CN103922059A - Automatic grabbing, lifting and pouring combined mechanism for garbage can - Google Patents
Automatic grabbing, lifting and pouring combined mechanism for garbage can Download PDFInfo
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- CN103922059A CN103922059A CN201410173582.3A CN201410173582A CN103922059A CN 103922059 A CN103922059 A CN 103922059A CN 201410173582 A CN201410173582 A CN 201410173582A CN 103922059 A CN103922059 A CN 103922059A
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- sewage disposer
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- 239000010865 sewage Substances 0.000 claims description 86
- 230000000694 effects Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 9
- 210000001503 Joints Anatomy 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229920000591 gum Polymers 0.000 description 2
- 230000002493 climbing Effects 0.000 description 1
- 230000002153 concerted Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000001105 regulatory Effects 0.000 description 1
- 230000002441 reversible Effects 0.000 description 1
Abstract
The invention discloses an automatic grabbing, lifting and pouring combined mechanism for a garbage can. The automatic grabbing, lifting and pouring combined mechanism comprises grabbing mechanical arms, a small-section lifting mechanism, a two-freedom-degree horizontal moving mechanism and a lifting and pouring mechanism. The grabbing mechanical arms are connected with the small-section lifting mechanism so that the grabbing mechanical arms can be driven to automatically adjust the positions in the vertical direction. The small-section lifting mechanism is connected with the two-freedom-degree horizontal moving mechanism which is in butt joint with the lifting and pouring mechanism. The lifting and pouring mechanism receives the garbage can from the grabbing mechanical arms to complete pouring operation. Through action cooperation between the small-section lifting mechanism and the two-freedom-degree horizontal moving mechanism, difference of horizontal positions, longitudinal positions and vertical positions between the grabbing mechanical arms and the garbage can due to randomness of parking positions is made up. The automatic grabbing, lifting and pouring combined mechanism has the advantages of being multiple in freedom degree, automatic in the overall process, high in environment adaptability, high in reliability and work efficiency, good in environment friendliness, and the like.
Description
Technical field
The present invention is mainly concerned with environmental sanitation mechanized equipment field, refers in particular to a kind of automatic capturing that is applicable to sewage disposer, lifts and topple over joint institution, by capturing, lift, overturn sewage disposer, realizes automation and dumps rubbish to garbage truck carriage.
Background technology
Collecting sewage disposer rubbish is the basic link of municipal refuse collection process.At present, two kinds of collection modes of ubiquity, (1) takes out the inner core of sewage disposer by staff, with manpower transport and dump rubbish into small-sized rubbish car (majority is to pull tip lorry) compartment; (2) sewage disposer of two tugboats is housed for bottom, after sanitationman need to get off, with staff, drags sewage disposer to waste-skip limit, hang up hook, then operate lifting mechanism, the rubbish compartment of dumping rubbish; Tow back to sewage disposer placement original position afterwards, then with staff.Yet, along with city rapidly expansion and city environmental quality require more and more highlyer, the limitation of labour-intensive mode of operation that this class relies on manpower is excessively more and more outstanding, develops and has the intellectualized technology of high operating efficiency and the equipment trend that is inevitable.
