CN114800425A - Garbage container transfer robot and method - Google Patents

Garbage container transfer robot and method Download PDF

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Publication number
CN114800425A
CN114800425A CN202210410192.8A CN202210410192A CN114800425A CN 114800425 A CN114800425 A CN 114800425A CN 202210410192 A CN202210410192 A CN 202210410192A CN 114800425 A CN114800425 A CN 114800425A
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CN
China
Prior art keywords
garbage container
assembly
clamping jaw
clamping
body frame
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Granted
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CN202210410192.8A
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Chinese (zh)
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CN114800425B (en
Inventor
郑文腾
吕升烨
黄文晟
赵佳玺
杨毅
谢润熠
王武龙
刘笑诚
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University of South China
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University of South China
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Priority to CN202210410192.8A priority Critical patent/CN114800425B/en
Publication of CN114800425A publication Critical patent/CN114800425A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A garbage container transfer robot and a method relate to the technical field of automatic transfer equipment. The garbage container transfer robot comprises a movable rack, a mechanical gripper assembly and a carrying assembly; the movable rack comprises a main body frame, electric rollers and a lifting driving assembly; the mechanical gripper assembly comprises a holder motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the carrying assembly comprises a base, a reciprocating pushing component, an upper seat, a low-position tray, a high-position tray and a clamping jaw mechanism; the carrying assembly is slidably mounted on the guide rods of the two vertical supports through guide sleeves on two sides of the base and is positioned in the carrying interval. A garbage container transferring method is based on a garbage container transferring robot. The garbage dumping device is applied to residential areas, can replace manual garbage dumping to a specified place, and solves the problem of inconvenience of dumping garbage for special people in the residential areas. In the process of transferring the garbage container, the full-process automation operation comprising picking-transferring-unloading is realized.

Description

Garbage container transfer robot and method
Technical Field
The invention relates to the technical field of automatic transfer equipment, in particular to a garbage container transfer robot and a method.
Background
Most residential areas can be intensively provided with garbage collection stations, and domestic garbage generated by each household needs to be thrown into the garbage collection stations at fixed points and cannot be discarded at will. When 1-2 people live in a household, 1-2 barrels of domestic garbage are usually generated in one day, and the domestic garbage is usually poured every day in order to keep the living environment clean and sanitary and avoid breeding mosquito, fly and bacteria.
However, when the people living in the house are old people with inconvenient legs and feet, disabled people or people with visual impairment, the process of lifting the household garbage to the garbage collection station for discarding has certain inconvenience. Therefore, it is desirable to develop a robot that can replace the manual work of dumping garbage to a designated place to solve the above-mentioned difficulties of the special population, but unfortunately, such a robot is not available in the market.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a garbage container transferring robot and a method, which can replace manual garbage dumping to a designated place and solve the inconvenience of dumping garbage for special people in residential areas.
The technical scheme of the invention is as follows: the garbage container transfer robot comprises a movable rack, a mechanical gripper assembly and a carrying assembly;
the movable rack comprises a main body frame, electric rollers and a lifting driving assembly; the front end of the main frame is provided with a platform, the two sides of the rear end of the main frame are provided with vertical supports which are symmetrically arranged, a loading interval is formed between the two vertical supports, and each vertical support is provided with a plurality of guide rods which are vertically arranged; the plurality of electric rollers are symmetrically arranged on two sides of the lower end of the main body frame; the two groups of lifting driving components are respectively arranged on the two vertical brackets;
the mechanical gripper assembly comprises a holder motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the holder motor is fixedly arranged at the upper end of the middle part of the platform, and the upper end of the holder motor is provided with a horizontal rotating surface; the lower end of the multi-degree-of-freedom mechanical arm is fixedly arranged on the tripod head motor, and the upper end of the multi-degree-of-freedom mechanical arm is connected with the mechanical claw; the mechanical claw is provided with a grabbing opening with adjustable opening degree;
the carrying assembly comprises a base, a reciprocating pushing component, an upper seat, a low-position tray, a high-position tray and a clamping jaw mechanism; the upper end of the base is provided with a mounting surface, and the edges of two sides of the base are fixedly provided with a guide sleeve and a connecting block; the reciprocating pushing assembly is arranged between the base and the upper seat and is used for driving the upper seat to do reciprocating movement; the upper seat is connected with the upper end of the reciprocating pushing assembly; the low-level tray is fixedly arranged on the base; the high-level tray is fixedly arranged on the upper seat and is arranged in a vertically staggered manner with the low-level tray; the clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and a clamping jaw, wherein the horizontal push-pull assembly is arranged on the upper seat and is associated with the turnover assembly so as to drive the turnover assembly to do reciprocating linear movement, the clamping jaw is arranged on the turnover assembly and is driven by the turnover assembly to rotate in a vertical plane, and a clamping opening with adjustable opening degree is arranged on the clamping jaw; the clamping jaw moves under the driving of the reciprocating pushing assembly, the horizontal pushing and pulling assembly and the overturning assembly so that the moving path of the clamping opening passes through the area right above the low-position tray and the area right above the high-position tray;
the carrying assembly is slidably mounted on the guide rods of the two vertical supports through guide sleeves on two sides of the base and is positioned in the carrying interval; the carrying assembly is associated with the two groups of lifting driving components through connecting blocks on two sides of the base, so that the carrying assembly is driven by the two groups of lifting driving components to vertically lift and move along the guide rods of the two vertical supports.
The further technical scheme of the invention is as follows: the lifting driving component comprises a lifting driving component which comprises a motor A, a driving wheel, a wheel shaft, a driven wheel and a synchronous belt; the motor A is fixedly arranged at the lower end of the main body frame; the driving wheel is fixedly arranged on a crankshaft of the motor A; the wheel shaft is horizontally arranged and movably mounted at the upper end of the vertical bracket; the driven wheel is fixedly arranged on the wheel shaft and is positioned right above the driving wheel; the synchronous belt is wound between the driving wheel and the driven wheel; correspondingly, the carrying assembly is fixedly connected with the synchronous belts of the two groups of lifting driving components through the connecting blocks on the two sides of the base.
The further technical scheme of the invention is as follows: the reciprocating pushing assemblies are four in number and are distributed on the mounting surface of the base in a rectangular array; the reciprocating pushing assembly comprises a steering engine A, a connecting seat and a rocker arm; the steering engine A is fixedly arranged on the base; the connecting seat is fixedly arranged at the lower end of the upper seat; the lower end of the rocker arm is fixedly connected to a crankshaft of the steering engine A, the upper end of the rocker arm is hinged with the connecting seat, and the rocker arm swings in a vertical plane under the driving of the steering engine A; the four groups of reciprocating pushing assemblies act synchronously to drive the upper seat to do reciprocating swing of an arc track in a vertical plane.
