CN111959990B - Garbage classification processing device - Google Patents

Abstract

The present invention relates to the technical field of garbage treatment, in particular to a garbage sorting and processing device, including a bag breaking module, a rotating belt module, a circular conveying module, a garbage sorting module, a garbage processing module and a garbage can dumping device. The bag breaking module is used to break the garbage bag; the rotating belt module is used to send the garbage after the bag breaking module breaks the garbage bag into the circular conveying module; the circular conveying module includes a plurality of tooling disc mechanisms and The synchronous belt circular guide rail mechanism transports the garbage on the tooling plate mechanism through the synchronous belt circular guide rail mechanism; the garbage sorting module is used for garbage sorting and grabbing; the garbage processing module includes recyclable garbage processing modules, other Garbage treatment module, kitchen waste treatment module; the garbage bin dumping device is located under the garbage treatment module, and is used to collect and dump the treated garbage in a centralized manner. The invention can automatically classify and process the put in garbage, reducing the pressure of environmental protection personnel.

Description

A garbage sorting device

technical field

The invention relates to the technical field of garbage sorting and processing, in particular to a garbage sorting and processing device.

Background technique

In recent years, people have begun to realize the importance of waste sorting and began to promote the implementation of domestic waste sorting. On July 1, 2019, Shanghai was the first to officially implement waste sorting, and it was the first pilot city in my country to implement waste sorting. However, some problems have arisen in the implementation of garbage classification. The current garbage classification mainly depends on the conscious classification of cleaning workers and residents, but the amount of garbage generated is too large. It is difficult to achieve accuracy in the classification process only by manpower. Sorted and extremely inefficient. Garbage sorting is time-consuming and labor-intensive, and there is currently no automated device that can effectively help garbage sorting.

Although, countries have recently begun to develop garbage sorting robots to replace manpower for garbage sorting. For example, ZenRobotics of Finland released its first-generation product "ZenRobotics Recycling Machine" in 2012. After five years of continuous R&D and improvement, Next Generation ZenRobotics Recycler, a garbage sorting robot based on visual judgment, was successfully developed. The robotic arm of this recycling machine has a span of two meters. Through the laser scanning system, it can scan the items on the conveyor belt in advance and classify them, and then classify them through the robotic arm; Japan's Fanuc sorting robot uses visual analysis The system tracks and classifies items, and a set of new technology W.A.R is designed and applied to sorting robots. This set of technology allows the robot to scan and analyze the chemical composition and shape of the object in real time, and also enables the robot to specify the grasping method and grasping sequence. Although the efficiency of this robot for single sorting is low and the speed is slow, the efficiency and accuracy can be greatly improved when multiple machines work together; the Massachusetts Institute of Technology has developed a garbage collection and sorting robot called Rocycle, This robot does not use a visual analysis system, but uses touch as a method of detecting materials, and distinguishes paper, metal and plastic by touch; another sorting robot in the United States, Max-Al robot, Max-Al is the United States Nothing can escape the "golden eyes" of the artificial intelligence classification robot developed by the manufacturer of optical classification equipment. Through deep learning technology, Max-Al can use multi-layer neural network and visual system to identify items at the same time, and its recognition accuracy can rival that of human beings. Max-Al's manipulator is not a human-like structure but a pneumatic system.

However, these robots have basically realized part of the functions of garbage sorting, and most of the functions are relatively simple and only used for garbage sorting, and have not realized the function of garbage disposal. Therefore, it is necessary to provide a garbage sorting and processing device, which strives to be able to complete functions such as garbage transportation and garbage sorting and processing, and can handle different garbage in different ways.

Contents of the invention

The invention solves the problem that most of the functions of the robot in the related art are relatively single and only used for garbage sorting, and does not realize the function of garbage treatment, and proposes a garbage sorting and processing device, which realizes bag breaking and sorting of garbage through multiple modules And processing, after the garbage is processed, the cleaning module can clean the device, remove the garbage residue, and keep the device tidy, especially in summer, some garbage is easy to attract mosquitoes, the cleaning module can effectively prevent this problem; in all garbage After the sorting process is completed and put into the trash can, the trash can can also be poured into the garbage truck by itself. The whole process can basically be automated, saving a lot of manpower and material resources; each function is modularized, and each module is relatively stable when working. Independent, but when completing a set of waste treatment process, each module cooperates with each other to complete the work of waste classification and treatment. Each module is easy to disassemble and repair, and the independent work efficiency is relatively high.

In order to solve the above-mentioned technical problems, the present invention is achieved through the following technical solutions: a garbage sorting and processing device, comprising:

A bag breaking module, the bag breaking module includes a broach bag breaking mechanism and a bag breaking conveying mechanism, and the bag breaking module is used to break garbage bags;

Rotating belt module, the rotating belt module is located on one side of the bag breaking module, and the rotating belt module is used to send the garbage after the bag breaking module breaks the garbage bag into the circular conveying module;

A circular conveying module, the circular conveying module includes a plurality of tooling disc mechanisms and a synchronous belt annular guide rail mechanism, and the garbage on the tooling disc mechanism is circularly transported through the synchronous belt annular guide rail mechanism;

Garbage sorting module, the garbage sorting module includes XYZ module, variable distance manipulator, suction cup manipulator and machine vision recognition system. The variable distance manipulator, suction cup manipulator and machine vision recognition system are all installed on the XYZ module and Located above the circular conveyor module, it is used for garbage sorting and grabbing;

Garbage processing modules, the garbage processing modules include recyclable garbage processing modules, other garbage processing modules, and kitchen waste processing modules;

The garbage can dumping device is located under the garbage processing module and is used for collecting and dumping the processed garbage.

As a preferred solution, it also includes an upper cover assembly and a frame assembly. The upper cover assembly is a cover body surrounded by an upper cover top plate, an upper cover door panel and an upper cover side plate. A warning light, a garbage delivery port is provided on the side plate of the upper cover on one side and a man-machine interface panel is installed, an LED light is installed inside the cover body, and a micro switch is installed inside the door panel of the upper cover; A computer is installed on the rack assembly, and the rack assembly is surrounded by the rack frame on the top, the rack panel and the rack door panels on the left, right and rear sides to form a structure with an open front. Located inside the rack assembly, foot cups and casters are installed at the four bottom corners of the rack frame, fans are installed on the left and right rack door panels and inner buckle handles are provided, and the rack door panels on the rear side are Inside buckle handle is installed.

As a preferred solution, it also includes a cleaning device. The cleaning device includes a cleaning bracket, a nozzle mechanism, a third thin cylinder, and a second rodless cylinder. Seventh guide shafts are installed at the four corners of the frame plate and the lower ends of each of the seventh guide shafts are installed on the alignment plate, the second rodless cylinder is installed on the alignment plate, and the lower part of the alignment plate A cleaning device baffle is arranged around, and an elbow joint is installed on the lower part of the alignment plate for connecting a water suction pipe, and the nozzle mechanism is installed under the second rodless cylinder.

As a preferred solution, the bag breaking module also includes a support frame, the broach bag breaking mechanism and the bag breaking conveying mechanism are both installed on the support frame, the broach bag breaking mechanism includes a white steel knife set, the white The steel knife group is installed on the linear guide rail through the sliding block and driven by the first cylinder; the bag breaking conveying mechanism includes the first motor, the screw assembly, and the opening and closing plate assembly, and the first motor makes the opening and closing plate assembly through the screw assembly. Do up and down movements.

As a preferred solution, the rotating belt module includes a second motor, an angle shaft and a sidewall conveyor mechanism, and the second motor is connected to the sidewall conveyor mechanism through the angle shaft to drive the sidewall conveyor mechanism to rotate.

