CN112758562A

CN112758562A - Intelligent environment-friendly robot and use method thereof

Info

Publication number: CN112758562A
Application number: CN202011596875.4A
Authority: CN
Inventors: 马超; 樊应龙
Original assignee: Individual
Current assignee: Jiangsu Huixin Intellectual Property Service Co ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-05-07
Anticipated expiration: 2040-12-29
Also published as: CN112758562B

Abstract

The invention relates to the technical field of intelligent environment-friendly robots, and discloses an intelligent environment-friendly robot and a using method thereof, wherein the intelligent environment-friendly robot comprises a vehicle body, a rear bearing block, a front bearing block, a left bearing block and a right bearing block are fixedly arranged on the upper surface of the vehicle body, a rear rotating wheel is rotatably connected to the upper side wall of the rear bearing block, a coupler, a V-shaped rod, a short arm, an inner rod, an outer rod, a large sliding block and a push arm are arranged, so that when the output end of a hydraulic machine extends outwards, the short arm rotates anticlockwise relative to the large sliding block, the inner rod also rotates anticlockwise relative to the large sliding block due to the integration of the inner rod and the short arm, and the inner rod, the outer rod, the push arm and the large sliding block form a parallelogram, so that the horizontal part of the push arm only performs linear translational motion without rotation, and the sliding sleeve joint of the large sliding block and the V-shaped rod coordinates the motion, so that the left box body and the right box body connected with the push arm only, namely, the horizontal space of the box body is enlarged.

Description

Intelligent environment-friendly robot and use method thereof

Technical Field

The invention relates to the technical field of intelligent environment-friendly robots, in particular to an intelligent environment-friendly robot and a using method thereof.

Background

The modern robot is not only a humanoid robot, but also a machine with multitasking capability, accurate task execution capability, high reliability and intellectualization, which can not reliably execute tasks in specific occasions to a certain extent and can simply deal with the relation with the environment. Specifically, the engineer gives the environment-friendly robot high passing capacity under complex road conditions, and the collection capacity of daily different garbage, and the higher environment-friendly robot can even simply classify different garbage, so that the garbage treatment efficiency is greatly improved, and more possibilities are provided for realizing the ecological society. The core of the intelligent environment-friendly robot is flexible garbage collection and processing logic, so that the garbage collection and processing logic is continuously close to the processing capacity of a general human, on the other hand, a reliable sensor is also the key for realizing the capacity, however, the execution part of the system is the direct embodiment of the capacity, and the required sensor and logic program are also determined according to the motion which can be realized by a mechanical mechanism.

Although the actuators of the existing robots are mostly designed by means of direct action of various motors and hydraulic machines on the processed object, reliable actuators often require that the number of motors and hydraulic machines used is reduced, which not only saves the cost of hardware parts, but also reduces the probability of system failure. In fact, the current environmental protection robot generally only collects garbage, and the subsequent treatment still requires human participation, and generally classifies or compresses the garbage so as to better perform the next process treatment. On the other hand, because of the variety of the garbage and the diversity of the physical and chemical properties of the garbage, a single action surface is used for applying pressure in a general compression treatment step, so that more time is needed for waiting for the internal stress of the garbage to be uniform, and a humidifier is often used for increasing the adhesive force inside the garbage.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an intelligent environment-friendly robot which has the advantages of few required power parts, high reliability, low theoretical failure rate, short compression time, good compression effect and the like, and solves the problems of high dependence, multiple working procedures, long compression time and poor compression effect of multiple power parts of the existing environment-friendly robot.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent environment-friendly robot comprises a vehicle body, wherein a rear bearing block, a front bearing block, a left bearing block and a right bearing block are fixedly mounted on the upper surface of the vehicle body, a rear rotating wheel is rotatably connected to the upper side wall of the rear bearing block, a motor is arranged on the upper side wall of the rear rotating wheel, a belt is arranged on the outer side of the rear rotating wheel, a front rotating wheel is arranged on the upper side wall of the front bearing block, a bottom wheel is mounted on the upper surface of the front rotating wheel, a connecting column is fixedly arranged on the side wall of the motor, a mounting table is fixedly arranged on the side wall of the connecting column, a hydraulic machine is fixedly mounted on the front side wall of the mounting table, the hydraulic machine is the prior art and is not repeated, couplers are fixedly connected to the output end of the hydraulic machine, V-shaped arms are fixedly mounted on the two side walls of the mounting table, a large sliding block is slidably sleeved on one end of each V-shaped, the outer rod and the inner rod are rotatably connected with push arms, the inner rod is fixedly connected with a short arm, the short arm is rotatably connected with a large sliding block, the two push arms are respectively and fixedly connected with a left box body and a right box body, the two short arms are both rotatably connected with a coupler, the coupler is fixedly connected with a push rod, the push rod is rotatably connected with an upper inclined rod, the upper inclined rod is rotatably connected with a lower inclined rod, the lower inclined rod is rotatably connected with a support rod, the support rod is slidably clamped on the side wall of the left box body, one end of the lower inclined rod is slidably sleeved with a small sliding block, the side wall of the small sliding block is rotatably connected with a vertical rod, the vertical rod is fixedly connected with a lifting column, the lower end face of the lifting column is slidably clamped with a mother plate, two springs are arranged in the mother plate, the other end of each spring is fixedly connected with a sub-, the one end of cantilever is rotated and is installed the drive lever, the drive lever is provided with the conveyer belt, the other end of conveyer belt is provided with the driven lever, the driven lever rotates the lateral wall of connecting in right box, the one end fixed mounting that the cantilever was kept away from to the drive lever has the action wheel, the automobile body has the casing outward, controller and sensor are installed to the last lateral wall of casing, automobile body, casing, controller and sensor all adopt prior art, do not do here and give unnecessary details.

