CN210507257U - Environment-friendly cleaning device - Google Patents
Environment-friendly cleaning device Download PDFInfo
- Publication number
- CN210507257U CN210507257U CN201920327673.6U CN201920327673U CN210507257U CN 210507257 U CN210507257 U CN 210507257U CN 201920327673 U CN201920327673 U CN 201920327673U CN 210507257 U CN210507257 U CN 210507257U
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- road
- gripper
- garbage
- speed reducer
- cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 60
- 239000002699 waste material Substances 0.000 claims abstract description 53
- 239000000428 dust Substances 0.000 claims abstract description 19
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 37
- 210000003857 wrist joint Anatomy 0.000 claims description 36
- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 238000005507 spraying Methods 0.000 claims description 11
- 210000000707 wrist Anatomy 0.000 claims description 10
- 238000011084 recovery Methods 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 239000007921 spray Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 239000003595 mist Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010893 paper waste Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Abstract
The utility model relates to an environmental protection cleaning device belongs to cleaning equipment technical field. The utility model comprises a waste bottle picking mechanism, a garbage collecting mechanism, a road cleaning and dedusting mechanism and a walking mechanism; the waste bottle picking mechanism is used for grabbing the waste bottles; the garbage collection mechanism is used for storing the waste bottles picked up by the waste bottle picking mechanism and storing the garbage cleaned by the road cleaning and dedusting mechanism; the road cleaning and dust removing mechanism is used for cleaning a road; the walking mechanism is used for walking. The utility model discloses an abandonment bottle picks up the mechanism and snatchs the rubbish bottle, cleans the rubbish that dust removal mechanism cleaned through garbage collection mechanism to abandonment bottle, road and saves, cleans dust removal mechanism through the road and cleans rubbish, simple structure, easily realizes, can clean road dust rubbish high-efficiently and retrieve abandonment bottle fast, can use cleaning of most public place in a flexible way, has reduced the cost of labor.
Description
Technical Field
The utility model relates to an environmental protection cleaning device belongs to cleaning equipment technical field.
Background
Along with the continuous development of society, the rubbish that the city produced is more and more, and the cleanness of road is more and more difficult, and in addition the improvement of people's standard of living, also more and more high to the requirement of environment, current road cleaning cart has usually just cleared up ground rubbish, and has neglected the categorised recovery of rubbish, and the recovery of abandonment bottle is especially important. Therefore, the recovery function of the waste bottles can be added on the basis of the road cleaning robot, so that the time for picking up the bottles from the garbage pile independently is saved, and the working efficiency is improved. Although the application field of the robot is wide at present, the robot needs to be developed in the aspect of environmental protection and cleaning. The machine replaces manual cleaning, which is a necessary trend in the cleaning industry.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: the utility model provides an environmental protection cleaning device picks up the mechanism through abandonment bottle and snatchs the rubbish bottle, cleans the rubbish that dust removal mechanism cleaned through garbage collection mechanism to abandonment bottle, road and saves, cleans dust removal mechanism through the road and cleans rubbish.
The utility model adopts the technical scheme that: an environment-friendly cleaning device comprises a waste bottle picking mechanism, a garbage collecting mechanism, a road sweeping and dedusting mechanism and a travelling mechanism;
the waste bottle picking mechanism is used for grabbing the waste bottles;
the garbage collection mechanism is used for storing the waste bottles picked up by the waste bottle picking mechanism and storing the garbage cleaned by the road cleaning and dedusting mechanism;
the road cleaning and dust removing mechanism is used for cleaning a road;
the walking mechanism is used for walking.
Further, the waste bottle picking mechanism comprises a profiling hand grip 18, a hand grip arm seat 19, a hand grip servo driving speed reducer 20, an upper wrist joint arm 1, a lower wrist joint arm 2, a bottom rotating seat 17 and a wrist arm servo driving speed reducer 21;
the bottom rotating seat 17 is connected with the lower wrist joint arm 2 through a wrist arm servo drive speed reducer 21, the lower wrist joint arm 2 is connected with the upper wrist joint arm 1 through a servo drive speed reducer, the upper wrist joint arm 1 is connected with a hand grip arm seat 19 through a hand grip servo drive speed reducer 20, and the profiling hand grip 18 is arranged on the hand grip arm seat 19;
the bottom rotating seat 17 comprises a servo driving speed reducer to enable the bottom rotating seat to rotate 360 degrees, a wrist arm servo driving speed reducer 21 arranged on the lower wrist joint arm 2 drives the lower wrist joint arm 2 to lift up and put down, the upper wrist joint arm 1 drives the upper wrist joint arm 1 to lift up and put down through the servo driving speed reducer, and the gripper servo driving speed reducer 20 drives the gripper arm seat 19 to lift up and put down, so that the copying gripper 18 is lifted up and put down, and the gripper can grip garbage bottles in all directions.
