CN215593070U - Large-scale kitchen garbage disposal robot - Google Patents
Large-scale kitchen garbage disposal robot Download PDFInfo
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- CN215593070U CN215593070U CN202122107420.8U CN202122107420U CN215593070U CN 215593070 U CN215593070 U CN 215593070U CN 202122107420 U CN202122107420 U CN 202122107420U CN 215593070 U CN215593070 U CN 215593070U
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Abstract
The utility model discloses a large kitchen waste treatment robot which comprises a stirring robot body, a material removing robot body and a robot walking operation track, wherein the robot walking operation track is divided into a left track and a right track, the stirring robot body and the material removing robot body are arranged above the robot walking operation track in a configuration mode, the two robots share one track, a stirring robot zero position detection element is arranged at the foremost end of the left track of the robot walking operation track, a stirring robot limit detection element is arranged at the rear end 1/6 of the left track, a material removing robot zero position detection element is arranged at the rearmost end of the left track, and a material removing robot limit detection element is arranged at the front end 1/6 of the left track. The utility model realizes the purposes of harmlessness, reduction and reclamation of kitchen garbage.
Description
Technical Field
The utility model belongs to the technical field of kitchen waste treatment, and particularly relates to a large kitchen waste treatment robot.
Background
At present, most kitchen wastes in China are treated by incineration, landfill, anaerobic fermentation, aerobic composting and feed conversion. However, these treatment methods have not been able to achieve the harmlessness, reduction and recycling of organic wastes.
And (3) landfill treatment: 1. occupies a large amount of land, has limited treatment capacity, still needs to build a landfill after the service period expires, and further occupies land resources. 2. The garbage leachate pollutes underground water and soil, and the generated ozone seriously influences the air quality to form irreversible secondary pollution. 3. The garbage is not recycled.
Incineration treatment: 1. the waste incineration has certain requirements on the heat value of the waste. 2. The organic garbage has high water content and low heat value, greatly increases the consumption of burning fuel and increases the treatment cost. 3. The refuse transported to the incineration plant is stored in the storage pit, which increases the amount of leaching water in the pit. 4. Large one-time investment, high operation cost, higher management level and higher equipment maintenance requirement.
Anaerobic fermentation treatment: 1. large engineering investment and large occupied area. 2. A large amount of biogas slurry is generated, and the treatment difficulty is high. 3. The degree of harmlessness and reduction is not high.
Aerobic composting treatment: 1. long treatment period and large occupied area. 2. The treatment process is not closed, odor is generated, and secondary pollution is caused. 3. The pollution to harmful organic matters, heavy metals and the like cannot be solved well, and the harmlessness is not thorough. 4. The grease and salt in the organic garbage can not be degraded, and the salinization of the soil can be aggravated after long-term use. 5. The quality of the organic fertilizer is restricted by the components of the organic garbage, and the market is not smooth.
And (3) feed treatment: 1. the feed quality is affected by the fluctuation of the ingredients of the incoming feed and is unstable. 2. The existing time of the organic garbage is required. 3. The product enters the food chain again, and potential food safety hazards exist. 4. The scale of the treatment is not large. 5. The treatment process is semi-closed, and secondary pollution is easily caused.
SUMMERY OF THE UTILITY MODEL
In order to overcome the technical problems, the utility model aims to provide a large kitchen waste treatment robot which can achieve the purpose of controlling the walking speed and the uniform fermentation of the stirring speed in real time according to the actual material uniformity, avoid material hardening and insufficient fermentation caused by various reasons, realize automatic stirring and material removal of equipment under the unattended working condition, effectively treat the treated kitchen waste, form a reusable organic fertilizer for production and use of the planting industry, and realize the purposes of harmlessness, reduction and recycling of the kitchen waste.
