CN104555203A - Draw arm type garbage carrying vehicle - Google Patents
Draw arm type garbage carrying vehicle Download PDFInfo
- Publication number
- CN104555203A CN104555203A CN201410735287.2A CN201410735287A CN104555203A CN 104555203 A CN104555203 A CN 104555203A CN 201410735287 A CN201410735287 A CN 201410735287A CN 104555203 A CN104555203 A CN 104555203A
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- CN
- China
- Prior art keywords
- arm
- draw
- frame
- rubbish
- latch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/24—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle
- B65F3/26—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle by tipping the tank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/025—Constructional features relating to actuating means for lifting or tipping containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Refuse-Collection Vehicles (AREA)
Abstract
The invention discloses a draw arm type garbage carrying vehicle. The draw arm type garbage carrying vehicle comprises a draw arm frame, a linkage arm, a draw arm, a main oil cylinder and two locking mechanisms, wherein the draw arm frame is arranged on a vehicle frame; the rear end of the linkage arm is hinged to the rear part of the draw arm frame; the rear end of a cross arm is hinged to the front end of the linkage arm; a cylinder body of the main oil cylinder is hinged to the front part of the draw arm frame; a piston rod of the main oil cylinder is hinged to the rear part of the cross arm; the draw arm frame is arranged on the vehicle frame through a hydraulic turntable; each locking mechanism comprises a first pin hole, a second pin hole, a bolt, a first locking hook, a second locking hook and a pushing mechanism; each first pin hole is formed in the rear part of the cross arm of the draw arm; each second pin hole is formed in the draw arm frame; each bolt is arranged on the front part of a linkage arm; the two ends of each bolt respectively correspond to the two pin holes; the lower end of each first locking hook is fixedly connected with the bolt; the upper end of each second first locking hook is fixedly arranged on the bottom of the dustbin; each pushing mechanism is used for driving each bolt to slide. According to the draw arm type garbage carrying vehicle, the dustbin can be flexibly loaded and unloaded, garbage can be flexibly poured out, and the garbage carrying efficiency can be improved.
Description
Technical field
The present invention relates to waste-skip field, particularly a kind of draw-arm rubbish van.
Background technology
Draw-arm rubbish van is also known as carriage detachable type rubbish van, and it a kind of adopts torque arm to be hung on voluntarily by rubbish container to put down, and can the special environmental sanitation garbage transporting vehicle of Automatic-dumping rubbish.It is simple that draw-arm rubbish van has structure, and stable operation is convenient, and level of mechanization is high, saves the advantages such as manpower.Existing draw-arm rubbish van is complicated to the catch gear of rubbish container, the switching underaction that the handling merit of rubbish container is done and dumped rubbish between action, and before the tripping action carrying out rubbish container or action of dumping rubbish, chaufeur is needed to adjust waste-skip according to different landform, with the position making the tailstock aim at waste deposit, whole adjustment process complexity trouble, alerting ability is not enough.Therefore existing draw-arm rubbish van carry out rubbish container tripping action and dump rubbish action time dumb, reduce waste transportation efficiency.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of draw-arm rubbish van, thus overcome existing draw-arm rubbish van carry out rubbish container tripping action and dump rubbish action time inflexible shortcoming.
For achieving the above object, the invention provides a kind of draw-arm rubbish van, it comprises: draw arm frame, and it is arranged on the vehicle frame of vehicle; Transmission arm, its rear end is articulated with the rear portion of described draw arm frame; Torque arm, it is in " L " shape, and the upper end of the trailing arm of this torque arm is provided with drag hook; And the front end of the rear end of the transverse arm of this torque arm and described transmission arm is hinged; Master cylinder, the afterbody of its cylinder body is articulated with the front portion of described draw arm frame, and the rear portion of the transverse arm of the head of the piston rod of this master cylinder and described torque arm is hinged; And catch gear, it is for the locking that controls between rubbish container and described transmission arm, torque arm or unclamp; It is characterized in that, described draw arm frame is rotatably arranged on described vehicle frame by a hydraulic swivel head.
