CN210943343U

CN210943343U - Garbage recovery system

Info

Publication number: CN210943343U
Application number: CN201921624621.1U
Authority: CN
Inventors: 莫卓亚; 邓琳奎
Original assignee: Guangdong Gongye Technology Co Ltd
Current assignee: Guangdong Gongye Technology Co Ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-07-07
Anticipated expiration: 2029-09-26

Abstract

The utility model belongs to the technical field of the categorised recovery technique of rubbish and specifically relates to indicate a rubbish recovery system and method, this system includes rubbish recycle bin, rubbish transport vechicle and recovery robot. According to the method, the garbage can is transported to the garbage recycling station through the garbage transport vehicle, then the garbage can in the garbage transport vehicle is picked up by the recycling robot and recognized, and the garbage in the garbage can is dumped to the corresponding throwing opening of the garbage recycling station according to the recognition result, so that the effect of automatically classifying and recycling the garbage is achieved, not only is the adverse effect on the body of a worker avoided, but also the resource recycling rate is improved, and the environment is prevented from being polluted.

Description

Garbage recovery system

Technical Field

The utility model belongs to the technical field of the categorised recovery technique of rubbish and specifically relates to indicate a rubbish recovery system.

Background

Most of the existing garbage systems are characterized in that a large garbage transport vehicle collects garbage in a centralized manner and then transports the collected garbage to a garbage recycling station, and then workers recycle and treat the garbage. The mode not only can lead workers to be in the environment where garbage is spread all over for a long time to cause adverse effects on the bodies of the workers, but also part of garbage recycling stations only carry out landfill or incineration after the garbage is concentrated, thereby causing environmental pollution and resource waste. However, no garbage recycling system capable of automatically classifying and recycling garbage is available in the market so far.

SUMMERY OF THE UTILITY MODEL

The utility model discloses problem to prior art provides a rubbish recovery system, can classify the discernment to rubbish automatically to carry out categorised the recovery to rubbish according to the classification of rubbish.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a pair of rubbish recovery system, include:

the garbage recycling station is provided with a plurality of throwing openings used for throwing different types of garbage respectively;

the garbage transport vehicle is used for loading the garbage can and transferring the garbage can to the garbage recycling station;

the recycling robot is used for picking up the garbage cans loaded by the garbage transport vehicle, identifying the garbage types in the garbage cans and then throwing the garbage into the corresponding throwing openings according to the garbage types;

the recycling robot is provided with a signal transmitter for sending a control signal, and the garbage transport vehicle is provided with a signal receiver for receiving the control signal; the recycling robot guides the garbage transport vehicle to move along with the recycling robot through a signal transmitter.

Furthermore, the garbage recycling station comprises a station body, a plurality of recycling barrels for placing different types of garbage respectively and baffle mechanisms with the same quantity as the recycling barrels, wherein the station body is provided with a central control unit, a plurality of throwing ports are arranged on the station body, a plurality of recycling barrels are arranged in the station body, the quantity of the throwing ports is the same as that of the recycling barrels, the recycling barrels are positioned right below the throwing ports, and the recycling barrels and the baffle mechanisms are arranged in one-to-one correspondence with the throwing ports respectively;

the baffle mechanism comprises a plate body and a baffle driving mechanism, and the baffle driving mechanism drives the plate body to slide so as to open or close the feeding opening.

Furthermore, the both sides of the station body are provided with observation window and business turn over door respectively, business turn over door is including a body, switch, slide rail and push rod mechanism, the slide rail install in the station body, push rod mechanism slide set up in the slide rail, push rod mechanism's output connect in the door body, the switch set up in the station body is used for control push rod mechanism's state switches.

Furthermore, the station body still is provided with the camera that quantity and input mouth quantity are the same, and the camera is located the top of inputting the mouth, and the camera sets up with input mouth one-to-one, the camera all with well accuse unit electricity is connected.

Furthermore, the garbage truck includes the automobile body and install in the moving mechanism of automobile body, moving mechanism is used for the drive the automobile body removes, the automobile body is provided with well accuse device and is used for bearing the appearance groove of garbage bin, the automobile body activity is provided with and is used for hiding hold the mechanism that covers in groove, well accuse device respectively with moving mechanism, cover the mechanism electricity and be connected.