There is practitioner to propose to capture by mechanical hand the technology of sewage disposer, its sewage disposer grabbing device is mainly to adopt longitudinally to arrange hydraulic actuating cylinder, by connecting rod and then drive whole finger to rotate around finger S. A., although can save like this hydraulic actuating cylinder, but owing to having added a set of connecting rod mechanism, therefore longitudinal physical dimension of sleeve mechanism increases, this has proposed challenge to waste-skip vehicle chassis narrow space, and between connecting rod, the transmission of power easily causes mechanism blockage, the frequency that adds sewage disposer gripping action, mechanism reliability is lower.On the other hand, the clamping finger that existing mechanism adopts does not all add auxiliary device, and the simple rigidity finger that utilizes clamps sewage disposer, causes in the most situation of sewage disposer flatly by folder, even also occurs the phenomenon of sewage disposer landing.Simultaneously, sewage disposer lifting device in aforesaid way adopts connecting rod mechanism mostly, be additional other auxiliary mechanisies of four-bar mechanism or parallelogram lindage, although this mechanism can complete lifting action, but space geometry size is large, in sewage disposer uphill process, occur that bumpy motion, positioning precision are poor, add that long, the full load garbage bucket quality of connecting rod is large, in lifting process, end load causes moment of flexure very large, causes rod hinge connection place stressed excessive, easily destroys, but also producing larger force of inertia, this operation of action to sleeve mechanism is all disadvantageous.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical matters existing for prior art, the invention provides a kind of multivariant, full process automatization, compatible with environment is strong, reliability is high, operating efficiency is high, have better environment friendly the automatic capturing for sewage disposer, lift and topple over joint institution.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of automatic capturing for sewage disposer, lift and topple over joint institution, comprise catching robot, segment lift system, two degrees of freedom horizontal mobile mechanism and lift tipping mechanism, described catching robot and segment lift system are connected with catching robot, to carry out the automated location adjustment on vertical direction, described segment lift system connects two degrees of freedom horizontal mobile mechanism, described two degrees of freedom horizontal mobile mechanism docking lifts tipping mechanism, the described tipping mechanism that lifts is taken over sewage disposer from catching robot and is toppled over operation to complete, the randomness that coordination by described segment lift system and two degrees of freedom horizontal mobile mechanism makes up stop position cause between catching robot and sewage disposer laterally, longitudinally, vertical position poor.
As a further improvement on the present invention: described catching robot comprises catching robot pedestal, finger and the finger actuation hydraulic actuating cylinder being fixed on segment lift system, described finger actuation hydraulic actuating cylinder is lateral arrangement, one end is hinged by the finger pedestal of pin or axle and finger, the other end is hinged with the affixed bar of root of the upper finger tips of finger, and the elongation of described finger actuation hydraulic actuating cylinder drives the thorny finger S. A. of pivoting finger to rotate clamping and the release of sewage disposer with contraction.
As a further improvement on the present invention: described finger tips place is provided with the partly finger that a set of elastomeric material is made, described partly finger, can be around partly referring to S. A. rotation, and the described side partly referring to is connected with finger tips by recoil spring.
As a further improvement on the present invention: described segment lift system comprises lifting hydraulic cylinder and the stationary rack affixed with catching robot pedestal, described lifting hydraulic cylinder upper end is hinged by bearing pin and lifting hydraulic cylinder bearing, and lower end is by gear wheel shaft and Double-gear is hinged side by side; Described Double-gear side by side coordinates with stationary rack and mobile rack respectively, and under rack-and-gear transmission, mobile rack moves up and down to drive whole catching robot to move up and down.
As a further improvement on the present invention: described mobile rack with on upgrade block matrix, offer respectively two halves hole and coordinate with horizontally disposed two lift shaft, the axle head of two described lift shaft is connected with finger pedestal root respectively, the finger pedestal root of described finger and the slide block of line slideway are affixed, described slide block moves up and down at slide rail, described slide rail and pedestal are affixed, and described mobile rack moves up and down to drive whole catching robot to move up and down along slide rail.
As a further improvement on the present invention: described two degrees of freedom horizontal mobile mechanism comprises bearing, Y-direction track, Y-direction hydraulic actuating cylinder, X-direction track and the X-direction hydraulic actuating cylinder being installed on refuse collector car bottom vehicle frame, described Y-direction track is affixed at vehicular sideview and segment lift system, and under the effect of Y-direction hydraulic actuating cylinder, Y-direction rail telescopic is adjustable to realize catching robot horizontal position; Under the effect of X-direction hydraulic actuating cylinder, X-direction rail telescopic is adjustable in horizontal lengthwise position to realize catching robot.
As a further improvement on the present invention: described in lift tipping mechanism and comprise clamping device, slide rail, lift hydraulic actuating cylinder and lifting rod, clamping device comprises clamping drive motor and drives leading screw with clamping sewage disposer, from catching robot, shift sewage disposer to lifting tipping mechanism, and along sliding rail climbing sewage disposer.
