CN208346720U - It is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading - Google Patents
It is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading Download PDFInfo
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- CN208346720U CN208346720U CN201820566310.3U CN201820566310U CN208346720U CN 208346720 U CN208346720 U CN 208346720U CN 201820566310 U CN201820566310 U CN 201820566310U CN 208346720 U CN208346720 U CN 208346720U
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Abstract
The utility model provides a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading, wherein rubbish pick up mechanical arm be mounted on front end can be elastic and rotate left and right, the garbage containing case is hinged on rear side and turns over；After passage path planning robot is automatically moved to designated position, the rubbish of front end picks up mechanical arm and picks up rubbish and be stored in waste deposit bucket, after the rubbish in the waste deposit bucket that rubbish picks up mechanical arm front end is filled with, rubbish picks up mechanical arm and swings backward, the rubbish of pickup is transported backward to garbage containing case, and rubbish is put into garbage containing case, after the rubbish in garbage containing case is filled, garbage containing case is turned over, and rubbish is poured into refuse depot；Sanitation robot described in the utility model can carry out inspection, transport and unloading by the rubbish to public places such as scenic spot, park, cells in real time, periodically clean daily without cleaner people, degree of intelligence increases substantially.
Description
Technical field
The utility model belongs to technical field of environment protection equipment, is suitable for the public places such as park cell, and in particular to a kind of
For rubbish automatic Picking, carrying and the sanitation robot of unloading.
Background technique
With the increasingly raising of people's living standard, tourist industry is developed rapidly, however following problem is just
It is that the rubbish of some public places such as park, scenic spot cannot be accessed and timely be cleared up, influences the environmental sanitation of public place.When
Some public places such as modern scenic spot, park, cell, campus rely primarily on cleaner and are cleaned on time to maintain to clean, this just makes
The working environment for obtaining cleaner compares evil and omits, and can only realize daily fixed time period by the cleaning on time of cleaner
It is cleaned, this makes cleaning effect that can not reach expected.
Existing rubbish inspection device can not adapt to rubbish of different shapes completely, and all be directed to fixedly
Point, application is more single-minded and limitation is larger.Although Chinese patent CN 104074151A discloses a kind of for garbage collection
Robot, the robot pick up rubbish by the clip of mechanical arm tail end, and due to clip size itself, the mechanism is not for
There are certain limitations for the pickup of similar shape rubbish (such as cigarette butt and paper scrap), and the robot is real by two pulley of trunk bottom end
Now moving, mobile stability is lower, meanwhile, which is only used for a certain fixed-site, can not carry out automatic path
Planning, this necessarily increases the quantity of robot, and application cost increases substantially.
Summary of the invention
According to above-mentioned the deficiencies in the prior art, the utility model provides one kind and is used for rubbish automatic Picking, removes
Fortune and the sanitation robot of unloading improve the working environment of sanitationman, simultaneously to improve the environmental sanitation of present public place
Also labour is saved, in conjunction with Figure of description, the technical solution of the utility model is as follows:
It is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading, mechanical arm 1 is picked up by rubbish, rubbish holds
Receiving case 2 and moving body 3 forms, and the rubbish picks up the front end that mechanical arm 1 is mounted on moving body 3, the garbage containing case
2 bottoms are hinged on the rear end of moving body 3；
The rubbish picks up mechanical arm 1 by pedestal 100, the first pick-up arm 101, the first electric cylinder 102, the second pick-up arm
103, the second electric cylinder 104, third pick-up arm 105, third electric cylinder 106, waste deposit bucket 107, cleaning idler wheel 108, idler wheel
Motor 109 and pedestal rotary drive mechanism composition；
First pick-up arm, 101 rear end is hinged on pedestal 100, the first pick-up arm 101, the second pick-up arm 103 and
Three pick-up arms 105 are successively hinged, and the first electric cylinder 102 is mounted between 101 leading portion of the first pick-up arm and pedestal 100, the second electricity
Dynamic cylinder 104 is mounted between the first pick-up arm 101 and the second pick-up arm 103, and third electric cylinder 106 is mounted on the second pick-up arm
Between 103 and third pick-up arm 105, under the driving of above three electric cylinder, in perpendicular between above three pick-up arm
Interior mutual swing realizes that rubbish picks up mechanical arm 1 and swings in perpendicular；
The waste deposit bucket 107 and cleaning idler wheel 108 are mounted side by side on 105 front end of third pick-up arm, idler wheel motor 109
Output end is connect with the roller bearing for cleaning idler wheel 108；
The pedestal rotary drive mechanism is connected with pedestal 100, and driving pedestal 100 drives rubbish thereon to pick up mechanical arm
1 rotates in the horizontal plane.
