阅读说明：本技术 一种清扫机构及其构建的垃圾自动分拣装置 (Cleaning mechanism and automatic garbage sorting device constructed by same ) 是由 吴海波 陈江 张艺潇 崔禹 刘亮 魏顺祥 李全峰 王晨 于 2021-07-01 设计创作，主要内容包括：本发明公开了一种清扫机构及其构建的垃圾自动分拣装置,属于垃圾自动分类技术领域。本发明的清扫机构通过设计清扫滑动构件Ⅰ作为推动侧,设计清扫滑动构件Ⅱ作为开合侧,可以用于将物品从一侧推至另一侧,推动过程中,一侧推动,另一侧打开,或者一侧回位,另一侧关闭,整个过程推动侧、开合侧为巧妙的联动装置,可以有效的用于将物品从一侧推至另一侧输出；再进一步地将清扫机构与垃圾承载板、机械手、横向移载装置、垃圾箱配合,可以依次进行抓取、横向移动、放置垃圾至垃圾箱、清扫动作,进而实现分拣,有效提高了垃圾回收的效率,且为后期处理垃圾节省时间和财力,整个过程减少了劳动力的参与。(The invention discloses a cleaning mechanism and an automatic garbage sorting device constructed by the same, and belongs to the technical field of automatic garbage classification. According to the cleaning mechanism, the cleaning sliding component I is designed to be used as a pushing side, the cleaning sliding component II is designed to be used as an opening and closing side, the cleaning mechanism can be used for pushing an article from one side to the other side, in the pushing process, one side is pushed, the other side is opened, or one side is returned, the other side is closed, the pushing side and the opening and closing side in the whole process are ingenious linkage devices, and the cleaning mechanism can be effectively used for pushing the article from one side to the other side for output; further will clean mechanism and rubbish loading board, manipulator, transversely move and carry device, dustbin cooperation again, can snatch in proper order, lateral shifting, place rubbish to dustbin, clean the action, and then realize the letter sorting, effectively improved the efficiency of rubbish recovery, and for the after-treatment rubbish save time and financial resources, whole process has reduced labour's participation.)

1. A cleaning mechanism is characterized in that: the cleaning mechanism (5) provides power to drive the V-shaped belt I (120) to move through the cleaning driving motor (121), the V-shaped belt I (120) moves to drive the cleaning sliding component I (118) to move along the same direction with the V-shaped belt I (120) and drive the V-shaped belt II (128) which is vertically arranged with the V-shaped belt I (120) to move, the V-shaped belt II (128) moves to drive the cleaning sliding component II (131) to move along the same direction with the V-shaped belt II (128), and the cleaning sliding component I (118) and the cleaning sliding component II (131) are arranged in parallel.

2. The sweeping mechanism according to claim 1, characterized in that: the cleaning mechanism (5) comprises a cleaning sliding component I (118), a V-shaped belt wheel I (119), a V-shaped belt I (120), a cleaning driving motor (121), a bearing seat mounting frame (122), a V-shaped belt wheel II (123), a V-shaped belt wheel transmission shaft (124), a V-shaped belt wheel bearing seat I (125), a V-shaped belt wheel III (126), a V-shaped belt wheel bearing seat II (127), a V-shaped belt wheel II (128), a V-shaped belt wheel supporting frame (129), a V-shaped belt wheel IV (130) and a cleaning sliding component II (131); wherein the cleaning driving motor (121) is arranged on the aluminum profile frame (2) through a motor fixing plate; the V-shaped belt wheel I (119) is arranged on a shaft of the cleaning driving motor (121); the bearing seat mounting rack (122) is fixed on the aluminum profile frame (2), and the V-belt pulley bearing seat I (125) and the V-belt pulley bearing seat II (127) are mounted at two ends of the bearing seat mounting rack (122); a V-shaped belt pulley transmission shaft (124) is provided with a V-shaped belt pulley bearing seat II (127) from one end to the other end through a bearing, a V-shaped belt pulley III (126) is arranged on the end close to a shaft shoulder, two sides of the V-shaped belt pulley III (126) are fixed through a shaft sleeve, the V-shaped belt pulley bearing seat I (125) is arranged through the bearing, and a V-shaped belt pulley II (123) is arranged at the end close to the shaft; the V-shaped belt wheel I (119) and the V-shaped belt wheel III (126) which are positioned at the same height are connected through a V-shaped belt I (120); the cleaning sliding component I (118) is arranged at the lower end of the V-shaped belt I (120), is vertical to the garbage bearing plate (3), and is parallel to a longitudinal shaft ball screw sliding rail I (29) in the mechanical arm (4); the V-shaped belt wheel supporting frame (129) is fixedly arranged on the aluminum profile frame (2); the V-shaped belt pulley IV (130) is arranged on a V-shaped belt pulley supporting frame (129); the V-shaped belt wheel II (123) is connected with the V-shaped belt wheel IV (130) through a V-shaped belt II (128), and the V-shaped belt II (128) is vertical to the V-shaped belt I (120); and the cleaning sliding component II (131) is fixedly arranged at the outer side end of the V-shaped belt II (128), and the cleaning sliding component II (131) is vertical to the garbage bearing plate (3) and is parallel to a longitudinal shaft ball screw slide rail I (29) in the manipulator (4).

3. The utility model provides a rubbish automatic sorting device which characterized in that: the sweeping mechanism (5) comprises a square tube frame (1), an aluminum profile frame (2), a garbage carrying plate (3), a manipulator (4), a transverse shifting device (6) and a garbage can (7); wherein square pipe frame (1) is used for installing horizontal moving device (6), aluminum section frame (2) are used for installing rubbish loading board (3), manipulator (4), clean mechanism (5), dustbin (7), rubbish loading board (3) are used for placing the rubbish that waits to distribute to dustbin (7), manipulator (4) are used for snatching rubbish on rubbish loading board (3) and are used for placing the rubbish after snatching in horizontal moving device (6), transversely move and carry device (6) and be used for transporting rubbish in dustbin (7), clean mechanism (5) and be used for cleaning the rubbish that is not snatched on rubbish loading board (3) and clean rubbish to dustbin (7) in.

4. The automatic sorting device of trash according to claim 3, wherein: the manipulator (4) drives the gear transmission device II (40) through the servo motor I (47), drives the gear transmission device IV (41) through the servo motor IV (52) and drives the gear transmission device I (35) through the servo motor III (50); the ball screws (132) are driven to rotate respectively through the gear transmission device II (40), the gear transmission device IV (41) and the gear transmission device I (35), the ball screws (132) rotate to drive the screw slide block (133) to move, and then the slide seat I (31), the slide seat III (43) and the slide seat IV (46) are driven to move, the mechanical hand claw (45) is driven to move along the longitudinal axis ball screw slide rail I (29) and the longitudinal axis ball screw slide rail II (30) through the movement of the slide seat I (31) and the slide seat III (43), and the mechanical hand claw (45) is driven to move along the vertical axis ball screw slide rail (36) through the movement of the slide seat IV (46); the servo motor II (49) provides power to drive the other group of ball screws (132) to move so as to drive the screw slide block (133) to drive the sliding seat II (38) to move, and the sliding seat II (38) moves to drive the manipulator claw (45) to move along the ball screw slide rail (32) with the transverse shaft.

5. The automatic sorting device of trash according to claim 3, wherein: the manipulator (4) comprises a longitudinal axis ball screw slide rail I (29), a longitudinal axis ball screw slide rail II (30), a sliding seat I (31), a transverse axis ball screw slide rail (32), a speed reducer (33), a transverse axis slide rail fixing plate (34), a gear transmission device I (35), a vertical axis ball screw slide rail (36), a vertical slide rail fixing plate (37), a sliding seat II (38), a drag line chain pipe I (39), a gear transmission device II (40), a gear transmission device IV (41), a drag line chain pipe II (42), a sliding seat III (43), a manipulator driving rod (44), a manipulator claw (45), a sliding seat IV (46), a servo motor I (47), a drag line plate I (48), a servo motor II (49), a servo motor III (50), a drag line plate II (51), a servo motor IV (52), a manipulator telescopic rod (53), a manipulator connecting rod (54), A ball screw (132) and a screw slider (133); the longitudinal axis ball screw sliding rail I (29) and the longitudinal axis ball screw sliding rail II (30) are fixedly arranged on a corresponding aluminum profile VI (18) and an aluminum profile VII (19) in the aluminum profile frame (2), and the power board I (48) and the power board II (51) are fixed on the outer sides of the longitudinal axis ball screw sliding rail II (30) and the longitudinal axis ball screw sliding rail I (29); the tow line chain pipe I (39) and the tow line chain pipe II (42) are fixedly arranged on the corresponding tow line board I (48) and the corresponding tow line board II (51); the sliding seat I (31) is connected with a vertical shaft ball screw sliding rail II (30) in a sliding pair mode, the sliding seat III (43) is connected with a vertical shaft ball screw sliding rail I (29) in a sliding pair mode, a horizontal shaft sliding rail fixing plate (34) is installed on the sliding seat I (31) and the sliding seat III (43), a horizontal shaft ball screw sliding rail (32) is fixedly installed on the horizontal shaft sliding rail fixing plate (34), a servo motor II (49) is fixedly connected with a speed reducer (33), and the speed reducer (33) is fixedly connected with the horizontal shaft ball screw sliding rail (32); the sliding base II (38) is connected with the cross shaft ball screw sliding rail (32) in a sliding pair mode, the vertical sliding rail fixing plate (37) is fixedly installed on the sliding base II (38), the vertical shaft ball screw sliding rail (36) is fixedly installed on the vertical sliding rail fixing plate (37), the sliding base IV (46) is connected with the vertical shaft ball screw sliding rail (36) in a sliding pair mode, the mechanical gripper driving rod (44) is connected with the sliding base IV (46), and the middle part of the sliding base is fixedly connected with the screw rod sliding block (133); the servo motor I (47), the servo motor IV (52) and the servo motor III (50) are respectively and fixedly installed on a gear transmission device II (40) at the tail part of a longitudinal shaft ball screw slide rail II (30), a gear transmission device IV (41) at the tail part of a longitudinal shaft ball screw slide rail I (29) and a gear transmission device I (35) at the tail part of a vertical shaft ball screw slide rail (36), the gear transmission device is formed by a gear I (134) and a gear II (135), the servo motor I (47), the servo motor III (50) and the servo motor IV (52) drive and drive the gear I (134) in the corresponding gear transmission device to move, the gear I (134) drives the gear II (135) to move, the gear II (135) drives the ball screw (132) to rotate, the ball screw (132) rotates and drives a screw slide block (133) to move, and further drives the slide seat I (31), the slide seat III (43) and the slide seat III (43), The sliding seat IV (46) moves: the servo motor II (49) rotates to drive the speed reducer (33) to move, and the speed reducer (33) drives the other group of ball screws (132) to move through the coupler so as to drive the screw slide block (133) to drive the slide seat II (38) to move; manipulator claw (45) are connected with manipulator connecting rod (54) of installation on manipulator telescopic link (53), and the concertina movement of manipulator telescopic link (53) drives manipulator connecting rod (54) and moves, drives manipulator claw (45) through manipulator connecting rod (54) and opens and shuts the motion, realizes snatching the work.

