WO2022033388A1 - 垃圾箱的自动翻转装置及清洁设备 - Google Patents

垃圾箱的自动翻转装置及清洁设备 Download PDF

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Publication number
WO2022033388A1
WO2022033388A1 PCT/CN2021/110902 CN2021110902W WO2022033388A1 WO 2022033388 A1 WO2022033388 A1 WO 2022033388A1 CN 2021110902 W CN2021110902 W CN 2021110902W WO 2022033388 A1 WO2022033388 A1 WO 2022033388A1
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WIPO (PCT)
Prior art keywords
garbage
base
push rod
transmission shaft
transmission
Prior art date
Application number
PCT/CN2021/110902
Other languages
English (en)
French (fr)
Inventor
曾田
闵一武
肖志鸿
Original Assignee
广东博智林机器人有限公司
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Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Priority to GB2300046.6A priority Critical patent/GB2611916A/en
Publication of WO2022033388A1 publication Critical patent/WO2022033388A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/048—Linkages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B65F3/041—Pivoted arms or pivoted carriers
    • B65F3/046—Pivoted arms or pivoted carriers with additional means for assisting the tipping of the receptacle after or during raising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F7/00—Cleaning or disinfecting devices combined with refuse receptacles or refuse vehicles
    • B65F7/005—Devices, mounted on refuse collecting vehicles, for cleaning or disinfecting refuse receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/025—Constructional features relating to actuating means for lifting or tipping containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0263—Constructional features relating to discharging means

Definitions

  • the present application relates to the technical field of cleaning equipment, and in particular, to an automatic overturning device for a garbage bin and a cleaning equipment.
  • Sweepers are generally done by manual garbage dumping. In the case of a large amount of dust and stones remaining on the floor of the construction site, repeated cleaning is required, which is time-consuming, labor-intensive, and inefficient.
  • hydraulic cylinders are used to dump the garbage can. If a single hydraulic cylinder is used, a large hydraulic cylinder needs to be used because the garbage can is relatively large, resulting in an excessively large garbage tipping mechanism; if two hydraulic cylinders are used If so, the synchronization between the hydraulic cylinders is difficult to ensure, and the hydraulic cylinders also have the problems of high cost and easy oil leakage from the oil pipes.
  • an automatic overturning device for a waste bin comprising: a base; at least two sets of link mechanisms, one end of the link mechanisms is rotatably connected to the base, and the other end is used for rotatably connected with the garbage bin; a drive mechanism, the drive mechanism includes a drive motor and a transmission assembly installed on the base, and the drive motor is connected to at least two sets of push rod mechanisms through the transmission assembly in a synchronous drive, the One end of the push rod mechanism is rotatably connected with the link mechanism.
  • the push rod mechanism includes a slide rail, a rack and a push rod
  • the slide rail is mounted on the base
  • the rack and the slide rail are slidably connected
  • the transmission assembly The power output gear of the push rod is connected with the rack, one end of the push rod is rotatably connected with the rack, and the other end of the push rod is rotatably connected with the link mechanism.
  • the transmission assembly includes a first transmission shaft installed on the base, a sprocket installed in the middle of the first transmission shaft, the drive motor is connected with the sprocket through a chain, and the power output gear Installed on both ends of the first transmission shaft.
  • the transmission assembly includes a first transmission shaft and a second transmission shaft installed in parallel on the base, and power output gears installed at both ends of the first transmission shaft are installed in the The power input gear in the middle of the second transmission shaft is installed on the intermediate transmission gears at both ends of the second transmission shaft, and the intermediate transmission gear meshes with the power output gear.
  • the link mechanism comprises: a first link, one end of the first link is hinged on the base, and the other end of the first link is used for hinged garbage bin; Two connecting rods, one end of the second connecting rod is hinged on the base, and the other end of the second connecting rod is used for hingedly connecting the garbage bin.
  • the first link includes a first arm, a second arm, and a plurality of connecting parts provided between the first arm and the second arm, and the plurality of connecting parts are along the first arm
  • the length directions of the rods are evenly spaced, and one end of the push rod mechanism is rotatably connected to one of the connecting parts.
  • the sliding rails are gradually inclined upward in the direction toward the base.
  • a limiting structure is provided on the base, and the limiting structure is used to limit the movement of the rack.
  • a cleaning device comprising a vehicle frame, a garbage can, and the automatic garbage can inverting device according to any one of the above-mentioned embodiments of the present application, wherein the automatic garbage can inverting device is installed in the On the frame, the automatic turning device of the garbage can is hinged with the garbage can.
  • the waste bin includes a pour spout disposed at the bottom thereof, and a flap that can be actuated to open or close the pour spout.
  • FIG. 1 is a schematic structural diagram of a cleaning device according to an embodiment of the application.
  • Fig. 2 is the side view of Fig. 1, at this moment the waste bin is in the initial position;
  • FIG. 3 is a side view of FIG. 1 , at this time, the waste bin is lifted to a certain position.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • the following describes an automatic inversion device 100 for a waste bin according to an embodiment of the present application with reference to FIGS. 1 to 3 .
  • the automatic overturning device 100 for a waste bin includes: a base 1 , at least two sets of link mechanisms 4 , at least two sets of push rod mechanisms 5 and a drive mechanism 2 .
