CN212742345U

CN212742345U - Garbage cleaning vehicle based on unmanned driving

Info

Publication number: CN212742345U
Application number: CN202021383019.6U
Authority: CN
Inventors: 郭广岩; 吴志海; 王克文; 顾瑞胜; 李明强
Original assignee: Shandong Jinghua Environmental Technology Co ltd
Current assignee: Shandong Jinghua Environmental Technology Co ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-03-19
Anticipated expiration: 2030-07-14

Abstract

The utility model relates to the technical field of road cleaning equipment, in particular to a garbage cleaning vehicle based on unmanned driving, which comprises a carrier vehicle, a garbage collecting mechanism, a storage hopper, an anti-escape shield, a negative pressure cabin, a negative pressure fan, a crushing material inlet and an operating system, wherein the garbage collecting mechanism is arranged on one side of the carrier vehicle, the operating system is arranged on the other side of the carrier vehicle, the anti-escape shield is arranged on one side of the garbage collecting mechanism, the negative pressure cabin is arranged on one side of the anti-escape shield, the negative pressure fan is arranged on one side in the negative pressure cabin, the crushing material inlet is arranged on one side of the negative pressure fan, and the storage hopper is; through increase broken rotor and extrusion blade holder in carrier loader, carry out the breakage to rubbish, prevent to cause the card because of the great rubbish of volume to pause, inhale the back through the V type groove that the heavier directness of broken rubbish falls into in the middle of the rubber transfer roller, rotate through the synchronization of broken rotor and rubber transfer roller, can realize combing the incessant conveying of broken rubbish and prevent to form piling up.

Description

Garbage cleaning vehicle based on unmanned driving

Technical Field

The utility model belongs to the technical field of road cleaning equipment, in particular to rubbish cleaning cart based on unmanned driving.

Background

With the continuous progress of science and technology, the traditional life style is upgraded with a more intelligent, convenient and efficient target, wherein sanitation workers mostly perform manual cleaning on garbage in a cell in the traditional cell sanitation work, but the efficiency is low and the work is heavy, and through the retrieval of a patent number CN210031639U, the unmanned sweeper comprises a sweeper body, and a running system, a steering system, a road recognition system, a main controller (ECU) and a cleaning system which are arranged on the sweeper body;

however, the following problems exist in the using process: 1) the dust absorption component in the cleaning system can only absorb fine particles, and the dust absorption component is easy to block when absorbing slightly larger solid blocks (soil blocks), so that the cleaning capability of the sweeper is greatly reduced, and the popularization and the use are not facilitated; 2) because the space in the vehicle body is limited and the number of components is large, if more garbage is sucked at a time and cannot be combed timely and effectively, accumulation is easy to form in the vehicle body.

Disclosure of Invention

The utility model aims at overcoming not enough among the prior art, a rubbish cleaning cart based on unmanned driving is provided, through increase broken rotor and extrusion blade holder in the carrier loader, it is broken to rubbish, prevent to cause the card to pause because of the great rubbish of volume, inhale the back through the heavier V type groove that directly falls into in the middle of the rubber transfer roller of broken rubbish, can realize combing the incessant conveying of broken rubbish, simultaneously under the effect in negative pressure storehouse, can directly adsorb away lighter rubbish, thereby can in time effectually combing in making inspiratory rubbish carry out in the carrier loader, thereby prevent to form piling up the rubbish scope that further can make the motor sweeper can clear up and improve high cleanness ability more extensively.

In order to realize the purpose, the utility model discloses a technical scheme is:

an unmanned-based garbage cleaning vehicle comprises a carrying vehicle, a garbage collecting mechanism, a storage hopper, an escape-proof shield, a negative pressure bin, a negative pressure fan, a crushed material inlet and an operation system, one side of the carrier vehicle is provided with a garbage collecting mechanism, the other side of the carrier vehicle is provided with a control system, an escape-proof shield is arranged on one side of the garbage collection mechanism, a negative pressure bin is arranged on one side of the escape-proof shield, the negative pressure fan is arranged on one side inside the negative pressure bin, the crushed material inlet is arranged on one side of the negative pressure fan, a storage hopper is arranged on one side of the negative pressure bin, the movement of the carrier vehicle during advancing is controlled by the control system to provide position movement for the garbage collection mechanism, and meanwhile, the garbage after collection and treatment enters the negative pressure bin under the action of the negative pressure fan, the garbage is temporarily stored in the storage hopper, and the garbage sucked by the negative pressure is blocked by the anti-escape shield to prevent leakage;

the garbage collecting mechanism comprises a cleaning disc brush, a motor I, a motor base, a rotary connecting arm, an air suction barrel, a guide air barrel, rubber conveying rollers, a placing base, a motor II, a synchronous wheel, a synchronous belt, a crushing knife roller, an extrusion knife holder, a chain wheel and a chain, wherein the air suction barrel is arranged on one side of the placing base, two groups of rotary connecting arms are arranged on two sides of the air suction barrel, one group of motor base is respectively arranged on one side of each rotary connecting arm, the motor I is arranged on one side of the motor base, the cleaning disc brush is arranged on one side of the motor I, the guide air barrel is arranged on the other side of the air suction barrel, the guide air barrel is connected with the air suction barrel and penetrates through the placing base, two groups of rubber conveying rollers are arranged on one side of each group of rubber conveying rollers, the synchronous wheel is arranged on one side, the device comprises a rubber conveying roller, a crushing knife roll, a motor I, a motor II, a synchronous wheel, a chain wheel, an extrusion knife seat, a chain wheel, a rotating link arm, a motor seat, a cleaning disc brush, a rubber conveying roller, a conveying vehicle and a synchronous wheel, wherein the crushing knife roll is arranged above the rubber conveying roller;

the rubber conveying roller mainly comprises V-shaped lugs, a central shaft and V-shaped grooves, wherein a plurality of V-shaped lugs are arranged on one side of the central shaft, a group of V-shaped grooves are formed between every two groups of V-shaped lugs, the V-shaped lugs are distributed in a circumferential array mode by taking the axis of the central shaft as the center of a circle, so that broken garbage falls into the V-shaped grooves after being sucked, the garbage is continuously conveyed through the rotation of the rubber conveying roller, and the sucked garbage can be effectively combed in time through the cooperation of a negative pressure bin;

when handling rubbish, negative-pressure air fan provides inside suction, motor I provides power simultaneously and drives the rotation of cleaning disc brush, make rubbish pass behind the aspiration channel and fall into between broken rotor and the extrusion blade holder after the direction dryer, it makes the rubber transfer roller rotate to provide power through motor II this moment, thereby make power through the synchronizing wheel, the hold-in range transmits in another set of rubber transfer roller, make two sets of rubber transfer roller synchronous motion, simultaneously again with power through the sprocket cooperation chain conveying of rubber transfer roller one side to the sprocket of broken rotor one side, thereby make broken rotor rotate, rubbish between the extrusion blade holder is broken, fall into the rubber transfer roller again after the breakage is accomplished in the middle of, make rubbish after the breakage inhale to the storage hopper in the middle of through broken material entrance under the effect of negative pressure storehouse.

Preferably, a plurality of spring connecting shafts are arranged between the motor base and the cleaning disc brush, the cleaning disc brush can be attached to the ground in the rotating cleaning process through the spring connecting shafts, and the situation that the cleaning is not complete due to edge warping is prevented.

Preferably, the bottom of the storage hopper is provided with a plurality of supporting wheels, the other side of the storage hopper is provided with a push handle, when a certain amount of garbage in the storage hopper is reached, the storage hopper can be pulled out by pulling the push handle to clean the storage hopper, and the storage hopper can be continuously used by pushing the storage hopper back to the initial position after the cleaning is completed.

Preferably, the bottom of the air suction barrel is provided with a sealing strip, the air suction barrel can adsorb garbage more comprehensively through the sealing strip, and a gap is prevented from being left between the air suction barrel and the ground to prevent the garbage from escaping in the adsorption process.

Preferably, the control system comprises a laser radar, a positioning antenna, a distance sensor and a camera, the laser radar is arranged at the top of the negative pressure bin, the positioning antenna is arranged at the upper part of the body of the carrier vehicle, the plurality of distance sensors are arranged around the carrier vehicle, the camera is arranged at the head of the carrier vehicle, Arduino (electronic prototype platform) is arranged in the carrier vehicle and used as an in-vehicle mechanical control master control, the carrier vehicle is controlled to move and turn after receiving signals, the distance between the carrier vehicle and peripheral obstacles is detected by the distance sensors around the carrier vehicle so as to avoid the obstacles, meanwhile, the position information obtained by the positioning antenna is combined to better judge the position information, the most specific peripheral environment data is obtained by the laser radar, the carrier vehicle is enabled to make the optimal route planning, and meanwhile, the garbage distribution condition is continuously detected by the camera while the carrier vehicle moves, and continuously transmitting real-time signals to the garbage distribution to achieve the aim of accurate cleaning.

Compared with the prior art, the utility model beneficial effect shows:

1) through increase broken rotor and extrusion blade holder in carrier loader, make motor II provide power and drive one of them rubber transfer roller and rotate, simultaneously pass through synchronizing wheel and hold-in range transmission to another rubber transfer roller with power, the rubber transfer roller transmits power to broken rotor through sprocket and chain again, make broken rotor rotate and then make broken rotor and extrusion blade holder mutually support and carry out rubbish breakage, further prevent to cause the card to pause because of the great rubbish of volume, thereby the rubbish scope that makes the motor sweeper can clear up is extensively improved high clean ability more, thereby be favorable to the using widely of unmanned motor sweeper more.

2) The V type groove in the middle of the rubber transfer roller is directly fallen into through the heavier directness of broken rubbish after inhaling, through the synchronous rotation of broken rotor and rubber transfer roller, can realize combing the incessant conveying of broken rubbish, simultaneously under the effect in negative pressure storehouse, can directly adsorb away lighter rubbish to can make inspiratory rubbish carry out timely effectual combing in the carrier loader, prevent to form and pile up.

Drawings

FIG. 1 is a schematic structural view of an unmanned garbage cleaning vehicle of the present invention;

FIG. 2 is a schematic view of the other side structure of the garbage cleaning vehicle based on unmanned driving of the utility model;

FIG. 3 is a schematic view of the internal structure of an escape-proof shield in the garbage disposal vehicle based on unmanned driving;

FIG. 4 is an enlarged view of a portion of the sweeping disk brush of FIG. 3;

FIG. 5 is a schematic diagram of the transmission mode of a rubber transmission roller in the garbage cleaning vehicle based on unmanned driving;

FIG. 6 is a partial enlarged view of a rubber conveying roller in the garbage disposal vehicle based on unmanned driving of the present invention;

FIG. 7 is a schematic view of the rotation direction of a sweeping disk brush in the garbage cleaning vehicle based on unmanned driving of the utility model;

FIG. 8 is a schematic diagram of the position of a crushing knife roll in the garbage cleaning vehicle based on unmanned driving of the utility model;

FIG. 9 is a partially enlarged view of the crushing roller of FIG. 8;

figure 10 is the utility model discloses a rubber transfer roller schematic structure in rubbish clearance car based on unmanned.

In the figure: 1. a carrier loader; 2. a waste collection mechanism; 21. cleaning a disc brush; 211. a motor I; 212. a motor base; 213. Rotating the connecting arm; 214. a spring connecting shaft; 22. an air suction cylinder; 221. a guide air duct; 222. sealing the strip; 23. a rubber conveying roller; 231. a motor II; 232. a synchronizing wheel; 233. a synchronous belt; 234. a V-shaped bump; 235. a central shaft; 236. A V-shaped groove; 24. placing a base; 25. crushing a cutter roller; 26. extruding the tool apron; 27. a sprocket; 28. a chain; 3. a storage hopper; 31. a support wheel; 32. a pushing handle; 4. an escape-proof shield; 5. a negative pressure bin; 51. a negative pressure fan; 52. a crushed material inlet; 6. a control system; 61. a laser radar; 7. positioning an antenna; 8. a distance sensor; 9. a camera is provided.

Detailed Description

For the convenience of understanding of those skilled in the art, the technical solution of the present invention will be further specifically described with reference to fig. 1 to 10.

A garbage cleaning vehicle based on unmanned driving comprises a carrier vehicle 1, a garbage collecting mechanism 2, a storage hopper 3, an anti-escape shield 4, a negative pressure bin 5, a negative pressure fan 51, a crushed material inlet 52 and an operating system 6, wherein the garbage collecting mechanism 2 is arranged on one side of the carrier vehicle 1, the operating system 6 is arranged on the other side of the carrier vehicle 1, the anti-escape shield 4 is arranged on one side of the garbage collecting mechanism 2, the negative pressure bin 5 is arranged on one side of the anti-escape shield 4, the negative pressure fan 51 is arranged on one side inside the negative pressure bin 5, the crushed material inlet 52 is arranged on one side of the negative pressure fan 51, the storage hopper 3 is arranged on one side of the negative pressure bin 5, the movement of the carrier vehicle 1 during advancing is controlled by the operating system 6 to provide position movement for the garbage collecting mechanism 2, and meanwhile, the collected and processed garbage enters the negative pressure bin 5 under the action of the negative pressure fan 51 and then temporarily stores in the negative, the garbage sucked by the negative pressure is blocked by the escape-proof shield 4, so that the leakage is prevented;

the garbage collection mechanism 2 comprises a cleaning disc brush 21, a motor I211, a motor base 212, a rotary connecting arm 213, an air suction cylinder 22, a guide air cylinder 221, a rubber conveying roller 23, a placing base 24, a motor II 231, a synchronous wheel 232, a synchronous belt 233, a crushing cutter roller 25, an extrusion cutter holder 26, a chain wheel 27 and a chain 28, wherein the air suction cylinder 22 is arranged on one side of the placing base 24, two groups of rotary connecting arms 213 are arranged on two sides of the air suction cylinder 22, one group of motor bases 212 are respectively arranged on one side of each rotary connecting arm 213, the motor I211 is arranged on one side of each motor base 212, the cleaning disc brush 21 is arranged on one side of each motor I211, the guide air cylinder 221 is arranged on the other side of the air suction cylinder 22, the guide air cylinder 221 is connected with the air suction cylinder 22 and penetrates through the placing base 24, two groups of rubber conveying rollers 23 are arranged on one side of each placing, one side of one group of rubber conveying rollers 23 is provided with a motor II 231, one side of the other group of rubber conveying rollers 23 is provided with a chain wheel 27, the crushing knife roller 25 is arranged above the rubber conveying roller 23, one side of the crushing knife roller 25 is provided with an extrusion knife seat 26, the other side of the crushing knife roller 25 is also provided with a chain wheel 27, the chain wheel 27 on one side of the rubber conveying roller 23 is connected with the chain wheel 27 on one side of the crushing knife roller 25 through a chain 28, a rotary connecting arm 213 is connected to two sides of an air suction drum 22 through a pin shaft, a motor I211 is fixed on the rotary connecting arm 213 through a motor base 212, the head of the motor I211 is fixedly connected with a cleaning disc brush 21, the rubber conveying roller 23 is connected to the middle of a placing base 24 through a connecting shaft, a motor II 231 is fixed to the outer side of the carrier vehicle 1, the head of the motor II 231 is connected with one end of one group of rubber conveying rollers 23, and a synchronous wheel;

the rubber conveying roller 23 mainly comprises V-shaped bumps 234, a central shaft 235 and V-shaped grooves 236, wherein a plurality of V-shaped bumps 234 are arranged on one side of the central shaft 235, a group of V-shaped grooves 236 is formed between every two groups of V-shaped bumps 234, the V-shaped bumps 234 are distributed in a circumferential array mode by taking the axis of the central shaft 235 as the circle center, the sucked broken garbage can fall into the V-shaped grooves 236, the garbage can be conveyed uninterruptedly through rotation of the rubber conveying roller 23, and the cooperation of the negative pressure bin 5 is added, so that the sucked garbage can be combed timely and effectively;

when the garbage is treated, the negative pressure fan 51 provides inward suction, the motor I211 provides power to drive the cleaning disc brush 21 to rotate, the garbage passes through the guide wind barrel 221 after passing through the wind suction barrel 22 and then falls between the crushing knife roller 25 and the extrusion knife holder 26, the motor II 231 provides power to drive the rubber conveying roller 23 to rotate, so that the power is transmitted to the other group of rubber conveying rollers 23 through the synchronous wheel 232 and the synchronous belt 233, the two groups of rubber conveying rollers 23 move synchronously, at the same time, the power is transmitted to the chain wheel 27 at one side of the crushing knife roller 25 through the chain wheel 27 at one side of the rubber conveying roller 23 and the chain 28, thereby rotating the crushing knife roller 25, the garbage between the extrusion knife seats 26 is crushed and falls into the rubber conveying roller 23 again after the crushing is finished, the crushed garbage is sucked into the storage hopper through the crushed material inlet 52 under the action of the negative pressure bin 5.

A plurality of spring connecting shafts 214 are arranged between the motor base 212 and the cleaning disc brush 21, the cleaning disc brush 21 can be attached to the ground in the rotating cleaning process through the spring connecting shafts 214, and the situation that the cleaning is not complete due to edge warping is prevented.

The bottom of the storage hopper 3 is provided with a plurality of supporting wheels 31, the other side of the storage hopper 3 is provided with a push handle 32, when the garbage in the storage hopper 3 reaches a certain amount, the push handle 32 is pulled to pull out the storage hopper 3, the storage hopper 3 is cleaned, and after the cleaning is finished, the storage hopper is pushed back to the initial position to continue working and using.

The bottom of the suction drum 22 is provided with the sealing strip 222, the suction drum 22 can adsorb garbage more comprehensively through the sealing strip 222, and the garbage is prevented from escaping in the adsorption process due to a gap reserved between the suction drum 22 and the ground.

The control system 6 comprises a laser radar 61, a positioning antenna 7, distance sensors 8 and a camera 9, the laser radar 61 is arranged at the top of the negative pressure cabin 5, the positioning antenna 7 is arranged at the upper part of the carrier vehicle 1, a plurality of distance sensors 8 are arranged around the carrier vehicle 1, the camera 9 is arranged at the head of the carrier vehicle 1, an Arduino (electronic prototype platform) is arranged in the carrier vehicle to serve as an in-vehicle mechanical control master control, the carrier vehicle 1 is controlled to move and turn after receiving signals, the distance between the carrier vehicle 1 and peripheral obstacles is detected by the distance sensors 8 around the carrier vehicle 1 to avoid, and meanwhile, the position information obtained by the positioning antenna 7 is combined to better judge the position information and then the most specific peripheral environment data is obtained by the laser radar 61, so that the carrier vehicle 1 makes the optimal route planning, and simultaneously when the carrier vehicle 1 moves, constantly detect rubbish distribution condition through camera 9, constantly carry out real-time signal transmission to rubbish distribution to reach the purpose of accurate clearance.

The utility model provides a rubbish clearance car based on unmanned, the working process as follows:

the automatic garbage disposal system is characterized in that Arduino is installed inside a carrier vehicle and used as a main control unit for mechanical control inside the vehicle, the movement and steering of the carrier vehicle are controlled after signals are received, a distance sensor on the periphery of the carrier vehicle is combined with a positioning antenna to detect the distance between the carrier vehicle and peripheral obstacles so as to avoid the distances, the most specific peripheral environment data are obtained through a laser radar, the carrier vehicle is enabled to make an optimal route plan, meanwhile, the garbage distribution condition is continuously detected through a camera while the carrier vehicle moves, real-time signal transmission is continuously carried out on the garbage distribution, when the garbage is treated, an inward suction force is provided by a negative pressure fan, meanwhile, a motor I provides power to drive a cleaning disc brush to rotate, the garbage passes through a guide air duct after passing through an air suction drum and then falls between a crushing cutter roller and an extrusion cutter holder, and at the moment, a motor II provides power to enable a rubber conveying roller to rotate, so that, The hold-in range transmits the rubber transfer roller of another group, make two sets of rubber transfer roller simultaneous movement, simultaneously again with power through the sprocket cooperation chain conveying of rubber transfer roller one side to the sprocket of broken rotor one side, thereby make broken rotor rotate, carry out the breakage to rubbish between the extrusion blade holder, fall into the rubber transfer roller in the middle of once more after the breakage is accomplished, make rubbish after the breakage inhale to the storage hopper in the middle of through smashing the material entrance under the effect of negative pressure storehouse, when rubbish in the storage hopper reaches a certain amount, the pulling pushing hands can pull out the storage hopper, clear up the storage hopper, push back initial position after the clearance is accomplished and can continue work and use.

In the above, Arduino is an open source electronic prototype platform, which includes hardware (Arduino boards of various models) and software (arduinide), and can sense the environment through various sensors, and feedback and influence the environment through servo motors and other devices.

The foregoing is merely exemplary and illustrative of the structure of the invention, and various modifications, additions and substitutions as described in the detailed description may be made by those skilled in the art without departing from the structure or exceeding the scope of the invention as defined in the claims.

The above contents are only examples and illustrations of the structure of the present invention, the circuit components (laser radar, positioning antenna, distance sensor, camera) of the present invention are all components in the prior art, and the electrical connection between the circuit components is a conventional circuit connection in the prior art, which does not belong to the protection scope of the present invention.

Claims

1. A garbage cleaning vehicle based on unmanned driving comprises a carrying vehicle, a garbage collecting mechanism, a storage hopper, an escape-proof shield, a negative pressure bin, a negative pressure fan, a crushed material inlet and an operating system, and is characterized in that the garbage collecting mechanism is arranged on one side of the carrying vehicle, the operating system is arranged on the other side of the carrying vehicle, the escape-proof shield is arranged on one side of the garbage collecting mechanism, the negative pressure bin is arranged on one side of the escape-proof shield, the negative pressure fan is arranged on one side inside the negative pressure bin, the crushed material inlet is arranged on one side of the negative pressure fan, and the storage hopper is arranged on one side of the negative pressure bin;

the rubber conveying roller mainly comprises V-shaped lugs, a central shaft and V-shaped grooves, wherein a plurality of V-shaped lugs are arranged on one side of the central shaft, a group of V-shaped grooves are formed between every two groups of V-shaped lugs, and the V-shaped lugs are distributed in a circumferential array mode by taking the axis of the central shaft as the center of a circle.

2. The unmanned garbage cleaning vehicle as claimed in claim 1, wherein a plurality of spring connecting shafts are arranged between the motor base and the cleaning disc brush.

3. The unmanned refuse collection vehicle according to claim 1, wherein the storage hopper has a plurality of support wheels at the bottom thereof and a pushing handle at the other side thereof.

4. The unmanned garbage cleaning vehicle is characterized in that a sealing strip is arranged at the bottom of the air suction barrel.

5. The unmanned garbage cleaning vehicle is characterized in that the control system comprises a laser radar, a positioning antenna, a distance sensor and a camera, the laser radar is arranged at the top of the negative pressure bin, the positioning antenna is arranged on the upper portion of the vehicle body of the vehicle, the vehicle is provided with the distance sensors around, and the head of the vehicle is provided with the camera.