Compared with prior art, the invention has the advantages that:
1, the automatic capturing for sewage disposer of the present invention, lift and topple over joint institution, be applicable to high-end refuse collector automated job, do not need sanitationman's assistance of getting off, operating efficiency is high.
2, the automatic capturing for sewage disposer of the present invention, lift and topple over joint institution, there is the locomitivity of space three-freedom, compatible with environment is strong, the randomness that efficiently solves stop position affects the accuracy problem that manipulator captures sewage disposer.
3, the automatic capturing for sewage disposer of the present invention, lift and topple over joint institution, manipulator finger has the specific aim design that prevents from clashing into and damaging sewage disposer or anti-sewage disposer landing.
4, the automatic capturing for sewage disposer of the present invention, lift and topple over joint institution, adopt the light-weight design of segment lift system, can cantilever beam mechanism end load excessive, cause the problem of structure heaviness.
Accompanying drawing explanation
Fig. 1 is the present invention's main TV structure principle schematic under initial condition condition in concrete application example.
Fig. 2 is the partial schematic diagram at a visual angle of catching robot in the present invention.
Fig. 3 is the partial schematic diagram at another visual angle of catching robot in the present invention.
Fig. 4 is the main view principle schematic diagram of segment lift system in the present invention.
Fig. 5 is the side-looking principle schematic of segment lift system in the present invention.
Fig. 6 is the principle schematic at a visual angle of two degrees of freedom horizontal mobile mechanism in the present invention.
Fig. 7 is the principle schematic at another visual angle of two degrees of freedom horizontal mobile mechanism in the present invention.
Fig. 8 is the principle schematic that lifts tipping mechanism in the present invention.
Marginal data:
1, catching robot pedestal; 2, finger tips; 3, finger S. A.; 4, finger actuation hydraulic actuating cylinder; 5, partly refer to S. A.; 6, partly refer to; 7, finger; 8, the affixed bar of root; 9, finger pedestal; 10, caulking gum; 11, lifting hydraulic cylinder bearing; 12, lifting hydraulic cylinder; 13, stationary rack; 14, gear wheel shaft; 15, Double-gear side by side; 16, slide block; 17, slide rail; 18, bearing pin; 19, recoil spring; 20, lift shaft; 21, upgrade block; 22, mobile rack; 23, Y-direction track; 24, X-direction hydraulic actuating cylinder; 25, X-direction track; 26, X-direction roller; 27, Y-direction hydraulic actuating cylinder; 28, bearing; 29, catching robot; 30, segment lift system; 31, two degrees of freedom horizontal mobile mechanism; 32, lift tipping mechanism; 33, clamping device; 34, clamp drive motor; 35, drive leading screw; 36, lifting rod; 37, lift slide rail; 38, lift hydraulic actuating cylinder; 39, rubbish compartment inlet cover.
The specific embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 1, automatic capturing for sewage disposer of the present invention, lift and topple over joint institution, for a kind ofly can automation capturing, lift sewage disposer and realize barrel rubbish of dumping rubbish to the multiple degree of freedom joint institution of garbage truck carriage, there is three-dimensional locomitivity.It comprises: catching robot 29, segment lift system 30, two degrees of freedom horizontal mobile mechanism 31, lift tipping mechanism 32; Wherein, catching robot 29 is connected with segment lift system 30, and segment lift system 30 connects two degrees of freedom horizontal mobile mechanism 31, and 31 docking of two degrees of freedom horizontal mobile mechanism lift tipping mechanism 32.Segment lift system 30 can carry out the automated location adjustment on vertical direction with catching robot 29, two degrees of freedom horizontal mobile mechanism 31 can carry out the automated location adjustment on horizontal direction, fore-and-aft direction with segment lift system 30 and catching robot 29, lifts 32 of tipping mechanisms and is used for taking over sewage disposer from catching robot 29 and topples over operation to complete.When work, by the coordination of segment lift system 30 and two degrees of freedom horizontal mobile mechanism 31, the randomness that can make up stop position cause between catching robot 29 and sewage disposer laterally, longitudinally, vertical position poor, then by catching robot 29, accurately capture sewage disposer.When two degrees of freedom horizontal mobile mechanism 31 retraction car rear flank, catching robot 29 is handed to sewage disposer to lift tipping mechanism 32.The lift system and the tipping mechanism that lift tipping mechanism 32 are linked, and barrel rubbish of dumping rubbish enters garbage truck carriage.After the task of dumping rubbish completes, above-mentioned action is reversible, can reappose sewage disposer and return original position.Above-mentioned all kinds of action relies on chaufeur remote manipulation in operator's compartment to realize, and associated drives mechanism can be hydraulic pressure, electricity drives or other similar Mechanical Driven, and the description here only be take hydraulic pressure as example.
