CN112660645A

CN112660645A - High-rise building garbage cleaning robot and automatic cleaning method

Info

Publication number: CN112660645A
Application number: CN202011535690.2A
Authority: CN
Inventors: 苏传鑫; 牛得学; 石浩瀚; 姜茂强; 王启龙
Original assignee: Binzhou University
Current assignee: Binzhou University
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-04-16
Anticipated expiration: 2040-12-23
Also published as: CN112660645B

Abstract

The invention discloses a high-rise building garbage cleaning robot and an automatic cleaning method. The robot comprises a rack, a temporary garbage storage and cleaning mechanism, a lifting type transfer and transportation mechanism, a recyclable garbage sorting mechanism and a non-recyclable garbage containing mechanism. The garbage temporary storage and cleaning mechanism is provided with a plurality of garbage temporary storage and cleaning mechanisms, and the garbage temporary storage and cleaning mechanisms are respectively arranged on each floor. The recyclable garbage and the unrecoverable garbage are separately placed in a garbage temporary storage box in the garbage temporary storage cleaning mechanism. After the garbage in a certain garbage temporary storage box arrives, the lifting type transfer conveying mechanism transfers the recyclable garbage and the non-recyclable garbage temporarily stored in the garbage temporary storage cleaning mechanism where the garbage temporary storage box is located to the recyclable garbage sorting mechanism and the non-recyclable garbage accommodating mechanism respectively. The recyclable garbage sorting mechanism realizes sorting and transporting of various recyclable garbage, and the non-recyclable garbage accommodating mechanism realizes automatic bagging, sealing and transporting of non-recyclable garbage. The invention has high automation degree and improves the efficiency of garbage classification and cleaning.

Description

High-rise building garbage cleaning robot and automatic cleaning method

Technical Field

The invention belongs to the technical field of garbage cleaning, and relates to a garbage cleaning robot for high-rise buildings and an automatic cleaning method.

Background

In recent years, with the remarkable improvement of the national standard of living, the garbage production in China is increased sharply, the garbage production in cities is increased rapidly by about 8-12% per year, and the garbage has different types and components.

The garbage classification recycling is considered as a key link for solving the dilemma and improving the resource utilization efficiency, and currently, the garbage classification consciousness of residents in most areas of China is weak, the classification degree is low, and great troubles are brought to the subsequent garbage treatment.

In addition, most of the residential buildings and commercial office buildings in China still adopt the traditional mode of manual collection and transportation, so that a large amount of cleaning personnel is needed for cleaning, and time and labor are wasted.

In conclusion, the automatic classification treatment of the garbage becomes a first problem in the garbage treatment of high-rise buildings at present.

Disclosure of Invention

The invention aims to provide a high-rise building garbage cleaning robot to solve the technical problems that the existing high-rise building household garbage is difficult to treat and classify, and the garbage treatment process is low in automation degree.

In order to achieve the purpose, the invention adopts the following technical scheme:

a high-rise building garbage cleaning robot comprises a rack, a garbage temporary storage cleaning mechanism, a lifting type transfer transportation mechanism, a recyclable garbage sorting mechanism and a non-recyclable garbage accommodating mechanism;

the rack comprises a vertical mounting rack and a transverse mounting rack connected to the bottom of the vertical mounting rack;

a plurality of garbage temporary storage cleaning mechanism mounting brackets are sequentially arranged on the vertical mounting rack from top to bottom;

the garbage temporary storage cleaning mechanisms are arranged on the mounting supports of the garbage temporary storage cleaning mechanisms of the vertical mounting rack in a one-to-one correspondence manner according to the sequence from top to bottom;

the garbage temporary storage cleaning mechanism comprises a cleaning mechanism mounting box body, a garbage temporary storage box, a temporary storage box door, a box door opening and closing mechanism, a cleaning rolling brush driving mechanism and a photoelectric detection switch;

the cleaning mechanism mounting box body is a square body with an opening at one side;

the garbage temporary storage boxes are two, namely a recyclable garbage temporary storage box and an unrecoverable garbage temporary storage box; the two garbage temporary storage boxes are identical in structure and are arranged on the inner side of the cleaning mechanism installation box body;

an installation area is arranged between the two temporary garbage storage boxes;

the box door opening and closing mechanism and the cleaning rolling brush driving mechanism are both positioned in the installation area;

the other side of the cleaning mechanism installation box body opposite to the opening side is provided with a temporary storage box input port corresponding to each garbage temporary storage box, and each temporary storage box input port is provided with a temporary storage box input port baffle;

the opening side of the garbage temporary storage box is the same as the opening side of the cleaning mechanism mounting box body;

the garbage temporary storage box comprises a pair of temporary storage box side plates and a temporary storage box bottom plate;

wherein, the bottom plate of the temporary storage box is an arc-shaped plate which is obliquely arranged; the inclined direction of the temporary storage box bottom plate is that the temporary storage box inlet on the garbage temporary storage box inclines towards the bottom of the opening side of the cleaning mechanism installation box body;

each temporary storage box side plate is provided with a motion track consisting of a first vertical strip hole and an arc strip hole;

the first vertical strip hole is positioned on one side of the temporary storage box side plate close to the temporary storage box inlet, the arc strip holes are obliquely arranged, and the oblique direction of the arc strip holes is consistent with that of the temporary storage box bottom plate;

a temporary storage box side plate of each garbage temporary storage box, which is close to the installation area, is provided with a chain, the chain on the same temporary storage box side plate is positioned above a moving track of the temporary storage box side plate, and the chain is parallel to the moving track;

the number of the cleaning rolling brushes is two, and each cleaning rolling brush is positioned in one garbage temporary storage box; each end shaft of the cleaning rolling brush extends into a corresponding motion track of the garbage temporary storage box where the cleaning rolling brush is located;

the cleaning rolling brush driving mechanism comprises a double-shaft motor, two walking chain wheels and a tension spring;

each output shaft of the double-shaft motor is connected with an end shaft of one cleaning rolling brush, and each walking chain wheel is arranged on one output shaft side of the double-shaft motor and meshed with a chain on the corresponding side;

the upper end of the tension spring is connected to a top plate of the cleaning mechanism mounting box body, and the lower end of the tension spring is connected to the double-shaft motor;

