CN214691499U - Vehicle-mounted garbage collection and loading manipulator - Google Patents
Vehicle-mounted garbage collection and loading manipulator Download PDFInfo
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- CN214691499U CN214691499U CN202120650793.7U CN202120650793U CN214691499U CN 214691499 U CN214691499 U CN 214691499U CN 202120650793 U CN202120650793 U CN 202120650793U CN 214691499 U CN214691499 U CN 214691499U
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Abstract
The utility model discloses an on-vehicle garbage collection carloader manipulator, including flexible subassembly, empty the subassembly, snatch the subassembly, well accuse subassembly, hydraulic system, its characterized in that: the flexible subassembly is including installation base, telescopic bracket and flexible drive pneumatic cylinder, empty the subassembly including the drive steering wheel, empty the actuating arm and empty the connecting rod, it includes the subassembly support of snatching, snatchs drive assembly and snatchs and embraces the claw to snatch the subassembly, well accuse subassembly is including well accuse computer and information acquisition subassembly, hydraulic system includes hydraulic pump group, electromagnetism switching-over valves and oil circuit pipeline. The utility model relates to a manipulator equipment field, specifically say, relate to an on-vehicle garbage collection loading manipulator. The utility model discloses conveniently liberate personnel from numerous and diverse abominable operational environment, the staff need not get off, only need be in the driver's cabin of car through simple button operation, and this manipulator just can the automatic recognition domestic waste bucket the position and realize that automatic domestic waste with in the garbage bin emptys into the carriage and puts back the normal position with empty garbage bin.
Description
Technical Field
The utility model relates to a manipulator equipment field, specifically say, relate to an on-vehicle garbage collection loading manipulator.
Background
With the rapid advance of Chinese economy, the national standard of living is continuously improved, more and more domestic garbage is generated, and in the past, sanitation workers manually pack and transport a pile of domestic garbage, but the working mode needs the workers to contact the domestic garbage and has huge labor amount. Bacteria mixed in the household garbage and emitted foul smell are important factors influencing the health of sanitation workers, and the severe working environment makes more people unwilling to do the work. However, the demand for the living environment is higher and higher, the contradiction between the increase of the domestic garbage and the demand for the living environment is more and more prominent, and therefore more sanitation workers are needed to carry out the work.
In order to solve the above contradiction, people begin to consider replacing manual work by mechanical operation, although the existing garbage loading and clearing mechanism can effectively reduce manual work, the working mode of the existing garbage loading and clearing mechanism is semi-automatic operation, sanitation workers still need to drag the garbage can filled with the household garbage to the specified position of the garbage clearing and transporting machine, and then the loading and clearing of the household garbage are completed by steps of manually operating a mechanical button and the like. This does not relieve the sanitation worker from the heavy work. This is a disadvantage of the prior art.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a vehicle-mounted garbage collection loading manipulator, conveniently liberate personnel from numerous and diverse abominable operational environment, the staff need not get off, only need be in the driver's cabin of car through simple button operation, and this manipulator just can automatic identification domestic waste bucket the position and realize that automatic dumping the domestic waste in the garbage bin goes into the carriage and puts back the normal position with empty garbage bin.
The utility model discloses a following technical scheme realizes the utility model purpose:
the utility model provides a vehicle-mounted garbage collection loading manipulator, includes flexible subassembly, emptys the subassembly, snatchs subassembly, well accuse subassembly, hydraulic system, its characterized in that: the flexible subassembly is including installation base, telescopic bracket and flexible drive pneumatic cylinder, empty the subassembly including the drive steering wheel, empty the actuating arm and empty the connecting rod, it includes the subassembly support of snatching, snatchs drive assembly and snatchs and embraces the claw to snatch the subassembly, well accuse subassembly is including well accuse computer and information acquisition subassembly, hydraulic system includes hydraulic pump group, electromagnetism switching-over valves and oil circuit pipeline.
