CN112849854A - Unmanned garbage clearing and transporting vehicle and clearing and transporting method thereof - Google Patents
Unmanned garbage clearing and transporting vehicle and clearing and transporting method thereof Download PDFInfo
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- CN112849854A CN112849854A CN202110242146.7A CN202110242146A CN112849854A CN 112849854 A CN112849854 A CN 112849854A CN 202110242146 A CN202110242146 A CN 202110242146A CN 112849854 A CN112849854 A CN 112849854A
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 288
- 238000000034 method Methods 0.000 title claims description 12
- 230000006835 compression Effects 0.000 claims abstract description 23
- 238000007906 compression Methods 0.000 claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 78
- 230000007306 turnover Effects 0.000 claims description 38
- 238000003825 pressing Methods 0.000 claims description 23
- 238000004659 sterilization and disinfection Methods 0.000 claims description 16
- 210000000078 claw Anatomy 0.000 claims description 12
- 230000008447 perception Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 10
- 239000007921 spray Substances 0.000 claims description 10
- 238000011084 recovery Methods 0.000 claims description 9
- 230000002421 anti-septic effect Effects 0.000 claims description 4
- 239000000645 desinfectant Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 81
- 230000017525 heat dissipation Effects 0.000 description 10
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 8
- 238000009530 blood pressure measurement Methods 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
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- 230000008092 positive effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F3/08—Platform elevators or hoists with guides or runways for raising or tipping receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
- B65F3/20—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle with charging pistons, plates, or the like
- B65F3/201—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle with charging pistons, plates, or the like the charging pistons, plates or the like moving rectilinearly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F2003/006—Constructional features relating to the tank of the refuse vehicle
Abstract
The invention discloses an unmanned garbage cleaning and transporting vehicle which comprises a vehicle body, a garbage box body arranged on the vehicle body, a lifting device used for grabbing and turning over a garbage can, a tail door device used for opening and closing a tail door of the garbage box body, a compression device used for compressing garbage in the garbage box body and pushing the garbage outwards, and a control device used for controlling the vehicle body, the lifting device, the tail door device and the compression device to operate. According to the time of predetermineeing and predetermineeing the place by oneself and plan the route of traveling, discern the garbage bin, snatch and overturn the garbage bin, in time clear away rubbish to the rubbish recycle bin after refuse collection accomplishes in, tail door device and compressor arrangement cooperate in order to release the rubbish in the garbage bin to the outside of dustbin, realize the clearance of rubbish, and whole journey need not artificial operation, in time clears up rubbish, avoids causing environmental pollution, improves the treatment effeciency of rubbish clearance.
Description
Technical Field
The invention belongs to the technical field of garbage treatment, and particularly relates to an unmanned garbage clearing and transporting vehicle and a clearing and transporting method thereof.
Background
With the increasing development of national economy and the continuous progress of science and technology, the living standard of people is continuously improved, but the continuous explosion of domestic garbage is brought. The effective collection, classification and treatment of the large amount of generated domestic garbage become important in recent years of environmental protection in various large and medium-sized cities.
The garbage collection and transportation vehicle on the market needs to place a garbage can on a lifting device of the garbage collection and transportation vehicle in advance or operate a mechanical arm to grab the garbage can, and then the garbage collection and transportation vehicle lifts and turns over the garbage can to enable garbage to be dumped into a garbage truck. In practical application, the garbage truck needs to be manually installed on the lifting device, then the garbage can with dumped garbage is disassembled from the lifting device, the whole loading and unloading process consumes physical power, the working environment is poor, and in the process of loading and unloading the garbage can, the garbage can collides with the lifting device, the lifting device of the garbage truck is easily damaged, and the service life of the garbage truck is shortened.
At present, garbage in residential living communities is mostly treated by adopting a fixed-point collection and specially-assigned transfer cleaning mode. Under this kind of mode, the rubbish that often can appear the untimely rubbish of transporting and cause spills over the phenomenon, causes local environmental pollution, causes rubbish stink to permeate, and the treatment effeciency of rubbish clearance is low, influences the ecological environment around.
In order to solve the technical problem, an unmanned garbage collection and transportation vehicle capable of accurately grabbing garbage cans and quickly cleaning and transporting garbage needs to be developed.
Disclosure of Invention
The invention aims to provide an unmanned garbage clearing and transporting vehicle which can accurately grab a garbage can, timely and quickly process garbage at preset time and place and does not need manual loading and unloading operation.
Another object of the present invention is to provide a method of cleaning an unmanned refuse collection vehicle.
The technical scheme of the invention is as follows:
an unmanned refuse collection vehicle comprising: the garbage bin comprises a vehicle body, a garbage bin body arranged on the vehicle body, a lifting device used for grabbing and turning over a garbage bin, a tail door device used for opening and closing a tail door of the garbage bin body, a compression device used for compressing garbage in the garbage bin body and pushing the garbage outwards, and a control device used for controlling the vehicle body, the lifting device, the tail door device and the compression device to operate, wherein the lifting device is arranged on the side surface of the garbage bin body, the tail door device is arranged at the tail end of the garbage bin body, and the compression device is arranged in the garbage bin body;
the control device comprises a sensing module, a control module and a power module, wherein the sensing module and the power module are electrically connected with the control module, the sensing module is used for constructing a map of the surrounding environment of the vehicle body, identifying and classifying garbage, obstacles and preset places and generating sensing positioning data; the power module is used for driving the garbage clearing and transporting vehicle to run and driving the lifting device, the tail gate device and the compression device to run; the control module is used for receiving the perception positioning data sent by the perception module, processing the perception positioning data to generate an operation instruction, controlling the operation of the power module, the lifting device, the tail gate device and the compression device according to the operation instruction, and communicating and connecting with a remote client;
the lifting device comprises an overturning and meshing mechanism for grabbing the garbage can, a driving mechanism for driving the overturning and meshing mechanism to operate and a guide mechanism for controlling the overturning and meshing mechanism to overturn, the driving mechanism is installed on the top surface of the garbage can body, the guide mechanism is installed on the side surface of the garbage can body, the overturning and meshing mechanism is installed on the guide mechanism in a sliding mode, and the top of the overturning and meshing mechanism is connected with the driving mechanism to be used for pulling the overturning and meshing mechanism to move;
the tail gate device comprises a tail gate, a tail gate rotating frame and a tail gate driving cylinder, the tail gate is installed at the tail part of the garbage box body, the bottom of the tail gate rotating frame is fixedly installed at the top of the tail end of the garbage box body, the movable end of the tail gate rotating frame is fixedly installed with the tail gate, the movable end of the tail gate rotating frame is hinged with the bottom of the tail gate rotating frame through a rotating shaft, the tail gate driving cylinder is installed on the side wall of the tail end of the garbage box body, the driving end of the tail gate driving cylinder is hinged with the tail gate, and the tail gate is upwards rotated and opened along the rotating shaft of the tail gate rotating frame under the pushing of the tail gate driving cylinder;
the garbage can comprises a garbage can body, a compression device, a push plate driving cylinder and a push plate driving rod, wherein the compression device is arranged in the garbage can body and comprises a push plate, a push plate driving cylinder and a push plate driving rod, the push plate is vertically arranged in the garbage can body, the push plate driving cylinder is arranged on one side, away from a tail door, of the garbage can body, the output end of the push plate driving cylinder is connected with one end of the push plate driving rod, the other end of the push plate driving rod is fixedly installed with the push plate, the push plate is pushed under the action of the push plate driving cylinder through the push plate.
