably, before the first step, so that the mechanical arm enters preparation work state, the fixture is in standard
Standby clip position.
Preferably, the charging method further include:
5th step, the camera unit obtains the image of dustbin position again, and the picture signal is transmitted to control
Unit, described control unit judge whether the dustbin in working region is disposed according to described image signal；
6th step then controls the mechanical arm and enters receipts arm if the dustbin in the working region is disposed
State finishes if dustbin in the working region is untreated, then repeats the first step to the 5th step.
Through the above technical solutions, above-mentioned mechanical arm has six-freedom degree, can be reached in working range with any attitude
To required position, flexibility ratio is high, easy to operate, and can accurately reach required position, especially pacifies fixture by pivot structure
Loaded on cantilever crane main body, enable fixture flexible angle adjustment, flexibility is higher, in particular for using mechanical arm on garbage truck
Dustbin is grabbed, enables fixture accurately to grab dustbin, reduces the labor intensity of staff, with above-mentioned mechanical arm
Garbage truck can utilize disclosed in this invention charging method Automatic-dumping dustbin, the labour that staff is greatly reduced is strong
Degree.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of schematic diagram of the mechanical arm of embodiment according to the present invention.
Fig. 2 is the left view of mechanical arm shown in FIG. 1.
Fig. 3 is the schematic illustration of the joint motions of mechanical arm shown in FIG. 1.
Fig. 4 is a kind of schematic diagram of the charging method of the garbage truck of embodiment according to the present invention.
Description of symbols
1- pedestal, 11- drive motor, 12- transmission mechanism, 13- first angle sensing member, the first pivot axis of 14-, 2- arm
Frame body, the first arm joint of 21-, the first inclination angle 211- sensing member, the first hinge axes of 212-, the second arm joint of 22-, 221- second incline
Angle sensing member, 222- third hinge axes, the first driving cylinder of 23-, the second driving cylinder of 24-, 25- third driving cylinder, 26- first
Bar, the second bar of 27-, 28- third bar, the 4th bar of 29-, 3- pivot structure, the compound arm joint of 31- first, 311- second angle sensing
Part, 312- third inclination angle sensing member, the compound arm joint of 32- second, the second pivot axis of 33-, the second hinge axes of 34-, 4- fixture,
41- third angle sensing member, 42- third pivot axis, 5- photographic device.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
According to an aspect of the present invention, a kind of mechanical arm is provided, referring to Fig. 1 and Fig. 2, the mechanical arm includes: fixture
4；Pedestal 1, pedestal 1 can be rotated relative to installation foundation around the first pivot axis 14；Cantilever crane main body 2, one end of cantilever crane main body 2
It is articulated with pedestal 1, cantilever crane main body 2 can be rotated around the first hinge axes 212 relative to pedestal 1, and fixture 4 passes through pivot structure 3
Be installed on the other end of cantilever crane main body 2, wherein pivot structure 3 include the first compound arm joint 31 and the second compound arm joint 32, first
One end of compound arm joint 31 is articulated with the other end of cantilever crane main body 2, and the first compound arm joint 31 can be around 34 phase of the second hinge axes
Cantilever crane main body 2 is rotated, the second compound arm joint 32 can be rotated around the second pivot joint axis 33 relative to the first compound arm joint 31,
Fixture 4 is installed on the other end of the second compound arm joint 32, and fixture 4 can be around third pivot axis 42 relative to the second compound arm joint
32 rotations.
Above-mentioned mechanical arm has a six-freedom degree, pedestal 1 around the pivot of the first pivot axis 14, the second compound arm joint 32 around
So that mechanical arm has, there are three rotatably mounted around the pivot of third pivot axis 42 for the pivot and fixture 4 of second pivot axis 33
Degree, cantilever crane main body 2 around the first hinge axes 212 rotation and the first compound arm joint 31 around the second hinge axes 34 rotation so that
Mechanical arm has the translation freedoms of the short transverse (direction of the short transverse of paper is parallel in diagram 3) along mechanical arm
With along mechanical arm stretching, extension and shrinkage direction (i.e. illustrate 3 in be parallel to paper width direction direction) translation freedoms,
Mechanical arm may make to have along its transverse direction (illustrating the direction in 3 perpendicular to paper), so that mechanical in conjunction with above-mentioned rotation
Arm can reach required position in working range with any attitude, and flexibility ratio is high, easy to operate, and can accurately reach required position
It sets, fixture 4 is especially installed on cantilever crane main body 2 by pivot structure 3, enable 4 flexible angle adjustment of fixture, flexibility
It is higher, for grabbing dustbin using mechanical arm on garbage truck, enables fixture 4 accurately to grab dustbin, reduce work people
The labor intensity of member.