The further technical scheme of the invention is as follows: the horizontal push-pull assemblies are divided into two groups and are respectively and symmetrically arranged on two sides of the upper seat; the horizontal push-pull assembly comprises a cylinder A, a slide rail and a slide block; the cylinder A is fixedly arranged on the upper seat, and a piston rod of the cylinder A horizontally extends out; the sliding rail is fixedly arranged on the upper seat, and the extending direction of the sliding rail is consistent with the extending direction of the piston rod of the air cylinder A; the sliding block is arranged on the sliding rail in a sliding mode, is directly or indirectly fixedly connected with a piston rod of the air cylinder A, and is driven by the air cylinder A to do linear reciprocating motion along the sliding rail.
The further technical scheme of the invention is as follows: the overturning assembly comprises a bearing plate and a double-shaft motor; the bearing plate is fixedly connected to the upper ends of the two sliding blocks of the two groups of horizontal push-pull assemblies; the double-shaft motor is fixedly installed on the bearing plate, and two shafts of the double-shaft motor horizontally extend out of two ends of a shell of the double-shaft motor respectively.
The further technical scheme of the invention is as follows: the clamping jaw comprises a base, a clamping arm, a steering engine B, a rubber chuck and a cylinder B; the front end of the base is rotatably arranged on a crankshaft of the double-shaft motor, sliding grooves are formed in two sides of the rear end of the base, and the base is driven by the double-shaft motor to swing in a vertical plane; the two clamping arms are oppositely arranged and are respectively installed in the two sliding grooves of the base in a sliding manner and extend out of the rear end of the base; the two steering engines B are oppositely arranged and are respectively and fixedly installed at the tail ends of the two clamping arms, and the shafts of the two steering engines B horizontally extend out; the two rubber chucks are oppositely arranged and respectively fixedly arranged on the crankshafts of the two steering engines B; the cylinder B is arranged between the two clamping arms, a piston rod at one end of the cylinder B is fixedly connected with one clamping arm, a cylinder body at the other end of the cylinder B is fixedly connected with the other clamping arm, and the piston rod of the cylinder B stretches and retracts to drive the two clamping arms to move towards each other or move back to back along the sliding groove respectively, so that a clamping opening is enlarged or reduced; correspondingly, the clamping opening is the area between the two rubber chucks.
The further technical scheme of the invention is as follows: the edge of the middle part of the front end of the main frame, the edge of the middle part of the rear end and the edges of the two sides are respectively provided with an illuminating module.
The further technical scheme of the invention is as follows: the front end middle edge, the rear end middle edge and the two side edges of the main frame are respectively provided with a camera.
The technical scheme of the invention is as follows: a garbage container transferring method is based on the garbage container transferring robot, before the garbage container transferring operation is executed, the garbage container transferring robot is in an initial state, and in the initial state:
a. the rocker arms of the four groups of reciprocating pushing components swing to the extreme position of one end, so that the carrying assembly is positioned in the carrying interval between the two vertical supports, and the trafficability of the garbage container transferring robot is improved;
b. the synchronous belts of the two groups of lifting driving components drive the carrying assembly to move downwards to the limit position, so that the gravity center height of the garbage container transferring robot is reduced;
c. a piston rod of a cylinder A of the horizontal push-pull component is in a retraction state, and the clamping jaw is driven by a double-shaft motor of the turnover component to rotate to face the front end of the main body frame, so that the carrying assembly does not exceed the rear end of the main body frame and is relatively close to the middle of the main body frame, and the stability of the garbage container transfer robot in no-load is improved;
d. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that a clamping opening is expanded to the maximum to prepare for clamping a garbage container;
e. the multi-degree-of-freedom mechanical arm is folded to reduce the height, and the height of the multi-degree-of-freedom mechanical arm does not exceed the area right above the platform, so that the trafficability of the garbage container transferring robot is improved, and the gravity center height of the garbage container transferring robot is reduced;
the garbage container transferring method comprises the following steps:
s01, clamping the first trash container:
a. the electric rollers are controlled to rotate so as to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame is just opposite to the garbage container to be picked up;
b. the following operations are performed out of order:
1. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly and the clamping jaw to move towards the rear end of the main body frame;
2. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame;
3. the steering engines A of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms to synchronously swing towards the rear end of the main body frame, so that the upper seat, the clamping jaw mechanism and the high-position tray move towards the rear end of the main body frame in the same direction;
4. controlling the motors A of the two groups of lifting control assemblies to start, driving the two synchronous belts to run synchronously, further driving the carrying assembly to move in the vertical direction through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base, and adjusting the height of the clamping jaw to be matched with the height of the first garbage container;
after the four operations are finished, the clamping jaw extends out of the rear end of the main body frame, and the clamping opening of the clamping jaw is opposite to and contains the first garbage container;
c. a piston rod of a cylinder B of the clamping jaw retracts, so that the two clamping arms move oppositely to clamp two sides of the outer wall of the first garbage container;
s02, transferring the first trash container to the high-position tray:
a. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame; meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the first garbage container is always kept vertical and not inclined in the overturning process; after the garbage container is turned to the right position, the first garbage container is positioned right above the high-position tray and is close to the high-position tray;
b. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the high-position tray;
in the step, the coordination control of the double-shaft motor and the steering engine B is based on the real-time detection data of the angle inclination sensor;
s03, clamping the second trash receptacle:
a. the electric rollers are controlled to rotate so as to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame is aligned to the second garbage container;
b. the following operations are performed out of order:
1. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame;
2. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to run synchronously, and then the conveying assembly is driven to move in the vertical direction through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base, so that the height of the clamping jaw is adjusted to be matched with the height of a second garbage container;
after the two operations are finished, the clamping jaw extends out of the rear end of the main body frame, and the clamping opening of the clamping jaw is opposite to and contains a second garbage container;
c. the piston rod of the cylinder B of the clamping jaw retracts, so that the two clamping arms move oppositely to clamp two sides of the outer wall of the second garbage container;
s04, transferring the second trash receptacle to the lower tray:
a. the following operations are performed simultaneously:
1. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies retract synchronously to push the turnover assembly and the clamping jaw to move towards the front end of the main body frame;
2. the steering engines A of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms to synchronously swing towards the front end of the main body frame, so that the upper seat and the clamping jaw mechanism move towards the front end of the main body frame in the same direction;
when the two operations are finished, the second garbage container is positioned right above the low-position tray and is close to the low-position tray, and the whole carrying assembly is positioned in the carrying interval;
b. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of a second garbage container are loosened, and the second garbage container falls on the low-position tray;
c. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to run synchronously, and then the conveying assembly is driven to descend to the lowest end of the moving stroke of the conveying assembly through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base, so that the conveying preparation is made;
s05, transferring the garbage container:
controlling the electric roller to act based on the visual support provided by the camera, and moving the garbage container transfer robot to a designated place for unloading the garbage;
s06, clamping a second garbage container:
a. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to run synchronously, and then the low-level tray is driven to ascend to a position higher than the unloading plane through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base;
b. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, so that the clamping opening of the clamping jaw contains the second garbage container;
c. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move oppositely until the outer wall of the second garbage container is clamped;
s07, transferring the second waste container to the unloading plane:
a. the following operations are performed simultaneously:
1. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate upwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the second garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the process of rotating upwards;
2. the steering engines A of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms to synchronously swing towards the rear end of the main body frame, so that the carrying assembly moves towards the rear end of the main body frame;
3. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly, the clamping jaw and the second garbage container to move towards the rear end of the main body frame;
when the three operations are finished, the second garbage container extends out of the rear end of the main body frame;
b. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the second garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the downward rotating process; so that the second receptacle is lowered to the level of and close to the unloading plane;
c. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of a second garbage container are loosened, and the second garbage container falls on the unloading plane;
in the step, the coordination control of the double-shaft motor and the steering engine B is based on the real-time detection data of the angle inclination sensor;
s08, clamping a first garbage container:
a. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame; simultaneously, piston rods of air cylinders A of the two groups of horizontal push-pull assemblies retract synchronously to push the overturning assembly and the clamping jaw to move towards the front end of the main body frame; through the two operations, the clamping opening of the clamping jaw is opposite to and contains the first garbage container;
b. a piston rod of a cylinder B of the clamping jaw retracts, so that the two clamping arms move oppositely to clamp two sides of the outer wall of the first garbage container;
s09, transferring the first waste container to the unloading plane:
a. the following operations are performed simultaneously:
1. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame; meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the first garbage container is always kept vertical and not inclined in the overturning process;
2. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly, the clamping jaw and the first garbage container to move towards the rear end of the main body frame;
after the two operations are finished, the first garbage container extends out of the rear end of the main body frame;
c. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the downward rotating process; so that the first waste container is lowered in height and close to the unloading plane;
d. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the unloading plane;
in the step, the coordination control of the double-shaft motor and the steering engine B is based on the real-time detection data of the angle inclination sensor;
s10, resetting the mechanism:
a. the rocker arms of the four groups of reciprocating pushing assemblies swing to the front end of the main body frame to the limit position;
b. the synchronous belts of the two groups of lifting driving components drive the carrying assembly to move downwards to the limit position;
c. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies retract to enable the clamping jaws and the overturning assemblies to move towards the front end of the main body frame 11;
d. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate to face the front end of the main body frame;
the four operations are executed simultaneously, and when the four operations are finished, the carrying assembly returns to the loading interval between the two vertical supports and is at the lowest position of the moving stroke;
s11, garbage throwing:
based on the visual support provided by the camera, on one hand, the electric roller is controlled to move so as to adjust the pose of the garbage container transfer robot, and on the other hand, the mechanical gripper assembly is controlled to move, so that garbage bags in the two garbage containers are sequentially clamped and put into a specified garbage can.
Compared with the prior art, the invention has the following advantages:
1. the garbage dumping device is applied to residential areas, can replace manual garbage dumping to a specified place, and solves the problem of inconvenience of garbage dumping of special people in the residential areas. In the process of transferring the garbage container, the full-process automation operation comprising picking-transferring-unloading is realized.
2. The aim of the transportation is a garbage container which is not a garbage bag filled with garbage, the reliability is better in the transportation process, the garbage cannot fall off or fall off, and the garbage is prevented from being polluted by scattered fine garbage or liquid.
3. The mechanical gripper assembly carried by the lifting device can be used for operations such as pressing a button of an elevator in the transfer process, carrying out garbage bags after the elevator is transferred to a specified place, clamping the garbage bags and putting the garbage bags into a specified garbage can, and the automation degree of the mechanical gripper assembly is further improved.
4. Carry on high-order tray and low-order tray on the transport assembly, can once only carry two garbage containers to appointed place, transport efficiency is higher, and high-order tray and low-order tray are arranged in the direction of height dislocation to mutual collision when avoiding placing the garbage bin interferes, and the reliability is better.
5. The carrying assembly can realize the movement of 5 degrees of freedom (including the vertical lifting movement provided by the lifting driving assembly, the reciprocating swing in the vertical plane provided by the reciprocating pushing assembly, the reciprocating linear movement in the horizontal plane provided by the horizontal pushing and pulling assembly, the rotation in the vertical plane provided by the overturning assembly and the rotation in the vertical plane provided by the steering engine B), is flexible, can grab the garbage can placed on the steps in a certain height range, or unload the garbage can on the steps in a certain height range, and has strong maneuverability.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the handling assembly from one perspective;
FIG. 3 is a schematic view of the handling assembly from another perspective;
FIG. 4 is a schematic structural view of a movable frame;
FIG. 5 is a state diagram of the refuse container transfer method S01;
FIG. 6 is a state diagram of the refuse container transfer method S02;
FIG. 7 is a state diagram of the refuse container transfer method S03;
FIG. 8 is a state diagram of the garbage container operation method S04, step a;
FIG. 9 is a state diagram of the garbage container operation method S04 in substep c;
fig. 10 is a state diagram of the trash container operation method S11.
Illustration of the drawings: a main body frame 11; a platform 111; a vertical bracket 112; a guide rod 1121; a loading section 113; a lighting module 114; a motorized roller 12; a motor A131; a drive wheel 132; an axle 133; a driven wheel 134; a synchronous belt 135; a pan/tilt motor 21; a multi-degree-of-freedom mechanical arm 22; a gripper 23; a grasping opening 231; a base 31; a guide sleeve 311; a connection block 312; a steering engine A321; a connecting seat 322; a rocker arm 323; an upper seat 33; a lower tray 34; a high-order tray 35; a cylinder A361; a slide rail 362; a slider 363; a carrier plate 364; a dual-axis motor 365; a base 366; a chute 3661; the clamping arms 367; a steering engine B368; a rubber chuck 369; and a cylinder B360.
Detailed Description
Example 1:
as shown in fig. 1-4, the garbage container transferring robot includes a movable frame, a mechanical gripper assembly and a carrying assembly.