As shown in Figures 2 and 3, in the present embodiment, catching robot 29 comprises catching robot pedestal 1, finger 7 and the actuating mechanism thereof being fixed on segment lift system 30.Wherein, catching robot pedestal 1 is provided with caulking gum 10, it is hinged that pin or axle and finger pedestal 9 are passed through in finger actuation hydraulic actuating cylinder 4 one end of lateral arrangement, the affixed bar 8 of root of the other end and finger tips 2 is hinged, the elongation of finger actuation hydraulic actuating cylinder 4 is rotated with shrinking the thorny finger S. A. 3 of driving pivoting finger 7, completes clamping and the release of sewage disposer.In clamping sewage disposer process; partly refer to that 6 contact sewage disposer in advance, sewage disposer is produced to pre-gripping power, in the rotation clamping process of whole finger 7; recoil spring 19 can guarantee contacting of half finger 6 and sewage disposer surface well, and protection sewage disposer avoids pressing from both sides flat destruction.In said structure, finger actuation hydraulic actuating cylinder 4 lateral arrangement, can effectively reduce longitudinal physical dimension of finger pedestal 9, and outshot takes up room little; What a set of elastomeric material of finger tips 2 further interpolation was made partly refers to 6, partly refer to that 6 can be around partly referring to S. A. 5 rotations, add first and refer to that 6 one sides are connected with finger tips 2 by recoil spring 19, in clamping the process of sewage disposer, can be good at guaranteeing the close contact on itself and sewage disposer surface, also can avoid clamping process to cause damage to sewage disposer.
As shown in Figure 4 and Figure 5, segment lift system 30 is the bearing of catching robot 29, also can regulate the vertical relative position between catching robot 29 and crawled sewage disposer, it comprises that stationary rack 13 and catching robot pedestal 1 are affixed, lifting hydraulic cylinder 12 upper ends are hinged by bearing pin 18 and lifting hydraulic cylinder bearing 11, lower end is by gear wheel shaft 14 and Double-gear 15 is hinged side by side, Double-gear 15 coordinates with stationary rack 13 and mobile rack 22 respectively side by side, under rack-and-gear transmission, mobile rack 22 just can move up and down, and can obtain larger stroke.On mobile rack 22 and upgrade block 21 matrixes, offer respectively two halves hole, just coordinate with horizontally disposed two lift shaft 20, by bolted together, and the axle head of two lift shaft 20 is connected with finger pedestal 9 roots of finger 7 respectively, pedestal 9 roots in finger are affixed with the slide block 16 of line slideway again, slide block 16 can move up and down at slide rail 17, slide rail 17 is affixed with catching robot pedestal 1, mobile rack 22 moves up and down and just indirectly drives whole catching robot 29 to move up and down along slide rail 17, adjusts its vertical position.In said structure, segment lift system 30 is the bearing of catching robot 29, also can regulate the vertical relative position between catching robot 29 and crawled sewage disposer.The more important thing is, adopt segment lift system 30, rather than employing has the Integral lifting mechanism of garbage truck carriage overhead height, can avoid stretching out manipulator to the excessive load of the cantilever beam structure end in roadside, cause structure heavy, belong to light-weight design, guarantee structural strength, rigidity requirement.
