CN114800425B - Garbage container transfer robot and method - Google Patents

Abstract

A garbage container transfer robot and a method relate to the technical field of automatic transfer equipment. The garbage container transfer robot comprises a movable rack, a mechanical gripper assembly and a carrying assembly; the movable rack comprises a main body frame, an electric roller and a lifting driving assembly; the mechanical gripper assembly comprises a cradle head motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the carrying assembly comprises a base, a reciprocating pushing assembly, an upper seat, a low-level tray, a high-level tray and a clamping jaw mechanism; the carrying assembly is slidably mounted on the guide rods of the two vertical supports through guide sleeves on two sides of the base and is positioned in the carrying section. The garbage container transferring method is based on a garbage container transferring robot. The invention is applied to residential communities, can replace manual garbage pouring to appointed places, and solves the inconvenience of pouring garbage for special crowds in residential communities. During the transfer of the waste container, a full-flow automated operation involving pick-up-transfer-unloading is achieved.

Description

Garbage container transfer robot and method

technical field

The invention relates to the technical field of automatic transfer equipment, in particular to a garbage container transfer robot and method.

Background technique

Most of the residential areas will have centralized garbage collection stations, and the domestic garbage generated by each household needs to be thrown into the garbage collection station at a fixed point, and cannot be discarded at will. When a household has 1-2 permanent residents, 1-2 barrels of household garbage are usually produced a day. In order to keep the living environment clean and prevent the breeding of mosquitoes and bacteria, it is usually necessary to dump household garbage every day.

However, when the resident population is the elderly or the disabled or visually impaired with inconvenient legs and feet, there will be some inconvenience in the process of bringing household garbage to the garbage collection station for disposal. Therefore, people hope to develop a robot that can replace manual dumping of garbage to a designated place to solve the difficulties of the above-mentioned special population, but unfortunately, there is no such robot on the market.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a garbage container transfer robot and method, which can replace manual dumping of garbage to designated locations, and solve the inconvenience of dumping garbage for special groups of people in residential areas.

The technical solution of the present invention is: a garbage container transfer robot, including a movable frame, a mechanical gripper assembly and a handling assembly;

The movable frame includes the main body frame, electric rollers and lifting drive components; the front end of the main body frame is provided with a platform, and the rear end is provided with symmetrically arranged vertical supports on both sides, and a loading area is formed between the two vertical supports. A plurality of vertically arranged guide rods are arranged on the first vertical bracket; a plurality of electric rollers are symmetrically installed on both sides of the lower end of the main vehicle frame; two sets of lifting drive components are respectively arranged on the two vertical brackets;

The mechanical gripper assembly includes a pan-tilt motor, a multi-degree-of-freedom mechanical arm and a mechanical claw; the pan-tilt motor is fixedly installed at the upper end of the middle of the platform, and its upper end is provided with a horizontal rotating surface; the lower end of the multi-degree-of-freedom mechanical arm is fixedly installed on the pan-tilt motor, The upper end is connected with the mechanical claw; the mechanical claw is provided with a grab opening with adjustable opening;

The handling assembly includes a base, a reciprocating push assembly, an upper seat, a low tray, a high tray, and a gripper mechanism; the upper end of the base is provided with a mounting surface, and guide sleeves and connecting blocks are fixedly installed on both sides of the base; the reciprocating push assembly is located between the base and Between the upper base, it is used to drive the upper base to reciprocate; the upper base is connected to the upper end of the reciprocating push component; the lower tray is fixedly installed on the base; the upper tray is fixedly installed on the upper base, and is arranged up and down with the lower tray; the jaw mechanism includes horizontal push-pull Components, overturning components and jaws, the horizontal push-pull component is set on the upper seat, and is associated with the overturning component to drive the overturning component to do reciprocating linear movement. Rotate, with a clamping mouth with adjustable opening; the jaws move under the joint drive of the reciprocating push component, the horizontal push-pull component, and the flipping component, so that the moving path of the clamping mouth passes through the area directly above the lower tray and The area directly above the high tray;

The handling assembly is slidably installed on the guide rods of the two vertical supports through the guide sleeves on both sides of the base, and is located in the loading area; the handling assembly is associated with two sets of lifting drive components through the connecting blocks on both sides of the base, so that Driven jointly by two groups of lifting drive components, the vertical lifting movement is performed along the guide rods of the two vertical supports.

A further technical solution of the present invention is: the lifting drive assembly includes a lifting drive assembly including a motor A, a driving wheel, a wheel shaft, a driven wheel and a synchronous belt; the motor A is fixedly installed at the lower end of the main body frame; on the top; the wheel shaft is arranged horizontally and movably installed on the upper end of the vertical bracket; the driven wheel is fixedly installed on the wheel shaft and is located directly above the driving wheel; the synchronous belt is wound between the driving wheel and the driven wheel; correspondingly, the handling assembly passes through The connecting blocks on both sides of the base are fixedly connected with the synchronous belts of the two sets of lifting drive components.

The further technical solution of the present invention is: there are four groups of reciprocating push components, which are distributed in a rectangular array on the mounting surface of the base; the reciprocating push components include steering gear A, connecting seat and rocker arm; steering gear A is fixedly installed on the base; The connecting seat is fixedly installed on the lower end of the upper seat; the lower end of the rocker arm is fixedly connected to the shaft of the steering gear A, and the upper end is hinged with the connecting seat, and the rocker arm swings in the vertical plane driven by the steering gear A; four sets of reciprocating push components The synchronous action drives the upper base to do the reciprocating swing of the arc track in the vertical plane.

The further technical solution of the present invention is: there are two groups of horizontal push-pull components, which are arranged symmetrically on both sides of the upper seat; The slide rail is fixedly installed on the upper seat, and its extension direction is consistent with the extension direction of the piston rod of the cylinder A; the slide block is slidably installed on the slide rail, and it is directly or indirectly fixedly connected with the piston rod of the cylinder A Driven to make linear reciprocating movement along the slide rail.

The further technical solution of the present invention is: the turning assembly includes a bearing plate and a double-axis motor; the bearing plate is fixedly connected to the upper ends of the two sliders of two sets of horizontal push-pull components; The first machine shaft protrudes horizontally from both ends of the housing of the biaxial motor respectively.

A further technical solution of the present invention is: the jaws include a base, a clamp arm, a steering gear B, a rubber chuck and a cylinder B; the front end of the base is rotatably mounted on the shaft of a biaxial motor, and With chute, the base swings in the vertical plane driven by the double-axis motor; the two clamping arms are arranged opposite to each other and are respectively slidably installed in the two chute slots of the base, and protrude to the outside of the rear end of the base ; The two steering gears B are arranged oppositely and fixedly mounted on the ends of the two clamp arms respectively, and the shafts of the two steering gears B extend out horizontally; the two rubber chucks are arranged oppositely and fixedly installed on the two steering gears B respectively. Cylinder B is located between the two clamp arms, the piston rod at one end of cylinder B is fixedly connected to one clamp arm, the cylinder body at the other end of cylinder B is fixed to the other clamp arm, and the piston rod of cylinder B is telescopic The two clamping arms are driven to move toward each other or backwards along the chute, so that the clamping opening is enlarged or reduced; correspondingly, the clamping opening is the area between the two rubber chucks.