As a preferred solution, a plurality of tooling disc mechanisms are installed on the synchronous belt circular guide rail mechanism, and the synchronous belt circular guide rail mechanism is driven by a servo motor and a planetary reducer. The tooling disc mechanism includes a garbage tray and a turning mechanism. The garbage tray is turned over by the turning mechanism.

As a preferred solution, the synchronous belt circular guide rail mechanism includes a circular guide rail and a second synchronous belt, the circular guide rail is installed on the circular guide rail mounting plate, and the second synchronous belt is driven by a servo motor and a planetary reducer; a plurality of The tooling disc mechanism is installed on the second timing belt through the timing belt pressure block, and the surrounding of the ring guide rail mounting plate is a blocking mechanism.

As a preferred solution, the XYZ module includes a gantry, a crossbeam and a KK linear module, the crossbeam is slidably installed between two gantry frames, the KK linear module is slidably installed on the crossbeam, and the variable pitch manipulator , the suction cup manipulator and the machine vision recognition system are installed on the beam through the KK linear module; the variable distance manipulator includes the fourth cylinder, stepping motor, gear set, and connecting rod mechanism, and one end of the connecting rod mechanism passes through the rail plate It is connected with the fourth cylinder, the fourth cylinder is connected with the second floating joint, and the middle part of the linkage mechanism is connected with the second floating joint; the gear set includes a driving gear and a driven gear that are meshed, and the driving The gear is connected with one end of the first pull block through a cantilever pin, the driven gear is a half-turn gear and the two ends of the driven gear are respectively connected with the second pull block through a connecting plate and a screw, and the first pull block And the second pulling block is connected with the first hoop through the limiting block; the suction cup manipulator includes the fifth cylinder, the ball linear guide, and the double-layer vacuum suction cup, and the double-layer vacuum suction cup is connected with the ball linear guide through the slider connecting plate , the slider connecting plate is connected with the fifth cylinder.

As a preferred solution, the recyclable garbage processing module includes a sixth cylinder, a pressing frame and a third guide shaft, the sixth cylinder passes through one side of the pressing frame and is connected to the floating joint connection plate through a floating joint, The connecting plate of the floating joint is connected with the bending baffle, the bottom of the pressing frame is installed with a half plate of the pressing frame, the third guide shaft is installed on the pressing frame on both sides of the sixth cylinder; the other rubbish The processing module includes a vortex fan, a suction channel, a sprinkler head, and a pressing block mechanism. The vortex fan is installed on one end of the suction channel through a fan frame, the sprinkler head is installed on the suction channel, and the pressing block The mechanism is installed on the suction channel below the vortex fan; the food waste treatment module includes a food waste scraper mechanism and a food waste crushing mechanism, and the food waste scraper mechanism includes a scraper mechanism bracket, a scraper, a second A rodless cylinder and a ninth cylinder, the scraper is installed on the first rodless cylinder, the first rodless cylinder is connected with the ninth cylinder through a four-column connecting plate, and four corners of the four-column connecting plate are installed with The sixth guide shaft; the kitchen waste crushing mechanism includes a tenth cylinder, a reduction motor, a receiving tank and a crushing mechanism, and the reduction motor is connected with the crushing mechanism so as to drive the crushing mechanism to crush the kitchen waste. The tenth cylinder The lower end is connected with the third pressing plate, and the receiving groove is installed on one side of the crushing mechanism and is located below the kitchen waste scraper mechanism.

As a preferred solution, the trash can dumping device includes a trash can, an electric push rod and a turning link, the trash can is installed on a dumping support, casters are installed at the four corners of the dumping support, and the electric push rod It is connected with the overturning connecting rod, one end of the overturning connecting rod is connected with the dumping bracket, and the other end is installed on the corner plates on both sides of the trash can.

Compared with the prior art, the beneficial effect of the present invention is: the present invention realizes bag breaking, classification and treatment of garbage through multiple modules, and after the garbage is processed, the cleaning module can clean the device to remove garbage residues, Keep the device tidy, especially in summer, some garbage is easy to attract mosquitoes, the cleaning module can effectively prevent this problem; after all the garbage is sorted and put into the garbage can, the garbage can can also be poured into the garbage truck by itself, the whole process Basically, it can be completed automatically, saving a lot of manpower and material resources; each function is modularized, and each module works relatively independently, but when completing a set of waste treatment process, each module cooperates with each other to complete the waste. Classified processing work, each module is easy to disassemble and repair, and the independent work efficiency is relatively high.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is the structural representation of removing upper cover assembly of the present invention;

Fig. 3 is a top view of the present invention with the upper cover assembly removed;

Fig. 4 is a schematic structural view of the upper cover assembly of the present invention;

Fig. 5 is a schematic structural view of the upper cover assembly of the present invention;

Fig. 6 is a schematic structural view of the frame assembly of the present invention;

Fig. 7 is the structural representation of cleaning device of the present invention;

Fig. 8 is a schematic structural view of the bag breaking module of the present invention;

Fig. 9 is a schematic structural view of the broach bag breaking mechanism of the present invention;

Fig. 10 is a schematic structural view of the broach bag breaking mechanism of the present invention;

Fig. 11 is a schematic structural view of the bag breaking conveying mechanism of the present invention;

Fig. 12 is a schematic structural view of the bag breaking conveying mechanism of the present invention;

Fig. 13 is a schematic structural view of the rotary belt module of the present invention;

Fig. 14 is a structural schematic view of the rotary belt module of the present invention after the bearing sleeve is removed;

Fig. 15 is a schematic structural view of the circular conveying module of the present invention;

Fig. 16 is a schematic structural view of the tooling tray mechanism of the present invention;

Fig. 17 is a schematic diagram of the structure of the tooling tray mechanism of the present invention (removing the garbage tray and turning top plate);

Fig. 18 is a structural schematic diagram of the synchronous belt circular guide rail mechanism of the present invention;

Fig. 19 is a structural schematic diagram of the synchronous belt circular guide rail mechanism of the present invention;

Fig. 20 is a schematic structural diagram of the garbage sorting module of the present invention;

Fig. 21 is a schematic structural view of the XYZ module of the present invention;

Fig. 22 is a schematic structural view of the XYZ module of the present invention;

Fig. 23 is a schematic diagram of the positional relationship between the variable distance manipulator, the sucker manipulator and the machine vision recognition system on the KK linear module of the present invention;

Fig. 24 is a schematic structural view of the variable-pitch manipulator of the present invention;

Fig. 25 is a schematic structural view of the sucker manipulator of the present invention;

Fig. 26 is a schematic structural view of the recyclable garbage processing module of the present invention;

Fig. 27 is a schematic structural view of the recyclable garbage processing module (with the bending baffle removed) of the present invention;

Fig. 28 is a schematic structural view of other garbage disposal modules of the present invention;

Fig. 29 is a schematic structural view of the mechanism for pushing blocks according to the present invention;

Fig. 30 is a schematic structural view of the mechanism for pushing blocks according to the present invention;

Fig. 31 is a schematic view of the structure of the mechanism for pushing the briquette (removing the second pressing plate and the pressing cover) of the present invention;

Fig. 32 is a schematic structural view of the kitchen waste scraper mechanism of the present invention;

Fig. 33 is a schematic structural view of the kitchen waste crushing mechanism of the present invention;

Fig. 34 is a schematic structural view of the kitchen waste crushing mechanism (remove the two crushing tool holders) of the present invention;

Fig. 35 is a schematic structural view of the trash can dumping device of the present invention.

