CN110817210A - Totally-enclosed automatic garbage truck manipulator - Google Patents
Totally-enclosed automatic garbage truck manipulator Download PDFInfo
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- CN110817210A CN110817210A CN201911135870.9A CN201911135870A CN110817210A CN 110817210 A CN110817210 A CN 110817210A CN 201911135870 A CN201911135870 A CN 201911135870A CN 110817210 A CN110817210 A CN 110817210A
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- garbage
- manipulator
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- mechanical arm
- patterns
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- 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
- B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1484—Other constructional features; Accessories relating to the adaptation of receptacles to carry identification means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Refuse-Collection Vehicles (AREA)
- Manipulator (AREA)
Abstract
The invention provides a fully-closed automatic garbage truck manipulator which comprises a six-degree-of-freedom mechanical arm, a mechanical gripper, an image storage module, an image analysis module and a processing module, wherein the mechanical gripper comprises a base and clamping rods respectively connected to two sides of the base in an intersecting manner, cameras are arranged on the base and the clamping rods and used for collecting patterns on a classified garbage bin, the image storage module is used for storing the patterns of the classified garbage bin, the image analysis module is used for comparing the patterns collected by the cameras to obtain an analysis result, and the processing module is used for grabbing the garbage bin and dumping garbage according to the six-degree-of-freedom mechanical arm and the mechanical gripper under partial control. The garbage can dumping device can automatically dump garbage in the garbage can into the corresponding type of garbage can, so that misoperation caused by manual control of the garbage can for dumping is avoided, and the subsequent treatment of household garbage is facilitated.
Description
Technical Field
The invention relates to the field of garbage trucks, in particular to a fully-closed automatic garbage truck manipulator.
Background
The garbage truck is a special vehicle specially used for various garbage transported by municipal sanitation departments. On the garbage truck, all can be equipped with mechanical tong to get up the garbage bin centre gripping that is located the roadside, then dump and wash the garbage bin.
After a lot of searches, some typical prior arts are found, for example, patent No. 201610020161.6 discloses an automatic alignment device for a manipulator based on image recognition technology, the alignment device includes a coordinate system establishing module, a manipulator coordinate acquiring module, an image collecting module, an analyzing module and a manipulator adjusting module, and the alignment device can increase the working efficiency of workers for adjusting the manipulator and increase the personal safety. And the patent with the application number of 201420267958.2 discloses a full-closed automatic garbage truck manipulator which is simple in structure, low in cost and small in vehicle body and is beneficial to entering into a lane for operation. As another example, the patent with application number 201510996422.3 discloses an intelligent manipulator of a garbage truck, which comprises a holding and grabbing device, a lifting assembly, a telescopic assembly, a turnover assembly and a central controller, wherein the manipulator can realize the positioning and catching of a garbage can without manually hanging the garbage can and putting down the garbage can; after the garbage bin is preliminarily positioned, follow-up actions are automatically and intelligently controlled, and safety and high efficiency are achieved.
As can be seen, for the garbage truck manipulator, there are many practical problems (automatic identification of different types of garbage cans, etc.) that need to be dealt with in practical application.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a fully-closed automatic garbage truck manipulator, which has the following specific technical scheme:
a fully-closed automatic garbage truck manipulator comprises a six-degree-of-freedom mechanical arm and a mechanical gripper, wherein the mechanical gripper is mounted at the tail end of the six-degree-of-freedom mechanical arm and comprises a base and clamping rods respectively crossed to two sides of the base, and cameras are arranged on the base and the clamping rods and used for scanning and collecting patterns on different classification garbage bins;
the totally-enclosed automatic garbage truck manipulator further comprises an image storage module, an image analysis module and a processing module, wherein the image storage module is used for storing patterns of classified garbage cans, the image analysis module is used for receiving the patterns collected by the camera and comparing the patterns with the patterns of the classified garbage cans in the image storage module to obtain analysis results, and the processing module is used for controlling the six-degree-of-freedom mechanical arm and the mechanical gripper to grab and convey the garbage cans to different garbage bins of a garbage truck according to the analysis results so as to dump garbage.