In the technical scheme, the tail gate rotating frame comprises a base and a rotating claw, the base is fixedly mounted on the top surface of the tail end of the garbage box body, a mounting hole is formed in the base, one end of the rotating claw is connected with the mounting hole through a rotating shaft, and the other end of the rotating claw is fixedly mounted with the tail gate, so that the tail gate rotates along the rotating shaft under the action of the rotating claw.
In the technical scheme, a sliding rail is formed on the inner wall of one side of the garbage can body, one side of the push plate is slidably mounted in the sliding rail, and the height of the push plate is equal to that of the garbage can body.
In the technical scheme, the push plate driving cylinder is fixedly arranged on the inner wall of one side of the garbage can body and is arranged below the sliding rail.
In the technical scheme, the sensing module comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and an inertial navigation unit, the camera is installed on the front side of the vehicle body and used for shooting the surrounding environment of the vehicle body, the laser radar, the millimeter wave radar and the ultrasonic radar are installed on the front side of the vehicle body and used for sensing the surrounding environment information of the vehicle body and identifying obstacles, and the inertial navigation unit is installed on the vehicle roof and used for positioning the position of the vehicle in real time.
In the above technical solution, the power module includes an electric control hydraulic system, the electric control hydraulic system includes an oil tank, an oil delivery pump set connected with the oil tank through a pipeline and used for delivering oil outwards, and a heat dissipation pump set used for dissipating heat from the oil tank, an oil inlet end of the oil delivery pump set is connected with an oil delivery port of the oil tank through an oil inlet pipeline, an oil outlet end of the oil delivery pump set is connected with oil inlet ends of the tailgate driving cylinder, the push pedal driving cylinder and the turnover driving cylinder respectively through oil inlet pipelines, a first proportional directional valve is installed at the oil inlet end of the tailgate driving cylinder, a second proportional directional valve is installed at the oil inlet end of the push pedal driving cylinder, a third proportional directional valve is installed at the oil inlet end of the turnover driving cylinder, a first check valve, a high pressure transmitter, a high pressure gauge and a first pressure measuring connector are installed on the oil inlet pipelines between the oil delivery pump set and the tailgate driving cylinder, the push pedal, the one end and the oil inlet pipe connection of first pressure measurement joint, the other end is connected with the oil return port of oil tank through returning oil pipe way be equipped with overflow valve and solenoid valve on the oil return pipe way between first pressure measurement joint and the oil tank, make the pressure in the oil inlet pipe way keep normal, the oil inlet end of heat dissipation pump package is connected with the oil delivery port of oil tank through the heat dissipation pipeline, the end of producing oil of heat dissipation pump package is connected with the oil return filter through returning oil pipe way be equipped with low pressure transmitter, low pressure manometer, second pressure measurement joint, second temperature transmitter and forced air cooling on the oil return pipe way between heat dissipation pump package and the oil return filter.
In the above technical scheme, a filter is arranged on the oil inlet pipeline between the first one-way valve and the first pressure measuring joint.
In the technical scheme, a liquid level liquid thermometer is arranged in the oil tank, a first temperature transmitter, an air filter and an alarm are arranged on the oil tank, and an oil drain ball valve is arranged at the bottom of the oil tank.
In the technical scheme, a first displacement sensor is arranged in the tail gate driving cylinder and used for monitoring the operation position of the tail gate driving cylinder, a second displacement sensor is arranged in the push plate driving cylinder and used for monitoring the operation position of the push plate driving cylinder, and a third displacement sensor is arranged in the overturning driving cylinder and used for monitoring the operation position of the overturning driving cylinder.
In the technical scheme, the control module is electrically connected with the power module to respectively control the tail gate driving cylinder, the push plate driving cylinder and the turnover driving cylinder to operate.
In the above technical solution, the remote client includes a mobile phone, a tablet computer or a remote monitoring platform.
In the technical scheme, the lifting device comprises a turnover meshing mechanism, a driving mechanism and a guiding mechanism;
wherein: the overturning and meshing mechanism comprises an overturning frame, a lifting frame which is arranged on the overturning frame in a sliding manner and is driven by external force to lift, and a guide frame which is arranged in the overturning frame and used for guiding;
the lifting frame is rotatably provided with an occlusion plate, a driving plate is formed at the rear end of the bottom of the occlusion plate, and a plurality of uniformly distributed occlusion teeth are formed at the front end of the top surface of the occlusion plate;
the roll-over stand is provided with a pressing plate, and the rear side of the bottom surface of the pressing plate is provided with a pressing rod which is used for abutting against the driving plate so as to enable the occlusal plate to rotate upwards and to be matched with the pressing plate to complete occlusion.
In the technical scheme, the pressing plate is positioned at the upper part of the turnover frame, and a connecting shaft is formed on the opposite inner wall of the turnover frame and used for being connected with the guide frame.
In the above technical scheme, the guide frame is arranged below the bite plate, and the top of the guide frame is rotatably arranged on the roll-over stand.
In the technical scheme, the lifting frame comprises two symmetrically arranged lifting blocks and an installation shaft arranged between the two lifting blocks, each lifting block is provided with a sliding groove on the inner side relative to the lifting block, and the sliding grooves are matched with the turnover frame to enable the lifting frame to slide along the turnover frame in a lifting mode.
In the technical scheme, a horizontal installation through hole is formed in the rear side of the occluding plate, the installation through hole is matched with the installation shaft to enable the occluding plate to be installed on the lifting frame in a rotating mode, the driving plate is located in the middle of the bottom of the rear side of the occluding plate, the lifting frame is driven by external force to ascend, the occluding plate ascends along with the lifting frame, the driving plate moves upwards to enable the bottom end of the pressing rod to be in contact with the driving plate and tightly push the driving plate, and the occluding plate is driven to rotate upwards to enable the occluding plate and the pressing plate to complete an occluding action.
In the technical scheme, two first pulleys are symmetrically installed on two sides of the top of a turnover frame of the turnover meshing mechanism, and two second pulleys are symmetrically installed on two sides of the bottom of the guide frame;
the driving mechanism comprises a supporting frame, a garbage can cover, an overturning driving cylinder and a pull rod, the supporting frame is fixedly arranged at the top of a garbage can body of the garbage truck, the outer side of the top end of the garbage can cover is hinged with the top end of the supporting frame through a rotating shaft, the bottom end of the garbage can cover is hinged with the top end of the pull rod, the bottom end of the pull rod is hinged with the outer side of the bottom end of the lifting frame, the overturning driving cylinder is arranged on the outer side of the supporting frame, and a push rod of the overturning driving cylinder is hinged with the;
the guiding mechanism comprises a bottom beam and two guiding slideways symmetrically arranged on the bottom beam, the slideways of the guiding slideways are oppositely arranged, every guiding slideway is fixedly arranged at the bottom end of the bottom beam, the top end of the guiding slideway is fixedly arranged at the bottom end of the supporting frame, a first pulley on the overturning frame and a second pulley on the guiding frame are matched with the guiding slideways so as to be used for lifting and overturning along the guiding slideways after grabbing the occluded garbage can under the pulling of the driving mechanism.