the number of the temporary storage box doors is two, and each temporary storage box door is correspondingly positioned on the opening side of one garbage temporary storage box;

a temporary storage box side plate of each garbage temporary storage box is provided with a second vertical strip hole, wherein the second vertical strip holes are opposite, and each second vertical strip hole is positioned at one side of the corresponding temporary storage box side plate close to the opening of the cleaning mechanism installation box body;

the upper parts of the two temporary storage box doors are connected through a box door connecting rod;

the box door connecting rod sequentially penetrates through the second vertical bar holes from one side of the cleaning mechanism mounting box body;

the box door opening and closing mechanism is connected with the box door connecting rod and is used for driving the two temporary storage box doors to synchronously realize opening and closing motions;

the number of the photoelectric detection switches is two, and one group of the photoelectric detection switches is respectively arranged in each garbage temporary storage box;

the lifting transfer transportation mechanism is connected with the vertical mounting rack and can move up and down along the vertical mounting rack;

the lifting type transfer transportation mechanism comprises a transfer box body, a transfer box body lifting mechanism, a guide part, a square cleaning brush connecting piece lifting mechanism and a laser ranging sensor;

the transfer box body lifting mechanism is arranged on the vertical mounting frame and is connected with the transfer box body; the guide component is arranged between the vertical mounting rack and the transfer box body and is used for realizing the motion guide of the transfer box body;

the transfer box body comprises two garbage transfer boxes, namely a recyclable garbage transfer box and an unrecoverable garbage transfer box; the recyclable garbage transfer box corresponds to the recyclable garbage temporary storage box, and the unrecoverable garbage transfer box corresponds to the unrecoverable garbage temporary storage box;

the upper part and the bottom of each garbage transfer box are provided with openings; the opening at the bottom of each garbage transfer box is provided with an openable bottom opening baffle, and one side edge of the bottom opening baffle is hinged with the bottom of the garbage transfer box;

the number of the square cleaning brushes is two, each square cleaning brush is respectively positioned in one garbage transfer box, and the square cleaning brushes are attached to the inner side wall of the garbage transfer box; the two square cleaning brushes are connected through a square cleaning brush connecting piece;

a connecting rod is respectively arranged at the position of the square cleaning brush connecting piece corresponding to each bottom opening baffle, and the bottom of each connecting rod is respectively connected with the corresponding bottom opening baffle;

a partition plate is arranged in the middle of the two garbage transfer boxes;

the square cleaning brush connecting piece lifting mechanism is arranged on the partition plate and adopts a lead screw driving mechanism; the square cleaning brush connecting piece is arranged on a lead screw nut of the lead screw driving mechanism, and a lead screw of the lead screw driving mechanism is arranged along the vertical direction;

a vertical strip hole which is convenient for the square cleaning brush connecting piece to move up and down is arranged in the middle of the clapboard;

the laser ranging sensor is arranged at the top of the vertical mounting frame and is downwards aligned with the transfer box body;

the recyclable garbage sorting mechanism and the non-recyclable garbage accommodating mechanism are both arranged on the transverse mounting frame;

the recyclable garbage sorting mechanism is positioned below the recyclable garbage transfer box;

the recyclable garbage sorting mechanism comprises a first conveying belt, a color recognition sensor, a push rod mechanism and a sorting box;

the color recognition sensor and the push rod mechanism are both positioned at the side part of the first conveying belt, and the color recognition sensor is positioned at the upstream of the push rod mechanism when being observed along the conveying direction of the first conveying belt;

the push rod mechanisms are provided with a plurality of groups, and the pushing direction of each group of push rod mechanisms is vertical to the conveying direction of the first conveying belt;

the push rod mechanisms of each group are sequentially arranged from upstream to downstream as viewed in the conveying direction of the first conveying belt;

the sorting box and the push rod mechanism are arranged at the opposite side parts of the first conveyor belt;

a plurality of sorting boxes are arranged, and each sorting box and each push rod mechanism are arranged in a one-to-one correspondence manner;

the non-recyclable garbage accommodating mechanism is positioned below the non-recyclable garbage transfer box;

the non-recyclable garbage accommodating mechanism comprises a square frame, a second conveying belt, a heat-resistant sealing plate and a lead screw driving unit;

wherein, the square frame is arranged on the transverse mounting rack;

the second conveying belt and the lead screw driving unit are both arranged on the square frame, wherein the lead screw driving unit is positioned at the upper part of the square frame, and the second conveying belt is positioned at the bottom of the square frame;

the heat-resistant sealing plate comprises a first heat-resistant sealing plate and a second heat-resistant sealing plate; the first heat-resistant sealing plate is fixed at one end of the screw driving unit, and the second heat-resistant sealing plate is connected to a screw nut of the screw driving unit;

the first heat-resistant sealing plate and the second heat-resistant sealing plate are parallel to each other;

two sealing electric heating pieces and one fusing electric heating wire are arranged on the second heat-resistant sealing plate, wherein the two sealing electric heating pieces and the fusing electric heating wire are arranged in parallel, and the fusing electric heating wire is positioned between the two sealing electric heating pieces;

the high-rise building garbage cleaning robot also comprises a main controller; the garbage temporary storage and cleaning mechanism, the lifting type transfer and transportation mechanism, the recyclable garbage sorting mechanism and the non-recyclable garbage containing mechanism are respectively connected with the main controller.

Preferably, the door opening and closing mechanism adopts a pull rope mechanism;

the pull rope mechanism comprises a pull rope, a pull rope mechanism speed reducing motor, a pull rope winding wheel and a fixed pulley;

the rope pulling mechanism speed reducing motor is arranged on a top plate of the cleaning mechanism mounting box body through a motor support, and the fixed pulley is arranged on the top plate of the cleaning mechanism mounting box body through a pulley support;

the rope winding wheel is arranged on an output shaft of the speed reducing motor of the rope pulling mechanism;

one end of the pull rope is connected to the pull rope winding wheel, and the other end of the pull rope is wound around the fixed pulley and connected to the box door connecting rod.

Preferably, the transfer box body lifting mechanism adopts a steel rope traction mechanism;

the steel cable traction mechanism comprises a steel cable, a steel cable traction mechanism speed reducing motor and a steel cable winding wheel;

the steel cable winding wheel is arranged on an output shaft of the steel cable traction mechanism speed reduction motor;

one end of the steel cable is connected to the steel cable winding wheel, and the other end of the steel cable is connected to the middle part of the transfer box body.