The movable frame includes a main body frame 11, a motorized roller 12, and a lift driving assembly. The front end of the main frame 11 is provided with a platform 111, two sides of the rear end are provided with vertical supports 112 which are symmetrically arranged, an object carrying interval 113 is formed between the two vertical supports 112, and each vertical support 112 is provided with a plurality of vertically arranged guide rods 1121. A plurality of electric rollers 12 are symmetrically installed at both sides of the lower end of the main body frame 11. The two groups of lifting driving components are respectively arranged on the two vertical brackets 112. The elevating driving assembly includes a motor a131, a driving pulley 132, a wheel shaft 133, a driven pulley 134, and a timing belt 135. The motor a131 is fixedly installed at the lower end of the main body frame 11. The capstan 132 is fixedly mounted on the crankshaft of the motor a 131. The axle 133 is horizontally disposed and movably mounted to the upper end of the vertical support 112. The driven wheel 134 is fixedly mounted on the wheel shaft 133 and is positioned directly above the driving wheel 132. The timing belt 135 is wound around the driving pulley 132 and the driven pulley 134.
The mechanical gripper assembly comprises a holder motor 21, a multi-degree-of-freedom mechanical arm 22 and a mechanical claw 23. The holder motor 21 is fixedly installed at the upper end of the middle part of the platform 111, and the upper end of the holder motor is provided with a horizontal rotating surface. The lower end of the multi-degree-of-freedom mechanical arm 22 is fixedly arranged on the tripod head motor 21, and the upper end of the multi-degree-of-freedom mechanical arm is connected with the mechanical claw 23. The gripper 23 is provided with a gripping opening 231 with adjustable opening. The structure of the multi-degree-of-freedom mechanical arm 22 and the gripper 23 is conventional and will not be described in detail here.
The carrying assembly comprises a base 31, a reciprocating pushing component, an upper seat 33, a low-position tray 34, a high-position tray 35 and a clamping jaw mechanism.
The upper end of the base 31 is provided with a mounting surface, and the edges of two sides of the base 31 are fixedly provided with a guide sleeve 311 and a connecting block 312.
The reciprocating pushing assembly is arranged between the base 31 and the upper seat 33 and is used for driving the upper seat 33 to reciprocate. The reciprocating pushing assemblies are four in number and are distributed on the mounting surface of the base 31 in a rectangular array. The reciprocating pushing assembly comprises a steering engine A321, a connecting seat 322 and a rocker arm 323. Steering wheel A321 is fixed mounting on base 31. The connecting seat 323 is fixedly installed at the lower end of the upper seat 33. The lower end of the rocker arm 323 is fixedly connected to a crankshaft of the steering engine A321, the upper end of the rocker arm 323 is hinged to the connecting seat 323, and the rocker arm 323 swings in a vertical plane under the driving of the steering engine A321. The four groups of reciprocating pushing components act synchronously to drive the upper seat 33 to do reciprocating swing on a vertical plane.
The upper seat 33 is fixedly connected to the upper ends of the connecting seats 322 of the four reciprocating pushing assemblies. The lower tray 34 is fixedly mounted on the base 31. The high-order tray 35 is fixedly mounted on the upper base 33 and is arranged to be vertically staggered with the low-order tray 34.
The clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and a clamping jaw. The horizontal push-pull assemblies are divided into two groups and are respectively and symmetrically arranged at two sides of the upper seat 33. The horizontal push-pull assembly comprises a cylinder A361, a slide rail 362 and a slide block 363. The cylinder a361 is fixedly installed on the upper seat 33, and a piston rod thereof horizontally extends. The slide rail 362 is fixedly mounted on the upper seat 33, and the extending direction thereof coincides with the extending direction of the piston rod of the cylinder a 361. The sliding block 363 is slidably mounted on the sliding rail 362, is directly or indirectly fixedly connected to a piston rod of the air cylinder a361, and is driven by the air cylinder a361 to linearly reciprocate along the sliding rail 362. The flipping assembly includes a carrier plate 364 and a dual-axis motor 365. The bearing plate 364 is fixedly connected to the upper ends of the two sliders 363 of the two sets of horizontal push-pull assemblies. The dual-shaft motor 365 is fixedly installed on the bearing plate 364, and two shafts of the dual-shaft motor 365 horizontally extend out from two ends of a housing of the dual-shaft motor 365 respectively. The clamping jaw comprises a base 366, a clamping arm 367, a steering engine B368, a rubber chuck 369 and a cylinder B360. The front end of the base 366 is rotatably mounted on the shaft of the dual-shaft motor 365, the two sides of the rear end of the base 366 are provided with sliding grooves 3661, and the base 366 is driven by the dual-shaft motor 365 to swing in a vertical plane. The two clamping arms 367 are oppositely arranged and slidably mounted in the two sliding grooves 3661 of the base 366, and extend outward from the rear end of the base 366. The two steering engines B368 are oppositely arranged and fixedly installed at the tail ends of the two clamping arms 367 respectively, and shafts of the two steering engines B368 horizontally extend out. The two rubber chucks 369 are oppositely arranged and fixedly installed on the crankshafts of the two steering engines B368 respectively, and a clamping opening is formed in the area between the two rubber chucks 369. The air cylinder B360 is arranged between the two clamping arms 367, a piston rod at one end of the air cylinder B360 is fixedly connected with one clamping arm 367, a cylinder body at the other end of the air cylinder B360 is fixedly connected with the other clamping arm 367, and the piston rod of the air cylinder B360 stretches and retracts to drive the two clamping arms 367 to move towards or away from each other along the sliding groove 3661 respectively, so that the clamping opening is enlarged or reduced. The clamping jaws move under the driving of the reciprocating pushing assembly, the horizontal pushing and pulling assembly and the overturning assembly, so that the moving path of the clamping openings can pass through the area right above the low-position tray 34 and the area right above the high-position tray 35.
The carrying assembly is slidably mounted on the guide rods 1121 of the two vertical brackets 112 through the guide sleeves 311 at the two sides of the base 31, and is located in the carrying section 113. The carrying assembly is fixedly connected to the timing belts 135 of the two sets of lifting driving components through the connecting blocks 312 at two sides of the base 31, so that the carrying assembly is driven by the two sets of lifting driving components to vertically lift and move along the guide rods 1121 of the two vertical brackets 112.
Preferably, the lighting module 114 is respectively disposed at the front middle edge, the rear middle edge and the two side edges of the main frame 11.
Preferably, the main frame 11 is provided with a camera (not shown) at the front middle edge, the rear middle edge, and the two side edges.
