CN216221326U

CN216221326U - Robot for throwing garbage and cleaning system

Info

Publication number: CN216221326U
Application number: CN202121763124.7U
Authority: CN
Inventors: 张珂嘉; 张宇强; 陆辉; 尚鹏; 唐成民
Original assignee: Chengdu Jiayou Weili Robot Technology Co ltd
Current assignee: Chengdu Jiayou Weili Robot Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2022-04-08
Anticipated expiration: 2031-07-30

Abstract

The utility model belongs to the technical field of cleaning robots, and provides a garbage throwing robot and a cleaning system. The garbage throwing robot comprises a gripping device and a moving device, wherein the gripping device is used for gripping and releasing a disposable dust collecting mechanism on the cleaning robot; the moving device is connected with the gripping device, and the gripping device and the disposable dust collecting mechanism are moved to a garbage throwing position by the moving device. After the grabbing device grabs the disposable dust collecting mechanism on the cleaning robot, the moving device moves the grabbing device and the disposable dust collecting mechanism to a garbage discarding position, and then the grabbing device releases the disposable dust collecting mechanism, so that the automatic discarding of the disposable dust collecting mechanism is realized, the workload of a user is reduced by the garbage discarding robot, and the satisfaction degree of the user is improved.

Description

Robot for throwing garbage and cleaning system

Technical Field

The utility model belongs to the technical field of cleaning robots, and particularly relates to a garbage throwing robot and a cleaning system.

Background

The existing sweeping robot can be provided with a disposable dust box/dust bag, and after the disposable dust box/dust bag is full of dust, the disposable dust box/dust bag can be continuously used only by throwing away the dust box/dust bag and replacing the dust box/dust bag with a new disposable dust box/dust bag. Such a solution eliminates the need for the user to dump the dust as compared to a reusable dust box/bag; however, the existing disposable dust box/bag still needs to be discarded manually by a user, and the automatic discarding of the dust box cannot be realized, so that the workload of the user is increased.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a garbage disposal robot and a cleaning system, which are used to reduce the workload of users for discarding disposable dust boxes/bags and improve the user satisfaction.

The technical scheme adopted by the utility model is as follows:

in a first aspect, the present invention provides a robot for throwing garbage, comprising:

the grabbing device is used for grabbing and releasing the disposable dust collecting mechanism on the cleaning robot;

and the moving device is connected with the gripping device and moves the gripping device and the disposable dust collecting mechanism to a garbage throwing position.

As a preferable scheme of the above garbage throwing robot, the moving device includes a horizontal moving mechanism and a vertical moving mechanism, and the vertical moving mechanism drives the gripping device to move in a vertical direction; the horizontal movement mechanism drives the vertical movement mechanism to move on a horizontal plane.

As an optimal scheme of the above garbage-throwing robot, the moving device further comprises a telescopic mechanism, the telescopic mechanism is arranged on the vertical moving mechanism, the telescopic mechanism is connected with the gripping device, and the telescopic mechanism is used for driving the gripping device to be far away from/close to the vertical moving mechanism.

As a preferable scheme of the above garbage throwing robot, the vertical movement mechanism includes a lifting platform, a first rack, a first guide rail and a first driving motor, the first rack and the first guide rail are both arranged along a vertical direction, and the lifting platform moves on the first guide rail; the first driving motor is arranged on the lifting platform, a first gear is arranged on an output shaft of the first driving motor, and the first gear is meshed with the first rack.

As a preferable scheme of the robot for throwing away garbage, the telescopic mechanism comprises a second driving motor, a first guide rod and a second rack, the guide direction of the first guide rod is parallel to the horizontal plane, the second rack is parallel to the first guide rod, and the first guide rod and the second rack are respectively connected with the grabbing device; the second driving motor is arranged on the lifting platform, a second gear is arranged on an output shaft of the second driving motor, and the second gear is meshed with the second rack.

As a preferable scheme of the above garbage throwing robot, the moving device further includes a base, the vertical moving mechanism is rotationally connected with the base, and the horizontal moving mechanism drives the vertical moving mechanism to rotate on a horizontal plane.

As the preferable scheme of the robot for throwing away garbage, the moving device further comprises a supporting arm, the supporting arm is arranged on the base in an inverted L shape, the lower end of the vertical moving mechanism is rotatably connected with the base, and the upper end of the vertical moving mechanism is rotatably connected with the supporting arm.

As a preferable scheme of the above garbage discarding robot, the garbage discarding robot further includes:

and the driving device is used for driving the disposable dust collecting mechanism to be separated from the cleaning robot.

As the preferable scheme of the robot for throwing garbage, the gripping device comprises an electromagnetic adsorption mechanism, the disposable dust collection mechanism is opposite to the electromagnetic adsorption mechanism, a piece to be magnetically adsorbed is arranged on the electromagnetic adsorption mechanism, and the electromagnetic adsorption mechanism and the piece to be magnetically adsorbed are magnetically adsorbed.

In a second aspect, the utility model provides a cleaning system comprising any one of the above garbage discarding robots.

In conclusion, the beneficial effects of the utility model are as follows:

in the garbage discarding robot and the cleaning system provided by the embodiment of the utility model, after the grabbing device grabs the disposable dust collecting mechanism on the cleaning robot, the moving device moves the grabbing device and the disposable dust collecting mechanism to the garbage discarding position, and then the grabbing device releases the disposable dust collecting mechanism, so that the automatic discarding of the disposable dust collecting mechanism is realized, the workload of a user is reduced by the garbage discarding robot, and the satisfaction degree of the user is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without any creative effort, other drawings may be obtained according to the drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is a schematic view of a dust box structure in embodiment 2 of the present invention;

fig. 2 is a schematic structural diagram of a garbage throwing robot for grabbing a dust box in embodiment 2 of the present invention;

fig. 3 is a schematic structural diagram of a garbage discarding robot for discarding a dust box in embodiment 2 of the present invention;

FIG. 4 is a schematic structural view of a grasping apparatus in embodiment 2 of the utility model;

fig. 5 is a schematic structural view of the dust box grabbed by the grabbing mechanism in embodiment 2 of the present invention;

fig. 6 is a schematic structural diagram of a mobile device according to embodiment 2 of the present invention;

fig. 7 is a schematic structural view of a rotary elevating mechanism in embodiment 2 of the present invention;

fig. 8 is a schematic structural view of a base with a hidden housing according to embodiment 2 of the present invention;

FIG. 9 is a schematic structural view of the top of the support arm in embodiment 2 of the present invention;

fig. 10 is a schematic structural view of the rotary lifting mechanism according to embodiment 2 of the present invention after the housing is hidden;

fig. 11 is a schematic structural view of a lifting platform in embodiment 2 of the present invention;

fig. 12 is a schematic view of the dust box structure in embodiment 3 of the present invention;

fig. 13 is a schematic sectional view of a dust box of embodiment 3 of the present invention with a cut-away upper cover;