The pedestal 100 is mounted on the front side top of moving body 3 by bearing support, realizes the hinge with moving body 3
It connects；
The top of the pedestal 100 is equipped with free bearing, is articulated with free bearing by straight pin at 101 rear end one of the first pick-up arm
Front end, the cylinder body end of the first electric cylinder 102 are articulated with the rear end of free bearing, the push rod end and the first pick-up arm of the first electric cylinder 102
It is hinged at 101 front end one, under the driving of the first electric cylinder 102, the first pick-up arm 101 relative to free bearing in perpendicular
It swings；The rear end of second pick-up arm 103 is hinged by another place in front end of straight pin and the first pick-up arm 101, the second electric cylinder
104 cylinder ends are articulated with another place in 101 rear end of the first pick-up arm, the push rod end and the second pick-up arm of the second electric cylinder 104
Hinged at 103 middle part one, under the driving of the second electric cylinder 104, the second pick-up arm 103 exists relative to the first pick-up arm 101
It is swung in perpendicular；The rear end of third pick-up arm 105 is hinged by the rear end of straight pin and the second pick-up arm 103, third electricity
The cylinder body end of dynamic cylinder 106 is articulated with the 103 another place in middle part of the second pick-up arm, the push rod end and third of the third electric cylinder 106
The middle part of pick-up arm 105 is hinged, and under the driving of third electric cylinder 106, third pick-up arm 105 is relative to the second pick-up arm 103
It swings in perpendicular；
First electric cylinder 102, the second electric cylinder 104 and third electric cylinder 106 respectively drive the first pick-up arm 101,
Second pick-up arm 103 and third pick-up arm 105 are swung in perpendicular, to realize that rubbish picks up mechanical arm 1 in perpendicular
Interior stretching, extension or contraction
The waste deposit bucket 107 is hingedly mounted on the front end of third pick-up arm 105, waste deposit bucket by straight pin
107 quarrel is facing forward；The idler wheel connection frame for cleaning idler wheel 108 is hingedly mounted on third pick-up arm 105 also by straight pin
Front end, and clean idler wheel 108 be set to waste deposit bucket 107 front it is corresponding to the quarrel of waste deposit bucket 107, the rubbish
Rubbish storage compartment 107 and the hinged place for cleaning idler wheel 108 are mounted on torsional spring, under the action of torsional spring, waste deposit bucket 107 and clear
It sweeps idler wheel 108 and adjusts relative position to adapt to the pickup on ground and different shape rubbish；The idler wheel motor 109 is mounted on cleaning
On the idler wheel connection frame of 108 side of idler wheel；In the front end of idler wheel connection frame in the horizontal direction to group for being externally provided with one piece of rectangle
Plate.
The pedestal rotary drive mechanism is by pedestal driving motor 110, pedestal driving gear 111 and pedestal driven gear
112 compositions；
The pedestal driving gear 111 is fixedly mounted on the lower section of pedestal 100, and the pedestal driven gear 112 is mounted on
On moving body 3, pedestal driving gear 111 is meshed with pedestal driven gear 112, the output of the pedestal driving motor 110
Axis is connected with the gear shaft of pedestal driven gear 112, and under the driving of pedestal driving motor 110, pedestal driving gear 111 drives bottom
Seat driven gear 112 rotates, and then pedestal 100 is driven along the circumferential direction to swing in the horizontal plane, finally picks up rubbish mechanical
Arm 1 is rotated relative to moving body 3 along horizontal circumferencial direction.
The garbage containing case 2 is made of bucket body 200, rear cover 201, base part seat ear 202 and bucket body pin shaft 203；It is described
Bar shaped outer is equipped with above the front side baffle of bucket body 200, side, the top both ends of rear cover 201 are arranged behind bucket in the rear cover 201
It is hinged by pin shaft with bucket body 200, tensioning mechanism is installed between the bottom plate outer of 200 rear side of lower section and bucket body of rear cover 201,
It is furthered mechanism by release or locking, realizes the open or close of rear cover 201；The bucket body 200 passes through bucket body with moving body 3
Pin shaft 203 and the realization in mating connection of base part seat ear 202 are hinged.