Preferably, the guide member includes a guide rod and a guide sleeve;

the top and the bottom of the guide rod are respectively installed on the top and the bottom of the vertical installation rack through guide rod supports;

the guide sleeve is arranged on the guide rod and is connected with the side part of the transfer box body.

Preferably, the push rod mechanism comprises an L-shaped bracket, a push rod mechanism speed reducing motor, a crank connecting rod and a push rod;

the bottom of the L-shaped bracket is connected to the transverse mounting rack;

the push rod mechanism speed reducing motor is arranged at the top of the L-shaped bracket through a motor bracket and is connected with one end of the crank connecting rod;

a push rod chute extending along the length direction of the horizontal segment is arranged on the horizontal segment of the L-shaped bracket;

the push rod comprises an upper horizontal sliding block and a vertical push rod connected with the upper horizontal sliding block; the upper horizontal sliding block is positioned in the push rod sliding groove and is connected with the other end of the crank connecting rod;

vertical push rod is located the top of first conveyer belt, and vertical push rod's promotion direction is towards letter sorting case.

Preferably, the high-rise building garbage cleaning robot further comprises a spray disinfection mechanism; wherein, the spray disinfection mechanism comprises a disinfectant storage box and two groups of box disinfection pipelines; two outlets of the disinfectant storage box are provided;

wherein, the disinfectant storage box is arranged on the transverse mounting rack;

each set of box body disinfection pipelines comprises a high-pressure water pump, a water pipe and an atomization spray rod; wherein, the output port of the disinfectant storage box is connected with the water pipe and the atomizing spray rod in sequence, and the high-pressure water pump is arranged on the water pipe;

the atomization spray rods of the two groups of box body disinfection pipelines are vertically arranged and are respectively positioned on one side of the vertical mounting rack;

wherein, a nozzle is respectively arranged on one group of atomizing spray rods corresponding to each recyclable garbage temporary storage box, and a nozzle is respectively arranged on the other group of atomizing spray rods corresponding to each non-recyclable garbage temporary storage box.

In addition, the invention also provides an automatic cleaning method of the garbage of the high-rise building, which is based on the robot for cleaning the garbage of the high-rise building, and the specific technical scheme is as follows:

a high-rise building garbage automatic cleaning method comprises the following steps:

I.1. when a photoelectric detection switch in a garbage temporary storage box in a garbage temporary storage cleaning mechanism detects that garbage in the garbage temporary storage box reaches a set height, the photoelectric detection switch sends a signal to a main controller;

I.2. the main controller controls the action of the lifting type transfer transportation mechanism, and the specific process is as follows:

firstly, a transfer box body lifting mechanism drives a transfer box body to ascend, when a laser ranging sensor detects that the transfer box body runs to a height suitable for the temporary garbage storage and cleaning mechanism, a signal is sent to a main controller, and the transfer box body stops running;

I.3. the main controller controls the box door opening and closing mechanism and the cleaning rolling brush driving mechanism to synchronously act;

the box door opening and closing mechanism controls the opening of the box doors of two temporary storage boxes in the garbage temporary storage and cleaning mechanism, and the cleaning rolling brush driving mechanism drives the two cleaning rolling brushes to respectively clean out garbage in the corresponding garbage temporary storage boxes;

the cleared recyclable garbage falls into a recyclable garbage transfer box, and the unrecoverable garbage falls into an unrecoverable garbage transfer box;

I.4. the main controller controls the action of the lifting type transfer transportation mechanism, and the specific process is as follows:

firstly, a transfer box body lifting mechanism drives a transfer box body to descend, and when a laser ranging sensor detects that the transfer box body runs to the lower part of a vertical mounting rack to set the height, a signal is sent to a main controller, and the transfer box body is controlled to stop running;

I.5. the lifting mechanism of the square cleaning brush connecting piece drives the square cleaning brush connecting piece to descend, and the square cleaning brush connecting piece drives the two square cleaning brushes to respectively clean the inner sides of the garbage transfer boxes;

meanwhile, the bottom opening baffle at the bottom of the two garbage transfer boxes is opened; wherein:

the recyclable garbage falls into a first conveying belt from an opening at the bottom of the recyclable garbage transfer box, and the step I.6 is carried out; the non-recyclable garbage falls into the non-recyclable garbage containing bag from an opening at the bottom of the non-recyclable garbage transfer box, and the step I.7 is carried out;

wherein, the non-recyclable garbage containing bag is sleeved on the square frame in advance;

I.6. the recyclable garbage is conveyed along the first conveying belt, the color recognition sensor recognizes the color of a packaging bag of the recyclable garbage, and the recognition result is fed back to the controller;

wherein, the recyclable garbage is packaged into packaging bags with different colors in advance according to classification;

when the recyclable garbage runs to the position of the push rod mechanism corresponding to the recyclable garbage, the controller controls the corresponding push rod mechanism to act, and the push rod mechanism pushes the recyclable garbage into the sorting box opposite to the first conveying belt;

go to step I.8;

I.7. the main controller controls a lead screw driving unit in the unrecoverable garbage accommodating mechanism to act, and a lead screw nut in the lead screw driving unit drives a second heat-resistant sealing plate to approach to a first heat-resistant sealing plate;

when the first heat-resistant sealing plate is contacted with the second heat-resistant sealing plate, the two sealing electric heating sheets are heated, so that sealing of different positions of the non-recyclable garbage containing bag is realized respectively;

wherein, one sealing position is used as the upper sealing of the current non-recyclable garbage containing bag, and the other sealing position is used as the bottom sealing of the next non-recyclable garbage containing bag;

then, fusing the heating wire to be heated, so as to realize fusing of the current unrecoverable garbage accommodating bag;

the melted non-recyclable garbage containing bag falls into a second conveying belt, and the second conveying belt conveys out the non-recyclable garbage;

go to step I.8;

I.8. finishing the primary garbage classification cleaning work after the step I.6 and the step I.7 are finished;

and (6) turning to the step I.1, and waiting for next garbage classification cleaning.