FIG. 14 is a cross-sectional view of the latch of FIG. 13 with the latch broken away;

fig. 15 is a schematic structural view of the dust box of embodiment 3 of the present invention after the top cover is hidden;

fig. 16 is a schematic structural view of the dust box of embodiment 3 of the present invention after the upper cover is hidden;

FIG. 17 is a schematic view of a structure of a driving apparatus in embodiment 3 of the present invention;

fig. 18 is a schematic structural view of the driving device in embodiment 3 of the present invention after the detection bracket is hidden;

fig. 19 is a schematic structural view of a lower cover of the grasping apparatus in embodiment 3 of the present invention;

fig. 20 is a schematic structural diagram of a garbage discarding robot in embodiment 4 of the present invention;

FIG. 21 is a schematic view showing the construction of a grasping apparatus according to embodiment 4 of the present invention;

FIG. 22 is a schematic view of the cam configuration of FIG. 21;

fig. 23 is a schematic structural diagram of a mobile device according to embodiment 4 of the present invention;

fig. 24 is a schematic structural diagram of a garbage discarding robot in embodiment 5 of the present invention;

fig. 25 is a schematic structural view of the vertical movement mechanism in embodiment 5 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, the embodiments of the present invention and the various features of the embodiments may be combined with each other within the scope of the present invention.

Example 1

The embodiment 1 of the utility model discloses a garbage throwing robot, which comprises a grabbing device and a moving device, wherein the grabbing device is used for grabbing and releasing a disposable dust collecting mechanism on a cleaning robot; the moving device is connected with the gripping device, and the gripping device and the disposable dust collecting mechanism are moved to a garbage throwing position by the moving device.

After grabbing device had snatched disposable dust collecting mechanism on the cleaning robot in this embodiment, mobile device removed grabbing device and disposable dust collecting mechanism to losing the rubbish position, and the disposable dust collecting mechanism of back grabbing device release has just realized automatic disposable dust collecting mechanism of abandoning again, therefore loses the rubbish robot in this embodiment and has reduced user work load, has improved user satisfaction. The disposable dust collection mechanism in this embodiment may be, for example, a disposable dust box/bag.

Example 2

As shown in fig. 2 and fig. 3, an embodiment 2 of the present invention discloses a garbage disposal robot, which includes a gripping device 2, a moving device 1, and a first controller. The working principle of the garbage throwing robot is as follows: the gripping device 2 grips the disposable dust box 3 (or the disposable dust bag) on the cleaning robot 4 as shown in fig. 2; the moving device 1 then moves the gripping device 2 and the dust box 3 to the garbage disposal position as shown in fig. 3, and then the gripping device 2 releases the dust box 3 to dispose of the dust box. As shown in fig. 1, the dust box 3 includes a main body 35 and two iron sheets 31 (in other embodiments, the iron sheets may be replaced by magnets), and the cleaning robot 4 is provided with a receiving slot corresponding to the dust box 3, and the dust box is simply placed in the receiving slot, except that the dust box 3 is not connected to the cleaning robot 4.

As shown in fig. 4 and 5, the grasping apparatus 2 includes a grasping housing and a grasping mechanism provided on the grasping housing. The mechanism of grabbing in this embodiment is magnetism and is inhaled the mechanism of grabbing, still includes the both sides through grabbing the dirt box in other embodiments and snatchs the mode such as snatch, for example will snatch the mechanism and set up to the gripper. The gripping mechanism in this embodiment includes two electromagnets 221, and the two electromagnets 221 are disposed on the lower surface of the gripping housing. As shown in fig. 5, when one of the attracting iron pieces 31 is provided on the upper surface of the dust box 3 with respect to each of the electromagnets 221, the electromagnet 221 of the grasping apparatus 2 grasps the dust box 3 by passing through the attracting iron piece 31 of the dust box 3.

As shown in fig. 6, the mobile device 1 includes a base 11, a supporting arm 13, and a rotary lifting mechanism 12 disposed above the base 11, and a charging mechanism for charging the cleaning robot 4 is further disposed on the base 11, the charging mechanism includes two charging contacts 111 disposed on the base 11, and when the cleaning robot 4 moves to a place where the garbage is lost, the cleaning robot 4 contacts with the two charging contacts 111 to perform charging. The support arm 13 is fixedly mounted above the base 11, and the support arm 13 is in an inverted L shape and surrounds the rotary lifting mechanism 12. As shown in fig. 7, the rotary elevating mechanism 12 includes a rotary housing 121, an upper rotary shaft 122 and a lower rotary shaft 123, the upper rotary shaft 122 is fixedly installed at the upper end of the rotary housing 121, and the lower rotary shaft 123 is fixedly installed at the lower end of the rotary housing 121; wherein the upper rotary shaft 122 is rotatably coupled to the support arm 13, and the lower rotary shaft 123 is rotatably coupled to the base 11, so that the rotary housing 121 can be rotated between the support arm 13 and the base 11. The upper rotation shaft 122 at the upper end of the rotary case 121 by the support arm 13 provides rotational support, thereby improving the smoothness of the rotation of the rotary case 121.

As shown in fig. 8, a horizontal movement mechanism is provided in the base 11, the horizontal movement mechanism includes a fourth driving motor 125, a sixth gear 126 and a third gear 127, an output shaft of the fourth driving motor 125 is disposed vertically downward, the sixth gear 126 is mounted on the output shaft of the fourth driving motor 125, the sixth gear 126 and the third gear 127 are driven by a plurality of gears, and the third gear 127 is coaxially and fixedly connected with the lower rotating shaft 123. Therefore, the rotation of the output shaft of the fourth driving motor 125 can drive the lower rotating shaft 123 and the rotating housing 121 to rotate (a vertical movement mechanism is disposed in the rotating housing 121, i.e., a horizontal movement mechanism drives the vertical movement mechanism to rotate in the horizontal direction). As shown in fig. 9, a fourth photosensor 132 and a fifth photosensor 133 are mounted on the upper end of the support arm 13, the upper rotation shaft 122 penetrates the inside of the support arm 13 and is connected with a third detection piece 129 and an eighth detection piece 128, the fourth photosensor 132 is used for detecting the eighth detection piece 128, the fifth photosensor 133 is used for detecting the third detection piece 129, wherein the initial position of the third detection piece 129 is located at the position detected by the fifth photosensor 133, when the rotation shaft 122 rotates 90 °, the third detection piece 129 and the eighth detection piece 128 rotate 90 ° along with the rotation shaft 122, at which time the fifth photosensor 133 cannot detect the third detection piece 129, and the fourth photosensor 132 can detect the eighth detection piece 128.