The tensioning mechanism uses Publication No. CN201410179170, a kind of entitled back door for light-duty dumper
The tight mechanism of rear-door automatic locking disclosed in the patent document of automatic locking mechanism, one end of the tensioning mechanism and rear cover 201
Lower section be fixedly connected, the other end of tensioning mechanism is fixedly connected with the bottom plate outer of 200 rear side of bucket body, so that bucket body 200 is lifted
It rises when turning over, the latch hook of tensioning mechanism automatically turns on, and opens rear cover 201, and bucket body 200 lands when turning to returning, tenses
The latch hook of mechanism locks rear cover 201 with the landing of bucket body 200.
Compared with prior art, the utility model has the beneficial effects that:
1, sanitation robot described in the utility model can be realized to the rubbish of the public places such as scenic spot, park, cell into
Row inspection, transport and unloading, automatic cleaning, periodically cleans, degree of intelligence significantly mentions daily without cleaner people in real time
Height alleviates the dustbin timing cleaning work of the ground such as scenic spot, cell, park, and the rubbish of public place is processed in first time,
A good living environment is built to people；
2, sanitation robot described in the utility model can voluntarily construct area map, and carry out path planning, using limit
Condition processed is few, a robot can be used to carry out the rubbish cleaning in multiple places, also reducing while saving labour makes
Use cost；
3, it is roller structure that the rubbish of sanitation robot described in the utility model, which picks up mechanical arm tip designs, can be picked up not
The rubbish of similar shape, strong applicability.
Detailed description of the invention
Fig. 1 is the overall structure diagram of sanitation robot described in the utility model；
Fig. 2 is that the rubbish of sanitation robot described in the utility model picks up the structural schematic diagram of mechanical arm；
Fig. 3 is the structural schematic diagram of the garbage containing case of sanitation robot described in the utility model；
Status diagram when Fig. 4 is sanitation robot normal walking described in the utility model；
Fig. 5 is status diagram when sanitation robot described in the utility model picks up rubbish；
Fig. 6 is the state when waste deposit bucket of sanitation robot described in the utility model puts rubbish upside down to garbage containing case
Schematic diagram；
Fig. 7 pours out status diagram when rubbish for the garbage containing case of sanitation robot described in the utility model.
In figure:
1- rubbish picks up mechanical arm, 2- garbage containing case, 3- moving body；
100- pedestal, the first pick-up arm of 101-, the first electric cylinder of 102-, the second pick-up arm of 103-,
The second electric cylinder of 104-, 105- third pick-up arm, 106- third electric cylinder, 107- waste deposit bucket,
108- cleaning idler wheel, 109- idler wheel motor, 110- pedestal driving motor, 111- pedestal driving gear,
112- pedestal driven gear；
200- bucket body, 201- rear cover, 202- base part seat ear, 203- bucket body pin shaft.
Specific embodiment
For the technical solution of the utility model is further described, in conjunction with Figure of description, the specific implementation of the utility model
Mode is as follows:
As shown in Figure 1, the utility model provide it is a kind of for rubbish automatic Picking, carrying and the environmental sanitation of unloading machine
People mainly picks up mechanical arm 1, garbage containing case 2 and moving body 3 by rubbish and forms, and the moving body 3 is using wheel vehicle type bottom
Disk, the rubbish pick up the front end that mechanical arm 1 is mounted on moving body 3, and rubbish picks up mechanical arm 1 can be relative to moving body
3 swings above moving body 3 along the vertical direction, and swing in the horizontal direction relative to moving body 3；
The garbage containing case 2 is mounted on the rear end of moving body 3, and the bottom-rear of garbage containing case 2 and the rear of moving body 3 are cut with scissors
It connects, garbage containing case 2 can stir backward along the vertical direction relative to moving body 3；The rubbish picks up mechanical arm 1 for picking up
Rubbish is taken and by garbage collection in the waste deposit bucket of its front end, to garbage containing after garbage collection in waste deposit bucket is full
Case 2 is toppled over, and interim storage of the garbage containing case 2 for coming, after garbage containing case 2 is filled, moving body 3 is automatic by it
It transports to refuse depot, the unloading that garbage containing case 2 with mechanical arm 1 realizes rubbish is picked up from rubbish.