Further, the garbage collection mechanism comprises a waste bottle recovery box 15 arranged at two sides of the environment-friendly cleaning device shell and a garbage collection box 4 positioned at the tail part; the waste bottle recycling boxes 15 on the two sides are used for storing waste bottles picked up by the waste bottle picking mechanism, and the garbage collecting box 4 at the tail part is used for storing garbage cleaned by the road cleaning and dust removing mechanism.
Further, the road cleaning and dust removing mechanism comprises a rotary brush 8, a mist-shaped water spraying nozzle 7, a water tank 12 and a vacuum pump 16; wherein the water tank 12 is installed on the dolly base 10, the bottom plate 9 is installed below the dolly base 10, the rotating brush 8 and the vaporific water spray nozzle 7 are arranged on the bottom plate 9, the bottom plate 9 is installed below the dolly base 10, and the rotating brush 8 and the vaporific water spray nozzle 7 are installed symmetrically.
Furthermore, the upper part of the vaporific water spraying nozzle 7 is connected with the water tank 12 through a pipeline, the lower part of the vaporific water spraying nozzle is provided with four rows of small holes on the pipeline, the water spraying is saved, a water injection hole is arranged in front of the water tank 12 to facilitate water injection, and the vacuum pump 16 is connected with the suction head on the rotary brush 8 through a pipeline to suck the garbage on the road into the garbage collecting box 4 at the tail part.
Furthermore, the travelling mechanism comprises wheels 6 and a trolley base 10, the wheels 6 are arranged under the trolley base 10, the two wheels 6 are connected through wheel connecting rods 5, the wheel connecting rods 5 are movably connected with the trolley base 10, and the wheel connecting rods 5 are connected with a driving motor.
Further, the device also comprises a visual recognition system and a control system; the vision recognition system comprises a machine vision camera 11 for collecting image information and transmitting the image information to a controller 14;
the control system comprises a control electric cabinet 13, a controller 14 and a storage battery pack 3; the storage battery 3 is installed on a trolley base 10, the control electric cabinet 13 is installed on the water tank 12, the storage battery 3 is used for supplying power, the controller 14 is installed on the control electric cabinet 13, the controller 14 is connected with a driving motor of the traveling mechanism, the environment-friendly cleaning device is controlled by the controller 14 to approach to a waste bottle, then the waste bottle is picked up by the waste bottle picking mechanism, and the bottle is placed in the garbage collecting mechanism.
The utility model has the advantages that:
1. the device is simple in structure and easy to realize, can efficiently clean road dust and garbage and quickly recover the waste bottles, can be flexibly applied to cleaning of most public places, and reduces labor cost.
2. The method comprises the steps of collecting images of various bottles by using a camera, processing the collected images by using an image processing technology, and feeding the processed images back to a controller. The picking mechanism controlled by the controller can be effectively used for clamping various waste bottles, and is different from the traditional road cleaning vehicle with single function.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the mist water spray nozzle of the present invention.
Reference numbers in FIGS. 1-2: 1-upper wrist joint arm, 2-lower wrist joint arm, 3-storage battery pack, 4-garbage collection box, 5-wheel connecting rod, 6-wheel, 7-mist sprinkling nozzle, 8-rotary brush, 9-bottom plate, 10-trolley base, 11-machine vision camera, 12-water tank, 13-control electric cabinet, 14-controller, 15-waste bottle recovery box, 16-vacuum pump, 17-bottom rotary seat, 18-profiling gripper, 19-gripper arm seat, 20-gripper servo drive speed reducer and 21-wrist arm servo drive speed reducer.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1: as shown in fig. 1-2, an environmental protection cleaning device comprises a waste bottle picking mechanism, a garbage collecting mechanism, a road sweeping and dedusting mechanism and a traveling mechanism;
the waste bottle picking mechanism is used for grabbing the waste bottles;
the garbage collection mechanism is used for storing the waste bottles picked up by the waste bottle picking mechanism and storing the garbage cleaned by the road cleaning and dedusting mechanism;
the road cleaning and dust removing mechanism is used for cleaning a road;
the walking mechanism is used for walking.