6. The automatic sorting device of trash according to claim 3, wherein: the transverse transfer device (6) comprises a toothed belt transmission device (55) and a belt transmission device (56); wherein the toothed belt transmission device (55) provides power through the toothed belt driving device (58) to drive the transverse shifting base plate (57) arranged on the long toothed belt (59) to move, and the belt transmission device (56) arranged on the transverse shifting base plate (57) provides power through the belt driving motor (92) to drive the belt (94) to move.

7. The automatic sorting device of trash according to claim 6, wherein: the toothed belt transmission device (55) comprises a transverse shifting bottom plate (57), a toothed belt driving device (58), a long toothed belt (59), an anti-collision block I (60), a flange type slide rail I (61), a flange type slide rail II (62), a flange type slide block I (63), a flange type slide block II (64), a flange type slide block III (65), a flange type slide block IV (66), an anti-collision block II (67), a toothed belt driven device (68), an anti-collision block III (69), a clamping plate type toothed belt fixing device (70) and an anti-collision block IV (71); the toothed belt driving device (58) is fixedly arranged on a square pipe V (27) on one side of the square pipe frame (1), and the flange type sliding rails I (61) and the flange type sliding rails II (62) are arranged on two square pipes II (23) on the middle upper part of the square pipe frame (1); the anti-collision block I (60) and the anti-collision block II (67) are arranged at two ends of the flange type sliding rail I (61), and the anti-collision block III (69) and the anti-collision block IV (71) are arranged at two ends of the flange type sliding rail II (62); the flange type sliding block I (63) and the flange type sliding block III (65) are connected with the flange type sliding rail I (61) in a sliding pair mode, and the flange type sliding block II (64) and the flange type sliding block IV (66) are also connected with the flange type sliding rail II (62) in a sliding pair mode; the transverse shifting bottom plate (57) is fixedly arranged on a flange type slide block I (63), a flange type slide block II (64), a flange type slide block III (65) and a flange type slide block IV (66); the toothed belt driven device (68) is fixedly arranged on the square pipe V (27) on the other side in the square pipe frame (1), the long toothed belt (59) is connected with the toothed belt driving device (58) and the toothed belt driven device (68) in a meshing mode, and the long toothed belt (59) is fixedly connected with the transverse transfer bottom plate (57) through the clamping plate type toothed belt fixing device (70); the long toothed belt (59) is driven by the toothed belt driving device (58) to move, and the transverse transfer base plate (57) is fixedly connected with the long toothed belt (59), so that the transverse transfer base plate (57) is driven by the long toothed belt (59).

8. The automatic sorting device of trash according to claim 7, wherein: the toothed belt driving device (58) comprises a motor base (72), a toothed belt driving motor (73), a short toothed belt pulley I (74), a short toothed belt (75), a short toothed belt pulley II (76), a bearing seat I (77), a main transmission shaft (78), a long toothed belt pulley I (79), a bearing seat II (80) and a bearing seat support I (81), and the toothed belt driven device (68) comprises a bearing seat III (82), a driven shaft (83), a long toothed belt pulley II (84), a bearing seat support II (85), a bearing seat IV (86), a tensioning plate (87) and a tensioning shaft (88); wherein the motor base (72) is fixedly connected with a square tube V (27) on one side, and the toothed belt driving motor (73) is fixedly arranged on the motor base (72); a short toothed belt pulley I (74) is arranged on a motor shaft of a toothed belt driving motor (73), a bearing seat support I (81) is fixedly connected with a square tube V (27) above a fixed motor base (72), and a bearing seat I (77) and a bearing seat II (80) are respectively and fixedly arranged at two ends of the bearing seat support I (81); a long toothed belt pulley I (79) is arranged in the middle of a main transmission shaft (78), two ends of the main transmission shaft (78) are respectively connected with a bearing seat I (77) and a bearing seat II (80) through bearings, and a short toothed belt pulley II (76) is arranged on the main transmission shaft (78) close to the end of the bearing seat I (77); the short toothed belt pulley I (74) and the short toothed belt pulley II (76) are meshed and connected through a short toothed belt (75); a bearing seat support II (85) is connected with the square tube V (27) on the other side, a bearing seat III (82) and a bearing seat IV (86) are respectively arranged at two ends of the bearing seat support II (85), a long toothed belt pulley II (84) is arranged on a driven shaft (83), two ends of the driven shaft (83) are connected with the bearing seat III (82) and the bearing seat IV (86) through bearings, a tensioning plate (87) is contacted with one sides of the bearing seat III (82) and the bearing seat IV (86) through a tensioning shaft (88), and the tensioning of the long toothed belt (59) is realized by controlling the tensioning shaft (88) to abut against the bearing seat III (82) and the bearing seat IV (86) after the position is adjusted; the long-toothed belt pulley I (79) and the long-toothed belt pulley II (84) which are at the same height are in meshed connection through a long-toothed belt (59).

9. The automatic sorting device of trash according to claim 6, wherein: the belt transmission device (56) comprises a synchronous small toothed belt (89), a synchronous belt wheel I (90), a synchronous belt wheel II (91), a belt driving motor (92), a belt left side supporting plate (93), a belt (94), a belt right side supporting plate (95), a belt driving shaft supporting seat I (96), a belt driving wheel I (97), a belt driving shaft (98), a belt driving wheel II (99), a belt driving shaft supporting seat II (100), a belt driven shaft (101), a belt driven wheel (102), a belt tensioning wheel (103), a belt tensioning wheel fixing shaft (104) and a belt tensioning shaft (105); wherein an L-shaped belt left side supporting plate (93) and an L-shaped belt right side supporting plate (95) are fixedly arranged on the transverse shifting bottom plate (57) to form a U-shaped supporting plate, and the opening end of the U-shaped supporting plate faces to the garbage can (7); a belt driving motor (92) is fixedly arranged on a transverse shifting bottom plate (57) on the left side of a belt left side supporting plate (93), and a synchronous pulley II (91) is arranged on a shaft of the belt driving motor (92); a belt driving shaft supporting seat I (96) is fixedly arranged at one end, close to the baffle, of a belt right side supporting plate (95), and a belt driving shaft supporting seat II (100) which is coaxial with the driving shaft supporting seat I (96) is fixedly arranged on a belt left side supporting plate (93); a belt driving shaft (98) is sequentially provided with a synchronous belt pulley I (90), a bearing, a belt driving wheel II (99), a belt driving wheel I (97) and a bearing from one end to the other end, the two wheels are separated by a long shaft sleeve, and the belt driving shaft (98) is arranged on a belt driving shaft supporting seat I (96) and a belt driving shaft supporting seat II (100) through the bearing; the synchronous belt wheel I (90) and the synchronous belt wheel II (91) are connected through a synchronous small toothed belt (89); one port of the belt driven shaft (101) is provided with a connecting base which is at the same axial height with the belt driving shaft supporting seat I (96), a plurality of belt driven shafts (101) are fixed on the belt left supporting plate (93)/the belt right supporting plate (95), a bearing is arranged on the belt driven shaft I (101), and a belt driven wheel (102) is connected with the bearing and arranged on the belt driven shaft (101); belt tensioning wheel fixed axle (104) fixed mounting is on belt left side backup pad (93)/belt right side backup pad (95) that is equipped with the notch, and belt tensioning wheel (103) are installed on belt tensioning fixed axle I (104) through the bearing, and belt tensioning axle (105) are passed behind belt tensioning fixed axle I (104) and are connected with belt tensioning fixed axle I (104), and belt (94) are installed on belt action wheel I (97), belt action wheel II (99), belt from driving wheel (102), belt tensioning wheel (103).

10. The automatic sorting device of trash according to claim 3, wherein: the garbage can (7) comprises a lower box body (8), a garbage box body upper hopper I (106), a garbage box body upper hopper II (107), a garbage box body upper hopper III (108), a garbage box body upper hopper IV (109), a garbage placing box body I (110), a garbage placing box body II (111), a garbage box body door I (112), a garbage box body door II (113), a garbage box body door III (114), a garbage placing box body III (115), a garbage box body door IV (116) and a garbage placing box body IV (117); the lower box body (8), the covered garbage box body door I (112), the covered garbage box body door II (113), the covered garbage box body door III (114), the covered garbage box body door IV (116) and the surface of the frame main body of the aluminum profile frame (2) are attached to form a garbage box with an upper opening, and the garbage box body door I (112), the garbage box body door II (113), the garbage box body door III (114) and the garbage box body door IV (116) can open and cover the lower box body (8); an opening at the upper part of the garbage can is provided with a garbage can upper hopper I (106), a garbage can upper hopper II (107), a garbage can upper hopper III (108) and a garbage can upper hopper IV (109); a garbage containing box body IV (117), a garbage containing box body III (115), a garbage containing box body II (111) and a garbage containing box body I (110) are correspondingly arranged under the garbage box body upper hopper I (106), the garbage box body upper hopper II (107), the garbage box body upper hopper III (108) and the garbage box body upper hopper IV (109).

