CN206599150U - Refuse collection robot - Google Patents
Refuse collection robot Download PDFInfo
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- CN206599150U CN206599150U CN201621492840.5U CN201621492840U CN206599150U CN 206599150 U CN206599150 U CN 206599150U CN 201621492840 U CN201621492840 U CN 201621492840U CN 206599150 U CN206599150 U CN 206599150U
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- China
- Prior art keywords
- casing
- controller
- refuse collection
- collection robot
- sucker
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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Abstract
The utility model discloses a kind of refuse collection robot, it is related to robot field, including casing, case lid is hinged with the casing, driving wheel is provided with below the casing, driving wheel is connected with power set and transfer, and the sidepiece of the casing, which is provided with laser radar and camera, the casing, is additionally provided with microphone；Also include controller, sound identification module is provided with the controller, the power set, the transfer, the laser radar, the camera and the microphone electrically connect controller the utility model refuse collection robot solve conventional garbage case in-convenience in use technical problem, the utility model refuse collection robot can automatically be moved to user at one's side according to phonetic order, charging can also be automatically performed, rubbish is classified, the work such as refuse bag are changed simultaneously, easy to use, intelligence degree is high.
Description
Technical field
The utility model is related to robot field, and the machine of refuse collection classification can be carried out automatically more particularly, to a kind of
People.
Background technology
Dustbin is the pith of people's daily life, while bringing convenient life to us, is also generated
Health and problem of management.Such as：In order to lose rubbish, we have to stand up to leave original position, move towards dustbin, and this is not to
The crowd being moved easily causes very big puzzlement, especially disabled person and laid-up old man, for common people,
There are many inconvenience.Some intelligent dustbins are had in the market, but also there is following defect in these intelligent dustbins：
First, needs shake the control modes such as control and just may move, inconvenient operation；
2nd, need often to change battery, or too busy to get away power supply, using upper very inconvenient；
3rd, recyclable rubbish and non-recyclable rubbish in living can not classify, and all mix, and be unfavorable for environment guarantor
Shield；
4th, refuse bag needs manual replacing, unhygienic.
Utility model content
For disadvantages described above, technical problem to be solved in the utility model is to provide a kind of refuse collection robot, this
Refuse collection robot can be moved according to verbal instructions, positioning of following the sound, and user is gone to automatically at one's side, easy to use.
In order to solve the above technical problems, the technical solution of the utility model is：
It is hinged with a kind of refuse collection robot, including casing, the casing below case lid, the casing provided with driving
Wheel, driving wheel is connected with power set and transfer, and the sidepiece of the casing is provided with laser radar and camera, the casing
On be additionally provided with microphone；Also include controller, be provided with sound identification module in the controller, power set, described turn
The controller is electrically connected to device, the laser radar, the camera and the microphone.
Wherein, the refuse collection robot also includes setting on the charging pile set with the casing split, the casing
There is the charging inlet being adapted with the charging pile, the charging inlet is electrically connected with rechargeable battery, the controller and is provided with
Electric quantity of rechargeable battery detection module.
Wherein, side by side provided with two interior dustbins in the casing, the top of interior dustbin is provided with sorting plate, institute described in two
State and be fixedly connected with the middle part of sorting plate by the motor-driven sorting plate rotating shaft of sorting plate；Image is installed on the inside of the case lid
Identification module and spectrometer, described image identification module, the spectrometer and the classification board motor are electric with the controller
Connection.
Wherein, the downside of the sorting plate position corresponding with interior dustbin described in two is respectively equipped with range sensor,
The casing is provided with loudspeaker, is provided with audio player in the controller, and the range sensor and the loudspeaker are and institute
State controller electrical connection.
Wherein, the downside of the sorting plate position corresponding with interior dustbin described in two is respectively equipped with antivirus lamp.