As a further limitation of the technical scheme, the installation base is of a structure in a shape like a Chinese character 'ji', the installation base is fixedly connected with the vehicle body frame through bolts, one end of the telescopic driving hydraulic cylinder is fixedly connected with the installation base through a special installation seat, the other end of the telescopic driving hydraulic cylinder is fixedly connected with the telescopic support through another special installation seat, and the telescopic support is connected with the installation base through a square rail sliding block mechanism.
As a further limitation of the technical scheme, the square rail sliding block mechanism comprises a square linear guide rail and a ball sliding block, the square linear guide rail is fixedly connected with the mounting base through a bolt, the ball sliding block is fixedly connected with the telescopic bracket through a bolt, and the ball sliding block is matched with the square linear guide rail.
As a further limitation of the technical scheme, the driving steering engine is fixedly connected with the telescopic support through bolts, two output shafts are respectively arranged on two sides of the driving steering engine and are respectively fixedly connected with the dumping driving arms through bolts, the tail ends of the dumping driving arms are hinged with the grabbing component support, two sides of the dumping driving arms are respectively provided with one dumping connecting rod, one ends of the dumping connecting rods are respectively hinged with the telescopic support, and the other ends of the dumping connecting rods are respectively hinged with the grabbing component support.
As a further limitation of the technical scheme, the telescopic support, the dumping driving arm, the dumping connecting rod and the grabbing component support form a double-rocker mechanism, the dumping driving arm is an active rocker, and the dumping driving arm is driven to rotate by the rotation of the driving steering engine so as to control the position angle of the grabbing component.
As a further limitation of the technical scheme, the grabbing drive assembly and the grabbing holding claws are arranged in the grabbing assembly support, the grabbing drive assembly comprises a grabbing drive hydraulic cylinder, a grabbing drive top plate, a top plate sliding guide rail and a grabbing connecting rod, one end of the grabbing drive hydraulic cylinder is hinged to the grabbing assembly support, the other end of the grabbing drive hydraulic cylinder is connected with the grabbing drive top plate through a bearing, the grabbing drive top plate is arranged on the top plate sliding guide rail, the grabbing drive top plate is hinged to one end of the grabbing connecting rod in symmetry, the other end of the grabbing connecting rod in symmetry is respectively hinged to the corresponding grabbing holding claws, the grabbing holding claws in symmetry are oppositely arranged left and right, and the grabbing holding claws in symmetry are respectively hinged to the grabbing assembly support through pin shafts.
As a further limitation of the technical scheme, the central control assembly is provided with a central control computer and an information acquisition assembly, the information acquisition assembly comprises a visual sensor arranged on the grabbing assembly support and a pressure sensor arranged on the grabbing holding claw, the visual sensor is used for acquiring the state and distance information of a target object and transmitting the information to the central control computer, the pressure sensor acquires the grabbing force of the grabbing holding claw on the target object and transmits the information to the central control computer, and the central control computer comprehensively processes the information transmitted by the information acquisition assembly and then transmits an operation command to the driving steering engine and the electromagnetic directional valve set according to a set program.
As a further limitation of the technical scheme, the hydraulic system is provided with a hydraulic pump set, an electromagnetic directional valve set and an oil line pipeline, the hydraulic pump set provides stable hydraulic oil for the telescopic driving hydraulic cylinder and the grabbing driving hydraulic cylinder and transmits the stable hydraulic oil through the oil line pipeline, and the electromagnetic directional valve set receives an operation command of the central control computer to control the telescopic driving hydraulic cylinder and the grabbing driving hydraulic cylinder to act.
As a further limitation of the technical scheme, the driving steering engine, the information acquisition assembly and the electromagnetic directional valve set are respectively and electrically connected with the central control computer, the central control computer is wirelessly connected with a human-computer interaction interface, and the telescopic driving hydraulic cylinder and the grabbing driving hydraulic cylinder are respectively and electrically connected with the electromagnetic directional valve set.