A further technical proposal of the present invention is that lighting modules are respectively provided at the edge of the middle part of the front end of the main body frame, the edge of the middle part of the rear end, and the edges of both sides.

A further technical proposal of the present invention is that cameras are respectively provided at the edge of the middle part of the front end of the main body frame, at the edge of the middle part of the rear end, and at the edges of both sides.

The technical solution of the present invention is: a garbage container transfer method, based on the above-mentioned garbage container transfer robot, before performing the garbage container transfer operation, the garbage container transfer robot is in the initial state, in the initial state:

a. The rocker arms of the four sets of reciprocating push components swing to the limit position at one end, so that the handling assembly is in the loading area between the two vertical supports, so as to improve the passability of the garbage container transfer robot;

b. The synchronous belts of the two sets of lifting drive components drive the handling assembly to move down to the limit position, so that the height of the center of gravity of the garbage container transfer robot is reduced;

c. The piston rod of the cylinder A of the horizontal push-pull assembly is in the retracted state, and the jaws are driven by the biaxial motor of the flip assembly to rotate towards the front end of the main frame, so that the handling assembly does not exceed the rear end of the main frame, and Relatively close to the middle of the main body frame to improve the stability of the garbage container transfer robot when it is empty;

d. The piston rod of the cylinder B of the jaws is stretched out, so that the two clamp arms move back to the limit position, thereby expanding the clamping opening to the maximum, so as to prepare for clamping the garbage container;

e. The multi-degree-of-freedom mechanical arm is folded to reduce the height, and is adjusted not to exceed the area directly above the platform, so as to improve the passability of the garbage container transfer robot and reduce the height of the center of gravity of the garbage container transfer robot;

The garbage container transfer method is as follows:

S01, clamp the first waste container:

a. Control the rotation of the electric roller to adjust the posture of the garbage container transfer robot, so that the rear end of the main frame is facing the picked up garbage container;

b. Perform the following operations in no particular order:

1. The piston rods of the cylinder A of the two sets of horizontal push-pull components extend out synchronously, pushing the flip component and the jaws to move to the rear end of the main body frame;

2. The double-axis motor of the overturning component is started, and the gripper is driven to overturn towards the rear end of the main body frame;

3. The steering gear A of the four sets of reciprocating push components starts synchronously, driving the four rocker arms to swing synchronously to the rear end of the main body frame, so that the upper seat, the gripper mechanism and the high tray move to the rear end of the main body frame together;

4. The motor A that controls the two sets of lifting control components starts, drives the two synchronous belts to run synchronously, and then drives the handling assembly to move vertically through the fixed connection between the synchronous belt and the connecting blocks on both sides of the base, and the height of the jaws Adjust to match the height of the first waste container;

After the above four operations are completed, make the jaws protrude from the rear end of the main body frame, and the clamping mouth of the jaws is facing and containing the first garbage container;

c. The cylinder B piston rod of the jaw retracts, so that the two jaw arms move toward each other to clamp the two sides of the outer wall of the first garbage container;

S02, transfer the first garbage container to the high tray:

a. The double-axis motor of the overturning component is started, and the driving jaws are turned over to the front end of the main body frame; at the same time, the two steering gears B are started synchronously, driving the two rubber chucks and the first garbage container to rotate, so that the first The garbage container is always kept vertical and not tilted during the turning process; after the turning is in place, the first garbage container is directly above the high-level tray and is next to the high-level tray;

b. The piston rod of the cylinder B of the jaws is stretched out, so that the two clamp arms move back to the limit position, thereby loosening the two sides of the outer wall of the first garbage container, and the first garbage container falls on the high tray;

In this step, the coordinated control of the biaxial motor and steering gear B is based on the real-time detection data of the angle and tilt sensor;

S03, clamp the second waste container:

a. Control the rotation of the electric roller to adjust the posture of the garbage container transfer robot, so that the rear end of the main frame is facing the second garbage container;

b. Perform the following operations in no particular order:

1. The double-axis motor of the overturning component is started, and the gripper is driven to overturn towards the rear end of the main body frame;

2. The motor A of the two sets of lifting control components starts to drive the two synchronous belts to run synchronously, and then through the fixed connection between the synchronous belt and the connecting blocks on both sides of the base, it drives the handling assembly to move vertically and adjusts the height of the jaws. to adapt to the height of the second waste container;

After the above two operations are completed, the jaws protrude from the rear end of the main body frame, and the clamping mouth of the jaws faces and accommodates the second garbage container;

c. The cylinder B piston rod of the jaw retracts, so that the two jaw arms move toward each other to clamp the two sides of the outer wall of the second garbage container;

S04, transfer the second waste container to the lower tray:

a. Perform the following operations at the same time:

1. The piston rods of the cylinder A of the two sets of horizontal push-pull components are retracted synchronously, pushing the flip component and the jaws to move to the front end of the main body frame;

2. The steering gear A of the four sets of reciprocating push components starts synchronously, driving the four rocker arms to swing synchronously to the front end of the main body frame, so that the upper seat and the gripper mechanism move to the front end of the main body frame together;

When the above two operations are completed, the second garbage container is directly above the low-level tray and adjacent to the low-level tray, and the entire handling assembly is in the loading area;

b. The piston rod of the cylinder B of the jaws is stretched out, so that the two clamp arms move back to the limit position, thereby loosening the two sides of the outer wall of the second garbage container, and the second garbage container falls on the low tray;

c. The motor A of the two sets of lifting control components is started to drive the two synchronous belts to run synchronously, and then through the fixed connection between the synchronous belt and the connecting blocks on both sides of the base, the handling assembly is driven down to the bottom end of its moving stroke, thereby making Good transshipment preparation;

S05, Transfer garbage container:

Based on the visual support provided by the camera, the movement of the electric roller is controlled to move the garbage container transfer robot to the designated location for unloading garbage;

S06, grabbing the second garbage container:

a. The motor A of the two sets of lifting control components is started to drive the two synchronous belts to run synchronously, and then through the fixed connection between the synchronous belt and the connecting blocks on both sides of the base, the lower tray is driven to rise above the unloading plane;

b. The double-axis motor of the overturning component is started, and the driving jaws are rotated downward at a certain angle, so that the gripping opening of the jaws contains the second garbage container;

c. The piston rod of the cylinder B of the jaws is stretched out, so that the two clamp arms move toward each other until the outer wall of the second garbage container is clamped;