Preferably, the opposite side walls of the left bearing block and the right bearing block are provided with grooves, and the distance between the two grooves meets the requirement of normal rotation of the bottom wheel.

Preferably, the output end of the motor is fixedly connected with the upper side wall of the rear rotating wheel.

Preferably, one end of the belt is in friction connection with the rear rotating wheel, the other end of the belt is in friction connection with the front rotating wheel, and the belt is in a tight state.

Preferably, the turning points of the two V-shaped arms are respectively and fixedly connected to the left bearing block and the right bearing block.

Preferably, the length of the large sliding block is smaller than that of the joint of the large sliding block and the V-shaped arm, the outer rod and the inner rod are in parallel relation, the push arm is bent, the part in rotary connection with the outer rod and the inner rod is parallel to the large sliding block, and the inner rod and the short arm are in rotary connection with the same point of the large sliding block.

Preferably, the coupling comprises a fixed cylinder, and the two short arms are rotatably connected with the cylinder.

Preferably, go up down the down tube and the bracing piece dislocation arrangement, the montant is the collinear relation with carrying the post, mother board and daughter board slip cup joint, and the spring is in compression state, the lateral wall of left side box, right box, mother board and daughter board and the up end of return pulley constitute the box jointly, and their contact segment is slidable contact, the incomplete circle in two regions has been amputated for the symmetry to the shape of return pulley.

Preferably, the surface array of the conveyor belt is provided with a plurality of stop strips.

Preferably, the conveyor belt is in a tightened state, and one end close to the garbage opening is flush with the lower end of the garbage opening.

Preferably, the driving wheel is connected with a garbage collector, the power source of the driving wheel is the garbage collector, and the power source is coordinated with the running speed of the garbage collector, the garbage collector is the prior art, and the details are not repeated here, and the motor, the hydraulic press, the controller, the vehicle body, the sensor and the garbage collector are electrically connected.

(III) advantageous effects

Compared with the prior art, the invention provides an intelligent environment-friendly robot, which has the following beneficial effects:

1. this intelligence environmental protection robot, through setting up the connector, the V-arrangement pole, the short arm, interior pole, the outer pole, big slider, push away the arm, make when the hydraulic press output is toward stretching out outward, the short arm is for big slider anticlockwise rotation, and because interior pole and short arm are integrative, interior pole is the big slider anticlockwise rotation relatively too like this, again because, interior pole, the outer pole, push away arm and big slider and constituted parallelogram, like this, the horizontal part that pushes away the arm just only carries out rectilinear translation motion and does not rotate, and the slip of big slider and V-arrangement pole cup joints above-mentioned motion of having coordinated, like this, also only carry out rectilinear translation motion with left box and the right box that push away the arm and link to each other, the horizontal space who has realized the box enlarges promptly. When the output end of the hydraulic press retracts, the compression of the horizontal space of the box body is realized.