In the technical scheme, the roll-over stand is a rectangular frame, the pressing plate is fixedly arranged at the upper part of the roll-over stand, and a connecting shaft is formed on the opposite inner wall of the roll-over stand and is used for being connected with the guide frame; the guide frame is a rectangular frame, the guide frame is arranged below the occlusal plate, a mounting hole is formed in the outer side of the top of the guide frame, and the mounting hole is matched with the connecting shaft so that the guide frame can be rotatably mounted on the turnover frame.
In the technical scheme, the size of the guide frame is smaller than that of the turnover frame, and the bottom end of the turnover frame is provided with a clamping groove protruding towards the front side so that the guide frame is embedded in the turnover frame.
In the technical scheme, the bottom end of the pressure rod is provided with the arc surface so as to avoid damaging the driving plate.
In the technical scheme, the included angle between the driving plate and the horizontal plane is 30-45 degrees.
In the technical scheme, the outer side of each lifting block is connected with an external driving mechanism so that the lifting blocks can move up and down on the turnover frame.
In the above technical solution, the driving plate is disposed in the middle of the bottom of the rear side of the bite plate.
In the technical scheme, each guide slide comprises a vertical section and an arc section, the bottom end of the vertical section is fixedly arranged on the bottom beam, the top end of the vertical section and the bottom end of the arc section are fixedly arranged, the driving mechanism pulls the turnover frame to ascend, the first pulley on the turnover frame ascends through the vertical section of the guide slide and moves along the arc section, the occluded garbage can is overturned along the arc section, and meanwhile the second pulley of the guide frame ascends along the vertical section of the guide slide to guide the overturning occlusion mechanism.
In the technical scheme, the two sides of the top of the roll-over stand are provided with first connecting rods extending outwards, and the first pulleys are connected with the roll-over stand through the first connecting rods.
In the above technical scheme, the two sides of the bottom of the guide frame are provided with second connecting rods extending outwards, and the second pulleys are connected with the guide frame through the second connecting rods.
In the above technical scheme, the length of the first connecting rod is smaller than that of the second connecting rod.
In the technical scheme, the sum of the length of the pull rod and the length of the turnover frame is equal to the height of the vertical section of the guide slide way.
In the technical scheme, the connecting blocks are symmetrically formed at the bottom end of the dustbin cover, a connecting hole is formed in each connecting block, and a pull rod shaft is installed in each connecting hole and connected with a pull rod.
In the technical scheme, the number of the turnover driving cylinders is two, the two turnover driving cylinders are symmetrically arranged on the outer side of the supporting frame, and each turnover driving cylinder is obliquely arranged at the bottom of the supporting frame.
In the technical scheme, mounting plates are formed on two sides of the top of the box cover, connecting holes are formed in the mounting plates, and rotating shafts arranged on the supporting frame are hinged to the mounting plates through the connecting holes.
In the technical scheme, the middle part of the mounting plate is provided with a mounting hole, the mounting hole is provided with a rotating shaft and is hinged with the push rod, and the turnover driving cylinder drives the push rod to extend outwards so as to push the box cover to rotate and open.
In the technical scheme, a gap is formed between the pull rod and the guide slide way, so that mutual influence between the pull rod and the guide slide way is avoided.
A clearing method of an unmanned garbage clearing and transporting vehicle comprises the following steps:
(1) presetting a place of a garbage can to be cleaned, planning a running path through a control module, detecting surrounding environment data of a vehicle body in real time through a sensing module, acquiring the current position of the garbage cleaning and transporting vehicle in real time, adjusting the running direction of the garbage cleaning and transporting vehicle in time after the control module receives the surrounding environment data and the current position, and recognizing the identifier and the color of the garbage can to be cleaned through camera shooting;
(2) after the unmanned garbage truck is controlled to travel to a preset place where a garbage can to be cleaned is to be cleaned, the control unit sends a working signal to the overturning driving cylinder, so that the lifting mechanism is meshed with the top edge of the garbage can, the garbage can moves upwards to the top point and overturns, and garbage dumping work of the garbage can is realized;
(3) the overturning driving cylinder is contracted, the lifting device returns to the original position, the garbage can is loosened and is placed on the ground, and then the garbage cleaning vehicle moves to the next place where the garbage can to be cleaned is preset before the garbage cleaning vehicle is transported;
(4) after the recovery of all the preset garbage of the garbage can to be cleaned is finished, controlling a planned route of a garbage truck to automatically drive to a garbage recovery station, sending an operation instruction by a control module, driving a push plate by a push plate driving cylinder to drive a push plate to move towards the direction of a tail door, compressing the garbage in a garbage can body, simultaneously pushing the tail door to be opened outwards by the tail door driving cylinder, pushing the garbage out of the garbage can body under the action of the push plate, and finishing the unloading of the garbage;
(5) after the garbage is unloaded, the tail door driving cylinder and the push plate driving cylinder are controlled to return to the original positions, the tail door is closed, and the garbage collection vehicle leaves from the garbage recovery station.
In the above technical scheme, after the garbage can is collected in the step (3), a disinfection tank is arranged on the garbage truck, and disinfectant is sprayed to the garbage can through a pipeline so as to disinfect the garbage can.
The invention has the advantages and positive effects that:
1. the garbage cleaning and transporting vehicle can be used for automatically planning a traveling path at preset time and preset places, recognizing the garbage can, grabbing and overturning the garbage can through the lifting device to dump garbage, timely transporting the garbage into the garbage recycling station after garbage collection is completed, the tail door device and the compression device are matched to push the garbage in the garbage can out of the garbage can body, cleaning and transporting of the garbage are achieved, manual operation is not needed in the whole process, a form route is automatically planned, loading and unloading of the garbage can are achieved, the garbage is timely cleaned, environmental pollution is avoided, and the garbage cleaning and transporting treatment efficiency is improved.
2. Upset interlock mechanism among the hoisting device is under the drive of external force, and drive hoisting frame upwards slides along the roll-over stand, compresses tightly and the drive occlusal plate is rotatory through the cooperation of drive plate and depression bar for accurate snatching the garbage bin fast between occlusal plate and the clamp plate, with the fault-tolerant rate that improves and snatchs the garbage bin, need not manual loading and unloading garbage bin, improvement production efficiency.
3. Roll-over stand and leading truck cooperate with the slide of leading respectively, drive the pull rod operation through the dustbin lid under hydraulic cylinder's drive, make the roll-over stand convert the horizontal direction by vertical direction and remove, make form the inclination between leading truck and the roll-over stand and drive the garbage bin slope, be convenient for pour out the rubbish in the garbage bin, hydraulic cylinder shrink so that roll-over stand and leading truck close gradually, reply to work initial state, need not the people and empty rubbish, production efficiency is high, and sanitation workman's operational environment improves.
