CN208453935U - A kind of sanitation robot carried and unloaded for dustbin - Google Patents
A kind of sanitation robot carried and unloaded for dustbin Download PDFInfo
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- CN208453935U CN208453935U CN201820577640.2U CN201820577640U CN208453935U CN 208453935 U CN208453935 U CN 208453935U CN 201820577640 U CN201820577640 U CN 201820577640U CN 208453935 U CN208453935 U CN 208453935U
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Abstract
The sanitation robot that the utility model discloses a kind of to carry and unload for dustbin, the sanitation robot is by rotatable grasping mechanism, tipping mechanism and chassis composition, grasping mechanism be can be rotated under the driving of rotating mechanism, grasping mechanism realization rotates in the horizontal direction, grasping mechanism realizes sliding straightly in the vertical direction under the drive of elevating mechanism, it realizes to drawing in capable crawl and movement, tipping mechanism is under the driving of rotating turret driving mechanism, rotation axis drives rotating turret to overturn along before and after inclined-plane support frame, it realizes and the loading that the control method includes sky dustbin of toppling over of dustbin is transported and placed, the crawl and unloading of full dustbin.The utility model realizes carrying mechanism and tipping mechanism integration, replacement dustbin and dump rubbish can convenient sequence complete, solve the problems, such as rubbish cleaning not in time, beautified environment and also liberated labour.
Description
Technical field
The utility model belongs to carrying and unloading equipment technical field, is suitable for the public places such as park, campus and cell,
More particularly to a kind of sanitation robot carried and unloaded for dustbin.
Background technique
As human society continues to develop, people's lives quality is higher and higher, and the rubbish generated therewith is also more and more,
Especially cell, campus, the pavement in park.However, the pursuit with the development and people of current science and technology to good life,
Most people is no longer ready to be engaged in transport environmental sanitation rubbish and this heavy workload of loading-unloading vehicle, works hard and take in low cleaning；
And since rubbish is excessive, dustbin replacement often occur causes dustbin rubbish to overflow not in time, influences city appearance, thus
More it is difficult to the vicious circle problem cleared up.
The existing sanitation robot that clears the dustbin is mostly used carrying mechanism greatly and tipping mechanism Liang Ge mechanism realizes dustbin
Replacement with topple over, mechanism size is excessive, and can not achieve automatic control, needs fixed personnel still to operate vehicle to realize
It dumps rubbish.The robot of the unmanned aerial vehicle (UAV) control of Volvo ROAR project development can be scanned by unmanned plane and tell robot rubbish
The position of rubbish bucket is to grab dustbin, however this process needs an at least driver control unmanned plane and vehicle unloading,
Still limited in terms of liberation labour；Robot car needs a garbage truck to follow with vehicle, and space hold is larger.
Summary of the invention
For above-mentioned the technical problems existing in the prior art, a kind of environmental sanitation carried and unloaded for dustbin is provided
Robot has also liberated labor while improving city appearance to improve the problem of present public place dustbin is replaced not in time
Power, in conjunction with Figure of description, the technical solution of the utility model is as follows:
A kind of sanitation robot carried and unloaded for dustbin, by rotatable grasping mechanism 1, tipping mechanism 2 and bottom
3 three parts of disk composition；
The front end that can be rotated grasping mechanism 1 and be mounted on chassis 3, by rotating mechanism 11, elevating mechanism 12 and gripper
Structure 13 forms；
The rotating mechanism 11 is installed on the bottom of rotatable grasping mechanism 1, and the elevating mechanism 12 is fixedly mounted vertically
In the top of the turntable 114 of rotating mechanism 11, the grasping mechanism 13 is slidably mounted on elevating mechanism 12 by sliding block 1210
Side；Under the driving of rotating mechanism 11, the realization of grasping mechanism 13 rotates in the horizontal direction, under the drive of elevating mechanism 12
Grasping mechanism 13 realizes sliding straightly in the vertical direction, realizes crawl and movement to dustbin；
The tipping mechanism 2 is made of rotating turret 21, rotating turret driving mechanism, inclined-plane support frame 26 and rotation axis 27；
The inclined-plane support frame 26 is fixed on the rear end on chassis 3, and the rotation axis 27 is rotatably installed in inclined-plane support frame 26
Top, and be coaxially connected with the output end of rotating turret driving mechanism, 21 middle part of rotating turret is connected with rotation axis 27, drives in rotating turret
Under the driving of motivation structure, rotation axis 27 drives rotating turret 21 to overturn before and after inclined-plane support frame 26, and realization inclines to dustbin
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The rotating mechanism 11 is made of motor second 111, belt pulley 112, belt 113, turntable 114 and turntable base 115,
Wherein, motor second 111 and turntable base 115 are each attached on chassis 3, and turntable 114 is rotatably installed on turntable base 115, skin
Belt wheel 112 and turntable 114 are sequentially connected by belt 113, and under the driving of motor second 111, belt pulley 112 passes through belt 113
Turntable 114 is driven to rotate.