Preferably, the garbage container transferring robot further includes a power supply module (not shown). The power supply module is mounted on the platform 111 and is electrically connected to the power-requiring components in the waste container transferring robot, thereby providing electrical support for the operation of each power-requiring component.
The garbage container transfer robot provided by the invention can be applied to residential communities to realize the pickup, transfer and unloading of garbage containers of residents. In the process of transferring the garbage container, the mechanical claw of the mechanical gripper assembly can be used for pressing a button of an elevator, steps are avoided in the moving path of the garbage container transferring robot, and an accessible channel is selected for moving.
As shown in fig. 5 to 10, a garbage container transporting method, based on the above-mentioned garbage container transporting robot, before performing a garbage container transporting operation, the garbage container transporting robot is in an initial state in which:
a. the rocker arms 323 of the four groups of reciprocating pushing components swing to the extreme position at one end, so that the carrying assembly is positioned in the carrying interval 113 between the two vertical brackets 112, and the passing performance of the garbage container transferring robot is improved;
b. the synchronous belts 135 of the two groups of lifting driving components drive the carrying assembly to move downwards to the limit position, so that the gravity center height of the garbage container transferring robot is reduced;
c. the piston rod of the cylinder A361 of the horizontal push-pull component is in a retraction state, and the clamping jaw is driven by the double-shaft motor 365 of the turnover component to rotate to face the front end of the main body frame 11, so that the carrying assembly does not exceed the rear end of the main body frame 11 and is relatively close to the middle of the main body frame 11, and the stability of the garbage container transferring robot in no-load is improved;
d. the piston rod of the cylinder B360 of the clamping jaw extends out to move the two clamping arms 367 back to the limit position, so that the clamping opening is expanded to the maximum to prepare for clamping the garbage container;
e. the multi-degree-of-freedom robot arm 22 is folded to reduce the height and adjust the height so as not to exceed the region directly above the platform 111, thereby improving the passing ability of the garbage container transferring robot and reducing the height of the center of gravity of the garbage container transferring robot.
The garbage container transferring method comprises the following steps:
s01, clamping the first trash container:
a. the electric rollers 12 are controlled to rotate to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame 11 is just facing to the garbage container to be picked up;
b. the following operations are performed out of order:
1. piston rods of air cylinders A361 of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly and the clamping jaws to move towards the rear end of the main body frame 11;
2. a double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame 11;
3. the steering engines A321 of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms 323 to synchronously swing towards the rear end of the main body frame 11, so that the upper seat 33, the clamping jaw mechanism and the high-level tray 35 move towards the rear end of the main body frame 11 together;
4. the motors A131 of the two groups of lifting control assemblies are controlled to start, the two synchronous belts 135 are driven to run synchronously, and then the conveying assembly is driven to move in the vertical direction through the fixed connection relationship between the synchronous belts 135 and the connecting blocks 312 on the two sides of the base 31, so that the height of the clamping jaw is adjusted to be matched with the height of the first garbage container;
after the four operations are finished, the clamping jaw extends out of the rear end of the main body frame 11, and the clamping opening of the clamping jaw is opposite to and contains the first garbage container;
c. the piston rod of the cylinder B360 of the clamping jaw is retracted so that the two clamping arms 367 move towards each other to clamp the two sides of the outer wall of the first garbage container.
S02, transferring the first trash container to the high-position tray:
a. a double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame 11; meanwhile, the two steering engines B368 are synchronously started to drive the two rubber chucks 369 and the first garbage container to rotate, so that the first garbage container is always kept vertical and not inclined in the overturning process; after the garbage container is turned to the right position, the first garbage container is positioned right above the high-position tray 35 and is close to the high-position tray 35;
b. the piston rod of the cylinder B360 of the clamping jaw extends out to enable the two clamping arms 367 to move back to the limit position, so that the two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the high-position tray 35 immediately;
in this step, the coordinated control of the biaxial motor 365 and the steering engine B368 is based on the real-time detection data of the angle inclination sensor.
S03, clamping the second trash receptacle:
a. the electric rollers 12 are controlled to rotate to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame 11 is aligned to a second garbage container;
b. the following operations are performed out of order:
1. a double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame 11;
2. the motors A131 of the two groups of lifting control assemblies are started to drive the two synchronous belts 135 to run synchronously, and then the conveying assembly is driven to move in the vertical direction through the fixed connection relationship between the synchronous belts 135 and the connecting blocks 312 on the two sides of the base 31, so that the height of the clamping jaw is adjusted to be matched with that of the second garbage container;
after the two operations are finished, the clamping jaw extends out of the rear end of the main body frame 11, and the clamping opening of the clamping jaw is opposite to and contains a second garbage container;
c. the piston rod of the cylinder B360 of the clamping jaw is retracted so that the two clamping arms 367 move towards each other to clamp the two sides of the outer wall of the second garbage container.
S04, transferring the second trash receptacle to the lower tray:
a. the following operations are performed simultaneously:
1. piston rods of air cylinders A361 of the two groups of horizontal push-pull assemblies retract synchronously to push the turnover assembly and the clamping jaws to move towards the front end of the main body frame;
2. the steering engines A321 of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms 323 to synchronously swing towards the front end of the main body frame 11, so that the upper seat 33 and the clamping jaw mechanism move towards the front end of the main body frame 11 in the same direction;
when the two operations are completed, the second waste container is located directly above the lower tray 34 and is adjacent to the lower tray 34, and the whole carrying assembly is located in the carrying space 113;
b. the piston rod of the cylinder B360 of the clamping jaw extends out to move the two clamping arms 367 back to the limit position, so that the two sides of the outer wall of the second garbage container are loosened, and the second garbage container falls on the low-position tray 34;
c. the motors A131 of the two groups of lifting control assemblies are started to drive the two synchronous belts 135 to run synchronously, and then the conveying assembly is driven to descend to the lowest end of the moving stroke of the conveying assembly through the fixed connection relation between the synchronous belts 135 and the connecting blocks 312 on the two sides of the base 31, so that the conveying preparation is made.
S05, transferring the garbage container:
based on the visual support provided by the camera, the electric roller 12 is controlled to act, and the garbage container transferring robot is moved to a designated place for unloading garbage.
S06, clamping a second garbage container:
a. the motors A131 of the two groups of lifting control assemblies are started to drive the two synchronous belts 135 to run synchronously, and further, the low-level tray 34 is driven to ascend to a position higher than the unloading plane through the fixed connection relationship between the synchronous belts 135 and the connecting blocks 312 on the two sides of the base 31;
b. the dual axis motor 365 of the inversion assembly is started to drive the jaws to rotate downward at a certain angle so that the gripping openings of the jaws contain the second trash receptacle;
c. the piston rod of the cylinder B360 of the clamping jaw extends out to move the two clamping arms 367 towards each other until clamping the outer wall of the second garbage container.