Drawings
FIG. 1 is a schematic view of the unmanned refuse collection vehicle of the present invention;
FIG. 2 is a side view of the unmanned refuse collection vehicle of the present invention;
FIG. 3 is a front view of the unmanned refuse collection vehicle of the present invention;
FIG. 4 is a cross-sectional view of the unmanned refuse collection vehicle of the present invention;
FIG. 5 is a view showing the state of use of the unmanned garbage collection vehicle (the working state of the lifting device) according to the present invention;
fig. 6 is a front view of fig. 5 (lifting device operating state);
FIG. 7 is a state diagram of the use of the unmanned garbage collection vehicle of the present invention (tail gate open state);
FIG. 8 is a view showing the state of use (the pushing state of the compressing device) of the unmanned garbage collection vehicle of the present invention;
FIG. 9 is a schematic view of the construction of the lifting device of the present invention (initial state);
FIG. 10 is a schematic view of the construction of the lifting device of the present invention (inverted snap-fit condition);
FIG. 11 is a rear view of FIG. 10 (flip-snap condition);
FIG. 12 is a schematic view of the lifting device of the present invention (with the garbage can in a dumping position);
FIG. 13 is a schematic view of the construction of the lift frame of the present invention;
FIG. 14 is a cross-sectional view of the flip-flop clutch mechanism of the present invention (initial state);
FIG. 15 is a cross-sectional view (flipped state) of the flip-chip clutch mechanism of the present invention;
FIG. 16 is a cross-sectional view of the flip-flop clutch mechanism of the present invention (a clutch state);
FIG. 17 is a hydraulic schematic of the power module of the present invention.
In the figure:
1. vehicle body 2, laser radar 3, millimeter wave radar
4. Camera 5, dustbin cover 6 and dustbin body
7. Tail gate rotating frame 8, tail gate driving cylinder 9 and lifting device
10. Tail gate 11, inertial navigation unit 12 and push plate
13. Push plate driving cylinder 14, push plate driving rod 15 and overturning meshing mechanism
16. Overturning driving cylinder 17, guide frame 18 and guide slideway
19. Pull rod 20, roll-over stand 21, bite plate
22. Push rod 23, pressure plate 24 and lifting frame
25. Drive plate 26, engaging teeth 27, second pulley
28. Chute 29, lifting block 30, first pulley
31. Pressure lever 32, first proportional directional control valve 33, second proportional directional control valve
34. A third proportional directional valve 35, a high pressure transmitter 36, a high pressure gauge
37. First pressure measuring joint 38, precision filter 39, first one-way valve
40. Oil delivery pump unit 41, liquid level liquid thermometer 42 and first temperature transmitter
43. Air filter 44, alarm 45 and oil tank
46. Overflow valve 47, electromagnetic valve 48, low pressure transmitter
49. Low pressure gauge 50, second pressure measuring joint 51, second one-way valve
52. Radiating pump group 53, second temperature transmitter 54 and air cooling
55. Oil return filter 56, oil drain ball valve 57 and first displacement sensor
58. Second displacement sensor 59, third displacement sensor
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention in any way.
Example 1
As shown in the figure, the unmanned garbage collection and transportation vehicle comprises: the garbage can comprises a vehicle body 1, a garbage can body 6 arranged on the vehicle body 1, a lifting device 9 used for grabbing and turning over a garbage can, a tail door device used for opening and closing a tail door of the garbage can body 6, a compression device used for compressing garbage in the garbage can body 6 and pushing the garbage outwards, and a control device used for controlling the vehicle body 1, the lifting device 9, the tail door device and the compression device to operate, wherein the lifting device 9 is arranged on the side surface of the garbage can body 6, the tail door device is arranged at the tail end of the garbage can body 6, and the compression device is arranged in the garbage can body 6;
the control device comprises a sensing module, a control module and a power module, wherein the sensing module and the power module are electrically connected with the control module, the sensing module is used for constructing a map of the surrounding environment of the vehicle body 1, identifying and classifying garbage, obstacles and preset places and generating sensing positioning data;
the power module is used for driving the garbage clearing and transporting vehicle to run and driving the lifting device 9, the tail gate device and the compression device to run;
the control module is used for receiving the perception positioning data sent by the perception module, processing the perception positioning data to generate an operation instruction, controlling the power module, the lifting device 9, the tail gate device and the compression device to operate according to the operation instruction, and communicating and connecting with a remote client;
the lifting device 9 comprises an overturning and meshing mechanism 15 for grabbing the garbage can, a driving mechanism for driving the overturning and meshing mechanism 15 to operate and a guiding mechanism for controlling the overturning and meshing mechanism 15 to overturn, the driving mechanism is installed on the top surface of the garbage can body 6, the guiding mechanism is installed on the side surface of the garbage can body 6, the overturning and meshing mechanism 15 is installed on the guiding mechanism in a sliding mode, and the top of the overturning and meshing mechanism 15 is connected with the driving mechanism to be used for pulling the overturning and meshing mechanism 15 to move;
the tail gate device comprises a tail gate 10, a tail gate rotating frame 7 and a tail gate driving cylinder 8, the tail gate 10 is installed at the tail part of the garbage box body 6, the bottom of the tail gate rotating frame 7 is fixedly installed at the top of the tail end of the garbage box body 6, the movable end of the tail gate rotating frame 7 is fixedly installed with the tail gate 10, the movable end of the tail gate rotating frame 7 is hinged with the bottom of the tail gate rotating frame 7 through a rotating shaft, the tail gate driving cylinder 8 is installed on the side wall of the tail end of the garbage box body 6, the driving end of the tail gate driving cylinder 8 is hinged with the tail gate 10, and under the pushing of the tail gate driving cylinder 8, the tail gate 10 rotates upwards along the rotating shaft of the tail gate rotating frame 7 to be opened;
the utility model discloses a garbage can, including compressor arrangement, push pedal actuating cylinder 13, push pedal actuating cylinder 14, push pedal 12, push pedal actuating cylinder 13, compression arrangement sets up in garbage can 6, push pedal actuating cylinder 13 installs the one side of keeping away from tail-gate 10 in garbage can 6, the output of push pedal actuating cylinder 13 is connected with the one end of push pedal actuating cylinder 14, and the other end and the push pedal 12 of push pedal actuating cylinder 14 are adorned admittedly, promote push pedal 12 through push pedal actuating cylinder 14 under the effect of push pedal actuating cylinder 13, outwards extrude the rubbish in the garbage can 6 towards tail-gate 10 direction and release and realize unloading.
Furthermore, the tail gate rotating frame 7 comprises a base and a rotating claw, the base is fixedly mounted on the top surface of the tail end of the garbage can 6, a mounting hole is formed in the base, one end of the rotating claw is connected with the mounting hole through a rotating shaft, and the other end of the rotating claw is fixedly mounted with the tail gate 10, so that the tail gate 10 rotates along the rotating shaft under the action of the rotating claw.