Compared with the prior art, the utility model discloses an advantage is with positive effect:
1. the mounting bracket of the device is of a structure shaped like a Chinese character 'ji', is fixed on the frame of the vehicle body through bolts, is simple in structure and firm in mounting, can adjust the length of the mounting base according to the width of the vehicle frame, and is good in universality.
2. The utility model discloses an overall structure combines the structural feature of vehicle, and the space that occupies the vehicle is few.
3. The dumping action of the device is driven by a dumping driving steering engine, the action is reliable and stable, the reaction is rapid, and corresponding reaction action can be timely made when an emergency occurs.
4. The subassembly is emptyd to this device adopts telescopic bracket, emptys the actuating arm, emptys the connecting rod, snatchs the subassembly support and constitutes two rocker mechanism jointly, stable in structure, the cost of manufacture is low, and the operation is reliable.
5. The information acquisition assembly of the device adopts the corresponding sensor to acquire information, thereby reducing the uncertainty caused by human factors and improving the stability of equipment operation.
6. The whole equipment operation process of this device only needs the staff to operate through man-machine interface in by the auttombilism room, and can key operation, releases the workman from heavy work, improves work efficiency.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a perspective view of the telescopic assembly of the present invention.
Fig. 3 is a perspective view of the dumping assembly of the present invention.
Fig. 4 is a perspective view of the grabbing assembly of the present invention.
Fig. 5 is a schematic diagram of a frame structure of a central control assembly and components connected and controlled by the central control assembly according to the present invention.
With the attached abstract figures for illustration
In the figure: 1. the flexible subassembly, 2, empty the subassembly, 3, snatch the subassembly, 4, the installing support, 5, the telescopic bracket, 6, flexible drive pneumatic cylinder, 7, the mount pad, 8, the ball slider, 9, square linear guide, 10, the drive steering wheel, 11, empty the actuating arm, 12, empty the connecting rod, 13, snatch the subassembly support, 14, snatch the drive assembly, 15, snatch and embrace the claw, 16, the well accuse computer, 17, the information acquisition subassembly, 18, the hydraulic pump group, 19, the electromagnetic reversing valve group, 20, snatch drive pneumatic cylinder, 21, snatch the drive roof, 22, roof sliding guide, 23, snatch the connecting rod, 24, round pin axle.
Detailed Description
In the following, an embodiment of the present invention will be described in detail with reference to the drawings, but it should be understood that the scope of the present invention is not limited by the embodiment.
As shown in fig. 1-5, the utility model discloses a flexible subassembly 1, empty subassembly 2, snatch subassembly 3, well accuse subassembly, hydraulic system, flexible subassembly 1 is including installation base 4, telescopic bracket 5 and flexible drive hydraulic cylinder 6, empty subassembly 2 including drive steering wheel 10, empty actuating arm 11 and empty connecting rod 12, it includes subassembly support 13, snatchs actuating assembly 14 and snatchs embraces claw 15 to snatch subassembly 3, well accuse subassembly includes well accuse computer 16 and information acquisition subassembly 17, hydraulic system includes hydraulic pump unit 18, electromagnetic directional valve group 19 and oil circuit pipeline.
Installation base 4 is nearly style of calligraphy structure, installation base 4 passes through bolt fixed connection automobile body frame, 6 one ends of flexible drive pneumatic cylinder are through 7 fixed connection of a special mount pad installation base 4, the 6 other ends of flexible drive pneumatic cylinder are through another 7 fixed connection of special mount pad telescopic bracket 5, telescopic bracket 5 connects through square rail slider mechanism installation base 4.
The square rail sliding block mechanism comprises a square linear guide rail 9 and a ball sliding block 8, the square linear guide rail 9 is fixedly connected with the installation base 4 through a bolt, the ball sliding block 8 is fixedly connected with the telescopic bracket 5 through a bolt, and the ball sliding block 8 is matched with the square linear guide rail 9.