Each pivot axis and the extending direction of each hinge axes can according to actually required manipulator motion form into
Row selection appropriate, can satisfy use demand.Preferably, the first pivot axis 14 along pedestal 1 central axis extend,
Second pivot axis 33 extends along the central axis of the first compound arm joint 31 and third pivot axis 42 is pivoted along perpendicular to second
The direction of axis 33 extends, and the first hinge axes 212 extend along the direction of the central axis perpendicular to pedestal 1, the second articulated shaft
Line 34 is parallel to the first hinge axes 212, so that manipulator motion is regular, convenient for the positioning and control of mechanical arm, and is convenient for machine
The arrangement of tool arm.
The rotating manner of pedestal 1 can make appropriate choice according to actual needs, and pedestal 1 includes that Base body and pedestal drive
Dynamic portion, the pedestal driving portion include the transmission mechanism 12 of drive motor 11 with the shaft for being connected to drive motor 11, the base
Seat main body is fixedly installed in the output end of transmission mechanism 12, transmission mechanism can the output revolving speed to drive motor 11 slow down, and increase
Large torque, and adjustable torque outbound course, convenient for the arrangement of drive motor 11.The form of transmission mechanism 12 can be according to reality
It needs to make appropriate choice, for example, gear mechanism, worm gear mechanism etc..
The structure of cantilever crane main body 2 can make appropriate choice according to actual needs, for example, cantilever crane main body 2 includes an arm
Section or multiple arm joints.Preferably, referring to Fig. 1, cantilever crane main body 2 includes the first arm joint 21 and the second arm joint 22, wherein the first arm joint
21 one end is articulated with pedestal 1, and the other end of the first arm joint 21 is articulated with one end of the second arm joint 22, the second arm joint 22 it is another
End is articulated with the first compound arm joint 31, wherein and the first arm joint 21 can be rotated around the first hinge axes 212 relative to pedestal 1, the
Two arm joints 22 can be rotated around third hinge axes 222 relative to the first arm joint 21, and the first compound arm joint 31 can be around the second hinge
Spindle line 34 is rotated relative to the second arm joint 22, the first hinge axes 212, the second hinge axes 34 and third hinge axes 222
It is parallel to each other.The cantilever crane main body 2 of two knot arm joints can satisfy most of use demand, and it is excessive not will cause mechanical arm volume,
Suitable for being loaded into the upper use of the engineering trucks such as garbage truck.
The driving method of cantilever crane main body 2 can make appropriate choice according to actual needs, for example, being driven using driving motor
Each arm joint rotation.Preferably, referring to Fig. 1 and Fig. 2, cantilever crane main body 2 includes jib drive portion, and the jib drive portion includes:
First driving portion, first driving portion include the first driving cylinder 23, and the cylinder barrel of the first driving cylinder 23 is articulated with pedestal 1, and first
The piston rod of driving cylinder 23 is articulated at the other end of the first arm joint 21；Second driving portion, second driving portion include first
Link mechanism and the second driving cylinder 24, the first connecting rod mechanism include the first bar being articulated at the other end of the first arm joint 21
26 and the second bar 27 for being articulated at one end of the second arm joint 22, the cylinder barrel of the second driving cylinder 24 be articulated with the one of the first arm joint 21
At end, the piston rod of the second driving cylinder 24, the first bar 26 one end and the second bar 27 far from the first arm joint 21 are far from the second arm joint
22 one end is hinged；And third driving portion, the third driving portion include second connecting rod mechanism and third driving cylinder
25, the second connecting rod mechanism includes the third bar 28 being articulated at the other end of the second arm joint 22 and is articulated with the first compound arm
4th bar 29 of section 31, the cylinder barrel of third driving cylinder 25 are articulated at one end of the second arm joint 22, the piston of third driving cylinder 25
The one end of one end and the 4th bar 29 far from the first compound arm joint 31 of bar, third bar 28 far from the second arm joint 22 is hinged,
Driving cylinder and link mechanism enable cantilever crane main body 2 flexibly, accurately to be driven, and each driving cylinder can be
Cylinder or hydraulic cylinder, user can make appropriate choice according to actual needs.