  • One end of the link mechanism 4 is rotatably connected to the base 1 , and the other end is used to rotatably connect to the waste bin 200 .
  • the drive mechanism 2 includes a drive motor 21 and a transmission assembly 22 installed on the base 1.
  • the drive motor 21 is synchronously connected to at least two sets of push rod mechanisms 5 through the transmission assembly 22, and one end of the push rod mechanism 5 is connected to the connecting rod.
  • Mechanism 4 is connected in rotation.
  • the base 1 serves as the basis of the automatic turning device 100 of the waste bin, and various components such as the drive motor 21 and the transmission assembly 22 are arranged on the base 1, which can improve the operation stability of the automatic turning device 100 of the waste bin. .
  • garbage dumping devices In general garbage dumping devices, traditional oil cylinders are mostly used as the drive.
  • the hydraulic rod of the garbage can is embedded in the device, and the hydraulic rod of the garbage can is installed at the bottom of the garbage can.
  • the dumping shaft is used to complete the garbage dumping. This method has the problems of large overall size and easy oil leakage from the oil pipe.
  • the drive motor 21 is synchronously connected to at least two sets of push rod mechanisms 5 through the transmission assembly 22 , and at least two sets of push rod mechanisms 5 can be They are respectively transmitted to at least two sets of link mechanisms 4, so that at least two sets of link mechanisms 4 are deformed, and during the deformation process, the garbage bin 200 can be lifted, which is convenient for the overturning of the garbage bin 200 and the dumping of garbage.
  • the entire automatic turning device 100 occupies a small area, and it is convenient for the automatic turning device 100 for waste bins to be suitable for equipment with smaller size, thereby increasing the applicable range of the automatic turning device 100 for waste bins.
  • the synchronization is good, so that the waste bin 200 cannot be accurately returned to the initial installation position because the push rod mechanism 5 is out of synchronization.
  • the control can be simplified and the cost can be reduced, so that the force is more balanced and stable, thereby improving the stability and reliability of the automatic turning device 100 of the waste bin during the operation.
  • the entire automatic overturning device 100 occupies a small area and has good synchronization. , to avoid that the waste bin 200 cannot accurately return to the initial installation position because the push rod mechanism 5 is out of synchronization.
  • the transmission assembly 22 is sequentially and synchronously transmitted to at least two sets of push rod mechanisms 5 and at least two sets of link mechanisms 4, so that the garbage bin 200 can be lifted and lowered, which is convenient for the overturning of the garbage bin 200 and the dumping of garbage.
  • the push rod mechanism 5 includes a sliding rail 51 , a rack 52 and a push rod 53 , the sliding rail 51 is mounted on the base 1 , and the rack 52 and the sliding rail 51 are slidably connected,
  • the power output gear 222 of the transmission assembly 22 is drivingly connected to the rack 52 , one end of the push rod 53 is rotatably connected to the rack 52 , and the other end of the push rod 53 is rotatably connected to the link mechanism 4 .
  • the power output gear 222 can be transmitted to the rack 52 , so that the rack 52 slides relative to the slide rail 51 and drives the push rod 53 to move and rotate. In this way, the link mechanism 4 can be deformed during the movement of the push rod 53 .
  • the gear and rack 52 meshing transmission form is adopted here, the structure is simple, the transmission is stable, and the operation reliability of the push rod mechanism 5 is improved.
  • the transmission assembly 22 includes a first transmission shaft 224 and a second transmission shaft 225 installed on the base 1 in parallel, and the power output gears 222 installed at both ends of the first transmission shaft 224 are installed on the first transmission shaft 224.
  • the driving motor 21 can make the second transmission shaft 225 and the intermediate transmission gear 223 rotate synchronously, and the rotating intermediate transmission gear 223 can be transmitted to the power output gear 222 .
  • the form of gear meshing transmission here has the advantages of high work stability, high transmission efficiency, compact structure, etc., which is beneficial to improve the transmission efficiency and work stability of the transmission assembly 22 .
  • one end of the push rod 53 is rotatably connected to the rack 52 through a mounting pin, thereby facilitating reliable transmission.
  • the bottom of the rack 52 is provided with a slider 54 , one side of the slider 54 is connected to the rack through the slider mounting plate 55 , and the other side of the slider 54 is slidably connected to the slide rail 51 .
  • the connection reliability of the slider 54 can be improved, and the sliding operation of the rack 52 is facilitated.
  • the transmission assembly 22 includes a first transmission shaft 224 installed on the base 1, a sprocket installed in the middle of the first transmission shaft 224, the drive motor 21 is connected to the sprocket through a chain, and the power output Gears 222 are mounted on both ends of the first transmission shaft 224 .
  • the drive motor 21 can rotate the drive chain to make the sprocket, the first transmission shaft 224 and the power output gear 222 rotate synchronously, and thereby transmit power to the rack 52 .
  • the combination of the chain and the sprocket can realize long-distance transmission, and can work in low-speed, heavy-load and dusty environments, which is beneficial to improve the applicable range of the transmission assembly 22 .
  • the push rod mechanism 5 may include a slide rail 51 , a lead screw, a nut and a push rod 53 .
