CN220683598U - Automatic change transport robotic arm and rubbish clearance car - Google Patents

Abstract

The utility model belongs to the technical field of garbage transportation equipment, and particularly relates to an automatic carrying mechanical arm and a garbage cleaning and transporting vehicle, which comprise a clamping mechanism for clamping a garbage can, a lifting mechanism for driving the clamping mechanism to lift and a rack for fixing the lifting mechanism; the clamping mechanism comprises two groups of clamping assemblies which are arranged at intervals, wherein the two groups of clamping assemblies comprise clamping arms used for clamping the garbage can, a fixed rail used for accommodating the clamping arms and a driving structure used for driving the clamping arms to slide in the direction of approaching or separating from the garbage can in the fixed rail; the driving structure is arranged on the fixed rail, and the fixed rail is connected with the lifting end of the lifting mechanism. The heavy work link of manually moving and carrying the garbage classification can by hand is avoided, the labor force is effectively saved, the garbage can collecting and clearing speed is increased, and the work efficiency is improved.

Description

Automatic change transport robotic arm and rubbish clearance car

Technical Field

The utility model belongs to the technical field of garbage transportation equipment, and particularly relates to an automatic carrying mechanical arm and a garbage cleaning and transporting vehicle.

Background

The garbage is waste generated in daily life and production of human beings, and has complex and various components and pollution due to large discharge amount of the garbage. Along with the development of society, garbage needs harmless, recycling, reduction and socialization treatment, and if the garbage cannot be properly treated, environmental pollution is caused.

At present, garbage is moved to the side of a garbage cleaning vehicle by manual force and is hung on a lifter; sometimes, when the classified garbage bin is filled with household building garbage and other objects, the weight of the garbage bin is up to about 100 kg, and an sanitation worker cannot carry and move the garbage bin by hands at all, so that the efficiency of carrying by manpower is slow, and potential safety hazards are easy to occur.

Disclosure of Invention

The utility model aims to provide an automatic carrying mechanical arm and a garbage truck, and aims to solve the technical problems that in the prior art, garbage dumping needs manual carrying, so that the efficiency is low and potential safety hazards exist.

In order to achieve the above object, an embodiment of the present utility model provides an automated handling robot arm, including a clamping mechanism for clamping a garbage can, a lifting mechanism for driving the clamping mechanism to lift, and a frame for fixing the lifting mechanism; the clamping mechanism comprises two groups of clamping assemblies which are arranged at intervals, wherein the two groups of clamping assemblies comprise clamping arms used for clamping the garbage can, a fixed track used for accommodating the clamping arms and a driving structure used for driving the clamping arms to slide in the direction of approaching or separating from the garbage can in the fixed track; the driving structure is arranged on the fixed rail, and the fixed rail is connected with the lifting end of the lifting mechanism.

Optionally, one end of the clamping arm for clamping the garbage can is a clamping end, two opposite sides of the clamping arm are respectively connected with a plurality of rotating pieces in a rotating way, and each rotating piece is arranged far away from the clamping end; and the clamping arms are driven to move through the driving structure, and each rotating piece rotates in the fixed track.

Optionally, each rotating member located at the same side of the clamping arm is divided into an upper group and a lower group, and the two groups of rotating members are driven by the driving structure to rotate in the fixed track.

Optionally, each of the rotating members is a ball bearing.

Optionally, the clamping arm is provided with a pull ring, and the pull ring is located at the end part of the clamping end.

Optionally, the one end that the centre gripping arm kept away from the pull ring is equipped with the connecting block, the connecting block with drive structure is connected, and is passed through drive structure drive can stretch into in the fixed track.

Optionally, the driving structure comprises a driving motor arranged on the fixed rail, a U-shaped wheel connected with a main shaft of the driving motor, and two pulleys respectively positioned at two ends of the fixed rail; the U-shaped wheel is wound with a rope body, and the rope body sequentially bypasses the two pulleys and passes through the inside of the fixed track; the rope body is connected with the clamping arm.

Optionally, a roller mechanism is arranged on the stand, and the roller mechanism comprises a guide plate vertically arranged on the stand, a roller seat fixed on the fixed rail and a roller rotatably connected with the roller seat; the roller seats are positioned on two opposite sides of the fixed rail; the fixed track is driven by the lifting mechanism to realize that the roller rolls on the guide plate.