Technical Field

The invention relates to a cleaning mechanism and an automatic garbage sorting device constructed by the same, and belongs to the technical field of automatic garbage classification.

Background

The garbage classification refers to a general term of a series of activities for storing, delivering and transporting garbage classified according to a certain rule or standard, thereby converting the garbage into a common resource. The classification aims to improve the utilization rate of resources, improve the resource value and the economic value of garbage and strive for making the best use of things.

In the current living environment, a large amount of garbage is produced every day, and most garbage disposal methods basically put all the garbage together and then transport the garbage to a specified place for classification and other series of disposal; and a large amount of material resources, labor and financial resources are consumed in the process, so if the garbage is classified when entering the garbage can, the efficiency of recovery and classification can be improved to a great extent, and therefore, the research on the automatic garbage sorting device is necessary, and the garbage treatment amount and the use of large-scale treatment equipment can be reduced.

Disclosure of Invention

The invention provides a cleaning mechanism which can be effectively used for pushing articles from one side to the other side for output through the composition and connection of contracts; the utility model provides a rubbish automatic sorting device can snatch in proper order, lateral shifting, place rubbish to dustbin, clean the action.

The technical scheme of the invention is as follows: a cleaning mechanism 5 provides power to drive a V-shaped belt I120 to move through a cleaning driving motor 121, a cleaning sliding component I118 is driven to move along the same direction with the V-shaped belt I120 through the movement of the V-shaped belt I120, a V-shaped belt II 128 which is vertically arranged with the V-shaped belt I120 is driven to move, a cleaning sliding component II 131 is driven to move along the same direction with the V-shaped belt II 128 through the movement of the V-shaped belt II 128, and the cleaning sliding component I118 and the cleaning sliding component II 131 are arranged in parallel.

The cleaning mechanism 5 comprises a cleaning sliding component I118, a V-shaped belt pulley I119, a V-shaped belt I120, a cleaning driving motor 121, a bearing seat mounting frame 122, a V-shaped belt pulley II 123, a V-shaped belt pulley transmission shaft 124, a V-shaped belt pulley bearing seat I125, a V-shaped belt pulley III 126, a V-shaped belt pulley bearing seat II 127, a V-shaped belt pulley II 128, a V-shaped belt pulley supporting frame 129, a V-shaped belt pulley IV 130 and a cleaning sliding component II 131; wherein the cleaning driving motor 121 is installed on the aluminum profile frame 2 through a motor fixing plate; the V-shaped belt wheel I119 is arranged on a shaft of a cleaning driving motor 121; the bearing seat mounting frame 122 is fixed on the aluminum profile frame 2, and the V belt pulley bearing seat I125 and the V belt pulley bearing seat II 127 are arranged at two ends of the bearing seat mounting frame 122; the V-shaped pulley transmission shaft 124 is provided with a V-shaped pulley bearing seat II 127 from one end to the other end through a bearing, a V-shaped pulley III 126 is arranged on the end close to a shaft shoulder, two sides of the V-shaped pulley III 126 are fixed through a shaft sleeve, a V-shaped pulley bearing seat I125 is arranged through a bearing, and a V-shaped pulley II 123 is arranged at the end close to the shaft; the V-shaped belt wheel I119 and the V-shaped belt wheel III 126 which are positioned at the same height are connected through a V-shaped belt I120; the cleaning sliding component I118 is arranged at the lower end of the V-shaped belt I120, is vertical to the garbage loading plate 3 and is parallel to a longitudinal shaft ball screw sliding rail I29 in the manipulator 4; the V-shaped belt wheel supporting frame 129 is fixedly arranged on the aluminum profile frame 2; the V-shaped belt wheel IV 130 is arranged on a V-shaped belt wheel supporting frame 129; the V-shaped belt wheel II 123 is connected with the V-shaped belt wheel IV 130 through a V-shaped belt II 128, and the V-shaped belt II 128 is vertical to the V-shaped belt I120; the cleaning sliding component II 131 is fixedly arranged on the outer side end of the V-shaped belt II 128, and the cleaning sliding component II 131 is perpendicular to the garbage loading plate 3 and is parallel to a longitudinal shaft ball screw slide rail I29 in the mechanical arm 4.

An automatic garbage sorting device comprises a cleaning mechanism 5, a square tube frame 1, an aluminum profile frame 2, a garbage loading plate 3, a manipulator 4, a transverse transfer device 6 and a garbage can 7; wherein square pipe frame 1 is used for installing horizontal moving and carries device 6, aluminum frame 2 is used for installing rubbish loading board 3, manipulator 4, clean mechanism 5, dustbin 7, rubbish loading board 3 is used for placing the rubbish of treating to distribute to dustbin 7, manipulator 4 is used for snatching rubbish on rubbish loading board 3 and is used for placing horizontal moving and carrying device 6 with rubbish after snatching, horizontal moving and carrying device 6 is used for transporting rubbish to dustbin 7 in, clean mechanism 5 and be used for cleaning the rubbish that is not snatched on rubbish loading board 3 and clean rubbish to dustbin 7 in.

The manipulator 4 drives the gear transmission device II 40 through a servo motor I47, drives the gear transmission device IV 41 through a servo motor IV 52 and drives the gear transmission device I35 through a servo motor III 50; the gear transmission device II 40, the gear transmission device IV 41 and the gear transmission device I35 respectively drive the ball screws 132 to rotate, the ball screws 132 rotate to drive the screw slide blocks 133 to move, and further drive the slide seats I31, the slide seats III 43 and the slide seats IV 46 to move, the slide seats I31 and the slide seats III 43 move to drive the manipulator claws 45 to move along the longitudinal axis ball screw slide rails I29 and the longitudinal axis ball screw slide rails II 30, and the slide seats IV 46 move to drive the manipulator claws 45 to move along the vertical axis ball screw slide rails 36; the servo motor II 49 provides power to drive the other group of ball screws 132 to move so as to drive the screw slide block 133 to drive the sliding seat II 38 to move, and the sliding seat II 38 moves to drive the manipulator claw 45 to move along the cross shaft ball screw slide rail 32.

The manipulator 4 comprises a longitudinal axis ball screw slide rail I29, a longitudinal axis ball screw slide rail II 30, a slide seat I31, a transverse axis ball screw slide rail 32, a speed reducer 33, a transverse axis slide rail fixing plate 34, a gear transmission device I35, a vertical axis ball screw slide rail 36, a vertical slide rail fixing plate 37, a slide seat II 38, a drag chain pipe I39, a gear transmission device II 40, a gear transmission device IV 41, a drag chain pipe II 42, a slide seat III 43, a manipulator driving rod 44, a manipulator claw 45, a slide seat IV 46, a servo motor I47, a drag line board I48, a servo motor II 49, a servo motor III 50, a drag line board II 51, a servo motor IV 52, a manipulator telescopic rod 53, a manipulator connecting rod 54, a ball screw 132 and a screw slide block 133; the longitudinal axis ball screw sliding rail I29 and the longitudinal axis ball screw sliding rail II 30 are fixedly arranged on the corresponding aluminum profile VI 18 and the aluminum profile VII 19 in the aluminum profile frame 2, and the power board I48 and the power board II 51 are fixed on the outer sides of the longitudinal axis ball screw sliding rail II 30 and the longitudinal axis ball screw sliding rail I29; the towing line chain pipe I39 and the towing line chain pipe II 42 are fixedly arranged on the corresponding towing line board I48 and the corresponding towing line board II 51; the sliding seat I31 is connected with a vertical shaft ball screw sliding rail II 30 in a sliding pair mode, the sliding seat III 43 is connected with a vertical shaft ball screw sliding rail I29 in a sliding pair mode, a horizontal shaft sliding rail fixing plate 34 is installed on the sliding seat I31 and the sliding seat III 43, a horizontal shaft ball screw sliding rail 32 is fixedly installed on the horizontal shaft sliding rail fixing plate 34, a servo motor II 49 is fixedly connected with a speed reducer 33, and the speed reducer 33 is fixedly connected with the horizontal shaft ball screw sliding rail 32; the sliding seat II 38 is connected with the cross-shaft ball screw sliding rail 32 in a sliding pair mode, the vertical sliding rail fixing plate 37 is fixedly installed on the sliding seat II 38, the vertical-shaft ball screw sliding rail 36 is fixedly installed on the vertical sliding rail fixing plate 37, the sliding seat IV 46 is connected with the vertical-shaft ball screw sliding rail 36 in a sliding pair mode, the mechanical gripper driving rod 44 is connected with the sliding seat IV 46, and the middle part of the sliding seat is fixedly connected with the screw rod sliding block 133; servo motor I47, servo motor IV 52, servo motor III 50 is respectively fixed mounting on gear assembly II 40 of axis of ordinates ball screw slide II 30 afterbody, gear assembly IV 41 of axis of ordinates ball screw slide I29 afterbody, gear assembly I35 of vertical axis ball screw slide 36 afterbody, constitute gear assembly by gear I134 and gear II 135, servo motor I47, servo motor III 50, servo motor IV 52 drive and drive the motion of gear I134 in the corresponding gear assembly, gear I134 drives the motion of gear II 135 again, gear II 135 transmission drives the rotation of ball screw 132, ball screw 132 rotates and drives lead screw slider 133 and move, and then drive slide I31, slide III 43, slide IV 46 and move: the servo motor II 49 rotates to drive the speed reducer 33 to move, and the speed reducer 33 drives the other group of ball screws 132 to move through the coupler so as to drive the screw slide block 133 to drive the slide seat II 38 to move; the manipulator claw 45 is connected with a manipulator connecting rod 54 arranged on a manipulator telescopic rod 53, the manipulator connecting rod 54 is driven to move by the telescopic movement of the manipulator telescopic rod 53, and the manipulator claw 45 is driven to open and close by the manipulator connecting rod 54, so that grabbing work is realized.