Second compound arm joint 32 and the driving method of fixture 4 can make appropriate choice according to actual needs, can drive
It is rotated.Preferably, the other end of the first compound arm joint 31 is fixedly installed with the first tilt cylinder, the shaft of first tilt cylinder
It is sequentially connected with one end of the second compound arm joint 32, the other end of the second compound arm joint 32 is fixedly installed with the second tilt cylinder, fixture 4
It is connect with the rotating shaft transmission of second tilt cylinder.The second compound arm joint 32 and fixture are driven by the first tilt cylinder and the second tilt cylinder
4 rotations, enable the rotational angle of the second compound arm joint 32 and fixture accurately to control, and tilt cylinder output torque is larger, are applicable in
In big load operation, revolving speed can be adjusted flexibly.
The control of mechanical arm can by staff's manual operation, still, due to eye-observation realization be easy to be blocked,
And manual operation labor intensity is larger, accuracy and unification degree are lower.Preferably, the mechanical arm includes control unit and camera shooting
Device 5, photographic device 5 can issue picture signal to described control unit, and described control unit is obtained according to described image signal
Location information is taken, and controls the mechanical arm according to the positional information.Control unit is obtained using Visual identification technology wait grab
The location information of object (for example, dustbin) is taken, and controls the mobile crawl target object of mechanical arm.
Preferably, the mechanical arm includes first angle sensing member 13 for sensing the rotational angle of pedestal 1, for feeling
Survey the third angle of the second angle sensing member 311 of the rotational angle of the second compound arm joint 32, rotational angle for sensing fixture 4
Spend sensing member 41, for arm sensing frame body 2 the first arm joint 21 inclination angle the first inclination angle sensing member 211, be used for arm sensing
The second inclination angle sensing member 221 at the inclination angle of the second arm joint 22 of frame body 2 and inclination angle for sensing the first compound arm joint 31
Third inclination angle sensing member 312, each sensing member can to described control unit send angle sensing signal, described control unit
The real time position of pedestal 1, fixture 4, pivot structure 3 and cantilever crane main body 2 is obtained according to the angle signal, control unit can basis
The sensing signal of each sensing member grasps the real time position of mechanical arm all parts in real time, accurately controls the movement of mechanical arm.
Wherein, the type of the first inclination angle sensing member 211, the second inclination angle sensing member 221 and third inclination angle sensing member 312 can root
It is made appropriate choice according to actual needs, it is preferable that the first inclination angle sensing member 211, the second inclination angle sensing member 221 and third inclination angle
Sensing member 312 is respectively the angular transducer for the inclination angle of the first arm joint 21, the second arm joint 33 and the first compound arm joint 31, and
And the first angle between arm joint 21 and pedestal 1 can pass through the peace of angle and pedestal 1 that the first inclination angle sensing member 211 senses
Dress angle calculation comes out, and the angle between the second arm joint 22 and the first arm joint 21 can pass through the first inclination angle sensing member 211 and second
The sensed angle calculation of inclination angle sensing member 221 comes out, and the angle between the first compound arm joint 31 and the second arm joint 22 can pass through
The angle calculation that second inclination angle sensing member 221 is sensed with third inclination angle sensing member 312 comes out, and control unit can be according to each
Angle between arm joint adjusts the position of mechanical arm.
Selectively, the first inclination angle sensing member 211, the second inclination angle sensing member 221 and third inclination angle sensing member 312 can be distinguished
For the displacement sensor of the displacement of the piston rod for sensing the first driving cylinder 23, the second driving cylinder 24 and third driving cylinder 25,
Displacement signal is sent to control unit by each displacement sensor, and control unit is according to the displacement calculation first of each piston rod
The inclination angle of arm joint 21, the second arm joint 22 and the first compound arm joint 31, and can be multiple according to the first arm joint 21, the second arm joint 22 and first
The inclination angle for closing arm joint 31 further calculates out angle, the second arm joint 22 and the first arm joint 21 between the first arm joint 21 and pedestal 1
Between the compound arm joint 31 of angle and first and the second arm joint 22 between angle.
In addition, described control unit calculates the target position of pedestal 1, fixture 4 and cantilever crane main body 2 according to the positional information
It sets, control unit may compare the target position and the real time position, judge whether mechanical arm accurately moves in place simultaneously basis
The comparison result adjusts the mechanical arm, realizes the closed-loop control of mechanical arm, further increases the accuracy of manipulator motion,
In particular for needing to grab the operating condition of object, the working efficiency of mechanical arm can be greatly improved.