2. This intelligence environmental protection robot, through setting up the connector, the push rod, go up the down tube, down the down tube, the bracing piece, little slider, the montant, carry the post, make when the hydraulic press output stretches out, with connector fixed connection's push rod level forward motion, and then act on down the down tube through last down tube and rotate upwards around the bracing piece, under the coordination of little slider, carry the post along lifting in the vertical direction, and simultaneously, bracing piece and left box are the slip joint relation, carry the post and also the slip joint relation with the mother board, just so the expansion of space about the box has been realized to the linkage ground. On the contrary, when the output end of the hydraulic machine retracts, the compression of the vertical space of the box body is realized.

3. This intelligence environmental protection robot, the relative lateral wall department that connects the piece through requiring left side to hold and right side to hold has seted up the recess, distance between two recesses satisfies the normal rotation of return pulley, under the prerequisite that satisfies robot overall dimension and obtain control like this, do not influence the rotation of return pulley 7, simultaneously because the entity part and the left box of return pulley, right side box constitutes closed relation, the bottom surface of return pulley entity part conduct box promptly, and thus, at the starter motor, and the belt passes through the back runner, preceding runner will rotate and transmit to the return pulley, just can decide whether the return pulley cooperates with left box and right box through the rotation of control motor, promptly, the taking out of rubbish after the compression has conveniently been realized.

4. This intelligence environmental protection robot, the face should be arranged relatively through the swivelling joint who requires two big sliders to in order to obtain better compact structure nature. The surface of the conveyor belt is provided with the stop bars, so that the friction force of the conveyor belt on the garbage can be increased, and the reverse sliding of the garbage caused by insufficient friction coefficient is prevented.

5. This intelligence environmental protection robot is fixed in the right box outside, driven lever rotation through requiring the cantilever and connects in the right box outside for the conveyer belt is followed up in right box all the time, and then follows up in the hydraulic press, only relies on this power component of hydraulic press just so to realize the operation of multiple mechanism, simultaneously, derives from garbage collector through requiring the power of drive lever, makes the garbage collection process more coordinate.

Drawings

FIG. 1 is a front side schematic view of the internal structure of the present invention;

FIG. 2 is a rear side view of the internal structure of the present invention;

FIG. 3 is a schematic view of the rear wheel structure of the present invention;

FIG. 4 is a schematic view of the rear wheel and the front wheel of the present invention;

FIG. 5 is a schematic view of the coupling, V-shaped bar, short arm, inner bar, large slide block, outer bar and push arm of the present invention in combination;

FIG. 6 is a schematic view of the upper diagonal member and the lower diagonal member of the present invention in combination;

FIG. 7 is a schematic view of the daughter board and spring combination of the present invention;

FIG. 8 is a top plan view of the major moving parts of the present invention;

FIG. 9 is a schematic view of the belt construction of the present invention;

FIG. 10 is a schematic external view of the present invention;

fig. 11 is a schematic view of the structure of the coupling member of the present invention.