Wherein, the sidepiece of the interior dustbin is vertically provided with the conveyer belt of annular, and the outside spacers of the conveyer belt are set
There is hook；The lower section of the conveyer belt, which is provided with, is used to winding bag axle that twines of refuse bag, the distance between hook described in adjacent two
It is adapted with the length of the refuse bag；The top of the interior dustbin, which is slided, is provided with sucker, the adsorption plane direction of the sucker
The conveyer belt.
Wherein, the upper and lower ends on the inside of the conveyer belt are respectively provided with one in a roller, roller described in two for electronic rolling
Wheel, the electric roller electrically connects the controller.
Wherein, the top of the interior dustbin is provided with guide rail, and the sucker is arranged on a sucker mounting bracket, the sucker
Mounting bracket is fixedly connected with the sliding block on the guide rail；One end of the guide rail is provided with sucker motor, the other end of the guide rail
Provided with guide wheel, an annular driving band is surrounded with the power output shaft and the guide wheel of the sucker motor, the transmission belt
Bearing of trend is identical with the bearing of trend of the guide rail, and the sucker mounting bracket is fixed on the transmission belt, the sucker electricity
Controller described in mechatronics.
Wherein, the casing is provided with the first engaging lug, and the case lid is provided with the second engaging lug, second engaging lug
It is hinged with first engaging lug, the end of second engaging lug is hinged with connecting rod, and the connecting rod is stretched into through the casing
It is hinged in the casing with a cam, the cam is driven by motor of uncapping, the motor of uncapping electrically connects the controller.
Wherein, between the opening of the sorting plate and the casing be provided with funnel, the lower port of the funnel with described point
Class plate is adapted.
Employ after above-mentioned technical proposal, the beneficial effects of the utility model are：
Because the utility model refuse collection robot includes being hinged with case lid on casing, casing, the lower section of casing is provided with
Driving wheel, driving wheel is connected with power set and transfer, and the sidepiece of casing is provided with laser radar and camera, casing also
Provided with microphone；Also include controller, be provided with sound identification module in controller, power set, transfer, laser radar,
Camera and microphone electrically connect controller.When user thinks throw away rubbish, it is only necessary to verbal instructions are sent to dustbin and (are such as thrown away
Rubbish etc.), the microphone on casing receives the sound identification module being transferred to after voice signal in controller, speech recognition mould
Instruction control driving wheel operation is sent from controller to power set and transfer after block identification verbal instructions, while by laser
Radar is positioned and navigated automatically, and camera carries out recognition of face, so as to accurately identify orientation, is quickly moved to use
Family at one's side, so that user thinks no longer to need to stand up to leave origin-location during throw away rubbish, and does not need other controllers, only
The convenience used can be greatly improved to control dustbin automatically to move on at one's side with voice, it is especially residual to body
Disease or laid-up old man bring very big convenience.
Because refuse collection robot also includes the charging pile with casing split setting, casing is provided with and mutually fitted with charging pile
The charging inlet matched somebody with somebody, charging inlet, which is electrically connected with rechargeable battery, controller, is provided with electric quantity of rechargeable battery detection module.By charging
Battery electric quantity detection module is detected in real time to the electricity of rechargeable battery, when the electricity of rechargeable battery is less than certain value (such as
10%) when, dustbin can be controlled to automatically return at charging pile and charged, and if electricity is low during being charged
When certain value (such as 5%), even if receiving phonetic order dustbin will not also move, to ensure that dustbin has the electricity of abundance,
Prevent its midway from casting anchor, and need not often change battery, power supply freely activity can be left by charging after electricity, further to improve
The ease of use of refuse collection robot.
Because the top for being provided with dustbin in two interior dustbins, two in casing side by side is provided with sorting plate, sorting plate
Portion is fixedly connected with by the motor-driven sorting plate rotating shaft of sorting plate；Picture recognition module and spectrum are installed on the inside of case lid
Instrument, picture recognition module, the spectrometer and classification board motor are electrically connected with the controller.When rubbish is thrown on sorting plate
When, rubbish can be identified for the picture recognition module on case lid, rubbish image corresponding with default different classes of rubbish
Match, to determine that rubbish is recyclable rubbish or non-recyclable rubbish, if during picture recognition module None- identified rubbish,
Controller can start spectrometer, and component of refuse is analyzed by spectrometer, so that it is determined that rubbish is to belong to recyclable rubbish also
It is not recyclable rubbish, determines that rotating sorting plate to dustbin direction in corresponding from classification board motor after the classification of rubbish turns
Axle, rubbish automatically can be slipped in corresponding in dustbin from sorting plate, it is achieved thereby that the automatic classification of rubbish, favorably
In environmental protection.