According to another aspect of the present invention, a kind of garbage truck is provided, the garbage truck includes according to machinery described above
Arm, the installation foundation are the vehicle body of the garbage truck, wherein the first pivot axis 14 extends along the short transverse of garbage truck.
The robotic arm manipulation of above-mentioned garbage truck is flexible, can accurately grab dustbin, reduces the labor intensity of work, and mentions
High working efficiency, and since the action accuracy of mechanical arm is higher, make it possible to accurately place dustbin, dustbin is avoided to misplace
It influences beautiful.
The extending direction of second pivot axis 33 and third pivot axis 42 can carry out setting appropriate according to actual needs,
The two is mutually perpendicular to, to meet the multi-angle rotation requirement of fixture 4.In actual use, due to garbage truck operation
From the aspect of the space of position, the flexibility of operation, the first pivot axis 14 and the second pivot axis 33 are parallel to each other along rubbish
The short transverse of vehicle extends.
The present invention also provides a kind of charging method of garbage truck, the garbage truck include according to mechanical arm described above,
The installation foundation is the vehicle body of the garbage truck, and referring to fig. 4, the charging method includes:
The first step, the photographic device obtain the location drawing picture of the dustbin in working region, and picture signal is transmitted
To described control unit, the location information of described control unit dustbin according to described image signal acquisition；
Second step, described control unit control the mechanical arm according to the positional information, so that fixture 4 grabs the rubbish
Rubbish bucket；If there is multiple dustbins in working region, control unit can press after obtaining the dustbin location information in working region
Dustbin is grabbed according to preset bearing, for example, crawl leftmost side dustbin, rightmost side dustbin, most front side dustbin etc., user
Setting appropriate can be carried out according to actual needs.
Third step, described control unit controls the mechanical arm and the dustbin is moved to predetermined dump position, and makes
The rotation of fixture 4 is obtained to dump rubbish；Pivot structure 3 can be freely rotated in both directions, enable fixture 4 accurately adjust to
The angles and positions being aligned with the rubbish pour spout on garbage truck.
4th step, described control unit control the mechanical arm according to the positional information and are moved to the dustbin just
Feeding is completed in beginning position.
The charging method full name of above-mentioned garbage truck is automatically controlled by control unit, and people is not necessarily to during dumping rubbish bucket
Work operation, mechanical arm in its working range the autonomous classification of dustbin energy, autonomous crawl, Automatic-dumping and automatically reset,
Manual control is not needed, reduces the artificial participation activity duration, improves the operating environment and operation safety of sanitationman, and
It can be avoided the phenomenon that dustbin is put back at random after there is artificial loading, convenient for the management and maintenance of dustbin.
Preferably, before the first step, the mechanical arm enters preparation work state, so that the fixture is in standard
Standby clip position, convenient for fast and accurately reaching dustbin position after the location information for obtaining dustbin.
After garbage truck has toppled over a dustbin in working region, staff can adjust photographic device 5 make its with
Second dustbin alignment will increase the labor intensity of staff to continue to topple in this way.
Preferably, the charging method further include:
5th step, the camera unit obtains the image of dustbin position again, and the picture signal is transmitted to control
Unit, described control unit judge whether the dustbin in working region is disposed according to described image signal；
6th step then controls the mechanical arm and enters receipts arm if the dustbin in the working region is disposed
State avoids mechanical arm from generating collision with the building in roadside, pedestrian in garbage truck driving process, if in the working region
Dustbin is untreated to be finished, then repeats the first step to the 5th step, so that mechanical arm determines automatically, independently to complete workspace
All dustbins are toppled in domain, further decrease the labor intensity of staff.
