CN210335932U - Intelligent garbage service robot - Google Patents
Intelligent garbage service robot Download PDFInfo
- Publication number
- CN210335932U CN210335932U CN201921182281.1U CN201921182281U CN210335932U CN 210335932 U CN210335932 U CN 210335932U CN 201921182281 U CN201921182281 U CN 201921182281U CN 210335932 U CN210335932 U CN 210335932U
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Abstract
The utility model discloses an intelligent garbage service robot, which comprises a mobile trolley, a control module and a communication module; the control module is electrically connected with the power supply module and the communication module respectively; the mobile trolley comprises a platform, wheels arranged at the bottom, a motor connected with the wheels, a motor driving module electrically connected with the motor, a mechanical arm, a mechanical clamp, a garbage collection box, a side-walking traveling module, an obstacle avoidance module and an RFID identification module, wherein the motor driving module is electrically connected with the control module; the mechanical arm is arranged on the platform, the mechanical clamp is connected with the mechanical arm, and the garbage collection box is arranged on the platform and is positioned at the rear side of the mechanical arm; the obstacle avoidance module is arranged on the front side of the movable trolley; the edge-walking traveling module is arranged on the right side of the movable trolley. The utility model discloses can collect the garbage bin and pour rubbish into garbage truck.
Description
Technical Field
The utility model belongs to the technical field of intelligent robot, concretely relates to intelligence rubbish service robot.
Background
Most of the existing garbage trucks need to manually collect garbage cans and dump garbage into the garbage trucks, and the working mode can cause cleaning workers to be in a severe working environment and threaten the health of the cleaning workers.
Therefore, there is a need to develop an intelligent garbage service robot.
Disclosure of Invention
The utility model aims at providing an intelligence rubbish service robot can collect the garbage bin and pour rubbish into the garbage truck.
The utility model discloses an intelligent garbage service robot, which comprises a mobile trolley, a communication module and a power supply module; the control module is respectively and electrically connected with the communication module and the power supply module; the mobile trolley comprises a platform, wheels arranged at the bottom, a motor connected with the wheels, a motor driving module electrically connected with the motor, a mechanical arm, a mechanical clamp, a garbage collection box, a side-walking traveling module, an obstacle avoidance module and an RFID identification module, wherein the motor driving module is electrically connected with the control module;
the mechanical arm is arranged on the platform and comprises a base, a first joint, a connecting rod assembly, a second joint, a first connecting arm and a third joint which are sequentially connected from bottom to top;
the base comprises a base body and a first steering engine arranged in the base body, and the axis of an output shaft of the first steering engine is arranged along the vertical direction;
the first joint comprises a first joint seat, and a second steering engine and a third steering engine which are arranged on the first joint seat, the axes of output shafts of the second steering engine and the third steering engine are both vertical to the axis of the output shaft of the first steering engine, the first joint seat is hinged on the base body, and the bottom end of the first joint seat is connected with the output shaft of the first steering engine;
the connecting rod assembly comprises a first connecting rod, a second connecting rod and a second connecting arm, the lower end of the second connecting arm is hinged with the first joint seat, the lower end of the second connecting arm is also connected with an output shaft of the second steering engine, the lower end of the first connecting rod is hinged with the first joint seat, the lower end of the first connecting rod is also connected with an output shaft of the third steering engine, and the upper end of the first connecting rod is hinged with the lower end of the second connecting rod;
the second joint comprises a second joint seat and a fourth steering engine arranged on the second joint seat, the tail of the second joint seat is hinged with the upper end of the second connecting rod, and the middle of the second joint seat is hinged with the upper end of the second connecting arm;
the lower end of the first connecting arm is connected with an output shaft of a fourth steering engine, and the fourth steering engine drives the first connecting arm to rotate around the axis of the first connecting arm;
the third joint comprises a third joint seat and a fifth steering engine arranged on the third joint seat, and the third joint seat is connected with the upper end of the first connecting arm;
the mechanical clamp comprises a mechanical clamp body and a sixth steering engine for driving the mechanical clamp body to open and grab, the root of the mechanical clamp body is hinged with the third joint seat, and the root of the mechanical clamp body is also connected with the fifth steering engine;
the first steering engine, the second steering engine, the third steering engine, the fourth steering engine, the fifth steering engine and the sixth steering engine are respectively and electrically connected with the steering engine driving module;
the edge-walking driving module, the obstacle avoidance module and the RFID identification module are respectively electrically connected with the control module;
the garbage collection box is arranged on the platform and is positioned at the rear side of the mechanical arm;
the obstacle avoidance module is arranged on the front side of the movable trolley;
the edge-walking traveling module is arranged on the right side of the movable trolley.
Further, the obstacle avoidance module comprises two infrared sensors.