Optionally, the six-degree-of-freedom mechanical arm comprises a mechanical arm mounting seat, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, the mechanical arm mounting seat is arranged at the bottom of the vehicle body, the first mechanical arm is horizontally connected with the mechanical arm mounting seat in a rotating mode, the second mechanical arm is connected with the first mechanical arm through a hinge device, the third mechanical arm is connected with the second mechanical arm through a hinge device, the fourth mechanical arm is connected with the third mechanical arm through a hinge device, the fifth mechanical arm is connected with the fourth mechanical arm through a hinge device, the sixth mechanical arm is connected with the fifth mechanical arm through a hinge device, the mechanical arm mounting seat is provided with an axle seat, a bottom fixing axle of the first mechanical arm is movably mounted in the axle seat, and a fixing axle of the first mechanical arm is in transmission mode through a gear transmission mode and is connected with a first mechanical arm rotating motor The first mechanical arm rotating motor drives the first mechanical arm to rotate horizontally and circumferentially through rotation, the hinge device comprises a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
Optionally, one end of each of the two clamping rods is connected with a rotating gear, the two rotating gears are arranged in the base and are meshed with each other, one of the rotating gears is connected with a connecting rod, and the connecting rod is connected with a push-pull structure.
Optionally, an illuminance sensor and an illumination unit are respectively arranged on the base and the clamping rod, and the illuminance sensor and the illumination unit are respectively arranged on two sides of the camera.
The beneficial effects obtained by the invention comprise:
1. the processor, the image storage module, the image analysis module and the camera are used for identifying the category of the garbage can to be clamped, so that the garbage in the garbage can be automatically dumped into the garbage boxes of the corresponding category, misoperation caused by manual control of the garbage can in dumping is avoided, and the subsequent treatment of the household garbage is more convenient;
2. the processing module is used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to clamp the garbage can according to an analysis result obtained by the image analysis module, so that the mechanical clamping hand can be automatically positioned and clamped in the middle of the garbage can, the interference of a raised road surface or obstacles around the garbage can be overcome, the moment generated when the mechanical clamping hand clamps the garbage can be reduced, the mechanical clamping hand is prevented from being damaged due to overlarge moment, and the garbage can is better dumped and cleaned;
3. through setting up illuminance sensor and lighting unit, when the manipulator carries out rubbish collection and washing to the garbage bin at night, illuminance sensor can automated inspection night illumination luminance. If illumination intensity is not enough, the processing module controls the lighting unit to emit light, so that illumination intensity is enhanced, and the camera can conveniently scan and grab the classified labels of the garbage can. Therefore, the application range of the manipulator can be enlarged, and the manipulator can be suitable for the conditions of night or insufficient light.
Drawings
The present invention will be further understood from the following description taken in conjunction with the accompanying drawings, the emphasis instead being placed upon illustrating the principles of the embodiments.
Fig. 1 is a schematic overall structure diagram of a fully-enclosed automatic garbage truck manipulator according to one embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a structural relationship between a six-DOF robot arm and a mechanical gripper according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a trash can according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of a garbage classification pattern according to one embodiment of the present invention;
FIG. 5 is a first schematic structural diagram of a mechanical gripper according to an embodiment of the present invention;
FIG. 6 is a second schematic structural view of a mechanical gripper according to an embodiment of the present invention;
FIG. 7 is a third schematic structural view of a mechanical gripper according to an embodiment of the present invention;
FIG. 8 is a fourth schematic structural view of a mechanical gripper according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a mechanical gripper according to one embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.
The invention relates to a fully-closed automatic garbage truck manipulator, which explains the following embodiments according to the attached drawings:
the first embodiment is as follows:
in real life, the domestic garbage can be classified into four categories, which are recyclable garbage, kitchen garbage, harmful garbage, and other garbage, respectively. The recyclable matters represent garbage suitable for recycling and resource utilization, including paper, plastics, glass, fabrics, bottles and cans, and the like, and are collected by a blue garbage container, harmful garbage represents garbage containing harmful substances and requiring special safe treatment, including batteries, lamps, daily chemicals and the like, and is collected by a red garbage container, other garbage represents garbage outside classification, and is collected by a gray garbage container, and kitchen garbage is kitchen residual garbage, such as leftovers and the like, and is collected by a green garbage container. As shown in fig. 3 and 4, the classified household garbage is generally collected by using different types of garbage cans, and corresponding patterns are pasted on the garbage cans for identification. In this embodiment, the six-degree-of-freedom mechanical arm is mounted on one side of a vehicle body of the road garbage truck, and the road garbage truck is provided with garbage bins corresponding to different classification garbage cans. That is, four garbage bins are provided on the garbage truck for collecting recyclable garbage, kitchen garbage, harmful garbage, and other garbage, respectively.