  • the bottom of the nut is slidably connected to the slide rail 51
  • the power output gear 222 is a bevel gear
  • the bevel gear coincides with the rotation axis of the lead screw
  • one end of the push rod 53 is rotatably connected to the nut
  • the other end of the push rod 53 is connected to the link mechanism 4 Turn the connection.
  • the bevel gear and the lead screw can rotate synchronously, so that the bottom of the nut reciprocates on the base 1 .
  • a screw and a nut are used, and the movement precision is high.
  • the moving distance of the rack 52 can be precisely controlled by the number of turns of the screw, thereby improving the operation precision of the automatic turning device 100 of the waste bin.
  • the specific matching form of the transmission assembly 22 and the push rod 53 assembly is not limited herein.
  • the link mechanism 4 includes: a first link 41 and a second link 42 .
  • One end of the first link 41 is hinged on the base 1 , and the other end of the first link 41 is used for hingedly connecting the garbage bin 200 .
  • One end of the second link 42 is hinged on the base 1 , and the other end of the second link 42 is used for hingedly connecting the garbage bin 200 .
  • some garbage dumping devices are equipped with a turning mechanism and a lifting mechanism respectively.
  • the four-stage telescopic hydraulic cylinder on the manipulator enables the manipulator to clamp the garbage bin for lifting and lowering through the feature of graded expansion, and the turning mechanism is used.
  • the stepping motor drives the robot arm to clamp the garbage box and turn it over.
  • the cost of the whole set is high, and there is the problem of oil leakage from the oil pipe.
  • the gantry is provided with a lifting device for the garbage bin and a turning device for dumping the waste bin.
  • the turning cylinder is connected to the turning arm through the transmission arm to complete the waste dumping, but there are also problems of large size of the device and oil leakage from the oil pipe.
  • the push rod mechanism 5 can be used for transmission to the first link 41 , so that when the first link 41 rotates, the waste bin 200 and the second link 42 can be turned in sequence. Rotating, thereby realizing the lifting and lowering of the waste box 200 and simultaneously driving the waste box 200 to turn over.
  • the first link is provided with a first hinge point 414 for hingedly connecting the waste bin 200
  • the second link is provided with a second hinge point 421 for hinged with the waste bin 200 .
  • a link mechanism 4 including a first link 41 and a second link 42 is provided between the waste bin 200 and the base 1 , so that the first link 41 , the waste box 200 and the second link 42 It forms a four-link structure with the base 1, which is beneficial to improve the stability and reliability of the transmission.
  • the second link 42 can also play a role in preventing the swing generated along the longitudinal direction of the waste container 200, which causes the waste container 200 to fail to return.
  • the first link 41 includes a first arm 411 , a second arm 412 , and a plurality of connecting parts 413 disposed between the first arm 411 and the second arm 412 .
  • the plurality of connecting parts 413 are arranged at intervals along the length direction of the first arm 411 , and one end of the push rod mechanism 5 is rotatably connected to one of the connecting parts 413 . It can be understood that the arrangement of the first arm 411 and the second arm 412 is convenient for improving the structural strength of the first connecting rod 41 and improving the service life of the first connecting rod 41 .
  • the arrangement of the plurality of connecting parts 413 can play the role of connecting the first arm 411 and the second arm 412, thereby improving the connection reliability and motion synchronization of the first arm 411 and the second arm 412, and is also convenient for the push rod mechanism 5.
  • Provide installation positions which is beneficial to the flexible layout of the automatic turning device 100 of the waste bin.
  • the push rod mechanism 5 can be selected to be connected to the connecting parts 413 at different positions according to the actual situation. If the waste bin 200 needs to have a higher lifting height, the push rod mechanism 5 can be selected to be connected to the connecting part 413 away from the waste bin 200. , if the lifting height of the waste bin 200 needs to be reduced, the push rod mechanism 5 can be selectively connected to the connecting portion 413 of the waste bin 200 .
  • the specific connection position of the push rod mechanism 5 is not limited herein.
  • the connecting portion 413 may be a shaft-like member or a sleeve member, and the form of the connecting portion is not specifically limited herein.
  • the slide rails 51 are gradually inclined upward toward the base 1 . It can be understood that the arrangement of the slide rail 51 can play a guiding role in the sliding of the rack 52 , so as to improve the movement accuracy of the rack 52 and reduce the movement offset.
  • the slide rail 51 is gradually inclined upward in the direction toward the waste bin 200, which can not only increase the liftable height of the waste bin 200, but also make the layout of the automatic turning device 100 of the waste bin more compact, which is beneficial to the miniaturization of the automatic turning device 100. .
  • the base 1 is further provided with a slide rail mount 14 , and the slide rail 51 is connected to the base 1 through the slide rail mount 14 . Therefore, the connection stability and reliability of the slide rail 51 can be improved.
  • a limiting structure 12 is provided on the base 1 , and the limiting structure 12 is used to limit the movement of the rack 52 .
  • the automatic overturning device 100 of the waste bin can realize the double limit of mechanical and electrical control, and the safety guarantee is higher.
  • the limit structure 12 can be a limit block located at the end of the guide rail, so that it can play a good mechanical limit function.