Furthermore, a slide rail is formed on the inner wall of one side of the garbage can body 6, one side of the push plate 12 is slidably mounted in the slide rail, and the height of the push plate 12 is equal to that of the garbage can body 6.
Furthermore, the push plate driving cylinder 13 is fixedly arranged on the inner wall of one side of the garbage can body 6, and the push plate driving cylinder 13 is arranged below the slide rail.
Further, the perception module includes camera 4, lidar 2, millimeter wave radar 3, ultrasonic radar and is used to lead unit 11, camera 4 installs in the front side of automobile body 1 for shoot the surrounding environment of automobile body 1, lidar 2, millimeter wave radar 3 and ultrasonic radar install in the front side of automobile body 1 for the surrounding environment information of perception automobile body 1, discernment barrier, it installs at the roof to be used to lead unit 11 for the position of real-time location vehicle.
Further, the power module includes an electric control hydraulic system (as shown in fig. 17), the electric control hydraulic system includes an oil tank 45, an oil delivery pump set 40 connected with the oil tank 45 through a pipeline and used for delivering oil outwards, and a heat dissipation pump set 52 used for dissipating heat from the oil tank 45, an oil inlet of the oil delivery pump set 40 is connected with an oil delivery port of the oil tank 45 through an oil inlet pipeline, an oil outlet of the oil delivery pump set 40 is connected with oil inlets of the tail gate driving cylinder 8, the push plate driving cylinder 13 and the turnover driving cylinder 16 through oil inlets respectively, a first proportional directional valve 32 is installed at the oil inlet of the tail gate driving cylinder 8, a second proportional directional valve 33 is installed at the oil inlet of the push plate driving cylinder 13, a third proportional directional valve 34 is installed at the oil inlet of the turnover driving cylinder 16, and a first one-way valve 39, a second one-way valve 39, a third one-way valve and a third one-way valve are installed on, High-pressure transmitter 35, high-pressure gauge 36 and first pressure measurement joint 37, the one end and the oil inlet pipe connection of first pressure measurement joint 37, the other end is connected with the oil return port of oil tank 45 through returning oil pipe the last overflow valve 46 and the solenoid valve 47 that are equipped with of returning oil pipe between first pressure measurement joint 37 and the oil tank 45 make the pressure in the oil inlet pipe keep normal, the oil inlet end of heat dissipation pump package 52 is connected with the oil delivery port of oil tank 45 through the heat dissipation pipeline, the oil outlet end of heat dissipation pump package 52 is connected with oil return filter 55 through returning oil pipe be equipped with low-pressure transmitter 48, low-pressure gauge 49, second pressure measurement joint 50, second check valve 51, second temperature transmitter 53 and forced air cooling 54 on the returning oil pipe between heat dissipation pump package 52 and oil return filter 55.
Further, a filter is arranged on an oil inlet pipeline between the first check valve 39 and the first pressure measuring joint 37.
Furthermore, a liquid level thermometer 41 is arranged in the oil tank 45, a first temperature transmitter 42, an air filter 43 and an alarm 44 are arranged on the oil tank 45, and an oil drain ball valve 56 is arranged at the bottom of the oil tank 45.
Furthermore, a first displacement sensor 57 is arranged in the tail gate driving cylinder 8 for monitoring the operation position of the tail gate driving cylinder 8, a second displacement sensor 58 is arranged in the push plate driving cylinder 13 for monitoring the operation position of the push plate driving cylinder 13, and a third displacement sensor 59 is arranged in the tumble driving cylinder 16 for monitoring the operation position of the tumble driving cylinder 16.
Further, a precision filter 38 is arranged on an oil inlet pipeline between the first one-way valve and the first pressure measuring joint.
Further, the control module is electrically connected with the power module to respectively control the operation of the tail gate driving cylinder 8, the push plate driving cylinder 13 and the turnover driving cylinder 16.
Further, the remote client comprises a mobile phone, a tablet computer or a remote monitoring platform.
Further, install a disinfection jar on the automobile body, the intussuseption of disinfection jar is filled with the antiseptic solution, install a disinfection spray tube on the disinfection jar, install an solenoid valve on this disinfection spray tube, the solenoid valve is connected with the control module electricity and is used for controlling disinfection spray tube to spray the antiseptic solution to the garbage bin and disinfect.
Further, the lifting device 9 comprises a turning and meshing mechanism 15, a driving mechanism and a guiding mechanism;
wherein: the overturning and meshing mechanism 15 comprises an overturning frame 20, a pressing plate 23 fixedly arranged on the overturning frame 20, a lifting frame 24 which is arranged on the overturning frame 20 in a sliding manner and driven to lift, a meshing plate 21 which is arranged on the lifting frame 24, is used for rotating and is matched with the pressing plate 23, and a guide frame 17 arranged on the overturning frame 20;
the pressing plate 23 is horizontally arranged on the roll-over stand 20, two ends of the pressing plate 23 are fixedly arranged on the upper surface of the roll-over stand 20 respectively, the front side of the pressing plate 23 extends forwards, a vertically arranged pressing rod 31 is formed on the rear side of the bottom surface of the pressing plate 23, and the bottom end of the pressing rod 31 extends downwards;
the lifting frame 24 comprises a mounting shaft and two symmetrically arranged lifting blocks 29, sliding grooves 28 are formed in the opposite inner sides of the two lifting blocks 29, the sliding grooves 28 are matched with the turnover frame 20 to enable the lifting frame 24 to move up and down along the turnover frame 20, the mounting shaft is horizontally arranged between the two lifting blocks 29 and is arranged at the upper parts of the lifting blocks 29;
a horizontal installation through hole is formed in the rear side of the engagement plate 21, the installation through hole is matched with an installation shaft, so that the engagement plate 21 is rotatably installed on the lifting frame 24, a plurality of engagement teeth 26 which are uniformly distributed are formed in the front end of the top surface of the engagement plate 21, an obliquely arranged drive plate 25 is formed in the rear end of the bottom surface of the engagement plate 21, the drive plate 25 is located right below the pressure lever 31 and drives the lifting frame 24 to ascend under the driving of external force, the engagement plate 21 installed on the lifting frame 24 ascends along with the lifting frame 24, the bottom end of the pressure lever 31 is in contact with the drive plate 25 and supports against the drive plate 25, the engagement plate 21 is driven to overturn in the installation axial direction, and meanwhile, the engagement teeth 26 on the engagement plate 21 rotate upwards and are in contact with the lower surface of the pressure plate 23 to grab the top;
two first pulleys 30 are symmetrically arranged on two sides of the top of the turning frame 20 of the turning and meshing mechanism 15, and two second pulleys 27 are symmetrically arranged on two sides of the bottom of the guide frame 17;
the driving mechanism comprises a supporting frame, a garbage can cover 5, a turnover driving cylinder 16 and a pull rod 19, the supporting frame is fixedly installed at the top of a garbage can body 6 of the garbage truck, the outer side of the top end of the garbage can cover 5 is hinged to the top end of the supporting frame through a rotating shaft, the bottom end of the garbage can cover 5 is hinged to the top end of the pull rod 19, the bottom end of the pull rod 19 is hinged to the outer side of the bottom end of a lifting frame 24, the turnover driving cylinder 16 is installed on the outer side of the supporting frame, and a push rod 22 of the turnover driving cylinder 16 is hinged to the outer side;
the guiding mechanism comprises a bottom beam and two guiding slideways 18 symmetrically arranged on the bottom beam, the slideways of the guiding slideways 18 are arranged oppositely, each guiding slideway 18 is fixedly arranged at the bottom end of the bottom beam, the top end of each guiding slideway 18 is fixedly arranged at the bottom end of a supporting frame, a first pulley 30 on the turnover frame 20 and a second pulley 27 on the guiding frame 17 are matched with the guiding slideways 18 so as to be used for pulling the turnover occlusion mechanism 15 to ascend and overturn along the guiding slideways 18 after the garbage can is grabbed and occluded under the driving mechanism.