As shown in fig. 10, a vertical movement mechanism including a first rack 1211, a lifting platform 1210, a first guide rail 1217, a first driving motor 1212, and a first gear 1213, a sixth photoelectric sensor 1215, and a seventh photoelectric sensor 1216 are further provided in the rotary housing 121. The first rack 1211 and the first guide rail 1217 are both disposed in the vertical direction, and the first rack 1211 and the first guide rail 1217 are both fixedly disposed within the rotating housing 121. The lifting platform 1210 slides on the first guide rail in the vertical direction, the first driving motor 1212 is fixedly mounted on the lifting platform 1210, and the output shaft of the first driving motor 1212 is coaxially and fixedly connected with the first gear 1213; the first gear 1213 is engaged with the first rack 1211, and the output shaft of the first driving motor 1212 rotates to drive the first gear 1213 to rotate, and the first gear 1213 is engaged with the first rack 1229 to drive the lifting platform 1210 to lift (again, since the lifting platform 1210 is connected to the gripping device, that is, the vertical movement mechanism drives the gripping device to move in the vertical direction). As shown in fig. 10, a sixth photoelectric sensor 1215 is installed at the upper portion in the rotary housing 121, a seventh photoelectric sensor 1216 is installed at the lower portion in the rotary housing 121, and a fourth detecting element 1218 and a ninth detecting element 1231 are also installed on the elevating platform 1210, the sixth photoelectric sensor 1215 is used for detecting the ninth detecting element 1231, and the seventh photoelectric sensor 1216 is used for detecting the fourth detecting element 1218. When the lifting platform 1210 moves upwards to the sixth photoelectric sensor 1215 to detect the ninth detecting element 1231, the lifting platform 1210 moves to the highest position; when the lifting platform 1210 moves downward until the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 moves to the low-high position.

As shown in fig. 11, a telescopic mechanism, an eighth photoelectric sensor 1222 and a ninth photoelectric sensor 1223 are disposed on the lifting platform 1210, the telescopic mechanism includes a second driving motor 1219, a first guide bar 1220 and a second rack 1221, the first guide bar 1220 and the second rack 1221 are disposed in parallel, and the first guide bar 1220 is parallel to the horizontal direction. A second guide hole for the first guide rod 1220 to pass through is formed in the lifting platform 1210, and a third guide hole for the second rack 1221 to pass through is formed in the lifting platform 1210. A second driving motor 1219 is fixedly mounted on the elevating platform 1210, and a second gear 1224 is coaxially and fixedly connected to an output shaft of the second driving motor 1219, and the second gear 1224 is engaged with the second rack 1221. Meanwhile, the first guide rod 1220 and the second rack 1221 are both fixedly connected with the gripping device 2, and then the output shaft of the second driving motor 1219 can drive the gripping device 2 to move along the guide direction of the first guide rod 1220 through the second gear 1224 and the second rack 1221 after rotating, so that the gripping device is far away from or close to the vertical movement mechanism. The eighth photoelectric sensor 1222 and the ninth photoelectric sensor 1223 are fixedly installed on the lifting platform 1210, the eighth photoelectric sensor 1222 and the ninth photoelectric sensor 1223 are sequentially arranged along the length direction of the second rack 1221, a fifth detecting element 1226 is further arranged at one end of the second rack 1221, and the eighth photoelectric sensor 1222 and the ninth photoelectric sensor 1223 are used for detecting the fifth detecting element 1226. As shown in fig. 11, when the second rack 1221 moves to the left until the eighth photoelectric sensor 1222 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position closest to the lifting platform 1210; when the second rack 1221 moves to the right until the ninth photoelectric sensor 1223 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position farthest from the lifting platform 1210.

As shown in fig. 7, a first moving slot 1227 is further disposed on the rotating housing 121 opposite to the first guide bar 1220, a second moving slot is further disposed on the rotating housing 121 opposite to the second rack 1221, the first moving slot and the second moving slot are both opened along the vertical direction, the first guide bar 1220 passes through the first moving slot and is connected to the gripping device 2, and the second rack 1221 passes through the second moving slot and is connected to the gripping device 2.

The first input end of the first controller is connected with the output end of the fourth photosensor 132, the second input end of the first controller is connected with the output end of the fifth photosensor 133, the third input end of the first controller is connected with the output end of the sixth photosensor 1215, the fourth input end of the first controller is connected with the output end of the seventh photosensor 1216, the fifth input end of the first controller is connected with the output end of the eighth photosensor 1222, and the sixth input end of the first controller is connected with the output end of the ninth photosensor 1223. A first output of the first controller is connected to an input of the fourth drive motor 125, a second output of the first controller is connected to an input of the first drive motor 1212, and a third output of the first controller is connected to an input of the second drive motor 1219.

The specific working steps of the garbage throwing robot in this embodiment are as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds out the position of the garbage-lost robot;

s2, the cleaning robot 4 moves to a garbage throwing robot position, and whether the cleaning robot 4 is located at a set position is calibrated;

s3, the garbage-throwing robot charges the cleaning robot 4;

s4, the initial position of the gripping device 2 is as shown in fig. 3 (as shown in a state where the dust box 3 is not shown in fig. 3); the first controller controls the output shaft of the fourth driving motor 125 to rotate counterclockwise, and the output shaft of the fourth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the sixth gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s5, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the rotating housing 121 rotates clockwise by 90 °, and at this time, the first controller controls the fourth driving motor 125 to stop moving; meanwhile, when the fourth photoelectric sensor 132 detects the eighth detecting element 128, the first controller controls the output shaft of the second driving motor 1219 to rotate clockwise, and the output shaft of the second driving motor 1219 drives the second rack 1221 to move rightward through the second gear 1224, so that the grasping device 2 connected to the second rack 1221 moves away from the rotating housing 121;

s6, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 moves to above the dust box 3 and the grabbing device 2 is located above the dust box 3 in the vertical direction, and at this time, the first controller controls the second driving motor 1219 to stop moving; when the ninth photoelectric sensor 1223 detects the fifth detecting element 1226, the first controller controls the output shaft of the first driving motor 1212 to rotate clockwise, and the output shaft of the first driving motor 1212 is engaged with the first rack 1211 through the first gear 1213 to drive the lifting platform 1210 and the grabbing device 2 to move downward;

s7, when the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 and the grabbing device 2 move to the lowest position as shown in fig. 2, and at this time, the first controller controls the first driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detecting member 1218, the first controller controls the electromagnet 221 to generate a suction force, so as to magnetically attract the dust box 3 to the gripping device 2;