The transverse transfer device 6 comprises a toothed belt transmission device 55 and a belt transmission device 56; wherein the toothed belt transmission device 55 is powered by the toothed belt driving device 58 to drive the transverse shifting base plate 57 arranged on the long toothed belt 59 to move, and the belt transmission device 56 arranged on the transverse shifting base plate 57 is powered by the belt driving motor 92 to drive the belt 94 to move.

The toothed belt transmission device 55 comprises a transverse shifting bottom plate 57, a toothed belt driving device 58, a long toothed belt 59, an anti-collision block I60, a flange type slide rail I61, a flange type slide rail II 62, a flange type slide block I63, a flange type slide block II 64, a flange type slide block III 65, a flange type slide block IV 66, an anti-collision block II 67, a toothed belt driven device 68, an anti-collision block III 69, a clamping plate type toothed belt fixing device 70 and an anti-collision block IV 71; the toothed belt driving device 58 is fixedly arranged on a square pipe V27 on one side of the square pipe frame 1, and the flange type sliding rails I61 and II 62 are arranged on two square pipes II 23 on the middle upper part of the square pipe frame 1; the anti-collision block I60 and the anti-collision block II 67 are arranged at two ends of the flange type slide rail I61, and the anti-collision block III 69 and the anti-collision block IV 71 are arranged at two ends of the flange type slide rail II 62; the flange type sliding block I63 and the flange type sliding block III 65 are connected with the flange type sliding rail I61 in a sliding pair mode, and the flange type sliding block II 64 and the flange type sliding block IV 66 are also connected with the flange type sliding rail II 62 in a sliding pair mode; the transverse shifting bottom plate 57 is fixedly arranged on a flange type slide block I63, a flange type slide block II 64, a flange type slide block III 65 and a flange type slide block IV 66; the toothed belt driven device 68 is fixedly arranged on the square pipe V27 on the other side of the square pipe frame 1, the long toothed belt 59 is connected with the toothed belt driving device 58 and the toothed belt driven device 68 in a meshing mode, and the long toothed belt 59 is fixedly connected with the transverse transfer bottom plate 57 through the clamping plate type toothed belt fixing device 70; since the long toothed belt 59 is driven by the toothed belt driving device 58, and the lateral transfer base plate 57 is fixedly connected to the long toothed belt 59, the lateral transfer base plate 57 is driven by the long toothed belt 59.

The toothed belt driving device 58 comprises a motor base 72, a toothed belt driving motor 73, a short toothed belt pulley I74, a short toothed belt 75, a short toothed belt pulley II 76, a bearing seat I77, a main transmission shaft 78, a long toothed belt pulley I79, a bearing seat II 80 and a bearing seat support I81, and the toothed belt driven device 68 comprises a bearing seat III 82, a driven shaft 83, a long toothed belt pulley II 84, a bearing seat support II 85, a bearing seat IV 86, a tensioning plate 87 and a tensioning shaft 88; wherein the motor base 72 is fixedly connected with a square tube V27 on one side, and the toothed belt driving motor 73 is fixedly arranged on the motor base 72; a short toothed belt pulley I74 is arranged on a motor shaft of a toothed belt driving motor 73, a bearing seat support I81 is fixedly connected with a square tube V27 above a fixed motor base 72, and a bearing seat I77 and a bearing seat II 80 are respectively and fixedly arranged at two ends of the bearing seat support I81; a long toothed belt pulley I79 is arranged in the middle of the main transmission shaft 78, two ends of the main transmission shaft 78 are respectively connected with a bearing seat I77 and a bearing seat II 80 through bearings, and a short toothed belt pulley II 76 is arranged on the main transmission shaft 78 close to the end of the bearing seat I77; the short toothed belt pulley I74 and the short toothed belt pulley II 76 are meshed and connected through a short toothed belt 75; a bearing seat support II 85 is connected with the square tube V27 on the other side, a bearing seat III 82 and a bearing seat IV 86 are respectively arranged at two ends of the bearing seat support II 85, a long toothed belt pulley II 84 is arranged on a driven shaft 83, two ends of the driven shaft 83 are connected with the bearing seat III 82 and the bearing seat IV 86 through bearings, a tensioning plate 87 is contacted with one sides of the bearing seat III 82 and the bearing seat IV 86 through a tensioning shaft 88, and the tensioning of the long toothed belt 59 is realized by controlling the tensioning shaft 88 to abut against the bearing seat III 82 and the bearing seat IV 86 after the position is adjusted; the long-toothed belt pulley I79 and the long-toothed belt pulley II 84 which are at the same height are in meshing connection through the long-toothed belt 59.

The belt transmission device 56 comprises a synchronous small toothed belt 89, a synchronous belt wheel I90, a synchronous belt wheel II 91, a belt driving motor 92, a belt left side supporting plate 93, a belt 94, a belt right side supporting plate 95, a belt driving shaft supporting seat I96, a belt driving wheel I97, a belt driving shaft 98, a belt driving wheel II 99, a belt driving shaft supporting seat II 100, a belt driven shaft 101, a belt driven wheel 102, a belt tensioning wheel 103, a belt tensioning wheel fixing shaft 104 and a belt tensioning shaft 105; wherein the L-shaped belt left side supporting plate 93 and the L-shaped belt right side supporting plate 95 are fixedly arranged on the transverse shifting bottom plate 57 to form a U-shaped supporting plate, and the opening end of the U-shaped supporting plate faces the garbage can 7; the belt driving motor 92 is fixedly arranged on the transverse shifting bottom plate 57 on the left side of the belt left side supporting plate 93, and the synchronous pulley II 91 is arranged on the shaft of the belt driving motor 92; a belt driving shaft supporting seat I96 is fixedly arranged at one end, close to the end with the baffle, of the belt right side supporting plate 95, and a belt driving shaft supporting seat II 100 which is coaxial with the driving shaft supporting seat I96 is fixedly arranged on a belt left side supporting plate 93; a belt driving shaft 98 is sequentially provided with a synchronous belt pulley I90, a bearing, a belt driving wheel II 99, a belt driving wheel I97 and a bearing from one end to the other end, the two wheels are separated by a long shaft sleeve, and the belt driving shaft 98 is arranged on a belt driving shaft supporting seat I96 and a belt driving shaft supporting seat II 100 through the bearing; the synchronous belt wheel I90 and the synchronous belt wheel II 91 are connected through a synchronous small toothed belt 89; one port of the belt driven shaft 101 is provided with a connecting base which is at the same axial height as the belt driving shaft supporting seat I96, a plurality of belt driven shafts 101 are fixed on the belt left supporting plate 93/the belt right supporting plate 95, a bearing is arranged on the belt driven shaft I101, and a belt driven wheel 102 is connected with the bearing and arranged on the belt driven shaft 101; belt tensioning wheel fixed axle 104 fixed mounting is on belt left side backup pad 93/belt right side backup pad 95 that is equipped with the notch, and belt tensioning wheel 103 passes through the bearing and installs on belt tensioning fixed axle I104, and belt tensioning axle 105 passes behind belt tensioning fixed axle I104 and is connected with belt tensioning fixed axle I104, and belt 94 is installed on belt drive wheel I97, belt drive wheel II 99, belt from driving wheel 102, belt tensioning wheel 103.

The garbage can 7 comprises a lower box body 8, a garbage box body upper hopper I106, a garbage box body upper hopper II 107, a garbage box body upper hopper III 108, a garbage box body upper hopper IV 109, a garbage placing box body I110, a garbage placing box body II 111, a garbage box body door I112, a garbage box body door II 113, a garbage box body door III 114, a garbage placing box body III 115, a garbage box body door IV 116 and a garbage placing box body IV 117; the lower box body 8, the covered garbage box body door I112, the covered garbage box body door II 113, the covered garbage box body door III 114, the covered garbage box body door IV 116 and the surface of the frame main body of the aluminum profile frame 2 are attached to form a garbage box with an upper opening, and the garbage box body door I112, the garbage box body door II 113, the garbage box body door III 114 and the garbage box body door IV 116 can open and cover the lower box body 8; an opening at the upper part of the garbage can is provided with a garbage can upper hopper I106, a garbage can upper hopper II 107, a garbage can upper hopper III 108 and a garbage can upper hopper IV 109; a garbage placing box body IV 117, a garbage placing box body III 115, a garbage placing box body II 111 and a garbage placing box body I110 are correspondingly arranged under the garbage box body upper hopper I106, the garbage box body upper hopper II 107, the garbage box body upper hopper III 108 and the garbage box body upper hopper IV 109.

The invention has the beneficial effects that: according to the cleaning mechanism, the cleaning sliding component I is designed to be used as a pushing side, the cleaning sliding component II is designed to be used as an opening and closing side, the cleaning mechanism can be used for pushing an article from one side to the other side, in the pushing process, one side is pushed, the other side is opened, or one side is returned, the other side is closed, the pushing side and the opening and closing side in the whole process are ingenious linkage devices, and the cleaning mechanism can be effectively used for pushing the article from one side to the other side for output; further will clean mechanism and rubbish loading board, manipulator, transversely move and carry device, dustbin cooperation again, can snatch in proper order, lateral shifting, place rubbish to dustbin, clean the action, and then realize the letter sorting, effectively improved the efficiency of rubbish recovery, and for the after-treatment rubbish save time and financial resources, whole process has reduced labour's participation.