In the picture:

1. Bag breaking module, 1-1, broach bag breaking mechanism, 1-2, bag breaking conveying mechanism, 101, support frame, 102, white steel knife group, 1021, white steel knife, 1022, knife holder, 103, slide block, 104, linear guide rail, 105, first cylinder, 106, first pressure plate, 107, second cylinder, 108, top, 109, first guide shaft, 110, guide rail connecting plate, 111, first floating Joint, 112, floating joint connecting plate, 113, limit port, 114, limit device, 115, first motor, 116, trapezoidal screw, 117, second guide shaft, 118, diaphragm coupling, 119, Three-hole alignment plate, 120, second limit device, 121, first thin cylinder, 122, opening and closing plate, 123, tie rod, 124, corner plate, 125, rib, 126, first hinge, 2, rotation Belt module, 201, second motor, 202, angle rotating shaft, 203, rolling bearing, 204, bearing sleeve, 205, flange, 206, rotating connecting plate, 207, aluminum alloy bracket, 208, deflector, 209, baffle Side belt, 210, first synchronous belt, 211, third motor, 212, rotating belt module bracket, 3, circular conveying module, 3-1, tooling disc mechanism, 3-2, synchronous belt circular guide rail mechanism, 301 , second thin cylinder, 302, servo motor, 303, planetary reducer, 304, garbage tray, 305, washer plate, 306, cam bearing follower, 307, hinge, 308, flip top plate, 309, flip bottom plate, 310 , the third limit device, 311, the third cylinder, 312, the limit connecting rod, 313, the ring guide rail, 314, the second synchronous belt, 315, the ring guide rail mounting plate, 316, the ladder support foot, 317, the blocking block, 318 , stop block, 319, fixed rod, 320, center distance adjustment plate, 4, waste sorting module, 4-1, XYZ module, 4-2, variable pitch manipulator, 4-3, suction cup manipulator, 4- 4. Machine vision recognition system, 401, gantry, 402, beam, 403, first linear guide module, 404, fourth motor, 405, fifth motor, 406, screw rod, 407, screw nut, 408 , the second linear guide rail module, 409, the synchronous belt mechanism, 410, the KK linear module, 411, the fourth cylinder, 412, the stepper motor, 413, the gear set, 414, the link mechanism, 415, the rail plate, 416 , the second floating joint, 417, the cantilever pin, 418, the first pull block, 419, the second pull block, 420, the restriction block, 421, the first hoop, 422, the second hoop, 423, the third hoop , 424, fifth cylinder, 425, ball linear guide, 426, double-layer vacuum suction cup, 427, slider connecting plate, 5, garbage disposal module, 5-1, recyclable garbage disposal module, 5-2, others Garbage disposal module, 5-2, kitchen waste disposal module, 501, sixth cylinder, 502, pressed frame, 503, third guide shaft, 504, bending baffle, 505, pressed half plate of the frame, 506, vortex fan, 507, suction channel, 508, sprinkler head, 509, pushing block mechanism, 510, the seventh cylinder, 511, the eighth cylinder, 512, pressing the accommodation cavity, 513, the fourth guide shaft, 514, The fifth guide shaft, 515, pressing cover, 516, the second pressing plate, 517, miniature cylinder, 518, flip cover plate, 519, the second hinge, 520, scraper mechanism support, 521, scraper, 522, the first none Rod cylinder, 523, the ninth cylinder, 524, the sixth guide shaft, 525, the tenth cylinder, 526, the reduction motor, 527, the receiving groove, 528, the third pressing plate, 6, the trash can dumping device, 601, the trash can, 602, electric push rod, 603, overturn connecting rod, 604, dumping bracket, 7, upper cover assembly, 701, upper cover top plate, 702, upper cover door panel, 703, upper cover side plate, 704, laminated warning light, 705. Garbage delivery port, 706. Man-machine interface panel, 707. LED light, 708. Micro switch, 8. Rack assembly, 801. Rack frame, 802. Rack panel, 803. Rack door panel, 804 , foot cup, 805, caster, 806, fan, 807, inner buckle handle, 9, cleaning device, 901, cleaning bracket, 902, nozzle mechanism, 903, third thin cylinder, 904, second rodless cylinder, 905, Cleaning rack plate, 906, the seventh guide shaft, 907, alignment plate, 908, cleaning device baffle plate, 909, elbow joint, 10, computer, 11, anti-leakage cover.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

The relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the Authorized Specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only, and not as limiting. Therefore, other examples of the exemplary embodiment may have different values. It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that orientation words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. indicate the orientation Or positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. In the absence of a contrary statement, these orientation words do not indicate or imply the device or element referred to. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the protection scope of the present invention; the orientation words "inner and outer" refer to the inner and outer relative to the outline of each component itself.

For the convenience of description, spatially relative terms may be used here, such as "on ...", "over ...", "on the surface of ...", "above", etc., to describe The spatial positional relationship between one device or feature shown and other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, devices described as "above" or "above" other devices or configurations would then be oriented "beneath" or "above" the other devices or configurations. under other devices or configurations". Thus, the exemplary term "above" can encompass both an orientation of "above" and "beneath". The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. To limit the protection scope of the present invention.

As shown in Figures 1 to 35, a garbage sorting and processing device includes a bag breaking module 1, a rotating belt module 2, an endless conveying module 3, a garbage sorting module 4, a garbage processing module 5 and a trash can dumping device 6. The bag breaking module 1 includes a broach bag breaking mechanism and a bag breaking conveying mechanism. The bag breaking module 1 is used to break garbage bags; the rotating belt module 2 is located on one side of the bag breaking module 1, and the rotating belt module 2 It is used to send the garbage after breaking the garbage bag through the bag breaking module 1 into the circular conveying module 3; the circular conveying module 3 includes a plurality of tooling disc mechanisms 3-1 and a synchronous belt circular guide rail mechanism 3-2, through which the synchronous belt The circular rail mechanism 3-2 conveys the garbage on the tooling tray mechanism 3-1 circularly; the garbage sorting module 4 includes an XYZ module 4-1, a variable distance manipulator 4-2, a suction cup manipulator 4-3 and machine vision recognition System 4-4, XYZ module 4-1 allows the variable-pitch manipulator 4-2 and the suction cup manipulator 4-3 to move freely on the X, Y, and Z axes, the variable-pitch manipulator 4-2, and the suction cup manipulator 4-3 and the machine vision recognition system 4-4 are all installed on the XYZ module 4-1 and above the circular conveyor module 3, wherein the machine vision recognition system 4-4 is used to classify garbage, when the machine vision recognition system 4- 4. Just started image acquisition when detecting rubbish, followed by image analysis, and then the results were processed to send commands to the variable distance manipulator 4-2 and the suction cup manipulator 4-3 to carry out classification work, and the variable distance manipulator The 4-2 hand and the suction cup manipulator 4-3 respectively grab different types of garbage. For example, specifically, the variable distance manipulator 4-2 and the suction cup manipulator 4-3 use the machine vision of the upper camera position for visual grasping, Based on combined data and tactile feedback from vision sensors, metal detectors and weight gauges mounted on its arms, it sorts out recyclable materials such as metal, concrete, wood and plastic from trash for Classification; garbage processing module 5 includes recyclable garbage processing module 5-1, other garbage processing module 5-2, kitchen waste processing module 5-3, wherein, recyclable garbage processing module 5-1, other The garbage processing module 5-2 and the kitchen waste processing module 5-3 are located on the side close to the trash can dumping device 6, so that the garbage after sorting and processing is convenient to fall into the trash can dumping device 6; the trash can dumping device 6 is located at Below the garbage disposal module 5, it is used to centrally collect and dump the treated garbage.