  • the limiting structure 12 may also be a limiting rod, a limiting ring, etc., and the specific form of the limiting structure 12 is not limited herein.
  • the automatic overturning device 100 for a waste bin includes: a base 1 , at least two sets of link mechanisms 4 , at least two sets of push rod mechanisms 5 and a drive mechanism 2 .
  • the base 1 is provided with a limiting structure 12 , and the limiting structure 12 is used to limit the movement of the rack 52 .
  • the link mechanism 4 includes a first link 41 and a second link 42 .
  • One end of the first link 41 is hinged on the base 1 , and the other end of the first link 41 is used for hingedly connecting the garbage bin 200 .
  • the first link 41 includes a first arm 411 , a second arm 412 , and a connecting portion 413 provided between the first arm 411 and the second arm 412 .
  • One end of the second connecting rod 42 is hinged on the base 1 , and the other end of the second connecting rod 42 is used for hingedly connecting the garbage bin 200 .
  • the push rod mechanism 5 includes a slide rail 51, a rack 52 and a push rod 53.
  • the slide rail 51 is gradually inclined upward in the direction toward the base 1.
  • the rack 52 and the slide rail 51 can be slidably connected.
  • the rack 52 is rotatably connected, and the other end of the push rod 53 is rotatably connected to one of the connecting parts 413 .
  • the drive mechanism 2 includes a drive motor 21 mounted on the base 1 and a transmission assembly 22 .
  • the drive motor 21 is provided on the base 1 , and the drive motor 21 is connected to at least two sets of push rod mechanisms 5 through the transmission assembly 22 for synchronous transmission.
  • the transmission assembly 22 includes a first transmission shaft 224 and a second transmission shaft 225 installed in parallel on the base 1 , a power output gear 222 installed at both ends of the first transmission shaft 224 , and a power input gear installed in the middle of the second transmission shaft 225 221 , an intermediate transmission gear 223 installed at both ends of the second transmission shaft 225 , the intermediate transmission gear 223 meshes with the power output gear 222 , and the power output gear is in driving connection with the rack 52 .
  • the cleaning device includes a vehicle frame, a garbage can, and the automatic inverting device 100 for the garbage can according to any one of the above-mentioned embodiments of the present application.
  • the automatic turning device 100 is hinged with the waste bin 200 .