s8, the first controller controls the output shaft of the first driving motor 1212 to rotate counterclockwise, and the output shaft of the first driving motor 1212 is engaged with the first rack 1211 through the first gear 1213 to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move upward (since the dust box is only placed in the accommodating slot in this embodiment and the dust box 3 is not connected to the cleaning robot 4, the grabbing device can move upward after grabbing the dust box to take out the dust box from the accommodating slot);

s9, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the highest position, and at this time, the first controller controls the first driving motor 1212 to stop moving; meanwhile, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the first controller controls the output shaft of the second driving motor 1219 to rotate counterclockwise, as shown in fig. 11, the output shaft of the second driving motor 1219 drives the second rack 1221 to move leftward through the second gear 1224, so that the grasping apparatus 2 connected to the second rack 1221 moves closer to the rotating housing 121;

s10, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and the first controller controls the second driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the first controller controls the output shaft of the fourth driving motor 125 to rotate clockwise, and the output shaft of the fourth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the sixth gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s11, when the fifth photo sensor 133 detects the third detecting element 129, the rotating housing 121 rotates 90 ° counterclockwise, and at this time, the first controller controls the fourth driving motor 125 to stop moving; meanwhile, when the fifth photosensor 133 detects the third detecting element 129, as shown in fig. 11, the first controller controls the output shaft of the second driving motor 1219 to rotate clockwise, and the output shaft of the second driving motor 1219 drives the second rack 1221 to move rightward through the second gear 1224, so that the grasping device 2 connected to the second rack 1221 moves away from the rotating housing 121;

s12, when the ninth photoelectric sensor 1223 detects the fifth detection piece 1226, the grabbing device 2 and the dust box 3 move to the upper side of the garbage can 5, at the moment, the first controller controls the electromagnet 221 to stop working, and after the electromagnet 221 loses the magnetic force, the dust box falls into the garbage can 5 under the action of gravity, so that the automatic disposal of the disposable dust box is completed.

Example 3

The robot for throwing garbage in the embodiment is improved on the basis of the robot for throwing garbage in the embodiment 2, and the specific robot for throwing garbage has the same structure except that the structures of the dust box and the gripping device are different from those in the embodiment 2; meanwhile, the garbage throwing robot in the embodiment further comprises a driving device. The structures of the dust box 3, the gripping device 2, and the driving device will now be described in detail:

dust box 3

As shown in fig. 12, the dust box 3 includes a dust box body 35 and an upper cover 36 disposed on an upper portion of the dust box body, an unlocking button 32 and two adsorbing iron sheets 31 are disposed on an upper surface of the upper cover 36, and an unlocking mechanism is further disposed on the upper cover 36, the unlocking button 32 is used for driving the unlocking mechanism to operate, and the unlocking mechanism is disposed along a length direction of the dust box 3 in this embodiment. As shown in fig. 13, the upper cover 36 includes a top cover 361, a sealing body 362, a filter holder 363, and two latches 364, wherein the top cover 361, the filter holder 363, and the sealing body 362 are sequentially disposed from top to bottom. The two latches 364 are installed between the top cover 361 and the filter holder 363, and the two latches 364 are respectively disposed on two opposite sides of the unlock button 32; in this embodiment, the inner sidewall of the receiving groove of the cleaning robot 4 is provided with a coupling groove opposite to each of the latches 364, and each latch is inserted into one coupling groove to couple the dust box 3 with the cleaning robot 4. Two second wedge pieces 321 are provided on the unlocking button 32, a first wedge piece 365 is provided at one end of each catch 364 near the unlocking button 32, and one second wedge piece 321 is in contact with one first wedge piece 365, so that by pressing the unlocking button 32 down, the two catches 364 are brought close to each other by the second wedge piece 321, the first wedge piece 365, so that the catches 364 are retracted inside the upper cover 36, thereby unlocking the connection between the dust box 3 and the cleaning robot 4. As shown in fig. 14, a spring installation groove is further formed in the latch 364, a first return spring 366 is installed in the spring installation groove, an extension member 367 extending into the spring installation groove is further provided on the lower surface of the top cover 361, one end of the first return spring 366 contacts with the extension member 367, and the other end of the first return spring 366 contacts with the inner wall of the spring installation groove. The compressed first return spring 366 exerts a pressure on the latch 364 moving toward the outside of the dust box 3 after the unlock button 32 button is no longer pressed, thereby resetting the latch 364. As shown in fig. 15, a filter unit 368 is attached to the filter holder 363.

Gripping device 2

As shown in fig. 16 and 19, the grasping apparatus 2 includes a grasping housing including a grasping lower cover 212 and a grasping upper cover mounted on the grasping lower cover 212, a grasping mechanism provided on the grasping housing, and a distance detection sensor 24. The grabbing mechanism is a magnetic grabbing mechanism, and in other embodiments, the grabbing mechanism further comprises grabbing modes such as grabbing through two sides of the dust box, for example, the grabbing mechanism is set as a mechanical claw. The grasping mechanism in this embodiment includes two electromagnets 221, and the two electromagnets 221 are provided on the grasping lower cover 212. As shown in fig. 19, the lower surface of the grasping lower cover 212 is provided with a receiving hole corresponding to each electromagnet 221, one electromagnet 221 is installed in one receiving hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the grasping lower cover 212. As shown in fig. 20, when one of the attracting iron pieces 31 is provided on the upper surface of the dust box 3 with respect to each of the electromagnets 221, the electromagnet 221 of the grasping apparatus 2 grasps the dust box 3 by the attracting iron piece 31 of the dust box 3. The distance detection sensor 24 is installed in the grip lower cover 212, and the distance detection probe 241 of the distance detection mechanism penetrates through the lower surface of the grip lower cover 212, as shown in fig. 19, and the distance detection probe 241 is parallel to the lower surface of the grip lower cover 212.

Drive device

As shown in fig. 16, 17 and 18, the driving means includes a third driving motor 235, a fourth gear 236, an eighth rack 233, a third rack 234, a first ram 232, a first photosensor 2315 and a second photosensor 2317. A sixth guide rail 213 and a second guide rail 214 are provided on the grasping lower cover 212, and the guide directions of the sixth guide rail 213 and the second guide rail 214 are arranged vertically downward. The eighth rack 233 is provided with a first slide block 237, the first slide block 237 of the eighth rack 233 is slidably connected in the sixth guide rail 213, the third rack 234 is provided with a second slide block 238, and the second slide block 238 of the third rack 234 is slidably connected in the second guide rail 214. The third driving motor 235 is fixedly installed on the grabbing and taking down cover 212, the fourth gear 236 is fixedly installed on the output shaft of the third driving motor 235, wherein the eighth rack 233 and the third rack 234 are respectively arranged at two opposite sides of the fourth gear 236, and the rack surface of the eighth rack 233 is arranged opposite to the rack surface of the third rack 234; the eighth rack 233 and the third rack 234 are engaged with a fourth gear 236. The eighth rack 233 and the third rack 234 can be driven to lift in the vertical direction by the forward and reverse rotation of the output shaft of the third driving motor 235; since the eighth rack 233 and the third rack 234 are engaged with both sides of the fourth gear 236, respectively, when the eighth rack 233 is raised, the third rack 234 is lowered, and when the eighth rack 233 is lowered, the third rack 234 is raised.

