CN115670298A

CN115670298A - Garbage dumping robot and cleaning system

Info

Publication number: CN115670298A
Application number: CN202110873188.0A
Authority: CN
Inventors: 张珂嘉; 张宇强; 陆辉; 尚鹏; 唐成民
Original assignee: Chengdu Jiayou Weili Robot Technology Co ltd
Current assignee: Chengdu Jiayou Weili Robot Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2023-02-03

Abstract

A robot and a cleaning system for dumping garbage comprise a base, a moving device, a grabbing device and a driving device; the mobile device is fixedly or rotatably arranged on the base; the grabbing device is arranged on the moving device, grabs the dust collecting mechanism of the cleaning robot and can move to the upper part of the dustbin under the driving of the moving device; the driving device is arranged on the moving device; when the gripping device grips the dust collecting mechanism, the driving device can unlock the dust collecting mechanism from the cleaning robot; when the moving device drives the grabbing device and the dust collecting mechanism to move to the upper part of the garbage can, the driving device can open and close the dust collecting mechanism to dump garbage. A cleaning system including the garbage dumping robot is also provided. The automatic garbage dumping device disclosed by the invention can automatically clean and dump garbage, automatically close the dust collecting mechanism after dumping the garbage, realize intelligent control in the whole process, avoid user participation, realize convenience and greatly improve the user experience.

Description

Garbage dumping robot and cleaning system

Technical Field

The invention relates to a cleaning device, in particular to a garbage dumping robot capable of dumping garbage automatically, and the robot can dump the garbage in a dust collecting mechanism into a garbage can automatically. Meanwhile, the invention also provides a cleaning system which is matched with the garbage dumping robot to realize automatic dumping of garbage of the cleaning robot.

Background

With the development of society and the improvement of living standard of people, the cleaning robot becomes an indispensable household appliance. The cleaning robot has certain intellectualization and humanization, can autonomously complete ground cleaning work in a room, and reduces the work of arranging resident rooms. The dust collecting mechanism is an important component of the cleaning robot and is used for storing dust and sundries collected by the sweeping robot.

CN109998423A discloses a self-cleaning mop sweeper, two main arms of which clamp a sweeper and then ascend for a preset distance; because the front half part of the sweeper is heavier than the rear half part of the sweeper, the sweeper can be overturned forwards after being lifted, then the sweeper drives the sweeper to move above the garbage can, then the rear clamping jaw pushes the sweeper to rotate, so that the surface of the sweeper, which is provided with the small cover shell, faces downwards, and then the remote controller controls the small cover shell to be opened, so that garbage can be poured into the garbage can.

The existing sweeping robot has the following defects: the whole sweeping robot that needs to overturn emptys rubbish, because the robot is bulky, generally circular, snatchs the difficulty, and the upset in-process drops very easily, and the operation difficulty, and the robot upset energy consumption is high, occupies volumetrically.

Disclosure of Invention

The invention aims to provide a garbage dumping robot and a cleaning system, which can automatically grab a dust collecting mechanism of a cleaning robot to separate the dust collecting mechanism from the cleaning robot; then the dust collecting mechanism is moved to the upper part of the garbage can, and the opening and closing of the lower cover of the dust collecting mechanism are automatically controlled, so that the garbage can be automatically dumped; and after the dumping is finished, automatically returning the dust collecting mechanism to the cleaning robot.

In order to achieve the aim, the technical scheme provided by the invention is a garbage dumping robot which comprises a base, a moving device, a grabbing device and a driving device, wherein the moving device is arranged on the base; the mobile device is fixedly or rotatably arranged on the base; the gripping device is arranged on the moving device, grips a dust collecting mechanism of the cleaning robot and can move to the position above the dustbin under the driving of the moving device; the driving device is arranged on the mobile device; the driving device may unlock the dust collecting mechanism from the cleaning robot when the gripping device grips the dust collecting mechanism; when the moving device drives the grabbing device and the dust collecting mechanism to move to the upper part of the garbage can, the driving device can open and close the dust collecting mechanism to dump garbage.

Preferably, when the garbage bin is positioned outside the moving device, the moving device is rotatably arranged on the base, and the gripping device and the driving device are respectively positioned outside the moving device; when the garbage can is positioned in the moving device, the moving device is fixedly arranged on the base, the gripping device and the driving device are positioned in the moving device shell, the base is provided with a placing cavity for accommodating the cleaning robot, and the base and the moving device are respectively provided with holes for the gripping device to pass through the gripping dust collecting mechanism.

Preferably, the moving means includes a vertical linear displacement mechanism and a horizontal linear displacement mechanism; the gripping device is arranged on the vertical linear displacement mechanism or the transverse linear displacement mechanism; when the gripping device is arranged on the vertical linear displacement mechanism, the vertical linear displacement mechanism is arranged on the transverse linear displacement mechanism in a horizontally displaceable manner; when the gripping device is provided on the lateral linear displacement mechanism, the lateral linear displacement mechanism is provided on the vertical linear displacement mechanism so as to be vertically displaceable.

Preferably, the transverse linear displacement mechanism and the vertical linear displacement mechanism can be driven by one or two of a gear rack meshing mechanism, a belt mechanism and a screw rod mechanism.

Preferably, the moving device comprises a lifting platform which is arranged on the vertical linear displacement mechanism in a displaceable manner; the lifting platform is provided with the transverse linear displacement mechanism, the transverse linear displacement mechanism comprises a guide rod and a rack which are horizontally arranged on the lifting platform in parallel at intervals in a penetrating mode, one end of the guide rod and one end of the rack penetrate through the shell of the mobile device and are located outside the shell, and the other end of the guide rod and the other end of the rack are located on the other side of the lifting platform; a gear meshed with the rack is rotatably arranged on the lifting platform; the gear fixed on the lifting platform drives the rack to linearly reciprocate; the grabbing device penetrates through the guide rod and one end of the rack, which are located outside the shell of the moving device, and the grabbing device is connected with the guide rod in a sliding mode and fixedly connected with the rack.

Preferably, the gripping device is a magnetic suction gripping mechanism or a clamping mechanism; when the magnetic grabbing mechanism is adopted, the magnetic sucking sheet is arranged on the outer surface of the upper cover of the dust collecting mechanism.

Preferably, the driving device comprises two top rods which are arranged at intervals and can linearly displace up and down; the two ejector rods respectively correspond to an unlocking button and an uncovering button of the upper cover of the dust collecting mechanism; when the two ejector rods respectively move downwards, the unlocking button or the cover opening button can be driven to act.

Preferably, the two ejector rods are respectively arranged in the grabbing device shell, and the two ejector rods can be driven by a gear rack mechanism or a cam link mechanism; when the mechanism is a gear rack mechanism, two ejector rods are respectively and fixedly connected with racks which are oppositely arranged, and a driving gear is meshed between the two racks; when the mechanism is a cam link mechanism, the two ejector rods are respectively and fixedly connected with a connecting rod, two opposite sides of the circumferential surface of the cam are respectively and symmetrically provided with two inclined grooves, the two inclined grooves are opposite in inclination, and one ends of the two connecting rods are respectively and slidably arranged in the corresponding inclined grooves.

Preferably, a buffer member for buffering an impact force is provided on the link.

Preferably, when the mobile device is rotatably disposed on the base, a rotation driving mechanism for driving the mobile device to rotate is disposed in the base.

Preferably, the moving device, the gripping device and the driving device are respectively provided with a detection mechanism for detecting a displacement position. The invention also provides a cleaning system which comprises the garbage dumping robot in the technical scheme. The garbage dumping robot and the cleaning robot are matched for use, so that a cleaning system with automatic garbage sweeping and dumping functions can be formed; the garbage dumping robot is matched with a cleaning robot and a cleaning robot for use, and a cleaning system with the functions of automatically cleaning, automatically dumping garbage and automatically cleaning mop can be formed. The system and the method have the advantages of providing full intelligent and convenient services for users more possibly.