S07, transferring the second waste container to the unloading plane:
a. the following operations are performed simultaneously:
1. a double-shaft motor 365 of the turnover assembly is started to drive the clamping jaw to rotate upwards for a certain angle, and meanwhile, two steering engines B368 are synchronously started to drive two rubber chucks 369 and a second garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the process of rotating upwards;
2. the steering engines A368 of the four groups of reciprocating pushing components are synchronously started to drive the four rocker arms 323 to synchronously swing towards the rear end of the main body frame 11, so that the carrying assembly moves towards the rear end of the main body frame 11;
3. piston rods of air cylinders A361 of the two groups of horizontal push-pull assemblies synchronously extend to push the turnover assembly, the clamping jaw and the second garbage container to move towards the rear end of the main body frame 11;
when the three operations are finished, the second garbage container extends out of the rear end of the main body frame 11;
b. a double-shaft motor 365 of the turnover assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, two steering engines B368 are synchronously started to drive two rubber chucks 369 to rotate by a second garbage container, so that the second garbage container is always kept vertical and not inclined in the downward rotating process; so that the second receptacle is lowered to the level of and close to the unloading plane;
c. the piston rod of the cylinder B360 of the clamping jaw extends out to move the two clamping arms 367 back to the limit position, so that the two sides of the outer wall of the second garbage container are loosened, and the second garbage container falls on the unloading plane;
in this step, the coordinated control of the biaxial motor 365 and the steering engine B368 is based on the real-time detection data of the angle inclination sensor.
S08, clamping a first garbage container:
a. a double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame 11; meanwhile, piston rods of the air cylinders A361 of the two groups of horizontal push-pull assemblies retract synchronously to push the turnover assembly and the clamping jaws to move towards the front end of the main body frame 11; through the two operations, the clamping opening of the clamping jaw is opposite to and contains the first garbage container;
b. the piston rod of the cylinder B360 of the clamping jaw is retracted so that the two clamping arms 367 move towards each other to clamp the two sides of the outer wall of the first garbage container.
S09, transferring the first waste container to the unloading plane:
a. the following operations are performed simultaneously:
1. a double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame 11; meanwhile, the two steering engines B368 are synchronously started to drive the two rubber chucks 369 and the first garbage container to rotate, so that the first garbage container is always kept vertical and not inclined in the overturning process;
2. piston rods of air cylinders A361 of the two groups of horizontal push-pull assemblies extend out synchronously to push the turnover assembly, the clamping jaw and the first garbage container to move towards the rear end of the main body frame 11;
after the two operations are finished, the first garbage container extends out of the rear end of the main body frame;
c. a double-shaft motor 365 of the turnover assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, two steering engines B368 are synchronously started to drive two rubber chucks 369 and the first garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the downward rotating process; so that the first receptacle is lowered to the level of and adjacent to the unloading plane;
d. the piston rod of the cylinder B360 of the clamping jaw extends out to enable the two clamping arms 367 to move back to the limit position, so that the two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the unloading plane;
in this step, the coordinated control of the biaxial motor 365 and the steering engine B368 is based on the real-time detection data of the angle inclination sensor.
S10, resetting the mechanism:
a. the rocker arms 323 of the four groups of reciprocating pushing assemblies swing to the front end of the main body frame 11 to the limit position;
b. the synchronous belts 135 of the two groups of lifting driving components drive the carrying assembly to move downwards to the limit position;
c. piston rods of air cylinders A361 of the two groups of horizontal push-pull assemblies retract, so that the clamping jaws and the overturning assemblies move towards the front end of the main body frame 11;
d. the double-shaft motor 365 of the turnover assembly is started to drive the clamping jaw to rotate to face the front end of the main body frame 11;
the four operations are performed simultaneously, and when the four operations are completed, the carrying assembly returns to the loading space 113 between the two vertical supports 112 and is at the lowest position of the moving stroke.
S11, garbage throwing:
based on the visual support provided by the camera, on one hand, the electric roller is controlled to move so as to adjust the pose of the garbage container transfer robot, and on the other hand, the mechanical gripper assembly is controlled to move, so that garbage bags in the two garbage containers are sequentially clamped and put into a specified garbage can.

Claims (10)

1. Garbage container transports robot, characterized by: the device comprises a movable rack, a mechanical gripper assembly and a carrying assembly;
the movable rack comprises a main body frame, electric rollers and a lifting driving assembly; the front end of the main frame is provided with a platform, the two sides of the rear end of the main frame are provided with vertical supports which are symmetrically arranged, a loading interval is formed between the two vertical supports, and each vertical support is provided with a plurality of guide rods which are vertically arranged; the plurality of electric rollers are symmetrically arranged on two sides of the lower end of the main body frame; the two groups of lifting driving components are respectively arranged on the two vertical brackets;
the mechanical gripper assembly comprises a holder motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the holder motor is fixedly arranged at the upper end of the middle part of the platform, and the upper end of the holder motor is provided with a horizontal rotating surface; the lower end of the multi-degree-of-freedom mechanical arm is fixedly arranged on the tripod head motor, and the upper end of the multi-degree-of-freedom mechanical arm is connected with the mechanical claw; the mechanical claw is provided with a grabbing opening with adjustable opening degree;
the carrying assembly comprises a base, a reciprocating pushing component, an upper seat, a low-position tray, a high-position tray and a clamping jaw mechanism; the upper end of the base is provided with a mounting surface, and the edges of two sides of the base are fixedly provided with a guide sleeve and a connecting block; the reciprocating pushing assembly is arranged between the base and the upper seat and is used for driving the upper seat to do reciprocating movement; the upper seat is connected with the upper end of the reciprocating pushing assembly; the low-level tray is fixedly arranged on the base; the high-level tray is fixedly arranged on the upper seat and is arranged in a vertically staggered manner with the low-level tray; the clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and a clamping jaw, wherein the horizontal push-pull assembly is arranged on the upper seat and is associated with the turnover assembly so as to drive the turnover assembly to do reciprocating linear movement, the clamping jaw is arranged on the turnover assembly and is driven by the turnover assembly to rotate in a vertical plane, and a clamping opening with adjustable opening degree is arranged on the clamping jaw; the clamping jaw moves under the driving of the reciprocating pushing assembly, the horizontal pushing and pulling assembly and the overturning assembly so that the moving path of the clamping opening passes through the area right above the low-position tray and the area right above the high-position tray;
the carrying assembly is slidably mounted on the guide rods of the two vertical supports through guide sleeves on two sides of the base and is positioned in the carrying interval; the carrying assembly is associated with the two groups of lifting driving components through connecting blocks on two sides of the base, so that the carrying assembly is driven by the two groups of lifting driving components to vertically lift and move along the guide rods of the two vertical supports.
