CN211247389U - Full-automatic garbage sorting device - Google Patents
Full-automatic garbage sorting device Download PDFInfo
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- CN211247389U CN211247389U CN201921963744.8U CN201921963744U CN211247389U CN 211247389 U CN211247389 U CN 211247389U CN 201921963744 U CN201921963744 U CN 201921963744U CN 211247389 U CN211247389 U CN 211247389U
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Abstract
The utility model discloses a full-automatic garbage sorting device, which comprises a controller and a conveying device, and further comprises a crushing device for disassembling garbage bags, wherein a discharge port is arranged on the crushing device, a vibration device for uniformly dispersing garbage is arranged below the discharge port, one end of the vibration device, which is deviated from the crushing device, is connected with one end of the conveying device, one side of the conveying device is provided with a plurality of collecting boxes along the conveying direction, a plurality of three-axis manipulators are sequentially arranged along the conveying direction of the conveying device, and the three-axis manipulators are erected above the conveying device through a support frame; the three-axis manipulator is provided with an image acquisition device for acquiring garbage image information; the controller is electrically connected with the image acquisition device, the three-axis manipulator, the crushing device, the vibrating device and the conveying device respectively. The device pre-treats the garbage before sorting, ensures the accurate and efficient automatic sorting of the garbage, and can be used in large scale.
Description
Technical Field
The utility model relates to a refuse treatment technical field, in particular to full-automatic rubbish sorting device.
Background
The domestic garbage classification system is researched in a large quantity, the domestic garbage classification system classifies the garbage according to the material characteristics of the garbage, and the domestic full-automatic garbage classification equipment is mainly suitable for sorting urban and rural domestic garbage, industrial garbage, building garbage and the like by organically combining bounce sorting, gravity sorting and winnowing, has the characteristics of low power, low noise, large treatment capacity, high automation degree and the like, can be widely used for large-scale, medium-scale and small garbage treatment factories for large-scale, medium-scale and small garbage treatment, but is undefined in classification and cannot perform high-speed, effective and accurate classification according to artificial needs.
Max-AI is an artificial intelligent classification robot developed by national Recycling Technologies of American optical classification equipment manufacturers, any article can not escape from the 'fiery eyes' of the national Recycling Technologies abroad, and by the deep learning technology, the Max-AI can simultaneously use a multilayer neural network and a visual system to identify the article, the identification accuracy can be comparable to that of artificial classification, but the Max-AI is expensive in manufacturing cost, not suitable for large-scale mass production and cannot be used in a large range.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a full-automatic rubbish sorting device lies in solving the problem of waste classification's accuracy nature and extensive use.
The technical scheme of the utility model is that: the garbage bag dismantling device is characterized by further comprising a crushing device for dismantling garbage bags, a discharge port is formed in the crushing device, a vibration device for enabling garbage to be uniformly dispersed is arranged below the discharge port, one end, away from the crushing device, of the vibration device is connected with one end of the conveying device, one side of the conveying device is provided with a plurality of collecting boxes along the conveying direction, a plurality of three-axis manipulators are sequentially arranged along the conveying direction of the conveying device, and the three-axis manipulators are erected above the conveying device through a supporting frame; the three-axis manipulator is provided with an image acquisition device for acquiring garbage image information;
the controller is electrically connected with the image acquisition device, the three-axis manipulator, the crushing device, the vibrating device and the conveying device respectively.
Preferably, the three-axis manipulator comprises a Corexy structure, one surface, close to the conveying device, of a central fishing platform of the Corexy structure is provided with a vertically arranged electric telescopic device, the fixed end of the electric telescopic device is fixed with the central fishing platform, and the tail end of the telescopic end of the electric telescopic device is connected with a clamping structure; the image acquisition device is fixed on one side of the central fishing platform.