Furthermore, the covering mechanism comprises a covering driving mechanism, a shielding cover and a connecting rod, the covering driving mechanism is arranged on the vehicle body, and the shielding cover is rotatably arranged on the vehicle body;

the covering driving mechanism is in transmission connection with the shielding cover through the connecting rod and is used for controlling the shielding cover to rotate so that the shielding cover covers the accommodating groove.

Further, the recycling robot comprises a base, the base is provided with a moving assembly, a clamping mechanism for clamping the garbage can and an identification mechanism for identifying the garbage in the garbage can, and the moving assembly is used for driving the base to move on the ground;

the clamping mechanism comprises a first mechanical arm, a second mechanical arm, a first clamping piece and a second clamping piece, the first mechanical arm and the second mechanical arm are arranged at the top of the base at intervals, the first clamping piece is arranged at the tail end of the first mechanical arm, the second clamping piece is arranged at the tail end of the second mechanical arm, and the first mechanical arm and the second mechanical arm are matched to clamp the garbage can.

The utility model has the advantages that: the utility model discloses a garbage transport handlebar garbage bin transports to rubbish recycle bin department, then picks up the garbage bin in the garbage transport car and discern the rubbish in the garbage bin by recovery robot, empties the punishment mouth department that corresponds to rubbish recycle bin to rubbish in the garbage bin according to the identification result, thereby realized the effect of automatic classification recovery rubbish, not only avoided the harmful effects that cause the staff health, still promoted the resource recovery utilization ratio and avoided causing the pollution to the environment.

Drawings

FIG. 1 is a schematic view of example 1.

Fig. 2 is a schematic view of the garbage recycling station of the present invention.

Fig. 3 is a schematic view of the baffle mechanism of the present invention.

Fig. 4 is a schematic view of the access door of the present invention.

Fig. 5 is a schematic view of the garbage truck of the present invention.

Fig. 6 is a schematic view of the covering mechanism of the present invention.

Fig. 7 is a schematic view of the recycling robot of the present invention.

FIG. 8 is a flowchart of example 2.

Reference numerals: 1-garbage recycling station, 2-garbage transport vehicle, 3-recycling robot, 4-garbage can, 11-station body, 12-baffle mechanism, 13-observation window, 14-access door, 15-camera, 21-vehicle body, 22-moving mechanism, 23-covering mechanism, 31-base, 32-moving component, 33-clamping mechanism, 34-identification mechanism, 111-input opening, 121-plate body, 122-baffle driving mechanism, 141-door body, 142-switch, 143-slide rail, 144-push rod mechanism, 211-containing groove, 231-covering driving mechanism, 232-shielding cover, 233-connecting rod, 331-first mechanical arm, 332-second mechanical arm, 333-first clamping member, 334-second clamping member, 1221-electric push rod, 1222-guide rail.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention will be described in detail with reference to the accompanying drawings.

Example 1

As shown in fig. 1 to 7, the present embodiment provides a garbage recycling system, including:

the garbage recycling station 1 is provided with a plurality of throwing openings 111 which are used for throwing different types of garbage respectively;

the garbage transport vehicle 2 is used for loading the garbage can 4 and transferring the garbage can 4 to the garbage recycling station 1;

the recycling robot 3 is used for picking up the garbage cans 4 loaded by the garbage transport vehicle 2, identifying the garbage types in the garbage cans 4 and then throwing the garbage to the corresponding throwing-in ports 111 according to the garbage types;

the recycling robot 3 is provided with a signal transmitter (not shown in the figure) for sending a control signal, and the garbage transport vehicle 2 is provided with a signal receiver (not shown in the figure) for receiving the control signal; the recycling robot 3 guides the garbage transport vehicle 2 to follow the recycling robot 3 to move through a signal transmitter, the signal transmitter can be an infrared transmitter or an ultrasonic generator, and the signal receiver can be an infrared receiver or an ultrasonic receiver correspondingly.