The invention relates to a clearing and transporting method of an unmanned garbage clearing and transporting vehicle, which comprises the following steps:
(1) presetting a place of a garbage can to be cleaned, planning a running path through a control module, detecting surrounding environment data of a vehicle body 1 in real time through a sensing module, acquiring the current position of the garbage cleaning and transporting vehicle in real time, adjusting the running direction of the garbage cleaning and transporting vehicle in time after the control module receives the surrounding environment data and the current position, and recognizing the identification and the color of the garbage can to be cleaned (recognizing the classification of the garbage can) through photographing by a camera 4;
(2) after controlling the unmanned garbage truck to travel to a preset place where a garbage can to be cleaned is to be cleaned, the control unit sends a working signal to the overturning driving cylinder 16, so that the lifting mechanism is occluded with the top edge of the garbage can, the garbage can moves upwards to the top point and overturns, and the garbage dumping work of the garbage can is realized;
(3) the overturning driving cylinder 16 is contracted, the lifting device 9 returns to the original position, the garbage can is loosened and is placed on the ground, and then the garbage cleaning vehicle moves to the next place where the garbage can to be cleaned is preset before the garbage cleaning vehicle;
(4) after each garbage can is collected, the control module sends an instruction to control a disinfection spray pipe connected with the disinfection tank to spray disinfectant to the garbage can, so that the garbage can is disinfected;
(5) after the recovery of all the preset garbage of the garbage can to be cleaned is finished, controlling a planned route of a garbage truck to automatically travel to a garbage recovery station, sending an operation instruction by a control module, driving a push plate 12 to move towards a tail door 10 by a push plate driving cylinder 13, compressing the garbage in a garbage box body 6, simultaneously pushing the tail door 10 to be opened outwards by a tail door driving cylinder 8, pushing the garbage out of the garbage box body 6 under the action of the push plate 12, and finishing the unloading of the garbage;
(6) after the garbage is unloaded, the tail gate driving cylinder 8 and the push plate driving cylinder 13 are controlled to return to the original positions, the tail gate 10 is closed, and the garbage collection vehicle leaves from the garbage recovery station.
Example 2
On the basis of the embodiment 1, the control module comprises a timing module for controlling the garbage collection vehicle to operate within a preset time period.
Example 3
On the basis of the embodiment 1, the roll-over stand 20 is a rectangular frame, the pressing plate 23 is fixedly arranged at the upper part of the roll-over stand 20, and a connecting shaft is formed on the opposite inner wall of the roll-over stand 20 and is used for being connected with the guide frame 17; the guide frame 17 is a rectangular frame, the guide frame 17 is arranged below the occlusal plate 21, a mounting hole is formed in the outer side of the top of the guide frame 17, and the mounting hole is matched with the connecting shaft so that the guide frame 17 can be rotatably mounted on the turnover frame 20.
Further, the size of the guide frame 17 is smaller than that of the roll-over stand 20, and a locking groove protruding to the front side is formed at the bottom end of the roll-over stand 20 so that the guide frame 17 is embedded in the roll-over stand 20.
Further, the bottom end of the pressing rod 31 is formed with a circular arc surface for avoiding damage to the driving plate 25.
Further, the angle between the driving plate 25 and the horizontal plane is 45 °.
Further, the outer side of each of said lifting blocks 29 is connected to an external drive mechanism for the lifting block 29 to move up and down on the roll stand 20.
Further, the driving plate 25 is disposed at the middle of the rear bottom of the bite plate 21.
Furthermore, each guide slide 18 comprises a vertical section and an arc section, the bottom end of the vertical section is fixedly mounted on the bottom beam, the top end of the vertical section and the bottom end of the arc section are fixedly mounted, the pull rod 19 of the driving mechanism pulls the roll-over stand 20 to ascend, the first pulley 30 on the roll-over stand 20 ascends through the vertical section of the guide slide 18 and moves along the arc section, the occluded garbage can is turned over along the arc section, and meanwhile the second pulley 27 of the guide stand 17 ascends along the vertical section of the guide slide 18 to guide the overturning occlusion mechanism 15.
Furthermore, the two sides of the top of the roll-over stand 20 are formed with first connecting rods extending outwards, and the first pulleys 30 are connected with the roll-over stand 20 through the first connecting rods.
Further, the two sides of the bottom of the guide frame 17 are formed with second connecting rods extending outwards, and the second pulleys 27 are connected with the guide frame 17 through the second connecting rods.
Further, the length of the first connecting rod is smaller than that of the second connecting rod.
Furthermore, the sum of the length of the tie rod 19 and the length of the roll-over stand 20 is equal to the height of the vertical section of the guide chute 18.
Furthermore, the bottom end of the dustbin cover 5 is symmetrically formed with a connecting block, a connecting hole is formed on the connecting block, and a pull rod 19 is installed in the connecting hole and connected with the pull rod 19.
Further, the number of the turning driving cylinders 16 is two, the two turning driving cylinders 16 are symmetrically arranged on the outer side of the supporting frame, and each turning driving cylinder 16 is obliquely arranged at the bottom of the supporting frame.
Further, the mounting plates are formed on two sides of the top of the box cover, the mounting plates are provided with connecting holes, and rotating shafts arranged on the supporting frame are hinged to the mounting plates through the connecting holes.
Furthermore, the middle part of the mounting plate is provided with a mounting hole, the mounting hole is provided with a rotating shaft and is hinged with the push rod 22, and the overturn driving cylinder 16 drives the push rod 22 to extend outwards so as to push the box cover to rotate and open.
Furthermore, a gap is formed between the pull rod 19 and the guide slideway 18, so that the mutual influence between the pull rod 19 and the guide slideway 18 is avoided.