The driving steering engine 10 is fixedly connected with the telescopic support 5 through bolts, two output shafts are respectively arranged on two sides of the driving steering engine 10 and are respectively fixedly connected with the dumping driving arms 11 through bolts, the tail ends of the dumping driving arms 11 are hinged with the grabbing component support 13, two sides of the dumping driving arms 11 are respectively provided with one dumping connecting rod 12, two ends of the dumping connecting rods 12 are respectively hinged with the telescopic support 5, and the other ends of the dumping connecting rods 12 are respectively hinged with the grabbing component support 13.
The telescopic support 5, the dumping driving arm 11, the dumping connecting rod 12 and the grabbing component support 13 form a double-rocker mechanism, the dumping driving arm 11 is a driving rocker, and the dumping driving arm 11 is driven to rotate by the rotation of the driving steering engine 10 so as to control the position angle of the grabbing component 3.
The grabbing component support 13 is internally provided with the grabbing drive component 14 and the grabbing claws 15, the grabbing drive component 14 comprises a grabbing drive hydraulic cylinder 20, a grabbing drive top plate 21, a top plate sliding guide rail 22 and a grabbing connecting rod 23, one end of the grabbing drive hydraulic cylinder 20 is hinged to the grabbing component support 13, the other end of the grabbing drive hydraulic cylinder 20 is connected with the grabbing drive top plate 21 through a bearing, the grabbing drive top plate 21 is arranged on the top plate sliding guide rail 22, the grabbing drive top plate 21 is hinged to one end of the grabbing connecting rod 23 symmetrically, the other end of the grabbing connecting rod 23 symmetrically is hinged to the corresponding grabbing claws 15, the grabbing claws 15 symmetrically are arranged oppositely left and right, and the grabbing claws 15 symmetrically are hinged to the grabbing component support 13 through pin shafts 24 respectively.
The central control component is provided with a central control computer 16 and an information acquisition component 17, the information acquisition component 17 comprises a visual sensor arranged on the grabbing component support 13 and a pressure sensor arranged on the grabbing holding claw 15, the visual sensor is used for acquiring the state and distance information of a target object and transmitting the information to the central control computer 16, the pressure sensor acquires the grabbing force of the grabbing holding claw 15 on the target object and transmits the information to the central control computer 16, and the central control computer 16 comprehensively processes the information transmitted by the information acquisition component 17 and then transmits an operation command to the driving steering engine 10 and the electromagnetic reversing valve group 19 according to a set program.
The hydraulic system is provided with a hydraulic pump set 18, an electromagnetic reversing valve set 19 and an oil line pipeline, the hydraulic pump set 18 provides stable hydraulic oil for the telescopic driving hydraulic cylinder 6 and the grabbing driving hydraulic cylinder 20 and transmits the stable hydraulic oil through the oil line pipeline, and the electromagnetic reversing valve set 19 receives an operation command of the central control computer 16 to control the telescopic driving hydraulic cylinder 6 and the grabbing driving hydraulic cylinder 20 to act.
The driving steering engine 10, the information acquisition assembly 17 and the electromagnetic directional valve set 19 are respectively and electrically connected with the central control computer 16, the central control computer 16 is wirelessly connected with a human-computer interaction interface, and the telescopic driving hydraulic cylinder 6 and the grabbing driving hydraulic cylinder 20 are respectively and electrically connected with the electromagnetic directional valve set 19.
The ball sliding block 8 ensures that the relative motion between the telescopic bracket 5 and the mounting base 4 is directional linear motion by sliding on the linear square rail 9.
The driving steering engine 10 is a double-output middle steering engine.
The utility model discloses a work flow does: the device is fixed on the garbage removal vehicle, and the device is moved to a proper position by operating the garbage removal vehicle.
On a man-machine interaction interface, a central control computer 16 is operated, the central control computer 16 controls a driving steering engine 10, an information acquisition component 17 and an electromagnetic directional valve set 19 through information such as the state and the distance of a target object acquired by a vision sensor and the grabbing force of a grabbing claw to the target object acquired by a pressure sensor, and the electromagnetic directional valve set 19 controls a telescopic driving hydraulic cylinder 6 and a grabbing driving hydraulic cylinder 20 to move.