As shown in fig. 1, 2 and 5, the fully-closed automatic garbage truck manipulator comprises a six-degree-of-freedom mechanical arm 1 and a mechanical gripper 2, wherein the mechanical gripper 2 is mounted at the tail end of the six-degree-of-freedom mechanical arm 1, the mechanical gripper 2 comprises a base 20 and clamping rods 21 respectively connected to two sides of the base 20, cameras 22 are arranged on the base 20 and the clamping rods 21, and the cameras 22 are used for scanning and acquiring patterns on different classification garbage bins; the totally-enclosed automatic garbage truck manipulator further comprises an image storage module, an image analysis module and a processing module, wherein the image storage module is used for storing patterns of classified garbage cans, the image analysis module is used for receiving the patterns collected by the camera 22 and comparing the patterns with the patterns of the classified garbage cans in the image storage module to obtain analysis results, and the processing module is used for controlling the six-degree-of-freedom mechanical arm 1 and the mechanical clamp 2 to grab and convey the garbage cans to different garbage bins of the garbage truck according to the analysis results so as to dump garbage. The image storage module, the image analysis module and the processing module can be arranged in the body of the garbage truck or on the six-degree-of-freedom mechanical arm, and the positions of the image storage module, the image analysis module and the processing module are not shown in the attached drawings.
The camera 22 is arranged on the base 20 and the clamping rod 21, is connected with the processing module, and can automatically focus to scan and grab the classification patterns on the classification garbage can. The image analysis module analyzes and compares the classification patterns scanned and grabbed by the camera 22 with the patterns of the classification trash cans in the image storage module, judges the type of the trash can to be grabbed by the mechanical gripper and feeds back the analysis result to the processing module. And the processing module controls the six-degree-of-freedom mechanical arm 1 and the mechanical clamping hand 2 to clamp the garbage can according to the analysis result, and conveys the garbage can to the garbage box corresponding to the type of the garbage can for garbage dumping.
The classification of clamping the garbage can is identified through the processor, the image storage module, the image analysis module and the camera 22, the garbage in the garbage can be automatically poured into the garbage can with the corresponding classification, misoperation which can occur when the garbage is poured into the garbage can through manual control is avoided, and the subsequent treatment of the household garbage is more convenient.
Because the garbage bin has a take the altitude and has certain weight, when machinery tong 2 grips the garbage bin, if the position of centre gripping is too high, for example the centre gripping has been close on the open-ended position of garbage bin, can know according to lever principle that machinery tong 2 needs great strength can be with the garbage bin centre gripping. If the moment generated when the mechanical clamping hand 2 clamps the garbage can is too large, the mechanical clamping hand 2 is easily damaged.
If the position of centre gripping is crossed lowly, for example the centre gripping has been in the position that is close the garbage bin bottom, then when overturning the garbage bin in order to empty the garbage bin in, mechanical tong 2 slides because of the impact force in the twinkling of an eye easily, and then leads to the garbage bin to drop from mechanical tong 2, causes the inconvenience. In addition, because the road surface is uneven and the garbage bin often has the barrier to exist around, if the position of centre gripping crosses lowly, machinery tong 2 probably can't cross the obstacle on bellied road surface or ground and carry out the centre gripping to the garbage bin to make 2 centre gripping garbage bins of machinery tong cause inconveniently.
A more ideal way is exactly through controlling six degree of freedom arms 1 and mechanical tong 2, makes mechanical tong 2 can automatic positioning, and the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of protruding road surface or garbage bin surrounding barrier, the moment that produces when also can reducing mechanical tong 2 and pressing from both sides tight garbage bin prevents that moment is too big to damage mechanical tong 2 to carry out rubbish to the garbage bin better and empty and wash.
As shown in fig. 3, the garbage classification pattern is generally disposed at the middle position of the garbage can body for easy observation and identification. The mechanical clamping hand 2 is horizontal in the moving process, when the camera 22 grabs the classification pattern on the garbage can in the scanning process, the camera means that the mechanical clamping hand 2 is aligned with the classification pattern on the garbage can, at the moment, the mechanical clamping hand 2 is controlled, and the clamping rod 21 is clamped at the middle position of the garbage can.
Utilize the analysis result that processing module reachs according to image analysis module, control six degree of freedom arms 1 and mechanical tong 2 and press from both sides the garbage bin and get, make mechanical tong 2 can automatic positioning, the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of barrier around protruding road surface or the garbage bin, the moment that produces when also can reducing mechanical tong 2 and pressing from both sides tight garbage bin, prevent that moment from too big damage mechanical tong 2, thereby carry out rubbish to the garbage bin better and empty and wash.