Preferably, in technique scheme, described catch gear is two and is symmetrically located at the left and right sides of the front portion of described transmission arm; Each described catch gear comprises: the first pin-and-hole, and it is arranged at the rear portion of the transverse arm of described torque arm; Second pin-and-hole, it is arranged on described draw arm frame, and this second pin-and-hole and described first pin-and-hole are located along the same line; Latch, it is arranged at the front portion of described transmission arm in the mode that can slide, and the two ends of this latch are corresponding with described first pin-and-hole and the second pin-and-hole respectively; First latch hook, its lower end is fixedly connected with described latch, and the upper end of this first latch hook is hook solid; Second latch hook, its upper end is fixedly installed on the bottom of described rubbish container, and the lower end of this second latch hook is in the hook solid corresponding with the upper end of described first latch hook; And pushing mechanism, it slides for driving described latch.
Preferably, in technique scheme, described pushing mechanism comprises: two pusher dogs, and these two pusher dogs are arranged on described draw arm frame in the mode that can slide, and these two pusher dogs are connected with two latches of described two catch gears respectively; Two connecting rods, one end of these two connecting rods is hinged with described two pusher dogs respectively, and the other end of these two connecting rods is hinged; And auxiliary cylinder, it is fixedly installed on described draw arm frame, and the head of the piston rod of this auxiliary cylinder is connected with the place of being hinged of described two connecting rods.
Compared with prior art, the present invention has following beneficial effect:
Draw arm frame of the present invention can be rotated relative to vehicle frame by hydraulic swivel head, before the tripping action carrying out rubbish container or action of dumping rubbish, chaufeur rotates draw arm frame to the position with waste deposit according to different landform, and do not need the position constantly adjusting vehicle, it is quick and convenient; And the present invention by catch gear control neatly transmission arm and draw arm frame lock be connected while unclamp rubbish container or transmission arm and torque arm lock be connected while lock rubbish container.Therefore the present invention can carry out the handling of rubbish container neatly and dump rubbish, to improve waste transportation efficiency.
Accompanying drawing explanation
Fig. 1 is the front view according to draw-arm rubbish van of the present invention.
Fig. 2 is the right elevation according to Fig. 1 of the present invention.
Fig. 3 is the enlarged drawing of the I part according to Fig. 2 of the present invention.
Fig. 4 is to structural representation according to the A of Fig. 3 of the present invention.
Fig. 5 be existing rubbish van handling rubbish container or dump rubbish time structural representation;
Fig. 6 is draw-arm rubbish van according to the present invention at narrow place handling rubbish container or schematic diagram when dumping rubbish;
The schematic diagram that Fig. 7 is draw-arm rubbish van according to the present invention at the place handling rubbish container of turning or when dumping rubbish;
Fig. 8 is according to structural representation during draw-arm rubbish van handling rubbish container of the present invention.
Fig. 9 is the structural representation of draw-arm rubbish van according to the present invention when dumping rubbish.
Main Reference Numerals illustrates:
1-vehicle, 11-vehicle frame; 2-rubbish container; 3-transmission arm; 4-torque arm, 41-trailing arm, 42-transverse arm; 5-draw arm frame; 6-master cylinder; 7-catch gear, 71-first pin-and-hole, 72-second pin-and-hole, 73-latch, 74-first latch hook, 75-second latch hook, 76-pushing mechanism, 761-pusher dog, 762-connecting rod, 763-auxiliary cylinder; 8-hydraulic swivel head.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of detailed description of the invention.
Clearly represent unless otherwise other, otherwise in whole specification sheets and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or component part, and do not get rid of other element or other component part.
As shown in Figures 1 to 9, a kind of embodiment according to the specific embodiment of the invention is: a kind of draw-arm rubbish van, and it comprises: vehicle 1, draw arm frame 3, torque arm 4, transmission arm 5, master cylinder 6 and catch gear 7, wherein:
Draw arm frame 5 is arranged on the vehicle frame 11 of vehicle 1, and as shown in Figure 1 to Figure 3, draw arm frame 5 is rotatably arranged on vehicle frame 11 by a hydraulic swivel head 8, can carry out 360 ° of rotations to make draw arm frame 5.
As shown in Figure 1, the rear end of transmission arm 5 is articulated with the rear portion of draw arm frame 3, can swing up and down to make transmission arm 5 along its rear end.Torque arm 4 is in " L " shape, the upper end of the trailing arm 41 of this torque arm 4 is provided with the drag hook for catching on rubbish container 2, the lower end of the trailing arm 41 of torque arm 4 is fixedly connected with the front end of transverse arm 42, and the rear end of the transverse arm 42 of this torque arm 4 and the front end of transmission arm 5 hinged, can swing up and down along the rear end of transverse arm 42 to make torque arm 4.The afterbody of the cylinder body of master cylinder 6 is articulated with the front portion of draw arm frame 3, and the rear portion of the head of the piston rod of master cylinder 6 and the transverse arm 42 of torque arm 4 is hinged, drives torque arm 4 to be elevated by master cylinder 6, to carry out handling rubbish container 2 action and action of dumping rubbish.