In practical use, only one garbage can 4 is loaded in the garbage transport vehicle 2 each time, so that the garbage recycling efficiency is improved, and the garbage cans 4 are classified garbage cans used at present, namely, each garbage can 4 only loads garbage of a certain category; the recycling robot 3 always moves on the ground near the garbage recycling station 1, when the garbage transport vehicle 2 is full of the garbage can 4 and then moves to the position near the garbage recycling station 1 along a set track (the track can be set manually, and belongs to the prior art), the recycling robot 3 sends a control signal through a signal transmitter to guide the garbage transport vehicle 2 to move to the recycling robot 3, and then the garbage transport vehicle 2 can constantly follow the recycling robot 3 before garbage dumping and recycling are completed; the recycling robot 3 takes out the garbage can 4 from the garbage transport vehicle 2, identifies the garbage in the garbage can 4, moves to the corresponding throwing port 111 according to the identification result, and then pours the garbage in the garbage can 4 into the throwing port 111 for throwing; after all the garbage in the garbage transport vehicle 2 is put in, the garbage transport vehicle 2 can leave and put the garbage cans 4 in situ one by one, and loads the other garbage cans 4 to be recycled according to the indication (which can be carried out by a cloud and belongs to the prior art but does not belong to the content required to be protected by the scheme).

In this embodiment, the garbage recycling station 1 includes a station body 11, a plurality of recycling bins (not shown in the figure) for placing different types of garbage respectively, and a number of baffle mechanisms 12 equal to the number of the recycling bins, wherein the station body 11 is provided with a central control unit (not shown in the figure), a plurality of input ports 111 are all arranged in the station body 11, a plurality of recycling bins are all arranged in the station body 11, the number of the input ports 111 is equal to the number of the recycling bins, the recycling bins are located right below the input ports 111, and the recycling bins and the baffle mechanisms 12 are respectively arranged in one-to-one correspondence with the input ports 111; the baffle mechanism 12 comprises a plate body 121 and a baffle driving mechanism 122, wherein the baffle driving mechanism 122 drives the plate body 121 to slide so as to open or close the input port 111; specifically, the driving mechanism comprises an electric push rod 1221 and two guide rails 1222, the two guide rails 1222 are respectively located at two sides below the input port 111, a sliding block of the electric push rod 1221 is connected to the plate body 121, and two sides of the plate body 121 are slidably connected with the two guide rails 1222; the electric push rod 1221 is electrically connected with the central control unit. That is, in a normal state, the baffle mechanism 12 closes the input port 111 to be isolated from the outside, so that the odor of the garbage in the station body 11 is diffused to the outside; and only when the central control unit receives the instruction sent by the recovery robot 3, the corresponding electric push rod 1221 is controlled to act, so that the plate body 121 slides along the guide rail 1222 under the driving of the electric push rod 1221, thereby realizing the effect of opening the input port 111, and after the garbage input of the recovery robot 3 is finished, the electric push rod 1221 drives the plate body 121 to reset and the input port 111 is closed again.

Specifically, both sides of the station body 11 are respectively provided with an observation window 13 and an access door 14, the access door 14 includes a door body 141, a switch 142, a slide rail 143 and a push rod mechanism 144, the slide rail 143 is installed in the station body 11, the push rod mechanism 144 is slidably disposed on the slide rail 143, an output end of the push rod mechanism 144 is connected to the door body 141, and the switch 142 is disposed on the station body 11 and is used for controlling the state switching of the push rod mechanism 144. The observation window 13 is used for allowing a worker to observe the inside of the station body 11 without entering the station body 11, and the entrance/exit door 14 is used for allowing the worker or the recovery robot 3 to enter the station body 11. The access door 14 is controlled to be opened and closed in an electric control mode, so that the recovery robot 3 can enter the inside of the station body 11 on the premise of non-manual operation; specifically, the push rod mechanism 144 is driven by an electric control.

Specifically, the station body 11 is further provided with cameras 15, the number of which is the same as that of the input ports 111, the cameras 15 are located above the input ports 111, the cameras 15 are arranged in one-to-one correspondence with the input ports 111, the cameras 15 are electrically connected with the central control unit, and the cameras 15 are used for taking pictures of the garbage when the recovery robot 3 dumps the garbage, so that whether the garbage can 4 is misclassified or not is observed; when the camera 15 recognizes that the garbage is wrongly classified, the camera sends an instruction to the recycling robot 3 through the central control unit, so that the recycling robot 3 takes out the garbage through the input port 111 or directly takes out the garbage into the station body 11 through the access door 14 to reclassify the garbage, thereby ensuring the accuracy of garbage classification and recycling.