S07, transfer the second garbage container to the unloading plane:

a. Perform the following operations at the same time:

1. The double-axis motor of the overturning component starts, and the driving jaws rotate upwards at a certain angle. At the same time, the two servos B start synchronously, driving the two rubber chucks and the second garbage container to rotate, so that the second garbage container Keep it vertical and not tilted during the upward rotation;

2. The steering gear A of the four sets of reciprocating push components starts synchronously, and drives the four rocker arms to swing synchronously to the rear end of the main frame, so that the handling assembly moves to the rear end of the main frame;

3. The piston rods of the cylinder A of the two sets of horizontal push-pull components extend out synchronously, pushing the flip component, the gripper and the second garbage container to move to the rear end of the main body frame;

When the above three operations were completed, the second garbage container stretched out outside the rear end of the main vehicle frame;

b. The double-axis motor of the overturning component is started, and the driving jaws are turned downward for a certain angle. At the same time, the two steering gears B are started synchronously, driving the two rubber chucks and being rotated by the second garbage container, so that the second garbage container The garbage container is always kept vertical and not tilted during the downward rotation; thus the height of the second garbage container is lowered and close to the unloading plane;

c. The piston rod of cylinder B of the jaws is stretched out, so that the two clamp arms move back to the limit position, thereby loosening the two sides of the outer wall of the second garbage container, and the second garbage container falls on the unloading plane;

In this step, the coordinated control of the biaxial motor and steering gear B is based on the real-time detection data of the angle and tilt sensor;

S08, grab the first garbage container:

a. The double-axis motor of the overturning component is started, and the jaws are driven to overturn towards the front end of the main frame; at the same time, the piston rods of the cylinder A of the two sets of horizontal push-pull components are retracted synchronously, pushing the overturning component and the jaws towards the front end of the main frame Move; through the above two operations, make the clamping mouth of the jaws face and contain the first garbage container;

b. The cylinder B piston rod of the gripper retracts, so that the two gripper arms move toward each other to clamp the two sides of the outer wall of the first garbage container;

S09, transfer the first garbage container to the unloading plane:

a. Perform the following operations at the same time:

1. The double-axis motor of the overturning component is started, and the jaws are driven to turn over to the rear end of the main body frame; at the same time, the two steering gears B are started synchronously, driving the two rubber chucks and the first garbage container to rotate, so that the first A garbage container is always kept vertical and not tilted during the turning process;

2. The piston rods of the cylinders A of the two groups of horizontal push-pull components extend out synchronously, pushing the flip component, the gripper and the first garbage container to move to the rear end of the main body frame;

After the above two operations are completed, the first garbage container protrudes outside the rear end of the main body frame;

c. The double-axis motor of the overturning component is started, and the driving jaws are turned downward for a certain angle. At the same time, the two steering gears B are started synchronously, driving the two rubber chucks and the first garbage container to rotate, so that the second garbage container The container is always kept vertical and not tilted during the downward rotation; thus the height of the first garbage container is lowered and close to the unloading plane;

d. The piston rod of cylinder B of the jaws is stretched out, so that the two clamp arms move back to the limit position, thereby loosening the two sides of the outer wall of the first garbage container, and the first garbage container falls on the unloading plane;

In this step, the coordinated control of the biaxial motor and steering gear B is based on the real-time detection data of the angle and tilt sensor;

S10, mechanism reset:

a. The rocker arms of the four sets of reciprocating push components swing to the front end of the main body frame to the limit position;

b. The synchronous belts of the two sets of lifting drive components drive the handling assembly down to the limit position;

c. The piston rods of the cylinder A of the two sets of horizontal push-pull assemblies are retracted, so that the jaws and the turning assembly move to the front end of the main body frame 11;

d. The double-axis motor of the overturning component is started, and the driving jaws are rotated towards the front end of the main body frame;

The above four operations are carried out at the same time. When the above four operations are completed, the handling assembly returns to the loading area between the two vertical supports and is at the lowest position of its moving stroke;

S11, throwing out garbage:

Based on the visual support provided by the camera, on the one hand, the action of the electric roller is controlled to adjust the posture of the garbage container transfer robot; in the designated trash can.

Compared with the prior art, the present invention has the following advantages:

1. It is used in residential quarters, and can replace manual dumping of garbage to designated locations, and solves the inconvenience of dumping garbage for special groups of people in residential quarters. In the process of transferring garbage containers, the whole process of automatic operation including picking-transfer-unloading is realized.

2. The target of its transfer is the garbage container, not the garbage bag containing the garbage. The reliability is better during the transfer process, and the garbage will not be scattered or dropped, avoiding its being soiled by the scattered fine garbage or liquid .

3. The mechanical gripper assembly it carries can be used for operations such as pressing the elevator button during the transfer process, picking out the garbage bag after the transfer arrives at the designated location, and picking up the garbage bag and putting it into the designated garbage bin, which further improves its automation.

4. The handling assembly is equipped with a high-position tray and a low-position tray, which can carry two garbage containers to the designated place at one time, and the transfer efficiency is high. The high-position tray and the low-position tray are misplaced in the height direction to avoid mutual interference when placing the trash cans. Collision interference, good reliability.

5. The handling assembly can realize a total of 5 degrees of freedom of movement (including the vertical lifting movement provided by the lifting drive component, the reciprocating swing in the vertical plane provided by the reciprocating push component, and the reciprocating linear movement in the horizontal plane provided by the horizontal push-pull component , the rotation in the vertical plane provided by the overturning component, the rotation in the vertical plane provided by the steering gear B), flexible and maneuverable, it can grab the trash can placed on the steps within a certain height range, or unload the trash can on the On the steps within a certain height range, the maneuverability is strong.

Below in conjunction with figure and embodiment the present invention will be further described.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a structural schematic view of the handling assembly in a perspective;

Fig. 3 is a structural schematic diagram of the handling assembly from another perspective;

Fig. 4 is the structural representation of movable frame;

Fig. 5 is the state diagram of step S01 of garbage container transshipment method;

Fig. 6 is a state diagram of step S02 of the garbage container transshipment method;

Fig. 7 is a state diagram of step S03 of the garbage container transshipment method;

Fig. 8 is a sub-step state diagram of step a of the garbage container operating method S04;

Fig. 9 is a state diagram of step c sub-steps of the garbage container operation method S04;

Fig. 10 is a state diagram of step S11 of the garbage container operation method.