Drawings

FIG. 1 is a schematic view of the general assembly structure of the present invention;

FIG. 2 is a schematic view of the structure of the present invention with an additional upper case;

FIG. 3 is an elevational view of an industrial camera and robot mounting location of the present invention;

FIG. 4 is a perspective view of the aluminum profile frame of the present invention;

FIG. 5 is an isometric view of a square tube frame of the present invention;

FIG. 6 is a drawing of a connecting shaft of the aluminum profile frame and the square tube frame of the invention;

FIG. 7 is a schematic view of a garbage carrying plate according to the present invention;

FIG. 8 is a perspective view of the ball screw with freedom of movement of the robot 3 according to the present invention;

fig. 9 is an exploded view of the ball screw with freedom of movement of the robot 3 according to the invention;

FIG. 10 is a front view of a ball screw with freedom of movement for the robot 3 of the present invention;

FIG. 11 is an internal structure view of the ball screw slide of the present invention;

FIG. 12 is a schematic view of a robot structure according to the present invention;

FIG. 13 is a perspective view of the transverse transfer assembly of the present invention;

FIG. 14 is an isometric view of a toothed belt drive of the present invention;

FIG. 15 is an enlarged view of a portion of the toothed belt drive shown at A in FIG. 13;

FIG. 16 is an enlarged fragmentary view of the toothed belt follower at B of FIG. 13;

FIG. 17 is an enlarged partial view of the toothed belt follower from another perspective;

FIG. 18 is a perspective view of the belt drive of the present invention;

FIG. 19 is a top plan view of the belt drive of the present invention;

FIG. 20 is a schematic view of the assembled trash can of the present invention;

FIG. 21 is an assembled view of the sweeping structure of the present invention;

FIG. 22 is an enlarged partial isometric view of the sweeping mechanism of FIG. 21 at C;

FIG. 23 is an enlarged view of a portion of FIG. 22;

the reference numbers in the figures are: 1-square tube frame, 2-aluminum profile frame, 3-garbage carrying plate, 4-manipulator, 5-cleaning mechanism, 6-transverse shifting device, 7-garbage can, 8-lower box, 9-upper box, 10-industrial camera, 11-carrying slide rail, 12-carrying plate body, 13-aluminum profile I, 14-aluminum profile II, 15-aluminum profile III, 16-aluminum profile IV, 17-aluminum profile V, 18-aluminum profile VI, 19-aluminum profile VII, 20-aluminum profile VIII, 21-right-angle connecting plate, 22-foot stool, 23-square tube I, 24-square tube II, 25-square tube III, 26-square tube IV, 27-square tube V, 28-linear groove tube, 29-longitudinal axis ball screw slide rail I, 30-longitudinal axis ball screw slide rail II, 31-slide seat I, 32-transverse axis ball screw slide rail, 33-speed reducer, 34-transverse axis slide rail fixing plate, 35-gear transmission device I, 36-vertical axis ball screw slide rail, 37-vertical axis slide rail fixing plate, 38-slide seat II, 39-towline chain pipe I, 40-gear transmission device II, 41-gear transmission device IV, 42-towline chain pipe II, 43-slide seat III, 44-manipulator driving rod, 45-manipulator claw, 46-slide seat IV, 47-servo motor I, 48-towline plate I, 49-servo motor II, 50-servo motor III, 51-towline plate II, 52-servo motor IV, 53-telescopic rod, 54-manipulator connecting rod, 55-toothed belt transmission device, 56-belt transmission device, 57-transverse shifting bottom plate, 58-toothed belt driving device, 59-long toothed belt, 60-collision prevention block I, 61-flange type slide rail I, 62-flange type slide rail II, 63-flange type slide block I, 64-flange type slide block II, 65-flange type slide block III, 66-flange type slide block IV, 67-collision prevention block II, 68-toothed belt driven device, 69-collision prevention block III, 70-clamping plate type toothed belt fixing device, 71-collision prevention block IV, 72-motor base, 73-toothed belt driving motor, 74-short toothed belt pulley I, 75-short toothed belt, 76-short toothed belt pulley II, 77-bearing seat I, 78-main transmission shaft, 79-long toothed belt pulley I, 80-bearing seat II, 81-bearing seat support I, 82-bearing seat III, 83-driven shaft, 84-long toothed belt pulley II, 85-bearing seat support II, 86-bearing seat IV, 87-tensioning plate, 88-tensioning shaft, 89-synchronous small toothed belt, 90-synchronous belt pulley I, 91-synchronous belt pulley II, 92-belt driving motor, 93-belt left side support plate, 94-belt, 95-belt right side support plate, 96-belt driving shaft support I, 97-belt driving shaft I, 98-belt driving shaft, 99-belt driving shaft II, 100-belt driving shaft support II, 101-belt driven shaft, 102-belt driven wheel, 103-belt tensioning wheel, 104-belt tensioning wheel, fixed shaft, 105-belt tensioning shaft, 106-garbage can upper hopper I, 107-garbage can upper hopper II, 108-garbage can upper hopper III, 109-garbage can upper hopper IV, 110-garbage placing box I, 111-garbage placing box II, 112-garbage box door I, 113-garbage box door II, 114-garbage box door III, 115-garbage placing box III, 116-garbage box door IV, 117-garbage placing box IV, 118-sweeping sliding member I, 119-V belt pulley I, 120-V belt pulley I, 121-sweeping driving motor, 122-bearing seat mounting rack, 123-V belt pulley II, 124-V belt pulley transmission shaft, 125-V belt pulley bearing seat I, 126-V belt pulley III, 127-V belt pulley bearing seat II, 128-V belt II, 129-V belt pulley support frame, 130-V belt pulley IV, 131-cleaning sliding component II, 132-ball screw, 133-screw rod slide block, 134-gear I, 135-gear II.

Detailed Description

The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.

Example 1: as shown in fig. 1-23, in an automatic garbage sorting device, a cleaning mechanism 5 provides power to drive a V-shaped belt i 120 to move through a cleaning driving motor 121, the V-shaped belt i 120 drives a cleaning sliding member i 118 to move along with the V-shaped belt i 120 in the same direction, and drives a V-shaped belt ii 128 arranged perpendicular to the V-shaped belt i 120 to move, the V-shaped belt ii 128 drives a cleaning sliding member ii 131 to move along with the V-shaped belt ii 128 in the same direction, and the cleaning sliding member i 118 and the cleaning sliding member ii 131 are arranged in parallel. According to the layout in the figure, when small broken garbage which cannot be grabbed by the manipulator exists, the cleaning driving motor 121 drives the cleaning sliding member I118 to start cleaning the small broken garbage to the small broken garbage placing box body III 115 towards the side direction of the cleaning sliding member II 131, and meanwhile, the cleaning sliding member II 131 ascends; when the cleaning slide block mechanism I118 returns to the initial position, the cleaning slide member II 131 can descend onto the garbage carrying plate 3, so that the garbage on the garbage carrying plate is prevented from falling into the box body.

Further, the cleaning mechanism 5 may be provided with a cleaning sliding member i 118, a V-belt pulley i 119, a V-belt i 120, a cleaning driving motor 121, a bearing seat mounting bracket 122, a V-belt pulley ii 123, a V-belt pulley transmission shaft 124, a V-belt pulley bearing seat i 125, a V-belt pulley iii 126, a V-belt pulley bearing seat ii 127, a V-belt ii 128, a V-belt pulley support bracket 129, a V-belt pulley iv 130, and a cleaning sliding member ii 131; wherein the cleaning driving motor 121 is mounted on the aluminum profile frame 2 (namely on an aluminum profile VIII 20 in the figure) through a motor fixing plate in a bolt and screw connection manner; the V-shaped belt wheel I119 is arranged on a shaft of a cleaning driving motor 121; the bearing seat mounting frame 122 is fixedly connected to the aluminum profile frame 2 (namely, the aluminum profile V17) through bolts, and the V pulley bearing seat I125 and the V pulley bearing seat II 127 are mounted at two ends of the bearing seat mounting frame 122; the V-shaped pulley transmission shaft 124 is provided with a V-shaped pulley bearing seat II 127 from one end to the other end through a bearing, a V-shaped pulley III 126 is arranged on the end close to a shaft shoulder, two sides of the V-shaped pulley III 126 are fixed through a shaft sleeve, a V-shaped pulley bearing seat I125 is arranged through a bearing, and a V-shaped pulley II 123 is arranged at the end close to the shaft; the V-shaped belt wheel I119 and the V-shaped belt wheel III 126 which are positioned at the same height are connected through a V-shaped belt I120; the cleaning sliding component I118 is arranged at the lower end of the V-shaped belt I120 through a screw and is vertical to the garbage loading plate 3 (the cleaning sliding component I118 is fixedly connected with a mounting sleeve fixed at the lower end of the V-shaped belt I120 through a connecting rod through a screw) and is parallel to a longitudinal shaft ball screw slide rail I29 in the mechanical arm 4; the V-shaped belt pulley supporting frame 129 is fixedly arranged on the aluminum profile frame 2 (as shown on an aluminum profile III 15 below an aluminum profile VI 18 in the figure); the V-shaped belt wheel IV 130 is arranged on a V-shaped belt wheel supporting frame 129; the V-shaped belt wheel II 123 is connected with the V-shaped belt wheel IV 130 through a V-shaped belt II 128, and the V-shaped belt II 128 is vertical to the V-shaped belt I120; the cleaning sliding component II 131 is fixedly installed on the outer side end of the V-shaped belt II 128 through a screw (the cleaning sliding component II 131 is fixedly connected with an installation sleeve fixed on the outer side end of the V-shaped belt II 128 through a connecting rod through a screw), and the cleaning sliding component II 131 is perpendicular to the garbage loading plate 3 and is parallel to a longitudinal shaft ball screw slide rail I29 in the mechanical arm 4.