  • the entire cleaning device occupies a small area and has good synchronization, avoiding the need for the push rod mechanism. 5.
  • the lack of synchronization prevents the waste bin 200 from returning to the original installation position accurately.
  • the transmission assembly 22 is sequentially and synchronously transmitted to at least two sets of push rod mechanisms 5 and at least two sets of link mechanisms 4, so that the garbage bin 200 can be lifted and lowered, which is convenient for the overturning of the garbage bin 200 and the dumping of garbage. This can not only solve the problem of easy oil leakage from the oil pipe in the traditional oil cylinder, make the force of the cleaning equipment more balanced and stable, but also reduce the cost and improve the applicable scope of the cleaning equipment.
  • the waste bin 200 includes a pour spout disposed at the bottom thereof, and a flap 201 that can be actuated to open or close the pour spout.
  • the baffle 201 when the baffle 201 is driven to open the pouring opening, the garbage can be poured out of the garbage can 200 , thereby improving the cleanliness of the garbage can 200 and reducing the situation of garbage remaining in the garbage can 200 .
  • the baffle plate 201 can be driven to close the dumping opening, thereby facilitating the repeated use of the garbage bin 200 and improving the reliability of receiving garbage.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

一种垃圾箱的自动翻转装置（100）及清洁设备，包括：基座（1）、至少两组连杆机构（4）及驱动机构（2）。连杆机构（4）的一端与基座（1）转动连接，另一端用于与垃圾箱（200）转动连接。驱动机构（2）包括安装在基座（1）上的驱动电机（21）和传动组件（22），驱动电机（21）通过传动组件（22）与至少两组推杆机构（5）同步传动连接，推杆机构（5）的一端与连杆机构（4）转动连接。

Description

垃圾箱的自动翻转装置及清洁设备 技术领域
本申请涉及清洁设备技术领域，尤其是涉及一种垃圾箱的自动翻转装置及清洁设备。
背景技术
清扫车一般是由人工完成垃圾倾倒的。对于建筑工地楼层地表残留大量尘土和石头的情况，需要反复清扫，费时费力，效率低下。
有的清洁设备中，采用液压缸对垃圾箱进行倾倒作业，如果用单个液压缸的话，由于垃圾箱比较大，需要采用大型液压缸，导致垃圾翻倒机构体积过大；如果采用两个液压缸的话，则液压缸之间的同步性比较难以保证，而且液压缸还存在成本高及油管容易漏油的问题。
发明内容
根据本申请的各种实施例，提供一种垃圾箱的自动翻转装置，包括：基座；至少两组连杆机构，所述连杆机构的一端与所述基座转动连接，另一端用于与垃圾箱转动连接；驱动机构，所述驱动机构包括安装在所述基座上的驱动电机和传动组件，所述驱动电机通过所述传动组件与至少两组推杆机构同步传动连接，所述推杆机构的一端与所述连杆机构转动连接。
在一些实施例中，所述推杆机构包括滑轨、齿条和推杆，所述滑轨安装在所述基座上，所述齿条和所述滑轨可滑动连接，所述传动组件的动力输出齿轮与所述齿条传动连接，所述推杆的一端与所述齿条转动连接，所述推杆的另一端与所述连杆机构转动连接。
具体地，所述传动组件包括安装在基座上的第一传动轴，安装在所述第一传动轴中部的链轮，所述驱动电机通过链条与所述链轮连接，所述动力输出齿轮安装在所述第一传动轴的两端。
在一些可选的实施例中，所述传动组件包括平行安装在所述基座上的第一传动轴和第二传动轴，安装在所述第一传动轴两端的动力输出齿轮，安装在所述第二传动轴中部的动力输入齿轮，安装在所述第二传动轴两端的中间传动齿轮，所述中间传动齿轮与所述动力输出齿轮啮合。
在一些实施例中，所述连杆机构包括：第一连杆，所述第一连杆的一端铰接在所述基座上，所述第一连杆的另一端用于铰接垃圾箱；第二连杆，所述第二连杆的一端铰接在所述基座上，所述第二连杆的另一端用于铰接垃圾箱。
具体地，所述第一连杆包括第一臂、第二臂，以及设于所述第一臂和所述第二臂之间的多个连接部，多个所述连接部沿第一臂的长度方向均匀间隔设置，所述推杆机构的一端转动连接在其中一个所述连接部上。