Catch gear 7 is for the locking that controls between rubbish container 2 and transmission arm 3, torque arm 4 or unclamp.As shown in Figures 2 and 3, two catch gears 7 are symmetrically located at the left and right sides of the front portion of transmission arm 5, and each catch gear 7 comprises: the first pin-and-hole 71, second pin-and-hole 72, latch 73, first latch hook 74, second latch hook 75 and pushing mechanism 76.First pin-and-hole 71 is arranged at the rear portion of the transverse arm 42 of torque arm 4, and the second pin-and-hole 72 is arranged at the middle part of draw arm frame 3, and the second pin-and-hole 72 and the first pin-and-hole 71 are located along the same line; Latch 73 is arranged at the front portion of transmission arm 5 in the mode that can horizontally slip, and the two ends of this latch 73 are corresponding with the first pin-and-hole 71 and the second pin-and-hole 72 respectively.The lower end of the first latch hook 74 is fixedly connected with latch 73, and the upper end of the first latch hook 74 is in hook solid bending to the inside, the upper end of the second latch hook 75 is fixedly installed on the bottom of rubbish container 2, and the lower end of the second latch hook 75 is in hook solid bending and corresponding with the upper end of the first latch hook 74 laterally.Pushing mechanism 76 slides for driving latch 73.Preferably, as shown in Figure 3 and Figure 4, pushing mechanism comprises: pusher dog 761, connecting rod 762 and auxiliary cylinder 763, two pusher dogs 761 are arranged on draw arm frame 3 in the mode that can horizontally slip, and these two pusher dogs 761 are fixedly connected with two latches 73 of two catch gears 7 respectively; One end of two connecting rods 762 is hinged with two pusher dogs 761 respectively, and the other end of two connecting rods 762 is hinged; Auxiliary cylinder 763 is fixedly installed on draw arm frame 3, and the head of the piston rod of auxiliary cylinder 763 is connected with the place of being hinged of two connecting rods 762.When the piston rod of auxiliary cylinder 763 stretches out forward, promote two pusher dogs 761 by two connecting rods 762 to slide respectively to outside, thus two latches 73 are slided simultaneously laterally, when the piston rod of auxiliary cylinder 763 is regained, pull two pusher dogs 761 respectively to inner slide by two connecting rods 762, thus two latches 73 are slided simultaneously to the inside.
When needs handling rubbish container 2 or when dumping rubbish, because the draw arm frame 3 of existing rubbish van can not rotate, therefore as shown in Figure 5, when existing waste transportation handlebar vehicle 1 drives to the position of waste deposit, need the position constantly adjusting vehicle 1, after aligning completely with the position of the afterbody and waste deposit that make vehicle 1, just can carry out the handling of rubbish container 2 or dump rubbish, it can reduce the efficiency of waste transportation, and for convenience of the adjustment of vehicle 1, need to arrange enough wide passageway near waste deposit position, thus cause floor area larger.And the present invention can drive rubbish jib 3 to rotate by hydraulic swivel head 8, as shown in Figure 6, when vehicle 1 is driven to the position of waste deposit, directly according to topographic features, draw arm frame 3 is forwarded to suitable position by hydraulic swivel head 8, to make the position of the back-end aligned waste deposit of draw arm frame 3, do not need the position carrying out to adjust very troublesomely vehicle 1 by chaufeur, thus can the handling of rubbish container 2 be carried out and dump rubbish fast and flexible, and owing to not needing the position adjusting vehicle 1, therefore the position of waste deposit only need arrange the passageway of the relative narrower that vehicle 1 can be allowed to pass through, thus can floor area be reduced, reduce waste transportation cost.As shown in Figure 7, the draw-arm rubbish van of the application of the invention, according to landform, waste deposit position can also be arranged at the position of turning, vehicle 1 need directly fall back on turning, rotating draw arm frame 3 again makes the position of itself and waste deposit align, and just can carry out the handling of rubbish container 2 and dump rubbish fast and flexible.Therefore the present invention can improve waste transportation efficiency, and according to different landform, rubbish container 2 can be arranged at different occasions, to save the area, reduce waste transportation cost.