The garbage dumping robot can unlock and separate the dust collecting mechanism from the cleaning robot, and only the dust collecting mechanism is moved to dump garbage. The automatic cover opening and closing of the dust collecting mechanism is realized, and the manual intervention is avoided; meanwhile, the size of the garbage dumping robot is reduced through the effective matching of the moving device, the grabbing device and the driving device, the full intelligent control of the cleaning robot in the whole cleaning process is realized, the automatic dumping of garbage is realized, and the intelligent homing of a dust collecting mechanism is realized; in the moving process of the dust collecting mechanism, the position relation between the dust collecting mechanism and the garbage dumping robot is controlled, and the overall operation stability of the garbage dumping robot can be adjusted; when the garbage can is positioned in the garbage dumping robot, the garbage can is more environment-friendly, and pollution to the environment caused by flying scraps generated in garbage dumping is avoided; the whole process does not need manual participation, the energy consumption is low, the implementation is convenient, and the user experience is greatly improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further illustration and understanding of the invention, and are included to explain the invention and its practical application and not limit the invention.

Fig. 1 is a schematic view of the dust box structure of the present invention.

Fig. 2 is a schematic view of the structure of the upper cover of the dust box.

FIG. 3 is a schematic sectional view of the upper lid of the dust box.

FIG. 4 is a schematic sectional view of the upper lid of the dust box.

FIG. 5 is a schematic cross-sectional view of the top cover of the dust box with the top cover removed.

Figure 6 is a schematic view of the dust box body with the upper cover removed.

FIG. 7 is a schematic view of the internal structure of the dust box body.

FIG. 8 is a schematic view of the dust box with the upper cover removed.

FIG. 9 is a schematic view of the dust box with the upper cover removed.

Fig. 9A is a schematic cross-sectional structure of the dust box.

Fig. 10 is a schematic view of a grabbing structure of the garbage dumping robot.

Fig. 11 is a schematic view of the dust dumping box structure.

Fig. 12 is a schematic view of the structure of the gripping device with the upper cover removed.

Fig. 13 is a schematic view of the driving device.

Fig. 14 is a schematic view of the driving device.

Fig. 15 is a schematic structural view of a lower cover of the gripping device.

FIG. 16 is a schematic view of the structure of the gripping device and the driving device acting on the upper cover of the dust box.

Fig. 17 is a schematic diagram of a mobile device structure.

Fig. 18 is a schematic view of a mobile device.

Fig. 19 is a schematic view of the structure of the rotation driving mechanism in the base.

Fig. 20 is a schematic top view of a mobile device.

Fig. 21 is a schematic view of the structure of the lifting platform inside the mobile device.

Fig. 22 is a structural view of the elevating platform in the embodiment of the present invention.

Fig. 23 is a schematic structural diagram of the garbage dumping robot.

Fig. 24 is a schematic structural diagram of another embodiment of the garbage dumping robot.

Fig. 25 is a structural view of another embodiment of the driving apparatus.

Fig. 26 is a schematic view of the cam structure of fig. 25.

Fig. 27 shows a mobile device structure in an embodiment of the present invention.

Fig. 28 is a schematic structural diagram of another embodiment of the garbage dumping robot.

Fig. 29 is a schematic structural view of another embodiment of the garbage dumping robot.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without making any creative effort shall fall within the protection scope of the present invention.

The invention provides a garbage dumping robot which comprises a base, a moving device, a grabbing device and a driving device, wherein the moving device is arranged on the base; the mobile device is fixedly or rotatably arranged on the base; the grabbing device is arranged on the moving device, grabs a dust collecting mechanism of the cleaning robot and can move to the position above the dustbin under the driving of the moving device; the driving device is arranged on the moving device; when the gripping device grips the dust collecting mechanism, the driving device can unlock the dust collecting mechanism from the cleaning robot; when the moving device drives the grabbing device and the dust collecting mechanism to move to the upper part of the garbage can, the driving device can open and close the dust collecting mechanism to dump garbage. The dust collecting mechanism may be a dust box or a dust bag or other device capable of collecting garbage.

The moving device comprises a vertical linear displacement mechanism and a transverse linear displacement mechanism; the gripping device is arranged on the vertical linear displacement mechanism or the transverse linear displacement mechanism; when the gripping device is arranged on the vertical linear displacement mechanism, the vertical linear displacement mechanism can be horizontally arranged on the transverse linear displacement mechanism in a displacement manner; when the gripping device is arranged on the transverse linear displacement mechanism, the transverse linear displacement mechanism is arranged on the vertical linear displacement mechanism in a vertically displaceable manner.

The transverse linear displacement mechanism of the invention refers to a mechanism capable of linearly reciprocating displacement in the horizontal direction; the vertical linear displacement mechanism refers to a structure linearly displaceable to and fro in the vertical direction. The mechanism capable of achieving the linear reciprocating displacement includes a rack and pinion engagement mechanism, a belt mechanism, a screw mechanism, and the like, and in the following embodiments, only the rack and pinion engagement mechanism and the belt mechanism are illustrated, and the screw mechanism is conventional in the prior art, and thus detailed description in the embodiments is omitted.

With respect to the above technical solutions, preferred embodiments will be described in detail with reference to the drawings. In the following embodiments, any mechanism that can achieve the above-described function may be used as the vertical linear displacement mechanism or the lateral linear displacement mechanism.

The first embodiment discloses a garbage dumping robot, which comprises a gripping device 2, a moving device 12 and a driving device. The working principle of the garbage dumping robot is as follows: the gripping device 2 grips the dust box 3 on the cleaning robot 4 as shown in fig. 10, then the moving device moves the gripping device 2 and the dust box 3 to the garbage dumping position, and then the rear driving device drives the dust collecting device to dump the garbage as shown in fig. 11. To facilitate understanding of the structure and operation of the garbage dumping robot, the moving device 12, the gripping device 2, the driving device, and the dust box 3 will be described below.

Dust collecting mechanism the dust collecting mechanism, as shown in fig. 1, is a dust box 3 in this embodiment. The dust box 3 comprises a dust box body 35, an upper cover 36 and a lower cover 37, wherein the dust box body 35 is a frame structure with an upper opening and a lower opening, and the upper cover 36 is fixedly arranged on the dust box body 35 so as to seal the upper opening of the dust box body 35; the lower cover 37 is rotatably connected to the lower portion of the dust box body 35, and when the lower cover 37 is rotated to be fitted to the lower opening of the dust box body 35, the lower cover 37 seals the lower opening of the dust box body 35.

As shown in fig. 6 and 7, two buckles 373 are further provided on the lower cover 37, and the two buckles 373 are located on opposite sides of the lower cover 37 rotatably connected to the dust box body 35; meanwhile, as shown in fig. 8, a locking groove 3510 matched with the buckle 373 is also provided at the lower part of the main body 35 of the dust box, and when the lower cover 37 rotates to be attached to the lower opening of the main body 35 of the dust box, the buckle 373 on the lower cover 37 is buckled into the locking groove 3510 on the main body 35 of the dust box.

As shown in fig. 2, an unlocking button 32, a lid opening button 33 and two iron sheets 31 are provided on the upper surface of the upper lid 36, and an unlocking mechanism is further provided on the upper lid 36, the unlocking button 32 is used for driving the unlocking mechanism to operate, and the unlocking mechanism is provided along the length direction of the dust box 3 in this embodiment. As shown in fig. 3, the upper cover 36 includes a top cover 361, a sealing body 362, a filter holder 363, and two latches 364, wherein the top cover 361, the filter holder 363, and the sealing body 362 are sequentially disposed from top to bottom. Two catches 364 are installed between the top cover 361 and the filter holder 363, and the two catches 364 are respectively provided on opposite sides of the unlocking button 32, two second wedges 321 are provided on the unlocking button 32, a first wedge 365 is provided at one end of each catch 364 close to the unlocking button 32, and one second wedge 321 is in contact with one first wedge 365, so that the two catches 364 can be brought close to each other by the second wedges 321, the first wedge 365 by pressing the unlocking button 32 to descend, thereby retracting the catches 364 inside the upper cover 36, thereby unlocking the connection between the dust box 3 and the cleaning robot 4. As shown in fig. 4, a spring installation groove is further formed in the latch 364, a first return spring 366 is installed in the spring installation groove, an extension member 367 extending into the spring installation groove is further provided on the lower surface of the top cover 361, one end of the first return spring 366 contacts with the extension member 367, and the other end of the first return spring 366 contacts with the inner wall of the spring installation groove. The compressed first return spring 366 exerts a pressure on the latch 364 moving toward the outside of the dust box 3 after the unlock button 32 button is no longer pressed, thereby resetting the latch 364. As shown in fig. 5, a filter unit 368 is attached to the filter holder 363.

