CN114800425B - Garbage container transfer robot and method - Google Patents

Garbage container transfer robot and method Download PDF

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Publication number
CN114800425B
CN114800425B CN202210410192.8A CN202210410192A CN114800425B CN 114800425 B CN114800425 B CN 114800425B CN 202210410192 A CN202210410192 A CN 202210410192A CN 114800425 B CN114800425 B CN 114800425B
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China
Prior art keywords
garbage container
assembly
clamping
body frame
main body
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CN202210410192.8A
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Chinese (zh)
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CN114800425A (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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    • 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, an electric roller and a lifting driving assembly; the mechanical gripper assembly comprises a cradle head motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the carrying assembly comprises a base, a reciprocating pushing assembly, an upper seat, a low-level tray, a high-level 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 section. The garbage container transferring method is based on a garbage container transferring robot. The invention is applied to residential communities, can replace manual garbage pouring to appointed places, and solves the inconvenience of pouring garbage for special crowds in residential communities. During the transfer of the waste container, a full-flow automated operation involving pick-up-transfer-unloading is achieved.

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 are provided with garbage collection stations in a centralized mode, and household garbage generated by each household needs to be put into the garbage collection stations at fixed points and cannot be discarded at will. When a household has 1-2 resident population, 1-2 barrels of household garbage can be produced in one day, and the household garbage is usually poured every day to keep the living environment clean and sanitary and avoid breeding mosquito and fly bacteria.
However, when the resident population is the old or disabled person with inconvenient legs or vision-impaired person, the process of lifting the household garbage to the garbage collection station for discarding is inconvenient to a certain extent. Therefore, it is desirable to develop a robot that can replace manual dumping of garbage to a designated place to solve the above-mentioned difficulties for a special crowd, but unfortunately, such a robot is not seen in the market.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a garbage container transfer robot and a method, which can replace manual garbage pouring to a designated place, and solve the inconvenience of pouring garbage for special people in a residential area.
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, an electric roller and a lifting driving assembly; the front end of the main body frame is provided with a platform, two sides of the rear end are provided with vertical supports which are symmetrically arranged, a carrying section 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 at 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 cradle head motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the cradle head motor is fixedly arranged at the upper end of the middle part of the platform, and a horizontal rotating surface is arranged at the upper end of the cradle head motor; the lower end of the multi-degree-of-freedom mechanical arm is fixedly arranged on the pan-tilt 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 port with an adjustable opening;
the carrying assembly comprises a base, a reciprocating pushing assembly, an upper seat, a low-level tray, a high-level tray and a clamping jaw mechanism; the upper end of the base is provided with a mounting surface, and the edges of the 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 used for driving the upper seat to reciprocate; the upper seat is connected to 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 staggered manner with the low-level tray up and down; the clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and clamping jaws, wherein the horizontal push-pull assembly is arranged on the upper seat and is associated with the turnover assembly to drive the turnover assembly to do reciprocating linear movement, the clamping jaws are arranged on the turnover assembly and driven by the turnover assembly to do rotation in a vertical plane, and clamping openings with adjustable opening degrees are formed in the clamping jaws; the clamping jaw moves under the common drive of the reciprocating pushing assembly, the horizontal pushing assembly and the overturning assembly, so that the moving path of the clamping opening passes through the area right above the low-level tray and the area right above the high-level tray;
The carrying assembly is slidably arranged on the guide rods of the two vertical brackets through guide sleeves on two sides of the base and is positioned in the carrying section; the carrying assembly is associated with the two groups of lifting driving assemblies through connecting blocks on two sides of the base, so that the carrying assembly can vertically lift and move along the guide rods of the two vertical supports under the common driving of the two groups of lifting driving assemblies.
The invention further adopts the technical scheme that: the lifting driving assembly 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 the shaft of the motor A; the wheel axle 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 assemblies through connecting blocks on two sides of the base.
The invention further adopts the technical scheme that: four groups of reciprocating pushing components are distributed on the mounting surface of the base in a rectangular array; the reciprocating pushing component 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 the 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 components synchronously act to drive the upper seat to do reciprocating swing of an arc track in a vertical plane.
The invention further adopts the technical scheme that: the horizontal push-pull assemblies are divided into two groups and are symmetrically arranged at two sides of the upper seat respectively; the horizontal push-pull assembly comprises an air 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 a piston rod of the air cylinder A; the sliding block is slidably arranged on the sliding rail and is directly or indirectly fixedly connected with a piston rod of the air cylinder A, and the sliding block is driven by the air cylinder A to linearly reciprocate along the sliding rail.