As a preferable scheme, as shown in fig. 2, the six-degree-of-freedom robot arm 1 includes a robot arm mount 10, a first robot arm 11, a second robot arm 12, a third robot arm 13, a fourth robot arm 14, a fifth robot arm 15, and a sixth robot arm 16, the robot arm mount 10 is disposed at the bottom of the vehicle body, the first robot arm 11 is horizontally and rotatably connected to the robot arm mount 10, the second robot arm 12 is connected to the first robot arm 11 by a hinge device, the third robot arm 13 is connected to the second robot arm 12 by a hinge device, the fourth robot arm 14 is connected to the third robot arm 13 by a hinge device, the fifth robot arm 15 is connected to the fourth robot arm 14 by a hinge device, the sixth robot arm 16 is connected to the fifth robot arm 15 by a hinge device, the robot arm mount 10 is provided with a shaft seat, the bottom fixed shaft of the first mechanical arm 11 is movably installed in the shaft seat, the fixed shaft of the first mechanical arm 11 is in transmission connection with a first mechanical arm 11 rotating motor in a gear transmission mode, the first mechanical arm 11 rotating motor drives the first mechanical arm 11 to rotate horizontally and circumferentially through rotation, the hinge device is composed of a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
As shown in fig. 5, one end of each of the two clamping rods 21 is connected to a rotating gear 23, the two rotating gears 23 are disposed in the base 20 and are meshed with each other, one of the rotating gears 23 is connected to a connecting rod 24, and the connecting rod 24 is connected to a push-pull structure 25. The push-pull arrangement 25 may be a pneumatic cylinder or an electric motor, preferably a servo motor, which is connected to the processing module. The processing module controls the push-pull structure 25 to act, the clamping rods 21 can be opened or closed, and then the garbage can is clamped and loosened.
Example two:
as shown in fig. 1, 2 and 5, the fully-closed automatic garbage truck manipulator comprises a six-degree-of-freedom mechanical arm 1 and a mechanical gripper 2, wherein the mechanical gripper 2 is mounted at the tail end of the six-degree-of-freedom mechanical arm 1, the mechanical gripper 2 comprises a base 20 and clamping rods 21 respectively connected to two sides of the base 20, cameras 22 are arranged on the base 20 and the clamping rods 21, and the cameras 22 are used for scanning and acquiring patterns on different classification garbage bins; the totally-enclosed automatic garbage truck manipulator further comprises an image storage module, an image analysis module and a processing module, wherein the image storage module is used for storing patterns of classified garbage cans, the image analysis module is used for receiving the patterns collected by the camera 22 and comparing the patterns with the patterns of the classified garbage cans in the image storage module to obtain analysis results, and the processing module is used for controlling the six-degree-of-freedom mechanical arm 1 and the mechanical clamp 2 to grab and convey the garbage cans to different garbage bins of the garbage truck according to the analysis results so as to dump garbage.
The camera 22 is arranged on the base 20 and the clamping rod 21, is connected with the processing module, and can automatically focus to scan and grab the classification patterns on the classification garbage can. The image analysis module analyzes and compares the classification patterns scanned and grabbed by the camera 22 with the patterns of the classification trash cans in the image storage module, judges the type of the trash can to be grabbed by the mechanical gripper and feeds back the analysis result to the processing module. And the processing module controls the six-degree-of-freedom mechanical arm 1 and the mechanical clamping hand 2 to clamp the garbage can according to the analysis result, and conveys the garbage can to the garbage box corresponding to the type of the garbage can for garbage dumping.
The classification of clamping the garbage can is identified through the processor, the image storage module, the image analysis module and the camera 22, the garbage in the garbage can be automatically poured into the garbage can with the corresponding classification, misoperation which can occur when the garbage is poured into the garbage can through manual control is avoided, and the subsequent treatment of the household garbage is more convenient.
Because the garbage bin has a take the altitude and has certain weight, when machinery tong 2 grips the garbage bin, if the position of centre gripping is too high, for example the centre gripping has been close on the open-ended position of garbage bin, can know according to lever principle that machinery tong 2 needs great strength can be with the garbage bin centre gripping. If the moment generated when the mechanical clamping hand 2 clamps the garbage can is too large, the mechanical clamping hand 2 is easily damaged.
If the position of centre gripping is crossed lowly, for example the centre gripping has been in the position that is close the garbage bin bottom, then when overturning the garbage bin in order to empty the garbage bin in, mechanical tong 2 slides because of the impact force in the twinkling of an eye easily, and then leads to the garbage bin to drop from mechanical tong 2, causes the inconvenience. In addition, because the road surface is uneven and the garbage bin often has the barrier to exist around, if the position of centre gripping crosses lowly, machinery tong 2 probably can't cross the obstacle on bellied road surface or ground and carry out the centre gripping to the garbage bin to make 2 centre gripping garbage bins of machinery tong cause inconveniently.
A more ideal way is exactly through controlling six degree of freedom arms 1 and mechanical tong 2, makes mechanical tong 2 can automatic positioning, and the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of protruding road surface or garbage bin surrounding barrier, the moment that produces when also can reducing mechanical tong 2 and pressing from both sides tight garbage bin prevents that moment is too big to damage mechanical tong 2 to carry out rubbish to the garbage bin better and empty and wash.