As shown in fig. 18, the first push rod 232 is disposed at the lower end of the second slide block, and a second buffer spring is disposed at the lower end of the first push rod 232, so that when the third rack 234 moves downward, the first push rod 232 can be driven to move downward, and the second buffer spring can buffer the first push rod 232, thereby preventing other parts from being damaged due to excessive movement of the first push rod 232. As shown in fig. 19, a through hole through which the first push rod 232 passes is formed on the lower surface of the grabbing lower cover 212, so that the first push rod 232 can be driven to pass through the through hole in the vertical direction by the rotation of the output shaft of the third driving motor 235.

As shown in fig. 18, a first detecting piece 2313 is further disposed on the eighth rack 233, wherein the first detecting piece 2313 is located at a lower end position of the eighth rack 233; a second detecting member 2314 is further disposed on the third rack 234, wherein the second detecting member 2314 is located at a middle position of the third rack 234. Still install in grabbing the lower cover and detect the support, first photoelectric sensor 2315 and second photoelectric sensor 2317 are all installed on detecting the support. The first photosensor 2315 is used to detect the first detecting member 2313, and the second photosensor 2317 is used to detect the second detecting member 2314. When the second photoelectric sensor 2317 detects the second detection piece 2314, which represents that the eighth rack 233 and the third rack 234 are located at the initial position, the lower end surface of the first ejector rod 232 is flush with the lower surface of the grabbing lower cover; when the first photosensor 2315 detects the first detecting member 2313, the eighth rack 233 is located at the uppermost position, the third rack 234 is located at the lowermost position, and the first push rod 232 protrudes and grasps the lower surface of the cover.

The seventh input end of the first controller is connected with the output end of the distance detection sensor 24, the eighth input end of the first controller is connected with the output end of the first photoelectric sensor 2315, the ninth input end of the first controller is connected with the output end of the second photoelectric sensor 2317, the fourth output end of the first controller is connected with the input end of the electromagnet 221, and the fifth output end of the first controller is connected with the input end of the third driving motor 235.

s3, the garbage-throwing robot charges the cleaning robot 4;

s7, when the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 and the grabbing device 2 move to the lowest position as shown in fig. 2, and at this time, the first controller controls the first driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the first controller controls the output shaft of the third driving motor 235 to rotate clockwise, and the output shaft of the third driving motor 235 drives the second push rod 232 located at the initial position to descend through the fourth gear 236 and the third rack 234;

s8, when the first photo sensor 2315 detects the first detecting element 2313, the first push rod 231 moves to the highest position, the second push rod 232 moves to the lowest position, and at this time, the first controller controls the third driving motor 235 to stop moving, and after the second push rod 232 descends, the unlocking button 32 of the dust box 3 is pressed, so that the dust box 3 is no longer connected with the cleaning robot 4; meanwhile, when the first photosensor 2315 detects the first detecting member 2313, the first controller controls the electromagnet 221 to generate an attraction force, thereby magnetically attracting the dust box 3 to the grasping apparatus 2;

s9, the first controller controls the output shaft of the first driving motor 1212 to rotate counterclockwise, and the output shaft of the first driving motor 1212 is engaged with the first rack 1211 through the first gear 1213 to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move upward;

s10, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the highest position, and at this time, the first controller controls the first driving motor 1212 to stop moving; meanwhile, when the sixth photoelectric sensor 1215 detects the ninth detecting element 1231, the first controller controls the output shaft of the second driving motor 1219 to rotate counterclockwise, as shown in fig. 11, the output shaft of the second driving motor 1219 drives the second rack 1221 to move leftward through the second gear 1224, so that the grasping apparatus 2 connected to the second rack 1221 moves closer to the rotating housing 121;

s11, when the eighth photo sensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and the first controller controls the second driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the first controller controls the output shaft of the fourth driving motor 125 to rotate clockwise, and the output shaft of the fourth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the sixth gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s12, when the fifth photo sensor 133 detects the third detecting element 129, the rotating housing 121 rotates 90 ° counterclockwise, and at this time, the first controller controls the fourth driving motor 125 to stop moving; meanwhile, when the fifth photosensor 133 detects the third detecting element 129, as shown in fig. 11, the first controller controls the output shaft of the second driving motor 1219 to rotate clockwise, and the output shaft of the second driving motor 1219 drives the second rack 1221 to move rightward through the second gear 1224, so that the grasping device 2 connected to the second rack 1221 moves away from the rotating housing 121;

s13, when the ninth photoelectric sensor 1223 detects the fifth detection piece 1226, the grabbing device 2 and the dust box 3 move to the upper side of the garbage can 5, at the moment, the first controller controls the electromagnet 221 to stop working, and after the electromagnet 221 loses the magnetic force, the dust box falls into the garbage can 5 under the action of gravity, so that the automatic disposal of the disposable dust box is completed. In the present embodiment, when the gripping device 2 and the dust box 3 move to above the garbage can 5 (garbage can 5, garbage bag, garbage can, and other garbage storage devices), the gripping device 2 and the dust box 3 move to the garbage discarding position. In other embodiments, instead of a trash can, a trash area can be provided on the floor, and when the gripping device and the dust box move above the trash area, the gripping device moves to a trash-discarding position, and the gripping device releases the dust box to discard the dust box.

In the process from step S9 to step S12, the distance detection probe 241 detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the first controller, and the first controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the first controller determines whether the dust box 3 falls or not according to the measurement value.

Example 4

As shown in fig. 20, the robot for discarding garbage in this embodiment includes a moving device 1, a gripping device 2, a housing, a driving device, and a second controller, wherein the structure of the dust box in this embodiment is the same as that in embodiment 3. To facilitate understanding of the structure and working principle of the garbage throwing robot, the moving device 1, the gripping device 2, the driving device and the housing will be described separately as follows:

gripping device 2

The gripping device 2 comprises a gripper fixing plate, a gripping mechanism and a distance detection sensor 24, the gripping mechanism is a magnetic suction gripping mechanism, and gripping modes such as gripping through two sides of a gripping dust box are further included in other embodiments. The grabbing mechanism comprises two electromagnets 221, and the two electromagnets 221 are arranged on the grabbing hand fixing plate. The lower surface of the gripper fixing plate is provided with a containing hole corresponding to each electromagnet 221, one electromagnet 221 is installed in the containing hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the gripper fixing plate. An electromagnet mounting seat 222 is provided on the grip fixing plate opposite to each electromagnet 221, and an electromagnet 221 is mounted on the upper surface of the grip fixing plate through an electromagnet mounting seat 222. An iron sheet 31 is provided on the upper surface of the dust box 3 opposite to each electromagnet 221, and the electromagnet 221 of the gripping device 2 grips the dust box 3 by passing through the iron sheet 31 on the dust box 3. The distance detection sensor 24 is mounted on the gripper fixing plate, and a distance detection probe of the distance detection mechanism penetrates through the lower surface of the gripper fixing plate, and the distance detection probe is parallel to the lower surface of the gripper fixing plate.