Optionally, the lifting mechanism comprises a lifting motor fixed on the frame and a winding seat connected with a main shaft of the lifting motor; the wire winding seat is wound with a steel rope, and one end of the steel rope is connected with the fixed rail.

The above technical solutions in the automated handling robot provided by the embodiments of the present utility model have at least one of the following technical effects: when the garbage can is used, the garbage can is opposite to the clamping mechanism and is positioned between the two clamping arms, and the driving structure drives the two clamping arms to extend out of the corresponding fixed rails and accurately string auxiliary handrails preset on the left side and the right side of the garbage can; then, the lifting mechanism drives the two fixed rails to rise simultaneously, the clamping arm drives the garbage can to rise to a set height, then the clamping arm drives the garbage can to move to a specified position in the direction close to the frame through the driving structure, the garbage can is buckled and hung at a specified clamping position, then the lifting mechanism drives the two fixed rails to descend for resetting, and the driving structure drives the two clamping arms to reset. Therefore, the garbage can does not need to be manually lifted, the physical strength of sanitation workers can be saved, the garbage collection efficiency is quickened, and meanwhile, the occurrence of potential safety hazards is avoided.

In another embodiment of the present utility model, a garbage truck is provided, including the automated handling robot described above.

The technical scheme in the garbage truck provided by the embodiment of the utility model has at least one of the following technical effects: the mechanical arm is directly arranged below the chassis of the new energy electric sanitation garbage cleaning vehicle and used for automatically stretching and carrying the garbage can, so that the heavy work link that the garbage classification can is manually moved by hands is avoided, the labor force is effectively saved, the garbage can collecting and cleaning speed is increased, the work efficiency is improved, the problem that the sanitation workers touch the garbage closely by hands at present is avoided, the working steps of toxicity, health harm and dirtying and tiredness are reduced, and the sanitation workers can easily and cleanly sit in a vehicle cab to simply grasp a steering wheel to finish the work. After the clearing is completed, the mechanical arm is hidden in the chassis, and does not occupy space.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an automated handling robot according to an embodiment of the present utility model.

Fig. 2 is an enlarged schematic view at a in fig. 1.

Fig. 3 is a top view of the automated handling robot provided in fig. 1.

Fig. 4 is a cross-sectional view of the automated handling robot of fig. 3 taken along B-B.

Fig. 5 is a schematic structural view of the clamping mechanism and the lifting mechanism of fig. 1.

Fig. 6 is a schematic view of the structure of the clamping arm, the driving structure and the rotating member of fig. 1.

Fig. 7 is a schematic structural diagram of the garbage truck in a state of clamping a garbage can according to an embodiment of the present utility model.

Wherein, each reference sign in the figure:

10-clamping mechanism 11-clamping arm 12-fixed rail

13-drive structure 14-rotating member 20-lifting mechanism

21-lifting motor 22-winding seat 23-steel rope

30-frame 40-roller mechanism 41-guide plate

42-roller seat 43-roller 44-limit rod

111-clamping end 112-pull ring 113-connecting block

131-drive motor 132-U-shaped wheel 133-pulley

134-rope body.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to fig. 1 to 7 are exemplary and intended to illustrate embodiments of the present utility model and should not be construed as limiting the utility model.

In the description of the embodiments of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the embodiments of the present utility model and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present utility model, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

In the embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

In one embodiment of the present utility model, as shown in fig. 1 to 6, there is provided an automated handling robot including a clamping mechanism 10 for clamping a trash can, a lifting mechanism 20 for driving the clamping mechanism 10 to lift, and a frame 30 for fixing the lifting mechanism 20; the clamping mechanism 10 comprises two groups of clamping assemblies which are arranged at intervals, wherein each group of clamping assemblies comprises a clamping arm 11 for clamping the garbage can, a fixed rail 12 for accommodating the clamping arm 11 and a driving structure 13 for driving the clamping arm 11 to slide in the direction of approaching or separating from the garbage can in the fixed rail 12; the driving structure 13 is disposed on the fixed rail 12, and the fixed rail 12 is connected to the lifting end of the lifting mechanism 20. In this embodiment, the fixing rail 12 is a square tube made of square steel, the external dimension of the square tube is 100mmx100mmx10mm, and the square tube is hollow and has openings at both ends. The clamping arm 11 can freely move in the lower fixed rail 12 under the drive of the driving structure 13, the clamping arm 11 is accommodated in the fixed rail 12 in a normal state, and when in use, the driving structure 13 drives one end of the clamping arm 11 to extend out of the fixed rail 12, and the two fixed rails 12 are arranged in parallel. The clamping arm 11 is made of solid square steel of 40mmx60mm type.