As shown in Fig. 2, the rubbish picks up mechanical arm 1 by pedestal 100, the first pick-up arm 101, the first electric cylinder 102, the
Two pick-up arms 103, third pick-up arm 105, third electric cylinder 106, waste deposit bucket 107, clean idler wheel at second electric cylinder 104
108, idler wheel motor 109, pedestal driving motor 110, pedestal driving gear 111 and pedestal driven gear 112 form.
The pedestal 100 is mounted on the front side top of moving body 3 by bearing support, realizes the hinge with moving body 3
It connects；
The top of the pedestal 100 is equipped with free bearing, is articulated at 101 rear end one of the first pick-up arm by straight pin
The front end of seat, the cylinder body end of first electric cylinder 102 are articulated with the rear end of free bearing, the push rod end of first electric cylinder 102
With it is hinged at the front end one of the first pick-up arm 101, under the driving of the first electric cylinder 102, the first pick-up arm 101 is relative to free bearing
It swings in perpendicular；The rear end of second pick-up arm 103 passes through another place in front end of straight pin and the first pick-up arm 101
Hingedly, the cylinder ends of second electric cylinder 104 are articulated with another place in 101 rear end of the first pick-up arm, second electric cylinder
104 push rod end with it is hinged at the middle part one of the second pick-up arm 103, under the driving of the second electric cylinder 104, the second pick-up arm
103 swing in perpendicular relative to the first pick-up arm 101；The rear end of the third pick-up arm 105 passes through straight pin and the
The rear end of two pick-up arms 103 is hinged, and the cylinder body end of the third electric cylinder 106 is articulated with the 103 another place in middle part of the second pick-up arm,
The push rod end of the third electric cylinder 106 and the middle part of third pick-up arm 105 are hinged, under the driving of third electric cylinder 106, the
Three pick-up arms 105 are swung in perpendicular relative to the second pick-up arm 103.
First electric cylinder 102, the second electric cylinder 104 and third electric cylinder 106 respectively drive the first pick-up arm 101,
Second pick-up arm 103 and third pick-up arm 105 are swung in perpendicular, to realize that rubbish picks up the stretching, extension or receipts of mechanical arm 1
Contracting；
The waste deposit bucket 107 is hingedly mounted on the front end of third pick-up arm 105, waste deposit bucket by straight pin
107 quarrel is facing forward；The idler wheel connection frame for cleaning idler wheel 108 is hingedly mounted on third pick-up arm 105 also by straight pin
Front end, and clean idler wheel 108 be set to waste deposit bucket 107 front it is corresponding to the quarrel of waste deposit bucket 107, the rubbish
Rubbish storage compartment 107 and clean idler wheel 108 hinged place be mounted on torsional spring, when rubbish pick up mechanical arm 1 be in walking or other
When being not under rubbish pick-up situation, as shown in figure 5, waste deposit bucket 107 and clean idler wheel 108 and be in vacant state, and
Under the action of torsional spring, between the two is closer, and when rubbish, which picks up mechanical arm 1, is in the state for picking up rubbish, cleans rolling
Wheel 108 is placed on ground with waste deposit bucket 107, as shown in fig. 6, and under the action of torsional spring, between the two is opposite
Position is adjustable, to adapt to the pickup on ground and different shape rubbish；The idler wheel motor 109, which is mounted on, cleans 108 side of idler wheel
Idler wheel connection frame on, the output end of idler wheel motor 109 is connected with the wheel shaft for cleaning idler wheel 108, to drive cleaning idler wheel
108 operatings, realization pick up different shape rubbish into waste deposit bucket 107；The front end of idler wheel connection frame in the horizontal direction
To the shift plate for being externally provided with one piece of rectangle.
The pedestal driving gear 111 is fixedly mounted on the lower section of pedestal 100, and the pedestal driven gear 112 is mounted on
On moving body 3, pedestal driving gear 111 is meshed with pedestal driven gear 112, and the pedestal driving motor 110 passes through electricity
Machine support is mounted on moving body 3, and the output shaft of pedestal driving motor 110 is connected with the gear shaft of pedestal driven gear 112,
Under the driving of pedestal driving motor 110, pedestal driving gear 111 drives pedestal driven gear 112 to rotate, and then drives pedestal
100 along the circumferential direction swing in the horizontal plane, and rubbish is finally made to pick up mechanical arm 1 relative to moving body 3 along horizontal circumference side
Upward swing.