Legend: main body frame 11; platform 111; vertical support 112; guide rod 1121; loading area 113; lighting module 114; electric roller 12; motor A131; driving wheel 132; wheel shaft 133; driven wheel 134; ; Pan-tilt motor 21; multi-degree-of-freedom mechanical arm 22; mechanical claw 23; grabbing port 231; base 31; guide sleeve 311; connecting block 312; steering gear A321; 34; high tray 35; cylinder A361; slide rail 362; slide block 363; load plate 364; biaxial motor 365; base 366; chute 3661; clamp arm 367; steering gear B368; rubber chuck 369;

Detailed ways

Example 1:

As shown in Figure 1-4, the garbage container transfer robot includes a movable frame, a mechanical gripper assembly and a handling assembly.

The movable frame includes a main vehicle frame 11, electric rollers 12 and a lifting drive assembly. The front end of the main body frame 11 is provided with a platform 111, and the two sides of the rear end are provided with symmetrically arranged vertical supports 112, and a load compartment 113 is formed between the two vertical supports 112, and each vertical support 112 is provided with a plurality of vertical supports 112 Guide rods 1121 arranged straight. A plurality of electric rollers 12 are symmetrically installed on both sides of the lower end of the main vehicle frame 11 . Two groups of lifting drive components are respectively arranged on two vertical supports 112 . The lifting drive assembly includes a motor A131 , a driving wheel 132 , an axle 133 , a driven wheel 134 and a synchronous belt 135 . The motor A131 is fixedly installed on the lower end of the main vehicle frame 11 . The driving wheel 132 is fixedly mounted on the crankshaft of the motor A131. The wheel shaft 133 is horizontally arranged and movably mounted on the upper end of the vertical support 112 . The driven wheel 134 is fixedly installed on the wheel shaft 133 and is located directly above the driving wheel 132 . The synchronous belt 135 is wound between the driving wheel 132 and the driven wheel 134 .

The mechanical gripper assembly includes a pan-tilt motor 21 , a multi-degree-of-freedom mechanical arm 22 and a mechanical claw 23 . The pan-tilt motor 21 is fixedly installed on the upper end of the middle part of the platform 111, and its upper end is provided with a horizontal rotating surface. The lower end of the multi-degree-of-freedom mechanical arm 22 is fixedly installed on the pan-tilt motor 21 , and the upper end is connected with the mechanical claw 23 . A grasping opening 231 with an adjustable opening is provided on the mechanical claw 23 . The structures of the multi-degree-of-freedom manipulator 22 and the manipulator 23 are all in the prior art, and will not be repeated here.

The handling assembly includes a base 31, a reciprocating push assembly, an upper seat 33, a lower tray 34, an upper tray 35 and a jaw mechanism.

The upper end of the base 31 is provided with a mounting surface, and guide sleeves 311 and connecting blocks 312 are fixedly installed on both sides of the base 31 .

The reciprocating push assembly is arranged between the base 31 and the upper seat 33, and is used to drive the upper seat 33 to move back and forth. There are four groups of reciprocating push components distributed on the mounting surface of the base 31 in a rectangular array. The reciprocating push assembly includes a steering gear A321, a connecting seat 322 and a rocker arm 323. The steering gear A321 is fixedly mounted on the base 31. The connection base 323 is fixedly installed on the lower end of the upper base 33 . The lower end of the rocking arm 323 is fixedly connected to the crankshaft of the steering gear A321, and the upper end is hinged with the connecting seat 323. The rocking arm 323 swings in a vertical plane driven by the steering gear A321. The four groups of reciprocating push components act synchronously to drive the upper seat 33 to reciprocate in a vertical plane.

The upper seat 33 is fixedly connected to the upper ends of the connecting seats 322 of the four groups of reciprocating push assemblies. The low tray 34 is fixedly installed on the base 31 . The upper tray 35 is fixedly installed on the upper seat 33, and is arranged staggered up and down with the lower tray 34.

The jaw mechanism includes a horizontal push-pull assembly, a flip assembly and jaws. There are two groups of horizontal push-pull assemblies, which are symmetrically arranged on both sides of the upper seat 33 respectively. The horizontal push-pull assembly includes a cylinder A361, a slide rail 362 and a slide block 363. Cylinder A361 is fixedly installed on the upper seat 33, and its piston rod stretches out horizontally. The slide rail 362 is fixedly installed on the upper seat 33, and its extension direction is consistent with the extension direction of the piston rod of the cylinder A361. The slide block 363 is slidably installed on the slide rail 362, and is directly or indirectly fixedly connected with the piston rod of the cylinder A361, and it moves linearly and reciprocatingly along the slide rail 362 under the drive of the cylinder A361. The turning assembly includes a bearing plate 364 and a double-axis motor 365 . The bearing plate 364 is fixedly connected to the upper ends of the two sliders 363 of the two sets of horizontal push-pull assemblies. The biaxial motor 365 is fixedly installed on the bearing plate 364 , and the two shafts of the biaxial motor 365 protrude horizontally from both ends of the housing of the biaxial motor 365 . The jaws include a base 366, a clamp arm 367, a steering gear B368, a rubber chuck 369 and an air cylinder B360. The front end of the base 366 is rotatably mounted on the crankshaft of the biaxial motor 365, and both sides of the rear end of the base 366 are provided with chute 3661, and the base 366 swings in the vertical plane driven by the biaxial motor 365. The two clip arms 367 are arranged opposite to each other and are respectively slidably installed in the two sliding slots 3661 of the base 366 , and protrude toward the outside of the rear end of the base 366 . The two steering gears B368 are arranged oppositely and fixedly mounted on the ends of the two clamp arms 367 respectively, and the shafts of the two steering gears B368 extend horizontally. The two rubber chucks 369 are arranged oppositely and fixedly mounted on the crankshafts of the two steering gears B368 respectively, and the area between the two rubber chucks 369 is the clamping opening. The cylinder B360 is located between the two clamp arms 367, the piston rod at one end of the cylinder B360 is fixedly connected with one clamp arm 367, the cylinder body at the other end of the cylinder B360 is fixedly connected with the other clamp arm 367, and the piston rod of the cylinder B360 stretches to drive The two clamping arms 367 respectively move toward each other or back along the sliding groove 3661, so that the clamping opening is enlarged or reduced. The jaws move under the common drive of the reciprocating push assembly, the horizontal push-pull assembly, and the overturn assembly, so that the moving path of the clamping mouth can pass through the area directly above the low tray 34 and the area directly above the high tray 35.

The transport assembly is slidably installed on the guide rods 1121 of the two vertical supports 112 through the guide sleeves 311 on both sides of the base 31 , and is located in the load compartment 113 . The transport assembly is fixedly connected to the timing belts 135 of the two sets of lifting drive components through the connecting blocks 312 on both sides of the base 31, so that under the joint drive of the two sets of lifting drive components, vertical movement along the guide rods 1121 of the two vertical brackets 112 is performed. Straight up and down movement.

Preferably, lighting modules 114 are respectively provided at the middle edge of the front end, the middle edge of the rear end, and the edge of both sides of the main body frame 11 .