The all parts of mechanical arm can be arranged in the receipts arm state and preparation work state according to specific job requirements
Position.The view for receiving arm state, in the shown embodiment, mechanical arm are in for example, with reference to Fig. 1 and mechanical arm shown in Fig. 2
Receipts arm state cantilever crane main body 2 the first arm joint 21 and the second arm joint 22 is close to each other folds, and the first arm joint 21
It is rotated towards the direction inside refuse body, be accommodated within the scope of the vehicle body of garbage truck as far as possible, fixture 4 is pivoted around second
Axis 33 and third pivot axis 42 rotate, so that its extending direction is parallel with the length direction of vehicle, and the width side of fixture 4
It is parallel with the short transverse of vehicle to turning to, avoid or reduce the prominent vehicle body range of fixture 4.It is mechanical in preparation work state
The cantilever crane main body 2 of arm can be stretched towards body exterior, and fixture 4 is made to turn to the angle for preparing clamping dustbin, for example, folder
The width direction of tool 4 is parallel to ground direction.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (12)
1. a kind of mechanical arm, which is characterized in that the mechanical arm includes:
Fixture (4)；
Pedestal (1), the pedestal (1) can rotate relative to installation foundation around the first pivot axis (14)；
One end of cantilever crane main body (2), the cantilever crane main body (2) is articulated with the pedestal (1), and the cantilever crane main body (2) can be around
First hinge axes (212) are rotated relative to the pedestal (1), and the fixture (4) is installed on the arm by pivot structure (3)
The other end of frame body (2),
Wherein, the pivot structure (3) includes the first compound arm joint (31) and the second compound arm joint (32), first compound arm
One end of section (31) is articulated with the other end of the cantilever crane main body (2), and the first compound arm joint (31) can be hinged around second
Axis (34) is rotated relative to the cantilever crane main body (2), and the second compound arm joint (32) can be around the second pivot axis (33)
Relative to the described first compound arm joint (31) rotation, the fixture (4) is installed on the other end of the described second compound arm joint (32),
The fixture (4) can be around third pivot axis (42) relative to the described second compound arm joint (32) rotation.
2. mechanical arm according to claim 1, which is characterized in that first pivot axis (14) is along the pedestal (1)
Central axis extend, second pivot axis (33) along the described first compound arm joint (31) central axis extend and it is described
Third pivot axis (42) extends along the direction perpendicular to second pivot axis (33), first hinge axes (212)
Extend along the direction of the central axis perpendicular to the pedestal (1), second hinge axes (34) are parallel to first hinge
Spindle line (212).
3. mechanical arm according to claim 1, which is characterized in that the pedestal (1) includes Base body and pedestal driving
Portion, the pedestal driving portion include drive motor (11) and be connected to the drive motor (11) shaft transmission mechanism
(12), the Base body is fixedly installed in the output end of the transmission mechanism (12).
4. mechanical arm according to claim 1, which is characterized in that the cantilever crane main body (2) include the first arm joint (21) and
Second arm joint (22), wherein one end of first arm joint (21) is articulated with the pedestal (1), first arm joint (21)
The other end is articulated with one end of second arm joint (22), and it is compound that the other end of second arm joint (22) is articulated with described first
Arm joint (31), wherein first arm joint (21) can rotate around the first hinge axes (212) relative to the pedestal (1), institute
Stating the second arm joint (22) can rotate around third hinge axes (222) relative to first arm joint (21), and described first is compound
Arm joint (31) can be rotated around the second hinge axes (34) relative to second arm joint (22), first hinge axes
(212) it is parallel to each other with the third hinge axes (222).
5. mechanical arm according to claim 1, which is characterized in that the fixed peace of the other end of the first compound arm joint (31)
Equipped with the first tilt cylinder, one end of the shaft of first tilt cylinder and the described second compound arm joint (32) is sequentially connected, and described second
The other end of compound arm joint (32) is fixedly installed with the second tilt cylinder, the rotating shaft transmission company of the fixture (4) and second tilt cylinder
It connects.
6. mechanical arm described in any one of -5 according to claim 1, which is characterized in that the mechanical arm includes control unit
With photographic device (5), the photographic device (5) can to described control unit issue picture signal, described control unit according to
Described image signal acquisition location information, and the mechanical arm is controlled according to the positional information.
7. mechanical arm according to claim 6, which is characterized in that the mechanical arm includes for sensing the pedestal (1)
The first angle sensing member (13) of rotational angle, second jiao of rotational angle for sensing the described second compound arm joint (32)
The third angle sensing member (41), described for sensing of degree sensing member (311), rotational angle for sensing the fixture (4)
The first inclination angle sensing member (211) at the inclination angle of the first arm joint (21) of cantilever crane main body (2), for sensing the cantilever crane main body (2)
The second arm joint (22) inclination angle the second inclination angle sensing member (221) and for sensing inclining for described first compound arm joint (31)
The third inclination angle sensing member (312) at angle, each sensing member can send angle sensing signal, the control to described control unit
Unit obtains the pedestal (1), the fixture (4), the pivot structure (3) and the cantilever crane main body according to the angle signal
(2) real time position.