Drive device

As shown in fig. 21, the driving device includes a driving cam 2319, a steering gear 2320, a steering gear mounting seat, a first driving connecting rod 2328, a second ejector pin 2323 and a second ejector pin mounting seat. The steering engine mounting seat and the second ejector rod mounting seat are fixedly mounted on the upper surface of the gripper fixing plate. The steering engine 2320 is installed on the steering engine mounting seat, and the output pivot of steering engine 2320 vertically passes the steering engine mounting seat downwards to fixed mounting has drive cam 2319 on the output shaft of steering engine 2320. The upper end of the second mandril 2323 passes through the second mandril installation seat, and the second mandril 2323 can reciprocate on the second mandril installation seat to lift. The second top bar 2323 is connected to the first driving connecting rod 2328, and the second top bar 2323 can be driven to lift by the vertical lifting of the first driving connecting rod 2328.

As shown in fig. 22, an inclined groove is formed on the circumferential surface of the driving cam 2319, and the first driving connecting rod 2328 is slidably connected to the groove on the driving cam 2319, so that the driving cam 2319 rotates to drive the first driving connecting rod 2328 to ascend and descend, and further drive the second push rod 2323 to ascend and descend.

Mobile device 1

As shown in fig. 20 and 23, the mobile device 1 includes a base, a support 14, a horizontal movement mechanism and a vertical movement mechanism, and a charging mechanism for charging the cleaning robot 4 is further provided on the base, the charging mechanism includes two charging contacts provided on the base, and when the cleaning robot 4 moves to the garbage disposal robot, the cleaning robot 4 contacts with the two charging contacts to perform charging. The above-mentioned bracket 14 is fixedly installed above the base, as shown in fig. 23, the bracket 14 includes a first supporting member 141 and a second supporting member 142, and the first supporting member 141 and the second supporting member 142 are fixedly installed on the base in the vertical direction.

As shown in fig. 23, the horizontal movement mechanism includes a fifth driving motor 151, a first pulley 152, a second pulley 154, a first belt 153, a third rail 143, a fourth rail 144, a tenth photosensor, and an eleventh photosensor, the third rail 143 and the fourth rail 144 are fixedly connected between the first support 141 and the second support 142, and the third rail 143 and the fourth rail 144 are perpendicular to the first support 141, wherein the third rail 143 is above the fourth rail 144. The fifth driving motor 151 is fixedly installed on the second supporting member 142, and an output shaft of the fifth driving motor 151 is vertically and downwardly disposed and connected with a first pulley 152, the second pulley 154 is rotatably installed on the first supporting member 141, wherein the first pulley 152 and the second pulley 154 are connected by a first belt 153. The tenth photosensor is fixedly mounted on the first support 141, the eleventh photosensor is fixedly mounted on the second support 142, and both the tenth photosensor and the eleventh photosensor are used to detect a sixth detection element described later.

As shown in fig. 23, the vertical movement mechanism includes a first carriage, a sixth driving motor 162, a third pulley 163, a fourth pulley 165, a second belt 164, a connecting member 166, a fifth guide rail 167, a sixth detecting member, a twelfth photoelectric sensor and a thirteenth photoelectric sensor, the first carriage is respectively connected to the third guide rail 143 and the fourth guide rail 144 in a sliding manner (the vertical movement mechanism moves on the third guide rail and the fourth guide rail), and the first carriage is further fixedly connected to the first belt 153, so that the first carriage can be driven to slide on the third guide rail 143 and the fourth guide rail 144 by the rotation of the output shaft of the fifth driving motor 151 (the horizontal movement mechanism drives the vertical movement mechanism to move linearly in the horizontal direction). The sixth driving motor 162 and the fifth guide rail are fixedly installed on the first carriage, the guiding direction of the fifth guide rail is parallel to the vertical direction, and the connecting member 166 is slidably connected to the fifth guide rail. The output shaft of the sixth driving motor 162 is coaxially provided with a third pulley 163, and a fourth pulley 165 is rotatably mounted on the first carriage, wherein the fourth pulley 165 is located below the third pulley 163 in the vertical direction, and the third pulley 163 and the fourth pulley 165 are connected by a second belt 164. The connecting member 166 is fixedly connected to the second belt 164, and the connecting member 166 is fixedly connected to the gripper fixing plate of the gripper device 2. The rotation of the output shaft of the sixth driving motor 162 can drive the connecting member 166 and the grabbing device 2 to slide on the fifth guide rail (i.e. the vertical moving mechanism drives the grabbing device to move in the vertical direction). The sixth detecting member is fixedly provided on the first carriage.

The twelfth photoelectric sensor and the thirteenth photoelectric sensor are both fixedly mounted on the first carriage, the twelfth photoelectric sensor is located above the thirteenth photoelectric sensor, a seventh detection piece is further arranged on the connecting piece 166, and the twelfth photoelectric sensor and the thirteenth photoelectric sensor are used for detecting the seventh detection piece.

The first input end of the second controller is connected with the output end of the tenth photoelectric sensor, the second input end of the second controller is connected with the output end of the eleventh photoelectric sensor, the third input end of the second controller is connected with the output end of the twelfth photoelectric sensor, and the fourth input end of the second controller is connected with the output end of the thirteenth photoelectric sensor. The first output end of the second controller is connected with the input end of the steering engine 2320, the second output end of the second controller is connected with the input end of the fifth driving motor 151, and the third output end of the second controller is connected with the input end of the sixth driving motor 162.

Outer casing

The shell sets up on the upper portion of base, and the shell is equipped with the mounting hole that supplies the garbage bin installation including with the structure cladding except that the base in mobile device 1 on the side of shell, and the garbage bin passes through this mounting hole to be installed on the shell, also can take out the garbage bin from mounting hole department and empty. The top of the shell is also provided with a garbage opening which is positioned right above the garbage can, and the garbage opening is provided with a rotating cover plate which can seal the garbage opening.