The elevating mechanism 12 is by guide rail 121, motor the third 122, gear first 123, gear second 124, sprocket shaft first 125, chain
Wheel shaft second 126, sprocket wheel the third 127, sprocket wheel fourth 128, chain second 129 and sliding block 1210 form；
Guide rail 121 is fixed on vertically on turntable 114, and motor the third 122 is horizontally fixed on turntable 114；125 He of sprocket shaft first
Sprocket shaft second 126 is rotatably installed in 121 inside following above and of guide rail respectively, and sprocket wheel the third 127 and sprocket wheel fourth 128 are separately mounted to
In sprocket shaft first 125 and sprocket shaft second 126, pass through 129 transmission chain connect of chain second, sliding block between sprocket wheel the third 127 and sprocket wheel fourth 128
1210 are connected in chain second 129；
Gear first 123 is connected on the output shaft of motor the third 122, and gear second 124 is mounted on 121 outside of guide rail and and sprocket wheel
Axis first 125 is coaxially connected, and the gear first 123 is meshed with gear second 124；
Under the driving of motor the third 122,124 engaged transmission of gear first 123 and gear second, drive chain wheel shaft first 125 rotates,
With the chain-drive mechanism operating that movable sprocket the third 127, sprocket wheel fourth 128 and chain second 129 form, and then with movable slider 1210 along guide rail
121 move up and down.
The grasping mechanism 13 is made of longitudinal moving mechanism 131 and rotation clamping device 132.
Longitudinal moving mechanism 131 is by pedestal 1311, longitudinal movement driving mechanism, longitudinal movement transmission mechanism and mobile branch
Seat 1316 forms；Sliding block 1210 on pedestal 1311 and elevating mechanism 12 is connected, and longitudinal movement transmission mechanism is mounted on pedestal
On 1311, input terminal is connected with the output end of longitudinal movement driving mechanism, and mobile support saddle 1316 is connected to longitudinal movement transmission
In mechanism, under the driving of longitudinal movement driving mechanism, longitudinal movement transmission mechanism slides before and after driving mobile support saddle 1316；
Clamping device 132 is rotated by motor penta 1321, gear third 1322, gear fourth 1323, gear shaft 1324, ring flange first
1325, ring flange second 1326, right clamping limb 1327 and left clamping limb 1328 form；Motor penta 1321 is fixed on mobile support saddle vertically
On 1316, gear third 1322 and ring flange first 1325 are sequentially coaxially connected to from top to bottom on the output shaft of motor penta 1321, right
Clamping limb 1327 and ring flange first 1325 are connected；The gear shaft 1324 is rotatably mounted on vertically on mobile support saddle 1316, gear
Fourth 1323 and ring flange second 1326 are sequentially coaxially connected on gear shaft 1324 from top to bottom, gear fourth 1323 and gear third 1322
It is meshed, left clamping limb 1328 is connected with ring flange second 1326；Under the driving of motor penta 1321, gear third 1322 and gear third
1322 engaged transmissions, and right clamping limb 1327 and left clamping limb 1328 above it is driven to rotate respectively, right 1327 He of clamping limb
Left clamping limb 1328 opens or clamps the release or clamping realized to dustbin.