An automatic garbage sorting device comprises a cleaning mechanism 5, a square tube frame 1, an aluminum profile frame 2, a garbage loading plate 3, a manipulator 4, a transverse transfer device 6 and a garbage can 7; wherein square pipe frame 1 is used for installing horizontal moving and carries device 6, aluminum frame 2 is used for installing rubbish loading board 3, manipulator 4, clean mechanism 5, dustbin 7, rubbish loading board 3 is used for placing the rubbish of treating to distribute to dustbin 7, manipulator 4 is used for snatching rubbish on rubbish loading board 3 and is used for placing horizontal moving and carrying device 6 with rubbish after snatching, horizontal moving and carrying device 6 is used for transporting rubbish to dustbin 7 in, clean mechanism 5 and be used for cleaning the rubbish that is not snatched on rubbish loading board 3 and clean rubbish to dustbin 7 in. The structure of the application can be used for being matched with an industrial camera 10, specifically, the industrial camera 10 arranged on an upper box body 9 is used for collecting garbage images entering a garbage bearing plate 3, then image information is transmitted to an industrial personal computer 136, the industrial personal computer identifies the garbage images through an SSD (Single Shot Multi Box Detector) algorithm, the garbage images with different sizes are marked, then the industrial personal computer 136 transmits signals to a mechanical arm 4 for grabbing, the mechanical arm is placed in a transverse moving and carrying device 6 after grabbing, the mechanical arm is conveyed into a corresponding garbage placing box body through the transverse moving and carrying device, and small broken garbage which cannot be grabbed by the mechanical arm is cleaned to a specified garbage placing box body through a cleaning structure 5.

Further, the aluminum profile frame 2 can be arranged to comprise an aluminum profile I13, an aluminum profile II 14, an aluminum profile III 15, an aluminum profile IV 16, an aluminum profile V17, an aluminum profile VI 18, an aluminum profile VII 19, an aluminum profile VIII 20, a right-angle connecting plate 21 and a foot seat 22; the aluminum profile I13, the aluminum profile III 15, the aluminum profile IV 16 and the aluminum profile II 14 are fixed together through a right-angle connecting plate 21 by bolts to form a cuboid frame main body I; the aluminum profiles I13 and IV 16 are aluminum profiles vertical to the ground, the aluminum profiles I13 are shorter than the aluminum profiles IV 16, the aluminum profiles II 14 and III 15 vertical to each other are aluminum profiles parallel to the ground (as shown in the figure, the aluminum profiles II 14 are parallel to the moving direction of the transverse shifting bottom plate 57 in the transverse shifting device 6), one ends of the aluminum profiles I13 and IV 16 extend out of the frame main body I and are connected with the footstands 22 for being placed on the ground, and the other ends of the aluminum profiles IV 16 extend out of the frame main body I for being used for installing other aluminum profiles; the aluminum profile III 15 is connected with the aluminum profile I13 and the aluminum profile II 14/the aluminum profile IV 16 through the right-angle connecting plate 21 through bolts to play a role in fixing and supporting; the aluminum profile V17 and the aluminum profile VIII 20 are respectively connected with two aluminum profiles IV 16 through welding and are used as mounting positions of the sweeper mechanism 5; the aluminum profile VI 18 and the aluminum profile VII 19 which are parallel to each other are aluminum profiles parallel to the aluminum profile III 15, one ends of the aluminum profiles VI 18 and the aluminum profile VII 19 extend out of the frame main body I, and the aluminum profiles VI 18 and the aluminum profile VII 19 are fixedly arranged above the aluminum profile IV 16 through a right-angle connecting plate 21 and used for fixing the manipulator 4.

Further, the square tube frame 1 may be configured to include a foot seat 22, a square tube i 23, a square tube ii 24, a square tube iii 25, a square tube iv 26, and a square tube v 27; wherein, square pipe I23, square pipe II 24, square pipe III 25 forms cuboid frame main part II through the welding, square pipe II 24 is perpendicular with ground, square pipe I23, square pipe III 25 is parallel with ground, square pipe I23 and horizontal transfer bottom plate 57 direction of motion parallel arrangement in the device 6 that moves of horizontal transfer, between two upper portion square pipes I23, connect through welding and square pipe III 25 between two lower part square pipes I23, four square pipe V27 parallel with square pipe III 25 are arranged to four square pipe I23 one sides, three square pipe V27 parallel with square pipe III 25 are arranged to the opposite side, square pipe II 24, square pipe I23 all with square pipe V27 welded connection, the horizontal both sides of frame main part II are respectively through short square pipe support welded square pipe IV 26 that is perpendicular arrangement, horizontal side installation is the convenient management connecting wire of the slotted pipe 28 of L type, horizontal opposite side and aluminium alloy frame 2 in being close to aluminium alloy VI 18, The aluminum profile IV 16 at the extending end of the aluminum profile VII 19 is fixedly connected through bolts, and the square tube II 24 and the square tube IV 26 extend out of the frame main body II and are connected with the foot seat 22 through bolts and are arranged on the ground.

Further, the garbage loading plate 3 may be provided with a loading plate body 12, and the loading plate body 12 is installed on the top opening of the lower box 8 of the garbage can. Still further, can still include and bear slide rail 11, bear slide rail 11 and install box 8 under the dustbin through the screwed connection, the spout of the loading board plate body 12 is installed on bearing slide rail 11, is used for placing the rubbish that the outside was carried into, and then cooperates with external mechanism, hoist mechanism's suitability.

Further, the manipulator 4 can be provided with a gear transmission II 40 driven by a servo motor I47, a gear transmission IV 41 driven by a servo motor IV 52 and a gear transmission I35 driven by a servo motor III 50; the gear transmission device II 40, the gear transmission device IV 41 and the gear transmission device I35 respectively drive the ball screws 132 to rotate, the ball screws 132 rotate to drive the screw slide blocks 133 to move, and further drive the slide seats I31, the slide seats III 43 and the slide seats IV 46 to move, the slide seats I31 and the slide seats III 43 move to drive the manipulator claws 45 to move along the longitudinal axis ball screw slide rails I29 and the longitudinal axis ball screw slide rails II 30, and the slide seats IV 46 move to drive the manipulator claws 45 to move along the vertical axis ball screw slide rails 36; the servo motor II 49 provides power to drive the other group of ball screws 132 to move so as to drive the screw slide block 133 to drive the sliding seat II 38 to move, and the sliding seat II 38 moves to drive the manipulator claw 45 to move along the cross shaft ball screw slide rail 32. The longitudinal axis ball screw sliding rail II 30 and the vertical axis ball screw sliding rail 36 are matched with a gear transmission device through the arrangement of a motor, so that the length can be reduced, and meanwhile, the stability can be prevented from being influenced by the fact that one end of the vertical axis ball screw sliding rail is stressed too much; the mode of matching the speed reducer on the cross shaft ball screw slide rail 32 can reduce the installation steps and is simple to install; the motion of manipulator can be realized more high-efficiently to the different power device of the different direction collocation of whole mechanism.

Further, the manipulator 4 can be arranged to include a longitudinal axis ball screw slide rail i 29, a longitudinal axis ball screw slide rail ii 30, a slide carriage i 31, a transverse axis ball screw slide rail 32, a speed reducer 33, a transverse axis slide rail fixing plate 34, a gear transmission device i 35, a vertical axis ball screw slide rail 36, a vertical slide rail fixing plate 37, a slide carriage ii 38, a drag line chain pipe i 39, a gear transmission device ii 40, a gear transmission device iv 41, a drag line chain pipe ii 42, a slide carriage iii 43, a manipulator driving rod 44, a manipulator claw 45, a slide carriage iv 46, a servo motor i 47, a drag line plate i 48, a servo motor ii 49, a servo motor iii 50, a drag line plate ii 51, a servo motor iv 52, a manipulator telescopic rod 53, a manipulator connecting rod 54, a ball screw 132 and a screw slider 133; the longitudinal axis ball screw sliding rail I29 and the longitudinal axis ball screw sliding rail II 30 are fixedly installed on corresponding aluminum profiles VI 18 and VII 19 in the aluminum profile frame 2 through T-shaped bolts (for example, the longitudinal axis ball screw sliding rail I29 is installed on the aluminum profile VI 18, the longitudinal axis ball screw sliding rail II 30 is installed on the aluminum profile VII 19 in the figure), the power board I48 and the power board II 51 are fixedly connected to the outer sides of the longitudinal axis ball screw sliding rail II 30 and the longitudinal axis ball screw sliding rail I29 through bolts, the bottom of the power board is parallel to the bottom of the longitudinal axis ball screw sliding rail, and the power board is mainly used for supporting a power line chain pipe; the towing line chain pipe I39 and the towing line chain pipe II 42 are fixedly mounted on the corresponding towing line board I48 and the corresponding towing line board II 51 through bolts, and the towing line chain pipe is mainly used for loading transmission lines and electric wires; the sliding seat I31 is connected with a longitudinal shaft ball screw sliding rail II 30 in a sliding pair mode, the sliding seat III 43 is connected with a longitudinal shaft ball screw sliding rail I29 in a sliding pair mode, a transverse shaft sliding rail fixing plate 34 is installed on the sliding seat I31 and the sliding seat III 43, a transverse shaft ball screw sliding rail 32 is fixedly installed on the transverse shaft sliding rail fixing plate 34, a servo motor II 49 is fixedly connected with a speed reducer 33 through screws, and the speed reducer 33 is fixedly connected with the transverse shaft ball screw sliding rail 32 through bolts; the sliding base II 38 is connected with the cross-shaft ball screw sliding rail 32 in a sliding pair mode, the vertical sliding rail fixing plate 37 is fixedly installed on the sliding base II 38, the vertical-shaft ball screw sliding rail 36 is fixedly installed on the vertical sliding rail fixing plate 37, the sliding base IV 46 is connected with the vertical-shaft ball screw sliding rail 36 in a sliding pair mode, the mechanical gripper driving rod 44 is connected with the sliding base IV 46 through a bolt, the corresponding sliding base is connected with the ball screw sliding rail, and the middle part of the sliding base is fixedly connected with the screw sliding block 133 through a screw (the sliding base is connected with the corresponding sliding rail respectively); the servo motor I47, the servo motor IV 52 and the servo motor III 50 are respectively and fixedly arranged on a gear transmission device II 40 at the tail part of the longitudinal axis ball screw slide rail II 30, a gear transmission device IV 41 at the tail part of the longitudinal axis ball screw slide rail I29 and a gear transmission device I35 at the tail part of the vertical axis ball screw slide rail 36, constitute gear transmission by gear I134 and gear II 135 (gear transmission includes gear transmission II 40, gear transmission IV 41, gear transmission I35), servo motor I47, servo motor III 50, the drive of servo motor IV 52 drives the motion of gear I134 in the corresponding gear transmission, gear I134 is the motion of gear II 135 of driving again, the transmission of gear II 135 drives ball 132 and rotates, ball 132 rotates the removal of drive screw slider 133, and then drive slide I31, slide III 43, the motion of slide IV 46: the servo motor II 49 rotates to drive the speed reducer 33 to move, the speed reducer 33 drives the other group of ball screws 132 to move through the coupler so as to drive the screw slide blocks 133 to drive the slide bases II 38 to move, and the structure diagram of the screws in the transverse-axis ball screw slide rail 32 is the same as that of the longitudinal-axis ball screw slide rail; the manipulator claw 45 is connected with a manipulator connecting rod 54 arranged on a manipulator telescopic rod 53, the manipulator connecting rod 54 is driven to move by the telescopic movement of the manipulator telescopic rod 53, and the manipulator claw 45 is driven to open and close by the manipulator connecting rod 54, so that grabbing work is realized. The mechanical arm moves in 3 directions through the movement of the sliding seat I31, the sliding seat III 43, the sliding seat IV 46 and the movement of the sliding seat II 38, the degree-of-freedom movement of the mechanical arm 3 is realized, and then a mechanical arm telescopic rod 53 is driven to move by a small electric motor/hydraulic cylinder/pneumatic cylinder arranged in a mechanical arm driving rod 44.