Further, the waste bottle picking mechanism comprises a profiling hand grip 18, a hand grip arm seat 19, a hand grip servo driving speed reducer 20, an upper wrist joint arm 1, a lower wrist joint arm 2, a bottom rotating seat 17 and a wrist arm servo driving speed reducer 21;
the bottom rotating seat 17 is connected with the lower wrist joint arm 2 through a wrist arm servo drive speed reducer 21, the lower wrist joint arm 2 is connected with the upper wrist joint arm 1 through a servo drive speed reducer, the upper wrist joint arm 1 is connected with a hand grip arm seat 19 through a hand grip servo drive speed reducer 20, and the profiling hand grip 18 is arranged on the hand grip arm seat 19;
the bottom rotating seat 17 comprises a servo driving speed reducer to enable the bottom rotating seat to rotate 360 degrees, a wrist arm servo driving speed reducer 21 arranged on the lower wrist joint arm 2 drives the lower wrist joint arm 2 to lift up and put down, the upper wrist joint arm 1 drives the upper wrist joint arm 1 to lift up and put down through the servo driving speed reducer, and the gripper servo driving speed reducer 20 drives the gripper arm seat 19 to lift up and put down, so that the copying gripper 18 is lifted up and put down, and the gripper can grip garbage bottles in all directions.
Further, the garbage collection mechanism comprises a waste bottle recovery box 15 arranged at two sides of the environment-friendly cleaning device shell and a garbage collection box 4 positioned at the tail part; the waste bottle recycling boxes 15 on the two sides are used for storing waste bottles picked up by the waste bottle picking mechanism, and the garbage collecting box 4 at the tail part is used for storing garbage cleaned by the road cleaning and dust removing mechanism.
Further, the road cleaning and dust removing mechanism comprises a rotary brush 8, a mist-shaped water spraying nozzle 7, a water tank 12 and a vacuum pump 16; wherein the water tank 12 is installed on the dolly base 10, the bottom plate 9 is installed below the dolly base 10, the rotating brush 8 and the vaporific water spray nozzle 7 are arranged on the bottom plate 9, the bottom plate 9 is installed below the dolly base 10, and the rotating brush 8 and the vaporific water spray nozzle 7 are installed symmetrically.
Furthermore, the upper part of the vaporific water spraying nozzle 7 is connected with the water tank 12 through a pipeline, the lower part of the vaporific water spraying nozzle is provided with four rows of small holes on the pipeline, the water spraying is saved, a water injection hole is arranged in front of the water tank 12 to facilitate water injection, and the vacuum pump 16 is connected with the suction head on the rotary brush 8 through a pipeline to suck the garbage on the road into the garbage collecting box 4 at the tail part.
Furthermore, the travelling mechanism comprises wheels 6 and a trolley base 10, the wheels 6 are arranged under the trolley base 10, the two wheels 6 are connected through wheel connecting rods 5, the wheel connecting rods 5 are movably connected with the trolley base 10, and the wheel connecting rods 5 are connected with a driving motor.
Further, the device also comprises a visual recognition system and a control system; the vision recognition system comprises a machine vision camera 11 for collecting image information and transmitting the image information to a controller 14;
the control system comprises a control electric cabinet 13, a controller 14 and a storage battery pack 3; the storage battery 3 is installed on a trolley base 10, the control electric cabinet 13 is installed on the water tank 12, the storage battery 3 is used for supplying power, the controller 14 is installed on the control electric cabinet 13, the controller 14 is connected with a driving motor of the traveling mechanism, the environment-friendly cleaning device is controlled by the controller 14 to approach to a waste bottle, then the waste bottle is picked up by the waste bottle picking mechanism, and the bottle is placed in the garbage collecting mechanism.
