阅读说明：本技术 一种全封闭自动化垃圾车 (Totally-enclosed automatic garbage truck ) 是由 陈海初 林泽欣 童俊 王志锋 于 2019-11-19 设计创作，主要内容包括：本发明提供了一种全封闭自动化垃圾车,包括车身,车身上设有垃圾箱,垃圾箱的顶部设有开口,开口中设有垃圾箱门；六自由度机械臂,安装于车身的一侧,其末端安装有机械夹手,机械夹手包括底座以及铰接于底座两侧的夹持杆,底座上安装有可对位于垃圾桶上的用于定位垃圾桶桶身中心点位置的定位标签进行识别的感应装置；处理器,处理器与感应装置连接,用于控制六自由度机械臂以及机械夹手运动以夹持住垃圾桶进行垃圾倾倒。本发明通过摄像头扫描识别垃圾桶桶身上的定位标签,控制六自由度机械臂运动,使机械夹手能够自动定位并夹持在垃圾桶的中部位置,可以防止力矩过大损坏机械夹手,从而更好地对垃圾桶进行垃圾倾倒和清洗。(The invention provides a totally-enclosed automatic garbage truck, which comprises a truck body, wherein a garbage can is arranged on the truck body, the top of the garbage can is provided with an opening, and a garbage can door is arranged in the opening; the six-degree-of-freedom mechanical arm is arranged on one side of the vehicle body, the tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical gripper, the mechanical gripper comprises a base and clamping rods hinged to the two sides of the base, and the base is provided with an induction device which can identify a positioning label positioned on the garbage can and used for positioning the center point of the body of the garbage can; and the processor is connected with the sensing device and used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to move so as to clamp the garbage can for dumping garbage. According to the invention, the positioning label on the garbage can body is scanned and identified through the camera, and the six-degree-of-freedom mechanical arm is controlled to move, so that the mechanical clamping hand can be automatically positioned and clamped at the middle position of the garbage can, and the mechanical clamping hand can be prevented from being damaged due to overlarge torque, thereby better dumping and cleaning garbage in the garbage can.)

1. A totally-enclosed automated trash cart comprising:

the garbage can comprises a vehicle body, wherein a garbage can is arranged on the vehicle body, an opening is formed in the top of the garbage can, and a garbage can door capable of opening and closing the opening is arranged in the opening;

the six-degree-of-freedom mechanical arm is arranged on one side of the vehicle body, the tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical gripper, the mechanical gripper comprises a base and clamping rods hinged to the two sides of the base, and the base is provided with a sensing device which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the garbage can body;

and the processor is connected with the sensing device and used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to move so as to clamp the garbage can for dumping garbage.

2. The fully enclosed automated trash vehicle of claim 1, wherein the positioning tags are image tags, the image tags comprising a plurality of two-dimensional code tags arranged in four quadrants of a two-dimensional rectangular coordinate system.

3. A fully enclosed automated trash cart according to claim 2, wherein said sensing device is a camera for scanning two-dimensional code labels.

4. A fully enclosed automated trash cart according to claim 3, wherein the two-dimensional code labels contain coordinate values.

5. A fully enclosed automatic garbage truck as claimed in claim 4, wherein the image labels are respectively attached to the outer side surfaces of the four garbage can bodies and have the same size as the area of one outer side surface of the garbage can body.

6. The fully-enclosed automatic garbage truck as claimed in claim 5, wherein the garbage truck door comprises a chute arranged at the top of the garbage truck, a door plate slidably connected with the chute, and an air cylinder, and one end of the air cylinder is fixedly connected with the door plate.

7. A fully enclosed automated trash cart according to claim 6, wherein a light level sensor and a lighting unit are mounted on said base, said light level sensor and lighting unit being connected to said processor and being disposed on either side of said sensing device.

8. A fully enclosed automated trash cart according to claim 7, further comprising a cleaning tank disposed on said cart body, said cleaning tank having a cleaning structure disposed therein.

9. The fully-closed automatic garbage truck as claimed in claim 8, wherein the cleaning structure comprises a lifting platform installed in a cleaning box of the garbage truck, the lifting platform is coupled with an inner nozzle and connected with a rotating device, a rotating shaft of the rotating device is hollow and penetrates through a water pipe communicated with the inner nozzle, and an outer nozzle is installed outside the lifting platform and on the inner side wall of the cleaning box.