Further, the edge patrol driving module comprises two infrared sensors.
Further, still include the voice broadcast module, this voice broadcast module is connected with the control module electricity.
Further, the communication module is a bluetooth module.
Further, the front wheels and the rear wheels which are positioned on the same side are connected through the crawler belt.
The utility model has the advantages that: it can be automatic along the road edge traveles to carry out automatic identification, snatch, empty to the garbage bin of road side, carry out garbage collection at last and handle.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic block diagram of the present invention;
fig. 3 is an APP interface diagram of the mobile phone of the present invention.
In the figure, the robot comprises a track 1, a crawler belt 2, a platform 3, a first steering engine 4, a base body 5, a first joint seat 6, a first connecting rod 7, a second connecting rod 8, a garbage collection box 9, a second steering engine 10, a second connecting arm 11, a fourth steering engine 12, a second joint seat 13, a first connecting arm 14, a third joint seat 15, a fifth steering engine 16, a sixth steering engine 17, a mechanical clamp body 18, a gear 19, a garbage can 20, a motor 21, a motor driving module 22, a power supply module 23, an obstacle avoidance module 24, a control module 25, a steering engine driving module 26, an RFID identification module 27, a side-tracking driving module 28, a communication module 29 and a voice broadcasting module.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
The intelligent garbage service robot shown in fig. 1 and 2 comprises a moving trolley, a communication module 28, a power supply module 22, a mechanical arm, a mechanical clamp, a garbage collection box 8, a side-walking traveling module 27, an obstacle avoidance module 23, a voice broadcast module 29 and an RFID identification module 26.
As shown in fig. 1 and 2, the mobile cart includes a platform 2, wheels mounted at the bottom, a motor 20 connected to the wheels, and a motor driving module 21 electrically connected to the motor 20, wherein the motor driving module 21 is electrically connected to a control module 24.
As shown in fig. 1, the mechanical arm is disposed on the platform 2, and the mechanical arm includes a base, a first joint, a link assembly, a second joint, a first link arm 13, and a third joint, which are sequentially connected from bottom to top. The base comprises a base body 4 and a first steering engine 3 arranged in the base body 4, and the axis of an output shaft of the first steering engine 3 is arranged along the vertical direction. The first joint comprises a first joint seat 5, a second steering engine 9 and a third steering engine (not shown in the figure) which are arranged on the first joint seat 5, the axes of output shafts of the second steering engine 9 and the third steering engine are perpendicular to the axis of the output shaft of the first steering engine 3, the first joint seat 5 is hinged to the base body 4, and the bottom end of the first joint seat 5 is connected with the output shaft of the first steering engine 3. The connecting rod assembly comprises a first connecting rod 6, a second connecting rod 7 and a second connecting arm 10, the lower end of the second connecting arm 10 is hinged to a first joint seat 5, the lower end of the second connecting arm 10 is connected with an output shaft of a second steering engine 9, the lower end of the first connecting rod 6 is hinged to the first joint seat 5, the lower end of the first connecting rod 6 is connected with an output shaft of a third steering engine, and the upper end of the first connecting rod 6 is hinged to the lower end of the second connecting rod 7. The second joint comprises a second joint seat 12 and a fourth steering engine 11 arranged on the second joint seat 12, the tail of the second joint seat 12 is hinged to the upper end of the second connecting rod 7, and the middle of the second joint seat 12 is hinged to the upper end of the second connecting arm 10. The lower end of the first connecting arm 13 is connected with an output shaft of a fourth steering engine 11, and the fourth steering engine 11 drives the first connecting arm 13 to rotate around the axis of the first connecting arm 13. The third joint includes third joint seat 14 and sets up fifth steering wheel 15 on third joint seat 14, third joint seat 14 is connected with the upper end of first link arm 13.
As shown in fig. 1, the root of the mechanical clamp body 17 is hinged to the third joint seat 14, the root of the mechanical clamp body 17 is further connected to an output shaft of the fifth steering engine 15, and the control module 24 changes an included angle between the mechanical clamp and the mechanical arm by controlling the rotation of the fifth steering engine 15.
As shown in fig. 1, the mechanical clamp includes a mechanical clamp body 17 and a sixth steering engine 16 for driving the mechanical clamp body 17 to open and grab, the mechanical clamp body 17 includes two clamps, each clamp is connected with a gear 18, and the two gears 18 are engaged with each other to connect one gear 18 with an output shaft of the sixth steering engine 16. When two clamps of the mechanical clamp body 17 are required to be opened, the control module 24 controls the sixth steering engine 16 to rotate, and the two clamps are driven to be opened through the rotation of the two gears 18. When the garbage can 19 needs to be grabbed, the control module 24 controls the sixth steering engine 16 to rotate, and the two clamps are driven to be closed through the rotation of the two gears 18, so that the garbage can 19 is grabbed.