Preferably, the clamping structure comprises a supporting body, the top of the supporting body is fixed with the electric telescopic device, a direct current motor is fixed on one side of the supporting body and electrically connected with the controller, an output shaft of the direct current motor vertically penetrates through the supporting body and then is sleeved and fixed with a gear, the gear is meshed with a rack I arranged on the transmission member, and the transmission member is slidably arranged on one side away from the direct current motor; two clamping parts are symmetrically arranged at the lower end of the supporting body, the upper ends of the clamping parts are hinged to the supporting body, tooth arcs are fixed on the adjacent surfaces of the two clamping parts, the lower end of the transmission body is located between the two tooth arcs, and racks II meshed with the tooth arcs are arranged on the surfaces, close to the tooth arcs, of the transmission body.
Preferably, breaker is fixed with motor II including the broken bucket that the slope set up, one side of broken bucket, and motor II and controller electricity are connected, and motor II's output shaft is connected with the pivot through transmission structure, and the pivot is erect inside broken bucket, and the circumference of pivot is provided with a plurality of blades that are used for broken disposal bag, and broken bucket is provided with feed inlet and discharge gate.
Preferably, vibrator is including the stock guide that the slope set up, the upper end of stock guide slope end is close to the discharge gate of broken bucket, the both sides that the stock guide corresponds all are provided with the baffle, the below of stock guide is provided with backup pad I, backup pad I's below is provided with backup pad II, backup pad II and backup pad I set gradually at the middle part and the top of supporting leg, be provided with motor I on the backup pad II, motor I and controller electricity are connected, be connected with the slider-crank structure behind motor I's the output shaft passed backup pad I, the output and the stock guide bottom of slider-crank structure are fixed, motor I drives the slider-crank structure and enables the stock guide and slide along the fore-and-aft direction, the stock guide is located the.
Preferably, the slider-crank structure includes that the suit fixes the crank on motor I output shaft, and the one end that the crank deviates from motor I output shaft articulates there is the connecting rod, and the one end that the connecting rod deviates from the crank articulates there is slider I, and slider I and stock guide bottom are fixed, and the stock guide bottom is fixed with slider II, has seted up on the backup pad I with stock guide direction vertically guide way, and slider II can slide in the guide way.
Preferably, the lower extreme of the tip of stock guide is provided with intermittent type material structure, and intermittent type material structure includes the stock guide, and the stock guide erects between two baffles through the articulated shaft, and the one end of articulated shaft is worn out and is connected through the output shaft of shaft coupling and steering wheel behind the baffle, and the steering wheel is fixed on the baffle, and steering wheel and controller electricity are connected.
The utility model has the advantages that:
1. the utility model provides a pair of full-automatic rubbish sorting device can use on a large scale.
2. The utility model provides a pair of full-automatic rubbish sorting device carries out the preliminary treatment through breaker and vibrations dispersion devices rubbish before to the letter sorting, makes subsequent refuse treatment more high-efficient.
3. The utility model provides a pair of full-automatic rubbish sorting device shoots rubbish through the camera to upload to high in the clouds database, the high in the clouds database is analyzed rubbish image information, acquires rubbish kind information data, then transmits and handles for the controller, and the controller is according to rubbish kind information data control triaxial machinery manual to press from both sides rubbish and get the classification, thereby has guaranteed the accurate efficient automatic sorting of rubbish.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a top view of the overall structure of the present invention;
fig. 3 is a perspective view 1 of the vibration device of the present invention;
fig. 4 is a perspective view 2 of the vibration device of the present invention;
fig. 5 is a schematic structural view of a three-axis manipulator of the present invention;
fig. 6 is a schematic diagram of a Corexy structure of the present invention;
fig. 7 is a schematic view of the clamping structure of the present invention;
fig. 8 is a block diagram of the overall structure of the control system of the present invention;
fig. 9 is a system control block diagram of the present invention.
Detailed Description
An embodiment of the present invention will be described in detail with reference to fig. 1 to 9, but it should be understood that the scope of the present invention is not limited by the embodiment.