As shown in fig. 3, the garbage classification pattern is generally disposed at the middle position of the garbage can body for easy observation and identification. The mechanical clamping hand 2 is horizontal in the moving process, when the camera 22 grabs the classification pattern on the garbage can in the scanning process, the camera means that the mechanical clamping hand 2 is aligned with the classification pattern on the garbage can, at the moment, the mechanical clamping hand 2 is controlled, and the clamping rod 21 is clamped at the middle position of the garbage can.
Utilize the analysis result that processing module reachs according to image analysis module, control six degree of freedom arms 1 and mechanical tong 2 and press from both sides the garbage bin and get, make mechanical tong 2 can automatic positioning, the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of barrier around protruding road surface or the garbage bin, the moment that produces when also can reducing mechanical tong 2 and pressing from both sides tight garbage bin, prevent that moment from too big damage mechanical tong 2, thereby carry out rubbish to the garbage bin better and empty and wash.
As a preferable scheme, as shown in fig. 2, the six-degree-of-freedom robot arm 1 includes a robot arm mount 10, a first robot arm 11, a second robot arm 12, a third robot arm 13, a fourth robot arm 14, a fifth robot arm 15, and a sixth robot arm 16, the robot arm mount 10 is disposed at the bottom of the vehicle body, the first robot arm 11 is horizontally and rotatably connected to the robot arm mount 10, the second robot arm 12 is connected to the first robot arm 11 by a hinge device, the third robot arm 13 is connected to the second robot arm 12 by a hinge device, the fourth robot arm 14 is connected to the third robot arm 13 by a hinge device, the fifth robot arm 15 is connected to the fourth robot arm 14 by a hinge device, the sixth robot arm 16 is connected to the fifth robot arm 15 by a hinge device, the robot arm mount 10 is provided with a shaft seat, the bottom fixed shaft of the first mechanical arm 11 is movably installed in the shaft seat, the fixed shaft of the first mechanical arm 11 is in transmission connection with a first mechanical arm 11 rotating motor in a gear transmission mode, the first mechanical arm 11 rotating motor drives the first mechanical arm 11 to rotate horizontally and circumferentially through rotation, the hinge device is composed of a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
As shown in fig. 5, one end of each of the two clamping rods 21 is connected to a rotating gear 23, the two rotating gears 23 are disposed in the base 20 and are meshed with each other, one of the rotating gears 23 is connected to a connecting rod 24, and the connecting rod 24 is connected to a push-pull structure 25. The push-pull arrangement 25 may be a pneumatic cylinder or an electric motor, preferably a servo motor, which is connected to the processing module. The processing module controls the push-pull structure 25 to act, the clamping rods 21 can be opened or closed, and then the garbage can is clamped and loosened.
Preferably, as shown in fig. 6, an illuminance sensor 26 and an illumination unit 27 are respectively provided on the base 20 and the clamping rod 21, and the illuminance sensor 26 and the illumination unit 27 are respectively provided on both sides of the camera 22.
By arranging the illuminance sensor 26 and the lighting unit 27, when the manipulator collects and cleans garbage in the garbage can at night, the illuminance sensor 26 can automatically detect the illuminance at night. If the illumination intensity is insufficient, the processing module controls the illuminating unit 27 to emit light, so that the illumination intensity is enhanced, and the camera 22 can conveniently scan and grab the classified patterns of the trash can. So, can strengthen this embodiment a totally closed automatic garbage truck manipulator's application scope, make totally closed automatic garbage truck manipulator can be suitable for night or the not enough condition of light.
Example three:
as shown in fig. 1, 2 and 5, the fully-closed automatic garbage truck manipulator comprises a six-degree-of-freedom mechanical arm 1 and a mechanical gripper 2, wherein the mechanical gripper 2 is mounted at the tail end of the six-degree-of-freedom mechanical arm 1, the mechanical gripper 2 comprises a base 20 and clamping rods 21 respectively connected to two sides of the base 20, cameras 22 are arranged on the base 20 and the clamping rods 21, and the cameras 22 are used for scanning and acquiring patterns on different classification garbage bins; the totally-enclosed automatic garbage truck manipulator further comprises an image storage module, an image analysis module and a processing module, wherein the image storage module is used for storing patterns of classified garbage cans, the image analysis module is used for receiving the patterns collected by the camera 22 and comparing the patterns with the patterns of the classified garbage cans in the image storage module to obtain analysis results, and the processing module is used for controlling the six-degree-of-freedom mechanical arm 1 and the mechanical clamp 2 to grab and convey the garbage cans to different garbage bins of the garbage truck according to the analysis results so as to dump garbage.