在一些可选的实施例中，所述滑轨在朝向所述基座的方向上逐渐向上倾斜设置。
在一些可选的实施例中，所述基座上设置有限位结构，所述限位结构用于限制所述齿条的移动。
根据本申请的各种实施例，还提供一种清洁设备，包括车架、垃圾箱和本申请上述实施例任一项所述的垃圾箱自动翻转装置，所述垃圾箱自动翻转装置安装在所述车架上，所述垃圾箱自动翻转装置与所述垃圾箱铰接。
在一些实施例中，所述垃圾箱包括设置在其底部的倾倒口，以及能被驱动以打开或者关闭所述倾倒口的挡板。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其他特征、目的和优点将从说明书、附图以及权利要求书变得明显。。
附图说明
为了更好地描述和说明这里公开的那些申请的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的申请、目前描述的实施例和/或示例以及目前理解的那些申请的最佳模式中的任何一者的范围的限制。
图1为本申请一实施例所述的清洁设备的结构示意图；
图2为图1的侧视图，此时垃圾箱处于初始位置；
图3为图1的侧视图，此时垃圾箱升降至某一位置。
附图标记：
100、垃圾箱的自动翻转装置，1、基座，12、限位结构，14、滑轨安装座，2、驱动机构，21、驱动电机，22、传动组件，221、动力输入齿轮，222、动力输出齿轮，223、中间传动齿轮，224、第一传动轴，225、第二传动轴，4、连杆机构，41、第一连杆，411、第一臂，412、第二臂，413、连接部，414、第一铰接点，42、第二连杆，421、第二铰接点，5、推杆机构，51、滑轨，52、齿条，53、推杆，54、滑块，55、滑块安装板，200、垃圾箱，201、挡板。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“上”、“下”、“顶”、“底”、“内”、“外”、“轴向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申 请中的具体含义。
下面参考图1-图3描述根据本申请实施例的垃圾箱的自动翻转装置100。
根据本申请实施例的垃圾箱的自动翻转装置100，如图1所示，包括：基座1、至少两组连杆机构4、至少两组推杆机构5和驱动机构2。连杆机构4一端与基座1转动连接，另一端用于转动连接垃圾箱200。驱动机构2包括安装在基座1上的驱动电机21和传动组件22，驱动电机21通过传动组件22与至少两组推杆机构5同步传动连接，所述推杆机构5一端与所述连杆机构4转动连接。
可以理解的是，基座1作为垃圾箱的自动翻转装置100的基础，各部件如驱动电机21、传动组件22等设置在基座1上，可以提升垃圾箱的自动翻转装置100的作业稳定性。
一般的垃圾倾倒装置中，多选用传统油缸作为驱动，如采用垃圾箱液压杆内嵌于装置内部，垃圾箱底部安装有垃圾箱液压杆，通过垃圾箱倾倒轴完成垃圾倾倒。这种方式存在整体尺寸大、油管容易漏油的问题。
本申请实施例的垃圾箱的自动翻转装置100中，如图1所示，采用驱动电机21为传动组件22提供动力，并使传动组件22传动至连杆机构4。这种机械传动方式，寿命长、零污染，还可以解决漏油问题。
有的垃圾倾倒设备中，采用两个液压缸进行垃圾的倾倒，但是两个液压缸之间的同步性比较难以保证，而且液压缸还存在成本高的问题。
本申请实施例的垃圾箱的自动翻转装置100中，如图1-图3所示，驱动电机21通过传动组件22与至少两组推杆机构5同步传动连接，至少两组推杆机构5可以分别传动至至少两组连杆机构4，使得至少两组连杆机构4产生变形，并在变形过程中能够实现垃圾箱200的提升，方便垃圾箱200的翻转和垃圾的倾倒。这样不仅可以使得整个自动翻转装置100占地面积小，便于垃圾箱的自动翻转装置100适用于尺寸较小的设备，从而提升垃圾箱的自动翻转装置100的可应用范围。而且同步性好，避免因为推杆机构5不同步使得垃圾箱200不能准确的回到初始安装位置。另外，还可以简化控制、降低成本，使得受力更加均衡、稳定，从而提升垃圾箱的自动翻转装置100在作业过程中的稳定性和可靠性。
根据本申请实施例的垃圾箱的自动翻转装置100，通过在驱动电机21和推杆机构5之间设置能同步驱动的传动组件22，使得整个自动翻转装置100占地面积小，而且同步性好，避免因为推杆机构5不同步使得垃圾箱200不能准确地回到初始安装位置。通过传动组件22依次同步传动至至少两个组推杆机构5、至少两组连杆机构4，能够实现垃圾箱200升降，方便垃圾箱200的翻转及垃圾的倾倒。由此不仅能够解决传统油缸中油管容易漏油的问题，使得自动翻转装置100的受力更加均衡、稳定，还可以降低成本，便于垃圾箱的自动翻转装置100适用于不同型号的设备中，提升垃圾箱的自动翻转装置100的可应用范围。
在一些实施例中，如图1所示，推杆机构5包括滑轨51、齿条52和推杆53，滑轨51安装在基座1上，齿条52和滑轨51可滑动连接，传动组件22的动力输出齿轮222与齿条52传动连接，推杆53的一端与齿条52转动连接，推杆53的另一端与连杆机构4转动连接。可以理解的是，动力输出齿轮222可以传动至齿条52，使得齿条52相对滑轨51进行滑动，并带动推杆53的移动并转动。这样在推杆53运动的过程中，能够使得连杆机构4产生变形。这里采用齿轮、齿条52啮合传动形式，结构简单、传动稳定，有利于提升推杆机构5的作业可靠性。
具体地，如图1所示，传动组件22包括平行安装在基座1上的第一传动轴224和第二传动轴225，安装在第一传动轴224两端的动力输出齿轮222，安装在第二传动轴225中部的动力输入齿轮221，安装在第二传动轴225两端的中间传动齿轮223，中间传动齿轮223与动力输出齿轮222啮合。可以理解的是，驱动电机21通过驱动动力输入轮转动，可以使得第二传动轴225、中间传动齿轮223进行同步转动，转动的中间传动齿轮223可以传动至动力输出齿轮222。这里齿轮啮合传动的形式，具有工作平稳性高，传动效率高，结构紧凑等优点，有利于提升传动组件22的传动效率和工作平稳性。