Because the downside of the sorting plate position corresponding with dustbin in two is respectively equipped with range sensor, casing
Provided with loudspeaker, audio player is provided with controller, range sensor and loudspeaker are electrically connected with the controller.Range sensor is used
In the quantity of refuse in detection in dustbin, such as when quantity of refuse reaches the 3/4 of interior dustbin, loudspeaker can play out music, carry
The user that wakes up proposes rubbish.
Because the downside of the sorting plate position corresponding with dustbin in two is respectively equipped with antivirus lamp, antivirus lamp can kill rubbish
Bacterium in rubbish case, is conducive to keeping the health of dustbin.
Because the sidepiece of interior dustbin is vertically provided with the conveyer belt of annular, the outside spacers of conveyer belt are provided with hook；Pass
Sending the lower section of band to be provided with is used to winding bag axle that twines of refuse bag, and the length of the distance between two adjacent hooks and refuse bag is mutually fitted
Match somebody with somebody；The top of interior dustbin, which is slided, is provided with sucker, and the adsorption plane of sucker is towards conveyer belt.When newly changing a roll of refuse bag, by people
The hangers of first refuse bag of this volume refuse bag is hung over conveyer belt on the hook of interior dustbin side by work, and conveyer belt turns
Dynamic above to carry refuse bag, when first refuse bag is completely pulled out of, the hangers of second refuse bag can automatically hang over next
On hook, sucker moves past again returns to the opposite side of interior dustbin to hold after refuse bag, so that refuse bag be strutted；When first
After individual refuse bag has been expired, manually refuse bag is taken out, conveyer belt can drive following refuse bag to come up automatically, then will by sucker
Refuse bag is strutted, and so on, convenient to use so as to realize from the work for moving refuse bag, and health.
Because casing is provided with the first engaging lug, case lid is provided with the second engaging lug being hinged with the first engaging lug, the
The end of two engaging lugs is hinged with connecting rod, and connecting rod is hinged with a cam, and cam is driven by motor of uncapping, motor of uncapping electrical connection control
Device processed.Motor of uncapping is rotated under the control of the controller, and the automatic switch of case lid is realized by cam driven connecting rod, is further carried
The high ease of use of this refuse collection robot.
In summary, the utility model refuse collection robot solve conventional garbage case in-convenience in use technology ask
Topic, the utility model refuse collection robot can automatically be moved to user at one's side according to phonetic order, while can also be certainly
Dynamic to complete charge, classify to rubbish, changing the work such as refuse bag, easy to use, intelligence degree is high.
Brief description of the drawings
Fig. 1 is the structural representation one of the utility model refuse collection robot；
Fig. 2 is the structural representation two of the utility model refuse collection robot；
Fig. 3 is the structural representation three of the utility model refuse collection robot；
Fig. 4 is the structural representation four of the utility model refuse collection robot；
Fig. 5 is the structural representation five of the utility model refuse collection robot；
Fig. 6 is Fig. 5 A portions enlarged drawing；
Fig. 7 is the structural representation of sorting plate in Fig. 1；
Fig. 8 is Fig. 7 present invention looks up structural representation；
In figure：10th, casing, 12, escape groove, the 14, first engaging lug, 16, opening, 18, dividing plate, 20, case lid, 22, second
Engaging lug, 24, connecting rod, 26, cam, the 30, first hinge, the 32, second hinge, 40, microphone, 42, loudspeaker, 50, driving wheel,
52nd, universal wheel, 60, twine a bag axle, 62, conveyer belt, 620, hook, 64, electric roller, 70, sucker mounting bracket, 700, groove, 72,
Sucker, 74, guide rail, 76, sliding block, 77, guide wheel, 78, sucker motor, 79, transmission belt, 80, sorting plate, 800, connecting plate,
8000th, axis hole, 82, sorting plate rotating shaft, 84, classification board motor, 90, funnel, 100, charging inlet, 110, range sensor,
112nd, kill virus lamp, 120, laser radar, 122, binocular camera, 130, picture recognition module, 132, spectrometer, 140, interior rubbish
Case.