When the garbage can is used, the garbage can is opposite to the clamping mechanism 10 and is positioned between the two clamping arms 11, and the driving structure 13 drives the two clamping arms 11 to extend out of the corresponding fixed rails 12 and accurately string auxiliary handrails preset on the left side and the right side of the garbage can; then, the lifting mechanism 20 drives the two fixed rails 12 to rise simultaneously, the clamping arms 11 drive the garbage can to rise to a set height, then the clamping arms 11 drive the garbage can to move to a specified position in a direction close to the rack 30 through the driving structure 13, the garbage can is buckled and hung at a specified clamping position, then the lifting mechanism 20 drives the two fixed rails 12 to descend and reset, and the driving structure 13 drives the two clamping arms 11 to reset. Therefore, the garbage can does not need to be manually lifted, the physical strength of sanitation workers can be saved, the garbage collection efficiency is quickened, and meanwhile, the occurrence of potential safety hazards is avoided.

In this embodiment, as shown in fig. 4 and 6, one end of the clamping arm 11 for clamping the garbage can is a clamping end 111, two opposite sides of the clamping arm 11 are respectively connected with a plurality of rotating members 14 in a rotating manner, and each rotating member 14 is far away from the clamping end 111; the clamping arms are driven to move through the driving structure 13, and each rotating piece 14 rotates in the fixed rail 12. Specifically, the clamping arm 11 has a clamping end 111 for clamping the trash can, and the clamping end 111 is driven to protrude outside the fixed rail 12 by the driving structure 13. The other end of the clamping arm 11 opposite to the clamping end 111 is provided with a plurality of rotating pieces 14, each rotating piece 14 positioned on the same side of the clamping arm 11 is divided into an upper group and a lower group, so that four groups of rotating pieces 14 are arranged on the clamping arm 11, the rotating pieces 14 positioned above are contacted with the top of the fixed track 12, and the rotating pieces 14 positioned below are contacted with the bottom of the fixed track 12, so that the clamping arm 11 is suspended in the fixed track 12, and the clamping arm 11 moves under the driving of the driving structure 13 to drive each rotating piece 14 to rotate in the fixed track 12. Wherein each rotating member 14 is a ball bearing, friction of the clamping arm 11 during movement can be reduced. More specifically, 2 symmetrical bearings are installed on the surface drilling holes with the height of 60mm on the upper and lower clamping arms 11, 2 corresponding ball bearings can be installed every 2mm, the total of the two rows 11 and the total of 44 small bearings are installed, the length of the installed ball bearings is 411mm, then the ball bearings are placed into the fixed track 12, a single clamping arm 11 can be enough to receive more than 150 kg of heavy objects, the two clamping arms 11 jointly act to clamp the garbage can, and the quality problems such as deformation and the like can be avoided when the garbage with 300 kg of heavy objects is in the barrel in the carrying process.

In the present embodiment, the total length of each rotating member 14 arranged on the clamping arm 11 is greater than the length of the clamping end 111 extending from the fixed rail 12 and used for clamping the trash can. Specifically, in each set of rotating members 14, the distance from the innermost rotating member 14 to the outermost rotating member 14 is greater than the length of the clamping end 111, wherein the portion of the clamping arm 11 extending beyond the fixed rail 12 (i.e., the clamping end 111) may be set to 1580mm, and the specific length may be set according to actual requirements.

In the present embodiment, as shown in fig. 3 to 4, the grip arm 11 is provided with a tab 112, and the tab 112 is located at an end of the grip end 111. Specifically, the pull ring 112 can be pulled manually to draw the clamping arm 11 out of the fixed rail 12, thereby facilitating maintenance.

In this embodiment, as shown in fig. 4 to 6, a connecting block 113 is disposed at an end of the clamping arm 11 away from the pull ring 112, and the connecting block 113 is connected to the driving structure 13 and is driven by the driving structure 13 to extend into the fixed rail 12. Specifically, the connecting block 113 is in an L-shaped arrangement, the driving structure 13 drives the connecting block 113 to move, the connecting block 113 drives the clamping arm 11 to move, and the connecting block 113 can move into the fixed track 12 to ensure that the clamping arm 11 moves smoothly.