Longitudinal movement driving mechanism is made of motor fourth 1312, bevel gear first 1313 and bevel gear second 1314；
Motor fourth 1312 is horizontally disposed and is fixed on pedestal 1311, the output shaft of bevel gear first 1313 and motor fourth 1312
Coaxial to be connected, bevel gear second 1314 and longitudinal movement transmission mechanism are coaxially connected, bevel gear first 1313 and 1314 phase of bevel gear second
Engagement.
The longitudinal movement transmission mechanism uses ball-screw 1315, ball-screw 1315 and the longitudinal movement driving machine
The output end of structure is coaxially connected, and 1315 both ends of ball-screw are mounted on pedestal 1311 by bearing support, mobile support saddle 1316
It is connected with ball-screw 1315 by screw thread pair.
The rotating turret driving mechanism sprocket wheel first 22, sprocket wheel second 23, chain first 24 and motor first 25 form；
Motor first 25 is horizontally fixed on chassis 3, and sprocket wheel first 22 and the output shaft of motor first 25 are coaxially connected, sprocket wheel second 23
It is coaxial connected with rotation axis 27, it is sequentially connected between sprocket wheel first 22 and sprocket wheel second 23 by chain first 24.
The rotating turret 21 is made of braced frame 211, pressure pin 212, wheel blocking plate first 213 and wheel blocking plate second 214, wherein
Pressure pin 212 has two, vertical with 211 bottom crossbearer of braced frame along the horizontal plane to fix, for carrying dustbin；The card wheel
Plate first 213 and wheel blocking plate second 214 are separately fixed at 211 lower section two sides of braced frame, for the fixed dustbin bottom roller that is loaded.
Compared with prior art, the utility model has the beneficial effects that:
1, sanitation robot described in the utility model carried out carrying mechanism and tipping mechanism integration, replacement dustbin and
Dump rubbish can convenient sequence complete, the rubbish to public places such as park, campus and cells may be implemented by the robot
Rubbish case is intelligently carried and rubbish unloading, solves the problems, such as rubbish cleaning not in time, has beautified environment and also liberated labour；
2, sanitation robot described in the utility model can replace existing same machines people, not need supernumerary to grasp
It is vertical, save labour；
3, sanitation robot overall dimensions described in the utility model are smaller, and adaptive type is strong, reduce production cost, save energy
Source, convenient for launching production.
Detailed description of the invention
Fig. 1 is the overall structure diagram of sanitation robot described in the utility model；
Fig. 2 is that can be rotated the structural schematic diagram of grasping mechanism in sanitation robot described in the utility model；
Fig. 3 is the structural schematic diagram of tipping mechanism in sanitation robot described in the utility model；
Fig. 4 is the structural schematic diagram of rotating turret in sanitation robot described in the utility model；
Fig. 5 is the structural schematic diagram of rotating mechanism in sanitation robot described in the utility model；
Fig. 6 is the structural schematic diagram of elevating mechanism in sanitation robot described in the utility model；
Fig. 7 is the structural schematic diagram of grasping mechanism in sanitation robot described in the utility model；
Fig. 8 a is that the empty dustbin of sanitation robot described in the utility model loading moves to the state at full dustbin position
Schematic diagram；
Empty dustbin is placed into behind designated position for sanitation robot described in the utility model and clamps full dustbin by Fig. 8 b
Status diagram；
Fig. 8 c is the status diagram that sanitation robot described in the utility model is fully loaded with dustbin；
Fig. 8 d is the status diagram that sanitation robot described in the utility model topples over rubbish in full dustbin；
Fig. 8 e is that sanitation robot described in the utility model is reloaded the status diagram of sky dustbin.