The camera 22 is arranged on the base 20 and the clamping rod 21, is connected with the processing module, and can automatically focus to scan and grab the classification patterns on the classification garbage can. The image analysis module analyzes and compares the classification patterns scanned and grabbed by the camera 22 with the patterns of the classification trash cans in the image storage module, judges the type of the trash can to be grabbed by the mechanical gripper and feeds back the analysis result to the processing module. And the processing module controls the six-degree-of-freedom mechanical arm 1 and the mechanical clamping hand 2 to clamp the garbage can according to the analysis result, and conveys the garbage can to the garbage box corresponding to the type of the garbage can for garbage dumping.
The classification of clamping the garbage can is identified through the processor, the image storage module, the image analysis module and the camera 22, the garbage in the garbage can be automatically poured into the garbage can with the corresponding classification, misoperation which can occur when the garbage is poured into the garbage can through manual control is avoided, and the subsequent treatment of the household garbage is more convenient.
Because the garbage bin has a take the altitude and has certain weight, when machinery tong 2 grips the garbage bin, if the position of centre gripping is too high, for example the centre gripping has been close on the open-ended position of garbage bin, can know according to lever principle that machinery tong 2 needs great strength can be with the garbage bin centre gripping. If the moment generated when the mechanical clamping hand 2 clamps the garbage can is too large, the mechanical clamping hand 2 is easily damaged.
If the position of centre gripping is crossed lowly, for example the centre gripping has been in the position that is close the garbage bin bottom, then when overturning the garbage bin in order to empty the garbage bin in, mechanical tong 2 slides because of the impact force in the twinkling of an eye easily, and then leads to the garbage bin to drop from mechanical tong 2, causes the inconvenience. In addition, because the road surface is uneven and the garbage bin often has the barrier to exist around, if the position of centre gripping crosses lowly, machinery tong 2 probably can't cross the obstacle on bellied road surface or ground and carry out the centre gripping to the garbage bin to make 2 centre gripping garbage bins of machinery tong cause inconveniently.
A more ideal way is exactly through controlling six degree of freedom arms 1 and mechanical tong 2, makes mechanical tong 2 can automatic positioning, and the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of protruding road surface or garbage bin surrounding barrier, the moment that produces when also can reducing mechanical tong 2 and pressing from both sides tight garbage bin prevents that moment is too big to damage mechanical tong 2 to carry out rubbish to the garbage bin better and empty and wash.
As shown in fig. 3, the garbage classification pattern is generally disposed at the middle position of the garbage can body for easy observation and identification. The mechanical clamping hand 2 is horizontal in the moving process, when the camera 22 grabs the classification pattern on the garbage can in the scanning process, the camera means that the mechanical clamping hand 2 is aligned with the classification pattern on the garbage can, at the moment, the mechanical clamping hand 2 is controlled, and the clamping rod 21 is clamped at the middle position of the garbage can.
Utilize the analysis result that processing module reachs according to image analysis module, control six degree of freedom arms 1 and mechanical tong 2 and press from both sides the garbage bin and get, make mechanical tong 2 can automatic positioning, the centre gripping is in the middle part position of garbage bin, so not only can cross the interference of barrier around protruding road surface or the garbage bin, the moment that produces when also can reducing mechanical tong 2 and pressing from both sides tight garbage bin, prevent that moment from too big damage mechanical tong 2, thereby carry out rubbish to the garbage bin better and empty and wash.
As a preferable scheme, as shown in fig. 3, the six-degree-of-freedom robot arm 1 includes a robot arm mount 10, a first robot arm 11, a second robot arm 12, a third robot arm 13, a fourth robot arm 14, a fifth robot arm 15, and a sixth robot arm 16, the robot arm mount 10 is disposed at the bottom of the vehicle body, the first robot arm 11 is horizontally and rotatably connected to the robot arm mount 10, the second robot arm 12 is connected to the first robot arm 11 by a hinge device, the third robot arm 13 is connected to the second robot arm 12 by a hinge device, the fourth robot arm 14 is connected to the third robot arm 13 by a hinge device, the fifth robot arm 15 is connected to the fourth robot arm 14 by a hinge device, the sixth robot arm 16 is connected to the fifth robot arm 15 by a hinge device, the robot arm mount 10 is provided with a shaft seat, the bottom fixed shaft of the first mechanical arm 11 is movably installed in the shaft seat, the fixed shaft of the first mechanical arm 11 is in transmission connection with a first mechanical arm 11 rotating motor in a gear transmission mode, the first mechanical arm 11 rotating motor drives the first mechanical arm 11 to rotate horizontally and circumferentially through rotation, the hinge device is composed of a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
As shown in fig. 5, one end of each of the two clamping rods 21 is connected to a rotating gear 23, the two rotating gears 23 are disposed in the base 20 and are meshed with each other, one of the rotating gears 23 is connected to a connecting rod 24, and the connecting rod 24 is connected to a push-pull structure 25. The push-pull arrangement 25 may be a pneumatic cylinder or an electric motor, preferably a servo motor, which is connected to the processing module. The processing module controls the push-pull structure 25 to act, the clamping rods 21 can be opened or closed, and then the garbage can is clamped and loosened.