In order to achieve the purpose, the utility model adopts the technical scheme that:
the utility model provides a large-scale kitchen remains refuse treatment robot, includes that stirring robot body 1, remove material robot body 2 and robot walking orbit 3, robot walking orbit 3 divide into about two tracks, and stirring robot body 1 and the configuration of removing material robot body 2 are installed in robot walking orbit 3 top, a track of two robot sharings, robot walking orbit 3 left side track foremost disposes stirring robot zero-bit detecting element 4, and left side track rear end 1/6 department disposes stirring robot limit detecting element 5, and left side track rearmost end configuration removes material robot zero-bit detecting element 6, and left side track front end 1/6 department disposes and removes material robot limit detecting element 7.
The stirring robot body 1 is of a regular triangular prism structure, the apex angle is downward, the bottom surface is upward, the stirring robot is placed upside down, the rear end of the rightmost side of the top surface of the stirring robot body 1 is provided with a stirring robot walking motor 8, the rear end of the stirring robot walking motor 8 is provided with a stirring robot walking encoder 9, the front end of the stirring robot walking encoder is connected with a stirring robot walking mechanism 10, the stirring robot walking mechanism 10 is connected with two stirring robot walking driving wheels 11 positioned at the two sides of the rear end of the stirring robot body 1 through a chain wheel, meanwhile, two stirring robot walking driven wheels 12 are arranged on two sides of the front end of the stirring robot body 1, stirring robot stirring roller motor 13 is disposed at the rightmost middle position of stirring robot body 1, stirring robot stirring roller encoder 14 is disposed at the rear end of stirring robot stirring roller motor 13, and stirring robot stirring roller motor 13 is connected to stirring robot stirring roller 15 located at the top angle position below stirring robot body 1 through a chain.
Remove material robot body 2 and for regular triangular prism structure when withdrawing totally in place, the apex angle is downward, and the bottom surface is upwards, and the handstand is placed, remove material robot walking motor 16 of the most right side front position configuration of material robot body 2 top surface, remove material robot walking motor 16 rear end configuration and remove material robot walking encoder 17, material robot running gear 18 is connected to the front end, remove material robot running gear 18 and connect two removal material robot walking action wheels 19 that are located the both sides of removing material robot body 2 front end through the sprocket, remove material robot body 2 rear end both sides configuration simultaneously and remove material robot walking from driving wheel 20, remove material robot and remove material roller motor 21 of the most right side middle position configuration of material robot body 2, remove material robot and remove material roller encoder 22 of material robot configuration behind material roller motor 21, remove material robot and remove material roller motor 21 and be connected to the material robot that removes that is located the apex angle position below material robot body 2 through the chain and remove material robot and remove material roller encoder 22, remove material robot Two electric push rods 24 of the material removing roller of the material removing robot are respectively arranged at two sides of the front part of the material removing robot body 2, one end of each electric push rod is connected to the lower part of the foremost end of the top surface of the material removing robot body 2, and the other end of each electric push rod is connected to two ends of the material removing roller 23 of the material removing robot at the position of the top angle below the top surface of the material removing robot body.
And the detection elements, the motor, the encoder and the PLC are electrically connected.