The invention further adopts the technical scheme that: 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 arranged 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 invention further adopts the technical scheme that: 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 swings in a vertical plane under the driving of the double-shaft motor; the two clamping arms are oppositely arranged, are respectively and slidably arranged in the two sliding grooves of the base, and extend out of the rear end of the base; the two steering engines B are oppositely arranged and respectively and fixedly arranged 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 and fixedly arranged on the shafts 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 to drive the two clamping arms to move oppositely or back to back along the sliding groove respectively, so that the clamping opening is enlarged or reduced; correspondingly, the clamping opening is an area between the two rubber chucks.
The invention further adopts the technical scheme that: the front end middle edge, the rear end middle edge and the two side edges of the main body frame are respectively provided with an illumination module.
The invention further adopts the technical scheme that: cameras are respectively arranged at the middle edge of the front end of the main body frame, the middle edge of the rear end of the main body frame and the edges of the two sides of the main body frame.
The technical scheme of the invention is as follows: the garbage container transferring method is based on the garbage container transferring robot, and 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 assemblies swing to the limit position of one end, so that the carrying assembly is positioned in a carrying interval between the two vertical supports, and the trafficability of the garbage container transfer robot is improved;
b. the synchronous belts of the two groups of lifting driving assemblies drive the carrying assembly to move downwards to the limit position so as to reduce the gravity center height of the garbage container transfer robot;
c. the piston rod of the cylinder A of the horizontal push-pull assembly is in a retracted state, and the clamping jaw is driven by the double-shaft motor of the overturning assembly to rotate towards 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 part of the main body frame, and the stability of the garbage container transfer robot in no-load is improved;
d. The piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that the clamping opening is expanded to the maximum, and the garbage container is ready to be clamped;
e. the multi-degree-of-freedom mechanical arm is folded to reduce the height and adjust the height not to exceed the area right above the platform, so that the trafficability of the garbage container transfer robot is improved and the gravity center height of the garbage container transfer robot is reduced;
the garbage container transferring method comprises the following steps:
s01, clamping a first garbage container:
a. controlling the electric roller 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 right against the garbage container to be picked up;
b. the following operations are performed out of order:
1. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning assemblies and the clamping jaws to move towards the rear end of the main body frame;
2. the 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 engine A of the four groups of reciprocating pushing components is 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 together;
4. the motor A of the two groups of lifting control components is controlled to start, the two synchronous belts are driven to run synchronously, and then the carrying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts and the connecting blocks at the two sides of the base, so that the height of the clamping jaw is adjusted to be suitable for the height of the first garbage container;
After the four operations are completed, the clamping jaw extends out from the rear end of the main body frame, and the clamping opening of the clamping jaw faces to and contains the first garbage container;
c. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the first garbage container;
s02, transferring the first garbage container to a high-level tray:
a. the 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, 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 kept vertical and not inclined all the time in the overturning process; after the first garbage container is turned over to be in place, the first garbage container is positioned right above the high-level tray and is closely adjacent to the high-level tray;
b. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that 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 real-time detection data of an angle inclination sensor;
s03, clamping a second garbage container:
a. controlling the electric roller to rotate so as to adjust the pose of the garbage container transfer robot, and enabling the rear end of the main body frame to be aligned with a second garbage container;
b. The following operations are performed out of order:
1. the 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 synchronously operate, so that the conveying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts and connecting blocks on two sides of the base, and the heights of the clamping jaws are adjusted to be matched with the height of the second garbage container;
after the two operations are completed, the clamping jaw extends out from the rear end of the main body frame, and the clamping opening of the clamping jaw faces to and contains a second garbage container;
c. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the second garbage container;
s04, transferring the second garbage container to a low-level tray:
a. simultaneously executing the following operations:
1. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws to move towards the front end of the main body frame;
2. the steering engine A of the four groups of reciprocating pushing components is 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 together;
when the two operations are completed, the second garbage container is positioned right above the low-level tray and is close to the low-level tray, and the whole carrying assembly is positioned in the carrying area;
b. The piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the second garbage container are loosened, and the second garbage container falls on the low-position tray;
c. the motor A of the two groups of lifting control components is started to drive the two synchronous belts to synchronously operate, so that the conveying assembly is driven to descend to the lowest end of the moving stroke of the conveying assembly through the fixedly connected relation between the synchronous belts and the connecting blocks at the two sides of the base, and further, the conveying assembly is ready for transferring;
s05, transferring a garbage container:
based on the vision support provided by the camera, controlling the action of the electric roller, and moving the garbage container transfer robot to a specified place for unloading garbage;
s06, clamping a second garbage container:
a. the motors A of the two groups of lifting control components are started to drive the two synchronous belts to synchronously run, and then the low-level tray is driven to rise to be higher than the unloading plane through the fixed connection relation between the synchronous belts and the connecting blocks at the two sides of the base;
b. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards by a certain angle, so that the clamping opening of the clamping jaw accommodates the second garbage container;
c. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move in opposite directions until the outer wall of the second garbage container is clamped;
S07, transferring the second garbage container onto an unloading plane:
a. simultaneously executing the following operations:
1. the 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 always keeps vertical and does not incline in the process of rotating upwards;
2. the steering engine A of the four groups of reciprocating pushing assemblies is 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. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning 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 completed, the second garbage container extends out of the rear end of the main body frame;
b. the 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 always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the second waste container and approaching the unloading plane;
c. The piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the 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 real-time detection data of an angle inclination sensor;
s08, clamping a first garbage container:
a. the 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 the cylinders A of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws 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. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the first garbage container;
s09, transferring the first garbage container onto the unloading plane:
a. simultaneously executing the following operations:
1. the 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; simultaneously, 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 kept vertical and not inclined all the time in the overturning process;
2. The piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend to push the overturning 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 completed, the first garbage container extends out of the rear end of the main body frame;
c. the 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 always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the first trash receptacle and approaching the unloading plane;
d. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that 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 real-time detection data of an angle inclination sensor;
s10, resetting a 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 assemblies drive the carrying assembly to move downwards to the limit position;
c. The piston rods of the cylinders A of the two groups of horizontal push-pull assemblies retract to enable the clamping jaw and the overturning assembly to move towards the front end of the main body frame 11;
d. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate towards the front end of the main body frame;
the four operations are executed simultaneously, and when the four operations are completed, the carrying assembly returns to the carrying interval between the two vertical supports and is at the lowest position of the moving stroke;
s11, garbage is put in:
based on the visual support provided by the camera, on one hand, the action of the electric roller is controlled to adjust the pose of the garbage container transferring robot, and on the other hand, the action of the mechanical gripper assembly is controlled, so that garbage bags in 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 can be applied to residential communities, can replace manual garbage pouring to appointed places, and solves the inconvenience of pouring garbage by special people in residential communities. During the transfer of the waste container, a full-flow automated operation involving pick-up-transfer-unloading is achieved.
2. The object of the transfer is a garbage container, and is not a garbage bag filled with garbage, the reliability is good in the transfer process, the garbage can not scatter 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 mechanical gripper assembly can be used for carrying out operations such as lifting the garbage bag according to an elevator button in the transferring process and throwing the garbage bag into a specified garbage can after the garbage bag reaches a specified place, and the degree of automation of the mechanical gripper assembly is further improved.
4. The carrying assembly is provided with the high-level tray and the low-level tray, two garbage containers can be carried to a designated place at one time, the transferring efficiency is high, the high-level tray and the low-level tray are arranged in a staggered mode in the height direction, so that mutual collision interference when the garbage can is placed is avoided, and the reliability is good.
5. The carrying assembly can realize 5 degrees of freedom motions (including vertical lifting movement provided by a lifting driving assembly, reciprocating swing in a vertical plane provided by a reciprocating pushing assembly, reciprocating linear movement in a horizontal plane provided by a horizontal pushing and pulling assembly, rotation in a vertical plane provided by a turning assembly and rotation in a vertical plane provided by a steering engine B), is flexible and motorized, can grab a garbage can placed on a step in a certain height range, or can unload the garbage can on the step in the certain height range, and has strong operability.
The invention is further described below with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the handling assembly in one view;
FIG. 3 is a schematic view of the handling assembly from another perspective;
FIG. 4 is a schematic view of the structure of a movable frame;
FIG. 5 is a state diagram showing the steps of a garbage container transferring method S01;
fig. 6 is a state diagram of a step S02 of the garbage container transferring method;
fig. 7 is a state diagram showing a step S03 of the garbage container transferring method;
fig. 8 is a state diagram showing the steps of the garbage can operation method S04, step a;
fig. 9 is a state diagram showing the steps of the garbage container operation method S04, step c;
fig. 10 is a state diagram showing steps of the garbage can operation method S11.
Legend description: a main body frame 11; a platform 111; a vertical support 112; a guide rod 1121; a carrying section 113; a lighting module 114; an electric roller 12; motor a131; a drive wheel 132; an axle 133; driven wheel 134; a timing belt 135; a pan/tilt motor 21; a multiple degree of freedom robot arm 22; a gripper 23; a grip opening 231; a base 31; a guide sleeve 311; a connection block 312; steering engine A321; a connecting base 322; a rocker arm 323; an upper base 33; a lower tray 34; a high-level tray 35; cylinder a361; a slide rail 362; a slider 363; a carrier plate 364; a biaxial motor 365; a base 366; chute 3661; a clip arm 367; steering engine B368; a rubber chuck 369; cylinder B360.
Detailed Description
Example 1:
as shown in fig. 1-4, the waste container transfer robot includes a movable frame, a mechanical gripper assembly, and a handling assembly.
