CN212686854U

CN212686854U - Three-dimensional manipulator type garbage can moving mechanism in garbage room

Info

Publication number: CN212686854U
Application number: CN202021205214.XU
Authority: CN
Inventors: 曲冰哲
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-26
Filing date: 2020-06-26
Publication date: 2021-03-12
Anticipated expiration: 2030-06-26

Abstract

The utility model provides a three-dimensional manipulator formula removes mechanism of garbage bin in garbage room, it includes: a trash frame; the X-axis Y-axis Z-axis three-dimensional moving manipulator mechanism moves horizontally, transversely, longitudinally and vertically; the lower part of the Z-axis stand column is provided with an integrated supporting pressing plate, the integrated supporting pressing plate can move horizontally, longitudinally and vertically along the X-axis Y-axis Z-axis along the horizontal direction and the vertical direction of the Z-axis relative frame, the integrated supporting pressing plate can move downwards from the outside of the garbage can to the bottom of the garbage can to be supported by the integrated supporting pressing plate, and the integrated supporting pressing plate can be used for lifting and/or translating the garbage can and/or can stretch into the garbage can to be used for compacting garbage. The utility model discloses overall structure is clear very much, simple, powerful, easy automatic control, and the easy high integration of structure and under computer program control, carry out signal feedback through the sensor, almost arbitrary removal, lift in the rubbish room space have saved the use amount of material, and the cost is reduced has simplified control, realizes intelligent control more easily.

Description

Three-dimensional manipulator type garbage can moving mechanism in garbage room

Technical Field

The utility model belongs to the technical field of the interior structure technique of garbage room and specifically relates to a mechanism technique of removal garbage bin in garbage room is related to.

Background

The plurality of trash cans arranged in some high-grade trash rooms are often required to be identified according to whether the trash cans are full or empty according to the detection of the sensors, and then the trash cans are correspondingly moved to the designated space positions and then used for subsequent treatment. However, in the prior art, the movement and/or lifting of the garbage can in the garbage room are carried out by a separate electromechanical device; the front and back translation of each row of garbage cans is realized by moving the traditional conveying belts arranged below a plurality of garbage cans from front to back under electric control, and the conveying belts are arranged and respectively controlled for different rows of garbage cans such as dry, wet and harmful rows; if the lifting is needed, a plurality of vertical conveying belts which are more complex and much in quantity are used for conveying and lifting, and meanwhile, the lifting is needed to be turned and moved, so that the control is very difficult, a plurality of mechanical mechanisms are provided, the structure is complex, the design is also complex, the electric control separation and integration control are difficult, and the intelligent unified automatic control is difficult; the material consumption is large, the material is wasted, and the cost is high. In the prior art, in an important aspect, the full garbage can is identified and compacted independently, a camera or a photoelectric distance measuring probe is used firstly, whether the garbage is compacted or not is difficult to judge, the garbage in the garbage can is always considered to be full and removed by a sensor when the garbage is fluffy and not compacted, and the capacity utilization rate of the garbage can is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a three-dimensional manipulator formula removes mechanism of garbage bin in garbage room to solve at least one above-mentioned technical problem who exists among the prior art.

In order to solve the technical problem, the utility model provides a pair of three-dimensional manipulator formula removes mechanism of garbage bin in garbage room, include: a frame; the X-axis Y-axis Z-axis three-dimensional moving manipulator mechanism moves horizontally, transversely, longitudinally and vertically; the manipulator sets up and relies on the frame, wherein the Z axle is for founding the column, and the column Z axle stand lower extreme is provided with integrative support clamp plate immediately, integrative support clamp plate can be relative at random the manipulator the frame is horizontal along X axle Y axle Z axle level respectively, horizontal vertical and vertical three-dimensional removal, integrative support clamp plate can move down to the garbage bin bottom to holding the barrel head from the garbage bin outside respectively for go up and down and \ or translation garbage bin, and \ or integrative support clamp plate can stretch into in the garbage bin, be used for the compaction rubbish.

This application is through setting up three-dimensional mobile manipulator on the frame, the integrative pressure plate that holds in the palm that Z axle stand lower part set up can unify very easily and carry out the removal of three-dimensional arbitrary spatial position with the automatic intelligent control of computer and conveniently to the garbage bin, machinery and automatically controlled structure including the design has been simplified greatly, the use amount of material has been saved greatly, the mechanism is compacter, the cost is reduced, the intensive degree of structure improves greatly, plus the succinct of structure, the reliability also improves greatly thereupon, spatial movement is more random, do not receive many other directions removal of traditional transmission band, the restriction of going up and down.

Furthermore, the Z-axis upright post of the manipulator is a multi-stage linkage telescopic mechanism and is used for reducing the installation height in the vertical direction.

Furthermore, the lower end of the Z-axis upright post of the manipulator is provided with an integrated supporting and pressing plate which is used for supporting the garbage can from the lower part of the garbage can or stretching into the garbage can to do lifting action to compact the garbage.

Furthermore, the manipulator is provided with a computer control system for automatic sensing, control and execution.

Furthermore, the control system controls the integrated supporting and pressing plate to stretch into the garbage can to compact the garbage, whether the garbage is full is identified according to the magnitude of a sensing signal of a force value sensor in real time of pressing, the garbage is continuously compacted when the garbage is full, and then the external part of the garbage can is pushed to move to the back of a garbage room by computer control through the horizontal movement function of the Z axis to be taken away and moved backwards after the subsequent manual door opening; and the control system horizontally pushes the translation empty garbage bin or lifts the empty garbage bin to lift and/or translate the empty garbage bin to a position near a customer pouring opening or a designated space to be processed through the integrated supporting plate on the Z axis.

Furthermore, the multi-stage linkage telescopic mechanism is in a linkage structure of a gear-rack type combination and/or a chain wheel-chain type combination for lifting and stretching.

Further, the frame is constructed for the section bar and assembled and linked firmly and is simple and firm in structure.

Adopt above-mentioned technical scheme, the utility model discloses following beneficial effect has:

the utility model provides a pair of three-dimensional manipulator formula removes mechanism of garbage bin in garbage room, unify more easily and carry out the removal of three-dimensional arbitrary spatial position with the automatic intelligent control of computer and conveniently to the garbage bin, machinery and automatically controlled structure including the design has been simplified greatly, the use amount of material has been saved greatly, the mechanism is compacter, the cost is reduced, the intensive degree of structure improves greatly, plus the succinct of structure, the reliability also improves greatly thereupon, the space movement is more random, do not receive a lot of other directions removal of traditional transmission band, the restriction of going up and down.

Drawings

In order to more clearly illustrate the present invention, the following detailed description of the present invention will be provided with reference to the accompanying drawings; it is worth mentioning that the drawings in the following description are illustrative of some embodiments of the present invention, and it is obvious to those skilled in the art that changes can be made thereto without inventive work.

Fig. 1 is a perspective view of a mechanism for moving a garbage can in a three-dimensional manipulator manner in a garbage room according to an embodiment of the present invention;

FIG. 2 is a front view from the front to the rear of the mechanism for three-dimensional robotic movement of the trash can within the trash receptacle of FIG. 1;

FIG. 3 is a left side view of the mechanism for three-dimensional robotic movement of the trash can within the trash receptacle of FIG. 2;

reference numerals:

1. a frame; 2. a manipulator; 3. a Z-axis column; 4. an integral pressure plate; 5. an X-axis moving mechanism; 6. a Y-axis moving mechanism; 7. multistage linkage telescopic machanism.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The present invention will be further explained with reference to specific embodiments.

As shown in fig. 1, fig. 2, and fig. 3, the mechanism for moving a trash can in a three-dimensional robot manner in a trash room provided by this embodiment includes: a frame 1; a manipulator 2 mechanism with X-axis, Y-axis and Z-axis moving horizontally, longitudinally and vertically in three dimensions; the mechanical arm 2 is arranged and supported on the frame 1, the X-axis movement depends on an X-axis moving mechanism 5 inside the mechanical arm 2, the Y-axis movement depends on a Y-axis moving mechanism 6 inside the mechanical arm 2 (only local idler wheels are shown in the attached drawing), the Z-axis is in a vertical column shape, an integrated supporting plate 4 is arranged at the lower end of a Z-axis upright post 3 in the vertical column shape, the integrated supporting plate 4 can move relative to the mechanical arm 2 randomly, the frame 1 moves horizontally, horizontally and vertically along the X-axis Y-axis Z-axis respectively, and the integrated supporting plate 4 can move downwards from the outside of the garbage can to the bottom of the garbage can be supported and used for lifting and/or translating the garbage can and/or the integrated supporting plate 4 can stretch into the garbage can and is used for compacting garbage. That is, set up three-dimensional mobile manipulator 2 on frame 1, the integrative pressure plate 4 that holds in the palm that 3 lower parts of Z axle stand set up can unify very easily and carry out the removal of three-dimensional arbitrary spatial position to the garbage bin with the automatic intelligent control of computer, machinery and automatically controlled structure including the design has been simplified greatly, the use amount of material has been saved greatly, the mechanism is compacter, the cost is reduced, the intensive degree of structure improves greatly, in addition the succinct of structure, the reliability also improves greatly thereupon, spatial migration is more random, do not receive many other directions of traditional transmission band to remove, the restriction of lift.