A control mode of a large kitchen garbage disposal robot comprises the following steps:
when the robot system is started to start stirring work in an automatic mode, a control instruction is sent by an HMI and transmitted to a PLC, the PLC firstly judges the actual positions of the stirring robot body 1 and the material removing robot body 2 after receiving the instruction, a specific stirring robot walking encoder 9 transmits a position signal to a stirring robot walking driver through a feedback cable, a material removing robot walking encoder 17 transmits a position signal to a material removing robot walking driver through a feedback cable, the PLC reads the actual position from the stirring robot walking driver and the material removing robot walking driver through a bus feedback signal, if and only if the material removing robot body 2 is located at a zero position, whether the material removing robot touches a zero position detection element 6 of the material removing robot is detected through a digital quantity input module again, and the stirring robot has movement permission only after the two elements are met, at the moment, the PLC retrieves a PLC internal V address storage area for storing a moving multiplying power instruction, outputs a corresponding speed instruction according to an actual position, and transmits the speed instruction to a stirring robot walking driver and a stirring robot stirring roller driver through a control bus, the drivers are connected to a stirring robot walking motor 8 and a stirring robot stirring roller motor 13 through respective independent driving cables and control the motors to rotate, the stirring robot walking motor 8 drives a stirring robot walking mechanism 10 to rotate when rotating, and finally drives two stirring robot walking driving wheels 11 positioned at two sides of the rear end of the stirring robot body 1 to rotate to form the movement of the stirring robot body 1, meanwhile, a stirring robot walking encoder 9 feeds a position signal back to the stirring robot walking driver in real time to form position closed-loop control, and the stirring robot stirring roller 15 is driven to rotate through a chain when the stirring robot stirring roller motor 13 rotates, meanwhile, the stirring roller encoder 14 of the stirring robot feeds a rotating speed signal back to the stirring roller driver of the stirring robot to form speed closed-loop control;
at the moment, the PLC controls the operation range of the stirring robot to be limited in the stroke range formed by the zero position detection element 4 and the limit detection element 5 of the stirring robot, reciprocating motion is carried out in the range, when the stirring roller moves from the zero position to the limit position, the stirring roller rotates anticlockwise, when the stirring roller moves from the limit position to the zero position, the stirring roller rotates clockwise, and upward stirring motion in the advancing direction is always kept;
when the stirring robot runs, the PLC program reads a position state feedback signal and a current state feedback signal in a walking driver of the stirring robot in real time, records the position state feedback signal and the current state feedback signal in a V address storage area in the PLC, and calculates to obtain a speed instruction control signal of the next cycle as a control basis of the next running cycle;
when the robot system is started to start the material removing work in an automatic mode, a control instruction is sent by the HMI and transmitted to the PLC, the PLC firstly judges the actual positions of the stirring robot body 1 and the material removing robot body 2 after receiving the instruction, a specific stirring robot walking encoder 9 transmits a position signal to a stirring robot walking driver through a feedback cable, a position signal of a material removing robot walking encoder 17 is transmitted to the material removing robot walking driver through the feedback cable, the PLC reads the actual position from the stirring robot walking driver and the material removing robot walking driver through a bus feedback signal, if and only if the stirring robot body 1 is located at a zero position, whether the stirring robot touches the zero position detection element 4 of the stirring robot is detected through the digital input module again, and the material removing robot has the movement permission only after the two elements are met, at the moment, the PLC retrieves a PLC internal V address storage area for storing a moving multiplying power instruction, outputs a corresponding speed instruction according to an actual position, and transmits the speed instruction to a material removing robot walking driver and a material removing robot material removing roller driver through a control bus, the drivers are connected to a material removing robot walking motor 16 and a material removing robot material removing roller motor 21 through independent drive cables respectively and control the motors to rotate, the material removing robot walking motor 16 drives a material removing robot walking mechanism 18 to rotate when rotating, finally two material removing robot walking driving wheels 19 positioned at two sides of the front end of a material removing robot body 2 are driven to rotate to form a material removing robot body 2 to move, meanwhile, a material removing robot walking encoder 17 feeds a position signal back to the material removing robot walking driver in real time to form position closed-loop control, the material removing robot material removing roller motor 21 drives a material removing robot material removing roller 23 to rotate through a chain when rotating, meanwhile, the material removing roller encoder 22 of the material removing robot feeds a rotating speed signal back to the material removing roller driver of the material removing robot to form speed closed-loop control;
at the moment, the PLC controls the operation range of the material removing robot to be limited in the stroke range formed by the zero position detection element 6 and the limiting detection element 7 of the material removing robot, and the material removing robot reciprocates in the range. The same stirring roller anticlockwise rotates from zero position to limit movement, the stirring roller clockwise rotates from limit to zero position movement, the upward material turning movement in the advancing direction is always kept, meanwhile, the material removing robot material removing roller electric push rod 24 is controlled by a PLC program to run for 5 seconds after the material removing robot zero position detection element 6 is touched, the material removing robot material removing roller 23 is pushed out downwards, and only when the PLC program detects that the material removing roller electric push rod limit detection element is reached, the material removing robot material removing roller electric push rod 7 position is touched again to complete the material removing state, the material removing rotation and the walking movement are stopped at the moment, the material removing robot material removing roller electric push rod 24 is retracted to the zero position, and the whole material removing action is completed.
The utility model has the beneficial effects.
The control of the large kitchen garbage disposal robot is that a PLC is used as a main body, a drive controller is combined to be used as an execution mechanism, and an HMI is used for complex integrated control of an operation platform, so that the current process of stirring at each time needs to be recorded and analyzed, a next operation instruction is generated, and the positions of two independent robots need to be calculated in real time to ensure the operation safety.
V105.2 and V105.3 address variables are used as FLAG marking bits in a PLC program and used as instruction bits of the movement direction of the roller, the movement of the roller is switched simultaneously along with the change of the walking direction, the roller rotates clockwise when moving in the positive direction, the roller rotates anticlockwise when moving in the negative direction, the resultant movement can ensure that the material is always in an upward material turning state in the advancing direction of the robot, and if the material is turned downwards in the advancing direction, the material can be extruded downwards, so that the material is hardened and reacts on material decomposition.
In the whole fermentation decomposition process, the uniform stirring degree is the key point and the difficulty of control. In the actual use process, the situation of uneven material distribution is inevitable, the microorganism matrix cannot be fully reflected with the object to be treated due to uneven stirring, the final reduction rate cannot meet the design requirement, and the object to be treated is hardened into blocks to cause equipment damage. In order to solve the problem, the electrical control innovation uses a position/current matrix control method, a relation matrix of a position and a current is drawn by adopting a real-time current monitoring technology, and a driving control mode of the next cycle is calculated according to a matrix curve, so that the stirring mode can be adjusted in a self-adaptive manner to realize full fermentation decomposition.
The large kitchen waste treatment robot, the fermentation bin heat device, the air pumping device and the water supply device can effectively realize the reduction, harmless and resource treatment of large centralized kitchen waste through effective system integration control, and is an effective mode for kitchen waste treatment. The modularization of its structure, the intelligent that integrates of control function can erect on traditional metal component fermentation storehouse, also can erect on the fixed fermentation storehouse of concrete, have extremely strong portability and environmental suitability.
The robot and control system is configured and used on the processing bin device of KSC-100 daily processing capacity 100T of the company at present.
Description of the drawings:
fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the stirring robot.
Fig. 3 is a schematic structural diagram of the material removing robot.
Fig. 4 is a schematic diagram of the electrical control principle.
FIG. 5 is a diagram illustrating an actual position and state current curve.
Fig. 6 is a flowchart illustrating the control method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-6: in actual control, the PLC reads an actual position value of a motor encoder from a drive, reads a corresponding current value in a period of 100mm, stores the current value in a floating point mode into a VD1000-VD1999 storage area, and generates a speed control command of the next period to store the speed control command in a VW2000-VW2999 storage area. Specifically, when the deviation exceeds the rated value by more than 10%, the walking moving speed is reduced by 10% in the travel range from the position to the previous meter in the next period and the position to the next meter, the rotating speed of the roller is increased by 10%, and the uniformity of the materials is realized in a control mode of slowly advancing and along with high-speed stirring. And simultaneously, the current and the position relation of the correction regulation are recorded again for the next cycle of regulation again. When the current of the regulation period meets the controlled range, the next regulation period is recovered to run at the set speed, if the current still exceeds the set value by 10%, the moving speed is reduced again to improve the stirring rotating speed, after a plurality of periods, the detected current value is higher all the time, and the walking moving speed is reduced to the set value of 50%, the PLC sends out an early warning signal, and simultaneously transmits the signal to the HMI to be displayed on a human-computer interface, and calls an operator to manually judge whether to stop the machine for inspection. If the robot runs in an unattended state, the robot also continues to work until the set moving speed is reduced to 0 percent, and the robot stops working and sends out an alarm signal. The specific control method flow is shown in fig. 4 below.