In the figure: the garbage truck comprises a truck body 1, a rear bearing block 2, a right bearing block 3, a left bearing block 4, a motor 5, a connecting column 6, a bottom wheel 7, a box body 8, a conveyer belt 9, a rear rotating wheel 10, a belt 11, a front bearing block 12, a front rotating wheel 13, a mounting table 14, a hydraulic press 15, a V-shaped arm 16, a large sliding block 17, an outer rod 18, an inner rod 19, a push arm 20, a short arm 21, a cylinder 22, a coupler 23, a push rod 24, an upper inclined rod 25, a lower inclined rod 26, a supporting rod 27, a small sliding block 28, a vertical rod 29, a lifting column 30, a left box 31, a right box 32, a mother plate 33, a daughter plate 34, a spring 35, a shell 36, a garbage collector 37, a sensor 38, a controller 39, a cantilever 40, a driving rod 41, a stopper strip 42, a driving wheel 43, a.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-11, an intelligent environment-friendly robot comprises a vehicle body 1, a rear bearing block 2, a front bearing block 12, a left bearing block 4 and a right bearing block 3 are fixedly mounted on the upper surface of the vehicle body 1, grooves are formed in opposite side walls of the left bearing block 4 and the right bearing block 3, the distance between the grooves meets the normal rotation of a bottom wheel 7, so that on the premise that the overall size of the robot is controlled, the rotation of the bottom wheel 7 is not affected, a rear rotating wheel 10 is rotatably connected to an upper side wall of the rear bearing block 2, a motor 5 is arranged on the upper side wall of the rear rotating wheel 10, a belt 11 is arranged outside the rear rotating wheel 10, a front rotating wheel 13 is arranged on the upper side wall of the front bearing block 12, the bottom wheel 7 is mounted on the upper surface of the front rotating wheel 13, a connecting column 6 is fixedly arranged on the side wall of the motor 5, a mounting table 14 is fixedly arranged on the side wall of the connecting column, the output end of the hydraulic machine 15 is fixedly connected with a connector 23, two side walls of the mounting table 14 are fixedly provided with V-shaped arms 16, the turning parts of the two V-shaped arms are respectively and fixedly connected with the left bearing block 4 and the right bearing block 3, so that the mounting table 14 and the extending connecting piece thereof are fixed with the vehicle body, one end of the V-shaped arm 16 is sleeved with a large sliding block 17 in a sliding way, the side wall of the large sliding block 17 is rotatably connected with an outer rod 18 and an inner rod 19, the outer rod 18 and the inner rod 19 are rotatably connected with a pushing arm 20, the inner rod 19 is fixedly connected with a short arm 21, the short arm 21 is rotatably connected with the large sliding block 17, in order to obtain better structural compactness, the rotating connecting surfaces of the two large sliding blocks 17 are arranged oppositely, the two pushing arms 20 are respectively and fixedly connected with a left box body 31 and a right box body 32, the two short arms 21 are both rotatably connected with the connector 23, the connector, the upper diagonal rod 25 is rotatably connected with a lower diagonal rod 26, the lower diagonal rod 26 is rotatably connected with a support rod 27, the support rod 27 is slidably clamped on the side wall of the left box body 31, one end of the lower diagonal rod 26 is slidably sleeved with a small sliding block 28, the side wall of the small sliding block 28 is rotatably connected with a vertical rod 29, the vertical rod 29 is fixedly connected with a lifting column 30, the lower end surface of the lifting column 30 is slidably clamped with a mother plate 33, two springs 35 are arranged in the mother plate 33, the other end of each spring 35 is fixedly connected with a daughter plate 34, the side wall of the right box body 32 is provided with a garbage opening 44, the bottom end of the side wall is fixedly provided with a cantilever 40, one end of the cantilever 40 is rotatably provided with a driving rod 41, the driving rod 41 is provided with a conveyor belt 9, the surface of the conveyor belt 9 is provided with a stop strip 42 which can increase, the driven rod 45 is rotatably connected to the side wall of the right box 32, one end of the driving rod 41, which is far away from the cantilever 40, is fixedly provided with a driving wheel 43, the driving wheel 43 is connected with a garbage collector 37, the driving wheel 43 is powered by the garbage collector 37 and is coordinated with the running speed of the garbage collector 37, the vehicle body 1 is externally covered with a shell 36, and the upper side wall of the shell 36 is provided with a controller 39 and a sensor 38.

Further, in the above solution, the motor 5, the hydraulic machine 15, the controller 39, the vehicle body 1, the sensor 38 and the garbage collector 37 are electrically connected.

Furthermore, in the above scheme, grooves are formed in opposite side walls of the left bearing block 4 and the right bearing block 3, the distance between the two grooves meets the normal rotation of the bottom wheel 7, the groove width of each groove is larger than the thickness of the bottom wheel 7, and the bottom wheel 7 is made of hard plastic, so that the long-time working deformation of the bottom wheel 7 can be reduced while the mass is reduced.

Further, in the above scheme, the output end of the motor 5 is fixedly connected with the upper side wall of the rear rotating wheel 10, so that the utilization rate of the power of the motor 5 can be improved to the maximum extent, and therefore, the motor 5 should be a stepping motor to accurately control the rotating speed.