As shown in Figure 8, when needs unload rubbish container 2, pushing mechanism 76 drives latch 73 outwards to slide to be inserted in the second pin-and-hole 72, transmission arm 5 is locked by latch 73 and draw arm frame 3 and is connected transmission arm 5 can not be swung up and down, and the first latch hook 74 outwards slides along with latch 73, the lower end of the second latch hook 75 is outwards slipped away to unclamp rubbish container 2 in its upper end, latch 73 leaves the first pin-and-hole 71 simultaneously, thus make torque arm 4 depart from transmission arm 5, can swing up and down to make torque arm 4, under this state, stretch out piston rod by master cylinder 6 rearward to swing to drive torque arm 4, to unload rubbish container 2.When rubbish container 2 loaded onto by needs, make latch 73 keep being inserted in the second pin-and-hole 72, and drive master cylinder 6 to stretch out piston rod rearward to put down torque arm 4, after rubbish container 2 is caught in torque arm 4, master cylinder 6 regains piston rod, and torque arm 4 is just dragged to the rubbish container 2 caught on draw arm frame 3.As shown in Figure 9, when needing the rubbish in emptying refuse box 2, pushing mechanism 76 drives latch 73 inwardly to slide to be inserted in the first pin-and-hole 71 so that transmission arm 5 and torque arm 4 are locked together, and latch 73 leaves the second pin-and-hole 72 unclamps to make transmission arm 5 and draw arm frame 3, transmission arm 5 just can swing up and down, latch 73 makes torque arm 4 and transmission arm 5 swing up and down simultaneously, the upper end of the first latch hook 74 is fastened on the lower end of the second latch hook 75 simultaneously, rubbish container 2 is made to be locked on transmission arm 5, now by master cylinder 6 lifting torque arm 4 and transmission arm 5, to carry out dumping rubbish action.By catch gear 7 can come to control neatly transmission arm 5 and draw arm frame 3 lock be connected while unclamp rubbish container 2 to carry out the handling of rubbish container 2, or transmission arm 5 and torque arm 4 lock be connected while lock rubbish container 2 to dump rubbish.
The present invention can load and unload rubbish container neatly and dump rubbish, and it can improve the transport efficacy to rubbish, and reduces the cost of waste transportation.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (3)
1. a draw-arm rubbish van, it comprises:
Draw arm frame, it is arranged on the vehicle frame of vehicle;
Transmission arm, its rear end is articulated with the rear portion of described draw arm frame;
Torque arm, it is in " L " shape, and the upper end of the trailing arm of this torque arm is provided with drag hook; And the front end of the rear end of the transverse arm of this torque arm and described transmission arm is hinged;
Master cylinder, the afterbody of its cylinder body is articulated with the front portion of described draw arm frame, and the rear portion of the transverse arm of the head of the piston rod of this master cylinder and described torque arm is hinged; And
Catch gear, it is for the locking that controls between rubbish container and described transmission arm, torque arm or unclamp; It is characterized in that,
Described draw arm frame is rotatably arranged on described vehicle frame by a hydraulic swivel head.
2. draw-arm rubbish van according to claim 1, is characterized in that, described catch gear is two and is symmetrically located at the left and right sides of the front portion of described transmission arm; Each described catch gear comprises:
First pin-and-hole, it is arranged at the rear portion of the transverse arm of described torque arm;
Second pin-and-hole, it is arranged on described draw arm frame, and this second pin-and-hole and described first pin-and-hole are located along the same line;
Latch, it is arranged at the front portion of described transmission arm in the mode that can slide, and the two ends of this latch are corresponding with described first pin-and-hole and the second pin-and-hole respectively;
First latch hook, its lower end is fixedly connected with described latch, and the upper end of this first latch hook is hook solid;
Second latch hook, its upper end is fixedly installed on the bottom of described rubbish container, and the lower end of this second latch hook is in the hook solid corresponding with the upper end of described first latch hook; And
Pushing mechanism, it slides for driving described latch.