The movable frame includes a main body frame 11, a motorized roller 12, and a lift drive assembly. The front end of the main body frame 11 is provided with a platform 111, two sides of the rear end are provided with vertical supports 112 which are symmetrically arranged, a carrying section 113 is formed between the two vertical supports 112, and each vertical support 112 is provided with a plurality of guide rods 1121 which are vertically arranged. A plurality of electric rollers 12 are symmetrically installed at both sides of the lower end of the main body frame 11. The two sets of lift drive assemblies are provided on two vertical supports 112, respectively. The lifting drive assembly comprises a motor A131, a driving wheel 132, a wheel shaft 133, a driven wheel 134 and a synchronous belt 135. The motor A131 is fixedly arranged at the lower end of the main body frame 11. The driving wheel 132 is fixedly arranged on the shaft of the motor A131. The wheel axle 133 is horizontally disposed and movably mounted at the upper end of the vertical support 112. The driven pulley 134 is fixedly mounted on the axle 133 and is located directly above the driving pulley 132. A timing belt 135 is wound between 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 gripper 23. The pan-tilt motor 21 is fixedly installed at the upper end of the middle of the platform 111, and a horizontal rotating surface is arranged at the upper end of the pan-tilt motor. The lower end of the multi-degree-of-freedom mechanical arm 22 is fixedly arranged on the pan-tilt motor 21, and the upper end is connected with the mechanical claw 23. The gripper 23 is provided with an opening degree-adjustable gripping opening 231. The structure of the multi-degree-of-freedom mechanical arm 22 and the mechanical claw 23 are all of the prior art, and will not be described herein.
The handling assembly includes a base 31, a reciprocating pushing assembly, an upper seat 33, a lower tray 34, an upper tray 35, and a jaw mechanism.
The upper end of the base 31 is provided with a mounting surface, and the edges of the two sides of the base 31 are fixedly provided with a guide sleeve 311 and a connecting block 312.
The reciprocating pushing assembly is disposed between the base 31 and the upper seat 33, and is used for driving the upper seat 33 to reciprocate. Four groups of reciprocating pushing components 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 base 323 is fixedly installed at the lower end of the upper base 33. The lower end of the rocker arm 323 is fixedly connected to the 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 synchronously act to drive the upper seat 33 to do vertical plane reciprocating swing.
The upper seat 33 is fixedly connected to the upper ends of the connecting seats 322 of the four groups of reciprocating pushing assemblies. The lower tray 34 is fixedly mounted on the base 31. The high-level tray 35 is fixedly mounted on the upper seat 33 and is staggered up and down with the low-level tray 34.
The clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and clamping jaws. The horizontal push-pull components are divided into two groups, and are symmetrically arranged at two sides of the upper seat 33 respectively. The horizontal push-pull assembly includes a cylinder a361, a slide rail 362, and a slider 363. Cylinder a361 is fixedly mounted on the upper seat 33 with its piston rod extending horizontally. The slide rail 362 is fixedly mounted on the upper seat 33, and its extending direction is identical to that of the piston rod of the cylinder a 361. The sliding block 363 is slidably mounted on the sliding rail 362, and is directly or indirectly fixedly connected with a piston rod of the air cylinder a361, and is driven by the air cylinder a361 to reciprocate linearly along the sliding rail 362. The flip assembly includes a carrier plate 364 and a dual spindle motor 365. The loading plate 364 is fixedly connected to the upper ends of the two sliding blocks 363 of the two sets of horizontal push-pull assemblies. The dual-axis motor 365 is fixedly installed on the bearing plate 364, and two shafts of the dual-axis motor 365 horizontally extend from two ends of the housing of the dual-axis motor 365, respectively. The clamping jaw comprises a base 366, a clamping arm 367, a steering engine B368, a rubber chuck 369 and an air cylinder B360. The front end of the base 366 is rotatably arranged on the shaft of the double-shaft motor 365, sliding grooves 3661 are arranged on two sides of the rear end of the base 366, and the base 366 swings in a vertical plane under the driving of the double-shaft motor 365. The two clamp arms 367 are oppositely arranged and respectively slidably mounted in the two slide grooves 3661 of the base 366 and extend outwards from the rear end of the base 366. The two steering engines B368 are oppositely arranged and respectively and fixedly arranged at the tail ends of the two clamping arms 367, and the shafts of the two steering engines B368 extend horizontally. The two rubber chucks 369 are oppositely arranged and fixedly installed on the shafts of the two steering engines B368 respectively, and a clamping opening is formed in the area between the two rubber chucks 369. The cylinder B360 is arranged between the two clamping arms 367, a piston rod at one end of the cylinder B360 is fixedly connected with one clamping arm 367, a cylinder body at the other end of the cylinder B360 is fixedly connected with the other clamping arm 367, and the piston rod of the cylinder B360 stretches and contracts to drive the two clamping arms 367 to move oppositely or back to move along the sliding groove 3661 respectively, so that the clamping opening is enlarged or reduced. The clamping jaw moves under the common driving of the reciprocating pushing assembly, the horizontal pushing assembly and the overturning assembly, so that the moving path of the clamping opening can pass through the area right above the low-level tray 34 and the area right above the high-level tray 35.