可选的，推杆53的一端通过安装销转动连接在齿条52上，由此可以便于实现可靠传动。
可选的，齿条52的底部设有滑块54，滑块54的一侧通过滑块安装板55连接在齿条上，滑块54的另一侧与滑轨51滑动连接。由此设置，可以提升滑块54的连接可靠性，且便于齿条52的滑动作业。
在一些可选的实施例中，传动组件22包括安装在基座1上的第一传动轴224，安装在第一传动轴224中部的链轮，驱动电机21通过链条与链轮连接，动力输出齿轮222安装在第一传动轴224的两端。可以理解的是，驱动电机21可以通过驱动链条的转动，使得链轮、第一传动轴224和动力输出齿轮222进行同步转动，并由此传动动力至齿条52。这里采用链条与链轮的配合形式，可以实现远距离传动，并且能够在低速、重载和尘土飞扬等环境中工作，有利于提升传动组件22的可适用范围。
可选的，推杆机构5可以包括滑轨51、丝杠、螺母和推杆53。螺母的底部和滑轨51可滑动连接，动力输出齿轮222为锥齿轮，锥齿轮与丝杠的转动轴线相重合，推杆53的一端与螺母转动连接，推杆53的另一端与连杆机构4转动连接。这样在锥齿轮、丝杠可以同步转动，使得螺母的底部在基座1上往复运动。这里采用丝杠、螺母的配合形式，运动精度高，如可以通过丝杠的转动圈数精确控制齿条52的移动距离，从而提升垃圾箱的自动翻转装置100的作业精度。在此对传动组件22与推杆53组件的具体配合形式不作限定。
在一些实施例中，如图1所示，连杆机构4包括：第一连杆41和第二连杆42。第一连杆41的一端铰接在基座1上，第一连杆41的另一端用于铰接垃圾箱200。第二连杆42的一端铰接在基座1上，第二连杆42的另一端用于铰接垃圾箱200。
可以理解的是，有的垃圾倾倒装置中，分别设置有翻转机构和提升机构，如机械手上的四级伸缩液压缸通过分级伸缩的特征使机械手臂夹持垃圾箱进行提升与下降，翻转机构则是当夹持的垃圾箱到达指定位置时，步进电机驱动机械手臂夹持垃圾箱进行翻转。然而整套装置成本高，并且存在油管漏油问题。又如龙门架上设有垃圾箱的升降装置及垃圾箱倾倒的翻转装置，翻转油缸通过传动臂连接翻转臂完成垃圾倾倒，但是也存在装置尺寸大、油管漏油问题。
本申请实施例的垃圾箱的自动翻转装置100中，通过推杆机构5可以传动至第一连杆41，这样第一连杆41在转动时，可以使得垃圾箱200、第二连杆42依次转动，由此实现垃圾箱200升降的同时带动垃圾箱200翻转。
具体地，第一连杆设有用于铰接垃圾箱200的第一铰接点414，第二连杆设有用于铰接垃圾箱200的第二铰接点421。这样驱动电机21转动时，通过传动组件22能够传动至推杆机构5，进而带动连杆机构4变形，使得第一铰接点414和第二铰接点414的高度及相对位置均变化，从而带动垃圾箱200升降的同时带动垃圾箱200翻转。
需要说明的是，在垃圾箱200和基座1之间设置包括第一连杆41和第二连杆42的连杆机构4，使得第一连杆41、垃圾箱200、第二连杆42和基座1形成四连杆的结构，有利于提升传动的稳定性和可靠性。另外，第二连杆42也可以起到防止沿垃圾箱200长度方向所产生的摆动，导致垃圾箱200不能回位的情况。
进一步地，如图1所示，第一连杆41包括第一臂411、第二臂412，以及设于第一臂411和第二臂412之间的多个连接部413，多个连接部413沿第一臂411的长度方向间隔设置，推杆机构5的一端转动连接在其中一个连接部413上。可以理解的是，第一臂411和第二臂412的设置，便于提升第一连杆41的结构强度，有利于提升第一连杆41的使用寿命。多个连接部413的设置，可以起到连接第一臂411和第二臂412的作用，从而提升第一臂411和第二臂412的连接可靠性和运动同步性，也便于为推杆机构5提供安装位，有利于垃圾箱的自动翻转装置100的灵活布局。如推杆机构5可以根据实际情况，选择连接在不同位置的连接部413上，如需要垃圾箱200具有较高的升降高度时，推杆机构5可以选择连接在远离垃圾箱200的连接部413，如果需要减少垃圾箱200的升降高度时，推杆机构5可以选择连接在垃圾箱200的连接部413。在此对推杆机构5的具体连接位置不作限定。
可选的，连接部413可以为轴类件，也可以为套筒件，在此对连接部的形式不作具体限定。
在一些可选的实施例中，如图1所示，滑轨51在朝向基座1上逐渐向上倾斜设置。可以理解的是，滑轨51的设置，可以对齿条52的滑动起到导向的作用，从而可以提升齿条52的移动精度，减少运动偏移。这里滑轨51在朝向垃圾箱200方向上逐渐向上倾斜设置，不仅可以提升垃圾箱200的可升降高度，也使得垃圾箱的自动翻转装置100布局更加紧凑，有利于自动翻转装置100趋于小型化。
可选的，基座1上还设有滑轨安装座14，滑轨51通过滑轨安装座14连接在基座1上。由此可以提升滑轨51的连接稳定性及可靠性。
在一些实施例中，如图1所示，基座1上设置有限位结构12，限位结构12用于限制齿条52的移动。由此设置，垃圾箱的自动翻转装置100可以实现机械和电控双重限位，安全保障更高。
可选的，限位结构12可以为位于导轨端部的限位块，从而可以起到良好的机械限位作用。当然，在其它的一些实施例中，限位结构12也可以为限位杆、限位环等，在此对限位结构12的具体形式不作限定。
下面参考图1-图3描述本申请的一个具体实施例中的垃圾箱的自动翻转装置100。
根据本申请实施例的垃圾箱的自动翻转装置100，包括：基座1、至少两组连杆机构4、至少两组推杆机构5和驱动机构2。
其中，基座1上设置有限位结构12，限位结构12用于限制齿条52的移动。
连杆机构4包括：第一连杆41和第二连杆42。第一连杆41的一端铰接在基座1上，第一连杆41的另一端用于铰接垃圾箱200。第一连杆41包括第一臂411、第二臂412以及设于第一臂411和第二臂412之间的连接部413，多个连接部413沿第一臂411的长度方向间隔设置。第二连杆42的一端铰接在基座1上，第二连杆42的另一端用于铰接垃圾箱200。
推杆机构5包括滑轨51、齿条52和推杆53，滑轨51在朝向基座1的方向上逐渐向上倾斜设置，齿条52和滑轨51可滑动连接，推杆53的一端与齿条52转动连接，推杆53的另一端转动连接在其中一个连接部413上。