The working principle of the lifting device of the unmanned garbage collection and transportation vehicle is as follows:
(1) when the garbage truck runs to the position near the garbage can, a hydraulic oil cylinder of the driving mechanism extends outwards to push out the push rod 22, so that the garbage can cover 5 is driven to rotate along the push rod 22, and the top end of the pull rod 19 is driven to rotate upwards along the garbage can cover 5;
(2) the bottom end of the pull rod 19 is connected with a lifting frame 24, the lifting frame 24 is pulled upwards, the lifting frame 24 slides along the overturning frame 20 and rises upwards, the engagement plate 21 rises synchronously with the lifting frame 24 (at the moment, the drive plate 25 on the engagement plate 21 inclines upwards), when the drive plate 25 of the engagement plate 21 is contacted with the bottom end of the pressure rod 31 of the pressure plate 23, the pressure rod 31 presses the drive plate 25 downwards to enable the engagement plate 21 to overturn upwards along the mounting shaft, the engagement teeth 26 on the engagement plate 21 rotate upwards along with the engagement plate 21, the engagement teeth 26 hook the top end edge of the garbage can and then continue to rotate (at the moment, the drive plate 25 on the engagement plate 21 inclines downwards), the engagement teeth 26 rotate upwards and are contacted with the lower surface of the pressure plate 23 and clamped, and the engagement plate 21 and the pressure plate 23 bite the top edge of the;
(3) the hydraulic oil cylinder continuously extends outwards, the turnover frame 20 continuously rises along the vertical section of the guide slideway 18 through the first pulley 30, and simultaneously the guide frame 17 continuously rises along the vertical section of the guide slideway 18 through the second pulley 27;
(4) after sliding to the arc section of the guide slide way 18, the first pulley 30 of the roll-over stand 20 is converted from vertical lifting to horizontal movement (at this time, the second pulley 27 of the guide stand 17 is in the vertical section of the guide slide way 18), and meanwhile, the grabbed trash can gradually inclines;
(5) when the first pulley 30 of the roll-over stand 20 slides to the stroke end point of the arc section of the guide slideway 18, the roll-over stand 20 does not move forward along with the continuous rotation of the garbage can cover 5, and simultaneously, the second pulley 27 of the guide stand 17 continuously rises in the vertical section of the guide slideway 18 under the driving of the rotating shaft between the guide stand 17 and the roll-over stand 20, so that the inclination angle of the garbage can is further increased, and the garbage can is poured into the garbage can body 6 of the garbage truck from the garbage can;
(6) after the hydraulic oil cylinder moves to the maximum stroke, the inclination angle of the garbage can is maximum (at the moment, the guide frame 17 is in a vertical state, and the inclination angle formed between the guide frame 17 and the turnover frame 20 is maximum), and garbage dumping work is finished;
(7) the hydraulic oil cylinder starts to contract to drive the garbage can cover 5 to rotate downwards and simultaneously drive the pull rod 19 to rotate downwards, so that the first pulley 30 of the turnover frame 20 is pushed to horizontally slide to the bottom end of the arc section along the arc section of the guide slide way 18, the guide frame 17 slides downwards along the vertical section of the guide slide way 18, and the inclination angle between the guide frame 17 and the turnover frame 20 is gradually reduced;
(8) the first pulley 30 of the roll-over stand 20 slides from the arc section to the vertical section of the guide slideway 18, so that the roll-over stand 20 is converted from the horizontal direction to the vertical downward movement, and meanwhile, the guide stand 17 continuously slides downward along the vertical section of the guide slideway 18 until the guide stand 17 moves to the bottom end of the guide slideway 18;
(9) the snap close 21 rotates downwards along the installation shaft under the action of gravity, and the pressing plate 23 is separated from the snap close 21 (the garbage can is separated from the roll-over stand 20) so that the bottom of the garbage can is contacted with the bottom surface, and the garbage can is released.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial 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, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. An unmanned refuse collection vehicle, comprising: the garbage bin comprises a vehicle body, a garbage bin body arranged on the vehicle body, a lifting device used for grabbing and turning over a garbage bin, a tail door device used for opening and closing a tail door of the garbage bin body, a compression device used for compressing garbage in the garbage bin body and pushing the garbage outwards, and a control device used for controlling the vehicle body, the lifting device, the tail door device and the compression device to operate, wherein the lifting device is arranged on the side surface of the garbage bin body, the tail door device is arranged at the tail end of the garbage bin body, and the compression device is arranged in the garbage bin body;
the control device comprises a sensing module, a control module and a power module, wherein the sensing module and the power module are electrically connected with the control module, the sensing module is used for constructing a map of the surrounding environment of the vehicle body, identifying and classifying garbage, obstacles and preset places and generating sensing positioning data; the power module is used for driving the garbage clearing and transporting vehicle to run and driving the lifting device, the tail gate device and the compression device to run; the control module is used for receiving the perception positioning data sent by the perception module, processing the perception positioning data to generate an operation instruction, controlling the operation of the power module, the lifting device, the tail gate device and the compression device according to the operation instruction, and communicating and connecting with a remote client;
the lifting device comprises an overturning and meshing mechanism for grabbing the garbage can, a driving mechanism for driving the overturning and meshing mechanism to operate and a guide mechanism for controlling the overturning and meshing mechanism to overturn, the driving mechanism is installed on the top surface of the garbage can body, the guide mechanism is installed on the side surface of the garbage can body, the overturning and meshing mechanism is installed on the guide mechanism in a sliding mode, and the top of the overturning and meshing mechanism is connected with the driving mechanism to be used for pulling the overturning and meshing mechanism to move;
the tail gate device comprises a tail gate, a tail gate rotating frame and a tail gate driving cylinder, the tail gate is installed at the tail part of the garbage box body, the bottom of the tail gate rotating frame is fixedly installed at the top of the tail end of the garbage box body, the movable end of the tail gate rotating frame is fixedly installed with the tail gate, the movable end of the tail gate rotating frame is hinged with the bottom of the tail gate rotating frame through a rotating shaft, the tail gate driving cylinder is installed on the side wall of the tail end of the garbage box body, the driving end of the tail gate driving cylinder is hinged with the tail gate, and the tail gate is upwards rotated and opened along the rotating shaft of the tail gate rotating frame under the pushing of the tail gate driving cylinder;
the garbage can comprises a garbage can body, a compression device, a push plate driving cylinder and a push plate driving rod, wherein the compression device is arranged in the garbage can body and comprises a push plate, a push plate driving cylinder and a push plate driving rod, the push plate is vertically arranged in the garbage can body, the push plate driving cylinder is arranged on one side, away from a tail door, of the garbage can body, the output end of the push plate driving cylinder is connected with one end of the push plate driving rod, the other end of the push plate driving rod is fixedly installed with the push plate, the push plate is pushed under the action of the push plate driving cylinder through the push plate.
2. The unmanned refuse collection vehicle according to claim 1, wherein: the tail gate rotating frame comprises a base and a rotating claw, the base is fixedly arranged on the top surface of the tail end of the garbage box body, a mounting hole is formed in the base, one end of the rotating claw is connected with the mounting hole through a rotating shaft, and the other end of the rotating claw is fixedly arranged with the tail gate, so that the tail gate rotates along the rotating shaft under the action of the rotating claw.
3. The unmanned refuse collection vehicle according to claim 2, wherein: install a disinfection jar on the automobile body, the disinfection jar intussuseption is filled with the antiseptic solution, install a disinfection spray tube on the disinfection jar, install an solenoid valve on this disinfection spray tube, the solenoid valve is connected with the control module electricity and is used for controlling disinfection spray tube to spray the antiseptic solution to the garbage bin and disinfect.