Preferably, cameras (not shown in the figure) are respectively provided at the edge of the middle part of the front end, the edge of the middle part of the rear end, and the edges of both sides of the main body frame 11 .

Preferably, the garbage container transfer robot further includes a power supply module (not shown in the figure). The power supply module is installed on the platform 111, and is electrically connected with the power-demanding components in the garbage container transfer robot, so as to provide power support for the operation of each power-demanding component.

The garbage container transfer robot provided by the present invention can be applied to residential quarters to realize the picking, transfer and unloading of household garbage containers. During the process of transferring garbage containers, the mechanical claws of the mechanical gripper assembly can be used to press the elevator buttons, and the moving path of the garbage container transfer robot should avoid steps and choose barrier-free passages.

As shown in Figure 5-10, a garbage container transfer method is based on the above-mentioned garbage container transfer robot. Before performing the garbage container transfer operation, the garbage container transfer robot is in the initial state. In the initial state:

a. The rocker arms 323 of the four groups of reciprocating push assemblies swing to the limit position at one end, so that the transport assembly is in the loading area 113 between the two vertical supports 112, so as to improve the passability of the garbage container transfer robot;

b. The synchronous belts 135 of the two sets of lifting drive components drive the handling assembly to move down to the limit position, so that the height of the center of gravity of the garbage container transfer robot is reduced;

c. The piston rod of the cylinder A361 of the horizontal push-pull assembly is in the retracted state, and the jaws are driven by the biaxial motor 365 of the flip assembly to rotate towards the front end of the main frame 11, so that the handling assembly does not exceed the rear of the main frame 11 end, and relatively close to the middle part of the main body frame 11, to improve the stability of the garbage container transfer robot when it is empty;

d. The piston rod of the cylinder B360 of the jaws is stretched out, so that the two clamp arms 367 move back to the limit position, thereby expanding the clamping opening to the maximum, so as to prepare for clamping the garbage container;

e. The multi-degree-of-freedom manipulator 22 is folded to reduce its height, and it is adjusted not to exceed the area directly above the platform 111 to improve the passability of the garbage container transfer robot and reduce the height of the center of gravity of the garbage container transfer robot.

The garbage container transfer method is as follows:

S01, clamp the first waste container:

a. Control the rotation of the electric roller 12 to adjust the posture of the garbage container transfer robot, so that the rear end of the main body frame 11 is facing the picked up garbage container;

b. Perform the following operations in no particular order:

1. The piston rods of the cylinders A361 of the two sets of horizontal push-pull assemblies are extended synchronously, pushing the turning assembly and the jaws to move to the rear end of the main body frame 11;

2. The biaxial motor 365 of the overturning assembly is started, and the jaws are driven to overturn towards the rear end of the main body frame 11;

3. The servos A321 of the four groups of reciprocating push components are started synchronously, and the four rocker arms 323 are driven to swing synchronously to the rear end of the main body frame 11, so that the upper seat 33, the gripper mechanism and the high tray 35 move to the rear end of the main body frame 11 together;

4. The motor A131 that controls the two sets of lifting control components starts to drive the two synchronous belts 135 to run synchronously, and then through the fixed connection between the synchronous belt 135 and the connecting blocks 312 on both sides of the base 31, it drives the handling assembly to move vertically. Adjust the height of the jaws to match the height of the first waste container;

After the above four operations are completed, the jaws are extended from the rear end of the main body frame 11, and the clamping mouth of the jaws is facing and containing the first garbage container;

c. The piston rod of the cylinder B360 of the clamping claw is retracted, so that the two clamping arms 367 move toward each other to clamp the two sides of the outer wall of the first garbage container.

S02, transfer the first garbage container to the high tray:

a. The biaxial motor 365 of the overturning assembly is started, and the jaws are driven to turn over to the front end of the main body frame 11; at the same time, the two steering gears B368 are started synchronously, driving the two rubber chucks 369 and the first garbage container to rotate, so that The first garbage container is always kept vertical and not tilted during the overturning process; after being overturned in place, the first garbage container is directly above the high-position tray 35 and is next to the high-position tray 35;

b. The piston rod of the cylinder B360 of the jaws is stretched out, so that the two clamp arms 367 move back to the limit position, thereby loosening the two sides of the outer wall of the first garbage container, and the first garbage container immediately falls on the high tray 35 ;

In this step, the coordinated control of the biaxial motor 365 and the steering gear B368 is based on the real-time detection data of the angle sensor.

S03, clamp the second waste container:

a. Control the rotation of the electric roller 12 to adjust the posture of the garbage container transfer robot, so that the rear end of the main body frame 11 is facing the second garbage container;

b. Perform the following operations in no particular order:

1. The biaxial motor 365 of the turning assembly is started, and the gripper is driven to turn over to the rear end of the main body frame 11;

2. The motors A131 of the two sets of lifting control components start to drive the two synchronous belts 135 to run synchronously, and then through the fixed connection between the synchronous belts 135 and the connecting blocks 312 on both sides of the base 31, the handling assembly is driven to move vertically, and the The height of the jaws is adjusted to match the height of the second garbage container;

After the above two operations are completed, the jaws protrude from the rear end of the main body frame 11, and the clamping mouth of the jaws faces and accommodates the second garbage container;

c. The piston rod of the cylinder B360 of the clamping claw is retracted, so that the two clamping arms 367 move toward each other to clamp the two sides of the outer wall of the second garbage container.

S04, transfer the second waste container to the lower tray:

a. Perform the following operations at the same time:

1. The piston rods of the cylinder A361 of the two sets of horizontal push-pull components are retracted synchronously, pushing the flip component and the jaws to move to the front end of the main body frame;

2. The servos A321 of the four groups of reciprocating push components are synchronously started, and the four rocker arms 323 are driven to swing synchronously to the front end of the main body frame 11, so that the upper seat 33 and the gripper mechanism move to the front end of the main body frame 11 together;

When the above two operations are completed, the second garbage container is located directly above the lower tray 34 and is adjacent to the lower tray 34, and the overall handling assembly is in the loading area 113;

b. The piston rod of the cylinder B360 of the jaws is stretched out, so that the two clamp arms 367 move back to the limit position, thereby loosening the two sides of the outer wall of the second garbage container, and the second garbage container falls on the low tray 34 ;

c. The motors A131 of the two sets of lifting control components start to drive the two synchronous belts 135 to run synchronously, and then through the solid connection between the synchronous belts 135 and the connecting blocks 312 on both sides of the base 31, the transport assembly is driven down to the maximum of its moving stroke lower end to prepare for transfer.

S05, Transfer garbage container:

Based on the visual support provided by the camera, the action of the electric roller 12 is controlled to move the garbage container transfer robot to the designated location for unloading garbage.