In one embodiment, the garbage sorting device also includes an upper cover assembly 7, a frame assembly 8, and the upper cover assembly 7 is used for breaking the bag module 1, the circular conveying module 3, the garbage sorting module 4, and the garbage processing module. The 5 cover is protected inside and can block the unpleasant smell of the garbage. The frame assembly 8 is used to place the bag breaking module 1, the circular conveying module 3, the garbage sorting module 4, the garbage processing module 5 and the dumping bin device6.

As shown in Figures 4 and 5, the upper cover assembly 7 is a cover body surrounded by an upper cover top plate 701, an upper cover door panel 702 and an upper cover side plate 703, and a laminated warning light 704 is installed on the upper cover top plate 701. A door handle is installed on the cover door panel 702, which is convenient to open the upper cover door panel 702, and a garbage delivery port 705 is provided on the side upper cover side panel 703 for delivering garbage and a man-machine interface panel 706 is installed, through which the man-machine interface panel 706 can Realize the automatic control of the whole process; LED lights 707 are installed inside the cover body, of which two LED lights 707 are installed on the top of the cover body, one LED light 707 is installed on the inner side of the upper cover door panel 702, and a micro-movement is installed inside the upper cover door panel 702 The switch 708 is specifically installed on the top of the upper cover door panel 702 and close to the upper cover top plate 701 , and a micro switch 708 is respectively installed above the two upper cover door panels 702 .

As shown in Figure 6, a computer 10 is installed on the rack assembly 8 through a computer splint. The front part is an open structure, and the rack panel 802 is installed on the frame body 801 through pads, the pads are located at the four corners and in the middle along the length direction, and 5 rectangles are arranged on the panel 802. One of them is located in front of the cleaning device 9, and three of them are respectively located at the installation positions of the recyclable garbage treatment module 5-1, other garbage treatment module 5-2 and kitchen waste treatment module 5-3, so as to facilitate classification The treated rubbish falls into the garbage can dumping device 6 below; one of them is equipped with a leak-proof cover 11 around; There are foot cups 804 and casters 805, fans 806 and inner buckle handles 807 are installed on the frame door panels 803 on the left and right sides, and inner buckle handles 807 are installed on the frame door panels 803 on the rear side.

As shown in Figure 8, in this embodiment, the garbage sorting device also includes a cleaning device 9, and the cleaning device 9 includes a cleaning bracket 901, a nozzle mechanism 902, a third thin cylinder 903, a second rodless cylinder 904, and a third thin cylinder. The cylinder 903 is installed on the cleaning bracket 901 through the cleaning frame plate 905, the fourth guide shaft 906 is installed at the four corners of the cleaning frame plate 905 and the lower ends of each seventh guide shaft 906 are installed on the alignment plate 907, and the second rodless The cylinder 904 is installed on the alignment plate 907, the bottom of the alignment plate 907 is surrounded by a cleaning device baffle 908, and the bottom of the alignment plate 907 is also equipped with two elbow joints 909 for connecting the suction pipe. The nozzle mechanism 902 is installed on the Below the second rodless cylinder 904, the third thin cylinder 903 can indirectly drive the nozzle mechanism 902 to move vertically, and the second rodless cylinder 904 can drive the nozzle mechanism 902 to move horizontally, so as to clean the circular conveying Some leftover scum from mod 3.

In one embodiment, the bag breaking module 1 further includes a support frame 101 , and the broach bag breaking mechanism 1 - 1 and the bag breaking conveying mechanism 1 - 2 are installed on the support frame 101 .

Specifically, as shown in Figures 9 and 10, the broach bag breaking mechanism 1-1 includes two sets of white steel knife sets 102, and the two sets of white steel knife sets 102 are installed on the linear guide rail 104 through the sliding block 103 and pass through the first Driven by cylinder 105, specifically, linear guide rail 104 is installed on the first press plate 106 and first press plate 106 is driven by second cylinder 107, and second cylinder 107 is installed on the top plate 108 and the two sides of second cylinder 107 are installed with first Guide shaft 109, the first guide shaft 109 passes through the top plate 108 and is connected with the first pressure plate 106, two groups of white steel knife sets 102 are installed on the bottom of the first pressure plate 106, and the white steel knife set 102 includes white steel knife 1021 and a knife holder 1022, the white steel knife 1021 is installed on the knife holder 1022, and the white steel knife group 102 is installed on the slide block 103 of one group of linear guide rails 104 through the guide rail connecting plate 110, and the drive shaft of the first driving cylinder 105 is equipped with the first A floating joint 111, the first floating joint 111 is connected with the guide rail connecting plate 110 through the floating joint connecting plate 112; the first pressure plate 106 is provided with a rectangular limit port 113 along the direction perpendicular to the two white steel knife groups 102, the limit port Both ends of 113 are equipped with a first limit device 114, then the second cylinder 107 indirectly drives the white steel knife group 102 to move vertically, and the first cylinder 105 indirectly drives the white steel knife group 102 to move horizontally , to break the garbage bag.

Specifically, as shown in Figures 11 and 12, the broken bag conveying mechanism 1-2 includes a first motor 115, a screw assembly, and an opening and closing plate assembly. The first motor 115 makes the opening and closing plate assembly move up and down through the screw assembly. The motor 115 is installed on the first aluminum plate through the first motor frame, and a “匚”-shaped motor frame connecting plate is installed on the outside of the first motor frame, and the broken bag conveying mechanism 1-2 is supported by the motor frame connecting plate and the first aluminum plate. The frame 101 is connected; the screw assembly includes a trapezoidal screw 116 and two sets of second guide shafts 117, the trapezoidal screw 116 is connected with the first motor 115 through a diaphragm coupling 118, and the opening and closing plate assembly is installed on two On the three-hole alignment plate 119, the nuts in the trapezoidal screw 116 are mounted on the upper three-hole alignment plate 119, and then the first motor 115 drives the trapezoidal screw 116 so that two or three hole alignment plates 119 are driven by the nuts. And the opening and closing plate assembly moves vertically along the second guide shaft 117. The upper ends of the two second guide shafts 117 are installed on the first aluminum plate and pass through the two or three hole alignment plates 119, the trapezoidal screw rod 116 and the two second The lower ends of the guide shafts 117 are all connected to the second aluminum plate; the two sides of the second guide shafts 117 are the second limiting devices 120, and the second limiting devices 120 are respectively installed on the first aluminum plate and the upper three-hole alignment plate 119 Between and on the second aluminum plate, it is used to limit the starting point of the up and down movement of the opening and closing plate assembly; the opening and closing plate assembly includes a first thin cylinder 121, an opening and closing plate 122, and a tie rod 123, and the first thin cylinder 121 is connected with the opening and closing plate 122 through the tie rod 123 , the first thin cylinder 121 is installed on the angle plate 124, and the opening and closing plate 123 is provided with ribs 125 around to prevent garbage from spilling outside. The opening and closing plate 123 is connected with the angle plate 124 through the first hinge 126, and the The cylinder 121 drives the pull rod 123 so that the opening and closing plate 122 is opened or closed for receiving the bag-broken garbage falling from above, and then the opening and closing plate 122 falls onto the rotating belt module 2 below after opening.