The invention has the following advantages:

as mentioned above, the invention relates to a high-rise building garbage cleaning robot and an automatic cleaning method. The high-rise building garbage cleaning robot comprises a rack, a garbage temporary storage cleaning mechanism, a lifting type transfer transportation mechanism, a recyclable garbage sorting mechanism, a non-recyclable garbage accommodating mechanism and the like. The garbage temporary storage cleaning mechanism is provided with a plurality of garbage temporary storage cleaning mechanisms, and is respectively arranged on each floor for temporarily storing garbage on each floor. Recyclable garbage (packaged in different color packaging bags in advance) and non-recyclable garbage are separately placed in different garbage temporary storage boxes in the garbage temporary storage cleaning mechanism. After the garbage in a certain garbage temporary storage box arrives, the lifting type transfer conveying mechanism can transfer the recyclable garbage and the non-recyclable garbage temporarily stored in the garbage temporary storage cleaning mechanism where the garbage temporary storage box is located to the recyclable garbage sorting mechanism and the non-recyclable garbage containing mechanism respectively, wherein the recyclable garbage sorting mechanism realizes sorting and transporting out of various recyclable garbage, and the non-recyclable garbage containing mechanism realizes automatic bagging, sealing and transporting out of the non-recyclable garbage. The garbage cleaning robot has high automation degree, effectively solves the problems of difficult household garbage treatment and difficult garbage classification of high-rise buildings, and improves the garbage classification cleaning efficiency.

Drawings

FIG. 1 is a schematic structural diagram of a high-rise building garbage cleaning robot in an embodiment of the invention;

FIG. 2 is a front view of the high-rise building garbage disposal robot of FIG. 1;

FIG. 3 is a side view of the high-rise building garbage collection robot of FIG. 1;

FIG. 4 is a top view of the high-rise building garbage disposal robot of FIG. 1;

FIG. 5 is a schematic structural diagram of a garbage temporary storage and cleaning mechanism according to an embodiment of the present invention;

FIG. 6 is a front view of the mechanism of FIG. 5;

FIG. 7 is a side view of the temporary trash receptacle cleaning mechanism of FIG. 5;

FIG. 8 is a schematic structural diagram of the elevating transit transportation mechanism in the embodiment of the present invention;

fig. 9 is a front view of the elevating transit transferring mechanism of fig. 8;

fig. 10 is a side view of the elevating transfer transporting mechanism of fig. 8;

fig. 11 is a top view of the elevating transit transferring mechanism of fig. 8;

FIG. 12 is a schematic diagram of a recyclable waste sorting mechanism according to an embodiment of the present invention;

FIG. 13 is a front view of the recyclable waste sorting mechanism of FIG. 12;

FIG. 14 is a side view of the recyclable waste sorting mechanism of FIG. 12;

FIG. 15 is a schematic structural view of a non-recyclable waste receptacle according to an embodiment of the present invention;

FIG. 16 is a front view of the non-recyclable waste holding mechanism of FIG. 15;

FIG. 17 is a side view of the non-recyclable waste holding mechanism of FIG. 15;

FIG. 18 is a top view of the non-recyclable waste holding mechanism shown in FIG. 15;

FIG. 19 is a schematic view showing the structure of a second heat-resistant sealing plate according to an embodiment of the present invention;

FIG. 20 is a schematic structural view of a spray sterilizing mechanism according to an embodiment of the present invention;

the garbage collection and disinfection device comprises a machine frame 1, a garbage temporary storage and cleaning mechanism 2, a lifting type transfer and transportation mechanism 3, a recyclable garbage sorting mechanism 4, a non-recyclable garbage containing mechanism 5 and a spraying and disinfection mechanism 6;

101-a vertical mounting rack, 102-a transverse mounting rack, 103-a garbage temporary storage cleaning mechanism mounting bracket, and 104-a cross beam;

201-installation box, 202-garbage temporary storage box, 202 a-temporary storage box side plate, 202 b-temporary storage box bottom plate, 203-temporary storage box door, 204-cleaning rolling brush, 205-installation area, 206-temporary storage box input baffle plate;

207-motion track, 207 a-first vertical bar hole, 207 b-arc bar hole;

208-chain, 209-double shaft motor, 210-walking chain wheel; 211-a tension spring, 212-a top plate, 213-a second vertical bar hole, 214-a box door connecting rod, 215-a pull rope, 216-a pull rope mechanism speed reducing motor, 217-a pull rope winding wheel and 218-a fixed pulley;

301-a transfer box body, 301 a-a garbage transfer box, 302-a square cleaning brush, 303-a square cleaning brush connecting piece, 304-a bottom opening baffle, 305-a connecting rod, 306-a clapboard and 307-a hole;

308-steel cable, 309-steel cable traction mechanism speed reducing motor, 310-steel cable winding wheel, 311-guide rod, 312-guide sleeve;

401-a first conveyor belt, 402-a color recognition sensor, 403-a push rod mechanism, 403 a-an L-shaped bracket, 403 b-a push rod mechanism speed reduction motor, 403 c-a crank connecting rod, 403 d-a push rod, 403 e-a push rod chute and 404-a sorting box;

501-square frame, 502-second conveyer belt, 503-heat-resistant sealing plate, 503 a-first heat-resistant sealing plate, 503 b-second heat-resistant sealing plate, 504-lead screw driving unit, 505-sealing electric heating piece, 506-fusing electric heating wire;

601-disinfectant storage tank, 602-high pressure water pump, 603-water pipe, 604-atomizing spray rod, 605, 606-nozzle.

Detailed Description

The invention is described in further detail below with reference to the following figures and detailed description:

example 1

This embodiment 1 has described a high-rise building rubbish clearance robot to solve present high-rise building domestic waste disposal difficulty, waste classification difficulty and the low technical problem of refuse treatment process automation degree.

As shown in fig. 1 to 4, a high-rise building garbage cleaning robot comprises a frame 1, a garbage temporary storage cleaning mechanism 2, a lifting type transfer transportation mechanism 3, a recyclable garbage sorting mechanism 4 and a non-recyclable garbage accommodating mechanism 5.

Wherein, the rack 1 comprises a vertical mounting rack 101 and a horizontal mounting rack 102 connected to the bottom of the vertical mounting rack 101.

A plurality of garbage temporary storage and cleaning mechanism mounting brackets 103 are sequentially arranged on the vertical mounting rack 101 from top to bottom.