In this embodiment, as shown in fig. 3 to 6, the driving structure 13 includes a driving motor 131 disposed on the fixed rail 12, a U-shaped wheel 132 connected to a main shaft of the driving motor 131, and two pulleys 133 respectively disposed at both ends of the fixed rail 12; the U-shaped wheel 132 is wound with a rope 134, and the rope 134 sequentially bypasses the two pulleys 133 and passes through the inside of the fixed rail 12; the rope 134 is connected to the clamp arm 11. Specifically, the driving motor 131 is controlled by a PLC electronic control program, and the PLC electronic control program issues an instruction to operate the driving motor 131. The main shaft of the driving motor 131 rotates to drive the U-shaped wheel 132 to rotate, the rope 134 drives the pulley 133 to rotate in the process of rotating the U-shaped wheel 132, the connecting block 113 is connected with the rope 134, and the rope 134 moves to drive the connecting block 113 to move, so that the movement of the clamping arm 11 is realized. Wherein the rope 134 is a wire rope.

In the present embodiment, as shown in fig. 4 to 5, the lifting mechanism 20 includes a lifting motor 21 fixed to the frame 30 and a winding seat 22 connected to a main shaft of the lifting motor 21; the wire winding seat 22 is wound with a steel rope 23, and one end of the steel rope 23 is connected with the fixed rail 12. Specifically, the lifting motor 21 is controlled by a PLC electronic control program, and the PLC electronic control program gives an instruction to operate the lifting motor 21. The spindle of the lifting motor 21 rotates to drive the winding seat 22 to rotate, and the winding seat 22 rotates to drive the steel rope 23 to wind or pay off, so that the fixed rail 12 is driven to lift.

In the present embodiment, as shown in fig. 4 and 5, a roller mechanism 40 is provided on the frame 30, and the roller mechanism 40 includes a guide plate 41 vertically provided on the frame 30, a roller seat 42 fixed on the fixed rail 12, and a roller 43 rotatably connected to the roller seat 42; roller seats 42 are located on opposite sides of the fixed rail 12; the fixed rail 12 is driven via the elevating mechanism 20 to roll the roller 43 on the guide plate 41. Specifically, the guide plate 41 is located at the bottom of the frame 30, the guide plate 41 is located between two rollers 43 and contacts with the two rollers 43 respectively, the roller seat 42 is connected to the side end of the fixed rail 12, and the rollers 43 can rotate on the roller seat 42. When the lifting mechanism 20 drives the fixed rail 12 to ascend or descend in the vertical direction, the rollers 43 roll along the guide plates 41, so that the lifting process of the fixed rail 12 can be stable, and the structure is more stable. And the bottom of deflector 41 is provided with gag lever post 44, and gag lever post 44 is located the bottom of gyro wheel seat 42, can prevent gyro wheel 43 from deviating from deflector 41 during the roll. Wherein, four sets of roller mechanisms 40 are disposed on the fixed rail 12, and the two sets of roller mechanisms are disposed at two ends of the fixed rail 12, when the clamping arms 11 extend out of the fixed rail 12 and clamp the garbage can, as shown in fig. 2, the fixed rail 12 still keeps horizontal after one end of the clamping arms 11 is stressed due to the compression of the guide plates 41 by the rollers 43 at two sides. In addition, by the roller mechanism 40, the lifting mechanism 20 is only required to be arranged on one side of the frame 30 close to the clamping end 111, so that the fixed rail 12 can be kept horizontal in the driving process.

In another embodiment of the present utility model, a garbage truck is provided, as shown in fig. 7, comprising the automated handling robot described above.

Specifically, the mechanical arm is directly arranged below a vehicle body (chassis) of the new energy electric sanitation garbage truck and is used for automatically stretching and carrying the garbage can. When the garbage classification bin works, a driver does not need to get off the garbage classification bin, and only needs to park the sanitation vehicles beside the garbage classification bin in parallel, and the distance between the sanitation vehicles and the garbage classification bin is about 1.45m. The manual labor is saved in the heavy work step of moving and carrying the garbage classification can, the labor force is effectively saved, the garbage can collecting and clearing speed is increased, the work efficiency is improved, the problem that the existing sanitation workers touch garbage in a short distance by hands is avoided, the toxic, harmful, healthy, dirty and tired work steps are reduced, the sanitation workers can easily and cleanly sit in a vehicle cab, the work can be completed by simply grasping a steering wheel, and further the household garbage is carried out in a full-mechanical automatic operation mode. If the individual garbage bin is misplaced or misplaced up and down, the infrared sensor can automatically give up to find the position of the next garbage bin to continue working, so that sanitation workers can only sit in a cab to observe the safe handle and control the brake around the vehicle.