The utility model discloses a theory of operation is:
the existing technology is that image information is collected to the surrounding environment through a machine vision camera 11, the collected image information is fed back to a controller 14, target garbage is positioned through the controller 14, and a target is positioned through machine vision identification. The specific working principle can be as follows: the controller 14 screens the target (i.e., the waste bottle) by comparing the collected image information to its database information and locates it by monocular visual ranging, which is implemented in the prior art. After the positioning, the storage battery pack 3 supplies power, the controller 14 directly drives the device to travel by a driving motor of the traveling mechanism to approach the waste bottles, and then the waste bottles are picked up by the waste bottle picking mechanism and placed in a waste bottle recycling box 15 capable of being rapidly assembled and disassembled; the telescopic gripper arm seat can rotate the bottom rotating seat by 360 degrees, so that the gripper can grab the garbage bottle in all directions. When the two rotary brushes 8 at the front end of the device are driven forwards, the rotary brushes 8 are opened, and the brushes can gather rubbish such as sand and soil on the ground together through rotation, so that the rubbish such as small stones, leaves, waste paper and the like on the road surface is sucked into the rubbish collection box 4 at the tail part of the vehicle through a suction head below the rotary brushes 8 by a vacuum pump 16. The mist-shaped sprinkling nozzle 7 has a sprinkling function, and prevents secondary environmental pollution caused by dust in the sweeping process; the waste bottles are recycled while sweeping the floor.
Wherein, the working process that waste bottle picking mechanism picked up waste bottle is: the bottom rotating seat 17 comprises a servo driving speed reducer to enable the bottom rotating seat to rotate 360 degrees, a wrist arm servo driving speed reducer 21 arranged on the lower wrist joint arm 2 drives the lower wrist joint arm 2 to lift up and put down, the upper wrist joint arm 1 drives the upper wrist joint arm 1 to lift up and put down through the servo driving speed reducer, and the gripper servo driving speed reducer 20 drives the gripper arm seat 19 to lift up and put down, so that the copying gripper 18 is lifted up and put down, and the gripper can grip garbage bottles in all directions.
The positioning of objects by machine vision recognition is a technology that is already in existence at present. The specific working principle can also be as follows: first, a video signal is input to the controller 14 using a camera (image pickup device including a lens, etc.) and is rapidly processed by existing software. The process of treatment is as follows: and selecting a local image of the tracked object, wherein the step is equivalent to an off-line learning process, and establishing a coordinate system in the image and training a system to search for the tracked object. After learning is finished, the camera continuously collects images, extracts tracking features, performs data identification and calculation, and finally positions.
When the utility model discloses when not including vision recognition system, control system, also can realize this application through foretell mechanical working principle through manual combination mechanical mechanism and pick up the mechanism and snatch the rubbish bottle, clean the rubbish that dust removal mechanism cleaned through garbage collection mechanism to abandonment bottle, road and save, clean the purpose that dust removal mechanism cleaned rubbish through the road.
While the present invention has been particularly shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. An environmental protection cleaning device which characterized in that: comprises a waste bottle picking mechanism, a garbage collecting mechanism, a road cleaning and dedusting mechanism and a travelling mechanism;
the waste bottle picking mechanism is used for grabbing the waste bottles;
the garbage collection mechanism is used for storing the waste bottles picked up by the waste bottle picking mechanism and storing the garbage cleaned by the road cleaning and dedusting mechanism;
the road cleaning and dust removing mechanism is used for cleaning a road;
the walking mechanism is used for walking.
2. The eco-friendly cleaning apparatus according to claim 1, wherein: the waste bottle picking mechanism comprises a copying gripper (18), a gripper arm seat (19), a gripper servo drive speed reducer (20), an upper wrist joint arm (1), a lower wrist joint arm (2), a bottom rotary seat (17) and a wrist arm servo drive speed reducer (21);
the bottom rotating seat (17) is connected with the lower wrist joint arm (2) through a wrist arm servo drive speed reducer (21), the lower wrist joint arm (2) is connected with the upper wrist joint arm (1) through a servo drive speed reducer, the upper wrist joint arm (1) is connected with a gripper arm seat (19) through a gripper servo drive speed reducer (20), and the profiling gripper (18) is installed on the gripper arm seat (19);
the bottom rotating seat (17) comprises a servo drive speed reducer to enable the bottom rotating seat to rotate 360 degrees, a wrist servo drive speed reducer (21) arranged on the lower wrist joint arm (2) drives the lower wrist joint arm (2) to lift up and put down, the upper wrist joint arm (1) drives the upper wrist joint arm to lift up and put down through the servo drive speed reducer, and the gripper servo drive speed reducer (20) drives the gripper arm seat (19) to lift up and put down, so that the copying gripper (18) is lifted up and put down, and the gripper can grab the garbage bottle in all directions.