The carrying assembly is slidably mounted on the guide rods 1121 of the two vertical supports 112 through the guide sleeves 311 on both sides of the base 31 and is located in the carrying space 113. The carrying assembly is fixedly connected with the synchronous belts 135 of the two groups of lifting driving components through the connecting blocks 312 on two sides of the base 31, so that the carrying assembly can vertically lift and move along the guide rods 1121 of the two vertical supports 112 under the common driving of the two groups of lifting driving components.
Preferably, the main frame 11 is provided with illumination modules 114 at the front middle edge, the rear middle edge and the two side edges respectively.
Preferably, cameras (not shown in the figure) are respectively arranged at the middle edge of the front end, the middle edge of the rear end and the two side edges of the main body frame 11.
Preferably, the garbage container transfer robot further comprises a power supply module (not shown in the drawings). The power supply module is mounted on the platform 111 and is electrically connected to the electrical components in the waste container transfer robot, thereby providing electrical support for the operation of the electrical components.
The garbage container transfer robot provided by the invention can be applied to residential communities to realize the picking, transferring and unloading of garbage containers of households. In the process of transferring the garbage container, the mechanical claw of the mechanical gripper assembly can be used for pressing an elevator button, the moving path of the garbage container transferring robot is required to avoid steps, and an accessible channel is selected to advance.
As shown in fig. 5 to 10, a method for transferring a garbage container, based on the above-mentioned garbage container transfer robot, before performing a garbage container transfer operation, the garbage container transfer robot is in an initial state in which:
a. the rocker arms 323 of the four groups of reciprocating pushing assemblies swing to the limit position of one end, so that the carrying assembly is positioned in the carrying interval 113 between the two vertical supports 112, and the trafficability of the garbage container transfer robot is improved;
b. the synchronous belts 135 of the two groups of lifting driving assemblies drive the carrying assembly to move downwards to the limit position so as to lower the gravity center height of the garbage container transfer robot;
c. the piston rod of the cylinder A361 of the horizontal push-pull assembly is in a retracted state, and the clamping jaw is driven by the double-shaft motor 365 of the overturning assembly to rotate towards 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 part of the main body frame 11, and the stability of the garbage container transfer robot in no-load is improved;
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 clamping opening is expanded to the maximum, and the garbage container is ready to be clamped;
e. The multi-degree of freedom robot arm 22 is folded to lower the height and adjust it not to exceed the area right above the platform 111, to improve the trafficability of the garbage container transfer robot and to lower the height of the center of gravity of the garbage container transfer robot.
The garbage container transferring method comprises the following steps:
s01, clamping a first garbage container:
a. the electric roller 12 is controlled to rotate so as to adjust the pose of the garbage container transferring robot, so that the rear end of the main body frame 11 is right against the garbage container to be picked up;
b. the following operations are performed out of order:
1. the piston rods of the cylinders A361 of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning assemblies and the clamping jaws to move towards the rear end of the main body frame 11;
2. the 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 engine A321 of the four groups of reciprocating pushing components is 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 motor A131 of the two groups of lifting control components is controlled to start, the two synchronous belts 135 are driven to synchronously operate, and then the conveying assembly is driven to move in the vertical direction through the fixedly connected relation 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 completed, the clamping jaw extends out from the rear end of the main body frame 11, and the clamping opening of the clamping jaw faces to and contains the first garbage container;
c. cylinder B360 of the jaw is retracted in the piston rod to move the two clamp arms 367 toward each other to clamp the outer wall of the first trash receptacle.
S02, transferring the first garbage container to a high-level tray:
a. the 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; simultaneously, 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 kept vertical and not inclined all the time in the overturning process; after being turned in place, the first garbage container is positioned right above the high-level tray 35 and is closely adjacent to the high-level 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 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 real-time detection data of the angle inclination sensor.
S03, clamping a second garbage container:
a. The electric roller 12 is controlled to rotate so as to adjust the pose of the garbage container transferring robot, and the rear end of the main body frame 11 is aligned with a second garbage container;
b. the following operations are performed out of order:
1. the 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 components are started to drive the two synchronous belts 135 to synchronously operate, and then the conveying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts 135 and the connecting blocks 312 on the two sides of the base 31, so that the heights of the clamping jaws are adjusted to be matched with the height of the second garbage container;
after the two operations are completed, the clamping jaw extends out from the rear end of the main body frame 11, and the clamping opening of the clamping jaw faces to and contains a second garbage container;
c. cylinder B360 of the clamping jaw is retracted in the piston rod to move the two clamping arms 367 towards each other to clamp the two sides of the outer wall of the second waste container.