As shown in fig. 6, the dust box body 35 includes a dust storage component 351 and two covering components 352, a dust storage cavity is disposed inside the dust storage component 351, and the two covering components 352 are respectively disposed on two opposite sides of the dust storage component 351. Still be equipped with transmission arm 353 on dust storage piece 351, can follow vertical direction reciprocating motion on dust storage piece 351 at transmission arm 353, uncap button 33's lower extreme passes behind the upper cover 36 with transmission arm 353 fixed connection, then can drive transmission arm 353 through pressing uncap button 33 and descend. As shown in fig. 7, a lid opening push rod 354 is fixedly mounted on a lower portion of the actuator arm 353, and a lower end of the lid opening push rod 354 contacts an upper surface of the lower lid 37, so that the lower lid 37 can be pushed open by the actuator arm 353 and the lid opening push rod 354 descending when the lid opening button 33 is pressed.

As shown in fig. 8, a link mechanism is provided between each wrapping member 352 and the dust storage member 351, the link mechanism includes a first link 355 and a second link 356, one end of the first link 355 is rotatably connected to the dust storage member 351, the other end of the first link 355 is rotatably connected to one end of the second link 356, and the other end of the second link 356 is rotatably connected to the lower cover 37; one drive hole is provided on each first link 355. Two ends of the transmission arm 353 are respectively fixedly connected with a driving rod 357, each driving rod 357 passes through the dust storage member 351 to a position between the dust storage member 351 and the covering member 352, and the driving rod 357 passes through a driving hole on the first connecting rod 355. When the lid opening button 33 is pressed, the transmission arm 353, the driving rod 357, the first link 355 and the second link 356 can drive the lower lid 37 to rotate counterclockwise along the rotational connection between the lower lid 37 and the dust box body 35, as shown in fig. 8, at this time, the garbage in the dust box 3 falls into the garbage bin from the opening below the dust box body 35. As shown in fig. 9A, a second return spring 331 is further sleeved on the lid opening lift rod 354, the return spring 331 is located between the dust storage 351 and the transmission arm 353, an upper end of the return spring 331 is in contact with the transmission arm 353, and a lower end of the return spring 331 is in contact with the dust storage 351. When the cap release button 33 is pressed, the second return spring 331 is compressed; when the door opening button 33 is not pressed, the second return spring 331 is extended so that the door opening button 33 moves upward, and the door opening button 33 rotates the lower cover 37 clockwise along the rotational connection of the lower cover 37 and the dust box body 35 by the driving arm 353, the driving lever 357, the first link 355, and the second link 356 as shown in fig. 8, so that the lower cover 37 is closed. As shown in fig. 9, a pressing plate 358 is further disposed on the transmission arm 353, the pressing plate 358 is located inside the dust storage chamber of the dust storage member 351, when the lid-opening button 33 is pressed, the lid-opening button 33 can drive the pressing plate 358 to move downwards through the transmission arm 353, and the pressing plate 358 can press the garbage in the dust storage chamber to move downwards, so as to accelerate the discharge of the garbage.

Gripping device 2

As shown in fig. 12 and 15, the grasping apparatus 2 includes a grasping housing including a grasping lower cover 212 and a grasping upper cover mounted on the grasping lower cover 212, a grasping mechanism provided on the grasping housing, and a distance detection sensor 24. The grabbing mechanism is a magnetic grabbing mechanism, and the other embodiments further comprise grabbing modes such as grabbing through two sides of the dust box, for example, the grabbing mechanism is set as a mechanical claw. In the present embodiment, the grabbing mechanism includes two electromagnets 221, and the two electromagnets 221 are disposed on the grabbing lower cover 212. As shown in fig. 15, the lower surface of the grasping lower cover 212 is provided with a receiving hole corresponding to each electromagnet 221, one electromagnet 221 is installed in one receiving hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the grasping lower cover 212. As shown in fig. 16, when one of the attracting iron pieces 31 is provided on the upper surface of the dust box 3 with respect to each of the electromagnets 221, the electromagnet 221 of the grasping apparatus 2 grasps the dust box 3 by the attracting iron piece 31 of the dust box 3. The distance detection sensor 24 is installed in the grip lower cover 212, and the distance detection probe 241 of the distance detection mechanism penetrates through the lower surface of the grip lower cover 212, as shown in fig. 15, and the distance detection probe 241 is parallel to the lower surface of the grip lower cover 212.

As shown in fig. 12, 13 and 14, the driving means includes a first driving motor 235, a first gear 236, a first rack 233, a second rack 234, a first ram 231, a second ram 232, a first photosensor 2315, a second photosensor 2316 and a third photosensor 2317. A first guide rail 213 and a second guide rail 214 are provided on the grasping lower cover 212, and the guide directions of the first guide rail 213 and the second guide rail 214 are set vertically downward. The first rack 233 is provided with a first slider 237, the first slider 237 of the first rack 233 is slidably connected in the first guide rail 213, the second rack 234 is provided with a second slider 238, and the second slider 238 of the second rack 234 is slidably connected in the second guide rail 214. The first driving motor 235 is fixedly installed on the grabbing and taking down cover 212, the first gear 236 is fixedly installed on the output shaft of the first driving motor 235, wherein the first rack 233 and the second rack 234 are respectively arranged at two opposite sides of the first gear 236, and the rack surface of the first rack 233 is arranged opposite to the rack surface of the second rack 234; the first and

second racks

233 and 234 are engaged with the first gear 236. The first rack 233 and the second rack 234 can be driven to lift vertically by the forward and reverse rotation of the output shaft of the first driving motor 235; since the first rack 233 and the second rack 234 are engaged with both sides of the first gear 236, respectively, when the first rack 233 ascends, the second rack 234 descends, and when the first rack 233 descends, the second rack 234 ascends.

As shown in fig. 14, the first push rod 231 is disposed at the lower end of the first slide block 237, and a first buffer spring is disposed at the lower end of the first push rod 231, so that when the first rack 233 moves downwards, the first push rod 231 is driven to move downwards, and the first buffer spring can buffer the first push rod 231, thereby preventing other parts from being damaged due to excessive movement of the first push rod 231. As shown in fig. 14, the second push rod 232 is disposed at the lower end of the second slide block, and a second buffer spring is disposed at the lower end of the second push rod 232, so that when the second rack 234 moves downward, the second push rod 232 can be driven to move downward, and the second buffer spring can buffer the second push rod 232, thereby preventing other parts from being damaged due to excessive movement of the second push rod 232. As shown in fig. 15, through holes through which the first lift pins 231 and the second lift pins 232 pass are respectively provided on the lower surface of the grasping lower cover 212. Therefore, the first and

second push rods

231 and 232 can be driven to pass through the through hole along the vertical direction through the positive and negative rotation of the output shaft of the first driving motor 235.

As shown in fig. 14, a first detecting member 2313 is further disposed on the first rack 233, wherein the first detecting member 2313 is located at a lower end position of the first rack 233; a second detecting member 2314 is further disposed on the second rack 234, wherein the second detecting member 2314 is located at a middle position of the second rack 234. A detection bracket is further installed in the grabbing lower cover, and the first photoelectric sensor 2315, the second photoelectric sensor 2316 and the third photoelectric sensor 2317 are all installed on the detection bracket. The first photosensor 2315 is disposed above the second photosensor 2316 in the vertical direction, the first photosensor 2315 and the second photosensor 2316 are used to detect the first detecting member 2313, and the third photosensor 2317 is used to detect the second detecting member 2314. When the third photoelectric sensor 2317 detects the second detection piece 2314, which represents that the first rack 233 and the second rack 234 are located at the initial positions, the lower end surfaces of the first ejector rod 231 and the second ejector rod 232 are flush with the lower surface of the grabbing lower cover; when the first photoelectric sensor 2315 detects the first detecting member 2313, the first rack 233 is located at the highest position, the second rack 234 is located at the lowest position, the first push rod 231 is retracted into the interior of the lower cover, and the second push rod 232 protrudes and grabs the lower surface of the lower cover; when the second photosensor 2316 detects the first detecting member 2313, the first rack 233 is located at the lowermost position, the second rack 234 is located at the uppermost position, the first push rod 231 protrudes and grasps the lower surface of the lower cover, and the second push rod 232 retracts inside the grasped lower cover.