10. A fully enclosed automated trash cart according to claim 9 wherein said rotating means is a servo motor connected to the disposer.

Technical Field

The invention relates to the field of garbage trucks, in particular to a fully-closed automatic garbage truck.

Background

The garbage truck is a special vehicle specially used for various garbage transported by municipal sanitation departments.

After a lot of searches, some typical prior arts are found, for example, patent application No. 201420267956.3 discloses a totally-enclosed automatic garbage truck with a manipulator, which is characterized in that the manipulator is arranged on a frame between a cab and a carriage, the manipulator comprises a hand part and an arm part, a feeding hole is separated from the front half part of an upper cover of the carriage, a movable upper cover is a sliding door of the feeding hole, and a rear carriage plate which is overturned on the carriage is used as a door of a discharging hole. Still like application number 201810368204.9's patent disclose a garbage truck is used in energy-concerving and environment-protective municipal administration, including locomotive and carriage, carriage inside sets up burning district and transfer area, and this garbage truck burns the rubbish that needs to burn in the car, has practiced thrift time and fuel, and is more energy-concerving and environment-protective. Still like application number 201611092185.9's patent discloses a garbage truck railway carriage and side dress formula garbage truck of utensil sliding closure door, and it includes box and actuating mechanism, this garbage truck has promoted side dress formula garbage truck railway carriage closure nature and aesthetic property.

Therefore, for the garbage truck, many practical problems (such as improvement of automation and intelligence degree) to be treated in practical application are not provided with a specific solution.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a totally-enclosed automatic garbage truck, which has the following specific technical scheme:

a totally-enclosed automated trash cart comprising:

the garbage can comprises a vehicle body, wherein a garbage can is arranged on the vehicle body, an opening is formed in the top of the garbage can, and a garbage can door capable of opening and closing the opening is arranged in the opening;

the six-degree-of-freedom mechanical arm is arranged on one side of the vehicle body, the tail end of the six-degree-of-freedom mechanical arm is provided with a mechanical gripper, the mechanical gripper comprises a base and clamping rods hinged to the two sides of the base, and the base is provided with a sensing device which can identify a positioning label which is positioned on the garbage can and used for positioning the center point of the garbage can body;

and the processor is connected with the sensing device and used for controlling the six-degree-of-freedom mechanical arm and the mechanical clamping hand to move so as to clamp the garbage can for dumping garbage.

Optionally, the positioning tag is an image tag, and the image tag includes a plurality of two-dimensional code tags arranged in four quadrants of a two-dimensional rectangular coordinate system.

Optionally, the sensing device is a camera for scanning the two-dimensional code label.

Optionally, the two-dimensional code label contains a coordinate value.

Optionally, the image labels are respectively attached to the outer side surfaces of the four barrel bodies of the garbage barrel, and the size of each image label is equal to the area of one outer side surface of each barrel body of the garbage barrel.

The beneficial effects obtained by the invention comprise:

1. the positioning label on the body of the garbage can is scanned and identified through the camera, the six-degree-of-freedom mechanical arm is controlled to move, and the mechanical gripper can be automatically positioned and clamped at the middle position of the garbage can, so that the interference of a raised road surface or obstacles around the garbage can be overcome, the moment generated when the clamping rod clamps the garbage can be reduced, the mechanical gripper is prevented from being damaged due to overlarge moment, the automation degree of the garbage truck is improved, and the garbage can is better dumped and cleaned;

2. the image labels are respectively covered on the four outer side surfaces of the garbage can body, so that a mechanical clamping hand can more conveniently position the central point of the garbage can body.

Drawings

The present invention will be further understood from the following description taken in conjunction with the accompanying drawings, the emphasis instead being placed upon illustrating the principles of the embodiments.

FIG. 1 is a schematic overall structure diagram of a fully enclosed automatic garbage truck according to one embodiment of the present invention;

FIG. 2 is a first schematic structural diagram of a mechanical gripper according to an embodiment of the present invention;

FIG. 3 is a first diagram illustrating an image tag according to an embodiment of the present invention;

FIG. 4 is a second schematic structural diagram of an image tag according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a trash can door according to an embodiment of the present invention;

FIG. 6 is a second schematic structural view of a mechanical gripper according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a cleaning tank according to one embodiment of the present invention;

fig. 8 is a schematic structural diagram of a six-degree-of-freedom robot arm according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.

The invention relates to a fully-closed automatic garbage truck, which is characterized in that the following embodiments are explained according to figures 1-8: