CN214187163U - A rubbish picks up robot for scenic spot - Google Patents
A rubbish picks up robot for scenic spot Download PDFInfo
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- CN214187163U CN214187163U CN202022278554.1U CN202022278554U CN214187163U CN 214187163 U CN214187163 U CN 214187163U CN 202022278554 U CN202022278554 U CN 202022278554U CN 214187163 U CN214187163 U CN 214187163U
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Abstract
The utility model provides a garbage picking robot for scenic spots, wherein a six-freedom-degree mechanical arm is arranged at the front end of a walking device through a base, a garbage collecting device is arranged at the rear end of the walking device, a grabber is connected with the tail end of the six-freedom-degree mechanical arm, and the grabber picks up target garbage and places the target garbage in the garbage collecting device; an intelligent chip is adopted as a main controller, the intelligent chip is matched with an environment sensor group to actively identify the surrounding environment, a path matched with the environment is planned to carry out unmanned operation, and a base is provided with a Bluetooth chip and a long-distance communication chip, so that the working state of the intelligent chip can be monitored in real time; the infrared sensor is installed, and the partition plate is arranged in the garbage collection device, so that the recyclable garbage and other garbage can be stored separately, and garbage classification is completed; garbage picking robot can let public places such as scenic spot, park and district clean simple, the low cost of high efficiency more.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to garbage pickup robot for scenic spot.
Background
At present, devices such as intelligent garbage cans gradually appear in public places such as large-scale urban complexes, transportation hubs, scenic spots and parks, the thought of garbage classification is deeper into the mind of people due to the intelligent garbage cans, and the environmental awareness of people is gradually enhanced. Although not rare in the market, the intelligent cleaning vehicle still is in a stage of depending on manual operation at present, planning of a path needs to be completed through manual operation, and even garbage pickup and other work needs to be completed manually, and the cleaning vehicle on the market is huge and heavy in size and narrow in use scene, so that the ground garbage pickup work still needs to be completed through traditional manual work in most cases.
The existing garbage inspection equipment can not be completely suitable for garbage of different shapes, and has to be used in a fixed place, so that the application is relatively specific and the limitation is relatively large. Although the chinese patent CN108360428A discloses a sanitation robot for automatically picking up, transporting and unloading garbage and a control method thereof, the robot does not classify and process the garbage, and adopts a traditional four-wheel device, which has poor climbing performance and steering performance in a damp and soft or uneven environment, weak grip, unstable driving process, easy side turning, and easy slipping and overspeed slipping when driving on a slope.
SUMMERY OF THE UTILITY MODEL
According to exist not enough among the above-mentioned prior art, the utility model provides a garbage pickup robot for scenic spot to improve present public place's sanitation, practice thrift the labour, let the scenic spot clean become more high-efficient low cost, combine the description attached drawing, the technical scheme of the utility model as follows:
preferably, the garbage picking robot for scenic spots comprises a walking device 1, a garbage collecting device 2, a six-degree-of-freedom mechanical arm 3, a grabber 4, a base 5, a controller and an environment sensor group; the six-degree-of-freedom mechanical arm 3 is arranged at the front end of the walking device 1 through a base 5, and the tail end of the six-degree-of-freedom mechanical arm 3 is connected with the grabber 4; the garbage collection device 2 is arranged at the rear end of the walking device 1 and collects target garbage picked up by the grabber 4; the environment sensor group and the controller are arranged on the base 5, the environment sensor group senses an external environment and transmits signals to the controller, and the controller receives the signals and controls the walking range of the walking device 1, the six-degree-of-freedom mechanical arm 3 and the grabber 4.
Preferably, the six-degree-of-freedom mechanical arm 3 comprises a first mechanical arm steering engine 31, a second mechanical arm steering engine 32, a third mechanical arm steering engine 33, a fourth mechanical arm steering engine 34, a fifth mechanical arm steering engine 35 and a sixth mechanical arm steering engine 36, adjacent mechanical arm steering engines are rotatably connected through a rotating joint, the first mechanical arm steering engine 31 is rotatably connected to the upper surface of the base 5, the third mechanical arm steering engine 33 and the fourth mechanical arm steering engine 34 can rotate in the vertical direction relative to the previous mechanical arm steering engine, the second mechanical arm steering engine 32 and the fifth mechanical arm steering engine 35 can rotate in the horizontal direction relative to the previous mechanical arm steering engine, and the sixth mechanical arm steering engine 36 is connected with the gripper 4.
Preferably, the rotary joint comprises a bolt, a flange shaft, a support and a steering engine, the first mechanical arm steering engine 31 is connected with the second mechanical arm 32 steering engine through the bolt and the flange shaft, the second mechanical arm steering engine 32 is connected with the third mechanical arm steering engine 33, the third mechanical arm 33 steering engine is connected with the fourth mechanical arm steering engine 34 through the bolt, the flange shaft and the support are connected, the fourth mechanical arm steering engine 34 is connected with the fifth mechanical arm steering engine 35 through the bolt, the fifth mechanical arm steering engine 35 is connected with the grabber 4 through the bolt and the flange shaft, the steering engine controls the rotation amplitude of the rotary joint, the sixth mechanical arm steering engine 36 is connected with the grabber 4 through the bolt, and the steering engine controls the opening and closing degree of the grabber 4.
Preferably, the controller comprises a micro control chip and a single chip microcomputer minimum system, the single chip microcomputer minimum system controls the six-freedom-degree mechanical arm 3 to move, and the micro control chip is connected with the single chip microcomputer minimum system and controls the grabber 4 to move.
Preferably, the garbage picking robot for scenic spots further comprises a Bluetooth chip, a long-distance communication chip, a handheld terminal and an upper computer, and the micro-control chip controls the Bluetooth chip and the long-distance communication chip to be in wireless communication with the handheld terminal and the upper computer respectively.
Preferably, the garbage picking robot for scenic spots further comprises an air cylinder arranged on the grabber, and the air cylinder is connected with the micro control chip and drives the grabber 4 to act.
Preferably, the garbage collection device 2 comprises a box body, a partition plate, an infrared sensor and a weight sensor, wherein the infrared sensor is positioned on one side of the inner wall of the box body and used for detecting whether the box body is full, the weight sensor is positioned at the bottom of the box body and used for detecting whether the weight of stored garbage is overweight, and the partition plate is arranged in the box body to distinguish the garbage; and the infrared sensor and the weight sensor controller are used for signal transmission.
Preferably, the environment sensor group comprises an ultrasonic ranging sensor and an infrared obstacle avoidance sensor, and the ultrasonic ranging sensor and the infrared obstacle avoidance sensor are connected with the micro control chip.
Preferably, the garbage picking robot for scenic spots further comprises at least two motors, a motor driving module and a PWM module, wherein the motors, the motor driving module and the PWM module are installed on the base 5, the PWM module is connected with the micro-control chip and the motor driving module, and the motor driving module drives the motors and controls the rotating speed and forward/backward rotation of the motors so as to control the walking device 1 to walk.
Preferably, the running gear 1 comprises a crawler track, which is of an endless structure.
Compared with the prior art, the utility model discloses a beneficial achievement lies in:
1. the utility model discloses a rubbish picks up robot for scenic spot adopts intelligent chip as main control unit, and cooperation environment sensor group initiative discernment surrounding environment plans the route of matching the environment to carry out unmanned operation.
2. The utility model discloses a rubbish pick up robot for scenic spot is equipped with bluetooth chip and long distance communication chip, and the operating condition to rubbish pick up robot in real time is monitored, looks over the electric quantity in service behavior in real time, still can carry out artificial intervention under emergency.
3. The utility model discloses a garbage collection robot for scenic spot is equipped with infrared sensor, can accurate discernment rubbish kind, is equipped with the baffle in the box and can separately deposit recoverable rubbish and other rubbish, accomplishes the classification of rubbish.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Other embodiments and many of the intended advantages of embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.
Fig. 1 is a schematic view of the overall structure of the garbage picking robot for scenic spots of the present invention;
FIG. 2 is a schematic structural diagram of a six-degree-of-freedom robot arm of the garbage collection robot for scenic spots according to the present invention;
FIG. 3 is a schematic diagram of the control logic of the six-degree-of-freedom robot arm of the garbage collection robot for scenic spots according to the present invention;
fig. 4 is a schematic view of the overall structure control of the garbage picking robot for scenic spots according to the present invention;
in the figure:
1-walking device, 2-garbage collecting device, 3-six-degree-of-freedom mechanical arm, 4-grabber and 5-base
31-a first mechanical arm steering engine, 32-a second mechanical arm steering engine, 33-a third mechanical arm steering engine, 34-a fourth mechanical arm steering engine, 35-a fifth mechanical arm steering engine and 36-a sixth mechanical arm steering engine
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the utility model provides a garbage picking robot for scenic spots, which comprises a walking device 1, a garbage collecting device 2, a six-degree-of-freedom mechanical arm 3, a grabber 4, a base 5, a controller and an environment sensor group; the six-degree-of-freedom mechanical arm 3 is arranged at the front end of the walking device 1, the six-degree-of-freedom mechanical arm 3 can swing back and forth above the walking device 1 along the vertical direction relative to the walking device 1 and swing left and right in the horizontal direction relative to the walking device 1, and the tail end of the six-degree-of-freedom mechanical arm 3 is connected with the grabber 4; the garbage collection device 2 is disposed at the rear end of the traveling device 1 and collects the target garbage picked up by the gripper 4.
The walking device 1 comprises a crawler belt, the crawler belt is of an annular structure, the crawler belt walking device has good climbing performance and steering performance in a wet and soft or uneven environment, the stable ground grabbing force is strong in the running process, the bearing force is large, and the rollover phenomenon is not easy to occur; the robot is not easy to slide down and slide down at overspeed when running on a slope, so that the safety is ensured, the traveling crowd is not injured, and the robot is more suitable for the walking work of a robot in public places such as scenic spots, parks, communities and the like.
As shown in fig. 2, the six-degree-of-freedom mechanical arm 3 includes a first mechanical arm steering engine 31, a second mechanical arm steering engine 32, a third mechanical arm steering engine 33, a fourth mechanical arm steering engine 34, a fifth mechanical arm steering engine 35 and a sixth mechanical arm steering engine 36, adjacent mechanical arm steering engines are rotatably connected through a rotary joint, the first mechanical arm 31 is rotatably connected on the upper surface of the base 5, the third mechanical arm steering engine 33 and the fourth mechanical arm steering engine 34 can rotate in the vertical direction relative to the previous mechanical arm steering engine, the second mechanical arm steering engine 32 and the fifth mechanical arm 35 can rotate in the horizontal direction relative to the previous mechanical arm steering engine, and the sixth mechanical arm steering engine 36 is connected with the gripper 4; compare with simple pickup apparatus, six degree of freedom arms 3 change in the control, snatch more steadily, accurate, and terminal load capacity is big, can pick up rubbish such as mineral water bottle, abandonment paper handkerchief, drive actuating cylinder and produce big thrust and big pulling force and satisfy the demand of picking up.
The rotary joint comprises a bolt, a flange shaft, a support and a steering engine, the first mechanical arm steering engine 31 is connected with the second mechanical arm 32 steering engine through the bolt and the flange shaft, the second mechanical arm steering engine 32 is connected with the third mechanical arm steering engine 33, the third mechanical arm 33 steering engine is connected with the fourth mechanical arm steering engine 34 through the bolt, the flange shaft and the support, the fourth mechanical arm steering engine 34 is connected with the fifth mechanical arm steering engine 35 through the bolt, the fifth mechanical arm steering engine 35 is connected with the grabber 4 through the bolt and the flange shaft, and the steering engine controls the rotation amplitude of the rotary joint; the sixth mechanical arm steering gear 36 is connected with the grabber 4 through bolts, and the steering gear controls the opening and closing degree of the grabber 4.
As shown in fig. 3, the adopted minimum system of the single-chip microcomputer comprises an STC51 single-chip microcomputer, an STM32 single-chip microcomputer and an MSP430 single-chip microcomputer, bidirectional transmission of control signals and end signals is carried out between serial ports of the single-chip microcomputers, and the six-degree-of-freedom mechanical arm 3 and the grabber 4 grab target garbage and place the target garbage in the collection device 2 by adjusting the six steering engines PWM.
As shown in fig. 4, the controller comprises a micro-control chip and a single-chip microcomputer minimum system, and the single-chip microcomputer minimum system controls the six-degree-of-freedom mechanical arm 3 to act by controlling the steering engine; the micro-control chip is connected with the Bluetooth chip, the long-distance communication chip, the environment sensor group, the infrared sensor, the weight sensor and the motor driving module; the infrared sensor is positioned on one side of the inner wall of the box body in the collecting device 2 and used for detecting whether the garbage in the box body is full or not, when the stored garbage reaches 80% of the box body, the distance detected by the infrared sensor changes, a signal is sent to the upper computer, and the garbage in the box body is requested to be processed in time; the weight sensor is positioned at the bottom of the box body in the garbage collection device 2 and is used for detecting whether the weight of the garbage stored in the box body is overweight or not, and a partition plate is arranged in the box body and is used for distinguishing the types of the garbage; the Bluetooth chip, the long-distance communication chip, the environment sensor group and the motor driving module are arranged on the base 5, the Bluetooth chip and the long-distance communication chip are communicated with the handheld terminal and the upper computer, and the handheld terminal can send a control signal to the minimum system of the single chip microcomputer within a certain distance so as to control the movement of the six-degree-of-freedom mechanical arm 3 and the walking device 1; the environment sensor group comprises an ultrasonic ranging sensor and an infrared obstacle avoidance sensor, returns environmental information to the micro-control chip for real-time processing, makes specific response, can realize ultra-close emergency stop operation when encountering obstacles, can also effectively reduce the frequency of shuttling the picking robot to greenbelts and lawns, and reduces the damage to garden greening to the maximum extent.
The garbage picking robot for scenic spots further comprises at least two direct current motors and PWM modules which are arranged on the base, the PWM modules are connected with the micro-control chip and the motor driving module, and the motor driving module drives the motor and controls the rotating speed and the forward/reverse rotation of the motor so as to control the walking device 1 to walk; when the walking device 1 receives different instructions, the original state can be kept to continue moving due to inertia, the direct current motor can provide enough torque for the trolley to prevent inertial movement, and the walking device is small in working noise and stable in performance.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the above-described embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details in the embodiments do not constitute the limitations of the scope of the present invention, and any obvious changes such as equivalent transformation, simple replacement, etc. based on the technical solution of the present invention all fall within the protection scope of the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. A garbage picking robot for scenic spots is characterized by comprising a controller, a walking device, a base, a six-degree-of-freedom mechanical arm, a grabber, a garbage collecting device and an environment sensor group, wherein the six-degree-of-freedom mechanical arm is mounted at the front end of the walking device through the base, and the tail end of the six-degree-of-freedom mechanical arm is connected with the grabber; the garbage collection device is arranged at the rear end of the walking device and collects the target garbage picked up by the grabber; the environment sensor group and the controller are arranged on the base, the environment sensor group senses an external environment and transmits signals to the controller, and the controller receives the signals and controls the walking range of the walking device, the six-degree-of-freedom mechanical arm and the grabber.
2. A garbage collection robot for scenic spots according to claim 1, wherein: the six-degree-of-freedom mechanical arm comprises a first mechanical arm steering engine, a second mechanical arm steering engine, a third mechanical arm steering engine, a fourth mechanical arm steering engine, a fifth mechanical arm steering engine and a sixth mechanical arm steering engine, adjacent mechanical arm steering engines are rotatably connected through rotary joints, the first mechanical arm steering engine is rotatable to be connected with the upper surface of the base, the third mechanical arm steering engine and the fourth mechanical arm steering engine can rotate in the vertical direction relative to the previous mechanical arm steering engine, the second mechanical arm steering engine and the fifth mechanical arm steering engine can rotate in the horizontal direction relative to the previous mechanical arm steering engine, and the tail end of the sixth mechanical arm steering engine is connected with the grabber and used for controlling the movement of the grabber.
3. A garbage collection robot for scenic spots according to claim 2, wherein: the rotary joint comprises bolts, flange shafts, supports and steering gears, a first mechanical arm steering gear is connected with a second mechanical arm steering gear through the bolts and the flange shafts, the second mechanical arm steering gear is connected with a third mechanical arm steering gear, the third mechanical arm steering gear is connected with a fourth mechanical arm steering gear through the bolts, the flange shafts and the supports, the fourth mechanical arm steering gear is connected with a fifth mechanical arm steering gear through the bolts, the fifth mechanical arm steering gear is connected with the grabber through the bolts and the flange shafts, the grabber is connected with a sixth mechanical arm steering gear through the bolts, and the steering gears control the rotation amplitude of the rotary joint.
4. A garbage collection robot for scenic spots according to claim 1, wherein: the controller comprises a micro-control chip and a single chip microcomputer minimum system, the single chip microcomputer minimum system controls the six-degree-of-freedom mechanical arm to move, and the micro-control chip is connected with the single chip microcomputer minimum system and controls the grabber to move.
5. A garbage collection robot for scenic spots according to claim 4, wherein: the remote control system is characterized by further comprising a Bluetooth chip, a long-distance communication chip, a handheld terminal and an upper computer, wherein the micro-control chip controls the Bluetooth chip and the long-distance communication chip and the handheld terminal and the upper computer to carry out wireless communication respectively.
6. A garbage collection robot for scenic spots according to claim 4, wherein: the micro-control chip is connected with the cylinder, and the cylinder is arranged on the grabber and connected with the micro-control chip and drives the grabber to act.
7. A garbage collection robot for scenic spots according to claim 1, wherein: the garbage collection device comprises a box body, a partition plate, an infrared sensor and a weight sensor, wherein the infrared sensor is positioned on one side of the inner wall of the box body and used for detecting whether the box body is full, the weight sensor is positioned at the bottom of the box body and used for detecting whether the weight of stored garbage is overweight, and the partition plate is arranged in the box body to distinguish the garbage; the infrared sensor and the weight sensor are in signal transmission with the controller.
8. A garbage collection robot for scenic spots according to claim 4, wherein: the environment sensor group comprises an ultrasonic ranging sensor and an infrared obstacle avoidance sensor, and the ultrasonic ranging sensor and the infrared obstacle avoidance sensor are connected with the micro-control chip.
9. A garbage collection robot for scenic spots according to claim 4, wherein: the intelligent walking device is characterized by further comprising at least two motors, a motor driving module and a PWM module, wherein the motors, the motor driving module and the PWM module are installed on the base, the PWM module is connected with the micro-control chip and the motor driving module, and the motor driving module drives the motors and controls the rotating speed and the forward/reverse rotation of the motors so as to control the walking device to walk.
10. A garbage collection robot for scenic spots according to claim 1, wherein: the walking device comprises a crawler belt, and the crawler belt is of an annular structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022278554.1U CN214187163U (en) | 2020-10-14 | 2020-10-14 | A rubbish picks up robot for scenic spot |
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| CN202022278554.1U CN214187163U (en) | 2020-10-14 | 2020-10-14 | A rubbish picks up robot for scenic spot |
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| CN214187163U true CN214187163U (en) | 2021-09-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310959A (en) * | 2022-01-10 | 2022-04-12 | 南通大学 | Amphibious garbage cleaning robot |
| CN115781712A (en) * | 2022-12-06 | 2023-03-14 | 安徽科技学院 | Intelligent environment cleaning robot for tourist scenic spot |
-
2020
- 2020-10-14 CN CN202022278554.1U patent/CN214187163U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310959A (en) * | 2022-01-10 | 2022-04-12 | 南通大学 | Amphibious garbage cleaning robot |
| CN114310959B (en) * | 2022-01-10 | 2024-09-20 | 南通大学 | Amphibious garbage cleaning robot |
| CN115781712A (en) * | 2022-12-06 | 2023-03-14 | 安徽科技学院 | Intelligent environment cleaning robot for tourist scenic spot |
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