The specific working principle of the garbage-throwing robot in this embodiment is as follows:

s3, the garbage-throwing robot charges the cleaning robot 4;

s4, the initial position of the gripping device 2 is located right above the dust box in the cleaning robot 4, the second controller controls the output shaft of the sixth driving motor 162 to rotate counterclockwise, and the output shaft of the sixth driving motor drives the connecting member 166 and the gripping device 2 to move downward through the second belt 164;

s5, when the thirteenth photo sensor detects the seventh detecting element, the connecting element 166 and the grabbing device 2 move to the lowest position, and at this time, the second controller controls the sixth driving motor 162 to stop moving; meanwhile, when the thirteenth photoelectric sensor detects a seventh detection piece, the second controller controls the steering engine to rotate for 90 degrees;

s6, after the steering engine rotates by 90 degrees to drive the driving cam 2319 to rotate by 90 degrees, the second ejector rod 2323 moves to the lowest position at the moment, and the second ejector rod 2323 descends to press the unlocking button 32 of the dust box 3, so that the dust box 3 is not connected with the cleaning robot 4 any more; when the steering engine rotates 90 degrees, the second controller controls the electromagnet 221 to generate suction force, so that the dust box 3 is magnetically adsorbed on the grabbing device 2;

s7, the second controller controls the output shaft of the sixth driving motor 162 to rotate clockwise, and the output shaft of the sixth driving motor drives the connecting member 166, the gripping device 2, and the dust box 3 to move upward through the second belt 164;

s8, when the twelfth photo sensor detects the seventh detecting element, the connecting element 166, the gripping device 2, and the dust box 3 move to the highest position, and at this time, the second controller controls the sixth driving motor 162 to stop moving; meanwhile, when the twelfth photoelectric sensor detects the seventh detecting element, the controller controls the output shaft of the fifth driving motor 151 to rotate clockwise, and the output shaft of the fifth driving motor 151 drives the first sliding frame, the connecting element 166, the gripping device 2 and the dust box 3 to move leftward through the first belt 153;

s9, when the tenth photoelectric sensor detects the sixth detection piece, the first sliding frame drives the connecting piece 166, the grabbing device 2 and the dust box 3 to move to the upper side of the garbage can 5, at the moment, the second controller controls the electromagnet 221 to stop working, and the dust box falls into the garbage can 5 due to the gravity after the electromagnet 221 loses the magnetic force, so that the automatic disposal of the disposable dust box is completed.

In the process from the step S7 to the step S8, the distance detection probe detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the second controller, and the second controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the second controller determines whether the dust box 3 falls or not according to the measurement value.

In the embodiment, because the dust box is connected with the cleaning robot, a driving mechanism is required to drive the dust box to be separated from the cleaning robot; when the structure of the dust box is the same as that of the dust box in embodiment 1 and there is no connection relationship between the dust box and the cleaning robot, the driving mechanism may not be provided in embodiment 4.

Example 5

As shown in fig. 24, the robot for discarding garbage in this embodiment is improved based on the robot for discarding garbage in embodiment 4, and the specific robot for discarding garbage in this embodiment is the same except that the structure of the mobile device is different from that in embodiment 4. The structure of the mobile device will now be described in detail: as shown in fig. 24, the moving device 1 includes a base, a support 14, a horizontal moving mechanism and a vertical moving mechanism, a charging mechanism for charging the sweeping robot 4 is further provided on the base, the charging mechanism is two charging contacts provided on the base, and when the sweeping robot 4 moves to a place where the garbage is lost, the sweeping robot 4 contacts with the two charging contacts to perform charging. The holder 14 is fixedly mounted above the base, and as shown in fig. 24, the holder 14 has a rectangular parallelepiped shape.

The horizontal movement mechanism comprises a seventh driving motor 171, a moving platform 172, a fourth rack 173 and two third guide rods 174, wherein the two third guide rods 174 are fixedly installed on the bracket in parallel, the moving platform 172 is slidably connected onto the two third guide rods 174, the seventh driving motor 171 is fixedly installed on the moving platform 172, a seventh gear 175 is fixedly installed on an output shaft of the seventh driving motor 171, the seventh gear 175 is engaged with the fourth rack 173, the fourth rack 173 is fixedly installed on the bracket, and the fourth rack 173 and the third guide rods 174 are arranged in parallel. The moving platform 172 is reciprocally slid on the third guide bar 174 by the rotation of the output shaft of the seventh driving motor 171.

As shown in fig. 25, the vertical movement mechanism includes an eighth driving motor 181, a fifth rack 182, a sixth rack 183, a telescopic arm 186, an eighth gear 187, and a ninth gear 188, the eighth driving motor 181, the fifth rack 182, and the sixth rack 183 are all disposed on the moving platform 172, the fifth rack 182 and the sixth rack 183 are disposed in parallel with the third guide bar 174, the fifth rack 182 is further provided with a third slider 184, the sixth rack 183 is provided with a fourth slider 185, the third slider 184 and the fourth slider 185 are both slidably connected inside the moving platform 172, and the movement directions of the third slider 184 and the fourth slider 185 are parallel with the third guide bar 174. A tenth gear 189 is coaxially installed on an output shaft of the eighth driving motor 181, the tenth gear 189 is respectively engaged with the fifth rack 182 and the sixth rack 183, the fifth rack 182 is engaged with an upper portion of the tenth gear 189, and the sixth rack 183 is engaged with a lower portion of the tenth gear 189, so that the fifth rack 182 and the sixth rack 183 are driven to move toward or away from each other by the rotation of the output shaft of the eighth driving motor 181.

The first lever 1861 of the upper portion of the telescopic arm 186 is rotatably connected to the fifth rack 182, the second lever 1862 of the upper portion of the telescopic arm 186 is rotatably connected to the sixth rack 183, and the middle portion of the first lever 1861 is rotatably connected to the middle portion of the second lever 1862. A third strut 1863 at the lower portion of the telescopic arm 186 is rotatably connected to the grasping apparatus, and an eighth gear 187 is coaxially connected to a rotating shaft of the third strut 1863 rotatably connected to the grasping apparatus. The first strut 1861 is connected to the third strut 1863 through a fifth strut, wherein the fifth strut is rotatably connected to the first strut 1861, and the fifth strut is rotatably connected to the third strut 1863. A fourth strut 1864 at the lower portion of the telescopic arm 186 is rotatably connected to the grasping apparatus, and a ninth gear 188 is coaxially connected to a rotating shaft of the fourth strut 1864 rotatably connected to the grasping apparatus, and the eighth gear 187 is engaged with the ninth gear 188. The second supporting rod 1862 is connected with the fourth supporting rod 1864 through a sixth supporting rod, wherein the sixth supporting rod is rotatably connected with the second supporting rod 1862, and the fifth supporting rod is rotatably connected with the fourth supporting rod 1864; the middle part of the sixth supporting rod is rotatably connected with the middle part of the fifth supporting rod. The rotation of the output shaft of the eighth driving motor 181 drives the telescopic arm 186 to extend and retract via the fifth and

sixth racks

182 and 183, so as to drive the grabbing device 2 to ascend and descend.