Embodiment
With reference to the accompanying drawings and examples, the utility model is expanded on further.
The orientation being related in this specification using orientation during the utility model refuse collection robot normal work as
Standard, orientation when not limiting its storage and transporting, only represents relative position relationship, absolute position relationship is not represented.
As Fig. 1 and Fig. 2 jointly shown in, a kind of refuse collection robot includes the open square box 10 in upper end, casing
10 upper end is hinged with square case lid 20, certainly in actual applications the structure of casing and case lid be not limited to it is square, also
Can be circular or other polygons etc..The lower section of the front side of casing 10 (towards the side of user) is provided with two driving wheels 50, two
Driving wheel 50 is connected with power set and transfer (not shown), because the device of the movement of control wheel and steering is very
Ripe prior art, therefore detailed retouch no longer is carried out to the concrete structure of power set and transfer in this manual
State.The lower section of the rear side of casing 10 is universal wheel 52 provided with two driven pulleys, present embodiment preferably two driven pulleys, and universal wheel 52 can
So that the movement of this dustbin gets up more flexible.
As Fig. 1 and Fig. 2 jointly shown in, provided with an opening 16 below the front side of casing 10, laser thunder is installed at opening 16
Up to 120, laser radar 120 is used for autonomous positioning and the navigation for realizing dustbin.The front side top of casing 10 is provided with camera,
Camera is used for the planning and recognition of face for carrying out path in room, and the preferred camera of present embodiment is binocular camera 122,
Binocular camera 122 can realize three-dimensional imaging, and the picture of shooting is more life-like and clear.
As Fig. 1 and Fig. 2 jointly shown in, the front and rear sides of casing 10 and a microphone 40, case are each side installed
One microphone 40 is also installed, this five microphones 40 form microphone array, for receiving phonetic order, have on lid 20
Beneficial to dustbin follow the sound distinguishing position.Because the rear side side plate of casing 10 is can to open side plate, in order to more intuitively show rubbish
The internal structure of case, therefore back side panel and the microphone on back side panel are not drawn in figure.
As shown in figure 1, refuse collection robot also includes a charging pile (not shown), charging pile and the split of casing 10
Set, the lower section of the rear side of casing 10 is provided with charging inlet 100, and charging inlet 100 is adapted with the interface on charging pile, charging
Mouth 100 is electrically connected with charging manager and rechargeable battery (not shown), when dustbin not enough power supply, and dustbin can be automatic
Return to charging pile position, charging inlet 100 is docked with charging pile to be charged.
As Fig. 1 and Fig. 7 jointly shown in, side by side provided with two interior dustbins 140 in casing 10, two interior dustbins 140 it
Between be vertically provided with dividing plate 18, dividing plate 18 is slightly higher than in two and leaves certain space between dustbin 140, and the upper end of casing 10.
The top of dustbin 140 is provided with sorting plate 80 in two, and sorting plate 80 is rectangular slab, and the position at the both sides center of sorting plate 80 is distinguished
A connecting plate 800 is vertically provided with, connecting plate 800 is triangular structure, and the end of two connecting plates 800 is respectively provided with an axis hole 8000,
One sorting plate rotating shaft 82 is connected to one through two axis holes 8000 and with connecting plate 800, and sorting plate rotating shaft 82 is located at dividing plate
18 surface, and be arranged in parallel with dividing plate 18, one end of sorting plate rotating shaft 82 and the power output shaft of classification board motor 84 are passed
Dynamic connection, classification board motor 84 is arranged on the upper end of dividing plate 18.Connecting plate 800 is designed as triangle when sorting plate 80 is rotated not
Interference can be produced with other parts.