The temporary garbage storage and cleaning mechanisms 2 are multiple in number, wherein each temporary garbage storage and cleaning mechanism 2 is installed on each temporary garbage storage and cleaning mechanism installing support 103 of the vertical installing frame in a one-to-one correspondence mode according to the sequence from top to bottom.

Each rubbish cleaning mechanism 2 of keeping in is arranged in every floor respectively for the domestic waste of this floor of keeping in, including recoverable rubbish and such as unrecoverable rubbish such as battery.

The recyclable garbage is bagged and classified in advance in residents of each floor of the building, namely, the recyclable garbage of different types is packaged by packaging bags of different colors respectively, so that the garbage can be sorted subsequently.

As shown in fig. 5 to 7, the temporary garbage disposal mechanism 2 includes a disposal mechanism mounting housing 201, a temporary garbage storage bin 202, a temporary garbage bin door 203, a door opening/closing mechanism, a cleaning roller brush 204, a cleaning roller brush driving mechanism, and a photoelectric detection switch.

Wherein, the cleaning mechanism mounting box 201 is a square body with one side open.

For convenience of description, one side of the opening is defined as a front side.

The garbage temporary storage boxes 202 are two, and are respectively a recyclable garbage temporary storage box and an unrecoverable garbage temporary storage box; the recyclable garbage temporary storage box and the unrecoverable garbage temporary storage box are used for temporarily storing recyclable garbage and unrecoverable garbage respectively.

The two garbage temporary storage boxes 202 have the same structure and are both mounted on the inner side of the cleaning mechanism mounting box 201.

Between the two trash holding bins 202 is provided an installation area 205. The door opening and closing mechanism and the cleaning roller brush driving mechanism are both located in the installation area 205.

At the other side (i.e. the rear side) of the cleaning mechanism installation box 201 opposite to the opening side, a temporary storage box input port is respectively arranged corresponding to each garbage temporary storage box, and a temporary storage box input port baffle 206 is arranged at each temporary storage box input port.

When the garbage needs to be thrown in, the corresponding temporary storage box throwing-in port baffle 206 is opened and then thrown in.

The trash box 202 is open at the front side and includes a pair of side plates 202a and a bottom plate 202 b.

The bottom plate 202b is an arc plate disposed obliquely.

The tilt direction of the temporary storage box bottom plate 202b is from the temporary storage box inlet on the garbage temporary storage box 202 to the opening side bottom of the cleaning mechanism mounting box 201, so that the garbage in the garbage temporary storage box can be smoothly removed.

Each of the side plates 202a of the temporary storage box is provided with a moving rail 207 which is composed of a first vertical bar hole and an arc bar hole.

The first vertical strip hole 207a is located on one side of the temporary storage box side plate close to the temporary storage box inlet, the arc strip hole 207b is also obliquely arranged, and the oblique direction of the arc strip hole 207b is consistent with that of the temporary storage box bottom plate.

This design ensures that the sweeping roller brush 204 is in good contact with the bottom plate 202b of the buffer storage box during the moving cleaning process.

A chain 208 is arranged on one temporary storage box side plate of each garbage temporary storage box close to the installation area 205, and the chain 208 on the same temporary storage box side plate is positioned above the moving track 207 of the temporary storage box side plate and is parallel to the moving track.

Two cleaning rolling brushes 204 are provided, and each cleaning rolling brush 204 is positioned in one garbage temporary storage box 202; each end shaft of the cleaning roller brush 204 extends into a corresponding motion track 207 of the trash holding box in which the cleaning roller brush is located.

The cleaning roller brush 204 can move along the moving track 207 to clean the garbage in the garbage temporary storage box 202.

The cleaning roller brush driving mechanism includes a biaxial motor 209, two traveling sprockets 210, and a tension spring 211.

Wherein, each output shaft of the double-shaft motor 209 is respectively connected with the end shaft of one cleaning rolling brush 204, and each walking chain wheel 210 is respectively arranged at one output shaft side of the double-shaft motor 209 and meshed with the chain 208 at the corresponding side.

The upper end of the tension spring 211 is connected to the top plate 212 of the cleaning mechanism mounting box body, and the lower end is connected to the double-shaft motor.

Under the drive of the double-shaft motor 209, the two cleaning rolling brushes 204 can realize synchronous motion. During the movement, the tension spring 211 tensions the biaxial motor 209 so as to prevent the biaxial motor 209 from running unsmoothly due to the direction change during the operation.

Two temporary storage box doors 203 are arranged, and each temporary storage box door 203 is correspondingly arranged on the opening side of one garbage temporary storage box 202; the deposit box door 203 can be opened and closed.

When the temporary storage box door 203 is closed, the domestic garbage is normally temporarily stored in the garbage temporary storage box 202, and when the temporary storage box door 203 is opened, the garbage in the garbage temporary storage box 202 can be cleared.

The temporary storage box side plate 202a of each garbage temporary storage box 202 is provided with a second vertical bar hole 213.

Each second vertical strip 213 hole in the same temporary storage cleaning mechanism 2 is opposite in the left-right direction, and each second vertical strip 213 hole is located on one side of the corresponding temporary storage box side plate close to the opening of the cleaning mechanism installation box.

The upper portions of the two deposit box doors 203 are connected by a door link 214.

The door link 214 passes through the second vertical bar holes 213 from one side of the cleaning mechanism mounting box body.

The door opening and closing mechanism is connected with the door connecting rod 214 and is used for driving the two temporary storage box doors 203 to synchronously realize opening and closing motions.

In the embodiment, the box door opening and closing mechanism preferably adopts a pull rope mechanism; the rope pulling mechanism includes a rope 215, a rope pulling mechanism speed reducing motor 216, a rope winding wheel 217 and a fixed pulley 218.

The rope pulling mechanism speed reducing motor 216 is mounted on the top plate 212 of the cleaning mechanism mounting box body through a motor bracket, and the fixed pulley 218 is mounted on the top plate 212 of the cleaning mechanism mounting box body through a pulley bracket.

A rope reel 217 is mounted on an output shaft of the rope mechanism reduction motor 216.

The pull cord 215 is connected to a cord reel at one end and to the door link 214 at the other end via a fixed pulley 218.

The door link 214 is driven by the pull rope mechanism to move up and down, so as to drive the two temporary storage box doors 203 to synchronously realize the up and down movement, thereby realizing the synchronous opening and closing movement of the two temporary storage box doors 203.