The first input end of the controller is connected with the output end of the distance detection sensor 24, the second input end of the controller is connected with the output end of the first photoelectric sensor 2315, the third input end of the controller is connected with the output end of the second photoelectric sensor 2316, the fourth input end of the controller is connected with the output end of the third photoelectric sensor 2317, the first output end of the controller is connected with the input end of the electromagnet 221, and the second output end of the controller is connected with the input end of the first driving motor 235.

As shown in fig. 17, the garbage dumping robot 1 includes a base 11, a supporting arm 13, and a moving device 12 disposed above the base 11, a charging mechanism for charging the cleaning robot 4 is further disposed on the base 11, the charging mechanism includes two charging contacts 111 disposed on the base 11, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 contacts with the two charging contacts 111 to perform charging. The supporting arm 13 is fixedly installed above the base 11, and the supporting arm 13 is in an inverted L shape and semi-surrounds the mobile device 12. As shown in fig. 18, the moving device 12 includes a rotating housing 121, an upper rotating shaft 122 and a lower rotating shaft 123, the upper rotating shaft 122 is fixedly installed at the upper end of the rotating housing 121, and the lower rotating shaft 123 is fixedly installed at the lower end of the rotating housing 121; wherein the upper rotary shaft 122 is rotatably coupled to the support arm 13, and the lower rotary shaft 123 is rotatably coupled to the base 11, so that the rotary housing 121 can be rotated between the support arm 13 and the base 11. The upper rotation shaft 122 at the upper end of the rotary case 121 by the support arms 13 provides rotational support, thereby improving the smoothness of the rotation of the rotary case 121.

As shown in fig. 19, a rotation driving mechanism is provided in the base 11 to drive the moving device 12 to rotate. The rotation driving mechanism includes a second driving motor 125 disposed in the base 11, an output shaft of the second driving motor 125 is disposed vertically downward, a second gear 126 is mounted on the output shaft of the second driving motor 125, the second gear 126 and a third gear 127 are driven by a plurality of gears, and the third gear 127 is coaxially and fixedly connected with the lower rotation shaft 123. Therefore, the rotation of the output shaft of the second driving motor 125 can drive the lower rotating shaft 123 and the rotating housing 121 to rotate. As shown in fig. 20, a fourth photosensor 132 and a fifth photosensor 133 are mounted on the upper end of the support arm 13, the upper rotation shaft 122 penetrates the inside of the support arm 13 and is connected with a third detection piece 129 and an eighth detection piece 128, the fourth photosensor 132 is used for detecting the eighth detection piece 128, the fifth photosensor 133 is used for detecting the third detection piece 129, wherein the initial position of the third detection piece 129 is located at the position detected by the fifth photosensor 133, when the rotation shaft 122 rotates 90 °, the third detection piece 129 and the eighth detection piece 128 rotate 90 ° along with the rotation shaft 122, at which time the fifth photosensor 133 cannot detect the third detection piece 129, and the fourth photosensor 132 can detect the eighth detection piece 128.

As shown in fig. 21, the moving device 12 further includes a lifting platform 1210, a seventh rack 1211, a third driving motor 1212, a fourth gear 1213, a sixth photoelectric sensor 1215, a seventh photoelectric sensor 1216, and a sixth guide rail 1217 disposed in the rotating housing 121, wherein the seventh rack 1211 and the sixth guide rail 1217 are disposed in a vertical direction, and the seventh rack 1211 and the sixth guide rail 1217 are fixedly disposed in the rotating housing 121. The lifting platform 1210 slides on the sixth guide rail along the vertical direction, the third driving motor 1212 is fixedly installed on the lifting platform 1210, and the output shaft of the third driving motor 1212 is coaxially and fixedly connected with the fourth gear 1213; the fourth gear 1213 is engaged with the seventh rack 1211, and the fourth gear 1213 is driven by the rotation of the output shaft of the third driving motor 1212, and the fourth gear 1213 is engaged with the seventh rack 1229 to drive the lifting platform 1210 to lift. As shown in fig. 21, a sixth photoelectric sensor 1215 is mounted on the upper portion of the rotating casing 121, a seventh photoelectric sensor 1216 is mounted on the lower portion of the rotating casing 121, and a fourth detection element 1218 and a ninth detection element 1231 are also disposed on the lifting platform 1210, wherein the sixth photoelectric sensor 1215 is used for detecting the ninth detection element 1231, and the seventh photoelectric sensor 1216 is used for detecting the fourth detection element 1218. When the lifting platform 1210 moves upwards to the sixth photoelectric sensor 1215 to detect the ninth detecting element 1231, the lifting platform 1210 moves to the highest position; when the lifting platform 1210 moves downward until the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 moves to the low-high position.

As shown in fig. 22, a fourth driving motor 1219, a second guide bar 1220, a third rack 1221, an eighth photosensor 1222, and a ninth photosensor 1223 are provided on the lifting platform 1210, the second guide bar 1220 and the third rack 1221 are arranged in parallel, the second guide bar 1220 is parallel to the horizontal direction, a second guide hole through which the second guide bar 1220 passes is provided on the lifting platform 1210, and a third guide hole through which the third rack 1221 passes is provided on the lifting platform 1210. The fourth driving motor 1219 is fixedly mounted on the lifting platform 1210, and a sixth gear 1224 is coaxially and fixedly connected to an output shaft of the fourth driving motor 1219, and the sixth gear 1224 is engaged with the third rack 1221. Meanwhile, the second guide rod 1220 and the third rack 1221 are both fixedly connected to the grabbing device 2, and then the output shaft of the fourth driving motor 1219 can drive the grabbing device 2 to move along the guide direction of the second guide rod 1220 through the sixth gear 1224 and the third rack 1221 after rotating. Eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 fixed mounting is on lift platform 1210, and eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 set gradually along the length direction of third rack 1221, still is equipped with fifth detector 1226 in the one end of third rack 1221, and this eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 are used for detecting fifth detector 1226. As shown in fig. 22, when the third rack 1221 moves leftward until the eighth photosensor 1222 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position closest to the lifting platform 1210; when the third rack 1221 moves to the right until the ninth photosensor 1223 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position farthest from the lifting platform 1210.

As shown in fig. 18, a first moving slot 1227 is further disposed on the rotating housing 121 opposite to the second guide bar 1220, a second moving slot is further disposed on the rotating housing 121 opposite to the third rack 1221, the first moving slot and the second moving slot are both opened along the vertical direction, the second guide bar 1220 passes through the first moving slot and is connected to the gripping device 2, and the third rack 1221 passes through the second moving slot and is connected to the gripping device 2.

A fifth input terminal of the controller is connected to the output terminal of the fourth photosensor 132, a sixth input terminal of the controller is connected to the output terminal of the fifth photosensor 133, a seventh input terminal of the controller is connected to the output terminal of the sixth photosensor 1215, an eighth input terminal of the controller is connected to the output terminal of the seventh photosensor 1216, a ninth input terminal of the controller is connected to the output terminal of the eighth photosensor 1222, and a tenth input terminal of the controller is connected to the output terminal of the ninth photosensor 1223. A third output of the controller is connected to an input of the second drive motor 125, a fourth output of the controller is connected to an input of the third drive motor 1212, and a fifth output of the controller is connected to an input of the fourth drive motor 1219.