As shown in fig. 1 and 3, the embodiment of the present invention provides a full automatic garbage sorting device, which comprises a controller and a conveying device 5, wherein the conveying device 5 comprises a conveyor belt driven by a motor III, the model of the controller is STM32F103C8T6, it is characterized by also comprising a crushing device 1 for disassembling the garbage bag, a discharge port is arranged on the crushing device 1, a vibrating device 2 for uniformly dispersing the garbage is arranged below the discharge port, one end of the vibration device 2, which is far away from the crushing device 1, is connected with one end of the conveying device 5, the crushing device 1 and the vibration device 2 are used for processing garbage before sorting, one side of the conveying device 5 is provided with a plurality of collecting boxes 3 along the conveying direction, a plurality of three-axis manipulators 4 are sequentially arranged along the conveying direction of the conveying device 5, and the three-axis manipulators 4 are erected above the conveying device 5 through a supporting frame 406; an image acquisition device for acquiring garbage image information is arranged on the three-axis manipulator 4 and comprises a camera 411 and an RPI microcomputer, and the RPI microcomputer is matched with the camera 411 to acquire the garbage image information; the controller is respectively electrically connected with the camera 411, the three-axis manipulator 4, the crushing device 1, the vibrating device 2 and the conveying device 5.
Preferably, the three-axis manipulator 4 comprises a Corexy structure, as shown in fig. 5 and 6, the Corexy structure comprises two stepping motors 405 fixed with a support frame 406, a belt pulley is fixedly sleeved on the stepping motors 405, a belt 414 is threaded on the belt pulley, two sliding rails I402 arranged in parallel between the tops of the support frame 406 and sliding rails II 403 arranged on the two sliding rails I402 in a sliding manner, the sliding rails II 403 are perpendicular to the sliding rails I402, a central fishing platform 401 is arranged on the sliding rails II 403 in a sliding manner, both ends of the belt 414 penetrate through the pulleys and are connected with one side of the central fishing platform 401, one side of the central fishing platform 401 close to the conveying device 5 is provided with a vertically arranged electric telescopic device 413, the electric telescopic device 413 is selected from an electric push rod, the electric telescopic device 413 is electrically connected with a controller, the fixed end of the electric telescopic device 413 is fixed with the central fishing platform 401, the end of the telescopic end of, the camera 411 is fixed to one side of the center fishing platform 401 with the lens facing downward.
Preferably, the clamping structure includes a supporting body 410, the top of the supporting body 410 is fixed to an electric telescopic device 413, a dc motor is fixed to one side of the supporting body 410, the dc motor is electrically connected to the controller, a gear 409 is fixedly sleeved on an output shaft of the dc motor after vertically passing through the supporting body 410, the gear 409 is engaged with a rack I arranged on the transmission member 412, the transmission member 412 is slidably arranged on a side away from the dc motor, and a limiting block for preventing the transmission member 412 from falling is further arranged at the lower part of the supporting body 410; the lower end of the supporting body 410 is symmetrically provided with two clamping parts 407, the upper ends of the clamping parts 407 are hinged with the supporting body 410, the adjacent surfaces of the two clamping parts are fixed with tooth arcs 408, the lower end of the transmission body is positioned between the two tooth arcs 408, and the surfaces of the transmission body close to the tooth arcs 408 are provided with racks II meshed with the tooth arcs 408.
Preferably, breaker 1 is fixed with motor II11 including the broken bucket 14 that the slope set up, one side of broken bucket 14, and motor II11 is connected with the controller electricity, and motor II 11's output shaft is connected with the pivot through transmission structure, the pivot is erect inside broken bucket 14, and the circumference of pivot is provided with a plurality of blades 13 that are used for broken disposal bag, and broken bucket 14 is provided with feed inlet 12 and discharge gate.