As shown in Figure 6 and Figure 7, in the present embodiment, two degrees of freedom horizontal mobile mechanism 31 is installed on the vehicle frame of refuse collector car bottom, be mainly used for regulating the horizontal vertical and horizontal relative position between catching robot 29 and crawled sewage disposer, concrete structure comprises that bearing 28 is installed on two degrees of freedom horizontal mobile mechanism 31 on the vehicle frame of refuse collector car bottom, Y-direction track 23, this guide rail is affixed at outer end and the segment lift system 30 of vehicle right direction, under 27 effects of Y-direction hydraulic actuating cylinder, Y-direction track 23 is scalable, realize catching robot 29 horizontal positions adjustable.It is adjustable in horizontal lengthwise position that X-direction track 25, X-direction hydraulic actuating cylinder 24 and X-direction roller 26 are realized catching robot 29.In said structure, the vertical position adjustable function of associating segment lift system 30, solved random stop position cause between catching robot 29 and sewage disposer laterally, longitudinally, the problem of the difference of vertical position, guarantee that catching robot 29 can accurately capture sewage disposer.
As shown in Figure 8, in the present embodiment, lift tipping mechanism 32 and comprise clamping device 33, at it, clamp drive motor 34 and drive under leading screw 35 effects, clamping sewage disposer, realizes from catching robot 29 and shifts sewage disposer to lifting tipping mechanism, and promotes sewage disposer along lifting slide rail 37.Then lifting under the interlock effect of hydraulic actuating cylinder 38 and lifting rod 36, when opening rubbish compartment inlet cover 39, realizing the sewage disposer upset being held, and the rubbish compartment of dumping rubbish.After barrel rubbish of dumping rubbish, lift that tipping mechanism 32 can clamp and lower emptying sewage disposer, hand to catching robot 29, under the cooperation of segment lift system 30 and two degrees of freedom horizontal mobile mechanism 31, catching robot 29 can be put back to original position safely, reliably by sewage disposer.
During concrete practice application, chaufeur, according to video environment monitor message in operator's compartment, keeps the sewage disposer of catching robot 29 alignment roadside rubbish to be collected as far as possible during parked vehicles.
Chaufeur is according to video environment monitor message in operator's compartment, and remote manipulation two degrees of freedom horizontal mobile mechanism 31 is further adjusted the lengthwise position of catching robot 29, stretches out catching robot 29 to roadside simultaneously.By controlling segment lift system 30, adjust catching robots 29 and capture sewage disposer at sewage disposer ladle body correct position, avoid stopping casual bring laterally, longitudinally, vertical position poor.
Handle two degrees of freedom horizontal mobile mechanism 31 catching robot 29 is regained to automobile side together with sewage disposer, and adjustment refers to lift tipping mechanism 32 docking locations.Lift tipping mechanism 32 by clamping device 33 clamping sewage disposers, then catching robot 29 unclamps sewage disposer.Lift the slide rail 37 of lifting that tipping mechanism 32 compartment rubbish barrel label again and promote sewage disposers to height of wagon, rubbish compartment inlet cover 39 is opened in interlock simultaneously, at the correct position sewage disposer that overturns, accurately sewage disposer rubbish is poured in rubbish compartment.
The sewage disposer lifting after tipping mechanism 32 clampings empty is transferred along lifting slide rail 37, and rubbish compartment inlet cover 39 is built in interlock simultaneously.Drop to catching robot 29 positions, by catching robot 29, hold sewage disposer tightly, then lift tipping mechanism 32 and discharge sewage disposer.
Two degrees of freedom horizontal mobile mechanism 31 stretches out catching robot 29, simultaneously in conjunction with 30 concerted actions of segment lift system, realizes catching robot 29 sewage disposer is put back to original position.
Catching robot 29 discharges after sewage disposer, collaborative through two degrees of freedom horizontal mobile mechanism 31 and segment lift system 30, catching robot 29 is regained, and adjusted to reliable, safe laying state.So far, one time sewage disposer collection task completes, and waste-skip goes to next task point.