The specific working steps of the garbage dumping robot in this specific embodiment are as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds the position of the garbage dumping robot;

s2, the cleaning robot 4 moves to the position of the garbage dumping robot, and whether the cleaning robot 4 is located at a set position is calibrated;

s3, charging the cleaning robot 4 by the garbage dumping robot;

s4, the initial position of the gripping device 2 is as shown in fig. 23, the controller controls the output shaft of the second driving motor 125 to rotate counterclockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s5, when the fourth photoelectric sensor 132 detects the eighth detecting element 128, the rotating housing 121 rotates clockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s6, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 moves to above the dust box 3 and the grabbing device 2 is located above the dust box 3 in the vertical direction, and at this time, the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210 and the grabbing device 2 to move downward;

s7, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the lifting platform 1210 and the grabbing device 2 move to the lowest positions as shown in FIG. 10, and at this time, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the controller controls the output shaft of the first driving motor 235 to rotate clockwise, the output shaft of the first driving motor 235 drives the second push rod 232 located at the initial position to descend through the first gear 236 and the second rack 234, and the output shaft of the first driving motor 235 drives the first push rod 231 located at the initial position to ascend through the first gear 236 and the first rack 233;

s8, when the first photoelectric sensor 2315 detects the first detection piece 2313, the first ejector rod 231 moves to the highest position, the second ejector rod 232 moves to the lowest position, the controller controls the first driving motor 235 to stop moving at the moment, and the second ejector rod 232 presses the unlocking button 32 of the dust box 3 after descending so that the dust box 3 is not connected with the cleaning robot 4 any more; meanwhile, when the first photosensor 2315 detects the first detecting member 2313, the controller controls the electromagnet 221 to generate an attraction force, thereby magnetically attracting the dust box 3 to the grasping apparatus 2;

s9, the controller controls the output shaft of the third driving motor 1212 to rotate anticlockwise, and the output shaft of the third driving motor 1212 is meshed with the seventh rack 1211 through the fourth gear 1213 so as to drive the lifting platform 1210, the grabbing device 2 and the dust box 3 to move upwards;

s10, when the sixth photoelectric sensor 1215 detects the ninth detection piece 1231, the lifting platform 1210, the gripping device 2 and the dust box 3 move to the highest position, and at the moment, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photosensor 1215 detects the ninth detecting element 1231, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, as shown in fig. 21, the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s11, when the eighth photosensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate clockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s12, when the fifth photoelectric sensor 133 detects the third detecting element 129, the rotating housing 121 rotates counterclockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the fifth photosensor 133 detects the third detecting element 129, as shown in fig. 22, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping means 2 connected to the third rack 1221 moves away from the rotating housing 121;

s13, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to above the trash can 5, and at this time, the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the first driving motor 235 to rotate counterclockwise, the output shaft of the motor drives the second push rod 232 located at the lowest position to ascend through the first gear 236 and the second rack 234, and the output shaft of the motor drives the first push rod 231 located at the highest position to descend through the gear and the first rack 233;

s14, when the second photoelectric sensor 2316 detects the first detection piece 2313, the first ejector rod 231 moves to the lowest position, the second ejector rod 232 moves to the highest position, the controller controls the first driving motor 235 to stop moving at the moment, and the lower cover of the dust box 3 can be opened for dumping after the first ejector rod 231 descends and presses the cover opening button 33 of the dust box 3; in order to improve the material pouring effect of the dust box 3, the first push rod 231 can be controlled to move back and forth for a plurality of times between the initial position and the lowest position, so that the lower cover of the dust box 3 can be driven to open the cover for a plurality of times.

S15, after the dust box 3 is dumped, the controller controls the output shaft of the first driving motor 235 to rotate clockwise, the output shaft of the motor drives the second ejector rod 232 located at the highest position to descend through the gear and the second rack 234, and the output shaft of the motor drives the first ejector rod 231 located at the lowest position to ascend through the gear and the first rack 233;

s16, when the third photoelectric sensor 2317 detects the second detection piece 2314, the first ejector rod 231 and the second ejector rod 232 move to the initial positions, and at the moment, the controller controls the first driving motor 235 to stop moving; at this time, the lower cover of the dust box 3 is closed; meanwhile, when the third photosensor 2317 detects the second detecting element 2314, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping device 2 and the dust box 3 connected to the third rack 1221 move close to the rotating housing 121;

s17, when the eighth photosensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate counterclockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s18, when the fourth photoelectric sensor 132 detects the eighth detecting element 128, the rotating housing 121 rotates clockwise by 90 °, and at this time, the controller controls the second driving motor 125 to stop moving; meanwhile, when the fourth photosensor 132 detects the eighth detecting element 128, the controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grabbing device 2 connected to the third rack 1221 and the dust box 3 move away from the rotating housing 121;

s19, when the ninth photosensor 1223 detects the fifth detector 1226, the gripping device 2 and the dust box 3 move to above the cleaning robot 4, and the dust box 3 is located above the cleaning robot 4 in the vertical direction, at which time the controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move downward;

s20, when the seventh photoelectric sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the lowest position, at this time, the dust box 3 is installed in the cleaning robot 4, and the controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the controller controls the electromagnet 221 to stop working;

s21, after the preset time for the third driving motor 1212 to stop moving, in this embodiment, the preset time may be 1 second, the controller controls the output shaft of the third driving motor 1212 to rotate counterclockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210 and the grabbing device 2 to move upward;

s22, when the sixth photoelectric sensor 1215 detects the ninth detection piece 1231, the lifting platform 1210 and the gripping device 2 move to the highest position, and at the moment, the controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s23, when the eighth photosensor 1222 detects the fifth detector 1226, the grabbing device 2 moves to a position close to the rotating housing 121, and at this time, the controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the controller controls the output shaft of the second driving motor 125 to rotate clockwise, and the output shaft of the second driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s24, when the fifth photoelectric sensor 133 detects the third detecting member 129, the rotating housing 121 rotates 90 ° counterclockwise, and the grasping apparatus 2 returns to the initial position, and when the fifth photoelectric sensor 133 detects the third detecting member 129, the controller controls the second driving motor 125 to stop moving.

In the process from step S9 to step S19, the distance detection probe 241 detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the controller, and the controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the controller determines whether the dust box 3 falls or not according to the measurement value.

Of course, in this embodiment, the gripping device of the garbage dumping robot can also grip a new disposable dust box to be installed on the cleaning robot.

Second embodiment as shown in fig. 24, the garbage dumping robot in this embodiment includes a moving device 12, a gripping device 2, a housing, a driving device, and a controller. To facilitate understanding of the structure and the operation principle of the garbage dumping robot, the moving device 12, the gripping device 2, the driving device, the dust box 3 and the housing will now be described separately as follows:

the dust box 3 comprises a dust box body 35, an upper cover 36 and a lower cover 37, wherein the dust box body 35 is a frame structure with an upper opening and a lower opening, and the upper cover 36 is fixedly arranged on the dust box body 35 so as to seal the upper opening of the dust box body 35; the lower cover 37 is rotatably connected to the lower portion of the dust box body 35, and when the lower cover 37 is rotated to be fitted to the lower opening of the dust box body 35, the lower cover 37 seals the lower opening of the dust box body 35. Still be equipped with two first magnets on lower cover 37, two first magnets are located lower cover 37 on lower cover 37 and the opposite side that dust box body 35 rotated and is connected, also are equipped with the second magnet that attracts with first magnet simultaneously in dust box body 35 lower part, and when lower cover 37 rotated to and the laminating of dust box body 35 below opening, first magnet on lower cover 37 and the second magnet on the dust box body 35 adsorb to make the below opening of lower cover 37 sealed dust box body 35.

In the present embodiment, the unlocking mechanism is arranged along the width direction of the dust box 3, and the structure of the unlocking mechanism is not changed.

The dust box body 35 is provided with a dust storage chamber therein, the lower end of each lid-opening button 33 is connected with a lid-opening push rod 354 after passing through the upper lid 36, the lower end of the lid-opening push rod 354 contacts with the contact protrusion on the upper surface of the lower lid 37, and the lower lid 37 can be pushed open by the descending of the lid-opening push rod 354 when the lid-opening button 33 is pressed. The lower cover 37 rotates along the rotational connection between the lower cover 37 and the dust box body 35, and the garbage in the dust box 3 falls into the garbage can through the opening below the dust box body 35.

After the dust box dumps the garbage, the dust box 3 is moved to enable the lower cover of the dust box 3 to be in contact with the edge of the opening of the garbage can, the edge of the opening of the garbage can abuts against the lower cover of the dust box 3 to rotate, and therefore the lower cover of the dust box 3 is closed.

Gripping device 2

The gripping device 2 comprises a gripper fixing plate, a gripping mechanism and a distance detection sensor 24, the gripping mechanism is a magnetic suction gripping mechanism, and in other embodiments, the gripping device further comprises gripping modes such as gripping through two sides of a gripping dust box. The grabbing mechanism comprises two electromagnets 221, and the two electromagnets 221 are arranged on the grabbing hand fixing plate. The lower surface of the gripper fixing plate is provided with a containing hole corresponding to each electromagnet 221, one electromagnet 221 is installed in the containing hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the gripper fixing plate. An electromagnet mounting base 222 is provided on the grip fixing plate opposite to each electromagnet 221, and an electromagnet 221 is mounted on the upper surface of the grip fixing plate through an electromagnet mounting base 222. An iron sheet 31 is disposed on the upper surface of the dust box 3 opposite to each electromagnet 221, so that the electromagnet 221 of the gripping device 2 grips the dust box 3 by passing through the iron sheet 31 on the dust box 3. The distance detection sensor 24 is installed on the gripper fixing plate, and a distance detection probe of the distance detection mechanism penetrates through the lower surface of the gripper fixing plate, as shown in fig. 15, and the distance detection probe is parallel to the lower surface of the gripper fixing plate.