Preferably, as shown in fig. 3 and 4, the vibrating device 2 includes a guide plate 21 which is obliquely disposed, the upper end of the inclined end of the material guide plate 21 is close to the discharge hole of the crushing barrel 14, the two corresponding sides of the material guide plate 21 are respectively provided with a baffle plate, a support plate I22 is arranged below the material guide plate 21, a support plate II 24 is arranged below the support plate I22, the support plate II 24 and the support plate I22 are sequentially arranged in the middle and at the top of the support leg 25, the automatic feeding device is characterized in that a motor I23 is arranged on the supporting plate II 24, the motor I23 is electrically connected with the controller, an output shaft of the motor I23 penetrates through the supporting plate I22 and then is connected with a slider-crank structure, an output end of the slider-crank structure is fixed to the bottom of the material guide plate 21, the motor I23 drives the slider-crank structure to enable the material guide plate 21 to slide in the front-back direction, and the material guide plate 21 is located below the discharge port.
Preferably, the crank slider structure comprises a crank 233 fixed on an output shaft of a motor I23 in a sleeved manner, a connecting rod 232 is hinged to one end of the crank 233 away from the output shaft of the motor I23, a slider I231 is hinged to one end of the connecting rod 232 away from the crank 233, the slider I231 is fixed to the bottom of the material guide plate 21, a slider II is fixed to the bottom of the material guide plate 21, a guide groove 221 perpendicular to the material guide direction of the material guide plate 21 is formed in the support plate I22, and the slider II can slide in the guide groove 221.
Preferably, in order to adjust the amount of garbage on the conveyor belt conveniently, an intermittent material blocking structure is arranged at the lower end of the inclined end of the material guiding plate 21 and comprises a material blocking plate 211, the material blocking plate 211 is erected between two baffles through a hinged shaft, one end of the hinged shaft penetrates out of the baffles and then is connected with an output shaft of a steering engine 212 through a coupling, the steering engine 212 is fixed on the baffles, the steering engine is an MG995 or MG996R type steering engine, rotation within a certain angle range is realized, and the steering engine 212 is electrically connected with a controller.
Principle of operation
As shown in fig. 7-9, when the device is used, when the power is turned on, the STM32F103C8T6 controller instructs the motors II11 and I23 to start working, garbage is fed from the feeding port 12 of the crushing barrel 14, the motor II11 drives the rotating shaft to rotate, the blades 13 on the rotating shaft crush the garbage bags, the crushed garbage falls on the guide plate 21 from the discharging port, the guide plate 21 moves along the guide slot 221 due to the slider-crank structure driven by the motor I23 of the guide plate 21, and the garbage on the guide plate 21 is continuously vibrated and uniformly dispersed, that is, the output shaft of the motor I23 drives the crank 233 to rotate, the crank 233 drives the connecting rod 232 to rotate around the output shaft, the other end of the connecting rod 232 drives the guide plate 21 to move along the guide slot 221, and the uniformly dispersed garbage falls on the conveying device 5 from the lower end of the guide plate 21 to be conveyed until the garbage is conveyed to the shooting area of the camera 411, at this time, the camera 411 shoots a picture, the picture information is uploaded to a cloud database in cooperation with an RPI microcomputer, the cloud database analyzes the garbage picture information to obtain garbage type information data, the obtained garbage type information data is sent to a controller, the controller processes the garbage type information data, the controller controls the three-axis manipulator 4 to work according to the garbage type information, namely the controller controls two stepping motors 405 of a Corexy structure to act according to the positions of garbage on a conveyor belt, namely the two stepping motors 405 drive a belt 414 to act, the belt 414 pulls a central fishing platform 401 to act in the horizontal direction, specifically, when the left stepping motor 405 and the right stepping motor 405 are in the same direction, the central fishing platform 401 moves towards the X axis, and when the two stepping motors 405 are in opposite directions, the central fishing platform 401 moves towards the Y axis; the two stepping motors 405 act simultaneously, the force is more stable than that of a single motor, so that the clamping structure moves to the position above the garbage rapidly, the controller commands the electric push rod to extend, the controller controls the clamping structure to move simultaneously, namely, the controller controls the direct current motor to move, the direct current motor drives the gear 409 to rotate, the gear 409 and the tooth arc 408 are meshed to drive the tooth arc 408 to rotate, so that the two clamping parts 407 clamp the garbage, then the controller controls the three-axis manipulator 4 to move to the position above the collection box 3 rapidly, and controls the clamping structure to place the garbage in the corresponding collection box 3, namely, the controller controls the direct current motor to rotate reversely, so that the two clamping parts 407 are driven to open, the garbage is thrown into the collection box 3, and the identification processing modes of other types of garbage are the same as the modes.