The flexible actuating cylinder 6 of flexible drive of electromagnetism switching-over valves 19 earlier control drives telescopic bracket 5 motion through flexible action, and ball slider 8 guarantees through sliding on square linear guide 9 that the relative motion between telescopic bracket 5 and the installation base 4 is directional linear motion, and telescopic bracket 5 drives and emptys subassembly 2 and snatchs the subassembly 3 and remove, and it is suitable to make to snatch subassembly 3 relative dustbin position, and the dustbin is in two and snatchs and embraces claw 15 intermediate positions promptly, and flexible actuating cylinder 6 is closed to electromagnetism switching-over valves 19. The electromagnetic directional valve group 19 controls the grabbing driving hydraulic cylinder 20 to move, the grabbing driving hydraulic cylinder 20 drives the grabbing driving top plate 21 to slide along the top plate sliding guide rail 22, the grabbing driving top plate 21 drives the grabbing connecting rod 23 to swing, and the grabbing connecting rod 23 drives the grabbing holding claw 15 to rotate around the pin shaft 24 to grab the target object.
The central control computer 16 controls the driving steering engine 10 to rotate, the driving steering engine 10 drives the dumping driving arm 11 to rotate around a rotating shaft of the driving steering engine 10, the dumping driving arm 11 drives the grabbing component support 13 to swing, the grabbing component support 13 drives the dumping connecting rod 12 to swing, swing of the grabbing component 3 is controlled, the grabbing claw 15 of the grabbing component 3 drives the garbage can to swing, and garbage in the garbage can is dumped in the garbage cleaning and transporting vehicle.
The above disclosure is only for the specific embodiments of the present invention, however, the present invention is not limited thereto, and any changes that can be considered by those skilled in the art should fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a vehicle-mounted garbage collection loading manipulator, includes flexible subassembly (1), emptys subassembly (2), snatchs subassembly (3), well accuse subassembly, hydraulic system, its characterized in that:
the telescopic assembly (1) comprises a mounting base (4), a telescopic bracket (5) and a telescopic driving hydraulic cylinder (6);
the dumping component (2) comprises a driving steering engine (10), a dumping driving arm (11) and a dumping connecting rod (12);
the grabbing component (3) comprises a grabbing component bracket (13), a grabbing driving component (14) and a grabbing claw (15);
the central control component comprises a central control computer (16) and an information acquisition component (17);
the hydraulic system comprises a hydraulic pump set (18), an electromagnetic reversing valve set (19) and an oil way pipeline.
2. The vehicle-mounted garbage collection loading manipulator of claim 1, wherein: installation base (4) are several style of calligraphy structures, installation base (4) are through bolt fixed connection automobile body frame, flexible drive pneumatic cylinder (6) one end is through a special mount pad (7) fixed connection installation base (4), flexible drive pneumatic cylinder (6) other end is through another special mount pad (7) fixed connection telescopic bracket (5), telescopic bracket (5) are connected through square rail slider mechanism installation base (4).
3. The vehicle-mounted garbage collection and loading manipulator of claim 2, wherein: the square rail sliding block mechanism comprises a square linear guide rail (9) and a ball sliding block (8), the square linear guide rail (9) is fixedly connected with the installation base (4) through a bolt, the ball sliding block (8) is fixedly connected with the telescopic bracket (5) through a bolt, and the ball sliding block (8) is matched with the square linear guide rail (9).
4. The vehicle-mounted garbage collection and loading manipulator of claim 2, wherein: the driving steering engine (10) is fixedly connected with the telescopic support (5) through bolts, two output shafts are arranged on two sides of the driving steering engine (10) respectively and fixedly connected with the dumping driving arms (11) through bolts, the tail ends of the dumping driving arms (11) are hinged to the grabbing component support (13), two sides of the dumping driving arms (11) are provided with one dumping connecting rod (12) respectively, two ends of the dumping connecting rod (12) are hinged to the telescopic support (5) respectively, and two ends of the dumping connecting rod (12) are hinged to the grabbing component support (13) respectively.