As Fig. 1 and Fig. 2 jointly shown in, the inner side of case lid 20 is provided with picture recognition module 130 and spectrometer 132, works as rubbish
After rubbish is thrown on sorting plate 80, rubbish can be identified for picture recognition module 130 and spectrometer 132, to determine that rubbish is
Recyclable rubbish still not recyclable rubbish, board motor 84 of then classifying drives sorting plate 80 to corresponding interior 140 turns of dustbin
It is dynamic, so as to rubbish be thrown into corresponding interior dustbin 140.
It is jointly shown with Fig. 8 as shown in Figure 1, Figure 2, the downside of sorting plate 80, the i.e. side towards interior dustbin 140, in two
The corresponding position of dustbin 140 is respectively equipped with range sensor 110, and range sensor 110 is used to detect interior dustbin 140
Interior rubbish position, to determine the need for changing refuse bag.The left and right sides of casing 10 is respectively provided with a loudspeaker 42, works as needs
Loudspeaker 42 can play music when changing refuse bag, to remind user to propose rubbish, change refuse bag.
As Fig. 1 and Fig. 8 jointly shown in, the downside of sorting plate 80 position corresponding with dustbin in two 140 is respectively equipped with
Kill virus lamp 112, present embodiment preferably kill virus lamp 112 for ultraviolet kill virus lamp, the bacterium in dustbin can be killed, be conducive to protect
Hold the health of dustbin.
As Fig. 1 and Fig. 4 jointly shown in, the conveyer belt 62 of the sidepiece of interior dustbin 140 vertically provided with annular, conveyer belt 62
Outside spacers are provided with multiple hooks 620.The upper and lower ends of the inner side of conveyer belt 62 are respectively provided with a roller, and the roller positioned at lower end is electricity
Dynamic roller 64, for driving conveyer belt 62 to rotate.The wheel shaft of two rollers is vertically fixed on dividing plate 18.Conveyer belt 62 is close to interior
The lower section of the side of dustbin 140 is provided with twining bag axle 60, and twining bag axle 60 is used to wind refuse bag, twine bag axle 60 be also vertically fixed on every
On plate 18, it is be arranged in parallel with the roller of conveyer belt 62.Adjacent two hook the distance between 620 and rubbish on conveyer belt 62
The length of rubbish bag is adapted, i.e., the hangers of a upper refuse bag is hooked on hook 620 above, then next refuse bag
Hangers can be just hooked on underlying hook 620.Interior dustbin 140 position corresponding with conveyer belt 62 is provided with and opened
Mouthful, the width of opening is adapted with the width of conveyer belt 62, it is ensured that refuse bag can be by support to interior dustbin 140.
As Fig. 4, Fig. 5 and Fig. 6 jointly shown in, the both sides of the top of interior dustbin 140 are respectively provided with a guide rail 74, two guide rails
74 be arranged in parallel, and bearing of trend is identical with the bearing of trend of sorting plate rotating shaft 82 (referring to Fig. 1).Vertically set between two guide rails 74
There is a sucker mounting bracket 70, the both sides of sucker mounting bracket 70 are separately fixed on the sliding block 76 of two guide rails 74, sucker mounting bracket 70
Sucker 72 is installed towards the side of conveyer belt 62, sucker 72 is provided with two, is arranged side by side, the equal court of adsorption plane of two suckers 72
To conveyer belt 62.One end of guide rail 74 be provided with sucker motor 78, the power output shaft of sucker motor 78 straight down, guide rail 74
The other end be provided with guide wheel 77, the wheel shaft of guide wheel 77 it is parallel with the power output shaft of sucker motor 78 and be located at same perpendicular
Interior, the power output shaft end of sucker motor 78 is provided with a belt wheel, and the belt wheel with being surrounded with an annular jointly on guide wheel 77
Transmission belt 79, the bearing of trend of transmission belt 79 is identical with the bearing of trend of guide rail 74.Correspondence transmission belt 79 on sucker mounting bracket 70
The positions of both sides be respectively provided with a groove 700, the both sides of transmission belt 79 are passed through out of two grooves 700 respectively, and sucker is installed
Frame 70 is fixedly connected with the transmission belt 79 in a groove 700, and the transmission belt 79 in another groove 700 can be logical at this
Slided in groove 700.When sucker motor 78 is rotated, transmission belt 79 just can drive sucker mounting bracket 70 to be slided along guide rail 74, from
And sucker 72 is slidably installed in the top of interior dustbin 140.Sucker 72 can be towards transmission under the driving of sucker motor 78
Band 62 is slided, and holds the part that the refuse bag hung on hook 620 is not provided with hangers, is held posterior sucker motor 78 and is inverted, inhales
The sorption refuse bag of disk 72 is slided to the direction away from conveyer belt 62, so that refuse bag be strutted in interior dustbin 140.