Further, the lateral transfer device 6 may be provided to include a toothed belt transmission device 55 and a belt transmission device 56; wherein the toothed belt transmission device 55 is powered by the toothed belt driving device 58 to drive the transverse shifting base plate 57 arranged on the long toothed belt 59 to move, and the belt transmission device 56 arranged on the transverse shifting base plate 57 is powered by the belt driving motor 92 to drive the belt 94 to move.

Further, the toothed belt transmission device 55 can be arranged to comprise a transverse shifting bottom plate 57, a toothed belt driving device 58, a long toothed belt 59, an anti-collision block I60, a flange type slide rail I61, a flange type slide rail II 62, a flange type slide block I63, a flange type slide block II 64, a flange type slide block III 65, a flange type slide block IV 66, an anti-collision block II 67, a toothed belt driven device 68, an anti-collision block III 69, a clamping plate type toothed belt fixing device 70 and an anti-collision block IV 71; the toothed belt driving device 58 is fixedly installed on a square tube V27 on one side of the square tube frame 1 in a bolt mode (namely two square tubes V27 on the upper portion of the four square tubes V27 arranged on one side of the four square tubes I23 are used for installing the toothed belt driving device 58), and a flange type sliding rail I61 and a flange type sliding rail II 62 are installed on two square tubes II 23 on the middle upper portion of the square tube frame 1 through countersunk hexagonal bolts; the anti-collision block I60 and the anti-collision block II 67 are arranged at two ends of the flange type slide rail I61 through bolts, and the anti-collision block III 69 and the anti-collision block IV 71 are arranged at two ends of the flange type slide rail II 62 through bolts; the flange type sliding block I63 and the flange type sliding block III 65 are connected with the flange type sliding rail I61 in a sliding pair mode, and the flange type sliding block II 64 and the flange type sliding block IV 66 are also connected with the flange type sliding rail II 62 in a sliding pair mode; the transverse shifting bottom plate 57 is fixedly arranged on a flange type slide block I63, a flange type slide block II 64, a flange type slide block III 65 and a flange type slide block IV 66 through bolts; the toothed belt driven device 68 is fixedly installed on the square pipe V27 on the other side in the square pipe frame 1 through bolt connection, the long toothed belt 59 is connected with the toothed belt driving device 58 and the toothed belt driven device 68 through a meshing mode, and the long toothed belt 59 is fixedly connected with the transverse transfer bottom plate 57 through a clamping plate type toothed belt fixing device 70; the long toothed belt 59 is driven by the toothed belt driving device 58 to move, and the transverse transfer bottom plate 57 is fixedly connected with the long toothed belt 59, so that the transverse transfer bottom plate 57 is driven by the long toothed belt 59 to transversely move on the flange type slide rails by 4 flange type slide blocks, and the garbage can reaches the positions of the corresponding openings of different garbage can bodies.

Further, the toothed belt driving device 58 can be arranged to include a motor base 72, a toothed belt driving motor 73, a short toothed belt pulley i 74, a short toothed belt 75, a short toothed belt pulley ii 76, a bearing seat i 77, a main transmission shaft 78, a long toothed belt pulley i 79, a bearing seat ii 80, and a bearing seat support i 81, and the toothed belt driven device 68 includes a bearing seat iii 82, a driven shaft 83, a long toothed belt pulley ii 84, a bearing seat support ii 85, a bearing seat iv 86, a tensioning plate 87, and a tensioning shaft 88; the motor base 72 is fixedly connected with a square tube V27 on one side through a bolt, and the toothed belt driving motor 73 is fixedly arranged on the motor base 72 through a bolt; a short toothed belt pulley I74 is arranged on a motor shaft of a toothed belt driving motor 73, a bearing seat support I81 is fixedly connected with a square tube V27 above a fixed motor base 72 through a bolt, and a bearing seat I77 and a bearing seat II 80 are respectively and fixedly arranged at two ends of the bearing seat support I81; a long toothed belt pulley I79 is arranged in the middle of the main transmission shaft 78, two ends of the main transmission shaft 78 are respectively connected with a bearing seat I77 and a bearing seat II 80 through bearings, and a short toothed belt pulley II 76 is arranged on the main transmission shaft 78 close to the end of the bearing seat I77; the short toothed belt pulley I74 and the short toothed belt pulley II 76 are meshed and connected through a short toothed belt 75; a bearing seat support II 85 is connected with the square tube V27 on the other side through a bolt, a bearing seat III 82 and a bearing seat IV 86 are respectively installed at two ends of the bearing seat support II 85 through bolts, a long toothed belt pulley II 84 is installed on a driven shaft 83, two ends of the driven shaft 83 are connected with the bearing seat III 82 and the bearing seat IV 86 through bearings, a tensioning plate 87 is in contact with one sides of the bearing seat III 82 and the bearing seat IV 86 through a tensioning shaft 88, and the tensioning of the long toothed belt 59 is realized by controlling the tensioning shaft 88 to abut against the bearing seat III 82 and the bearing seat IV 86 after the position is adjusted; the long-toothed belt pulley I79 and the long-toothed belt pulley II 84 which are at the same height are in meshing connection through the long-toothed belt 59. The bearing seat support II 85 is provided with a sliding groove, the position adjustment of the bearing seats III 82 and IV 86 is realized by moving the bearing seats III 82 and IV 86 and fixing the bearing seats by bolts, and the long toothed belt 59 can be better installed by controlling the tensioning shaft 88. The toothed belt driving device 58 drives the short toothed belt wheel I74 and the short toothed belt wheel II 76 through the toothed belt driving motor 73, drives the long toothed belt wheel I79 through the short toothed belt wheel II 76, and further drives the long toothed belt 59 through the long toothed belt wheel I79 for transmission, so that the transverse movement of the transverse transfer bottom plate 57 is realized.

Further, the belt transmission device 56 may be provided with a synchronous small toothed belt 89, a synchronous pulley i 90, a synchronous pulley ii 91, a belt driving motor 92, a belt left side supporting plate 93, a belt 94, a belt right side supporting plate 95, a belt driving shaft supporting seat i 96, a belt driving shaft i 97, a belt driving shaft 98, a belt driving shaft ii 99, a belt driving shaft supporting seat ii 100, a belt driven shaft 101, a belt driven wheel 102, a belt tensioning wheel 103, a belt tensioning wheel fixing shaft 104, and a belt tensioning shaft 105; wherein the L-shaped belt left side supporting plate 93 and the L-shaped belt right side supporting plate 95 are fixedly arranged on the transverse shifting bottom plate 57 through bolts and nuts to form a U-shaped supporting plate, and the opening end of the U-shaped supporting plate faces the dustbin 7; the belt driving motor 92 is fixedly arranged on the transverse shifting bottom plate 57 on the left side of the belt left side supporting plate 93, and the synchronous pulley II 91 is arranged on the shaft of the belt driving motor 92; a belt driving shaft supporting seat I96 is fixedly arranged at one end, close to the end with the baffle, of the belt right side supporting plate 95, and a belt driving shaft supporting seat II 100 which is coaxial with the driving shaft supporting seat I96 is fixedly arranged on a belt left side supporting plate 93; a belt driving shaft 98 is sequentially provided with a synchronous belt pulley I90, a bearing, a belt driving wheel II 99, a belt driving wheel I97 and a bearing from one end to the other end, the two wheels are separated by a long shaft sleeve, and the belt driving shaft 98 is arranged on a belt driving shaft supporting seat I96 and a belt driving shaft supporting seat II 100 through the bearing; the synchronous belt wheel I90 and the synchronous belt wheel II 91 are connected through a synchronous small toothed belt 89; one port of the belt driven shaft 101 is provided with a connecting base which is at the same axial height as the belt driving shaft supporting seat I96, the plurality of belt driven shafts 101 are fixed on the belt left supporting plate 93/the belt right supporting plate 95 through the connecting base by bolts and nuts, a bearing is arranged on the belt driven shaft I101, and the belt driven shaft 102 is connected with the bearing and arranged on the belt driven shaft 101; 3 pairs of driven shafts and driven wheels are mounted on the belt left side support plate 93 and the belt right side support plate 95 in the same manner; belt tensioning wheel fixed axle 104 fixed mounting is on belt left side backup pad 93/belt right side backup pad 95 that is equipped with the notch, and belt tensioning wheel 103 passes through the bearing and installs on belt tensioning fixed axle I104, and belt tensioning axle 105 passes behind belt tensioning fixed axle I104 and is connected with belt tensioning fixed axle I104, and belt 94 is installed on belt drive wheel I97, belt drive wheel II 99, belt from driving wheel 102, belt tensioning wheel 103. The belt tensioning degree can be adjusted by loosening the bolt on the belt tensioning shaft 105, moving the belt tensioning wheel 103 and then screwing the bolt; a belt driving motor 92 drives a synchronous pulley II 91 and a synchronous pulley I90, a belt driving wheel I97 and a belt driving wheel II 99 rotate through transmission of a belt driving shaft 98, a belt 94 is installed on each belt driven wheel 102 and each belt tensioning wheel 103, and therefore movement of the belt 94 is achieved.