After the rubbish in waste deposit bucket 107 is filled with, it is being based on the first electric cylinder 102, the second electric cylinder 104 and third
Electric cylinder 106 respectively drives the first pick-up arm 101, the second pick-up arm 103 and third pick-up arm 105 and swings in perpendicular,
While realizing that rubbish picks up the stretching, extension or contraction of mechanical arm 1；Under the driving of pedestal driving motor 110, pedestal 100 drives rubbish
The along the circumferential direction back rotation 180 degree in the horizontal plane of mechanical arm 1 is picked up, rubbish is made to pick up the rubbish that mechanical arm 1 picks up end
Storage compartment 107 moves to 2 top of garbage containing case, the rubbish in waste deposit bucket 107 is poured into garbage containing case 2, such as
Shown in Fig. 7.
As shown in figure 3, the garbage containing case 2 is by bucket body 200, rear cover 201, base part seat ear 202 and bucket body pin shaft 203
Composition.The bucket body 200 is a pinch shape, and the summarized mouth for the body 200 that struggles against is backwards, is equipped with bar shaped above the front side baffle of the bucket body 200
Outer, behind the bucket at the summarized mouth of side, it is hinged that the top both ends of rear cover 201 and bucket body 200 pass through pin shaft for the rear cover 201 setting,
The lower section of rear cover 201 is fitted by the bottom plate outer of tensioning mechanism and 200 rear side of bucket body, and the tensioning mechanism uses publication number
For CN201410179170, disclosed in a kind of patent document of the entitled tight mechanism of rear-door automatic locking for light-duty dumper
The tight mechanism of rear-door automatic locking, one end of the tensioning mechanism is fixedly connected with the lower section of rear cover 201, the other end of tensioning mechanism
It is fixedly connected with the bottom plate outer of 200 rear side of bucket body, when so that the bucket lifting of body 200 being turned over, the latch hook of tensioning mechanism is automatic
It opens, opens rear cover 201, bucket body 200 lands when turning to returning, and the latch hook of tensioning mechanism is locked with the landing of bucket body 200
Rear cover 201；The base part seat ear 202 is fixed on bucket 200 bottom rearward position of body, and the bucket body 200 passes through with moving body 3
Bucket body pin shaft 203 and the realization in mating connection of base part seat ear 202 are hinged.
The garbage containing case 2 is for storing rubbish, when the rubbish storage amount in garbage containing case 2 reaches certain amount
Afterwards, sanitation robot will be moved to specified refuse depot, then controls rubbish and picks up 1 back rotation of mechanical arm swing about 180 degree,
From the bar shaped outer that the front of moving body 3 is rocked to bucket 200 front end of body, rubbish is made to pick up the connection of 1 front end idler wheel of mechanical arm
The shift plate of frame front end relies on the lower section of the bar shaped outer of bucket 200 front end of body, will be struggled against body by the swing that rubbish picks up mechanical arm 1
200 front end is raised upwards, so that bucket body 200 is turned over relative to moving body 3, and release tension mechanism, so that rear cover
201 separate with bucket body 200 under gravity, realize that 2 rear end of garbage containing case is opened, make the rubbish in garbage containing case 2
It pours out, as shown in Figure 7；After rubbish is toppled over, rubbish picks up 1 backswing of mechanical arm, and the body 200 that struggles against is in self gravity
Under the action of, front end declines therewith, bucket 200 reverse flip of body return original state, rear cover 200 by tensioning mechanism again with bucket
Body 200 is bonded.