Two sections of the above is the detailed description carried out with the corresponding automatic bag feeding mechanism of an interior dustbin, because two sets from
Dynamic bag-loading mechanism structure is identical, therefore another set of no longer describes herein.
As shown in figure 1, sucker motor 78, classification board motor 84 and conveyer belt 62 are arranged at the homonymy of casing 10.
As Fig. 1 and Fig. 3 jointly shown in, upper end center position of the casing 10 provided with the side side plate of conveyer belt 62 is provided with to downward
The escape groove 12 stretched, escape groove 12 is inside and outside the side plate.Two are respectively equipped with positioned at the both sides of the upper end of escape groove 12
One engaging lug 14, two first engaging lugs 14 are vertically arranged with the side side plate.The edge of the homonymy of case lid 20 is provided with two second connections
Ear 22, two second engaging lugs 22 stretch out case lid 20, and positioned at the inner side of two first engaging lugs 14.Second engaging lug 22 is close to case lid
The position at 20 edges is hinged with the first engaging lug 14 by the first hinge 30, and the second position of the engaging lug 22 away from case lid 20 is hinged
There is a connecting rod 24, the end of connecting rod 24 is extend into the inner side of casing 10 by escape groove 12, and is hinged with a cam 26, and this is convex
Wheel 26 is the disk cams of water-drop-shaped, and the small head end of connecting rod 24 and cam 26 is hinged, and the stub end of cam 26 is uncapped electricity installed in one
On the power output shaft of machine (not shown), the automatically open and close of case lid 20 is realized by the rotation for motor of uncapping.
As Fig. 1 and Fig. 2 jointly shown in, funnel 90, funnel are connected between the upper end open of sorting plate 80 and casing 10
90 lower ending opening is adapted with the shape and size of sorting plate 80, to ensure that rubbish can be thrown on sorting plate 80, is prevented
Rubbish is non-classified just automatically to be fallen into dustbin from the edge of sorting plate 80.
As Fig. 1 and Fig. 2 jointly shown in, the utility model refuse collection robot also include controller, laser radar 120,
Binocular camera 122, microphone 40, picture recognition module 130, spectrometer 132, classification board motor 84, range sensor 110,
Loudspeaker 42, electric roller 64, sucker motor 78, uncap motor and for control the power set and transfer of driving wheel with
Controller is electrically connected.Program controling module, sound identification module, electric quantity of rechargeable battery detection module and audio are provided with controller
Player.
The programme-control flow of the utility model refuse collection robot is as follows：
The first step, program starts；
Second step, when user sends wake-up word, i.e. phonetic order, carries out speech recognition, if identification does not pass through, program
Terminate, wait user to re-emit instruction；If being identified by, into the 3rd step；
3rd step, controls power set according to the information of laser radar 120 and binocular camera 122 (referring to Fig. 2) and turns
Worked to device, driving wheel rotates and shifts to user；
4th step, controls motor operation of uncapping, and opens case lid 20, and user throws away rubbish onto sorting plate 80 (referring to figure
1)；
5th step, carries out rubbish identification, is judged by picture recognition module according to default refuse classification image, if can
To judge, then classification board motor 84 (referring to Fig. 1) is started by recyclable rubbish input recyclable rubbish case according to the result of judgement
It is interior, recyclable rubbish is put into not recyclable dustbin；If picture recognition module can not judge rubbish classification, start light
Spectrometer is analyzed component of refuse, so that it is determined that the classification of rubbish puts into rubbish in corresponding dustbin.