As shown in fig. 2, the first steering engine 3, the second steering engine 9, the third steering engine, the fourth steering engine 11, the fifth steering engine 15 and the sixth steering engine 16 are respectively connected with a steering engine driving module 25. The steering engine driving module 25, the edge-walking driving module 27, the voice broadcasting module 29, the obstacle avoidance module 23, the RFID identification module 26, the communication module 28 and the power supply module 22 are electrically connected with the control module 24 respectively.
As shown in fig. 1, the garbage collection box 8 is provided on the platform 2 at the rear side of the robot arm. The obstacle avoidance module 23 is arranged on the front side of the mobile trolley. The edge patrol driving module 27 is arranged on the right side of the movable trolley. When the intelligent garbage service robot is in an automatic mode, the edge of the road is detected in real time through the edge-patrolling running module 27, so that the intelligent garbage service robot always runs along the edge of the road for a certain distance; meanwhile, the obstacle avoidance module 23 is used for detecting the front obstacle in real time, when the front obstacle exists, the intelligent garbage service robot can automatically stop, and voice is played to remind pedestrians to let the pedestrians go.
In this embodiment, the working principle of the intelligent garbage service robot is as follows:
the intelligent garbage service robot automatically drives along the road edge through the edge-patrol driving module 27, and automatically detects the garbage cans 19 on the two sides of the road (the garbage cans 19 need to be provided with radio frequency tags, and the RFID identification module 26 identifies whether the garbage cans 19 are on the road side or not through the radio frequency tags) through the RFID identification module 26. When the RFID identification module 26 identifies the garbage can 19, the control module 24 sends an instruction to the steering engine driving module 25, and the steering engine driving module 25 controls the sixth steering engine 16 to rotate so as to open the mechanical clamp; then, a second steering engine 9 and a third steering engine are controlled to rotate to drive a connecting rod assembly to enable the mechanical arm to descend; in the descending process of the mechanical arm, the fourth steering engine 11 is controlled to rotate, so that the mechanical clamp is always right above the garbage can 19; when the garbage can 19 is positioned in the middle of the mechanical clamp, the sixth steering engine 16 is controlled to rotate so that the mechanical clamp clamps the garbage can 19; then the second steering engine 9, the third steering engine and the fourth steering engine 11 are controlled to rotate, so that the mechanical arm is lifted, and meanwhile, the garbage can 19 is always parallel to the ground; when the mechanical arm rises to the highest point, the first steering engine 3 is controlled to rotate, and the garbage can 19 is rotated to be right above the garbage collection box 8; and then the fourth steering engine 11 is controlled to rotate to enable the garbage can 19 to rotate for a certain angle to pour the garbage into the garbage collection box 8. After dumping the garbage, the first steering engine 3 to the fifth steering engine 15 are controlled again to send the garbage can 19 back to the original position, and then the sixth steering engine 16 is controlled to open the mechanical clamp. And finally, controlling the first steering engine 3 to the sixth steering engine 16 to work, enabling the mechanical clamp and the mechanical arm to return to the initial position and keep the initial position, and enabling the intelligent garbage service robot to continue to move forward to search for a new garbage can 19.
In this embodiment, the control module 24 is composed of an Arduino UNO development board and a sensor expansion board. The obstacle avoidance module 23 includes two infrared sensors. The cruise control module 27 includes two infrared sensors. The voice broadcast module 29 is a speaker. The communication module 28 is a bluetooth module.
In this embodiment, the number of the wheels is four, two wheels are arranged in front of the mobile trolley, two wheels are arranged behind the mobile trolley, the front wheels and the rear wheels which are positioned on the same side are connected through the crawler 1, and the two front wheels are respectively driven by one motor 20.
As shown in fig. 3, in this embodiment, the intelligent garbage service robot may also operate and control the robot action through the mobile phone APP, and the buttons included on the operation interface of the mobile phone APP include: please select bluetooth device, manual mode, forward, pause, left turn, right turn, forward, back and automatic mode. When the manual mode is selected, the intelligent garbage service robot can be controlled to act through forward movement, pause, left turning, right turning, forward movement and backward movement. The cleaner monitors and controls the intelligent garbage service robot at any time through the mobile phone APP. When selecting automatic mode, intelligent rubbish service robot can send the serial number of the garbage bin of having accomplished the clearance for cell-phone APP.