s1, after the sweeping robot 4 finishes sweeping, the sweeping robot 4 searches and finds out the position of the garbage-lost robot;

s2, the sweeping robot 4 moves to a garbage throwing robot position, and whether the sweeping robot 4 is located at a set position is calibrated;

s3, the garbage-throwing robot charges the sweeping robot 4;

s4, the initial position of the gripping device 2 is located right above a dust box in the sweeping robot 4, the third controller controls the output shaft of the eighth driving motor 181 to rotate anticlockwise, the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move away from each other through the tenth gear 189, and therefore the telescopic arm is driven to extend to drive the gripping device 2 to move downwards;

s5, when the grabbing device 2 moves to the lowest position, the third controller controls the eighth driving motor 181 to stop moving, and the third controller controls the driving device to drive the dust box 3 to be disconnected from the cleaning robot 4, and controls the grabbing device 2 to grab the dust box 3;

s6, after the grabbing device 2 grabs the dust box 3, the third controller controls the output shaft of the eighth driving motor 181 to rotate clockwise, and the output shaft of the eighth driving motor drives the fifth rack and the sixth rack to move back to back through the tenth gear 189, so as to drive the telescopic arm to extend to drive the grabbing device 2 and the dust box 3 to move up;

s7, when the grasping apparatus 2 moves to the highest position, the third controller controls the eighth driving motor 181 to stop moving, the third controller controls the output shaft of the seventh driving motor 171 to rotate counterclockwise, and the output shaft of the seventh driving motor 171 drives the moving platform 172 to move leftward through the seventh gear 175 and the fourth rack 173;

s8, when the moving platform 172, the gripping device 2 and the dust box move to the leftmost side, the gripping device 2 and the dust box 3 move to the upper side of the garbage can 5, at the moment, the electromagnet 221 is controlled by the third controller to stop working, and after the electromagnet 221 loses the magnetic force, the dust box falls into the garbage can 5 under the action of gravity, so that the automatic disposal of the disposable dust box is completed.

In the embodiment, because the dust box is connected with the cleaning robot, a driving mechanism is required to drive the dust box to be separated from the cleaning robot; when the structure of the dust box is the same as that of the dust box in embodiment 1 and there is no connection relationship between the dust box and the cleaning robot, the driving mechanism may not be provided in embodiment 3.

Example 6

The garbage discarding robot in the embodiment 6 of the present invention is improved on the basis of the

embodiments

2, 3, 4, or 5. Specifically, the robot for discarding garbage in this embodiment is the same except that the structure of the grabbing mechanism and the structure of the dust box are different from those in other embodiments, the grabbing mechanism in this embodiment is a negative pressure adsorption mechanism, and the negative pressure adsorption mechanism is disposed on the lower surface of the grabbing lower cover 212. The negative pressure adsorption mechanism comprises at least one negative pressure adsorption piece, a negative pressure adsorption port is arranged on the negative pressure adsorption piece, and the negative pressure adsorption port is connected with a negative pressure source (such as a negative pressure fan) through a negative pressure pipeline. The upper surface of top cap does not set up the absorption iron sheet on the dust box in this embodiment, and then the upper surface of top cap is adsorbed the back by the negative pressure absorption mouth on the dust box, and grabbing device snatchs the dust box.

Example 7

Embodiment 7 of the present invention discloses a cleaning system, which includes any one of the garbage throwing robots of embodiments 1 to 6, and the cleaning system may further include a cleaning robot and/or a washing robot. The cleaning system which is used by matching the cleaning robot with the garbage throwing robot can realize the functions of automatic cleaning and automatic garbage throwing; the cleaning robot and the cleaning robot are matched for use, so that the functions of automatic cleaning and automatic mop washing can be realized; the cleaning robot is matched with the garbage throwing robot and the cleaning robot for use, and the functions of automatic cleaning, automatic garbage throwing and automatic mop cleaning can be realized. The cleaning robot with automatic mop cleaning function is prior art and thus is not described in detail.

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

Claims

1. A robot for throwing garbage, comprising:

2. A garbage throwing robot according to claim 1, wherein the moving means includes a horizontal moving mechanism and a vertical moving mechanism, the vertical moving mechanism driving the gripping means to move in a vertical direction; the horizontal movement mechanism drives the vertical movement mechanism to move on a horizontal plane.

3. A robot for garbage disposal according to claim 2, wherein the moving device further comprises a telescoping mechanism, the telescoping mechanism is disposed on the vertical moving mechanism, and the telescoping mechanism is connected to the gripping device, and the telescoping mechanism is used for driving the gripping device to move away from/close to the vertical moving mechanism.

4. A garbage throwing robot according to claim 3, wherein the vertical movement mechanism includes a lifting platform, a first rack, a first guide rail and a first driving motor, the first rack and the first guide rail are both disposed in a vertical direction, and the lifting platform moves on the first guide rail; the first driving motor is arranged on the lifting platform, a first gear is arranged on an output shaft of the first driving motor, and the first gear is meshed with the first rack.

5. A garbage throwing robot according to claim 4, wherein the telescoping mechanism comprises a second driving motor, a first guide rod and a second rack, the guide direction of the first guide rod is parallel to the horizontal plane, the second rack is arranged parallel to the first guide rod, and the first guide rod and the second rack are respectively connected with the grabbing device; the second driving motor is arranged on the lifting platform, a second gear is arranged on an output shaft of the second driving motor, and the second gear is meshed with the second rack.

6. A robot for garbage disposal according to any one of claims 2 to 5, wherein the moving means further comprises a base, the vertical moving mechanism is rotatably connected to the base, and the horizontal moving mechanism drives the vertical moving mechanism to rotate on a horizontal plane.

7. A robot for garbage disposal according to claim 6, wherein the moving device further comprises a supporting arm, the supporting arm is disposed on the base in an inverted L shape, the lower end of the vertical moving mechanism is rotatably connected to the base, and the upper end of the vertical moving mechanism is rotatably connected to the supporting arm.

8. A garbage disposal robot as defined in any one of claims 1 to 5, further comprising:

9. A robot for garbage disposal according to any of claims 1 to 5, wherein the gripping device comprises an electromagnetic absorption mechanism, the disposable dust collecting mechanism is provided with a piece to be magnetically absorbed relative to the electromagnetic absorption mechanism, and the electromagnetic absorption mechanism and the piece to be magnetically absorbed are magnetically absorbed.

10. A cleaning system, characterized in that it comprises a garbage throwing robot according to any of claims 1 to 9.