6th step, when the rubbish in dustbin is expired soon (such as close to 3/4), the audio player in controller can play sound
It is happy, spread out of by loudspeaker, remind user to change the refuse bag in dustbin, user will be equipped with after the refuse bag proposition of rubbish, electronic
The driving conveyer belt 62 of roller 64 is rotated, and next refuse bag is taken to the position corresponding with sucker, and the control of sucker motor 78 is inhaled
Disk shifts to refuse bag, and holds after refuse bag, reversion control sucker 72 (referring to Fig. 1) return of sucker motor 78, so that by rubbish
Bag is strutted, and completes the work of automatic bag feeding.
7th step, EP (end of program).
The name (such as the first engaging lug and the second engaging lug) with sequence number being related in this specification is intended merely to area
Divide technical characteristic, do not represent position relationship, assemble sequence and sequence of movement etc. between each feature.
The utility model is not limited to above-mentioned specific embodiment, and one of ordinary skill in the art visualizes from above-mentioned
Hair, without performing creative labour, a variety of conversion made are all fallen within protection domain of the present utility model.
Claims (10)
1. being hinged with case lid on refuse collection robot, including casing, the casing, driving wheel, institute are provided with below the casing
State driving wheel and be connected with power set and transfer, it is characterised in that
The sidepiece of the casing is provided with laser radar and camera, the casing and is additionally provided with microphone；
Also include controller, be provided with sound identification module in the controller, it is the power set, the transfer, described
Laser radar, the camera and the microphone electrically connect the controller.
2. refuse collection robot according to claim 1, it is characterised in that the refuse collection robot also include with
The charging pile that the casing split is set, the casing is provided with the charging inlet being adapted with the charging pile, the charging
Interface, which is electrically connected with rechargeable battery, the controller, is provided with electric quantity of rechargeable battery detection module.
3. refuse collection robot according to claim 1, it is characterised in that side by side provided with two interior rubbish in the casing
Rubbish case, the top of interior dustbin is provided with to be fixedly connected with the middle part of sorting plate, the sorting plate and driven by classification board motor described in two
Dynamic sorting plate rotating shaft；Picture recognition module and spectrometer be installed on the inside of the case lid, it is described image identification module, described
Spectrometer and the classification board motor are electrically connected with the controller.
4. refuse collection robot according to claim 3, it is characterised in that in described in the downside of the sorting plate and two
The corresponding position of dustbin is respectively equipped with range sensor, and the casing, which is provided with loudspeaker, the controller, is provided with audio
Player, the range sensor and the loudspeaker are electrically connected with the controller.
5. refuse collection robot according to claim 3, it is characterised in that in described in the downside of the sorting plate and two
The corresponding position of dustbin is respectively equipped with antivirus lamp.
6. refuse collection robot according to claim 3, it is characterised in that the sidepiece of the interior dustbin is vertically arranged
There is the conveyer belt of annular, the outside spacers of the conveyer belt are provided with hook；The lower section of the conveyer belt, which is provided with, to be used to wind rubbish
Bag twines a bag axle, and the distance between hook is adapted with the length of the refuse bag described in adjacent two；The interior dustbin
Top, which is slided, is provided with sucker, and the adsorption plane of the sucker is towards the conveyer belt.
7. refuse collection robot according to claim 6, it is characterised in that the upper and lower ends on the inside of the conveyer belt are each
Provided with a roller, one in roller described in two is electric roller, and the electric roller electrically connects the controller.