The photoelectric detection switches are provided in two groups, and one group of the photoelectric detection switches is installed in each trash holding box 202, and each group of the photoelectric detection switches is preferably installed on the holding box side plate 202a in each trash holding box 202.

The photoelectric detection switch can detect the amount of garbage in the garbage temporary storage box 202, and timely sends a signal to a main controller when the garbage in the garbage temporary storage box 202 reaches a set height.

As shown in fig. 8 to 11, the elevating transit conveyance mechanism 3 is connected to the vertical mounting frame 101 and can move up and down along the vertical mounting frame 101. The lifting type transfer transportation mechanism 3 is used for transferring garbage.

The lifting type transfer transportation mechanism 3 comprises a transfer box body 301, a transfer box body lifting mechanism, a guide part, a square cleaning brush 302, a square cleaning brush connecting piece 303, a square cleaning brush connecting piece lifting mechanism and a laser ranging sensor.

The transfer box lifting mechanism is arranged on the vertical mounting frame 101, is connected with the transfer box 301 and is used for driving the transfer box 301 to move along the up-down direction.

The guide member is disposed between the vertical mounting frame 101 and the transfer box body 301, and is configured to guide movement of the transfer box body.

The transfer box body 301 includes two waste transfer boxes 301 a.

The two garbage transfer boxes 301a are a recyclable garbage transfer box and an unrecoverable garbage transfer box, wherein the two garbage transfer boxes 301a are used for transferring recyclable garbage and unrecoverable garbage respectively.

The recyclable waste relay box (one of the waste relay boxes 301a) corresponds to a recyclable waste storage box, and the unrecoverable waste relay box (the other waste relay box 301a) corresponds to an unrecoverable waste storage box.

Taking one of the garbage transfer boxes 301a as an example:

the upper and bottom of each trash transferring bin 301a are open.

An openable bottom opening baffle 304 is arranged at the bottom opening of each garbage transfer box 301a, and one side edge of the bottom opening baffle 304 is hinged with the bottom of the garbage transfer box 301 a.

In this embodiment, the upper portion of the side plate of the trash transferring box 301a is square, and the cross-sectional diameter of the lower portion is gradually reduced.

The square cleaning brushes 302 are two, each square cleaning brush 302 is located in one garbage middle container 301a, and the square cleaning brushes 302 are attached to the inner side wall of the garbage transfer container (upper portion) to guarantee cleaning effect.

The two square cleaning brushes 302 are connected through a square cleaning brush connecting piece 303.

The square cleaning brush connecting member 303 in this embodiment is preferably a flat strip connecting member, and the square cleaning brush connecting member 303 is connected to each square cleaning brush 302 by welding or bolting.

A connecting rod 305 is respectively arranged on the square cleaning brush connecting piece 303 corresponding to each bottom opening baffle plate 304, and the bottom of each connecting rod 305 is respectively connected with the corresponding bottom opening baffle plate 304.

The square cleaning brush connecting piece lifting mechanism is arranged in the middle of the transfer box body 301 and is connected with the square cleaning brush connecting piece 303. Specifically, a partition 306 is provided in the middle of the two trash transfer boxes 301 a.

The square cleaning brush attachment lifting mechanism is mounted on the spacer 306.

The lifting mechanism of the square cleaning brush connecting piece adopts a screw rod driving mechanism, wherein the square cleaning brush connecting piece 303 is installed on a screw rod nut of the screw rod driving mechanism, and a screw rod is arranged along the vertical direction.

A vertical bar hole 307 is arranged in the middle of the partition 306, so that the square cleaning brush connecting piece 303 can move up and down conveniently.

Furthermore, a cross beam 104 is provided at the top of the vertical mounting frame 101. A laser ranging sensor (not shown) is mounted on the beam 104 and is aimed downward at the transfer box body 301.

The laser ranging sensor is used for realizing the position positioning of the transfer box body 301, so that the transfer box body can accurately reach the position of each floor.

The transfer box body lifting mechanism adopts a steel cable traction mechanism. The cable pulling mechanism includes a cable 308, a cable pulling mechanism gear motor 309, and a cable take-up wheel 310.

Wherein, the speed reducing motor 309 of the steel cable traction mechanism is connected to the top of the vertical mounting rack, namely the cross beam 104, through the motor mounting rack, and the steel cable winding wheel 310 is installed on the output shaft of the speed reducing motor 309 of the steel cable traction mechanism.

The cable 308 has one end connected to the cable reel 310 and the other end connected to the middle of the transfer case 301.

The speed reducing motor 309 of the steel cable traction mechanism drives the transfer box body 301 to move up and down through the steel cable 308, so as to drive the lifting type transfer transportation mechanism 3 to reach different floor positions, and thus the garbage of each floor is transferred.

There are two sets of guide members, and the guide members are respectively located at left and right side portions of the vertical mounting frame 101.

The guide member includes a guide rod 311 and a guide sleeve 312. Wherein, the top and the bottom of the guide rod 311 are respectively installed at the top and the bottom corresponding positions of the vertical mounting frame 101 through the guide rod support 313.

The guide sleeve 312 is mounted on the guide bar 311, and the guide sleeve 312 is coupled to a side portion of the relay box body 301.

The recyclable garbage sorting mechanism 4 and the non-recyclable garbage accommodating mechanism 5 are both mounted on the transverse mounting frame 102.

Wherein, the recyclable garbage sorting mechanism 4 is positioned below the recyclable garbage transfer box; the unrecoverable waste storage mechanism 5 is located below the unrecoverable waste relay box.

The recyclable garbage sorting mechanism 4 is used for sorting and transporting recyclable garbage falling from the garbage transfer box.

As shown in fig. 12 to 14, the recyclable waste sorting mechanism 4 includes a first conveyor belt 401, a color recognition sensor 402, a pusher mechanism 403, and a sorting bin 404.

The color recognition sensor 401 and the pusher mechanism 403 are both located on the side of the first conveyor belt 401, and the color recognition sensor 401 is located upstream of the pusher mechanism 403 as viewed in the conveying direction of the first conveyor belt.

The color recognition sensor 401 is mounted to the side of the lateral mount 102 by a bracket.