4. The unmanned refuse collection vehicle according to claim 3, wherein: the sensing module comprises a camera, a laser radar, a millimeter wave radar, an ultrasonic radar and an inertial navigation unit, wherein the camera is installed on the front side of the vehicle body and used for shooting the surrounding environment of the vehicle body, the laser radar, the millimeter wave radar and the ultrasonic radar are installed on the front side of the vehicle body and used for sensing the surrounding environment information of the vehicle body and identifying obstacles, and the inertial navigation unit is installed on the roof and used for positioning the position of the vehicle in real time.
5. The unmanned refuse collection vehicle according to claim 4, wherein: the lifting device comprises a turnover meshing mechanism, a driving mechanism and a guide mechanism;
wherein: the overturning and meshing mechanism comprises an overturning frame, a lifting frame which is arranged on the overturning frame in a sliding manner and is driven by external force to lift, and a guide frame which is arranged in the overturning frame and used for guiding;
the lifting frame is rotatably provided with an occlusion plate, a driving plate is formed at the rear end of the bottom of the occlusion plate, and a plurality of uniformly distributed occlusion teeth are formed at the front end of the top surface of the occlusion plate;
the roll-over stand is provided with a pressing plate, and the rear side of the bottom surface of the pressing plate is provided with a pressing rod which is used for abutting against the driving plate so as to enable the occlusal plate to rotate upwards and to be matched with the pressing plate to complete occlusion.
6. The unmanned refuse collection vehicle according to claim 5, wherein: the clamp plate is located the upper portion of roll-over stand, be formed with the connecting axle on the relative inner wall of roll-over stand in order to be used for being connected with the leading truck, the leading truck sets up the below of occlusal plate, the top of leading truck is rotated and is installed on the roll-over stand, the hoisting frame includes the promotion piece that two symmetries set up and installs the installation axle between two promotion pieces, every the relative inboard of promotion piece is equipped with the spout, and this spout cooperatees with the roll-over stand so that the hoisting frame slides along the roll-over stand lift.
7. The unmanned refuse collection vehicle according to claim 6, wherein: two first pulleys are symmetrically arranged on two sides of the top of the overturning frame of the overturning and meshing mechanism, and two second pulleys are symmetrically arranged on two sides of the bottom of the guide frame;
the driving mechanism comprises a supporting frame, a garbage can cover, an overturning driving cylinder and a pull rod, the supporting frame is fixedly arranged at the top of a garbage can body of the garbage truck, the outer side of the top end of the garbage can cover is hinged with the top end of the supporting frame through a rotating shaft, the bottom end of the garbage can cover is hinged with the top end of the pull rod, the bottom end of the pull rod is hinged with the outer side of the bottom end of the lifting frame, the overturning driving cylinder is arranged on the outer side of the supporting frame, and a push rod of the overturning driving cylinder is hinged with the;
the guiding mechanism comprises a bottom beam and two guiding slideways symmetrically arranged on the bottom beam, the slideways of the guiding slideways are oppositely arranged, every guiding slideway is fixedly arranged at the bottom end of the bottom beam, the top end of the guiding slideway is fixedly arranged at the bottom end of the supporting frame, a first pulley on the overturning frame and a second pulley on the guiding frame are matched with the guiding slideways so as to be used for lifting and overturning along the guiding slideways after grabbing the occluded garbage can under the pulling of the driving mechanism.
8. The unmanned refuse collection vehicle according to claim 7, wherein: every the direction slide includes vertical section and circular arc section, the bottom of vertical section is adorned on the floorbar admittedly, and the top of vertical section is adorned with the bottom of circular arc section admittedly, actuating mechanism's pull rod pulling roll-over stand rises, and first pulley on the roll-over stand rises and moves along the circular arc section through the vertical section of direction slide to make the garbage bin of interlock realize the upset along the circular arc section, the second pulley of leading simultaneously the frame rises along the vertical section of direction slide and leads to the interlock mechanism of overturning.
9. The method for cleaning and transporting the unmanned garbage cleaning and transporting vehicle based on claim 8, is characterized by comprising the following steps:
(1) presetting a place of a garbage can to be cleaned, planning a running path through a control module, detecting surrounding environment data of a vehicle body in real time through a sensing module, acquiring the current position of the garbage cleaning and transporting vehicle in real time, adjusting the running direction of the garbage cleaning and transporting vehicle in time after the control module receives the surrounding environment data and the current position, and recognizing the identifier and the color of the garbage can to be cleaned through camera shooting;
(2) after the unmanned garbage truck is controlled to travel to a preset place where a garbage can to be cleaned is to be cleaned, the control unit sends a working signal to the overturning driving cylinder, so that the lifting mechanism is meshed with the top edge of the garbage can, the garbage can moves upwards to the top point and overturns, and garbage dumping work of the garbage can is realized;
(3) the overturning driving cylinder is contracted, the lifting device returns to the original position, the garbage can is loosened and is placed on the ground, and then the garbage cleaning vehicle moves to the next place where the garbage can to be cleaned is preset before the garbage cleaning vehicle is transported;
(4) after the recovery of all the preset garbage of the garbage can to be cleaned is finished, controlling a planned route of a garbage truck to automatically drive to a garbage recovery station, sending an operation instruction by a control module, driving a push plate by a push plate driving cylinder to drive a push plate to move towards the direction of a tail door, compressing the garbage in a garbage can body, simultaneously pushing the tail door to be opened outwards by the tail door driving cylinder, pushing the garbage out of the garbage can body under the action of the push plate, and finishing the unloading of the garbage;
(5) after the garbage is unloaded, the tail door driving cylinder and the push plate driving cylinder are controlled to return to the original positions, the tail door is closed, and the garbage collection vehicle leaves from the garbage recovery station.
10. The method of claim 9, wherein: and (4) after the garbage can is collected in the step (3), a disinfection tank is arranged on the garbage truck, and disinfectant is sprayed to the garbage can through a pipeline so as to disinfect the garbage can.
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| CN202110242146.7A CN112849854A (en) | 2021-03-04 | 2021-03-04 | Unmanned garbage clearing and transporting vehicle and clearing and transporting method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113479531A (en) * | 2021-06-16 | 2021-10-08 | 利辛县江淮扬天汽车有限公司 | Energy-saving and environment-friendly garbage truck |
| CN113818386A (en) * | 2021-11-24 | 2021-12-21 | 徐州徐工环境技术有限公司 | Garbage self-dumping road sweeper and garbage self-dumping method |
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| CN113479531A (en) * | 2021-06-16 | 2021-10-08 | 利辛县江淮扬天汽车有限公司 | Energy-saving and environment-friendly garbage truck |
| CN113479531B (en) * | 2021-06-16 | 2023-02-17 | 江苏戴为新能源汽车科技有限公司 | Energy-saving and environment-friendly garbage truck |
| CN113818386A (en) * | 2021-11-24 | 2021-12-21 | 徐州徐工环境技术有限公司 | Garbage self-dumping road sweeper and garbage self-dumping method |
| CN113818386B (en) * | 2021-11-24 | 2022-04-15 | 徐州徐工环境技术有限公司 | Garbage self-dumping road sweeper and garbage self-dumping method |
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