Further, the Z-axis upright post of the manipulator 2 is a multi-stage linkage telescopic mechanism 7 and is used for reducing the installation height in the vertical direction.

Furthermore, the lower end of the upright post 3 of the Z shaft of the manipulator 2 is provided with an integrated supporting plate 4 which is used for supporting the garbage can from the lower part of the garbage can or stretching into the garbage can to do lifting action to compact the garbage, and the integrated supporting plate 4 can be a shovel-shaped metal plate which is installed and fixed at the lower end of the upright post 3 of the Z shaft in an offset way.

Further, the manipulator 2 is provided with a computer control system (not shown in the drawings) for automatic sensing, control and execution, such as a PLC, a single chip microcomputer or a computer, which performs automatic or intelligent control on the manipulator 2 through programming.

Furthermore, the control system controls the integrated supporting and pressing plate 4 to extend into the garbage can and tentatively lift and press the garbage, whether the garbage is full is identified according to the magnitude of a sensing signal of a force value sensor in pressing, the garbage is continuously pressed when the garbage is full, and then the outside of the garbage can is pushed to move to the back of a garbage room by the aid of the horizontal movement function of the Z axis under the control of a computer, and the garbage can is taken away and turned over after a subsequent manual door is opened; and the control system horizontally pushes and translates the empty garbage can or lifts the empty garbage can to lift and/or translate the empty garbage can to a position near a customer pouring opening or a designated space to be processed through the integrated supporting plate 4 on the Z axis.

Furthermore, the multi-stage linkage telescopic mechanism 7 is a linkage structure of a gear-rack type combination and/or a chain wheel-chain type combination for lifting and stretching.

Further, the frame 1 is formed by fixedly connecting sectional materials in a building and assembling mode, and is simple and stable in structure.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides a mechanism that three-dimensional manipulator formula removed garbage bin in garbage room which characterized in that includes: a trash frame; the X-axis Y-axis Z-axis three-dimensional moving manipulator mechanism moves horizontally, transversely, longitudinally and vertically; the manipulator sets up and relies on the frame, wherein the Z axle is for founding the column, and the column Z axle stand lower extreme is provided with integrative support clamp plate immediately, integrative support clamp plate can be relative at random the manipulator the frame is horizontal along X axle Y axle Z axle level respectively, horizontal vertical and vertical three-dimensional removal, integrative support clamp plate can move down to the garbage bin bottom to holding the barrel head from the garbage bin outside respectively for go up and down and \ or translation garbage bin, and \ or integrative support clamp plate can stretch into in the garbage bin, be used for the compaction rubbish.

2. The mechanism for three-dimensional mechanical arm type garbage can in garbage room as claimed in claim 1, wherein the Z-axis column of the mechanical arm is a multi-stage linkage telescopic mechanism for reducing the installation height in vertical direction.

3. The mechanism of claim 1, wherein the lower end of the Z-axis column of the manipulator is provided with an integrated supporting plate for supporting the trash can from below the trash can or extending into the trash can to perform a lifting action to compact the trash.

4. The mechanism for three-dimensional mechanical hand type garbage can in garbage room as claimed in claim 1, wherein the mechanical hand is provided with a computer control system for automatic sensing, control and execution.

5. The mechanism for three-dimensional mechanical arm type movement of the trash can in the trash room as claimed in claim 4, wherein the control system controls the integrated supporting and pressing plate to extend into the trash can to compact the trash, identifies whether the trash is full or not according to the magnitude of the sensing signal of the force value sensor in real-time pressing, continues to compact the trash if the trash is full, and then pushes the outside of the trash can to move to the back of the trash room by using the horizontal movement function of the Z axis under the control of a computer to be taken away and moved backwards after a subsequent manual door opening; and the control system horizontally pushes the translation empty garbage bin or lifts the empty garbage bin to lift and/or translate the empty garbage bin to a position near a customer pouring opening or a designated space to be processed through the integrated supporting plate on the Z axis.

6. The mechanism of claim 2, wherein the multi-stage linkage mechanism is a linkage structure of a rack-and-pinion type combination and/or a chain-and-chain type combination for lifting and retracting.

7. The mechanism of claim 1, wherein the frame is constructed by assembling and fixing section bars.