S04, transferring the second garbage container to a low-level tray:
a. simultaneously executing the following operations:
1. the piston rods of the cylinders A361 of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws to move towards the front end of the main body frame;
2. the steering engine A321 of the four groups of reciprocating pushing components is 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 together;
When the two operations are completed, the second garbage container is positioned right above the low-level tray 34 and is close to the low-level tray 34, and the whole carrying assembly is positioned in the carrying section 113;
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 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 components are started to drive the two synchronous belts 135 to synchronously operate, and then the conveying assembly is driven to descend to the lowest end of the moving stroke through the fixedly connected relation of the synchronous belts 135 and the connecting blocks 312 on the two sides of the base 31, so that the conveying assembly is ready for transferring.
S05, transferring a garbage container:
based on the visual support provided by the camera, the motorized roller 12 is controlled to act to move the trash receptacle transfer robot to the designated location for unloading trash.
S06, clamping a second garbage container:
a. the motors A131 of the two groups of lifting control components are started to drive the two synchronous belts 135 to synchronously operate, and then the lower tray 34 is driven to rise to be 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 double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to rotate downwards by a certain angle, so that the clamping opening of the clamping jaw accommodates the second garbage container;
c. The cylinder B360 piston rod of the clamping jaw extends to enable the two clamping arms 367 to move towards each other until the outer wall of the second garbage container is clamped.
S07, transferring the second garbage container onto an unloading plane:
a. simultaneously executing the following operations:
1. the double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to rotate upwards for a certain angle, and meanwhile, the two steering engines B368 are synchronously started to drive the two rubber chucks 369 and the second garbage container to rotate, so that the second garbage container always keeps vertical and does not incline in the process of rotating upwards;
2. the steering engines A368 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 carrying assembly moves towards the rear end of the main body frame 11;
3. the piston rods of the air cylinders A361 of the two groups of horizontal push-pull assemblies synchronously extend to push the overturning assemblies, the clamping jaws and the second garbage container to move towards the rear end of the main body frame 11;
when the three operations are completed, the second garbage container extends out of the rear end of the main body frame 11;
b. the double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B368 are synchronously started to drive the two rubber chucks 369 to rotate by the second garbage container, so that the second garbage container always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the second waste container and approaching the unloading plane;
c. 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 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 real-time detection data of the angle inclination sensor.
S08, clamping a first garbage container:
a. the 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; simultaneously, piston rods of the air cylinders A361 of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies 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. cylinder B360 of the jaw is retracted in the piston rod to move the two clamp arms 367 toward each other to clamp the outer wall of the first trash receptacle.
S09, transferring the first garbage container onto the unloading plane:
a. simultaneously executing the following operations:
1. the 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; simultaneously, 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 kept vertical and not inclined all the time in the overturning process;
2. The piston rods of the cylinders A361 of the two groups of horizontal push-pull assemblies synchronously extend to push the overturning 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 completed, the first garbage container extends out of the rear end of the main body frame;
c. the double-shaft motor 365 of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and 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 second garbage container always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the first trash receptacle and approaching 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 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 real-time detection data of the angle inclination sensor.
S10, resetting a mechanism:
a. the rocker arms 323 of the four groups of reciprocating pushing components 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. The piston rods of the cylinders A361 of the two groups of horizontal push-pull assemblies retract to enable the clamping jaw and the overturning assembly to move towards the front end of the main body frame 11;
d. the biaxial motor 365 of the turnover assembly is started to drive the clamping jaw to rotate towards the front end of the main body frame 11;
the four operations are performed simultaneously, and when the four operations are completed, the handling assembly returns to the loading zone 113 between the two vertical supports 112 and is at the lowest position of its travel.
S11, garbage is put in:
based on the visual support provided by the camera, on one hand, the action of the electric roller is controlled to adjust the pose of the garbage container transferring robot, and on the other hand, the action of the mechanical gripper assembly is controlled, so that garbage bags in two garbage containers are sequentially clamped and put into a specified garbage can.