In one embodiment, as shown in Figures 13 and 14, the rotary belt module 2 includes a second motor 201, an angle shaft 202 and a sidewall conveyor belt mechanism, and the second motor 201 is connected to the sidewall conveyor belt mechanism through the angle shaft 202 , then the second motor 201 rotates by driving the angular rotating shaft 202 to drive the sidewall conveyor belt mechanism to rotate so that it is located under the opening and closing plate 122 to receive the garbage falling from the opening and closing plate 122. Specifically, the second motor 201 passes The motor base plate is installed on the rotary belt module bracket 212, the second motor 201 is connected to the angle rotating shaft 202 through two rolling bearings 203, the two rolling bearings 203 are covered with a bearing sleeve 204, the upper end of the angle rotating shaft 203 is connected with a flange 205, and the flange 205 is installed on On the rotating connecting plate 206, the rotating connecting plate 206 is connected to the sidewall conveyor belt mechanism through the aluminum alloy bracket 207, and the sidewall conveyor belt mechanism includes a deflector 208, a sidewall belt 209, a first synchronous belt 210 and a third motor 211, The both sides of sidewall belt 209 are equipped with guide plate 209, can play the role of diversion to the rubbish on sidewall belt 209, prevent it from falling into the outside of sidewall belt 209, the 3rd motor 211 is installed by motor mounting plate The sidewall belt 209 is driven on the aluminum alloy support 207 and through the first synchronous belt 210 .

In one embodiment, as shown in FIG. 15, the circular conveying module 3 includes a tooling disc mechanism 3-1 and a synchronous belt circular guide rail mechanism 3-2, and the tooling disc mechanism 3-1 is installed on the synchronous belt circular guide rail On the mechanism 3-2, the synchronous belt annular guide rail mechanism 3-2 is driven by a servo motor 302 and a planetary reducer 303, and the tooling tray mechanism 3-1 includes a garbage tray 304 and a turning mechanism, and the garbage tray 304 is rotated through the turning mechanism. Flip.

Specifically, as shown in Figures 16 and 17, the garbage tray 304 is installed on the turning mechanism, the bottom of the turning mechanism is equipped with a washer plate 305, a cam bearing follower 306 is installed on one side of the washer plate 305, and a synchronous With pressure block; the turning mechanism includes a turning top plate 308 and a turning bottom plate 309 connected by a hinge 307 on one side, a third limit device 310 is installed on the other side of the turning bottom plate 309, the garbage tray 304 is installed on the turning top plate 308, and the turning bottom plate The third cylinder 311 is installed on the 309, and the third cylinder 311 drives the hinged limiting connecting rod 312, and the limiting connecting rod 312 is hinged through the wear-resistant copper sleeve, that is, the limiting connecting rod 312 has two groups, and the hinged and wear-resistant copper sleeve At both ends, the third cylinder 311 is connected with the wear-resistant copper sleeve, and the two ends of the limiting connecting rod 312 are installed on the turning top plate 308 and the turning bottom plate 309 through an L-shaped joint, and when the third cylinder 311 is extended, the limiting connecting rod 312 A certain angle is opened, so that the hinged overturning top plate 308 and the overturning bottom plate 309 are opened at a certain angle, so that the garbage in the garbage tray 304 is dumped.

Wherein, as shown in Figures 18 and 19, the synchronous belt annular guide rail mechanism 3-2 comprises an annular guide rail 313 and a second synchronous belt 314, the annular guide rail 313 is installed on the annular guide rail mounting plate 315, and the second synchronous belt 314 passes through the servo motor 302 and the planetary reducer 303 drive, specifically, the servo motor 302 and the planetary reducer 303 are installed on the bottom of the ring guide rail mounting plate 315 through the motor frame, the servo motor 302 is connected with the planetary reducer 303, and the planetary reducer 303 is connected with the shaft coupling, The coupling is connected with the active synchronous wheel in the second synchronous belt 314 through the flange shaft, and the active synchronous wheel is connected with the driven synchronous wheel through the belt, and the annular guide rail mounting plate 315 corresponding to the driven synchronous wheel is provided with an oblong hole and an oblong The position of the hole is equipped with a center distance adjustment plate 320, and the flange shaft on the driven synchronous wheel passes through the center distance adjustment plate 320 to adjust the center distance of the driven synchronous wheel; The timing belt pressing block is installed on the belt, and then the second timing belt 314 is driven by the servo motor 302 so that a plurality of tooling disc mechanisms 3-1 also rotate thereupon; the surroundings of the ring guide rail mounting plate 315 are blocking mechanisms, and the ring guide rail installation The four corners of the plate 315 bottom are equipped with ladder braces 316; the blocking mechanism includes a first blocking mechanism along the length direction of the ring guide rail mounting plate 315 and a second blocking mechanism along the width direction of the ring rail mounting plate 315, the first blocking mechanism Including the second thin cylinder 301, blocking block 317, stop block 318, fixed rod 319, the fixed rod 319 is installed on the bearing seat of the blocking mechanism through the collar, and the bearing seat of the blocking mechanism is installed on both sides of the length direction of the ring guide rail mounting plate 315 , a plurality of blocking blocks 317 are installed on the fixed rod 319 at intervals, and the second thin cylinder 301 is installed on the fixed rod 319 through the stop block 318; the second blocking mechanism also includes the second thin cylinder 301, the blocking block 317, the stop block 318, fixed rod 319, described fixed rod 319 is installed on the bearing seat of blocking mechanism through collar, and the bearing seat of blocking mechanism is installed on the both sides of annular guide rail mounting plate 315 along the width direction, and blocking block 317 is installed on the fixed rod 319, The second thin cylinder 301 is installed on the fixed rod 319 through the stop block 318; in addition, the total number of the stop block 317 is the same as the total number of the tooling plate mechanism 3-1, and the stop block 317 top is provided with a cam bearing follower 306 matching The arc-shaped groove of the cam bearing follower 306 is installed in the arc-shaped groove, and the second thin cylinder 301 drives the stop block 318 so that the fixed rod 319 rotates, so that the stop block 317 on it Rotation occurs, so that the tooling tray mechanism 3-1 is tilted to facilitate the dumping of garbage.

In one embodiment, as shown in Figures 20-22, the XYZ module 4-1 includes a gantry 401, a beam 402, and a KK linear module 410, the beam 402 is slidably installed between the two gantry 401, and the KK linear module 410 is slidably installed on the beam 402. Specifically, screw mechanisms are installed on the two gantry frames 401. The screw mechanisms include a first linear guide module 403, a fourth motor 404, a screw 406 and a screw nut 407. The rod 406 is screwed with the screw nut 407 and driven by the fourth motor 404, the beam 402 is connected to the screw nut 407 through the nut mounting block and the two ends of the beam 402 are connected to the slider on the first linear guide module 403; Among them, there are two groups of the first linear guide module 403, which are all installed on the two gantry frames 401 through the mounting plate, and one group of the screw rod 406 and the screw nut 407 are installed on the gantry frame 401 on one side through the screw rod bracket. The screw mechanism drives the screw 406 through the fourth motor 404 so that the screw nut 407 rotates so that the beam 402 can slide along the first linear guide module 403; the second linear guide module 408 and the timing belt are installed on the beam 402 mechanism 409, the synchronous belt mechanism 409 is driven by the fifth motor 405, specifically, the fifth motor 405 is connected with the driving wheel of the synchronous belt mechanism through a diaphragm coupling, the driving wheel is connected with the driven wheel through a belt, and the second linear guide rail module Both sides of group 408 are installed with limit screws through L-shaped limit screw frames; On the linear guide rail module 408, specifically, two KK linear modules 410 are installed on both sides of the connecting plate through the KK linear module mounting plate, and the KK linear module mounting plate and the connecting plate are installed on the second straight line through the Z-axis mounting plate. On the slide block of guide rail module 408, in addition, toothed plate is installed on the belt, toothed plate links to each other with Z-axis installation plate through toothed plate connecting plate, then variable-distance manipulator 4-2, sucker manipulator 4-3 and The machine vision recognition system 4-3 can realize movement in the X-axis, Y-axis and Z-axis directions through the XYZ module 4-1.