When the HMI transmits a material removing instruction to the PLC, the PLC program starts the material removing robot to do reciprocating motion in the material removing zero position and the material removing limit range, and the material removing roller rotates and matches according to the moving direction. And if and only when the rising edge of the material removing zero position switch is detected, the push rod is started to operate, and the material removing roller is pushed downwards for 5 seconds, so that the material removing position is deepened. After repeated multiple cycles, the electric push rod touches the push rod limit switch, at the moment, the walking operation and the rotation of the material removing roller are stopped when the electric push rod touches the walking zero position, the push rod performs continuous zero position rollback, and the whole material removing cycle is completed after the push rod returns to the zero position. The material removing push rod PLC is controlled as shown in the following figure 6.
System integrated position control
The electric system of the large kitchen garbage disposal robot is an integrated control system integrating servo drive control, PLC and HMI, especially the motion control between two robots must be absolutely coordinated and consistent, otherwise collision will occur, which causes equipment damage and life safety accidents of operators.
Therefore, a double safety monitoring function is used in the control design, firstly, a servo controller reads actual positions of absolute position encoders installed inside motors of the two robot traveling mechanisms, the actual positions are transmitted to a set PLC internal V address interface through a PROFIBUS bus, the PLC performs subtraction operation on two position values in real time, when the difference value of the final position is smaller than or equal to 400mm, the traveling speeds of the two robots are clamped, the speed is limited within 1m/min, the collision probability and the collision consequences are reduced, when the difference value of the final position is smaller than or equal to 200mm, the traveling instructions of the two robots are blocked, the possibility of further collision is prevented, and meanwhile, an overshoot space caused by inertia is reserved.
The PLC is used as the core of the whole control system, and plays a role in overall scheduling for controlling and monitoring each robot.
Firstly, the PLC is connected with the HMI through an industrial Ethernet bus, receives a control command sent by the HMI and simultaneously sends a signal state collected by the PLC to the HMI for displaying.
Secondly, PLC is connected to the stirring robot walking driver through the PROFIBUS bus, and stirring robot walking driver then further is connected to stirring robot walking motor through the drive cable, and the stirring robot walking encoder that is located stirring robot walking motor rear end then is connected to stirring robot walking driver through the feedback cable for with position and current signal to stirring robot walking driver transmission. PLC still is connected to the stirring robot stirring roller driver through the PROFIBUS bus simultaneously, and stirring robot stirring roller driver then further is connected to the stirring roller motor through drive cable, and the stirring roller encoder that is located stirring roller motor rear end then is connected to stirring robot stirring roller driver through feedback cable for with position and current signal to stirring robot stirring roller driver transmission.
And thirdly, the PLC is connected to the material removing robot walking driver through a PROFIBUS bus, the material removing robot walking driver is further connected to a material removing robot walking motor through a driving cable, and a material removing robot walking encoder at the rear end of the material removing robot walking motor is connected to the material removing robot walking driver through a feedback cable and is used for transmitting the position and the current signal to the material removing robot walking driver. PLC still removes material roller driver through PROFIBUS bus connection to removing material robot simultaneously, removes material robot row and removes material roller driver then further through drive cable connection to remove material roller motor, is located the material roller encoder that removes of removing material roller motor rear end then through feedback cable connection to remove material robot and remove material roller driver for with position and current signal to removing material robot stirring roller driver and transmitting.
And finally, six detection devices, namely a stirring robot walking zero position detection element, a stirring robot walking limit detection element, a material removing robot walking zero position detection element, a material removing robot walking limit detection element, a material removing push rod zero position detection element and a material removing push rod limit detection element, for detecting the position limit state of each robot transmit the digital quantity signal state to the PLC through a digital quantity input cable. And the further PLC transmits a digital control instruction obtained after PLC program operation to the left material removing push rod motor and the right material removing push rod motor through a digital output cable, so that the movement of the push rods is realized.