Further, in the above scheme, one end of the belt 11 is in friction connection with the rear rotating wheel 10, the other end of the belt is in friction connection with the front rotating wheel 13, and the belt 11 is in a tight state, so that the rotation of the motor 5 is transmitted to the front rotating wheel 13, and further the rotation of the bottom wheel 7 is driven, and therefore the bottom wheel 7 is matched with or separated from the left box body 31 and the right box body 32 to form the box body 8 during matching, and compressed garbage can be conveniently taken out during separation.

Further, in the above solution, the turning points of the two V-shaped arms 16 are fixedly connected to the left receiving block 4 and the right receiving block 3, respectively, so as to realize the fixed connection of the V-shaped arms and the vehicle body 1.

Further, in the above scheme, the length of the large sliding block 17 is smaller than the length of the joint with the V-shaped arm 16, the outer rod 18 and the inner rod 19 are in parallel relation, the push arm 20 is bent, the part rotationally connected with the outer rod 18 and the inner rod 19 is parallel to the large sliding block 17, and the inner rod 19 and the short arm 21 are rotationally connected to the same point of the large sliding block 17, so that when the output end of the hydraulic machine 15 extends out, the horizontal part of the push arm 20 only performs linear translational motion without rotation, and thus, the left box body and the right box body connected with the push arm only perform linear translational motion, that is, the horizontal space of the box bodies is expanded.

Further, in the above solution, the coupling 23 comprises a fixed cylinder 22, the two short arms 21 being rotatably connected to the cylinder 22, so that the middle remaining part of the cylinder 22 is fixedly connected to the push rod 24 for transmitting the movement of the hydraulic machine 15.

Further, in the above scheme, the upper diagonal rod 25 and the support rod 27 are arranged in a staggered manner, the vertical rod 29 and the lifting column 30 are in a collinear relationship, the mother board 33 and the daughter board 34 are slidably sleeved, the spring 35 is in a compressed state, the side walls of the left box body 31, the right box body 32, the mother board 33 and the daughter board 34 and the upper end face of the bottom wheel 7 jointly form the box body 8, the contact parts of the box body and the daughter board are in slidable contact, the bottom wheel 7 is in the shape of a circle with two areas cut off symmetrically, the remaining solid part of the bottom wheel 7 is matched with the left box body 31 and the right box body 32, and the virtual part is used for disengaging.

Further, in the above solution, the surface array of the conveyor belt 9 is provided with a plurality of bars 42, which can increase the friction force acting on the garbage.

Further, in the above scheme, the conveyor belt 9 is in a tightened state, and one end close to the garbage opening 44 is flush with the lower end of the garbage opening 44, so that the falling of the fine garbage from the gap is reduced as much as possible, and the working efficiency is improved.

When the device is used, the motor 5 is started firstly to drive the rear rotating wheel 10, the belt 11 which is connected with the rear rotating wheel 10 in a friction way drives the front rotating wheel 13 to rotate, the bottom wheel 7 which is fixed on the front rotating wheel 13 further rotates, when the entity part of the bottom wheel 7 rotates to the center of the bottom surface formed by the left box body 31 and the right box body 32, the output end of the hydraulic machine 15 extends out, the short arm 21 rotates anticlockwise relative to the large sliding block 17, and the inner rod 19 and the short arm 21 are integrated, so the inner rod 19 also rotates anticlockwise relative to the large sliding block 17, and because the inner rod 19, the outer rod 18, the push arm 20 and the large sliding block 17 form a parallelogram, the horizontal part of the push arm 20 only carries out linear translational motion without rotating, and the sliding sleeve connection relation of the large sliding block 17 and the V-shaped rod 16 coordinates the above motions, so that the left box body 31 and the right box body 32 which are connected with the push arm 20, and the horizontal space of the case 8 is enlarged.

Meanwhile, the push rod 24 fixedly connected with the coupler 23 moves horizontally forward, and then acts on the lower inclined rod 26 through the upper inclined rod 25 to rotate upwards around the supporting rod 27, and the lifting column 30 is lifted up in the vertical direction under the coordination of the small slide block 28, meanwhile, the supporting rod 27 and the left box body 31 are in a sliding clamping connection relationship, and the lifting column 30 and the mother plate 33 are also in a sliding clamping connection relationship, so that the expansion of the upper space and the lower space of the box body 8 is realized in a linkage manner.