Preferably, as shown in fig. 6, an illuminance sensor 26 and an illumination unit 27 are respectively provided on the base 20 and the clamping rod 21, and the illuminance sensor 26 and the illumination unit 27 are respectively provided on both sides of the camera 22.
By arranging the illuminance sensor 26 and the lighting unit 27, when the manipulator collects and cleans garbage in the garbage can at night, the illuminance sensor 26 can automatically detect the illuminance at night. If the illumination intensity is insufficient, the processing module controls the illuminating unit 27 to emit light, so that the illumination intensity is enhanced, and the camera 22 can conveniently scan and grab the classified patterns of the trash can. So, can strengthen this embodiment a totally closed automatic garbage truck manipulator's application scope, make totally closed automatic garbage truck manipulator can be suitable for night or the not enough condition of light.
Preferably, as shown in fig. 7 and 8, a sliding groove 210 is provided on the clamping rod 21, a sliding plate 28 is slidably connected to the sliding groove 210, both ends of the sliding plate 28 are connected to the clamping rod through a spring 29, an outer side surface of one sliding plate is parallel to an inner side surface of the clamping rod, and an outer side surface of the other sliding plate is inclined at an acute angle to the inner side surface of the clamping rod. The clamping rod 21 is provided with the sliding plates 28, the springs 29 and the sliding grooves 210, and due to the fact that the two sliding plates 28 are parallel to each other and inclined to each other, when the garbage bin is in the clamping rod 21 as shown in the figure 6, a clamping surface and the surface of the garbage bin are not exactly 45 degrees, so that the two sliding plates 28 can slide back and forth in a staggered mode in the clamping process, the garbage bin can be placed right, and an extra power mechanism is not needed in the whole placing process. And the camera is installed in the centre gripping pole and is located on the slide, because there is certain distance between the surface of slide and the camera, can prevent when the slide that the camera is extruded when the centre gripping garbage bin that the camera is damaged.
As a more preferable scheme, as shown in fig. 9, the camera is installed in the clamping rod and under the slide plate, and since there is a certain distance between the outer surface of the slide plate and the camera, the camera can be prevented from being damaged by being pressed when the slide plate clamps the trash can. In addition, because the camera is located the slide below, the slide can cover the camera, prevents that the camera from drenching and drenching damage by the rainwater.
Since the angle between the trash can and the sliding plate 28 is not large, and the trash can is basically made of plastic, the trash can is slightly deformed and hardly damaged after being clamped. When the garbage can is released, the sliding plate 28 is reset due to the elastic force of the spring 29, so that the next garbage can be used for clamping and dumping garbage.
In this embodiment, the balls 211 are installed in the sliding grooves 210, and the balls 211 may be replaced with rollers. By installing the ball 211 in the sliding groove 210, the sliding plate 28 can slide more smoothly in the sliding groove 210, and the position of the trash can be corrected better.
As a preferred technical scheme, the inclined included angle formed by the outer side surface of the other sliding plate 28 and the inner side surface of the clamping rod 21 is set to be 5-10 degrees, so that the garbage can be better clamped, and the garbage can is prevented from being damaged due to overlarge deformation when the garbage can is clamped.