Claims (6)
1. An intelligent garbage service robot comprises a mobile trolley, a control module (24), a communication module (28) and a power supply module (22); the control module (24) is electrically connected with the communication module (28) and the power supply module (22) respectively; the travelling car includes platform (2), installs the wheel in the bottom, motor (20) be connected with the wheel to and motor drive module (21) be connected with motor (20) electricity, this motor drive module (21) are connected with control module (24) electricity, its characterized in that: the system also comprises a mechanical arm, a mechanical clamp, a garbage collection box (8), a side-walking traveling module (27), an obstacle avoidance module (23) and an RFID identification module (26);
the mechanical arm is arranged on the platform (2) and comprises a base, a first joint, a connecting rod assembly, a second joint, a first connecting arm (13) and a third joint which are sequentially connected from bottom to top;
the base comprises a base body (4) and a first steering engine (3) arranged in the base body (4), and the axis of an output shaft of the first steering engine (3) is arranged along the vertical direction;
the first joint comprises a first joint seat (5), and a second steering engine (9) and a third steering engine which are arranged on the first joint seat (5), the axes of output shafts of the second steering engine (9) and the third steering engine are perpendicular to the axis of the output shaft of the first steering engine (3), the first joint seat (5) is hinged on the base body (4), and the bottom end of the first joint seat (5) is connected with the output shaft of the first steering engine (3);
the connecting rod assembly comprises a first connecting rod (6), a second connecting rod (7) and a second connecting arm (10), the lower end of the second connecting arm (10) is hinged to the first joint seat (5), the lower end of the second connecting arm (10) is further connected with an output shaft of a second steering engine (9), the lower end of the first connecting rod (6) is hinged to the first joint seat (5), the lower end of the first connecting rod (6) is further connected with an output shaft of a third steering engine, and the upper end of the first connecting rod (6) is hinged to the lower end of the second connecting rod (7);
the second joint comprises a second joint seat (12) and a fourth steering engine (11) arranged on the second joint seat (12), the tail part of the second joint seat (12) is hinged with the upper end of the second connecting rod (7), and the middle part of the second joint seat (12) is hinged with the upper end of the second connecting arm (10);
the lower end of the first connecting arm (13) is connected with an output shaft of a fourth steering engine (11), and the fourth steering engine (11) drives the first connecting arm (13) to rotate around the axis of the first connecting arm (13);
the third joint comprises a third joint seat (14) and a fifth steering engine (15) arranged on the third joint seat (14), and the third joint seat (14) is connected with the upper end of the first connecting arm (13);
the mechanical clamp comprises a mechanical clamp body (17) and a sixth steering engine (16) for driving the mechanical clamp body (17) to open and grab, the root of the mechanical clamp body (17) is hinged to a third joint seat (14), and the root of the mechanical clamp body (17) is further connected with a fifth steering engine (15);
the first steering engine (3), the second steering engine (9), the third steering engine, the fourth steering engine (11), the fifth steering engine (15) and the sixth steering engine (16) are respectively and electrically connected with a steering engine driving module (25);
the side-walking driving module (27), the obstacle avoidance module (23) and the RFID identification module (26) are respectively electrically connected with the control module (24);
the garbage collection box (8) is arranged on the platform (2) and is positioned at the rear side of the mechanical arm;
the obstacle avoidance module (23) is arranged on the front side of the movable trolley;
the edge patrol driving module (27) is arranged on the right side of the movable trolley.
2. The intelligent garbage service robot of claim 1, wherein: the obstacle avoidance module (23) comprises two infrared sensors.
3. The intelligent garbage service robot of claim 1 or 2, wherein: the cruising module (27) comprises two infrared sensors.
4. The intelligent garbage service robot of claim 3, wherein: still include voice broadcast module (29), this voice broadcast module (29) is connected with control module (24) electricity.
5. The intelligent garbage service robot of claim 1, 2 or 4, wherein: the communication module (28) is a Bluetooth module.
6. The intelligent garbage service robot of claim 5, wherein: the front wheel and the rear wheel which are positioned on the same side are connected through the crawler belt (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921182281.1U CN210335932U (en) | 2019-07-25 | 2019-07-25 | Intelligent garbage service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921182281.1U CN210335932U (en) | 2019-07-25 | 2019-07-25 | Intelligent garbage service robot |
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| Publication Number | Publication Date |
|---|---|
| CN210335932U true CN210335932U (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921182281.1U Expired - Fee Related CN210335932U (en) | 2019-07-25 | 2019-07-25 | Intelligent garbage service robot |
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| Country | Link |
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| CN (1) | CN210335932U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112079018A (en) * | 2020-08-29 | 2020-12-15 | 嘉兴辉煌自动化工程有限公司 | Mobile kitchen waste intelligent collection and storage vehicle and control system thereof |
-
2019
- 2019-07-25 CN CN201921182281.1U patent/CN210335932U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112079018A (en) * | 2020-08-29 | 2020-12-15 | 嘉兴辉煌自动化工程有限公司 | Mobile kitchen waste intelligent collection and storage vehicle and control system thereof |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200417 Termination date: 20210725 |