Claims (4)
1. The utility model provides a large-scale kitchen garbage disposal robot, its characterized in that, includes stirring robot body (1), removes material robot body (2) and robot walking orbit (3), robot walking orbit (3) divide into about two tracks, and stirring robot body (1) and the configuration of removing material robot body (2) are installed in robot walking orbit (3) top, a track of two robots sharing, robot walking orbit (3) left side track foremost disposes stirring robot zero-bit detecting element (4), and left side track rear end 1/6 department disposes stirring robot spacing detecting element (5), and left side track rearmost end disposes except that material robot zero-bit detecting element (6), and left side track front end 1/6 department disposes except that material robot spacing detecting element (7).
2. The large kitchen waste disposal robot according to claim 1, wherein the stirring robot body (1) has a regular triangular prism structure, a vertex angle is downward, a bottom surface is upward, the stirring robot body is placed upside down, the stirring robot walking motor (8) is disposed at the rightmost rear end position of the top surface of the stirring robot body (1), the stirring robot walking encoder (9) is disposed at the rear end of the stirring robot walking motor (8), the stirring robot walking mechanism (10) is connected at the front end, the stirring robot walking mechanism (10) is connected with two stirring robot walking driving wheels (11) disposed at the two sides of the rear end of the stirring robot body (1) through a sprocket, two stirring robot walking driven wheels (12) are disposed at the two sides of the front end of the stirring robot body (1), the stirring robot stirring roller motor (13) is disposed at the rightmost middle position of the stirring robot body (1), the rear end of a stirring roller motor (13) of the stirring robot is provided with a stirring roller encoder (14) of the stirring robot, and the stirring roller motor (13) of the stirring robot is connected to a stirring roller (15) of the stirring robot at the top angle position below the stirring robot body (1) through a chain.
3. The large kitchen waste disposal robot according to claim 1, wherein the material removing robot body (2) is a regular triangular prism structure when completely retracted to a proper position, the apex angle is downward, the bottom surface is upward, the robot body is placed upside down, the material removing robot walking motor (16) is arranged at the rightmost front position of the top surface of the material removing robot body (2), the material removing robot walking encoder (17) is arranged at the rear end of the material removing robot walking motor (16), the front end is connected with the material removing robot walking mechanism (18), the material removing robot walking mechanism (18) is connected with two material removing robot walking driving wheels (19) at the two sides of the front end of the material removing robot body (2) through a chain wheel, two material removing robot walking driven wheels (20) are arranged at the two sides of the rear end of the material removing robot body (2), the material removing robot material removing roller motor (21) is arranged at the rightmost middle position of the material removing robot body (2), remove material robot and remove material roller motor (21) rear end configuration and remove material robot and remove material roller encoder (22), remove material robot and remove material roller motor (21) and be connected to the material robot that removes that is located the material robot body (2) below vertex angle position through the chain and remove material roller (23), remove material robot body (2) anterior both sides and dispose two respectively and remove material robot and remove material roller electric putter (24), one end is connected to and removes material robot body (2) top surface foremost below, and the material robot that removes that the other end is connected to below vertex angle position removes material roller (23) both ends.
4. The robot as claimed in claim 3, wherein the detecting elements, the motor, the encoder and the PLC are electrically connected to each other.
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| CN202122107420.8U CN215593070U (en) | 2021-09-02 | 2021-09-02 | Large-scale kitchen garbage disposal robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113583848A (en) * | 2021-09-02 | 2021-11-02 | 昆明克林轻工机械有限责任公司 | Large kitchen garbage treatment robot and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113583848A (en) * | 2021-09-02 | 2021-11-02 | 昆明克林轻工机械有限责任公司 | Large kitchen garbage treatment robot and control method thereof |
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