3. The eco-friendly cleaning apparatus according to claim 1, wherein: the garbage collection mechanism comprises a waste bottle recovery box (15) arranged at two sides of the environment-friendly cleaning device shell and a garbage collection box (4) positioned at the tail part; the waste bottle recycling boxes (15) on the two sides are used for storing waste bottles picked up by the waste bottle picking mechanism, and the garbage collecting box (4) at the tail part is used for storing garbage cleaned by the road cleaning and dust removing mechanism.
4. The eco-friendly cleaning apparatus according to claim 1, wherein: the road cleaning and dust removing mechanism comprises a rotary brush (8), a mist-shaped water spraying nozzle (7), a water tank (12) and a vacuum pump (16); the water tank (12) is installed on the trolley base (10), the bottom plate (9) is installed below the trolley base (10), the rotary brushes (8) and the mist-shaped water spraying nozzles (7) are arranged on the bottom plate (9), the bottom plate (9) is installed below the trolley base (10), and the rotary brushes (8) and the mist-shaped water spraying nozzles (7) are installed in a bilateral symmetry mode.
5. The eco-friendly cleaning apparatus according to claim 4, wherein: the upper part of the vaporific sprinkling nozzle (7) is connected with the water tank (12) through a pipeline, the lower part of the vaporific sprinkling nozzle is provided with four rows of small holes on the pipeline, the sprinkling is realized, a water injection hole is arranged in front of the water tank (12) to facilitate water injection, a vacuum pump (16) is connected with a suction head on the rotary brush (8) through a pipeline to suck the garbage on the road into the garbage collection box (4) at the tail part.
6. The eco-friendly cleaning apparatus according to claim 1, wherein: the walking mechanism comprises wheels (6) and a trolley base (10), the wheels (6) are installed below the trolley base (10), the two wheels (6) are connected through wheel connecting rods (5), the wheel connecting rods (5) are movably connected with the trolley base (10), and the wheel connecting rods (5) are connected with a driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920327673.6U CN210507257U (en) | 2019-03-15 | 2019-03-15 | Environment-friendly cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920327673.6U CN210507257U (en) | 2019-03-15 | 2019-03-15 | Environment-friendly cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210507257U true CN210507257U (en) | 2020-05-12 |
Family
ID=70543257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920327673.6U Expired - Fee Related CN210507257U (en) | 2019-03-15 | 2019-03-15 | Environment-friendly cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210507257U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111827196A (en) * | 2020-07-29 | 2020-10-27 | 无锡职业技术学院 | FOD intelligent patrol vehicle for airport runway |
| CN112359761A (en) * | 2020-11-04 | 2021-02-12 | 温州忆初科技有限公司 | Intelligent sanitation garbage collection robot |
| CN112589766A (en) * | 2020-12-02 | 2021-04-02 | 浙江博城机器人科技有限公司 | Automatic patrol garbage recognition and sorting robot for roads |
| CN114575321A (en) * | 2022-04-13 | 2022-06-03 | 西安外事学院 | Water surface garbage cleaning robot |
-
2019
- 2019-03-15 CN CN201920327673.6U patent/CN210507257U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111827196A (en) * | 2020-07-29 | 2020-10-27 | 无锡职业技术学院 | FOD intelligent patrol vehicle for airport runway |
| CN112359761A (en) * | 2020-11-04 | 2021-02-12 | 温州忆初科技有限公司 | Intelligent sanitation garbage collection robot |
| CN112589766A (en) * | 2020-12-02 | 2021-04-02 | 浙江博城机器人科技有限公司 | Automatic patrol garbage recognition and sorting robot for roads |
| CN114575321A (en) * | 2022-04-13 | 2022-06-03 | 西安外事学院 | Water surface garbage cleaning robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200512 Termination date: 20210315 |
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| CF01 | Termination of patent right due to non-payment of annual fee |