As shown in fig. 3 and 4, when the camera 411 shoots a large amount of garbage on the conveying device 5 and the three-axis manipulator 4 cannot complete garbage sorting in time, at this time, the controller can command the steering engine 212 to work, the steering engine 212 drives the striker plate 211 to rotate to the vertical direction to block the lower end of the guide plate 21, so as to prevent more garbage from falling onto the conveyor belt, and at the same time, the controller controls the motor II11 and the motor I23 to stop working, the rotating speed of the motor III of the conveying device is slowed down until the amount of garbage shot on the conveying device 5 by the camera 411 is normal, at this time, the controller commands the steering engine 212 once, the steering engine 212 rotates to be on the same plane with the guide plate 21, at this time, the controller commands the motor II11 and the motor I23 to start working again, and.
In summary, the embodiment of the present invention provides a full-automatic garbage sorting device, which pre-processes the garbage before sorting through a crushing device and a vibration dispersing device in the using process, so that the subsequent garbage processing is more efficient; shoot rubbish through the camera to upload to high in the clouds database, the high in the clouds database is analyzed rubbish image information, acquires rubbish kind information data, then gives the controller and handles, and the controller is according to rubbish kind information data control three-axis machine manual work and gets the classification to rubbish clamp, thereby has guaranteed the accurate efficient automatic sorting of rubbish, and can use on a large scale.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the embodiments, and any changes that can be considered by those skilled in the art shall fall within the protection scope of the present invention.
Claims (7)
1. The full-automatic garbage sorting device comprises a controller and a conveying device (5), and is characterized by further comprising a crushing device (1) for disassembling garbage bags, wherein a discharge port is formed in the crushing device (1), a vibration device (2) for uniformly dispersing garbage is arranged below the discharge port, one end, away from the crushing device (1), of the vibration device (2) is connected with one end of the conveying device (5), a plurality of collecting boxes (3) are arranged on one side of the conveying device (5) along the conveying direction, a plurality of three-axis mechanical arms (4) are sequentially arranged along the conveying direction of the conveying device (5), and the three-axis mechanical arms (4) are erected above the conveying device (5) through supporting frames (406); an image acquisition device for acquiring garbage image information is arranged on the three-axis manipulator (4);
the controller is electrically connected with the image acquisition device, the three-axis manipulator (4), the crushing device (1), the vibrating device (2) and the conveying device (5) respectively.
2. The full-automatic garbage sorting device according to claim 1, wherein the three-axis manipulator (4) comprises a Corexy structure, one side of a central fishing platform (401) of the Corexy structure, which is close to the conveying device (5), is provided with a vertically arranged electric telescopic device (413), the fixed end of the electric telescopic device (413) is fixed with the central fishing platform (401), and the end of the telescopic end of the electric telescopic device (413) is connected with a clamping structure; the image acquisition device is fixed on one side of the central fishing platform (401).