Among them, as shown in Figure 24, the variable-pitch manipulator 4-2 is installed on one of the KK linear modules 410 through a gusset bracket, and the variable-pitch manipulator 4-2 includes a fourth cylinder 411, a stepping motor 412, and a gear set 413, 4 sets of link mechanisms 414, one end of the link mechanism 414 is connected to the fourth cylinder 411 through the rail plate 415, the fourth cylinder 411 is connected to the second floating joint 416, and the middle part of the link mechanism 414 is connected to the second floating joint 416 Connected, the link mechanism 414 includes an arc connecting rod, a three-hole straight connecting rod, a single-hole seat, a double-hole seat and a rubber claw, and one end of the arc-shaped connecting rod is installed on the single-hole seat, and the single-hole seat passes through the first wedge-shaped block. It is connected with the rail plate 415, and the first wedge block is connected with the second hoop 422 through the limiting block 420; the three-hole straight connecting rod is hinged with the other end of the arc-shaped connecting rod through the first hole, and the second hole of the three-hole straight connecting rod The first straight connecting rod is connected with the double-hole base, the third hole of the three-hole straight connecting rod is connected with the double-hole base through the second straight connecting rod, and the double-hole base is connected with the second floating joint 416 through the second wedge block. The two wedge-shaped blocks are connected with the third hoop 423 through the limiting block 420, and the rubber pawl is installed on the lower end of the three-hole straight connecting rod; the stepper motor 412 is connected with the gear set 413 through a coupling, and the gear set 413 includes the driving gears meshed with each other. And the driven gear, the driving gear is connected with one end of the first pull block 418 through the cantilever pin 417, the driven gear is a half-circle gear and the two ends of the driven gear are connected with the second pull block 419 through the connecting plate and the screw respectively, the second A pull block 418 and a second pull block 419 are connected to the first hoop 421 through a restriction block 420; then, driven by the stepper motor 412 and the gear set 413, the first pull block 418 and the second pull block 419 make The connecting rod mechanism 414 can do planetary motion. In addition, when the fourth cylinder 411 is retracted, the fourth cylinder 411 passes through the second floating joint 416 to close the four sets of connecting rod mechanisms 414 to pick up the garbage. When the fourth cylinder 411 is extended, it passes through the second floating joint 416 Four groups of link mechanisms 414 are opened so that the rubbish is let go to make it fall, and the variable-pitch manipulator 4-2 classifies the rubbish on the garbage tray 304 for the first time, and the grabbing of the variable-pitch manipulator 4-2 will Recyclable trash picked out.

Wherein, as shown in Figure 25, the suction cup manipulator includes four sets of fifth cylinders 424, ball linear guides 425, double-layer vacuum suction cups 426, and the double-layer vacuum suction cups 426 are connected with the ball linear guides 425 through the slider connecting plate 427, and the sliders are connected. The plate 427 is connected with the fifth cylinder 424, and the fifth cylinder 424 can drive the double-layer vacuum sucker 426 on it to move up and down by driving the slider connecting plate 427, thereby sucking up the harmful garbage.

In one embodiment, as shown in Figures 26 and 27, the recyclable garbage processing module 5-1 includes a sixth cylinder 501, a pressing frame 502 and a third guide shaft 503, and the sixth cylinder 501 passes through the pressing frame 502 One side of the floating joint is connected to the floating joint connecting plate through the floating joint, the floating joint connecting plate is connected to the L-shaped bending baffle 504 and can be disassembled between the two, and the pressing frame half plate 505 is installed at the bottom of the pressing frame 502 , the third guide shaft 503 is installed on the pressing frame 502 on both sides of the sixth cylinder 502 and connected with the floating joint connecting plate; then the floating joint connecting plate is pushed by the sixth cylinder 501 in the accommodation cavity formed by the bending baffle 504 Compress the recyclable garbage into blocks, then remove the bending baffle 504, and push the compressed recyclable garbage into the bottom opening of the pressing frame 502 through the sixth cylinder 501, so as to fall into the bottom facing The garbage can is dumped in the device 6.

In one embodiment, as shown in Figures 28-31, other garbage disposal modules 5-2 include a vortex fan 506, a suction channel 507, a sprinkler head 508, and a pressing block mechanism 509, and the vortex fan 506 is installed through a fan frame At one end of the suction channel 507, the suction channel 507 is supported by 4 supporting feet, and there are 3 sprinkler heads 508 installed on the suction channel 507. A water drop board is arranged around the sprinkler head 508, and a pushing block mechanism 509 is installed. On the suction channel 507 below the vortex fan 506, the pressing block mechanism 509 includes the seventh cylinder 510, the eighth cylinder 511, the mini cylinder 517 and the pressing chamber 512, and the front ends of the seventh cylinder 510 and the eighth cylinder 511 are connected There are a fourth guide shaft mounting plate and a fifth guide shaft mounting plate, a fourth guide shaft 513 is installed on the fourth guide shaft mounting plate, a pressing cover 515 is arranged outside the fourth guide shaft mounting plate, and a fifth guide shaft mounting plate Two fifth guide shafts 514 are installed, the fifth guide shaft mounting plate is connected with the second pressure plate 516 cavity, the mini cylinder 517 is installed on the bottom of the pressing chamber 512 and the mini cylinder 517 is connected with the flip cover plate 518, and the flip cover The plate 518 is hinged with the bottom plate of the pressing chamber 512 through the second hinge 519; then the lighter other garbage is sucked into the suction channel 507 by the vortex fan 506, and then the other garbage is soaked by sprinkling water through the sprinkler head 508, so that For better handling, other rubbish falls into the pressing chamber 512 of the pressing block mechanism 509 below the suction channel 507, and then the rubbish in the pressing chamber 512 is pressed into blocks by the seventh cylinder 510 and the eighth cylinder 511, the mini cylinder 517 can make the flip cover 518 open, so that other rubbish pressed into blocks falls into the trash can dumping device 6 below from the outlet.

In one embodiment, as shown in Figures 32-34, the food waste treatment module 5-3 includes a food waste scraper mechanism and a food waste crushing mechanism, wherein the food waste scraper mechanism includes a scraper mechanism bracket 520, the scraper 521, the first rodless cylinder 522, the ninth cylinder 523, the scraper mechanism support 520 is inclined and the angle of its inclination matches the angle at which the garbage tray 304 can be inclined, so that the scraper 521 is convenient to the garbage tray 304. The kitchen waste is scraped. The scraper 521 is installed on the first rodless cylinder 522. The first rodless cylinder 522 is connected to the ninth cylinder 523 through the four-column connecting plate, and the sixth guide shaft is installed at the four corners of the four-column connecting plate. 524, the ninth cylinder 523 drives the four-column connecting plate to drive the scraper 521, and the first rodless cylinder 522 drives the scraper 521, so that the scraper 521 scrapes up and down the garbage tray 304, thereby removing all the kitchen waste from the garbage tray 304 scraped into the kitchen waste crushing mechanism; the kitchen waste crushing mechanism includes a tenth cylinder 525, a reduction motor 526, a receiving groove 527 and a crushing mechanism. The crushing mechanism is connected, and the reduction motor 526 is connected with the crushing mechanism so as to drive the crushing mechanism to crush the kitchen waste. The lower end of the tenth cylinder 525 is connected with the third pressure plate 528. Specifically, the tenth cylinder 525 and the reduction motor 526 are installed through the support plate. On the L-shaped crushing bracket, the receiving groove 527 is installed on one side of the crushing mechanism and is located below the kitchen waste scraper mechanism, and the side of the receiving groove 527 close to the crushing mechanism is lower than the side close to the kitchen waste scraper mechanism In this way, it is convenient for the kitchen waste scraped by the kitchen waste scraper mechanism to fall into the crushing mechanism through the receiving groove 527. In addition, two sets of guide shafts are installed on the support plate, and the other end of the guide shaft and the third pressing plate 528 Connected, wherein, the pulverizing mechanism includes a shroud 529, a sieve pan 530, a pulverizing blade 531 and a pulverizing knife rest 532 installed on the pulverizing bracket, the shroud 529 is installed around the sieve pan 530 and the receiving groove 527 is installed on the side of the shroud 529 On one side, the sieve tray 530 is connected to the rotating shaft and installed on the sieve tray bottom plate 533. A circular opening is provided on the sieve tray bottom plate 533 so as to expose the crushing blades 531. The four crushing tool holders 532 and the crushing blades pass through the bottom of the sieve tray 530. 531 connected for the crushing of kitchen waste.