8. refuse collection robot according to claim 6, it is characterised in that the top of the interior dustbin is provided with and led
Rail, the sucker is arranged on a sucker mounting bracket, and the sucker mounting bracket is fixedly connected with the sliding block on the guide rail；It is described
One end of guide rail is provided with sucker motor, and the other end of the guide rail is provided with guide wheel, the power output shaft of the sucker motor and institute
State and an annular driving band is surrounded with guide wheel, the bearing of trend of the transmission belt is identical with the bearing of trend of the guide rail, described
Sucker mounting bracket is fixed on the transmission belt, and the sucker motor electrically connects the controller.
9. the refuse collection robot according to claim 3 to 8 any claim, it is characterised in that on the casing
Provided with the first engaging lug, the case lid is provided with the second engaging lug, and second engaging lug is hinged with first engaging lug, institute
The end for stating the second engaging lug is hinged with connecting rod, and the connecting rod extend into the casing through the casing and cut with scissors with a cam
Connect, the cam is driven by motor of uncapping, the motor of uncapping electrically connects the controller.
10. refuse collection robot according to claim 9, it is characterised in that the sorting plate is opened with the casing
Funnel is provided between mouthful, the lower port of the funnel is adapted with the sorting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621492840.5U CN206599150U (en) | 2016-12-30 | 2016-12-30 | Refuse collection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621492840.5U CN206599150U (en) | 2016-12-30 | 2016-12-30 | Refuse collection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206599150U true CN206599150U (en) | 2017-10-31 |
Family
ID=60148470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621492840.5U Withdrawn - After Issue CN206599150U (en) | 2016-12-30 | 2016-12-30 | Refuse collection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206599150U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742909A (en) * | 2016-12-30 | 2017-05-31 | 歌尔股份有限公司 | Refuse collection robot and garbage collection method |
| CN108153314A (en) * | 2017-12-29 | 2018-06-12 | 弗徕威智能机器人科技（上海）有限公司 | A kind of split type service robot |
| CN108888160A (en) * | 2018-06-19 | 2018-11-27 | 潍坊学院 | One kind can driving medicinal intelligent defecation assisting mechanical system |
| CN109940630A (en) * | 2019-03-13 | 2019-06-28 | 佛山市高明区高级技工学校 | Garbage collection robot |
| CN109956220A (en) * | 2019-03-13 | 2019-07-02 | 佛山市高明区高级技工学校 | A kind of dustbin robot of energy automatic garbage disintegrating |
| CN113003031A (en) * | 2019-12-19 | 2021-06-22 | ***通信集团辽宁有限公司 | Garbage collection method, garbage collection robot and garbage collection system |
| CN109956220B (en) * | 2019-03-13 | 2024-08-13 | 佛山市高明区高级技工学校 | Dustbin robot capable of automatically disposing garbage |
-
2016
- 2016-12-30 CN CN201621492840.5U patent/CN206599150U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742909A (en) * | 2016-12-30 | 2017-05-31 | 歌尔股份有限公司 | Refuse collection robot and garbage collection method |
| CN108153314A (en) * | 2017-12-29 | 2018-06-12 | 弗徕威智能机器人科技（上海）有限公司 | A kind of split type service robot |
| CN108888160A (en) * | 2018-06-19 | 2018-11-27 | 潍坊学院 | One kind can driving medicinal intelligent defecation assisting mechanical system |
| CN109940630A (en) * | 2019-03-13 | 2019-06-28 | 佛山市高明区高级技工学校 | Garbage collection robot |
| CN109956220A (en) * | 2019-03-13 | 2019-07-02 | 佛山市高明区高级技工学校 | A kind of dustbin robot of energy automatic garbage disintegrating |
| CN109956220B (en) * | 2019-03-13 | 2024-08-13 | 佛山市高明区高级技工学校 | Dustbin robot capable of automatically disposing garbage |
| CN113003031A (en) * | 2019-12-19 | 2021-06-22 | ***通信集团辽宁有限公司 | Garbage collection method, garbage collection robot and garbage collection system |
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