3. The full automatic garbage sorting device according to claim 2, wherein the clamping structure comprises a supporting body (410), the top of the supporting body (410) is fixed with an electric telescopic device (413), a direct current motor is fixed on one side of the supporting body (410), the direct current motor is electrically connected with the controller, a gear (409) is sleeved and fixed after an output shaft of the direct current motor vertically penetrates through the supporting body (410), the gear (409) is meshed with a rack I arranged on the transmission member (412), and the transmission member (412) is slidably arranged on one side away from the direct current motor; two clamping parts (407) are symmetrically arranged at the lower end of the supporting body (410), the upper ends of the clamping parts (407) are hinged to the supporting body (410), tooth arcs (408) are fixed on the adjacent surfaces of the two clamping parts, the lower end of the transmission body is located between the two tooth arcs (408), and racks II meshed with the tooth arcs (408) are arranged on the surfaces, close to the tooth arcs (408), of the transmission body.
4. The full-automatic garbage sorting device according to claim 1, wherein the crushing device (1) comprises a crushing barrel (14) which is obliquely arranged, a motor II (11) is fixed on one side of the crushing barrel (14), the motor II (11) is electrically connected with the controller, an output shaft of the motor II (11) is connected with a rotating shaft through a transmission structure, the rotating shaft is erected inside the crushing barrel (14), a plurality of blades (13) for crushing garbage bags are arranged in the circumferential direction of the rotating shaft, and the crushing barrel (14) is provided with a feeding hole (12) and a discharging hole.
5. The full-automatic garbage sorting device according to claim 4, wherein the vibrating device (2) comprises a guide plate (21) disposed obliquely, the upper end of the oblique end of the guide plate (21) is close to the discharge hole of the crushing barrel (14), two corresponding sides of the guide plate (21) are provided with baffles, a support plate I (22) is disposed below the guide plate (21), a support plate II (24) is disposed below the support plate I (22), the support plate II (24) and the support plate I (22) are sequentially disposed at the middle and top of the support leg (25), a motor I (23) is disposed on the support plate II (24), the motor I (23) is electrically connected with the controller, an output shaft of the motor I (23) penetrates through the support plate I (22) and then is connected with a crank block structure, and the output end of the crank block structure is fixed to the bottom of the guide plate (21), the motor I (23) drives the crank block structure to enable the material guide plate (21) to slide along the front-back direction, and the material guide plate (21) is located below the discharge hole.
6. The full-automatic garbage sorting device according to claim 5, wherein the crank-slider structure comprises a crank (233) fixed on an output shaft of the motor I (23) in a sleeved manner, one end of the crank (233) away from the output shaft of the motor I (23) is hinged to a connecting rod (232), one end of the connecting rod (232) away from the crank (233) is hinged to a slider I (231), the slider I (231) and the bottom of the material guide plate (21) are fixed, a slider II is fixed at the bottom of the material guide plate (21), the support plate I (22) is provided with a guide groove (221) perpendicular to the material guide direction of the material guide plate (21), and the slider II can slide in the guide groove (221).
7. The full-automatic garbage sorting device according to claim 5, wherein the lower end of the inclined end of the guide plate (21) is provided with an intermittent material blocking structure, the intermittent material blocking structure comprises a material blocking plate (211), the material blocking plate (211) is erected between two baffle plates through a hinged shaft, one end of the hinged shaft penetrates out of the baffle plates and then is connected with an output shaft of the steering engine (212) through a shaft coupling, the steering engine (212) is fixed on the baffle plates, and the steering engine (212) is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921963744.8U CN211247389U (en) | 2019-11-13 | 2019-11-13 | Full-automatic garbage sorting device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921963744.8U CN211247389U (en) | 2019-11-13 | 2019-11-13 | Full-automatic garbage sorting device |
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| CN211247389U true CN211247389U (en) | 2020-08-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112058686A (en) * | 2020-09-15 | 2020-12-11 | 张家港市德昶自动化科技有限公司 | Garbage classification recycling bin |
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2019
- 2019-11-13 CN CN201921963744.8U patent/CN211247389U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112058686A (en) * | 2020-09-15 | 2020-12-11 | 张家港市德昶自动化科技有限公司 | Garbage classification recycling bin |
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