The course of work described in the utility model for rubbish automatic Picking, carrying and the sanitation robot of unloading is as follows:
As shown in figure 4, the robot, after moving to designated position, the rubbish of front end picks up mechanical arm 1 and picks up rubbish
It picks up and is stored in waste deposit bucket 107, as shown in figure 5, when in the waste deposit bucket 107 that rubbish picks up 1 front end of mechanical arm
After rubbish is filled with, rubbish picks up mechanical arm 1 and swings backward, and the rubbish of pickup is transported backward to 2 top of garbage containing case, and will
Rubbish is put into garbage containing case 2, as shown in fig. 7, garbage containing case 2 is used for the storage of rubbish, the rubbish in garbage containing case 2
After rubbish is filled, garbage containing case 2 above moving body 3 and relative to moving body 3 before and after overturn, rubbish is poured into rubbish
It stands, as shown in fig. 7, realizing the automatic detecting to the public places such as scenic spot, park, cell rubbish, transport and the intelligence of unloading
Control.
Claims (6)
1. it is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading, mechanical arm (1) is picked up by rubbish, rubbish holds
Receive case (2) and moving body (3) composition, it is characterised in that:
The rubbish picks up the front end that mechanical arm (1) is mounted on moving body (3), and garbage containing case (2) bottom is hinged on
The rear end of moving body (3)；
The rubbish picks up mechanical arm (1) and is picked up by pedestal (100), the first pick-up arm (101), the first electric cylinder (102), second
Arm (103), third pick-up arm (105), third electric cylinder (106), waste deposit bucket (107), cleans the second electric cylinder (104)
Idler wheel (108), idler wheel motor (109) and pedestal rotary drive mechanism composition；
First pick-up arm (101) rear end is hinged on pedestal (100), the first pick-up arm (101), the second pick-up arm (103)
Successively hinged with third pick-up arm (105), the first electric cylinder (102) is mounted on the first pick-up arm (101) leading portion and pedestal (100)
Between, the second electric cylinder (104) is mounted between the first pick-up arm (101) and the second pick-up arm (103), third electric cylinder
(106) it is mounted between the second pick-up arm (103) and third pick-up arm (105), it is above-mentioned under the driving of above three electric cylinder
It is mutually swung in perpendicular between three pick-up arms, realizes that rubbish picks up mechanical arm (1) and swings in perpendicular；
The waste deposit bucket (107) and cleaning idler wheel (108) are mounted side by side on third pick-up arm (105) front end, idler wheel motor
(109) output end is connect with the roller bearing for cleaning idler wheel (108)；
The pedestal rotary drive mechanism is connected with pedestal (100), and driving pedestal (100) drives rubbish thereon to pick up mechanical arm
(1) it rotates in the horizontal plane.
2. a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading as described in claim 1, it is characterised in that:
The pedestal (100) is mounted on the front side top of moving body (3) by bearing support, realizes and moving body (3)
Hingedly；
The top of the pedestal (100) is equipped with free bearing, is articulated with free bearing by straight pin at the first pick-up arm (101) rear end one
Front end, the cylinder body end of the first electric cylinder (102) are articulated with the rear end of free bearing, the push rod end of the first electric cylinder (102) and the first ten
Take hinged at the front end one of arm (101), under the driving of the first electric cylinder (102), the first pick-up arm (101) exists relative to free bearing
It is swung in perpendicular；It is cut with scissors by another place in front end of straight pin and the first pick-up arm (101) rear end of second pick-up arm (103)
It connects, the cylinder ends of the second electric cylinder (104) are articulated with the first pick-up arm (101) another place in rear end, the second electric cylinder (104)
Push rod end with it is hinged at the middle part one of the second pick-up arm (103), under the driving of the second electric cylinder (104), the second pick-up arm
(103) it is swung in perpendicular relative to the first pick-up arm (101)；The rear end of third pick-up arm (105) by straight pin with
The rear end of second pick-up arm (103) is hinged, and the cylinder body end of third electric cylinder (106) is articulated with another in the middle part of the second pick-up arm (103)
At one, the push rod end of the third electric cylinder (106) and the middle part of third pick-up arm (105) are hinged, in third electric cylinder (106)
Driving under, third pick-up arm (105) is swung in perpendicular relative to the second pick-up arm (103)；
First electric cylinder (102), the second electric cylinder (104) and third electric cylinder (106) respectively drive the first pick-up arm
(101), the second pick-up arm (103) and third pick-up arm (105) are swung in perpendicular, to realize that rubbish picks up mechanical arm
(1) stretching, extension or contraction in perpendicular.