The push rod mechanisms 403 are provided with a plurality of groups, and the pushing direction of each group of push rod mechanisms 403 is perpendicular to the conveying direction of the first conveying belt; the groups of pusher mechanisms are arranged sequentially from upstream to downstream, as viewed in the conveying direction of the first conveyor belt.

The sorting bin 404 is on the opposite side of the first conveyor belt 401 from the pusher mechanism 403; in this embodiment, there are a plurality of sorting bins 404, and each sorting bin 404 is arranged in one-to-one correspondence with each pushing rod mechanism 403.

Taking one of the push rod mechanisms 403 as an example:

the pusher mechanism 403 includes an L-shaped bracket 403a, a pusher mechanism gear motor 403b, a crank link 403c, and a pusher 403 d. Wherein the bottom of the L-shaped bracket 403a is attached to the transverse mounting bracket 102.

The push rod mechanism speed reducing motor 403b is arranged at the top of the L-shaped bracket 403a through a motor bracket and is connected with one end of a crank connecting rod 403 c; a push rod runner 403e extending in the length direction of the horizontal section is provided on the horizontal section of the L-shaped bracket 403 a.

The push rod 403d comprises an upper horizontal slider A and a vertical push rod B connected with the upper horizontal slider; the upper horizontal slide block a is located in the push rod slide groove 403e and is connected to the other end of the crank link 403 c.

The vertical push rod B is located above the first conveyor belt 401, and the pushing direction of the vertical push rod is toward the sorting bin 404.

As shown in fig. 15 to 18, the non-recyclable waste storage mechanism 5 is used for automatically bagging, sealing and carrying out non-recyclable waste falling from the waste transfer bin. This mechanism is acceptd to unrecoverable rubbish includes:

a square frame 501, a second conveyor belt 502, a heat-resistant sealing plate 503, and a screw drive unit 504.

Wherein, the square frame 501 is arranged on the transverse mounting frame 102.

The second conveyor belt 502 and the screw driving unit 504 are both mounted on the square frame 501, wherein the screw driving unit 504 is located at the upper part of the square frame, and the second conveyor belt 502 is located at the bottom part of the square frame.

The heat-resistant sealing plate 503 includes a first heat-resistant sealing plate 503a and a second heat-resistant sealing plate 503 b.

The first heat-resistant sealing plate 503a is fixed to one end of the screw driving unit, and the second heat-resistant sealing plate 503b is connected to a screw nut of the screw driving unit. The first heat-resistant sealing plate and the second heat-resistant sealing plate are parallel to each other.

The first heat-resistant sealing plate 503a is in contact with the second heat-resistant sealing plate 503b to seal and fuse the non-recyclable refuse receptacle. Wherein the non-recyclable waste storage bag is previously fitted over the square frame 501.

The non-recyclable refuse receptacle has a long tubular structure, and one end of the non-recyclable refuse receptacle is sealed before use.

As shown in fig. 19, a sealing electric heating sheet 505 and a fusing electric heating wire 506 are provided on the second heat-resistant sealing plate 503 b.

Two sealing electric heating sheets 505 are provided, one fusing heating wire 506 is provided, the sealing electric heating sheets 505 and the fusing heating wire 506 are arranged in parallel, and the fusing heating wire 506 is located between the two sealing electric heating sheets 505.

The operation temperature of the sealing electric heating plate 505 is lower than that of the fusing heating wire 506.

The sealing electric heating sheets 505 are used for sealing the non-recyclable garbage containing bag, and two sealing electric heating sheets 505 are provided, so that sealing operations at two upper and lower positions can be realized by one operation.

One seal is used as the upper seal of the current non-recyclable garbage containing bag, and the other seal is used as the bottom seal of the next non-recyclable garbage containing bag, so that the automatic bagging and packaging processes of the non-recyclable garbage are realized.

The fusing heating wire 506 is used to fuse the non-recyclable waste storage bag by using a high temperature, and the non-recyclable waste storage bag falls on the second conveyor 502 and is carried out along the conveyor after being fused.

In addition, the robot of the present embodiment further includes a main controller (not shown); the garbage temporary storage cleaning mechanism 2, the lifting type transfer conveying mechanism 3, the recyclable garbage sorting mechanism 4 and the non-recyclable garbage accommodating mechanism 5 are respectively connected with a main controller.

The controller controls the actions of relevant parts in the mechanisms. In this embodiment, the main controller preferably employs a single chip microcomputer.

As shown in fig. 20, the robot for cleaning up the garbage in the high-rise building further comprises a spray disinfection mechanism 6; wherein, the spray disinfection mechanism 6 comprises a disinfectant storage tank 601 and two sets of tank disinfection pipelines. Two outlets of the disinfectant storage tank 601 are provided.

Wherein, the disinfectant storage box 601 is arranged on the transverse mounting frame 102;

each group of box body disinfection pipelines comprises a high-pressure water pump 602, a water pipe 603 and an atomizing spray rod 604; wherein, the delivery outlet of antiseptic solution storage tank 601 links to each other with water pipe 603 and atomizing spray lance 604 in proper order, and high pressure water pump 602 sets up on the water pipe.

The atomizing spray bars 604 of the two sets of box body disinfection pipelines are vertically installed and are respectively positioned on one side of the vertical installation rack 101.

Wherein, a nozzle 605 is respectively arranged on a group of atomizing spray rods 604 corresponding to each recyclable waste storage box, and the spraying direction of the nozzle 605 faces to the recyclable waste storage box.

And a nozzle 606 is respectively arranged on the other group of atomizing spray rods corresponding to each unrecoverable garbage temporary storage box, and the spraying direction of the nozzle 606 faces to the inside of the unrecoverable garbage temporary storage box.

Through the spraying disinfection mechanism 6, the disinfection work of the garbage temporary storage boxes on all floors can be realized.

Garbage cleaning robot in this embodiment, degree of automation is high, does benefit to the realization and clears up the waste classification of high-rise building.

Example 2

This embodiment 2 describes an automatic cleaning method for high-rise building garbage, which is based on the high-rise building garbage cleaning robot in embodiment 1 above, to complete the automatic classification cleaning work for high-rise building garbage.

The automatic cleaning method for the garbage of the high-rise building comprises the following steps:

I.1. when the photoelectric detection switch in the garbage temporary storage box 202 of one garbage temporary storage cleaning mechanism 2 detects that the garbage in the garbage temporary storage box reaches a set height, the photoelectric detection switch sends a signal to the main controller.