Then, the controller 39 receives external information through the sensor 38, controls the vehicle body 1 to cruise at a place where garbage cleaning is required, collects garbage through the garbage collector 37, and feeds the garbage into the bin 8 through the conveyor belt 9, while the power of the conveyor belt 9 is from the driving lever 41, the power of the driving lever 41 is from the driving wheel 43, the power of the driving wheel 43 is from the garbage collector 37, and the rotation speed thereof is coordinated by the garbage collector 37.

When the controller 39 senses that the garbage amount reaches the requirement of compression treatment through the sensor 38, the garbage collection is stopped, the output end of the hydraulic press 15 is controlled to retract, the short arm 21 is driven to rotate clockwise relative to the large slide block 17, the inner rod 19 also rotates clockwise relative to the large slide block 17 because the inner rod 19 and the short arm 21 are integrated, and the inner rod 19, the outer rod 18, the push arm 20 and the large slide block 17 form a parallelogram, so that the horizontal part of the push arm 20 only performs linear translation motion without rotation, and the sliding sleeve of the large slide block 17 and the V-shaped rod 16 coordinates the motion, so that the left box body 31 and the right box body 32 connected with the push arm 20 only perform linear translation motion, namely the horizontal space reduction of the box bodies is realized, meanwhile, the push rod 24 fixedly connected with the coupler 23 moves horizontally backwards, and further acts on the lower inclined rod 26 through the upper inclined rod 25 to rotate downwards around the support rod 27, under the coordination of the small sliding block 28, the lifting column 30 is pressed downwards along the vertical direction, meanwhile, the supporting rod 27 and the left box body 31 are in a sliding clamping connection relationship, the lifting column 30 and the mother board 33 are also in a sliding clamping connection relationship, so that the reduction of the upper space and the lower space of the box body 8 is realized in a linkage manner, and the compression treatment of the garbage is realized because the bottom wheel 7 is not moved at the moment.

Then, the controller 39 controls the motor 5 to rotate, as mentioned above, the bottom wheel 7 is driven to rotate, the virtual part of the bottom wheel 7 rotates to the position below the space formed by the left box 31 and the right box 32, and at the same time, the output end of the hydraulic machine 15 slightly extends out to increase the space of the box 8, so as to reduce the friction force of the box 8 on the compressed garbage, and after the two actions are completed, the compressed garbage falls out.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligence environmental protection robot, includes automobile body (1), its characterized in that: the upper surface of the vehicle body (1) is fixedly provided with a rear bearing block (2), a front bearing block (12), a left bearing block (4) and a right bearing block (3), a rear rotating wheel (10) is rotatably connected to the upper side wall of the rear bearing block (2), a motor (5) is arranged on the upper side wall of the rear rotating wheel (10), a belt (11) is arranged on the outer side of the rear rotating wheel (10), a front rotating wheel (13) is arranged on the upper side wall of the front bearing block (12), the upper surface of the front rotating wheel (13) is provided with a bottom wheel (7), the side wall of the motor (5) is fixedly provided with a connecting column (6), the side wall of the connecting column (6) is fixedly provided with an installation table (14), the front side wall of the installation table (14) is fixedly provided with a hydraulic machine (15), the output end of the hydraulic machine (15) is fixedly connected with a coupler (23), and the coupler (23) can drive the left box body (31) and the right box body (32) to compress the volume of the garbage.

2. The intelligent environmental protection robot of claim 1, wherein: the two side walls of the mounting table (14) are fixedly provided with V-shaped arms (16), one end of each V-shaped arm (16) is sleeved with a large sliding block (17) in a sliding mode, the side wall of each large sliding block (17) is rotatably connected with an outer rod (18) and an inner rod (19), the outer rods (18) and the inner rods (19) are rotatably connected with push arms (20), the inner rods (19) are fixedly connected with short arms (21), the short arms (21) are rotatably connected with the large sliding blocks (17), the two push arms (20) are respectively and fixedly connected with a left box body (31) and a right box body (32), the two short arms (21) are rotatably connected with couplers (23), the couplers (23) are fixedly connected with push rods (24), the push rods (24) are rotatably connected with upper inclined rods (25), the upper inclined rods (25) are rotatably connected with lower inclined rods (26), and the lower inclined rods (26) are rotatably connected with support rods (27), bracing piece (27) slip joint in the lateral wall of left box (31), the one end of down the slide wall department of slider (28) rotate be connected with montant (29), post (30) are carried to montant (29) fixedly connected with, the lower terminal surface slip joint of carrying post (30) has mother board (33), be provided with two springs (35) in mother board (33), the other end fixedly connected with daughter board (34) of spring (35).