8. mechanical arm according to claim 7, which is characterized in that described control unit calculates according to the positional information
The pedestal (1), the fixture (4) and the cantilever crane main body (2) target position, the target position and it is described in real time
Position simultaneously adjusts the mechanical arm according to the comparison result.
9. a kind of garbage truck, which is characterized in that the garbage truck includes machinery described in any one of -8 according to claim 1
Arm, the installation foundation are the vehicle body of the garbage truck, wherein short transverse of first pivot axis (14) along garbage truck
Extend.
10. a kind of charging method of garbage truck, which is characterized in that the garbage truck includes according to any one in claim 6-8
The item mechanical arm, the installation foundation are the vehicle body of the garbage truck, and the charging method includes:
The first step, the photographic device obtain the location drawing picture of the dustbin in working region, and picture signal is transmitted to institute
State control unit, the location information of described control unit dustbin according to described image signal acquisition；
Second step, described control unit control the mechanical arm according to the positional information, so that described in the fixture (4) crawl
Dustbin；
Third step, described control unit controls the mechanical arm and the dustbin is moved to predetermined dump position, and makes institute
Fixture (4) rotation is stated to dump rubbish；
4th step, described control unit control the mechanical arm according to the positional information and the dustbin are moved to initial bit
It sets, completes feeding.
11. the charging method of garbage truck according to claim 10, which is characterized in that before the first step, so that
The mechanical arm enters preparation work state, and the fixture, which is in, prepares clip position.
12. the charging method of garbage truck described in 0 or 11 according to claim 1, which is characterized in that the charging method also wraps
It includes:
5th step, the camera unit obtains the image of dustbin position again, and the picture signal is transmitted to control unit,
Described control unit judges whether the dustbin in working region is disposed according to described image signal；
6th step then controls the mechanical arm and enters receipts arm state if the dustbin in the working region is disposed, false
It functions as described that the dustbin in region is untreated to be finished, then repeats the first step to the 5th step.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811497334.9A CN109250369A (en) | 2018-12-07 | 2018-12-07 | The charging method of mechanical arm, garbage truck and garbage truck |
| PCT/CN2019/103307 WO2020114020A1 (en) | 2018-12-07 | 2019-08-29 | Robotic arm, garbage truck, and loading method of garbage truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811497334.9A CN109250369A (en) | 2018-12-07 | 2018-12-07 | The charging method of mechanical arm, garbage truck and garbage truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109250369A true CN109250369A (en) | 2019-01-22 |
Family
ID=65042608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811497334.9A Pending CN109250369A (en) | 2018-12-07 | 2018-12-07 | The charging method of mechanical arm, garbage truck and garbage truck |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109250369A (en) |
| WO (1) | WO2020114020A1 (en) |
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| CN109704234A (en) * | 2019-02-25 | 2019-05-03 | 齐鲁工业大学 | A kind of identification of medical waste bucket judges grasping system and method |
| CN110539991A (en) * | 2019-10-21 | 2019-12-06 | 南京可信机器人研究院有限公司 | automatic garbage truck and automatic manipulator thereof |
| CN110539992A (en) * | 2019-10-21 | 2019-12-06 | 南京可信机器人研究院有限公司 | mechanical arm, garbage truck and feeding method of garbage truck |
| CN110775491A (en) * | 2019-10-18 | 2020-02-11 | 安徽省唐骏重工机械有限责任公司 | Bucket formula is hung to intelligence from loading and unloading garbage truck |
| CN111169871A (en) * | 2020-01-13 | 2020-05-19 | 佛山科学技术学院 | Method for grabbing garbage can by intelligent manipulator of garbage truck and manipulator |
| WO2020114020A1 (en) * | 2018-12-07 | 2020-06-11 | 长沙中联重科环境产业有限公司 | Robotic arm, garbage truck, and loading method of garbage truck |
| CN111634586A (en) * | 2020-06-02 | 2020-09-08 | 杜立华 | Garbage clearing device |
| CN116238829A (en) * | 2023-05-08 | 2023-06-09 | 淄博奥润德机电设备有限公司 | Vehicle-mounted automatic garbage can loading and unloading equipment |
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| CN111169871A (en) * | 2020-01-13 | 2020-05-19 | 佛山科学技术学院 | Method for grabbing garbage can by intelligent manipulator of garbage truck and manipulator |
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| WO2020114020A1 (en) | 2020-06-11 |
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