In figure:
1, rotatable grasping mechanism, 2, tipping mechanism, 3, chassis, 4, empty dustbin,
5, full dustbin；
11, rotating mechanism, 12, elevating mechanism, 13, grasping mechanism；
111, motor second, 112, belt pulley, 113, belt, 114, turntable,
115, turntable base；
121, guide rail, 122, motor the third, 123, gear first, 124, gear second,
125, sprocket shaft first, 126, sprocket shaft second, 127, sprocket wheel the third, 128, sprocket wheel fourth,
129, chain second, 1210, sliding block；
131, longitudinal moving mechanism, 132, rotation clamping device；
1311, pedestal, 1312, motor fourth, 1313, bevel gear first, 1314, bevel gear second,
1315, ball-screw, 1316, mobile support saddle；
1321, motor penta, 1322, gear the third, 1323, gear fourth, 1324, gear shaft,
1325, ring flange first, 1326, ring flange second, 1327, the right clamping limb right side, 1328, left clamping limb.
21, rotating turret, 22, sprocket wheel first, 23, sprocket wheel second, 24, chain first,
25, motor first, 26, inclined-plane support frame, 27, rotation axis；
211, braced frame, 212, pressure pin, 213, wheel blocking plate first, 214, wheel blocking plate second；
Specific embodiment
For the technical solution of the utility model is further described, in conjunction with Figure of description, the utility model specific embodiment party
Formula is as follows:
As shown in Figure 1, the sanitation robot that the utility model discloses a kind of to carry and unload for dustbin, by that can turn
Dynamic grasping mechanism 1, tipping mechanism 2 and 3 three parts of chassis composition.The grasping mechanism 1 that can be rotated is rotatably installed in chassis 3
Front end, the tipping mechanism 2 is fixedly mounted on the rear end on chassis 3.The chassis 3 is used to sanitation robot being transported to specific bit
It sets, dustbin is placed in designated position, the tipping mechanism 2 for grabbing dustbin by the grasping mechanism 1 that can be rotated
For the rubbish in dustbin to be toppled over unloading.
As shown in Fig. 2, the grasping mechanism 1 that can be rotated is made of rotating mechanism 11, elevating mechanism 12 and grasping mechanism 13；
The rotating mechanism 11 is installed on the bottom of rotatable grasping mechanism 1, and the elevating mechanism 12 is fixedly mounted on rotating machine vertically
The top of the turntable 114 of structure 11, the grasping mechanism 13 are slidably mounted on the side of elevating mechanism 12 by sliding block 1210；Turning
Under the driving of motivation structure 11, the realization of grasping mechanism 13 rotates in the horizontal direction, the grasping mechanism under the drive of elevating mechanism 12
13 realize sliding straightly in the vertical direction.
As shown in figure 5, the rotating mechanism 11 is by motor second 111, belt pulley 112, belt 113, turntable 114 and turntable branch
Seat 115 forms.The motor second 111 and turntable base 115 are each attached to above chassis 3, and turntable 114 is rotatably installed in turntable branch
On seat 115, it rotate turntable 114 can relative to chassis 3, belt pulley 112 and turntable 114 are sequentially connected by belt 113, in electricity
Under the driving of machine second 111, belt pulley 112 drives turntable 114 to rotate by belt 113, and then drives 114 upper part of turntable same
Step rotation.