Claims (10)

1. Garbage container transfer robot, characterized by: the mechanical gripper comprises a movable rack, a mechanical gripper assembly and a carrying assembly;
the movable rack comprises a main body frame, an electric roller and a lifting driving assembly; the front end of the main body frame is provided with a platform, two sides of the rear end are provided with vertical supports which are symmetrically arranged, a carrying section 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 at 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 cradle head motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the cradle head motor is fixedly arranged at the upper end of the middle part of the platform, and a horizontal rotating surface is arranged at the upper end of the cradle head motor; the lower end of the multi-degree-of-freedom mechanical arm is fixedly arranged on the pan-tilt 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 port with an adjustable opening;
the carrying assembly comprises a base, a reciprocating pushing assembly, an upper seat, a low-level tray, a high-level tray and a clamping jaw mechanism; the upper end of the base is provided with a mounting surface, and the edges of the 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 used for driving the upper seat to reciprocate; the upper seat is connected to 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 staggered manner with the low-level tray up and down; the clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and clamping jaws, wherein the horizontal push-pull assembly is arranged on the upper seat and is associated with the turnover assembly to drive the turnover assembly to do reciprocating linear movement, the clamping jaws are arranged on the turnover assembly and driven by the turnover assembly to do rotation in a vertical plane, and clamping openings with adjustable opening degrees are formed in the clamping jaws; the clamping jaw moves under the common drive of the reciprocating pushing assembly, the horizontal pushing assembly and the overturning assembly, so that the moving path of the clamping opening passes through the area right above the low-level tray and the area right above the high-level tray;
The carrying assembly is slidably arranged on the guide rods of the two vertical brackets through guide sleeves on two sides of the base and is positioned in the carrying section; the carrying assembly is associated with the two groups of lifting driving assemblies through connecting blocks on two sides of the base, so that the carrying assembly can vertically lift and move along the guide rods of the two vertical supports under the common driving of the two groups of lifting driving assemblies.
2. The trash receptacle transfer robot of claim 1, wherein: the lifting driving assembly 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 the shaft of the motor A; the wheel axle 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 assemblies through connecting blocks on two sides of the base.
3. The trash receptacle transfer robot of claim 2, wherein: four groups of reciprocating pushing components are distributed on the mounting surface of the base in a rectangular array; the reciprocating pushing component 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 the 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 components synchronously act to drive the upper seat to do reciprocating swing of an arc track in a vertical plane.
4. A refuse receptacle transfer robot according to claim 3, characterized in that: the horizontal push-pull assemblies are divided into two groups and are symmetrically arranged at two sides of the upper seat respectively; the horizontal push-pull assembly comprises an air 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 a piston rod of the air cylinder A; the sliding block is slidably arranged on the sliding rail and is directly or indirectly fixedly connected with a piston rod of the air cylinder A, and the sliding block is driven by the air cylinder A to linearly reciprocate 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; the double-shaft motor is fixedly arranged 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.
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 swings in a vertical plane under the driving of the double-shaft motor; the two clamping arms are oppositely arranged, are respectively and slidably arranged in the two sliding grooves of the base, and extend out of the rear end of the base; the two steering engines B are oppositely arranged and respectively and fixedly arranged 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 and fixedly arranged on the shafts 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 to drive the two clamping arms to move oppositely or back to back along the sliding groove respectively, so that the clamping opening is enlarged or reduced; correspondingly, the clamping opening is an area between the two rubber chucks.
7. The trash receptacle transfer robot of claim 6, wherein: the clamping jaw further comprises a horizontal inclination sensor; the horizontal inclination sensor is fixedly arranged on the clamping arm and is used for detecting the inclination angle of the clamping arm relative to the horizontal plane.
8. The trash receptacle transfer robot of claim 7, wherein: the front end middle edge, the rear end middle edge and the two side edges of the main body frame are respectively provided with an illumination module.
9. The trash receptacle transfer robot of claim 8, wherein: cameras are respectively arranged at the middle edge of the front end of the main body frame, the middle edge of the rear end of the main body frame and the edges of the two sides of the main body frame.