驱动机构2包括安装在基座1上的驱动电机21和传动组件22，驱动电机21设在基座1上，驱动电机21通过传动组件22与至少两组推杆机构5同步传动连接。传动组件22包括平行安装在基座1上的第一传动轴224和第二传动轴225，安装在第一传动轴224两端的动力输出齿轮222，安装在第二传动轴225中部的动力输入齿轮221，安装在第二传动轴225两端的中间传动齿轮223，中间传动齿轮223与动力输出齿轮222啮合，动力输出轮与齿条52传动连接。
下面参考附图描述根据本申请实施例的清洁设备。
根据本申请实施例中的清洁设备，包括车架、垃圾箱和本申请上述实施例任一项所述的垃圾箱自动翻转装置100，垃圾箱的自动翻转装置100安装在车架上，垃圾箱自动翻转装置100与垃圾箱200铰接。
根据本申请实施例中的清洁设备，通过在驱动电机21和推杆机构5之间设置能同步驱动的传动组件22，使得整个清洁设备占地面积小，而且同步性好，避免因为推杆机构5不同步使得垃圾箱200不能准确的回到初始安装位置。通过传动组件22依次同步传动至至少两个组推杆机构5、至少两组连杆机构4，能够实现垃圾箱200升降，方便垃圾箱200的翻转及垃圾的倾倒。由此不仅能够解决传统油缸中油管容易漏油的问题，使得清洁设备的受力更加均衡、稳定，还可以降低成本，提升清洁设备的可应用范围。
在一些实施例中，如图2和图3所示，垃圾箱200包括设置在其底部的倾倒口，以及能被驱动以打开或者关闭倾倒口的挡板201。可以理解的是，当挡板201被驱动以打开倾倒口时，垃圾可以从垃圾箱200里倒出，从而能够提升垃圾箱200的清洁性，减少垃圾残留在垃圾箱200中的情况。当完成垃圾的倾倒时，挡板201可以被驱动以关闭倾倒口，由此便于垃 圾箱200的多次重复使用，提升承装垃圾的可靠性。
根据本申请实施例的清洁设备的其他构成例如控制装置等以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。
在本说明书的描述中，参考术语“实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (10)

  1. 一种垃圾箱的自动翻转装置(100)，其特征在于，包括：
    基座(1)；
    至少两组连杆机构(4)，所述连杆机构(4)的一端与所述基座(1)转动连接，另一端用于与垃圾箱转动连接；
    驱动机构(2)，所述驱动机构(2)包括安装在所述基座(1)上的驱动电机(21)和传动组件(22)，所述驱动电机(21)通过所述传动组件(22)与至少两组推杆机构(5)同步传动连接，所述推杆机构(5)的一端与所述连杆机构(4)转动连接。
  2. 根据权利要求1所述的垃圾箱的自动翻转装置(100)，其特征在于，所述推杆机构(5)包括滑轨(51)、齿条(52)和推杆(53)，所述滑轨(51)安装在所述基座(1)上，所述齿条(52)和所述滑轨(51)可滑动连接，所述传动组件(22)的动力输出齿轮(222)与所述齿条(52)传动连接，所述推杆(53)的一端与所述齿条(52)转动连接，所述推杆(53)的另一端与所述连杆机构(4)转动连接。
  3. 根据权利要求2所述的垃圾箱的自动翻转装置(100)，其特征在于，所述传动组件(22)包括安装在所述基座(1)上的第一传动轴(224)，安装在所述第一传动轴(224)中部的链轮，所述驱动电机(21)通过链条与所述链轮连接，所述动力输出齿轮(222)安装在所述第一传动轴(224)的两端。
  4. 根据权利要求2所述的垃圾箱的自动翻转装置(100)，其特征在于，所述传动组件(22)包括平行安装在所述基座(1)上的第一传动轴(224)和第二传动轴(225)，安装在所述第一传动轴(224)两端的动力输出齿轮(222)，安装在所述第二传动轴(225)中部的动力输入齿轮(221)，安装在所述第二传动轴(225)两端的中间传动齿轮(223)，所述中间传动齿轮(223)与所述动力输出齿轮(222)啮合。
  5. 根据权利要求1所述的垃圾箱的自动翻转装置(100)，其特征在于，所述连杆机构(4)包括：
    第一连杆(41)，所述第一连杆(41)的一端铰接在所述基座(1)上，所述第一连杆(41)的另一端用于铰接垃圾箱(200)；
    第二连杆(42)，所述第二连杆(42)的一端铰接在所述基座(1)上，所述第二连杆(42)的另一端用于铰接垃圾箱(200)。
  6. 根据权利要求5所述的垃圾箱的自动翻转装置(100)，其特征在于，所述第一连杆(41)包括第一臂(411)、第二臂(412)，以及设于所述第一臂(411)和所述第二臂(412)之间的多个连接部(413)，多个所述连接部(413)沿第一臂(411)的长度方向均匀间隔设置，所述推杆机构(5)的一端转动连接在其中一个所述连接部(413)上。
  7. 根据权利要求2所述的垃圾箱的自动翻转装置(100)，其特征在于，所述滑轨(51)在朝向所述基座(1)的方向上逐渐向上倾斜设置。
  8. 根据权利要求2所述的垃圾箱的自动翻转装置(100)，其特征在于，所述基座(1) 上设置有限位结构(12)，所述限位结构(12)用于限制所述齿条(52)的移动。
  9. 一种清洁设备，其特征在于，包括车架、垃圾箱(200)和根据权利要求1-8中任一项所述的垃圾箱自动翻转装置(100)，所述垃圾箱自动翻转装置(100)安装在所述车架上，所述垃圾箱自动翻转装置(100)与所述垃圾箱(200)铰接。
  10. 根据权利要求9所述的清洁设备，其特征在于，所述垃圾箱(200)包括设置在其底部的倾倒口，以及能被驱动以打开或者关闭所述倾倒口的挡板(201)。
PCT/CN2021/110902 2020-08-11 2021-08-05 垃圾箱的自动翻转装置及清洁设备 WO2022033388A1 (zh)

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