As shown in fig. 6, the elevating mechanism 12 is by guide rail 121, motor the third 122, gear first 123, gear second 124, sprocket wheel
Axis first 125, sprocket shaft second 126, sprocket wheel the third 127, sprocket wheel fourth 128, chain second 129 and sliding block 1210 form.Wherein, the guide rail
121 are vertically arranged and are fixedly mounted on turntable 114, and motor the third 122 is horizontally disposed and is fixedly mounted on turntable 114；It is described
125 both ends of sprocket shaft first are mounted on side-lower in guide rail 121 by the way that bearing is horizontally-supported, and sprocket wheel the third 127 is coaxially fixedly mounted on
In sprocket shaft first 125,126 both ends of sprocket shaft second are mounted on 121 inside front of guide rail, sprocket wheel fourth by the way that bearing is horizontally-supported
128 are coaxially fixedly mounted in sprocket shaft first 125, pass through 129 transmission chain of chain second between sprocket wheel the third 127 and sprocket wheel fourth 128
It connects, the sliding block 1210 is connected in chain second 129；The gear first 123 is connected on the output shaft of motor the third 122, gear
Second 124 is mounted on the outer side-lower of guide rail 121, and coaxial connected with sprocket shaft first 125, the gear first 123 and gear second 124
It is meshed.Under the driving of motor the third 122,124 engaged transmission of gear first 123 and gear second, drive chain wheel shaft first 125 rotates,
And then the chain-drive mechanism operating formed with movable sprocket the third 127, sprocket wheel fourth 128 and chain second 129, final band 1210 edge of movable slider
Guide rail 121 moves up and down.
As shown in fig. 7, the grasping mechanism 13 is made of longitudinal moving mechanism 131 and rotation clamping device 132.
The longitudinal moving mechanism 131 is by pedestal 1311, motor fourth 1312, bevel gear first 1313, bevel gear second 1314, rolling
Ballscrew 1315 and mobile support saddle 1316 form；The pedestal 1311 is fixed together with the sliding block 1210 on elevating mechanism 12,
Motor fourth 1312 is horizontally disposed and is fixed on pedestal 1311, and the output shaft of bevel gear first 1313 and motor fourth 1312 is coaxially solid
Even, bevel gear second 1314 is coaxial connected with ball-screw 1315, and bevel gear first 1313 is meshed with bevel gear second 1314, ball wire
1315 both ends of thick stick are mounted on pedestal 1311 by bearing support, and mobile support saddle 1316 and ball-screw 1315 are connected by screw thread pair
It connects, mobile support saddle 1316 is made to move along a straight line along ball-screw 1315, mobile support saddle 1316 is contacted with the surface on pedestal 1311, shape
At planar contact pair.Under the driving of motor fourth 1312,1314 engaged transmission of bevel gear first 1313 and bevel gear second drives ball-screw
1315 rotations, and then drive mobile support saddle 1316 to be moved forward or rearward by screw thread pair.
The rotation clamping device 132 is by motor penta 1321, gear third 1322, gear fourth 1323, gear shaft 1324, method
Blue disk first 1325, ring flange second 1326, right clamping limb 1327 and left clamping limb 1328 form.The motor penta 1321 is vertically arranged
And it is fixed on 1316 upper surface of mobile support saddle, gear third 1322 and ring flange first 1325 are sequentially coaxially fixed on motor from top to bottom
On penta 1321 output shaft, right clamping limb 1327 is fixed together with ring flange first 1325；The gear shaft 1324 is vertically arranged
And be mounted on mobile support saddle 1316 by bearing rotary, gear fourth 1323 and ring flange second 1326 are sequentially coaxially solid from top to bottom
It is scheduled on gear shaft 1324, gear fourth 1323 is meshed with gear third 1322, and left clamping limb 1328 is connected with ring flange second 1326
Together, the right clamping limb 1327 and left clamping limb 1328 are oppositely arranged, and are formed by the foreign steamer of clamping profile and dustbin
Exterior feature matches.Under the driving of motor penta 1321, the third 1322 engaged transmission of gear third 1322 and gear, and its top is driven respectively
Right clamping limb 1327 and left clamping limb 1328 rotate, realize that right clamping limb 1327 and left clamping limb 1328 are opened or clamped.