The total length of the mechanical arm is 2000mm, the mechanical arm is transversely arranged on a girder steel structural member of a chassis of the garbage truck, and the space distance between the lowest part of the mechanical arm and the ground is 300mm, so that the chassis of the truck is in line with national standards, even if the chassis of the garbage truck encounters a large stone and other bulges underground during operation in a living community, the chassis of the garbage truck also has enough space to span without damaging the chassis of the truck. The width of the conventional small-sized vehicle at home and abroad is 1900mm, the total length of the mechanical arm is 2000mm, and the girder chassis transversely arranged on the frame accords with traffic safety, the mechanical arm is convenient to maintain at the part of the bottom of the vehicle, which exceeds 100mm, when the vehicle is in operation, the extension length of the clamping arm 11 can reach about 1450mm, the clamping arm is contracted and hidden into the track of the mechanical arm after the task is completed, and the mechanical arm is generally invisible from the outside of the vehicle body, so the vehicle is also in the effective safety range from the aspect of design driving safety.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. An automatic change transport robotic arm, its characterized in that: comprises a clamping mechanism for clamping the garbage can, a lifting mechanism for driving the clamping mechanism to lift and a rack for fixing the lifting mechanism; the clamping mechanism comprises two groups of clamping assemblies which are arranged at intervals, wherein the two groups of clamping assemblies comprise clamping arms used for clamping the garbage can, a fixed track used for accommodating the clamping arms and a driving structure used for driving the clamping arms to slide in the direction of approaching or separating from the garbage can in the fixed track; the driving structure is arranged on the fixed rail, and the fixed rail is connected with the lifting end of the lifting mechanism.

2. The automated handling robot as recited in claim 1, wherein: the clamping arm is used for clamping the garbage can, one end of the clamping arm is a clamping end, two opposite sides of the clamping arm are respectively connected with a plurality of rotating pieces in a rotating mode, and each rotating piece is arranged far away from the clamping end; and the clamping arms are driven to move through the driving structure, and each rotating piece rotates in the fixed track.

3. The automated handling robot of claim 2, wherein: the rotating parts positioned on the same side of the clamping arm are divided into an upper group and a lower group, and the two groups of rotating parts are driven by the driving structure to rotate in the fixed track.

4. The automated handling robot of claim 2, wherein: each rotating member is a ball bearing.

5. The automated handling robot of any of claims 1-4, wherein: the clamping arm is provided with a pull ring, and the pull ring is positioned at the end part of the clamping arm.

6. The automated handling robot of claim 5, wherein: the clamping arm is far away from one end of pull ring is equipped with the connecting block, the connecting block with drive structure is connected, and warp drive structure drive can stretch into in the fixed track.

7. The automated handling robot of any of claims 1-4, wherein: the driving structure comprises a driving motor arranged on the fixed rail, a U-shaped wheel connected with a main shaft of the driving motor, and two pulleys respectively positioned at two ends of the fixed rail; the U-shaped wheel is wound with a rope body, and the rope body sequentially bypasses the two pulleys and passes through the inside of the fixed track; the rope body is connected with the clamping arm.

8. The automated handling robot of any of claims 1-4, wherein: the roller mechanism is arranged on the frame and comprises a guide plate vertically arranged on the frame, a roller seat fixed on the fixed rail and a roller rotatably connected with the roller seat; the roller seats are positioned on two opposite sides of the fixed rail; the fixed track is driven by the lifting mechanism to realize that the roller rolls on the guide plate.

9. The automated handling robot of any of claims 1-4, wherein: the lifting mechanism comprises a lifting motor fixed on the frame and a winding seat connected with a main shaft of the lifting motor; the wire winding seat is wound with a steel rope, and one end of the steel rope is connected with the fixed rail.

10. A garbage truck, characterized in that: comprising an automated handling robot according to any of claims 1-9.