In this embodiment, the garbage truck 2 includes a truck body 21 and a moving mechanism 22 installed on the truck body 21, the moving mechanism 22 is used for driving the truck body 21 to move, the truck body 21 is provided with a central control device (not shown) and a containing groove 211 for carrying the garbage can 4, the truck body 21 is movably provided with a covering mechanism 23 for covering the containing groove 211, and the central control device is electrically connected to the moving mechanism 22 and the covering mechanism 23 respectively. This cover mechanism 23 is used for sealing the containing groove 211 when the garbage truck 2 transports the garbage can 4 to the garbage recycling station 1, thereby avoiding the odor of the garbage in the garbage can 4 from flying to the outside and causing adverse effects to the external environment.

Specifically, the covering mechanism 23 includes a covering driving mechanism 231, a shielding cover 232 and a connecting rod 233, the covering driving mechanism 231 is installed on the vehicle body 21, and the shielding cover 232 is rotatably installed on the vehicle body 21;

the covering driving mechanism 231 is connected to the covering hood 232 through the connecting rod 233 in a transmission manner, and is used for controlling the covering hood 232 to rotate so that the covering hood 232 covers the accommodating groove 211. That is, the utility model discloses a cover mechanism 23 passes through the actuating mechanism action, drives to the shield cover 232 via connecting rod 233 transmission and drives the shield cover 232 and use shield cover 232 and automobile body 21 junction to rotate as the axle to the effect that switching appearance groove 211 has been realized. Specifically, the driving mechanism is a cylinder or an electric cylinder.

In the embodiment, the recycling robot 3 comprises a base 31, the base 31 is provided with a moving assembly 32, a clamping mechanism 33 for clamping the garbage bin 4 and an identifying mechanism 34 for identifying the garbage in the garbage bin 4, and the moving assembly 32 is used for driving the base 31 to move on the ground; specifically, the clamping mechanism 33 includes a first mechanical arm 331, a second mechanical arm 332, a first clamping member 333 and a second clamping member 334, the first mechanical arm 331 and the second mechanical arm 332 are disposed at the top of the base 31 at intervals, the first clamping member 333 is disposed at the end of the first mechanical arm 331, the second clamping member 334 is disposed at the end of the second mechanical arm 332, and the first mechanical arm 331 and the second mechanical arm 332 are matched to clamp the trash can 4. The first mechanical arm 331 and the second mechanical arm 332 are both preferably flexible robots, and the recognition mechanism 34 is preferably an industrial camera, that is, the first mechanical arm 331 and the second mechanical arm 332 cooperate to enable the first clamping member 333 and the second clamping member 334 to be respectively located at two sides of the trash can 4 and move in a direction approaching to each other, so that the effect of clamping the trash can 4 is achieved; after picking up the trash can 4, the clamping mechanism 33 drives the trash can 4 to be transferred to the recognition mechanism 34, the recognition mechanism 34 photographs the inside of the opening of the trash can 4, and the type of the trash inside the trash can 4 is recognized and judged according to the photograph, so that the recycling robot 3 can pour the trash into the corresponding input port 111 according to the judgment result. Specifically, the method for judging garbage classification described in this embodiment is, for prior art in this field, it does not belong to the protection scope of the present invention, and therefore is not described herein again.

Example 2

As shown in fig. 8, the method for recycling garbage according to this embodiment is applied to the garbage recycling system according to embodiment 1, and specifically includes the following steps:

a. the garbage transport vehicle 2 loads the garbage can 4 and transfers the garbage can 4 to the periphery of the garbage recycling station 1;

b. the recycling robot 3 sends a control signal to control the garbage transport vehicle 2 to move towards the recycling robot 3, and the garbage transport vehicle 2 is made to follow the recycling robot 3;

c. the recycling robot 3 picks up the garbage can 4 from the garbage transport vehicle 2 through the clamping mechanism 33 and identifies the garbage in the garbage can 4;

d. the recycling robot 3 moves to the corresponding input port 111, and sends an instruction to the garbage collection station 1 to enable the garbage collection station 1 to open the input port 111;

e. the recycling robot 3 dumps the garbage in the garbage can 4 into the input port 111, and after the dumping is finished, the input port 111 is closed;

f. the recycling robot 3 puts the garbage can 4 back into the garbage transport vehicle 2.