10. A method of transferring a refuse container, based on the refuse container transfer robot according to claim 9, characterized in that, before performing the refuse container transfer operation, the refuse container transfer robot is in an initial state in which:
a. the rocker arms of the four groups of reciprocating pushing assemblies swing to the limit position of one end, so that the carrying assembly is positioned in a carrying interval between the two vertical supports, and the trafficability of the garbage container transfer robot is improved;
b. the synchronous belts of the two groups of lifting driving assemblies drive the carrying assembly to move downwards to the limit position so as to reduce the gravity center height of the garbage container transfer robot;
c. The piston rod of the cylinder A of the horizontal push-pull assembly is in a retracted state, and the clamping jaw is driven by the double-shaft motor of the overturning assembly to rotate towards 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 part of the main body frame, and the stability of the garbage container transfer robot in no-load is improved;
d. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that the clamping opening is expanded to the maximum, and the garbage container is ready to be clamped;
e. the multi-degree-of-freedom mechanical arm is folded to reduce the height and adjust the height not to exceed the area right above the platform, so that the trafficability of the garbage container transfer robot is improved and the gravity center height of the garbage container transfer robot is reduced;
the garbage container transferring method comprises the following steps:
s01, clamping a first garbage container:
a. controlling the electric roller 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 right against the garbage container to be picked up;
b. the following operations are performed out of order:
1. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning assemblies and the clamping jaws to move towards the rear end of the main body frame;
2. The 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 engine A of the four groups of reciprocating pushing components is 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 together;
4. the motor A of the two groups of lifting control components is controlled to start, the two synchronous belts are driven to run synchronously, and then the carrying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts and the connecting blocks at the two sides of the base, so that the height of the clamping jaw is adjusted to be suitable for the height of the first garbage container;
after the four operations are completed, the clamping jaw extends out from the rear end of the main body frame, and the clamping opening of the clamping jaw faces to and contains the first garbage container;
c. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the first garbage container;
s02, transferring the first garbage container to a high-level tray:
a. the 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, 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 kept vertical and not inclined all the time in the overturning process; after the first garbage container is turned over to be in place, the first garbage container is positioned right above the high-level tray and is closely adjacent to the high-level tray;
b. The piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that 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 real-time detection data of an angle inclination sensor;
s03, clamping a second garbage container:
a. controlling the electric roller to rotate so as to adjust the pose of the garbage container transfer robot, and enabling the rear end of the main body frame to be aligned with a second garbage container;
b. the following operations are performed out of order:
1. the 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 synchronously operate, so that the conveying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts and connecting blocks on two sides of the base, and the heights of the clamping jaws are adjusted to be matched with the height of the second garbage container;
after the two operations are completed, the clamping jaw extends out from the rear end of the main body frame, and the clamping opening of the clamping jaw faces to and contains a second garbage container;
c. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the second garbage container;
S04, transferring the second garbage container to a low-level tray:
a. simultaneously executing the following operations:
1. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws to move towards the front end of the main body frame;
2. the steering engine A of the four groups of reciprocating pushing components is 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 together;
when the two operations are completed, the second garbage container is positioned right above the low-level tray and is close to the low-level tray, and the whole carrying assembly is positioned in the carrying area;
b. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the second garbage container are loosened, and the second garbage container falls on the low-position tray;
c. the motor A of the two groups of lifting control components is started to drive the two synchronous belts to synchronously operate, so that the conveying assembly is driven to descend to the lowest end of the moving stroke of the conveying assembly through the fixedly connected relation between the synchronous belts and the connecting blocks at the two sides of the base, and further, the conveying assembly is ready for transferring;
s05, transferring a garbage container:
based on the vision support provided by the camera, controlling the action of the electric roller, and moving the garbage container transfer robot to a specified place for unloading garbage;
S06, clamping a second garbage container:
a. the motors A of the two groups of lifting control components are started to drive the two synchronous belts to synchronously run, and then the low-level tray is driven to rise to be higher than the unloading plane through the fixed connection relation between the synchronous belts and the connecting blocks at the two sides of the base;
b. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards by a certain angle, so that the clamping opening of the clamping jaw accommodates the second garbage container;
c. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move in opposite directions until the outer wall of the second garbage container is clamped;
s07, transferring the second garbage container onto an unloading plane:
a. simultaneously executing the following operations:
1. the 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 always keeps vertical and does not incline in the process of rotating upwards;
2. the steering engine A of the four groups of reciprocating pushing assemblies is 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. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning 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 completed, the second garbage container extends out of the rear end of the main body frame;
b. the 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 always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the second waste container and approaching the unloading plane;
c. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the 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 real-time detection data of an angle inclination sensor;
s08, clamping a first garbage container:
a. the 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 the cylinders A of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws 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. The piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the first garbage container;
a. simultaneously executing the following operations:
1. the 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; simultaneously, 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 kept vertical and not inclined all the time in the overturning process;
2. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend to push the overturning 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 completed, the first garbage container extends out of the rear end of the main body frame;
c. the 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 always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the first trash receptacle and approaching the unloading plane;
d. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that 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 real-time detection data of an angle inclination sensor;
s10, resetting a 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 assemblies drive the carrying assembly to move downwards to the limit position;
c. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies retract, so that the clamping jaw and the overturning assembly move towards the front end of the main body frame;
d. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate towards the front end of the main body frame;
the four operations are executed simultaneously, and when the four operations are completed, the carrying assembly returns to the carrying interval between the two vertical supports and is at the lowest position of the moving stroke;
s11, garbage is put in:
based on the visual support provided by the camera, on one hand, the action of the electric roller is controlled to adjust the pose of the garbage container transferring robot, and on the other hand, the action of the mechanical gripper assembly is controlled, so that garbage bags in 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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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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CN101134313A (en) * 2007-09-29 2008-03-05 北京博创兴盛机器人技术有限公司 Robot for eliminating exploding and danger
JP2017007066A (en) * 2015-06-25 2017-01-12 トヨタ自動車株式会社 Fall suppression method of robot
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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