As shown in figure 3, the tipping mechanism 2 is by rotating turret 21, sprocket wheel first 22, sprocket wheel second 23, chain first 24, motor first
25, inclined-plane support frame 26 and rotation axis 27 form.The inclined-plane support frame 26 is supported and fixed on chassis 3, and inclined-plane is outwardly；Institute
Rotation axis 27 is stated to be horizontally disposed with and be mounted on 26 top of inclined-plane support frame by bearing；The motor first 25 is horizontally disposed, and leads to
It crosses motor support base to be fixedly mounted on chassis 3, sprocket wheel first 22 and the output shaft of motor first 25 are coaxially connected, sprocket wheel second 23 and rotation
Axis 27 is coaxially connected, and is sequentially connected between sprocket wheel first 22 and sprocket wheel second 23 by chain first 24；The rotating turret 21 is vertically arranged
The inside of support frame 26 on inclined-plane, and be connected in the middle part of the vertical direction of rotating turret 21 with rotation axis 27.In the drive of motor first 25
Under, the chain-drive mechanism operating that sprocket wheel first 22, sprocket wheel second 23 and chain first 24 form, driving rotation axis 27 rotates, and then drives
Rotating turret 21 is overturn along on inclined-plane support frame 26 along front and back, and rotating turret 21, which is turned over, finally falls in inclined-plane support frame 26
On inclined-plane.
As shown in figure 4, the rotating turret 21 is by braced frame 211, pressure pin 212, wheel blocking plate first 213 and wheel blocking plate second 214
Composition.The pressure pin 212 has two, is vertically fixed on 211 bottom crossbearer of braced frame；The wheel blocking plate first 213 and card
Wheel plate second 214 is separately fixed at 211 lower section two sides of braced frame, for the fixed dustbin bottom roller that is loaded.
A kind of course of work of sanitation robot carried and unloaded for dustbin described in the utility model is as follows:
Firstly, load the sanitation robot of empty dustbin 4 according to the movement path to full dustbin 5 of planning at, such as
Shown in Fig. 8 a；Empty dustbin 4 is picked up by rotatable grasping mechanism 1 and rotated by sanitation robot to be put to specified location, such as
Shown in Fig. 8 b；Then, sanitation robot adjusts robot location's posture according to the position of full dustbin 5, passes through rotatable crawl
Full dustbin 5 is picked up and is rotated and is placed on tipping mechanism 2 by mechanism 1, as shown in Figure 8 c；Finally, being fully loaded with the ring of dustbin 5
It defends robot and moves to rubbish according to the path of planning and topple over place, full dustbin 5 has been turned under the drive of tipping mechanism 2
It is unloaded at rubbish, as shown in figure 8d；After the rubbish in full dustbin 5 is toppled over completely, 2 reverse flip of tipping mechanism is simultaneously returned just,
As figure 8 e shows.
Claims (8)
1. a kind of sanitation robot carried and unloaded for dustbin, it is characterised in that:
It is made of rotatable grasping mechanism (1), tipping mechanism (2) and chassis (3) three parts；
The front end that can be rotated grasping mechanism (1) and be mounted on chassis (3), by rotating mechanism (11), elevating mechanism (12) and is grabbed
Mechanism (13) are taken to form；
The rotating mechanism (11) is installed on the bottom of rotatable grasping mechanism (1), and the elevating mechanism (12) is fixed vertically to pacify
Mounted in the top of the turntable (114) of rotating mechanism (11), the grasping mechanism (13) is slidably mounted on liter by sliding block (1210)
The side of descending mechanism (12)；Under the driving of rotating mechanism (11), grasping mechanism (13) realization rotates in the horizontal direction, is rising
Grasping mechanism (13) realizes sliding straightly in the vertical direction under the drive of descending mechanism (12), realize crawl to dustbin and
It is mobile；
The tipping mechanism (2) is by rotating turret (21), rotating turret driving mechanism, inclined-plane support frame (26) and rotation axis (27) group
At；
The inclined-plane support frame (26) is fixed on the rear end of chassis (3), and the rotation axis (27) is rotatably installed in inclined-plane support frame
(26) top, and be coaxially connected with the output end of rotating turret driving mechanism, it is connected in the middle part of rotating turret (21) with rotation axis (27),
Under the driving of rotating turret driving mechanism, rotation axis (27) drives rotating turret (21) to overturn along before and after inclined-plane support frame (26), real
Now dustbin is toppled over.