2. The trash receptacle transfer robot of claim 1, further comprising: the lifting driving component comprises a lifting driving component which comprises a motor A, a driving wheel, a wheel shaft, a driven wheel and a synchronous belt; the motor A is fixedly arranged at the lower end of the main body frame; the driving wheel is fixedly arranged on a crankshaft of the motor A; the wheel shaft is horizontally arranged and movably mounted at the upper end of the vertical bracket; the driven wheel is fixedly arranged on the wheel shaft and is positioned right above the driving wheel; the synchronous belt is wound between the driving wheel and the driven wheel; correspondingly, the carrying assembly is fixedly connected with the synchronous belts of the two groups of lifting driving components through the connecting blocks on the two sides of the base.
3. The trash receptacle transfer robot of claim 2, further comprising: the reciprocating pushing assemblies are four in number and are distributed on the mounting surface of the base in a rectangular array; the reciprocating pushing assembly comprises a steering engine A, a connecting seat and a rocker arm; the steering engine A is fixedly arranged on the base; the connecting seat is fixedly arranged at the lower end of the upper seat; the lower end of the rocker arm is fixedly connected to a crankshaft of the steering engine A, the upper end of the rocker arm is hinged with the connecting seat, and the rocker arm swings in a vertical plane under the driving of the steering engine A; the four groups of reciprocating pushing assemblies act synchronously to drive the upper seat to do reciprocating swing of an arc track in a vertical plane.
4. The trash receptacle transfer robot of claim 3, wherein: the horizontal push-pull assemblies are divided into two groups and are respectively and symmetrically arranged on two sides of the upper seat; the horizontal push-pull assembly comprises a cylinder A, a sliding rail and a sliding block; the cylinder A is fixedly arranged on the upper seat, and a piston rod of the cylinder A horizontally extends out; the sliding rail is fixedly arranged on the upper seat, and the extending direction of the sliding rail is consistent with the extending direction of the piston rod of the air cylinder A; the sliding block is arranged on the sliding rail in a sliding mode, is directly or indirectly fixedly connected with a piston rod of the air cylinder A, and is driven by the air cylinder A to do linear reciprocating motion along the sliding rail.
5. The trash receptacle transfer robot of claim 4, wherein: the overturning assembly comprises a bearing plate and a double-shaft motor; the bearing plate is fixedly connected to the upper ends of the two sliding blocks of the two groups of horizontal push-pull assemblies; two axles of double-shaft motor are stretched out from the casing both ends level of double-shaft motor respectively on the loading board fixed mounting, double-shaft motor's two axles.
6. The trash receptacle transfer robot of claim 5, wherein: the clamping jaw comprises a base, a clamping arm, a steering engine B, a rubber chuck and a cylinder B; the front end of the base is rotatably arranged on a crankshaft of the double-shaft motor, sliding grooves are formed in two sides of the rear end of the base, and the base is driven by the double-shaft motor to swing in a vertical plane; the two clamping arms are oppositely arranged and are respectively installed in the two sliding grooves of the base in a sliding manner and extend out of the rear end of the base; the two steering engines B are oppositely arranged and are respectively and fixedly installed at the tail ends of the two clamping arms, and the shafts of the two steering engines B horizontally extend out; the two rubber chucks are oppositely arranged and respectively fixedly arranged on the crankshafts of the two steering engines B; the cylinder B is arranged between the two clamping arms, a piston rod at one end of the cylinder B is fixedly connected with one clamping arm, a cylinder body at the other end of the cylinder B is fixedly connected with the other clamping arm, and the piston rod of the cylinder B stretches and retracts to drive the two clamping arms to move towards each other or move back to back along the sliding groove respectively, so that a clamping opening is enlarged or reduced; correspondingly, the clamping opening is the area between the two rubber chucks.
7. The trash receptacle transferring robot of claim 6, wherein: the clamping jaw also comprises a horizontal inclination angle sensor; the horizontal inclination angle sensor is fixedly arranged on the clamping arm and used for detecting the inclination angle of the clamping arm relative to the horizontal plane.
8. The trash receptacle transferring robot of claim 7, wherein: the edge of the middle part of the front end of the main frame, the edge of the middle part of the rear end and the edges of the two sides are respectively provided with an illuminating module.
9. The trash receptacle transfer robot of claim 8, wherein: the front end middle edge, the rear end middle edge and the two side edges of the main frame are respectively provided with a camera.