As shown in fig. 25, the driving device includes a driving cam 2319, a steering engine 2320, a steering engine mounting seat, a first driving connecting rod 2328, a second driving connecting rod 2322, a third top bar 2323, a third top bar mounting seat, a fourth top bar 2324 and a fourth top bar mounting seat 2325. Steering wheel mount pad, third ejector pin mount pad and fourth ejector pin mount pad 2325 all fixed mounting at the upper surface of tongs fixed plate. The steering engine 2320 is installed on the steering engine mounting seat, and the output pivot of steering engine 2320 vertically passes the steering engine mounting seat downwards to fixed mounting has drive cam 2319 on the output shaft of steering engine 2320. The upper end of the fourth mandril 2324 passes through a fourth mandril installation seat 2325, and the fourth mandril 2324 can reciprocate up and down on the fourth mandril installation seat 2325. The fourth top bar 2324 is connected to the second driving connecting rod 2322, and the fourth top bar 2324 can be driven to lift by the vertical lifting of the second driving connecting rod 2322. The upper end of the third mandril 2323 passes through the third mandril mounting base, and the third mandril 2323 can reciprocate up and down on the third mandril mounting base. The third top bar 2323 is connected to the first driving connecting rod 2328, and the third top bar 2323 can be driven to lift by the vertical lifting of the first driving connecting rod 2328.

As shown in fig. 26, an inclined groove is formed on the circumferential surface of the driving cam 2319, one end of each of the first driving connecting rod 2328 and the second driving connecting rod 2322 is slidably connected with the groove on the driving cam 2319, and the inclined directions of the grooves in which one end of each of the first driving connecting rod 2328 and the second driving connecting rod 2322 is located are opposite; the driving cam 2319 is driven to rotate to drive the first driving connecting rod 2328 or the second driving connecting rod 2322 to ascend and descend, so that the third top bar 2323 or the fourth top bar 2324 is driven to ascend and descend. When the driving cam 2319 drives the first driving connecting rod 2328 to ascend, the driving cam 2319 drives the second driving connecting rod 2322 to descend, and when the driving cam 2319 drives the first driving connecting rod 2328 to descend, the driving cam 2319 drives the second driving connecting rod 2322 to ascend.

Moving device as shown in fig. 24 and 27, the garbage dumping robot 1 includes a base, a support 14, and a moving device. The mobile device comprises a transverse driving mechanism and a vertical driving mechanism, a charging mechanism used for charging the cleaning robot 4 is further arranged on the base, the charging mechanism is two charging contacts arranged on the base, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 is in contact with the two charging contacts to charge. The bracket 14 is fixedly installed above the base, as shown in fig. 27, the bracket 14 includes a first support 141, a second support 142, a third guide rail 143, and a fourth guide rail 144, the first support 141 and the second support 142 are fixedly installed on the base along a vertical direction, the third guide rail 143 and the fourth guide rail 144 are fixedly connected between the first support 141 and the second support 142, and the third guide rail 143 and the fourth guide rail 144 are perpendicular to the first support 141, wherein the third guide rail 143 is above the fourth guide rail 144.

As shown in fig. 27, the transverse driving mechanism includes a fifth driving motor 151, a first pulley 152, a second pulley 154, a first belt 153, a tenth photosensor and an eleventh photosensor, the fifth driving motor 151 is fixedly mounted on the second support 142, an output shaft of the fifth driving motor 151 is vertically and downwardly disposed to connect the first pulley 152, the second pulley 154 is rotatably mounted on the first support 141, and the first pulley 152 and the second pulley 154 are connected by the first belt 153. The tenth photosensor is fixedly mounted on the first support 141, the eleventh photosensor is fixedly mounted on the second support 142, and both the tenth photosensor and the eleventh photosensor are used to detect a sixth detection element described later.

As shown in fig. 27, the vertical driving mechanism includes a first carriage, a sixth driving motor 162, a third belt wheel 163, a fourth belt wheel 165, a second belt 164, a connecting member 166, a fifth guide rail 167, a sixth detecting member, a twelfth photoelectric sensor and a thirteenth photoelectric sensor, the first carriage is slidably connected to the third guide rail 143 and the fourth guide rail 144, and the first carriage is further fixedly connected to the first belt 153, so that the first carriage can be driven to slide on the third guide rail 143 and the fourth guide rail 144 by the rotation of the output shaft of the fifth driving motor 151. The sixth driving motor 162 and the fifth guide rail are fixedly installed on the first carriage, the guiding direction of the fifth guide rail is parallel to the vertical direction, and the connecting member 166 is slidably connected to the fifth guide rail. The output shaft of the sixth driving motor 162 is coaxially provided with a third pulley 163, and a fourth pulley 165 is rotatably mounted on the first carriage, wherein the fourth pulley 165 is located below the third pulley 163 in the vertical direction, and the third pulley 163 and the fourth pulley 165 are connected by a second belt 164. The connecting member 166 is fixedly connected to the second belt 164, and the connecting member 166 is fixedly connected to the gripper fixing plate of the gripper device 2. The rotation of the output shaft of the sixth driving motor 162 can drive the connecting member 166 and the grabbing device 2 to slide on the fifth guide rail. The sixth detecting member is fixedly provided on the first carriage.

The twelfth photoelectric sensor and the thirteenth photoelectric sensor are both fixedly mounted on the first carriage, the twelfth photoelectric sensor is located above the thirteenth photoelectric sensor, a seventh detection piece is further arranged on the connecting piece 166, and the twelfth photoelectric sensor and the thirteenth photoelectric sensor are used for detecting the seventh detection piece.

The first input end of the controller is connected with the output end of the tenth photoelectric sensor, the second input end of the controller is connected with the output end of the eleventh photoelectric sensor, the third input end of the controller is connected with the output end of the twelfth photoelectric sensor, and the fourth input end of the controller is connected with the output end of the thirteenth photoelectric sensor. A first output end of the controller is connected with an input end of the steering engine 2320, a second output end of the controller is connected with an input end of the fifth driving motor 151, and a third output end of the controller is connected with an input end of the sixth driving motor 162.

The shell sets up on the upper portion of base, and the shell is equipped with the mounting hole that supplies the garbage bin installation including with the structure cladding except that the base in mobile device 12 on the side of shell, and the garbage bin passes through this mounting hole to be installed on the shell, also can take out the garbage bin from mounting hole department and empty. The top of the shell is also provided with a garbage opening which is positioned right above the garbage can, and the garbage opening is provided with a rotating cover plate which can seal the garbage opening.

The specific working principle of the garbage dumping robot in this embodiment is as follows:

s3, charging the cleaning robot 4 by the garbage dumping robot;

s4, the initial position of the grabbing device 2 is located right above a dust box in the cleaning robot 4, the controller controls an output shaft of a sixth driving motor 162 to rotate anticlockwise, and the output shaft of the sixth driving motor drives a connecting piece 166 and the grabbing device 2 to move downwards through a second belt 164;

s5, when the thirteenth photoelectric sensor detects the seventh detection piece, the connecting piece 166 and the grabbing device 2 move to the lowest position, and at the moment, the controller controls the sixth driving motor 162 to stop moving; meanwhile, when the thirteenth photoelectric sensor detects a seventh detection piece, the controller controls the steering engine to rotate for 90 degrees;

s6, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the third ejector rod 2323 moves to the lowest position, the fourth ejector rod 2324 moves to the highest position, and the third ejector rod 2323 descends to press the unlocking button 32 of the dust box 3, so that the dust box 3 is not connected with the cleaning robot 4 any more; when the steering engine rotates 90 degrees, the controller controls the electromagnet 221 to generate suction force, so that the dust box 3 is magnetically adsorbed on the grabbing device 2;