Specifically, because when people put in rubbish, not necessarily strictly put in according to the standard of rubbish classification, consequently this embodiment still is provided with the function of further discerning rubbish, specifically is:

between step e and step f, further comprising: e1. the camera 15 of rubbish collection depot 1 is shot the leading-in rubbish of input port 111 of garbage bin 4 to whether categorised correctly discerning rubbish one by one, if there is categorised incorrect rubbish, then send signal to recovery robot 3 by rubbish collection depot 1, stretch into by recovery robot 3 and throw in again and take out this categorised incorrect rubbish and put in port 111.

Specifically, for convenience, someone likes to concentrate garbage bag to put into after, and in order to guarantee that the classification of garbage in the garbage bag is accurate, in step e1, still include: e2. when the camera 15 recognizes that the garbage bagged by the garbage bag exists, the garbage recycling station 1 controls the recycling robot 3 to cut the garbage bag, and then the first clamping piece 333 or the second clamping piece 334 which is passed by the recycling robot 3 picks up the garbage in the garbage bag one by one and carries out recognition and classification; when the recycling robot 3 recognizes that the incorrectly classified garbage is present in the garbage bag, the recycling robot 3 picks up the garbage and puts the garbage into the corresponding putting-in opening 111.

In steps e1 and e2, the recycling robot 3 picks up the misclassified garbage in the following two ways: firstly, a corresponding input port 111 of the garbage recycling station 1 is opened, a clamping mechanism 33 of the recycling robot 3 directly stretches into the input port 111 from the outside of the station body 11 to take out the garbage, and then the other input port 111 of the garbage recycling station 1 is opened to allow the recycling robot 3 to input the garbage; secondly, the recycling robot 3 enters the station body 11 from the access door 14 and moves to a recycling bin with a wrong input, and then the garbage with the wrong input is directly classified from the inside of the station body 11 without opening the input port 111.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention is disclosed in the preferred embodiment, it is not limited to the above description, and any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, but all the technical solutions of the present invention are within the scope of the present invention.

Claims

1. A garbage recycling system is characterized in that: the method comprises the following steps:

2. The waste recovery system of claim 1, further comprising: the garbage recycling station comprises a station body, a plurality of recycling barrels used for placing different types of garbage respectively and baffle mechanisms with the same quantity as the recycling barrels, wherein the station body is provided with a central control unit, a plurality of throwing ports are arranged on the station body, a plurality of recycling barrels are arranged in the station body, the quantity of the throwing ports is the same as that of the recycling barrels, the recycling barrels are positioned under the throwing ports, and the recycling barrels and the baffle mechanisms are arranged in one-to-one correspondence with the throwing ports respectively;

3. The waste recovery system of claim 2, wherein: the both sides of the station body are provided with observation window and business turn over door respectively, business turn over door is including a body, switch, slide rail and push rod mechanism, the slide rail install in the station body, push rod mechanism slide set up in the slide rail, push rod mechanism's output connect in the door body, the switch set up in the station body is used for control push rod mechanism's state switches.

4. The waste recovery system of claim 2, wherein: the station body still is provided with the camera that quantity and input mouth quantity are the same, and the camera is located the top of inputting the mouth, and the camera sets up with input mouth one-to-one, the camera all with well accuse unit electricity is connected.

5. The waste recovery system of claim 1, further comprising: the garbage transport vehicle comprises a vehicle body and a moving mechanism arranged on the vehicle body, the moving mechanism is used for driving the vehicle body to move, the vehicle body is provided with a central control device and a containing groove used for bearing a garbage can, the vehicle body is movably provided with a covering mechanism used for covering the containing groove, and the central control device is respectively electrically connected with the moving mechanism and the covering mechanism.

6. The waste recovery system of claim 5, wherein: the shielding mechanism comprises a shielding driving mechanism, a shielding cover and a connecting rod, the shielding driving mechanism is arranged on the vehicle body, and the shielding cover is rotatably arranged on the vehicle body;

7. The waste recovery system of claim 1, further comprising: the recycling robot comprises a base, wherein the base is provided with a moving assembly, a clamping mechanism for clamping the garbage can and an identification mechanism for identifying garbage in the garbage can, and the moving assembly is used for driving the base to move on the ground;