In summary, the fully-enclosed automatic garbage truck manipulator disclosed by the invention has the following beneficial technical effects:
1. the processor, the image storage module, the image analysis module and the camera are used for identifying the category of the garbage can to be clamped, so that the garbage in the garbage can be automatically dumped into the garbage boxes of the corresponding category, misoperation caused by manual control of the garbage can in dumping is avoided, and the subsequent treatment of the household garbage is more convenient;
2. the processing module is used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to clamp the garbage can according to an analysis result obtained by the image analysis module, so that the mechanical clamping hand can be automatically positioned and clamped in the middle of the garbage can, the interference of a raised road surface or obstacles around the garbage can be overcome, the moment generated when the mechanical clamping hand clamps the garbage can be reduced, the mechanical clamping hand is prevented from being damaged due to overlarge moment, and the garbage can is better dumped and cleaned;
3. through setting up illuminance sensor and lighting unit, when the manipulator carries out rubbish collection and washing to the garbage bin at night, illuminance sensor can automated inspection night illumination luminance. If illumination intensity is not enough, the processing module controls the lighting unit to emit light, so that illumination intensity is enhanced, and the camera can conveniently scan and grab the classified labels of the garbage can. Therefore, the application range of the manipulator can be enlarged, and the manipulator can be suitable for the conditions of night or insufficient light;
4. because the angle between the garbage can and the sliding plate is not large, and the garbage can is basically made of plastic, after the garbage can is held, the deformation of the garbage can is very small, and the garbage can is hardly damaged. When the garbage can is loosened, the sliding plate is reset due to the elasticity of the spring, so that the next garbage can is clamped and dumped;
5. because the slope contained angle that the medial surface of the lateral surface of another slide and holding rod formed establishes to 5 to 10 degrees, can the centre gripping garbage bin better like this, make its deformation too big and damage the garbage bin when preventing the centre gripping garbage bin.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples, and various configurations may omit, replace, or add various processes or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many of the elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, such as well-known circuits, processes, algorithms, structures, and techniques, which have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (8)
1. A fully-closed automatic garbage truck manipulator comprises a six-degree-of-freedom mechanical arm and a mechanical gripper, wherein the mechanical gripper is mounted at the tail end of the six-degree-of-freedom mechanical arm and comprises a base and clamping rods respectively crossed to two sides of the base, and cameras are arranged on the base and the clamping rods and used for scanning and collecting patterns on different classification garbage bins;
the garbage can classifying and dumping system is characterized by further comprising an image storage module, an image analyzing module and a processing module, wherein the image storage module is used for storing patterns of classifying garbage cans, the image analyzing module is used for receiving the patterns collected by the camera and comparing the patterns with the patterns of the classifying garbage cans in the image storage module to obtain an analysis result, and the processing module is used for controlling the six-degree-of-freedom mechanical arm and the mechanical gripper to grab and convey the garbage cans to different garbage boxes of the garbage truck according to the analysis result so as to dump garbage.
2. A fully-enclosed automatic garbage truck manipulator as claimed in claim 1, wherein the six-degree-of-freedom manipulator comprises a manipulator mounting base, a first manipulator, a second manipulator, a third manipulator, a fourth manipulator, a fifth manipulator and a sixth manipulator, the manipulator mounting base is arranged at the bottom of the truck body, the first manipulator is horizontally and rotatably connected to the manipulator mounting base, the second manipulator is connected to the first manipulator through a hinge device, the third manipulator is connected to the second manipulator through a hinge device, the fourth manipulator is connected to the third manipulator through a hinge device, the fifth manipulator is connected to the fourth manipulator through a hinge device, the sixth manipulator is connected to the fifth manipulator through a hinge device, and the manipulator mounting base is provided with a shaft seat, the bottom fixed shaft of the first mechanical arm is movably arranged in the shaft seat, the fixed shaft of the first mechanical arm is in transmission connection with a first mechanical arm rotating motor in a gear transmission mode, the first mechanical arm rotating motor drives the first mechanical arm to rotate horizontally and circumferentially through rotation, the hinge device is composed of a hinge, a rotating shaft and a hydraulic motor, and driven gears are sleeved on the rotating shaft.
3. The manipulator of claim 2, wherein one end of each of the two clamping rods is connected to a rotary gear, the two rotary gears are disposed in the base and engaged with each other, one of the rotary gears is connected to a connecting rod, and the connecting rod is connected to a push-pull structure.
4. The manipulator of claim 3, wherein the base and the clamping rod are respectively provided with an illuminance sensor and an illumination unit, and the illuminance sensor and the illumination unit are respectively arranged at two sides of the camera.
5. A fully-enclosed automatic garbage truck manipulator as claimed in claim 4, wherein the holding rod is provided with a sliding slot, a sliding plate is slidably connected to the sliding slot, two ends of the sliding plate are connected to the holding rod through springs, an outer side surface of one sliding plate is parallel to an inner side surface of the holding rod, and an outer side surface of the other sliding plate is inclined at an acute angle to the inner side surface of the holding rod.
6. A fully enclosed automated garbage truck manipulator according to claim 5, wherein balls are installed in the sliding grooves.
7. A fully enclosed automated garbage truck manipulator according to claim 5, characterized in that rollers are mounted in the sliding grooves.
8. A totally enclosed automated garbage truck manipulator according to any one of claims 5 to 7, wherein the outer side of the other slide plate is inclined at an acute angle of 5 to 10 degrees to the inner side of the gripping rod.
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