2. a kind of sanitation robot carried and unloaded for dustbin as described in claim 1, it is characterised in that:
The rotating mechanism (11) is by motor second (111), belt pulley (112), belt (113), turntable (114) and turntable base
(115) it forms, wherein motor second (111) and turntable base (115) are each attached on chassis (3), turntable (114) rotational installation
On turntable base (115), belt pulley (112) and turntable (114) are sequentially connected by belt (113), in motor second (111)
Under driving, belt pulley (112) drives turntable (114) rotation by belt (113).
3. a kind of sanitation robot carried and unloaded for dustbin as described in claim 1, it is characterised in that:
The elevating mechanism (12) is by guide rail (121), motor third (122), gear first (123), gear second (124), sprocket shaft first
(125), sprocket shaft second (126), sprocket wheel third (127), sprocket wheel fourth (128), chain second (129) and sliding block (1210) composition；
Guide rail (121) is fixed on vertically on turntable (114), and motor third (122) is horizontally fixed on turntable (114)；Sprocket shaft first
(125) and sprocket shaft second (126) is rotatably installed in following above and on the inside of guide rail (121), sprocket wheel third (127) and sprocket wheel fourth respectively
(128) it is separately mounted in sprocket shaft first (125) and sprocket shaft second (126), leads between sprocket wheel third (127) and sprocket wheel fourth (128)
Chain second (129) transmission chain connect is crossed, sliding block (1210) is connected on chain second (129)；
Gear first (123) is connected on the output shaft of motor third (122), gear second (124) be mounted on the outside of guide rail (121) and with
Sprocket shaft first (125) is coaxially connected, and the gear first (123) is meshed with gear second (124)；
Under the driving of motor third (122), gear first (123) and gear second (124) engaged transmission, drive chain wheel shaft first (125)
Rotation, the chain-drive mechanism operating with movable sprocket third (127), sprocket wheel fourth (128) and chain second (129) composition, and then drive and slide
Block (1210) moves up and down along guide rail (121).
4. a kind of sanitation robot carried and unloaded for dustbin as described in claim 1, it is characterised in that:
The grasping mechanism (13) is made of longitudinal moving mechanism (131) and rotation clamping device (132)；
Longitudinal moving mechanism (131) is by pedestal (1311), longitudinal movement driving mechanism, longitudinal movement transmission mechanism and mobile branch
Seat (1316) composition；Sliding block (1210) on pedestal (1311) and elevating mechanism (12) is connected, longitudinal movement transmission mechanism installation
On pedestal (1311), input terminal is connected with the output end of longitudinal movement driving mechanism, and mobile support saddle (1316) is connected to vertical
To on movement and transmission mechanism, under the driving of longitudinal movement driving mechanism, longitudinal movement transmission mechanism drives mobile support saddle
(1316) front and back sliding；
Clamping device (132) are rotated by motor penta (1321), gear third (1322), gear fourth (1323), gear shaft (1324), method
Blue Pan Jia (1325), ring flange second (1326), right clamping limb (1327) and left clamping limb (1328) composition；Motor penta (1321) is perpendicular
It is directly fixed on mobile support saddle (1316), gear third (1322) and ring flange first (1325) are sequentially coaxially connected to electricity from top to bottom
On the output shaft of machine penta (1321), right clamping limb (1327) and ring flange first (1325) are connected；The gear shaft (1324) is vertical
It is rotatably mounted on mobile support saddle (1316), gear fourth (1323) and ring flange second (1326) are sequentially coaxially connected to from top to bottom
On gear shaft (1324), gear fourth (1323) is meshed with gear third (1322), left clamping limb (1328) and ring flange second
(1326) it is connected；Under the driving of motor penta (1321), gear third (1322) and gear third (1322) engaged transmission, and band respectively
Move the right clamping limb (1327) and left clamping limb (1328) rotation, right clamping limb (1327) and left clamping limb (1328) above it
Open or clamp the release or clamping realized to dustbin.