3. draw-arm rubbish van according to claim 2, is characterized in that, described pushing mechanism comprises:
Two pusher dogs, these two pusher dogs are arranged on described draw arm frame in the mode that can slide, and these two pusher dogs are connected with two latches of described two catch gears respectively;
Two connecting rods, one end of these two connecting rods is hinged with described two pusher dogs respectively, and the other end of these two connecting rods is hinged; And
Auxiliary cylinder, it is fixedly installed on described draw arm frame, and the head of the piston rod of this auxiliary cylinder is connected with the place of being hinged of described two connecting rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410735287.2A CN104555203B (en) | 2014-12-05 | 2014-12-05 | Draw-arm rubbish van |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410735287.2A CN104555203B (en) | 2014-12-05 | 2014-12-05 | Draw-arm rubbish van |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104555203A true CN104555203A (en) | 2015-04-29 |
| CN104555203B CN104555203B (en) | 2016-08-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410735287.2A Active CN104555203B (en) | 2014-12-05 | 2014-12-05 | Draw-arm rubbish van |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104555203B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844072A (en) * | 2020-07-21 | 2020-10-30 | 上海高仙自动化科技发展有限公司 | Automatic garbage dumping method and device for intelligent robot, intelligent robot and medium |
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| CN2201377Y (en) * | 1994-09-13 | 1995-06-21 | 上海市徐汇环卫专用车辆改装修理厂 | Refuse transport vehicle |
| US20060193716A1 (en) * | 2004-12-23 | 2006-08-31 | Automated Waste Equipment Co., Inc. | Locking mechanism for a double articulating hook lift apparatus usable mounted on a vehicle |
| CN201236048Y (en) * | 2008-12-02 | 2009-05-13 | 新星化工冶金材料(深圳)有限公司 | Telecontrol slag wagon |
| AU2007234549A1 (en) * | 2007-11-15 | 2009-06-04 | Banning, Bradley Stephen Mr | Bin handling apparatus |
| CN203246361U (en) * | 2013-05-14 | 2013-10-23 | 长沙星通机械科技有限公司 | Carriage detachable hook arm mechanism |
| CN203699106U (en) * | 2013-12-02 | 2014-07-09 | 重庆中远特种车辆有限公司 | Novel locking structure of hopper detachable garbage truck |
| CN203754537U (en) * | 2013-11-21 | 2014-08-06 | 北京中科润石油技术服务有限公司 | Integrated oilfield wastewater treatment device |
| CN203753734U (en) * | 2014-03-18 | 2014-08-06 | 段贤斌 | Garbage truck |
| CN204384185U (en) * | 2014-12-05 | 2015-06-10 | 广西玉柴专用汽车有限公司 | Draw-arm rubbish van |
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2014
- 2014-12-05 CN CN201410735287.2A patent/CN104555203B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2201377Y (en) * | 1994-09-13 | 1995-06-21 | 上海市徐汇环卫专用车辆改装修理厂 | Refuse transport vehicle |
| US20060193716A1 (en) * | 2004-12-23 | 2006-08-31 | Automated Waste Equipment Co., Inc. | Locking mechanism for a double articulating hook lift apparatus usable mounted on a vehicle |
| AU2007234549A1 (en) * | 2007-11-15 | 2009-06-04 | Banning, Bradley Stephen Mr | Bin handling apparatus |
| CN201236048Y (en) * | 2008-12-02 | 2009-05-13 | 新星化工冶金材料(深圳)有限公司 | Telecontrol slag wagon |
| CN203246361U (en) * | 2013-05-14 | 2013-10-23 | 长沙星通机械科技有限公司 | Carriage detachable hook arm mechanism |
| CN203754537U (en) * | 2013-11-21 | 2014-08-06 | 北京中科润石油技术服务有限公司 | Integrated oilfield wastewater treatment device |
| CN203699106U (en) * | 2013-12-02 | 2014-07-09 | 重庆中远特种车辆有限公司 | Novel locking structure of hopper detachable garbage truck |
| CN203753734U (en) * | 2014-03-18 | 2014-08-06 | 段贤斌 | Garbage truck |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844072A (en) * | 2020-07-21 | 2020-10-30 | 上海高仙自动化科技发展有限公司 | Automatic garbage dumping method and device for intelligent robot, intelligent robot and medium |
| CN111844072B (en) * | 2020-07-21 | 2022-03-15 | 上海高仙自动化科技发展有限公司 | Automatic garbage dumping method and device for intelligent robot, intelligent robot and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104555203B (en) | 2016-08-17 |
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