S06, grabbing the second garbage container:

a. The motors A131 of the two sets of lifting control components are started to drive the two synchronous belts 135 to run synchronously, and then through the fixed connection between the synchronous belts 135 and the connecting blocks 312 on both sides of the base 31, the lower tray 34 is driven to rise above the unloading plane;

b. The biaxial motor 365 of the overturning assembly is started, and the driving jaws are rotated downward by a certain angle, so that the gripping opening of the jaws contains the second garbage container;

c. The piston rod of the cylinder B360 of the jaws stretches out, so that the two clamping arms 367 move toward each other until the outer wall of the second garbage container is clamped.

S07, transfer the second garbage container to the unloading plane:

a. Perform the following operations at the same time:

1. The double-axis motor 365 of the overturning assembly starts, and the driving jaws rotate upwards at a certain angle. At the same time, the two steering gears B368 start synchronously, driving the two rubber chucks 369 and the second garbage container to rotate, so that the second The garbage container is always kept vertical and not tilted during the upward rotation;

2. The servos A368 of the four groups of reciprocating push components are started synchronously, and the four rocker arms 323 are driven to swing synchronously to the rear end of the main frame 11, so that the handling assembly moves to the rear end of the main frame 11;

3. The piston rods of the cylinders A361 of the two sets of horizontal push-pull assemblies are extended synchronously, pushing the turning assembly, the grippers and the second garbage container to move to the rear end of the main body frame 11;

When the above three operations were completed, the second garbage container stretched out from the outside of the main body frame 11 rear end;

b. The double-axis motor 365 of the overturning assembly is started, and the driving jaws are rotated downward by a certain angle. At the same time, the two steering gears B368 are started synchronously, driving the two rubber chucks 369 and the second garbage container to rotate, so that the second garbage container The two garbage containers are always kept vertical and not tilted during the downward rotation; thus the height of the second garbage container is lowered and close to the unloading plane;

c. The piston rod of the cylinder B360 of the jaws is stretched out, so that the two clamp arms 367 move back to the limit position, thereby loosening the two sides of the outer wall of the second garbage container, and the second garbage container falls on the unloading plane;

In this step, the coordinated control of the biaxial motor 365 and the steering gear B368 is based on the real-time detection data of the angle sensor.

S08, grab the first garbage container:

a. The biaxial motor 365 of the overturning assembly starts, driving the jaws to overturn towards the front end of the main vehicle frame 11; at the same time, the piston rods of the cylinder A361 of the two groups of horizontal push-pull assemblies retract synchronously, pushing the overturning assembly and the jaws towards the main vehicle The front end of the frame 11 moves; through the above two operations, the clamping mouth of the jaws is facing and contains the first garbage container;

b. The piston rod of the cylinder B360 of the clamping jaw is retracted, so that the two clamping arms 367 move toward each other to clamp the two sides of the outer wall of the first garbage container.

S09, transfer the first garbage container to the unloading plane:

a. Perform the following operations at the same time:

1. The double-axis motor 365 of the overturning component is started, and the jaws are driven to overturn towards the rear end of the main body frame 11; at the same time, the two steering gears B368 are started synchronously, driving the two rubber chucks 369 and the first garbage container to rotate, Keep the first garbage container upright and not tilted during the flipping process;

2. The piston rods of the cylinders A361 of the two groups of horizontal push-pull assemblies extend out synchronously, pushing the turning assembly, the grippers and the first garbage container to move to the rear end of the main body frame 11;

After the above two operations are completed, the first garbage container protrudes outside the rear end of the main body frame;

c. The double-axis motor 365 of the overturning assembly is started, and the driving jaws are rotated downward for a certain angle. The first garbage container is always kept vertical and not tilted during the downward rotation; thus the height of the first garbage container is reduced and close to the unloading plane;

d. The piston rod of the cylinder B360 of the jaws is stretched out, so that the two clamp arms 367 move back to the limit position, thereby loosening the two sides of the outer wall of the first garbage container, and the first garbage container falls on the unloading plane;

In this step, the coordinated control of the biaxial motor 365 and the steering gear B368 is based on the real-time detection data of the angle sensor.

S10, mechanism reset:

a. The rocker arms 323 of the four groups of reciprocating push components swing to the front end of the main body frame 11 to the limit position;

b. The synchronous belts 135 of the two sets of lifting drive components drive the handling assembly to move down to the limit position;

c. The piston rods of the cylinders A361 of the two sets of horizontal push-pull components are retracted, so that the jaws and the turning components move to the front end of the main body frame 11;

d. The biaxial motor 365 of the overturning assembly is started, and the driving jaws are rotated toward the front end of the main body frame 11;

The above four operations are performed simultaneously, and when the above four operations are completed, the transfer assembly returns to the loading section 113 between the two vertical supports 112 and is at the lowest position of its moving stroke.

S11, throwing out garbage:

Based on the visual support provided by the camera, on the one hand, the action of the electric roller is controlled to adjust the posture of the garbage container transfer robot; in the designated trash can.

Claims (10)

1. Garbage container transfer robot, characterized by: the mechanical gripper comprises a movable rack, a mechanical gripper assembly and a carrying assembly;

the movable rack comprises a main body frame, an electric roller and a lifting driving assembly; the front end of the main body frame is provided with a platform, two sides of the rear end are provided with vertical supports which are symmetrically arranged, a carrying section is formed between the two vertical supports, and each vertical support is provided with a plurality of guide rods which are vertically arranged; the plurality of electric rollers are symmetrically arranged at two sides of the lower end of the main body frame; the two groups of lifting driving components are respectively arranged on the two vertical brackets;

The mechanical gripper assembly comprises a cradle head motor, a multi-degree-of-freedom mechanical arm and a mechanical gripper; the cradle head motor is fixedly arranged at the upper end of the middle part of the platform, and a horizontal rotating surface is arranged at the upper end of the cradle head motor; the lower end of the multi-degree-of-freedom mechanical arm is fixedly arranged on the pan-tilt motor, and the upper end of the multi-degree-of-freedom mechanical arm is connected with the mechanical claw; the mechanical claw is provided with a grabbing port with an adjustable opening;

the carrying assembly comprises a base, a reciprocating pushing assembly, an upper seat, a low-level tray, a high-level tray and a clamping jaw mechanism; the upper end of the base is provided with a mounting surface, and the edges of the two sides of the base are fixedly provided with a guide sleeve and a connecting block; the reciprocating pushing assembly is arranged between the base and the upper seat and used for driving the upper seat to reciprocate; the upper seat is connected to the upper end of the reciprocating pushing assembly; the low-level tray is fixedly arranged on the base; the high-level tray is fixedly arranged on the upper seat and is arranged in a staggered manner with the low-level tray up and down; the clamping jaw mechanism comprises a horizontal push-pull assembly, a turnover assembly and clamping jaws, wherein the horizontal push-pull assembly is arranged on the upper seat and is associated with the turnover assembly to drive the turnover assembly to do reciprocating linear movement, the clamping jaws are arranged on the turnover assembly and driven by the turnover assembly to do rotation in a vertical plane, and clamping openings with adjustable opening degrees are formed in the clamping jaws; the clamping jaw moves under the common drive of the reciprocating pushing assembly, the horizontal pushing assembly and the overturning assembly, so that the moving path of the clamping opening passes through the area right above the low-level tray and the area right above the high-level tray;

The carrying assembly is slidably arranged on the guide rods of the two vertical brackets through guide sleeves on two sides of the base and is positioned in the carrying section; the carrying assembly is associated with the two groups of lifting driving assemblies through connecting blocks on two sides of the base, so that the carrying assembly can vertically lift and move along the guide rods of the two vertical supports under the common driving of the two groups of lifting driving assemblies.