5. a kind of sanitation robot carried and unloaded for dustbin as claimed in claim 4, it is characterised in that:
Longitudinal movement driving mechanism is made of motor fourth (1312), bevel gear first (1313) and bevel gear second (1314)；
Motor fourth (1312) is horizontally disposed and is fixed on pedestal (1311), and bevel gear first (1313) is defeated with motor fourth (1312)
Shaft is coaxially connected, and bevel gear second (1314) and longitudinal movement transmission mechanism are coaxially connected, bevel gear first (1313) and bevel gear
Second (1314) is meshed.
6. a kind of sanitation robot carried and unloaded for dustbin as described in claim 4 or 5, it is characterised in that:
The longitudinal movement transmission mechanism uses ball-screw (1315), ball-screw (1315) and the longitudinal movement driving machine
The output end of structure is coaxially connected, and ball-screw (1315) both ends are mounted on pedestal (1311) by bearing support, mobile support saddle
(1316) it is connected with ball-screw (1315) by screw thread pair.
7. a kind of sanitation robot carried and unloaded for dustbin as described in claim 1, it is characterised in that:
The rotating turret driving mechanism sprocket wheel first (22), sprocket wheel second (23), chain first (24) and motor first (25) composition；
Motor first (25) is horizontally fixed on chassis (3), and sprocket wheel first (22) and the output shaft of motor first (25) are coaxially connected, sprocket wheel
Second (23) is coaxial connected with rotation axis (27), is sequentially connected between sprocket wheel first (22) and sprocket wheel second (23) by chain first (24).
8. a kind of sanitation robot carried and unloaded for dustbin as described in claim 1, it is characterised in that:
The rotating turret (21) is made of braced frame (211), pressure pin (212), wheel blocking plate first (213) and wheel blocking plate second (214),
Wherein, pressure pin (212) has two, vertical with braced frame (211) bottom crossbearer along the horizontal plane to fix, for carrying rubbish
Case；The wheel blocking plate first (213) and wheel blocking plate second (214) are separately fixed at two sides below braced frame (211), solid for being loaded
Determine dustbin bottom roller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820577640.2U CN208453935U (en) | 2018-04-20 | 2018-04-20 | A kind of sanitation robot carried and unloaded for dustbin |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820577640.2U CN208453935U (en) | 2018-04-20 | 2018-04-20 | A kind of sanitation robot carried and unloaded for dustbin |
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| CN201820577640.2U Withdrawn - After Issue CN208453935U (en) | 2018-04-20 | 2018-04-20 | A kind of sanitation robot carried and unloaded for dustbin |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341257A (en) * | 2018-04-20 | 2018-07-31 | 吉林大学 | A kind of sanitation robot and its control method carried and unloaded for dustbin |
| CN109877800A (en) * | 2019-04-10 | 2019-06-14 | 合肥工业大学 | A kind of service robot for transport |
| CN111993381A (en) * | 2020-08-28 | 2020-11-27 | 王风营 | Automatic clamping and boxing robot |
| CN112192542A (en) * | 2020-10-15 | 2021-01-08 | 王林林 | Automatic loading robot |
-
2018
- 2018-04-20 CN CN201820577640.2U patent/CN208453935U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341257A (en) * | 2018-04-20 | 2018-07-31 | 吉林大学 | A kind of sanitation robot and its control method carried and unloaded for dustbin |
| CN108341257B (en) * | 2018-04-20 | 2023-09-22 | 吉林大学 | Sanitation robot for carrying and unloading dustbin and control method thereof |
| CN109877800A (en) * | 2019-04-10 | 2019-06-14 | 合肥工业大学 | A kind of service robot for transport |
| CN109877800B (en) * | 2019-04-10 | 2024-02-13 | 合肥工业大学 | Service robot for transportation |
| CN111993381A (en) * | 2020-08-28 | 2020-11-27 | 王风营 | Automatic clamping and boxing robot |
| CN112192542A (en) * | 2020-10-15 | 2021-01-08 | 王林林 | Automatic loading robot |
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