Below be only the preferred embodiment of the present invention, protection scope of the present invention is also not only confined to above-described embodiment, and all technical schemes belonging under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (7)
1. the automatic capturing for sewage disposer, lift and topple over joint institution, it is characterized in that, comprise catching robot (29), segment lift system (30), two degrees of freedom horizontal mobile mechanism (31) and lift tipping mechanism (32), described catching robot (29) is connected to carry out the automated location adjustment on vertical direction with catching robot (29) with segment lift system (30), described segment lift system (30) connects two degrees of freedom horizontal mobile mechanism (31), described two degrees of freedom horizontal mobile mechanism (31) docking lifts tipping mechanism (32), the described tipping mechanism (32) that lifts is taken over sewage disposer from catching robot (29) and is toppled over operation to complete, the randomness that coordination by described segment lift system (30) and two degrees of freedom horizontal mobile mechanism (31) makes up stop position cause between catching robot (29) and sewage disposer laterally, longitudinally, vertical position poor.
2. the automatic capturing for sewage disposer according to claim 1, lift and topple over joint institution, it is characterized in that, described catching robot (29) comprises the catching robot pedestal (1) being fixed on segment lift system (30), finger (7) and finger actuation hydraulic actuating cylinder (4), described finger actuation hydraulic actuating cylinder (4) is lateral arrangement, one end is hinged by the finger pedestal (9) of pin or axle and finger (7), the affixed bar of root (8) of the upper finger tips (2) of the other end and finger (7) is hinged, the elongation of described finger actuation hydraulic actuating cylinder (4) drives pivoting finger (7) thorny finger S. A.s (3) to rotate to complete clamping and the release of sewage disposer with contraction.
Automatic capturing for sewage disposer according to claim 2, lift and topple over joint institution, it is characterized in that, described finger tips (2) locates to be provided with the partly finger (6) that a set of elastomeric material is made, described partly finger (6) can be around partly referring to S. A. (5) rotation, and a side of described partly finger (6) is connected with finger tips (2) by recoil spring (19).
According to the automatic capturing for sewage disposer described in claim 2 or 3, lift and topple over joint institution, it is characterized in that, described segment lift system (30) comprises lifting hydraulic cylinder (12) and the stationary rack (13) affixed with catching robot pedestal (1), described lifting hydraulic cylinder (12) upper end is hinged by bearing pin (18) and lifting hydraulic cylinder bearing (11), and lower end is by gear wheel shaft (14) and Double-gear (15) is hinged side by side; Described Double-gear side by side (15) coordinates with stationary rack (13) and mobile rack (22) respectively, and under rack-and-gear transmission, mobile rack (22) moves up and down to drive whole catching robot (29) to move up and down.
5. the automatic capturing for sewage disposer according to claim 4, lift and topple over joint institution, it is characterized in that, described mobile rack (22) with on upgrade block (21) matrix, offer respectively two halves hole and coordinate with horizontally disposed two lift shaft (20), the axle head of two described lift shaft (20) is connected with finger pedestal (9) root respectively, finger pedestal (9) root of described finger (7) and the slide block (16) of line slideway are affixed, described slide block (16) moves up and down at slide rail (17), described slide rail (17) is affixed with catching robot pedestal (1), described mobile rack (22) moves up and down to drive whole catching robot (29) to move up and down along slide rail (17).
6. according to the automatic capturing for sewage disposer described in claim 1 or 2 or 3, lift and topple over joint institution, it is characterized in that, described two degrees of freedom horizontal mobile mechanism (31) comprises the bearing (28) being installed on refuse collector car bottom vehicle frame, Y-direction track (23), Y-direction hydraulic actuating cylinder (27), X-direction track (25) and X-direction hydraulic actuating cylinder (24), described Y-direction track (23) is affixed at vehicular sideview and segment lift system (30), under the effect of Y-direction hydraulic actuating cylinder (27), Y-direction track (23) is flexible adjustable to realize catching robot (29) horizontal position, under the effect of X-direction hydraulic actuating cylinder (24), X-direction track (25) is flexible adjustable in horizontal lengthwise position to realize catching robot (29).