2. The trash receptacle transfer robot of claim 1, wherein: the lifting driving assembly comprises a motor A, a driving wheel, a wheel shaft, a driven wheel and a synchronous belt; the motor A is fixedly arranged at the lower end of the main body frame; the driving wheel is fixedly arranged on the shaft of the motor A; the wheel axle is horizontally arranged and movably mounted at the upper end of the vertical bracket; the driven wheel is fixedly arranged on the wheel shaft and is positioned right above the driving wheel; the synchronous belt is wound between the driving wheel and the driven wheel; correspondingly, the carrying assembly is fixedly connected with the synchronous belts of the two groups of lifting driving assemblies through connecting blocks on two sides of the base.

3. The trash receptacle transfer robot of claim 2, wherein: four groups of reciprocating pushing components are distributed on the mounting surface of the base in a rectangular array; the reciprocating pushing component comprises a steering engine A, a connecting seat and a rocker arm; the steering engine A is fixedly arranged on the base; the connecting seat is fixedly arranged at the lower end of the upper seat; the lower end of the rocker arm is fixedly connected to the crankshaft of the steering engine A, the upper end of the rocker arm is hinged with the connecting seat, and the rocker arm swings in a vertical plane under the driving of the steering engine A; the four groups of reciprocating pushing components synchronously act to drive the upper seat to do reciprocating swing of an arc track in a vertical plane.

4. A refuse receptacle transfer robot according to claim 3, characterized in that: the horizontal push-pull assemblies are divided into two groups and are symmetrically arranged at two sides of the upper seat respectively; the horizontal push-pull assembly comprises an air cylinder A, a sliding rail and a sliding block; the cylinder A is fixedly arranged on the upper seat, and a piston rod of the cylinder A horizontally extends out; the sliding rail is fixedly arranged on the upper seat, and the extending direction of the sliding rail is consistent with the extending direction of a piston rod of the air cylinder A; the sliding block is slidably arranged on the sliding rail and is directly or indirectly fixedly connected with a piston rod of the air cylinder A, and the sliding block is driven by the air cylinder A to linearly reciprocate along the sliding rail.

5. The trash receptacle transfer robot of claim 4, wherein: the overturning assembly comprises a bearing plate and a double-shaft motor; the bearing plate is fixedly connected to the upper ends of the two sliding blocks of the two groups of horizontal push-pull assemblies; the double-shaft motor is fixedly arranged on the bearing plate, and two shafts of the double-shaft motor horizontally extend out of two ends of a shell of the double-shaft motor respectively.

6. The trash receptacle transfer robot of claim 5, wherein: the clamping jaw comprises a base, a clamping arm, a steering engine B, a rubber chuck and a cylinder B; the front end of the base is rotatably arranged on a crankshaft of the double-shaft motor, sliding grooves are formed in two sides of the rear end of the base, and the base swings in a vertical plane under the driving of the double-shaft motor; the two clamping arms are oppositely arranged, are respectively and slidably arranged in the two sliding grooves of the base, and extend out of the rear end of the base; the two steering engines B are oppositely arranged and respectively and fixedly arranged at the tail ends of the two clamping arms, and the shafts of the two steering engines B horizontally extend out; the two rubber chucks are oppositely arranged and respectively and fixedly arranged on the shafts of the two steering engines B; the cylinder B is arranged between the two clamping arms, a piston rod at one end of the cylinder B is fixedly connected with one clamping arm, a cylinder body at the other end of the cylinder B is fixedly connected with the other clamping arm, and the piston rod of the cylinder B stretches to drive the two clamping arms to move oppositely or back to back along the sliding groove respectively, so that the clamping opening is enlarged or reduced; correspondingly, the clamping opening is an area between the two rubber chucks.

7. The trash receptacle transfer robot of claim 6, wherein: the clamping jaw further comprises a horizontal inclination sensor; the horizontal inclination sensor is fixedly arranged on the clamping arm and is used for detecting the inclination angle of the clamping arm relative to the horizontal plane.

8. The trash receptacle transfer robot of claim 7, wherein: the front end middle edge, the rear end middle edge and the two side edges of the main body frame are respectively provided with an illumination module.

9. The trash receptacle transfer robot of claim 8, wherein: cameras are respectively arranged at the middle edge of the front end of the main body frame, the middle edge of the rear end of the main body frame and the edges of the two sides of the main body frame.

10. A method of transferring a refuse container, based on the refuse container transfer robot according to claim 9, characterized in that, before performing the refuse container transfer operation, the refuse container transfer robot is in an initial state in which:

a. the rocker arms of the four groups of reciprocating pushing assemblies swing to the limit position of one end, so that the carrying assembly is positioned in a carrying interval between the two vertical supports, and the trafficability of the garbage container transfer robot is improved;

b. the synchronous belts of the two groups of lifting driving assemblies drive the carrying assembly to move downwards to the limit position so as to reduce the gravity center height of the garbage container transfer robot;

c. The piston rod of the cylinder A of the horizontal push-pull assembly is in a retracted state, and the clamping jaw is driven by the double-shaft motor of the overturning assembly to rotate towards the front end of the main body frame, so that the carrying assembly does not exceed the rear end of the main body frame and is relatively close to the middle part of the main body frame, and the stability of the garbage container transfer robot in no-load is improved;

d. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that the clamping opening is expanded to the maximum, and the garbage container is ready to be clamped;

e. the multi-degree-of-freedom mechanical arm is folded to reduce the height and adjust the height not to exceed the area right above the platform, so that the trafficability of the garbage container transfer robot is improved and the gravity center height of the garbage container transfer robot is reduced;

the garbage container transferring method comprises the following steps:

s01, clamping a first garbage container:

a. controlling the electric roller to rotate so as to adjust the pose of the garbage container transfer robot, so that the rear end of the main body frame is right against the garbage container to be picked up;

b. the following operations are performed out of order:

1. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning assemblies and the clamping jaws to move towards the rear end of the main body frame;