3. a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading as described in claim 1, it is characterised in that:
The waste deposit bucket (107) is hingedly mounted on the front end of third pick-up arm (105), waste deposit bucket by straight pin
(107) quarrel is facing forward；The idler wheel connection frame for cleaning idler wheel (108) is hingedly mounted on third pick-up arm also by straight pin
(105) front end, and clean idler wheel (108) and be set to the front of waste deposit bucket (107) and the quarrel of waste deposit bucket (107)
Accordingly, the hinged place of the waste deposit bucket (107) and cleaning idler wheel (108) is mounted on torsional spring, under the action of torsional spring, rubbish
Rubbish storage compartment (107) and cleaning idler wheel (108) adjust relative position to adapt to the pickup on ground and different shape rubbish；The rolling
Turbin generator (109) is mounted on the idler wheel connection frame for cleaning idler wheel (108) side；The front end of idler wheel connection frame in the horizontal direction
To the shift plate for being externally provided with one piece of rectangle.
4. it is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading as described in any one of claim 1-3,
It is characterized by:
The pedestal rotary drive mechanism is by pedestal driving motor (110), pedestal driving gear (111) and pedestal driven gear
(112) it forms；
The pedestal driving gear (111) is fixedly mounted on the lower section of pedestal (100), pedestal driven gear (112) installation
On moving body (3), pedestal driving gear (111) is meshed with pedestal driven gear (112), the pedestal driving motor
(110) output shaft is connected with the gear shaft of pedestal driven gear (112), under pedestal driving motor (110) driving, pedestal master
Moving gear (111) drives pedestal driven gear (112) rotation, and then pedestal (100) is driven along the circumferential direction to put in the horizontal plane
It is dynamic, so that rubbish is picked up mechanical arm (1) and is rotated relative to moving body (3) along horizontal circumferencial direction.
5. a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading as described in claim 1, it is characterised in that:
The garbage containing case (2) is by bucket body (200), rear cover (201), base part seat ear (202) and bucket body pin shaft (203) group
At；Bar shaped outer is equipped with above the front side baffle of bucket body (200), side, rear cover is arranged behind bucket in the rear cover (201)
(201) top both ends are hinged by pin shaft with bucket body (200), outside the lower section of rear cover (201) and the bottom plate on rear side of bucket body (200)
Tensioning mechanism is installed between, is furthered mechanism by release or locking, realizes the open or close of rear cover (201)；The bucket
Body (200) and moving body (3) are hinged by bucket body pin shaft (203) and base part seat ear (202) realization in mating connection.
6. a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading as claimed in claim 5, it is characterised in that:
The tensioning mechanism uses the tight mechanism of rear-door automatic locking, and one end of the tensioning mechanism and the lower section of rear cover (201) are fixed
The other end of connection, tensioning mechanism is fixedly connected with the bottom plate outer on rear side of bucket body (200), so that bucket body (200) lifting is backward
When overturning, the latch hook of tensioning mechanism is automatically turned on, and opens rear cover (201), and bucket body (200) lands when turning to returning, fastener
The latch hook of structure locks rear cover (201) with the landing of bucket body (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820566310.3U CN208346720U (en) | 2018-04-20 | 2018-04-20 | It is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820566310.3U CN208346720U (en) | 2018-04-20 | 2018-04-20 | It is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading |
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| Publication Number | Publication Date |
|---|---|
| CN208346720U true CN208346720U (en) | 2019-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820566310.3U Active CN208346720U (en) | 2018-04-20 | 2018-04-20 | It is a kind of for rubbish automatic Picking, carrying and the sanitation robot of unloading |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111636341A (en) * | 2020-05-30 | 2020-09-08 | 常艺馨 | Park garbage cleaning machine |
| CN112027413A (en) * | 2020-09-01 | 2020-12-04 | 李闯 | Automatic dumping device for garbage can |
| CN113463558A (en) * | 2021-06-10 | 2021-10-01 | 同济大学 | Beach garbage pickup robot |
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2018
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| CN108360428A (en) * | 2018-04-20 | 2018-08-03 | 吉林大学 | It is a kind of to be used for rubbish automatic Picking, carrying and the sanitation robot of unloading and its control method |
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| CN112027413B (en) * | 2020-09-01 | 2022-11-15 | 李闯 | Automatic dumping device for garbage can |
| CN113463558A (en) * | 2021-06-10 | 2021-10-01 | 同济大学 | Beach garbage pickup robot |
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