10. A refuse container transfer method according to claim 9, wherein the refuse container transfer robot is in an initial state before the refuse container transfer operation is performed, and in the initial state:
a. the rocker arms of the four groups of reciprocating pushing components swing to the extreme position of one end, so that the carrying assembly is positioned in the carrying interval between the two vertical supports, and the trafficability of the garbage container transferring robot is improved;
b. the synchronous belts of the two groups of lifting driving components drive the carrying assembly to move downwards to the limit position, so that the gravity center height of the garbage container transferring robot is reduced;
c. a piston rod of a cylinder A of the horizontal push-pull component is in a retraction state, and the clamping jaw is driven by a double-shaft motor of the turnover component to rotate to face the front end of the main body frame, so that the carrying assembly does not exceed the rear end of the main body frame and is relatively close to the middle of the main body frame, and the stability of the garbage container transfer robot in no-load is improved;
d. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that a clamping opening is expanded to the maximum to prepare for clamping a garbage container;
e. the multi-degree-of-freedom mechanical arm is folded to reduce the height, and the height of the multi-degree-of-freedom mechanical arm does not exceed the area right above the platform, so that the trafficability of the garbage container transferring robot is improved, and the gravity center height of the garbage container transferring robot is reduced;
the garbage container transferring method comprises the following steps:
s01, clamping the first trash container:
a. the electric rollers are controlled to rotate so as to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame is just opposite to the garbage container to be picked up;
b. the following operations are performed out of order:
1. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly and the clamping jaw to move towards the rear end of the main body frame;
2. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame;
3. the steering engines A of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms to synchronously swing towards the rear end of the main body frame, so that the upper seat, the clamping jaw mechanism and the high-position tray move towards the rear end of the main body frame in the same direction;
4. controlling the motors A of the two groups of lifting control assemblies to start, driving the two synchronous belts to run synchronously, further driving the carrying assembly to move in the vertical direction through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base, and adjusting the height of the clamping jaw to be matched with the height of the first garbage container;
after the four operations are finished, the clamping jaw extends out of the rear end of the main body frame, and the clamping opening of the clamping jaw is opposite to and contains the first garbage container;
c. a piston rod of a cylinder B of the clamping jaw retracts, so that the two clamping arms move oppositely to clamp two sides of the outer wall of the first garbage container;
s02, transferring the first trash container to the high-position tray:
a. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame; meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the first garbage container is always kept vertical and not inclined in the overturning process; after the garbage container is turned to the right position, the first garbage container is positioned right above the high-position tray and is close to the high-position tray;
b. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the high-position tray;
in the step, the coordination control of the double-shaft motor and the steering engine B is based on the real-time detection data of the angle inclination sensor;
s03, clamping the second trash receptacle:
a. the electric rollers are controlled to rotate so as to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame is aligned to the second garbage container;
b. the following operations are performed out of order:
1. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame;
2. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to run synchronously, and then the conveying assembly is driven to move in the vertical direction through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base, so that the height of the clamping jaw is adjusted to be matched with the height of a second garbage container;
after the two operations are finished, the clamping jaw extends out of the rear end of the main body frame, and the clamping opening of the clamping jaw is opposite to and contains a second garbage container;
c. the piston rod of the cylinder B of the clamping jaw retracts, so that the two clamping arms move oppositely to clamp two sides of the outer wall of the second garbage container;
s04, transferring the second trash receptacle to the lower tray:
a. the following operations are performed simultaneously:
1. piston rods of cylinders A of the two groups of horizontal push-pull assemblies retract synchronously to push the turnover assembly and the clamping jaw to move towards the front end of the main body frame;
2. the steering engines A of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms to synchronously swing towards the front end of the main body frame, so that the upper seat and the clamping jaw mechanism move towards the front end of the main body frame in the same direction;
when the two operations are finished, the second garbage container is positioned right above the low-position tray and is close to the low-position tray, and the whole carrying assembly is positioned in the carrying interval;
b. a piston rod of a cylinder B of the clamping jaw extends out to enable two clamping arms to move back to the limit position, so that two sides of the outer wall of a second garbage container are loosened, and the second garbage container falls on the low-position tray;
c. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to run synchronously, and then the conveying assembly is driven to descend to the lowest end of the moving stroke of the conveying assembly through the fixed connection relation between the synchronous belts and the connecting blocks on the two sides of the base, so that the conveying preparation is made;
s05, transferring the garbage container:
controlling the electric roller to act based on the visual support provided by the camera, and moving the garbage container transfer robot to a designated place for unloading the garbage;
s06, clamping a second garbage container:
a. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to run synchronously, and then the low-level tray is driven to ascend to a position higher than the unloading plane through the fixed connection relationship between the synchronous belts and the connecting blocks on the two sides of the base;
b. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, so that the clamping opening of the clamping jaw contains the second garbage container;
c. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move oppositely until the outer wall of the second garbage container is clamped;
s07, transferring the second waste container to the unloading plane:
a. the following operations are performed simultaneously:
1. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate upwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the second garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the process of rotating upwards;
2. the steering engines A of the four groups of reciprocating pushing assemblies are synchronously started to drive the four rocker arms to synchronously swing towards the rear end of the main body frame, so that the carrying assembly moves towards the rear end of the main body frame;
3. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly, the clamping jaw and the second garbage container to move towards the rear end of the main body frame;
when the three operations are finished, the second garbage container extends out of the rear end of the main body frame;
b. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the second garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the downward rotating process; so that the second receptacle is lowered to the level of and close to the unloading plane;
c. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of a second garbage container are loosened, and the second garbage container falls on the unloading plane;
in the step, the coordination control of the double-shaft motor and the steering engine B is based on the real-time detection data of the angle inclination sensor;
s08, clamping a first garbage container:
a. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame; simultaneously, piston rods of air cylinders A of the two groups of horizontal push-pull assemblies retract synchronously to push the overturning assembly and the clamping jaw to move towards the front end of the main body frame; through the two operations, the clamping opening of the clamping jaw is opposite to and contains the first garbage container;
b. a piston rod of a cylinder B of the clamping jaw retracts, so that the two clamping arms move oppositely to clamp two sides of the outer wall of the first garbage container;
a. the following operations are performed simultaneously:
1. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame; meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the first garbage container is always kept vertical and not inclined in the overturning process;
2. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the turnover assembly, the clamping jaw and the first garbage container to move towards the rear end of the main body frame;
after the two operations are finished, the first garbage container extends out of the rear end of the main body frame;
c. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the second garbage container is always kept vertical and not inclined in the downward rotating process; so that the first receptacle is lowered to the level of and adjacent to the unloading plane;
d. a piston rod of a cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit positions, so that the two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the unloading plane;
in the step, the coordination control of the double-shaft motor and the steering engine B is based on the real-time detection data of the angle inclination sensor;
s10, resetting the mechanism:
a. the rocker arms of the four groups of reciprocating pushing assemblies swing to the front end of the main body frame to the limit position;
b. the synchronous belts of the two groups of lifting driving components drive the carrying assembly to move downwards to the limit position;
c. piston rods of air cylinders A of the two groups of horizontal push-pull assemblies retract to enable the clamping jaws and the overturning assemblies to move towards the front end of the main body frame 11;
d. a double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate to face the front end of the main body frame;
the four operations are executed simultaneously, and when the four operations are finished, the carrying assembly returns to the loading interval between the two vertical supports and is at the lowest position of the moving stroke;
s11, garbage throwing:
based on the visual support provided by the camera, on one hand, the electric roller is controlled to move so as to adjust the pose of the garbage container transfer robot, and on the other hand, the mechanical gripper assembly is controlled to move, so that garbage bags in the two garbage containers are sequentially clamped and put into a specified garbage can.
CN202210410192.8A 2022-04-19 2022-04-19 Garbage container transfer robot and method Active CN114800425B (en)

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* Cited by examiner, † Cited by third party
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CN209242119U (en) * 2018-12-11 2019-08-13 吉林大学 A kind of robot intelligently carried and unloaded for dustbin
CN110653790A (en) * 2019-10-25 2020-01-07 河南大学 AGV robot for carrying large special-shaped piece
CN110788870A (en) * 2019-11-05 2020-02-14 长沙理工大学 Power distribution overhead line grounding wire hanging robot and operation method thereof

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CN108360428A (en) * 2018-04-20 2018-08-03 吉林大学 It is a kind of to be used for rubbish automatic Picking, carrying and the sanitation robot of unloading and its control method
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