Further, the garbage can 7 can be arranged to comprise a lower box body 8, a garbage box body upper hopper I106, a garbage box body upper hopper II 107, a garbage box body upper hopper III 108, a garbage box body upper hopper IV 109, a garbage placing box body I110, a garbage placing box body II 111, a garbage box body door I112, a garbage box body door II 113, a garbage box body door III 114, a garbage placing box body III 115, a garbage box body door IV 116 and a garbage placing box body IV 117; wherein the lower box body 8, a covered garbage box body door I112, a covered garbage box body door II 113 and a covered garbage box body door III 114, the covered garbage bin door IV 116 is attached to the surface of the frame main body of the aluminum profile frame 2 to form a garbage bin with an upper opening (namely, the covered garbage bin door IV 116 is attached to the surface of a cuboid frame main body I formed by an aluminum profile I13, an aluminum profile III 15, an aluminum profile IV 16 and an aluminum profile II 14), the garbage bin door I112, the garbage bin door II 113, the garbage bin door III 114 and the garbage bin door IV 116 can open and cover the lower bin 8 (the garbage bin door I112, the garbage bin door II 113, the garbage bin door III 114 and the garbage bin door IV 116 are arranged on the lower bin 8 which is opposite to the larger garbage bin I110, the middle garbage bin II 111, the small garbage bin III 115 and the small garbage bin IV 117 through movable hinges); an opening at the upper part of the dustbin is provided with a dustbin body upper hopper I106, a dustbin body upper hopper II 107, a dustbin body upper hopper III 108 and a dustbin body upper hopper IV 109 (as shown in the figure, the dustbin body upper hopper I106 and the dustbin body upper hopper II 107 are sequentially arranged on the lower box body 8 and are close to a through opening at the end of an aluminum profile VI 18, and the dustbin body upper hopper III 108 and the dustbin body upper hopper IV 109 are sequentially arranged on the lower box body 8 and are close to a through opening at the end of an aluminum profile VII 19); a garbage can IV 117, a garbage can III 115, a garbage can II 111, and a garbage can I110 are correspondingly arranged under the garbage can upper hopper I106, the garbage can upper hopper II 107, the garbage can upper hopper III 108, and the garbage can upper hopper IV 109 (for example, the garbage can I110 is used as a larger garbage can, the garbage can II 111 is used as a middle-level garbage can, and is respectively arranged under the garbage can upper hopper III 108 and the garbage can upper hopper IV 109, and the lower bottom surface of the garbage can is attached to the inner bottom of the lower can 8, the garbage can III 115 is used as a small garbage can, the garbage can IV 117 is used as a small garbage can, and is respectively arranged under the garbage can upper hopper I106, the garbage can upper hopper II 107, and the lower bottom surface of the garbage can is attached to the inner bottom of the lower can 8, or the garbage can IV 117, The garbage placing box body III 115, the garbage placing box body II 111 and the garbage placing box body I110 can also be used as garbage placing box bodies of different categories).

The manipulator 4 of the invention grabs the garbage identified by the camera, places the garbage in the transverse shifting device 6, and then conveys the garbage to the specified larger garbage placing box I110, middle garbage placing box II 111, small garbage placing box III 115 and small garbage placing box IV 117, after the garbage is full, the door of the garbage can be opened, and the garbage can be transported away.

The working principle of the invention is as follows: after the automatic garbage sorting device is identified, the automatic garbage sorting device can sequentially perform actions of grabbing, transversely moving, placing garbage into a garbage can and cleaning. When the device is started, the industrial camera 10 starts to enter a working state, starts to shoot the garbage on the garbage bearing plate 3, transmits Shot image information to the industrial personal computer 136, and performs garbage recognition through a recognition algorithm by the industrial personal computer, for example, the industrial personal computer recognizes the garbage with different sizes by using a SSD (Single Shot Multi Box Detector algorithm), or recognizes different types of garbage by using a neural network learning algorithm, and then transmits a signal to the manipulator 4 to capture the garbage by the industrial personal computer 136.

The mechanical arm grabbing principle is as follows: firstly, a gear I134 is driven by a servo motor I47 on a longitudinal shaft ball screw slide rail, the gear I134 drives a gear II 135 to move, then the gear II 135 drives a ball screw 132 to rotate, the ball screw 132 drives a screw slide block 133 to move, and then the screw slide block 133 drives a slide seat I31 and a slide seat III 43 to move longitudinally, so that the longitudinal movement of a transverse shaft ball screw slide rail 32 is realized; similarly, the motor 32 of the cross-shaft ball screw slide rail 32 drives the ball screw 132 to move, then drives the screw slider 133 to move, and then drives the sliding seat II 38 on the cross-shaft ball screw slider 133 to move transversely, so that the vertical ball screw slide rail 36 mounted on the sliding seat II 38 moves; the working principle of the vertical ball screw slide rail is consistent with that of the longitudinal shaft ball screw slide rail, namely, the manipulator moves in the direction of 3 degrees of freedom, and when the manipulator reaches the position above the identified garbage, the manipulator is driven by the motor of the vertical shaft ball screw slide rail 36 to be close to the garbage. Finally, the driving device in the manipulator driving rod 44 drives the manipulator telescopic rod 53 to drive the connecting rod 54 to realize the clamping of the manipulator so as to grab the garbage, the manipulator moves to the upper part of the transverse shifting device 6 through the ball screw slide rail after grabbing, then the manipulator is placed on the belt 94 in the transverse shifting device 6, and then the transverse shifting device 6 starts to work.

The operation principle of the transverse transfer device 6 is as follows: firstly, a toothed belt driving motor 73 drives a short toothed belt pulley I74 to transmit driving force to a long toothed belt pulley I79 through a short toothed belt 75, and then drives a main driving shaft 78 and a driven shaft 83 to enable a synchronous long toothed belt 59 to move; the transverse shifting bottom plate 57 is fixedly connected with the long toothed belt 59 through a clamping plate type fixing device 70, and the periphery of the shifting bottom plate is connected with a flange type slide block I63, a flange type slide block II 64, a flange type slide block III 65 and a flange type slide block IV 66; when the long toothed belt 59 moves, the transverse shifting bottom plate 57 also moves on the flange-type guide rail, and the belt transmission device 56 fixed on the transverse shifting bottom plate also moves together, namely, the belt can reach the front of the funnel opening of each appointed garbage can body; stopping when moved to the designated bin for dumping, at which time the belt drive 56 begins to operate.

Belt drive 56 principle: when the transverse transfer device 6 moves to the front of the appointed garbage placing box body, the belt driving motor 92 is started, driving force is transmitted to the belt driving shaft 98 through synchronous toothed belt transmission, and a belt driving wheel I97 and a belt driving wheel II 99 driven by the driving shaft 98 rotate; and all the belts arranged on the belt supporting plate move due to the friction of the belts on the driven wheel and the belt tensioning wheel, so that the mechanical arm can grab the garbage placed on the belts and convey the garbage to a specified garbage placing box. According to the set garbage placing box I110, the set garbage placing box II 111 and the set garbage placing box IV 117, after the camera is identified, the mechanical arm grabs the garbage and places the garbage into the transverse shifting device, and then the garbage is conveyed into the 3 garbage placing boxes with the specified size/type; and the garbage placing box body III 115 is used for placing unidentified garbage cleaned by the cleaning mechanism.

The working principle of the cleaning mechanism 5 is as follows: when the manipulator can not grab the small broken garbage/unidentified garbage, the cleaning driving and cleaning driving servo motor 121 is started at the moment, the V-shaped belt pulley I119 is driven to move anticlockwise, namely, the V-shaped belt at the lower end close to the garbage bearing plate moves towards the small broken garbage containing box III 115, and the cleaning sliding component I118 arranged on the V-shaped belt I is driven to move. Meanwhile, the V-shaped belt I119 drives a belt pulley III 126 fixedly arranged on a V-shaped belt pulley transmission shaft 124 to move through friction, and the transmission shaft moves along with the V-shaped belt pulley III 126 because the V-shaped belt pulley transmission shaft 124 is arranged on two belt pulley bearing seats; the V-shaped belt wheel II 123 is arranged at the tail end of the V-shaped transmission shaft 124, so that the V-shaped belt wheel II 123 is driven to move, the V-shaped belt II 128 arranged on the V-shaped belt wheel II 123 and the V-shaped belt wheel IV 130 starts to move, the V-shaped belt end close to the small garbage containing box body III 115 moves upwards, and meanwhile, the cleaning sliding component II 131 arranged at the right end of the V-shaped belt II is driven to move upwards; that is, when the cleaning sliding member I118 moves towards the direction of the small garbage containing box III 115, the cleaning sliding member II 131 moves upwards due to the transmission of the V-shaped belt wheel, namely, the small garbage is cleaned into the small garbage containing box III 115, and no garbage remains on the garbage bearing plate 3. When the cleaning sliding member I118 returns to the initial position after cleaning is finished, the cleaning sliding member II 131 moves downwards; both the cleaning slide member i and the cleaning slide member ii return to the original positions at the same time. At this point, the garbage sorting is completed.

While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.