5. The vehicle-mounted garbage collection and loading manipulator of claim 4, wherein: the double-rocker grabbing mechanism is characterized in that the telescopic support (5), the dumping driving arm (11), the dumping connecting rod (12) and the grabbing component support (13) form a double-rocker mechanism, the dumping driving arm (11) is an active rocker, and the dumping driving arm (11) is driven to rotate through rotation of the driving steering engine (10) so as to control the position angle of the grabbing component (3).
6. The vehicle-mounted garbage collection and loading manipulator of claim 4, wherein: the grabbing component support (13) is internally provided with the grabbing driving component (14) and the grabbing claws (15), the grabbing driving component (14) comprises a grabbing driving hydraulic cylinder (20), a grabbing driving top plate (21), a top plate sliding guide rail (22) and a grabbing connecting rod (23), one end of the grabbing driving hydraulic cylinder (20) is hinged with the grabbing component support (13), the other end of the grabbing driving hydraulic cylinder (20) is in bearing connection with the grabbing driving top plate (21), the grabbing driving top plate (21) is arranged on the top plate sliding guide rail (22), the grabbing driving top plate (21) is hinged with one ends of the grabbing connecting rods (23) which are symmetrical, the other ends of the grabbing connecting rods (23) which are symmetrical are respectively hinged with the corresponding grabbing claws (15), and the grabbing claws (15) which are symmetrical are arranged oppositely left and right, the symmetrical grabbing claws (15) are hinged to the grabbing component support (13) through pin shafts (24).
7. The vehicle-mounted garbage collection and loading manipulator of claim 6, wherein: the central control component is provided with a central control computer (16) and an information acquisition component (17), the information acquisition component (17) comprises a visual sensor arranged on the grabbing component support (13) and a pressure sensor arranged on the grabbing holding claw (15), the visual sensor is used for acquiring state and distance information of a target object and transmitting the information to the central control computer (16), the pressure sensor acquires grabbing force of the grabbing holding claw (15) on the target object and transmits the information to the central control computer (16), and the central control computer (16) comprehensively processes the information transmitted by the information acquisition component (17) and then transmits an operation command to the driving steering engine (10) and the electromagnetic reversing valve group (19) according to a set program.
8. The vehicle-mounted garbage collection and loading manipulator of claim 7, wherein: the hydraulic system is provided with a hydraulic pump set (18), an electromagnetic directional valve set (19) and an oil line pipeline, the hydraulic pump set (18) provides stable hydraulic oil for the telescopic driving hydraulic cylinder (6) and the grabbing driving hydraulic cylinder (20) and transmits the stable hydraulic oil through the oil line pipeline, and the electromagnetic directional valve set (19) receives an operation command of the central control computer (16) to control the telescopic driving hydraulic cylinder (6) and the grabbing driving hydraulic cylinder (20) to act.
9. The vehicle-mounted garbage collection and loading manipulator of claim 7, wherein: the driving steering engine (10), the information acquisition assembly (17) and the electromagnetic directional valve set (19) are respectively and electrically connected with the central control computer (16), the central control computer (16) is in wireless connection with a man-machine interaction interface, and the telescopic driving hydraulic cylinder (6) and the grabbing driving hydraulic cylinder (20) are respectively and electrically connected with the electromagnetic directional valve set (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120650793.7U CN214691499U (en) | 2021-03-31 | 2021-03-31 | Vehicle-mounted garbage collection and loading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120650793.7U CN214691499U (en) | 2021-03-31 | 2021-03-31 | Vehicle-mounted garbage collection and loading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214691499U true CN214691499U (en) | 2021-11-12 |
Family
ID=78527949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120650793.7U Expired - Fee Related CN214691499U (en) | 2021-03-31 | 2021-03-31 | Vehicle-mounted garbage collection and loading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214691499U (en) |
-
2021
- 2021-03-31 CN CN202120650793.7U patent/CN214691499U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211112 |
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| CF01 | Termination of patent right due to non-payment of annual fee |