According to the automatic capturing for sewage disposer described in claim 1 or 2 or 3, lift and topple over joint institution, it is characterized in that, the described tipping mechanism (32) that lifts comprises clamping device (33), lifts slide rail (37), lifts hydraulic actuating cylinder (38) and lifting rod (36), clamping device (33) comprises clamping drive motor (34) and drives leading screw (35) to clamp sewage disposer, from catching robot (29), shift sewage disposer to lifting tipping mechanism (32), and promote sewage disposer along slide rail (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410173582.3A CN103922059B (en) | 2014-04-28 | 2014-04-28 | Automatic grabbing, lifting and pouring combined mechanism for garbage can |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410173582.3A CN103922059B (en) | 2014-04-28 | 2014-04-28 | Automatic grabbing, lifting and pouring combined mechanism for garbage can |
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| CN103922059A true CN103922059A (en) | 2014-07-16 |
| CN103922059B CN103922059B (en) | 2015-04-29 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105129293A (en) * | 2015-07-16 | 2015-12-09 | 冯林 | Garbage truck capable of continuously collecting garbage and garbage can of garbage truck |
| CN105346899A (en) * | 2015-12-08 | 2016-02-24 | 西安石油大学 | Automatic garbage collection device capable of restraining raise dust |
| CN106395205A (en) * | 2016-11-17 | 2017-02-15 | 湖南大学 | Can holding type garbage truck |
| CN106494805A (en) * | 2016-11-17 | 2017-03-15 | 湖南大学 | Embrace tub automatic charging device |
| CN108620933A (en) * | 2018-06-06 | 2018-10-09 | 福州大学 | Rack-and-pinion travel multiplier device and its working method for production line conveying equipment |
| CN111115070A (en) * | 2020-01-16 | 2020-05-08 | 刘家莲 | Compression transfer car (buggy) is collected to barreled rubbish |
| CN111426462A (en) * | 2020-04-23 | 2020-07-17 | 山东省产品质量检验研究院 | Dynamic load reliability test device for hanging part of plastic garbage can |
| CN111634586A (en) * | 2020-06-02 | 2020-09-08 | 杜立华 | Garbage clearing device |
| CN111959996A (en) * | 2020-07-29 | 2020-11-20 | 同济大学 | Adjustable grabbing device of sanitation car garbage bin |
| CN112124825A (en) * | 2020-09-22 | 2020-12-25 | 同济大学 | Mechanical claw positioning control system of garbage transfer equipment |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105129293A (en) * | 2015-07-16 | 2015-12-09 | 冯林 | Garbage truck capable of continuously collecting garbage and garbage can of garbage truck |
| CN105346899A (en) * | 2015-12-08 | 2016-02-24 | 西安石油大学 | Automatic garbage collection device capable of restraining raise dust |
| CN106395205B (en) * | 2016-11-17 | 2019-07-12 | 湖南大学 | Holding barrels formula garbage truck |
| CN106494805A (en) * | 2016-11-17 | 2017-03-15 | 湖南大学 | Embrace tub automatic charging device |
| CN106494805B (en) * | 2016-11-17 | 2019-07-12 | 湖南大学 | Holding barrels formula automatic charging device |
| CN106395205A (en) * | 2016-11-17 | 2017-02-15 | 湖南大学 | Can holding type garbage truck |
| CN108620933A (en) * | 2018-06-06 | 2018-10-09 | 福州大学 | Rack-and-pinion travel multiplier device and its working method for production line conveying equipment |
| CN111115070A (en) * | 2020-01-16 | 2020-05-08 | 刘家莲 | Compression transfer car (buggy) is collected to barreled rubbish |
| CN111426462A (en) * | 2020-04-23 | 2020-07-17 | 山东省产品质量检验研究院 | Dynamic load reliability test device for hanging part of plastic garbage can |
| CN111426462B (en) * | 2020-04-23 | 2022-12-30 | 山东省产品质量检验研究院 | Dynamic load reliability test device for hanging part of plastic garbage can |
| CN111634586A (en) * | 2020-06-02 | 2020-09-08 | 杜立华 | Garbage clearing device |
| CN111959996A (en) * | 2020-07-29 | 2020-11-20 | 同济大学 | Adjustable grabbing device of sanitation car garbage bin |
| CN112124825A (en) * | 2020-09-22 | 2020-12-25 | 同济大学 | Mechanical claw positioning control system of garbage transfer equipment |
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