In one embodiment, as shown in FIG. 35 , there are four sets of garbage can dumping devices 6, which are respectively located in the recyclable garbage processing module 5-1, other garbage processing modules 5-2, kitchen waste processing modules 5- 3 and below the corresponding opening of the anti-leakage cover 11, the garbage can dumping device 6 includes a garbage can 601, an electric push rod 602 and a turning link 603, the garbage can 601 is installed on the dumping bracket 604, specifically, the bottom of the garbage can 601 is installed There is an integrated trash can bottom plate, integrated corner plates are installed on both sides, and an integrated trash can cover is connected between the two corner plates; casters are installed at the four corners of the dumping bracket 604, and one part of the dumping bracket 604 Two handles are installed on the side to facilitate pushing the trash can 601; the electric push rod 602 is connected with the turning link 603, one end of the turning link 603 is connected with the dumping bracket 604, and the other end is installed on the corner plates on both sides of the trash can 601, Wherein, there are two sets of electric push rods 602 and turning links 603, respectively located on both sides of the trash can 601. The turning links 603 include hinged short connecting plates and connecting rods, and the turning links 603 on each side are Including 2 sets of such short connecting plates and connecting rods, the short connecting plates are welded on the tilting bracket 604, the connecting rods are hinged to the corner plate through the connecting plate of the corner plate; the electric push rod 602 is stretched out to push the overturning connecting rod 603 and then The trash can 601 is driven to turn over, and the garbage in the trash can 601 is dumped out.

The above are preferred embodiments of the present invention, and those skilled in the art of the present invention can also change and modify the above-mentioned embodiments. Therefore, the present invention is not limited to the above-mentioned specific embodiments. Any obvious improvements, substitutions or variations made on the basis of the above-mentioned methods belong to the protection scope of the present invention.

Claims (5)

1. A garbage sorting device, characterized in that, comprising: A bag breaking module (1), the bag breaking module (1) includes a broach bag breaking mechanism (1-1), a bag breaking conveying mechanism (1-2), a support frame (101), and the bag breaking module Group (1) is used to break garbage bags, the broach bag breaking mechanism (1-1) and the bag breaking conveying mechanism (1-2) are installed on the support frame (101), the broach bag breaking mechanism ( 1-1) Including the white steel knife set (102), the white steel knife set (102) is installed on the linear guide rail (104) through the sliding block (103) and driven by the first cylinder (105); the broken bag The conveying mechanism (1-2) includes a first motor (115), a screw assembly, and an opening and closing plate assembly. The first motor (115) moves the opening and closing plate assembly up and down through the screw assembly. The first motor (115 ) is installed on the first aluminum plate through the first motor frame, and a "匚"-shaped motor frame connecting plate is installed on the outside of the first motor frame, and the broken bag conveying mechanism (1-2) passes through the motor frame connecting plate and The first aluminum plate is connected to the support frame (101); the screw assembly includes a trapezoidal screw (116) and two sets of second guide shafts (117), and the trapezoidal screw (116) passes through a diaphragm coupling (118) ) is connected with the first motor (115), the opening and closing plate assembly is installed on the two three-hole alignment plates (119) through the convex plate, and the nut in the trapezoidal screw (116) is installed on the upper three holes On the alignment plate (119), the upper ends of the two sets of second guide shafts (117) are installed on the first aluminum plate and pass through two sets of three-hole alignment plates (119), the trapezoidal screw rod (116) and the two The lower ends of the set of second guide shafts (117) are connected to the second aluminum plate; both sides of the two sets of second guide shafts (117) are second limiting devices (120), and the second limiting device (120 ) are respectively installed between the first aluminum plate and the upper three-hole alignment plate (119) and the second aluminum plate to limit the starting point of the up and down movement of the opening and closing plate assembly; the opening and closing plate assembly includes the first thin cylinder (121 ), the opening and closing plate (122), the tie rod (123), the first thin cylinder (121) is connected with the opening and closing plate (122) through the tie rod (123), and the first thin cylinder (121) is installed on the corner plate (124 ), the opening and closing plate (122) is provided with ribs (125) around, and the opening and closing plate (122) is connected to the corner plate (124) through the first hinge (126); Rotating belt module (2), the rotating belt module (2) is located on one side of the bag breaking module (1), and the rotating belt module (2) is used to break the broken bag module (1) The garbage behind the garbage bag is sent to the endless conveyor module (3), and the rotary belt module (2) includes a second motor (201), an angle rotating shaft (202) and a sidewall conveyor belt mechanism, and the second motor ( 201) is connected with the sidewall conveyor belt mechanism through the angle shaft (202) to drive the sidewall conveyor belt mechanism to rotate; the second motor (201) is installed on the rotating belt module bracket (212) through the motor seat plate, The second motor (201) is connected to the angular shaft (202) through two rolling bearings (203), the two rolling bearings (203) are covered with a bearing sleeve (204), and the upper end of the angular shaft (202) is connected to a flange ( 205), the flange (205) is installed on the rotating connecting plate (206), the rotating connecting plate (206) is connected with the sidewall conveyor belt mechanism through the aluminum alloy bracket (207), and the sidewall conveyor belt mechanism It includes a deflector (208), a sidewall belt (209), a first synchronous belt (210) and a third motor (211), and a deflector (208) is installed on both sides of the sidewall belt (209), The third motor (211) is installed on the aluminum alloy bracket (207) through the motor mounting plate and drives the rib belt (209) through the first synchronous belt (210); The circular conveying module (3), the circular conveying module (3) includes a plurality of tooling disk mechanisms (3-1) and the synchronous belt circular guide rail mechanism (3-2), through the synchronous belt circular guide rail mechanism (3-2 ) circularly transport the garbage on the tooling disc mechanism (3-1), and a plurality of said tooling disc mechanisms (3-1) are installed on the synchronous belt annular guide rail mechanism (3-2), and the synchronous belt annular guide rail mechanism (3-2) Driven by a servo motor (302) and a planetary reducer (303), the tooling tray mechanism (3-1) includes a garbage tray (304) and a turning mechanism, and the garbage tray (304) passes through the turning mechanism Turning over, the garbage tray (304) is installed on the turning mechanism, the bottom of the turning mechanism is equipped with a washer plate (305), and a cam bearing follower (306) is installed on one side of the washer plate (305), The other side is equipped with a timing belt pressure block; the turning mechanism includes a turning top plate (308) and a turning bottom plate (309) connected by a hinge (307) on one side, and the other side of the turning bottom plate (309) is installed with a second Three limit devices (310), the garbage tray (304) is installed on the turning top plate (308), the third cylinder (311) is installed on the turning bottom plate (309), and the third cylinder (311) drives Two sets of restricting connecting rods (312) that are hinged, the two groups of restricting connecting rods (312) are hinged through wear-resistant copper sleeves, the third cylinder (311) is connected with wear-resistant copper sleeves, and the restricting The two ends of the connecting rod (312) are installed on the overturning top plate (308) and the overturning bottom plate (309) through L-shaped joints; the synchronous belt circular guide rail mechanism (3-2) includes a circular guide rail (313) and a second synchronous belt (314), the ring guide rail (313) is installed on the ring guide rail mounting plate (315), and the second synchronous belt (314) is driven by a servo motor (302) and a planetary reducer (303); a plurality of the The tooling disc mechanism (3-1) is installed on the second timing belt (314) through the timing belt pressure block. The surrounding of the ring guide rail mounting plate (315) is a blocking mechanism, and the blocking mechanism includes a ring rail mounting plate ( 315) The first blocking mechanism in the length direction and the second blocking mechanism along the width direction of the ring guide rail mounting plate (315), the first blocking mechanism and the second blocking mechanism both include a second thin cylinder (301), a blocking block ( 317), stop block (318), fixed rod (319), the fixed rod (319) is installed on the bearing seat of the blocking mechanism through the collar, and the two bearing seats of the blocking mechanism are respectively installed on the ring guide rail mounting plate (315 ) on both sides in the length direction and width direction, a plurality of blocking blocks (317) are installed on the fixed rod (319) at intervals, and the second thin cylinder (301) is installed on the fixed rod ( 319); the total number of the blocking block (317) is the same as the total number of the tooling plate mechanism (3-1), and the top of the blocking block (317) is provided with an arc matching the cam bearing follower (306) shaped groove, the cam bearing follower (306) is installed in the arc shaped groove; A garbage sorting module (4), the garbage sorting module (4) includes an XYZ module (4-1), a variable distance manipulator (4-2), a suction cup manipulator (4-3) and a machine vision recognition system ( 4-4), the variable pitch manipulator (4-2), the suction cup manipulator (4-3) and the machine vision recognition system (4-4) are all installed on the XYZ module (4-1) and located in the circular conveyor Above the module (3), used for garbage sorting and grabbing; A garbage processing module (5), the garbage processing module (5) includes a recyclable garbage processing module (5-1), other garbage processing modules (5-2), kitchen waste processing modules (5- 3); the recyclable garbage processing module (5-1) includes a sixth cylinder (501), a pressing frame (502) and a third guide shaft (503), and the sixth cylinder (501) passes through the pressing One side of the frame (502) is connected to the floating joint connecting plate through the floating joint, and the floating joint connecting plate is connected to the bending baffle (504). plate (505), the third guide shaft (503) is installed on the pressing frame (502) on both sides of the sixth cylinder (501); the other waste disposal modules (5-2) include a vortex fan (506 ), the suction channel (507), the sprinkler head (508), the pressing block mechanism (509), the vortex fan (506) is installed on one end of the suction channel (507) through the fan frame, and the sprinkler head ( 508) is installed on the suction channel (507), and the pressing block mechanism (509) is installed on the suction channel (507) below the vortex fan (506); the kitchen waste treatment module (5-3 ) includes a kitchen waste scraper mechanism and a kitchen waste crushing mechanism, the kitchen waste scraper mechanism includes a scraper mechanism bracket (520), a scraper (521), a first rodless cylinder (522), a ninth cylinder ( 523), the scraper (521) is installed on the first rodless cylinder (522), the first rodless cylinder (522) is connected to the ninth cylinder (523) through the four-column connecting plate, and the four-column connecting plate Sixth guide shafts (524) are installed at the four corners; the kitchen waste crushing mechanism includes a tenth cylinder (525), a reduction motor (526), a receiving groove (527) and a crushing mechanism, and the reduction motor (526 ) is connected with the crushing mechanism so as to drive the crushing mechanism to crush kitchen waste, the lower end of the tenth cylinder (525) is connected with the third pressing plate (528), and the receiving groove (527) is installed on one side of the crushing mechanism and located Below the kitchen waste scraper mechanism; The garbage can dumping device (6), the garbage can dumping device (6) is located under the garbage processing module (5), and is used for collecting and dumping the treated garbage in a centralized manner. 2. The garbage sorting device according to claim 1, characterized in that it also includes an upper cover assembly (7) and a frame assembly (8), and the upper cover assembly (7) is composed of an upper cover top plate (701) 1. The cover body surrounded by the upper cover door panel (702) and the upper cover side panel (703), the upper cover top panel (701) is equipped with a laminated warning light (704), and the upper cover side panel (703) is provided with a garbage delivery port (705) and a man-machine interface panel (706) is installed, an LED light (707) is installed inside the cover body, and a micro switch ( 708); the computer (10) is installed on the rack assembly (8), and the rack assembly (8) consists of the top rack frame (801), the rack panel (802), the left and right sides and the rear The side rack door panels (803) enclose a structure with an open front, the trash bin dumping device (6) is located inside the rack assembly (8), and the four bottom corners of the rack frame (801) Foot cups (804) and casters (805) are installed at the left and right sides of the rack door (803), fans (806) and inner buckle handles (807) are installed on the left and right rack door panels (803), and the rear rack door panels (803) Inside buckle handle (807) is installed on. 3. The garbage sorting device according to claim 1, characterized in that it also includes a cleaning device (9), and the cleaning device (9) includes a cleaning bracket (901), a nozzle mechanism (902), a third thin cylinder (903), the second rodless cylinder (904), the third thin cylinder (903) is installed on the cleaning bracket (901) through the cleaning shelf (905), and the four corners of the cleaning shelf (905) The seventh guide shaft (906) is installed at the position and the lower end of each of the seventh guide shafts (906) is installed on the alignment plate (907), and the second rodless cylinder (904) is installed on the alignment plate (907) Above, the lower part of the alignment plate (907) is provided with a cleaning device baffle (908), and the lower part of the alignment plate (907) is also equipped with an elbow joint (909) for connecting the suction pipe. The nozzle The mechanism (902) is installed below the second rodless cylinder (904). 4. The garbage sorting device according to claim 1, characterized in that: the XYZ module (4-1) includes a gantry (401), a beam (402) and a KK linear module (410), the The beam (402) is slidably installed between the two gantry frames (401), the KK linear module (410) is slidably installed on the beam (402), the variable distance manipulator (4-2), the suction cup manipulator (4 -3) and the machine vision recognition system (4-4) are installed on the beam (402) through the KK linear module (410); the variable distance manipulator includes the fourth cylinder (411), stepping motor (412), gear set (413), link mechanism (414), one end of the link mechanism (414) is connected to the fourth cylinder (411) through the rail plate (415), and the fourth cylinder (411) is connected to the second floating joint (416), the middle part of the linkage mechanism (414) is connected with the second floating joint (416); the gear set (413) includes a driving gear and a driven gear that are meshed, and the driving gear is connected through the cantilever The pin (417) is connected to one end of the first pull block (418), the driven gear is a half-turn gear and the two ends of the driven gear are respectively connected to the second pull block (419) through a connecting plate and screws, Both the first pull block (418) and the second pull block (419) are connected to the first hoop (421) through the restriction block (420); the suction cup manipulator includes the fifth cylinder (424), ball linear guide ( 425), double-layer vacuum suction cup (426), the double-layer vacuum suction cup (426) is connected with the ball linear guide (425) through the slider connecting plate (427), and the slider connecting plate (427) is connected with the fifth cylinder (424) connected. 5. The garbage sorting device according to claim 1, characterized in that: the trash can dumping device (6) includes a trash can (601), an electric push rod (602) and a turning rod (603), the The garbage can (601) is installed on the dumping bracket (604), and the four corners of the dumping bracket (604) are equipped with casters, and the electric push rod (602) is connected with the turning rod (603), and the turning One end of the connecting rod (603) is connected with the dumping bracket (604), and the other end is installed on the corner plates on both sides of the trash can (601).

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