s7, controlling the output shaft of the sixth driving motor 162 to rotate clockwise by the controller, and driving the connecting piece 166, the grabbing device 2 and the dust box 3 to move upwards by the output shaft of the sixth driving motor through the second belt 164;

s8, when the twelfth photoelectric sensor detects the seventh detection piece, the connecting piece 166, the grabbing device 2 and the dust box 3 move to the highest position, and at the moment, the controller controls the sixth driving motor 162 to stop moving; meanwhile, when the twelfth photoelectric sensor detects the seventh detecting element, the controller controls the output shaft of the fifth driving motor 151 to rotate clockwise, and the output shaft of the fifth driving motor 151 drives the first sliding frame, the connecting element 166, the gripping device 2 and the dust box 3 to move leftward through the first belt 153;

s9, when the tenth photoelectric sensor detects the sixth detection piece, the first sliding frame drives the connecting piece 166, the grabbing device 2 and the dust box 3 to move to the upper part of the garbage can 5, and at the moment, the controller controls the fifth driving motor 151 to stop moving; meanwhile, when the tenth photoelectric sensor detects the sixth detection piece, the controller controls the steering engine to rotate 180 degrees;

s10, after the steering engine rotates 180 degrees to drive the driving cam 2319 to rotate 180 degrees, the fourth ejector rod 2324 moves to the lowest position, the third ejector rod 2323 moves to the highest position, and the lower cover of the dust box 3 can be opened for dumping after the fourth ejector rod 2324 descends and presses the cover opening button 33 of the dust box 3;

s11, after the dust box 3 is poured, the controller controls the steering engine to rotate for 90 degrees;

s12, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the third ejector rod 2323 and the fourth ejector rod 2324 move to initial positions at the moment;

s13, controlling the output shaft of the fifth driving motor 151 to rotate anticlockwise by the controller, and driving the first sliding frame, the connecting piece 166, the grabbing device 2 and the dust box 3 to move rightwards by the output shaft of the fifth driving motor 151 through the first belt 153; in the process that the dust box 3 moves rightwards, the lower cover of the dust box 3 is in contact with the edge of the opening of the garbage can, and the edge of the opening of the garbage can props against the lower cover of the dust box 3 to rotate, so that the lower cover of the dust box 3 is closed;

s14, when the eleventh photoelectric sensor detects the sixth detection piece, the first carriage drives the connecting piece 166 and the grabbing device 2 to move to the initial positions in the left-right direction, and at the moment, the controller controls the fifth driving motor 151 to stop moving; meanwhile, when the eleventh photoelectric sensor detects the sixth detection piece, the controller controls the output shaft of the sixth driving motor 162 to rotate counterclockwise, and the output shaft of the sixth driving motor drives the connecting piece 166, the gripping device 2 and the dust box 3 to move downward through the second belt 164;

s15, when the thirteenth photoelectric sensor detects the seventh detection piece, the connecting piece 166, the grabbing device 2 and the dust box 3 move to the lowest position, the controller controls the sixth driving motor to stop working, and the dust box 3 is installed in the cleaning robot 4; meanwhile, the controller controls the electromagnet 221 to stop working;

s16, after the preset time for the sixth driving motor to stop moving, which may be 1 second in this embodiment, the controller controls the output shaft of the sixth driving motor 162 to rotate clockwise, and the output shaft of the sixth driving motor drives the connecting member 166 and the gripping device 2 to move upward through the second belt 164;

and S17, when the twelfth photoelectric sensor detects the seventh detection piece, the connecting piece 166 and the grabbing device 2 move to the initial position in the vertical direction, and the controller controls the sixth driving motor 162 to stop moving.

In the process from the step S7 to the step S15, the distance detection probe detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the controller, and the controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the controller determines whether the dust box 3 falls or not according to the measurement value.

Third embodiment as shown in fig. 28, in this embodiment, the garbage dumping robot includes a moving device 12, a gripping device 2, a driving device, a housing and a controller, and the structures and working principles of the gripping device, the driving device and the housing in this embodiment are the same as those in the second embodiment, and therefore are not described again.

The structure of the mobile device will now be described in detail:

as shown in fig. 28, the garbage dumping robot 1 includes a base, a support 14, and a moving device. The mobile device comprises a transverse driving mechanism and a vertical driving mechanism, a charging mechanism used for charging the cleaning robot 4 is further arranged on the base, the charging mechanism is two charging contacts arranged on the base, and when the cleaning robot 4 moves to the garbage dumping robot, the cleaning robot 4 is in contact with the two charging contacts to charge. The bracket is fixedly mounted above the base, and as shown in fig. 28, the bracket has a rectangular parallelepiped shape.

The transverse driving mechanism comprises a seventh driving motor 171, a moving platform 172, a fourth rack 173 and two third guide rods 174, wherein the two third guide rods 174 are fixedly installed on the bracket in parallel, the moving platform 172 is slidably connected onto the two third guide rods 174, the seventh driving motor 171 is fixedly installed on the moving platform 172, a seventh gear 175 is fixedly installed on an output shaft of the seventh driving motor 171, the seventh gear 175 is engaged with the fourth rack 173, the fourth rack 173 is fixedly installed on the bracket, and the fourth rack 173 and the third guide rods 174 are arranged in parallel. The moving platform 172 is reciprocally slid on the third guide bar 174 by the rotation of the output shaft of the seventh driving motor 171.

As shown in fig. 29, the vertical driving mechanism includes an eighth driving motor 181, a fifth rack 182, a sixth rack 183, a telescopic arm 186, an eighth gear 187, and a ninth gear 188, the eighth driving motor 181, the fifth rack 182, and the sixth rack 183 are all disposed on the moving platform 172, the fifth rack 182 and the sixth rack 183 are disposed in parallel with the third guide bar 174, a third slider 184 is further disposed on the fifth rack 182, a fourth slider 185 is disposed on the sixth rack 183, the third slider 184 and the fourth slider 185 are both slidably connected inside the moving platform 172, and the moving directions of the third slider 184 and the fourth slider 185 are parallel with the third guide bar 174. A tenth gear 189 is coaxially installed on an output shaft of the eighth driving motor 181, the tenth gear 189 is respectively engaged with the fifth rack 182 and the sixth rack 183, the fifth rack 182 is engaged with an upper portion of the tenth gear 189, and the sixth rack 183 is engaged with a lower portion of the tenth gear 189, so that the fifth rack 182 and the sixth rack 183 are driven to move toward or away from each other by the rotation of the output shaft of the eighth driving motor 181. The first lever 1861 of the upper portion of the telescopic arm 186 is rotatably connected to the fifth rack 182, the second lever 1862 of the upper portion of the telescopic arm 186 is rotatably connected to the sixth rack 183, and the middle portion of the first lever 1861 is rotatably connected to the middle portion of the second lever 1862. A third strut 1863 at the lower portion of the telescopic arm 186 is rotatably connected to the grasping apparatus, and an eighth gear 187 is coaxially connected to a rotating shaft of the third strut 1863 rotatably connected to the grasping apparatus. The first strut 1861 is connected to the third strut 1863 through a fifth strut, wherein the fifth strut is rotatably connected to the first strut 1861, and the fifth strut is rotatably connected to the third strut 1863. A fourth strut 1864 at the lower portion of the telescopic arm 186 is rotatably connected to the grasping apparatus, and a ninth gear 188 is coaxially connected to a rotating shaft of the fourth strut 1864 rotatably connected to the grasping apparatus, and the eighth gear 187 is engaged with the ninth gear 188. The second supporting rod 1862 is connected with the fourth supporting rod 1864 through a sixth supporting rod, wherein the sixth supporting rod is rotatably connected with the second supporting rod 1862, and the fifth supporting rod is rotatably connected with the fourth supporting rod 1864; the middle part of the sixth supporting rod is rotatably connected with the middle part of the fifth supporting rod. The rotation of the output shaft of the eighth driving motor 181 drives the telescopic arm 186 to extend and retract via the fifth and

sixth racks

182 and 183, so as to drive the grabbing device 2 to ascend and descend.