3. The intelligent environmental protection robot of claim 2, wherein: rubbish mouth (44) have been seted up to the lateral wall of right side box (32), and lateral wall bottom fixed mounting has cantilever (40), the one end of cantilever (40) is rotated and is installed drive lever (41), drive lever (41) are provided with conveyer belt (9), the other end of conveyer belt (9) is provided with driven lever (45), driven lever (45) are rotated and are connected in the lateral wall of right side box (32), the one end fixed mounting that cantilever (40) were kept away from in drive lever (41) has action wheel (43), automobile body (1) is covered outward has casing (36), controller (39) and sensor (38) are installed to the last lateral wall of casing (36).

4. The intelligent environmental protection robot of claim 2, wherein: the output of motor (5) and the last lateral wall fixed connection of back runner (10), the one end and back runner (10) friction joint of belt (11), the other end and preceding runner (13) friction joint, and belt (11) are in tight state, the relative lateral wall department of left side bearing block (4) and right bearing block (3) is seted up flutedly, and the distance between two recesses satisfies the normal rotation of return pulley (7), and the groove width of every recess is greater than the thickness of return pulley (7).

5. The intelligent environmental protection robot of claim 2, wherein: the turning parts of the two V-shaped arms 16 are respectively and fixedly connected to the left bearing block (4) and the right bearing block (3), the coupler (23) comprises a fixed cylinder (22), and the two short arms (21) are rotatably connected with the cylinder (22).

6. The intelligent environmental protection robot of claim 5, wherein: the length of big slider (17) is less than the length with V-arrangement arm (16) junction, outer pole (18) are parallel relation with interior pole (19), push away the shape of arm (20) and be the form of buckling, and be on a parallel with big slider (17) with outer pole (18) and interior pole (19) rotation connection's part, interior pole (19) rotate with short arm (21) and connect in the same point of big slider (17).

7. The intelligent environmental protection robot of claim 6, wherein: go up down tube (25) and bracing piece (27) dislocation arrangement, montant (29) are the collinear relation with carrying post (30), mother board (33) and daughter board (34) slip cup joint, and spring (35) are in compression state, the lateral wall of left side box (31), right box (32), mother board (33) and daughter board (34) and the up end of return pulley (7) constitute box (8) jointly, and their contact segment is the slidable contact, the incomplete circle in two regions has been amputated for the symmetry to the shape of return pulley (7).

8. The intelligent environmental protection robot of claim 7, wherein: the surface array of conveyer belt (9) is provided with a plurality of shelves strip (42), conveyer belt (9) are in the state of tightening, and the one end that is close to rubbish mouth (44) is the same level with the lower extreme department of rubbish mouth (44).

9. The intelligent environmental protection robot of claim 8, wherein: the driving wheel (43) is connected with a garbage collector (37), and the motor (5), the hydraulic machine (15), the controller (39), the vehicle body (1), the sensor (38) and the garbage collector (37) are electrically connected; when the hydraulic press is used, the motor drives the rear rotating wheel to rotate, the belt which is connected with the rear rotating wheel in a friction mode drives the front rotating wheel to rotate, the bottom wheel which is fixed on the front rotating wheel further rotates, after the entity part of the bottom wheel rotates to the center of the bottom surface formed by the left box body and the right box body, the output end of the hydraulic press stretches out, the short arm rotates anticlockwise relative to the large sliding block, the inner rod also rotates anticlockwise relative to the large sliding block due to the fact that the inner rod and the short arm are integrated, and the inner rod, the outer rod, the push arm and the large sliding block form a parallelogram, therefore, the horizontal part of the push arm only carries out linear translational motion without rotation, the large sliding block and the V-shaped rod are in sliding sleeve joint relation to coordinate the motion, and therefore the left box body and the right box body which are connected with the push arm only carry out linear.