2. The double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame;

3. the steering engine A of the four groups of reciprocating pushing components is synchronously started to drive the four rocker arms to synchronously swing towards the rear end of the main body frame, so that the upper seat, the clamping jaw mechanism and the high-position tray move towards the rear end of the main body frame together;

4. the motor A of the two groups of lifting control components is controlled to start, the two synchronous belts are driven to run synchronously, and then the carrying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts and the connecting blocks at the two sides of the base, so that the height of the clamping jaw is adjusted to be suitable for the height of the first garbage container;

after the four operations are completed, the clamping jaw extends out from the rear end of the main body frame, and the clamping opening of the clamping jaw faces to and contains the first garbage container;

c. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the first garbage container;

s02, transferring the first garbage container to a high-level tray:

a. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame; simultaneously, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the first garbage container is kept vertical and not inclined all the time in the overturning process; after the first garbage container is turned over to be in place, the first garbage container is positioned right above the high-level tray and is closely adjacent to the high-level tray;

b. The piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the high-position tray;

in the step, the coordination control of the double-shaft motor and the steering engine B is based on real-time detection data of an angle inclination sensor;

s03, clamping a second garbage container:

a. controlling the electric roller to rotate so as to adjust the pose of the garbage container transfer robot, and enabling the rear end of the main body frame to be aligned with a second garbage container;

b. the following operations are performed out of order:

1. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame;

2. the motors A of the two groups of lifting control assemblies are started to drive the two synchronous belts to synchronously operate, so that the conveying assembly is driven to move in the vertical direction through the fixedly connected relation between the synchronous belts and connecting blocks on two sides of the base, and the heights of the clamping jaws are adjusted to be matched with the height of the second garbage container;

after the two operations are completed, the clamping jaw extends out from the rear end of the main body frame, and the clamping opening of the clamping jaw faces to and contains a second garbage container;

c. the piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the second garbage container;

S04, transferring the second garbage container to a low-level tray:

a. simultaneously executing the following operations:

1. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws to move towards the front end of the main body frame;

2. the steering engine A of the four groups of reciprocating pushing components is synchronously started to drive the four rocker arms to synchronously swing towards the front end of the main body frame, so that the upper seat and the clamping jaw mechanism move towards the front end of the main body frame together;

when the two operations are completed, the second garbage container is positioned right above the low-level tray and is close to the low-level tray, and the whole carrying assembly is positioned in the carrying area;

b. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the second garbage container are loosened, and the second garbage container falls on the low-position tray;

c. the motor A of the two groups of lifting control components is started to drive the two synchronous belts to synchronously operate, so that the conveying assembly is driven to descend to the lowest end of the moving stroke of the conveying assembly through the fixedly connected relation between the synchronous belts and the connecting blocks at the two sides of the base, and further, the conveying assembly is ready for transferring;

s05, transferring a garbage container:

based on the vision support provided by the camera, controlling the action of the electric roller, and moving the garbage container transfer robot to a specified place for unloading garbage;

S06, clamping a second garbage container:

a. the motors A of the two groups of lifting control components are started to drive the two synchronous belts to synchronously run, and then the low-level tray is driven to rise to be higher than the unloading plane through the fixed connection relation between the synchronous belts and the connecting blocks at the two sides of the base;

b. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards by a certain angle, so that the clamping opening of the clamping jaw accommodates the second garbage container;

c. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move in opposite directions until the outer wall of the second garbage container is clamped;

s07, transferring the second garbage container onto an unloading plane:

a. simultaneously executing the following operations:

1. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate upwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the second garbage container to rotate, so that the second garbage container always keeps vertical and does not incline in the process of rotating upwards;

2. the steering engine A of the four groups of reciprocating pushing assemblies is synchronously started to drive the four rocker arms to synchronously swing towards the rear end of the main body frame, so that the carrying assembly moves towards the rear end of the main body frame;

3. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend out to push the overturning assembly, the clamping jaw and the second garbage container to move towards the rear end of the main body frame;

When the three operations are completed, the second garbage container extends out of the rear end of the main body frame;

b. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the second garbage container to rotate, so that the second garbage container always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the second waste container and approaching the unloading plane;

c. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the second garbage container are loosened, and the second garbage container falls on the unloading plane;

in the step, the coordination control of the double-shaft motor and the steering engine B is based on real-time detection data of an angle inclination sensor;

s08, clamping a first garbage container:

a. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the front end of the main body frame; simultaneously, piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously retract to push the overturning assemblies and the clamping jaws to move towards the front end of the main body frame; through the two operations, the clamping opening of the clamping jaw is opposite to and contains the first garbage container;

b. The piston rod of the cylinder B of the clamping jaw is retracted, so that the two clamping arms move towards each other to clamp the two sides of the outer wall of the first garbage container;

a. simultaneously executing the following operations:

1. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to overturn towards the rear end of the main body frame; simultaneously, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the first garbage container is kept vertical and not inclined all the time in the overturning process;

2. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies synchronously extend to push the overturning assembly, the clamping jaw and the first garbage container to move towards the rear end of the main body frame;

after the two operations are completed, the first garbage container extends out of the rear end of the main body frame;

c. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate downwards for a certain angle, and meanwhile, the two steering engines B are synchronously started to drive the two rubber chucks and the first garbage container to rotate, so that the second garbage container always keeps vertical and does not incline in the process of rotating downwards; thereby lowering the height of the first trash receptacle and approaching the unloading plane;

d. the piston rod of the cylinder B of the clamping jaw extends out to enable the two clamping arms to move back to the limit position, so that two sides of the outer wall of the first garbage container are loosened, and the first garbage container falls on the unloading plane;

In the step, the coordination control of the double-shaft motor and the steering engine B is based on real-time detection data of an angle inclination sensor;

s10, resetting a mechanism:

a. the rocker arms of the four groups of reciprocating pushing assemblies swing to the front end of the main body frame to the limit position;

b. the synchronous belts of the two groups of lifting driving assemblies drive the carrying assembly to move downwards to the limit position;

c. the piston rods of the cylinders A of the two groups of horizontal push-pull assemblies retract, so that the clamping jaw and the overturning assembly move towards the front end of the main body frame;

d. the double-shaft motor of the overturning assembly is started to drive the clamping jaw to rotate towards the front end of the main body frame;

the four operations are executed simultaneously, and when the four operations are completed, the carrying assembly returns to the carrying interval between the two vertical supports and is at the lowest position of the moving stroke;

s11, garbage is put in:

based on the visual support provided by the camera, on one hand, the action of the electric roller is controlled to adjust the pose of the garbage container transferring robot, and on the other hand, the action of the mechanical gripper assembly is controlled, so that garbage bags in two garbage containers are sequentially clamped and put into a specified garbage can.

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