s3, charging the cleaning robot 4 by the garbage dumping robot;

s4, the initial position of the grabbing device 2 is located right above a dust box in the cleaning robot 4, the controller controls an output shaft of an eighth driving motor 181 to rotate anticlockwise, the output shaft of the eighth driving motor drives a fifth rack and a sixth rack to move away from each other through a tenth gear 189, and therefore the telescopic arm is driven to extend to drive the grabbing device 2 to move downwards;

s5, when the grabbing device 2 moves to the lowest position, the controller controls the eighth driving motor 181 to stop moving, controls the driving device to drive the dust box 3 to be not connected with the cleaning robot 4 any more, and controls the grabbing device 2 to grab the dust box 3;

s6, after the grabbing device 2 grabs the dust box 3, the controller controls an output shaft of the eighth driving motor 181 to rotate clockwise, and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move back to back through the tenth gear 189, so that the telescopic arm is driven to extend to drive the grabbing device 2 and the dust box 3 to move upwards;

s7, when the grabbing device 2 moves to the highest position, the controller controls the eighth driving motor 181 to stop moving, the controller controls the output shaft of the seventh driving motor 171 to rotate anticlockwise, and the output shaft of the seventh driving motor 171 drives the moving platform 172 to move leftwards through the seventh gear 175 and the fourth rack 173;

s8, when the moving platform 172, the grabbing device 2 and the dust box move to the leftmost side, the grabbing device 2 and the dust box 3 move to the upper side of the garbage can 5, and at the moment, the controller controls the seventh driving motor 171 to stop moving; then the controller controls the steering engine to rotate for 180 degrees; s9, after the steering engine rotates 180 degrees to drive the driving cam 2319 to rotate 180 degrees, the two fourth top rods 2324 move to the lowest position at the moment, the third top rod 2323 moves to the highest position, and the fourth top rod 2324 descends to press the cover opening button 33 of the dust box 3 and then open the lower cover of the dust box 3 for dumping.

S10, after the dust box 3 is poured, the controller controls the steering engine to rotate for 90 degrees;

s11, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the third ejector rod 2323 and the fourth ejector rod 2324 move to initial positions at the moment;

s12, controlling the output shaft of the seventh driving motor 171 to rotate clockwise by the controller, and driving the moving platform 172 to move rightward by the output shaft of the seventh driving motor 171 through the seventh gear 175 and the fourth rack 173; in the process that the dust box 3 moves rightwards, the lower cover of the dust box 3 is in contact with the edge of the opening of the garbage can, and the edge of the opening of the garbage can abuts against the lower cover of the dust box 3 to rotate, so that the lower cover of the dust box 3 is closed. Of course, the dust box 3 in the first embodiment may also be used in this embodiment, that is, when the lid-opening button on the dust box 3 is not pressed, the lower lid of the dust box 3 is automatically closed;

s13, when the movable platform 172, the grabbing device 2 and the dust box move to the rightmost side, the controller controls the seventh driving motor 171 to stop moving; then the controller controls the output shaft of the eighth driving motor 181 to rotate counterclockwise (in fig. 29), and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move away from each other through the tenth gear 189, so as to drive the telescopic arm to extend and drive the gripping device 2 and the dust box 3 to move downward;

s14, when the grabbing device 2 moves to the lowest position, the controller controls the eighth driving motor 181 to stop moving, and the dust box 3 is installed in the cleaning robot 4; meanwhile, the controller controls the electromagnet 221 to stop working;

s15, after the preset time for the eighth driving motor 181 to stop moving, in this embodiment, the preset time may be 1 second, the controller controls the output shaft of the eighth driving motor 181 to rotate clockwise, and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move back to back through the tenth gear 189, so as to drive the telescopic arm to extend and drive the grabbing device 2 to move upward;

and S16, when the grabbing device 2 moves to the highest position, the grabbing device 2 moves to the initial position, and the controller controls the eighth driving motor 181 to stop moving.

The fourth embodiment discloses a cleaning system, which includes any one of the first to third embodiments of the garbage dumping robot, and when the garbage dumping robot and the cleaning robot cooperate to form a cleaning system, the garbage dumping robot is used for grabbing a dust collecting mechanism on the cleaning robot to dump garbage automatically.

Claims

1. A robot for dumping garbage is characterized by comprising a base, a moving device, a grabbing device and a driving device; the mobile device is fixedly or rotatably arranged on the base; the grabbing device is arranged on the moving device, grabs a dust collecting mechanism of the cleaning robot and can be driven by the moving device to move downwards to the position above the dustbin; the driving device is arranged on the moving device; the driving device may unlock the dust collecting mechanism from the cleaning robot when the gripping device grips the dust collecting mechanism; when the moving device drives the grabbing device and the dust collecting mechanism to move to the upper part of the garbage can, the driving device can open and close the dust collecting mechanism to dump garbage.

2. The garbage dumping robot according to claim 1, wherein when the garbage can is located outside the moving device, the moving device is rotatably disposed on the base, and the gripping device and the driving device are respectively located outside the moving device; when the garbage can is positioned in the moving device, the moving device is fixedly arranged on the base, the gripping device and the driving device are positioned in the moving device shell, the base is provided with a placing cavity for containing the cleaning robot, and the base and the moving device are respectively provided with holes for the gripping device to pass through to grip the dust collecting mechanism.

3. The garbage dumping robot of claim 2, wherein said moving means comprises a vertical linear displacement mechanism and a transverse linear displacement mechanism; the gripping device is arranged on the vertical linear displacement mechanism or the transverse linear displacement mechanism; when the gripping device is arranged on the vertical linear displacement mechanism, the vertical linear displacement mechanism can be horizontally arranged on the transverse linear displacement mechanism in a displacement manner; when the gripping device is provided on the lateral linear displacement mechanism, the lateral linear displacement mechanism is provided on the vertical linear displacement mechanism so as to be vertically displaceable.

4. The garbage dumping robot according to claim 3, wherein said horizontal linear displacement mechanism and said vertical linear displacement mechanism can be driven by one or two of a rack and pinion mechanism, a belt mechanism and a screw rod mechanism.

5. The garbage dumping robot according to claim 3, wherein said moving means comprises a lifting platform displaceably provided on said vertical linear displacement mechanism; the lifting platform is provided with the transverse linear displacement mechanism, the transverse linear displacement mechanism comprises a guide rod and a rack which are horizontally arranged on the lifting platform in parallel at intervals in a penetrating mode, one end of the guide rod and one end of the rack penetrate through the shell of the mobile device and are located outside the shell, and the other end of the guide rod and the other end of the rack are located on the other side of the lifting platform; a gear meshed with the rack is rotatably arranged on the lifting platform; the gear fixed on the lifting platform drives the rack to linearly reciprocate; the grabbing device penetrates through the guide rod and one end of the rack, which are located outside the shell of the moving device, and the grabbing device is connected with the guide rod in a sliding mode and fixedly connected with the rack.

6. The robot of claim 1, wherein the gripping device is a magnetic gripping mechanism or a clamping mechanism; when the magnetic grabbing mechanism is adopted, the magnetic sucking sheet is arranged on the outer surface of the upper cover of the dust collecting mechanism.

7. The robot for dumping rubbish according to claim 1, wherein the driving device comprises two push rods which are arranged at intervals and can linearly displace up and down; the two ejector rods respectively correspond to an unlocking button and an uncovering button of the upper cover of the dust collecting mechanism; when the two ejector rods respectively move downwards, the unlocking button or the cover opening button can be driven to act.

8. The robot of claim 7, wherein the two lifters are respectively disposed in the housing of the grabbing device, and the two lifters can be driven by a rack-and-pinion mechanism or a cam-linkage mechanism; when the mechanism is a gear rack mechanism, racks which are oppositely arranged are fixedly connected to the two ejector rods respectively, and a driving gear is meshed between the two racks; when the mechanism is a cam link mechanism, the two ejector rods are respectively and fixedly connected with a connecting rod, two opposite sides of the circumferential surface of the cam are respectively and symmetrically provided with two inclined grooves, the two inclined grooves are opposite in inclination, and one ends of the two connecting rods are respectively and slidably arranged in the corresponding inclined grooves.

9. The garbage dumping robot according to claim 8, wherein a buffer member for buffering an impact force is provided to said link.

10. The garbage dumping robot according to claim 2, wherein a rotation driving mechanism for driving said moving means to rotate is provided in said base when said moving means is rotatably provided on said base.

11. A robot for dumping rubbish according to any one of claims 1 to 10, wherein a detection mechanism for detecting a displacement position is provided on each of the moving means, the gripping means, and the driving means.

12. A cleaning system, characterized in that it comprises a garbage dumping robot according to any of claims 1 to 11.