I.2. The main controller controls the action of the lifting type transfer transportation mechanism 3, and the specific process is as follows:

at first, the transfer box body lifting mechanism drives the transfer box body 301 to ascend, and when the laser ranging sensor detects that the transfer box body runs to the height suitable for the temporary garbage storage and cleaning mechanism, the laser ranging sensor sends a signal to the main controller, and the transfer box body stops running.

I.3. The main controller controls the box door opening and closing mechanism and the cleaning rolling brush driving mechanism to synchronously act.

The door opening and closing mechanism controls the opening of two temporary storage box doors 203 in the garbage temporary storage cleaning mechanism, and the cleaning rolling brush driving mechanism drives the two cleaning rolling brushes 204 to respectively clean out the garbage in the corresponding garbage temporary storage boxes 202.

The cleared recyclable garbage falls into the recyclable garbage transfer box, and the unrecoverable garbage falls into the unrecoverable garbage transfer box.

I.4. The main controller controls the action of the lifting type transfer transportation mechanism 3, and the specific process is as follows:

at first, the transfer box body lifting mechanism drives the transfer box body 301 to descend, and when the laser ranging sensor detects that the transfer box body runs to the lower part of the vertical mounting rack and sets the height, the laser ranging sensor sends a signal to the main controller and controls the transfer box body to stop running.

I.5. The square cleaning brush connecting piece lifting mechanism drives the square cleaning brush connecting piece 303 to descend, and the square cleaning brush connecting piece 303 drives the two square cleaning brushes 302 to respectively clean the inner side of each garbage transfer box.

At the same time, the bottom opening baffles 304 at the bottoms of the two trash transfer boxes 301a are opened; wherein:

the recyclable garbage falls into a first conveying belt 401 from an opening at the bottom of the recyclable garbage transfer box, and the step I.6 is carried out; and (4) enabling the non-recyclable garbage to fall into the non-recyclable garbage containing bag from the opening at the bottom of the non-recyclable garbage transfer box, and transferring to the step I.7.

I.6. The recyclable garbage is conveyed along the first conveyor belt 401, the color recognition sensor 402 recognizes the color of the packaging bag of the recyclable garbage, and the recognition result is fed back to the controller;

when the recyclable garbage runs to the position of the push rod mechanism 403 corresponding to the recyclable garbage, the controller controls the corresponding push rod mechanism to act, and the push rod mechanism pushes the recyclable garbage into the sorting bin 404 opposite to the first conveying belt;

through the above operations, sorting and carrying out operations of various types of recyclable garbage can be realized, and the operation goes to step I.8;

I.7. the main controller controls the operation of the screw driving unit 504 in the non-recyclable waste storage mechanism, and the screw nut in the screw driving unit drives the second heat-resistant sealing plate 503b to approach the first heat-resistant sealing plate 503 a.

When the first heat-resistant sealing plate 503a contacts the second heat-resistant sealing plate 503b, both the two sealing electric heating sheets 505 are heated, thereby sealing different positions of the non-recyclable refuse storage bag.

Wherein, one sealing position is used as the upper sealing of the current non-recyclable garbage containing bag; the other sealing position is used as the bottom sealing of the next non-recyclable garbage containing bag.

Subsequently, the fusing heating wire 506 is heated to fuse the current unrecoverable garbage bag. The melted unrecoverable waste receiving bag falls into the second conveyor 502, and the second conveyor 502 carries the unrecoverable waste out.

Through the above operations, the processes of automatic bagging, packaging and transporting out of the unrecoverable garbage are completed, and the step I.8 is switched to;

I.8. and (4) finishing the work of classifying and cleaning the garbage once after the step I.6 and the step I.7 are finished, turning to the step I.1, waiting for the next garbage classifying and cleaning, and repeating the process.

According to the steps, the method is high in automation degree, and automatic classification and cleaning of the garbage of the high-rise buildings are achieved, so that the problems that the domestic garbage of the high-rise buildings is difficult to treat and the garbage is difficult to classify at present are effectively solved.

It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. A high-rise building garbage cleaning robot is characterized by comprising a rack, a garbage temporary storage cleaning mechanism, a lifting type transfer transportation mechanism, a recyclable garbage sorting mechanism and a non-recyclable garbage accommodating mechanism;

the lifting type transfer transportation mechanism is connected with the vertical mounting rack and can move up and down along the vertical mounting rack;

a partition plate is arranged in the middle of the two garbage transfer boxes;

wherein, the square frame is arranged on the transverse mounting rack;

2. The high-rise building garbage cleaning robot as claimed in claim 1,

the box door opening and closing mechanism adopts a pull rope mechanism;

the rope pulling mechanism speed reducing motor is mounted on a top plate of the cleaning mechanism mounting box body through a motor support, and the fixed pulley is mounted on the top plate of the cleaning mechanism mounting box body through a pulley support;

the stay rope winding wheel is arranged on an output shaft of the stay rope mechanism speed reducing motor;

3. The high-rise building garbage cleaning robot as claimed in claim 1,

the transfer box body lifting mechanism adopts a steel cable traction mechanism;

4. The high-rise building garbage cleaning robot as claimed in claim 1,

the guide component comprises a guide rod and a guide sleeve;

5. The high-rise building garbage cleaning robot as claimed in claim 1,

the push rod mechanism comprises an L-shaped bracket, a push rod mechanism speed reducing motor, a crank connecting rod and a push rod;

vertical push rod is located the top of first conveyer belt, vertical push rod's promotion direction orientation letter sorting case.

6. The high-rise building garbage cleaning robot as claimed in claim 1,

the high-rise building garbage cleaning robot also comprises a spray disinfection mechanism; wherein, the spray disinfection mechanism comprises a disinfectant storage box and two groups of box disinfection pipelines; two outlets of the disinfectant storage box are provided;

7. A high-rise building rubbish automatic cleaning method is based on the high-rise building rubbish cleaning robot as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:

the box door opening and closing mechanism controls the opening of the box doors of the two temporary storage boxes in the garbage temporary storage and cleaning mechanism, and the cleaning rolling brush driving mechanism drives the two cleaning rolling brushes to respectively clean out garbage in the corresponding garbage temporary storage boxes;

go to step I.8;