CN113636244A

CN113636244A - Automatic loading and unloading box, garbage can transfer truck and garbage can loading and unloading control method

Info

Publication number: CN113636244A
Application number: CN202110751840.1A
Authority: CN
Inventors: 李亮; 张斌; 蒋志达; 邱声; 文亚龙
Original assignee: Guangdong Yingfeng Intelligent Environmental Sanitation Technology Co ltd; Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Guangdong Yingfeng Intelligent Environmental Sanitation Technology Co ltd; Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2021-07-02
Filing date: 2021-07-02
Publication date: 2021-11-12
Anticipated expiration: 2041-07-02
Also published as: CN113636244B

Abstract

The invention relates to an automatic loading and unloading box, a garbage can transfer trolley and a garbage can loading and unloading control method. The automatic loading and unloading box comprises a box body and a loading and unloading righting device. The box is equipped with the holding chamber, and loading and unloading righting device is movably installed in the holding chamber, and loading and unloading righting device is used for loading and unloading the garbage bin and rights the garbage bin of holding intracavity slope. A movable loading and unloading righting device is arranged in the accommodating cavity. At the in-process that the garbage bin transported, if the slope appears in the garbage bin of holding intracavity, then loading and unloading are right the garbage bin position that the device moved to the slope to right the garbage bin of slope, the transportation of the garbage bin of being convenient for improves the transportation efficiency of garbage bin. Meanwhile, the device is beneficial to keeping environmental sanitation and reducing the labor intensity of sanitation workers. In addition, the loading and unloading righting device can not only righting the inclined garbage can, but also realizing the loading and unloading of the garbage can, and is beneficial to reducing the labor intensity of sanitation workers.

Description

Automatic loading and unloading box, garbage can transfer truck and garbage can loading and unloading control method

Technical Field

The invention relates to the technical field of environmental sanitation transportation devices, in particular to an automatic loading and unloading box, a garbage transfer truck and a garbage can loading and unloading control method.

Background

With the popularization of garbage classification, the number of garbage cans is gradually increased. Generally, a garbage transport vehicle is adopted to transport garbage cans, and the transport efficiency of the garbage cans is improved. Although the existing garbage can transfer vehicle can improve the transfer efficiency of the garbage can to a certain extent, the loading and unloading operation of the garbage can still takes up more operation time of sanitation workers and has larger labor intensity, so the transfer efficiency of the garbage can still needs to be improved.

Disclosure of Invention

Therefore, the automatic loading and unloading box, the garbage can transfer trolley and the garbage can loading and unloading control method are needed to be provided, and the garbage can transfer efficiency can be effectively improved.

A lift bin, comprising:

the box body is provided with an accommodating cavity; and

the loading and unloading righting device is movably arranged in the containing cavity and is used for loading and unloading the garbage can and righting the garbage can inclined in the containing cavity.

In one embodiment, the loading and unloading and righting device comprises an loading and unloading mechanism, a righting mechanism and a first driving mechanism, wherein the first driving mechanism is installed at the top of the accommodating cavity, at least part of the righting mechanism is connected to the loading and unloading mechanism, and the first driving mechanism drives the loading and unloading mechanism to move along the longitudinal direction and/or the transverse direction of the box body.

In one embodiment, the righting mechanism comprises an inclination detection component, a righting pressing plate and a righting lifting power part for driving the righting pressing plate to move up and down, the inclination detection component is used for detecting whether the garbage bin inclines, and the righting lifting power part can drive the righting pressing plate to move downwards and abut against the top of the inclined garbage bin according to a detection signal of the inclination detection component so as to right the garbage bin.

In one embodiment, the inclination detection assembly includes an image acquisition unit and a control unit, the control unit is respectively connected to the righting lifting power member and the image acquisition unit in a communication manner, the image acquisition unit is used for acquiring inclination image information of the trash can in the accommodating cavity, and the control unit is configured to: and receiving the inclined image information of the garbage can and controlling the first driving mechanism and the righting lifting power part to act according to the inclined image information of the garbage can.

In one embodiment, the image acquisition unit is mounted at the side part of the box body and is used for being arranged towards the garbage can, and a plurality of grid points are distributed in the accommodating cavity corresponding to the region of the garbage can; the control unit is further configured to: and receiving the image acquired by the image acquisition unit, judging whether the garbage can inclines or not according to the image change of the grid point position, and determining the inclined garbage can position.

In one embodiment, a loading and unloading opening communicated with the accommodating cavity is formed in the longitudinal tail end of the box body, the first driving mechanism comprises a first translation force piece, a first sliding truss and two first longitudinal slide rails, the two first longitudinal slide rails extend towards the loading and unloading opening along the longitudinal direction and are arranged at intervals along the transverse direction, two transverse ends of the first sliding truss are correspondingly connected with the two first longitudinal slide rails in a sliding mode, the first translation force piece is connected with the first sliding truss and can drive the first sliding truss to move along the first longitudinal slide rails, and the loading and unloading mechanism is arranged on the first sliding truss.

In one embodiment, the loading and unloading mechanism comprises a second translational force piece, a second sliding truss, a second longitudinal slide rail, a lifting power piece and a lifting arm, wherein the second longitudinal slide rail is arranged along the longitudinal direction of the box body, and the second translational force piece is connected with the second sliding truss and can drive the second sliding truss to move along the second longitudinal slide rail; the lifting power part is arranged on the second sliding truss and is in driving connection with one end of the lifting arm, the lifting power part can drive the lifting arm to lift, and bucket inserting teeth extend upwards from the other end of the lifting arm.

In one embodiment, the loading and unloading truck box further comprises a distance measuring sensor, and the distance measuring sensor can sense the change of the vertical distance between the distance measuring sensor and the bottom of the box body; the distance measuring sensor is connected with the lifting power part, and the lifting power part can control the lifting power part to drive the barrel inserting teeth to lift up according to the sensing signal of the distance measuring sensor.

In one embodiment, the automatic loading and unloading box further comprises a conveying mechanism, wherein the conveying mechanism is arranged at the bottom of the box body and extends along the longitudinal direction of the box body; and/or the automatic loading and unloading box further comprises a second driving mechanism and a lifting tail plate, the lifting tail plate is provided with an induction piece for inducing the garbage can, and the second driving mechanism can drive the lifting tail plate to move between a first position below the box body and a second position flush with the bottom of the box body according to an induction signal of the induction piece; and/or a plurality of first limiting rubber blocks are arranged in the box body, and the first limiting rubber blocks are arranged at intervals along the transverse direction and the longitudinal direction of the box body, so that the first limiting rubber blocks can at least clamp two sides of each garbage can; and/or a second limiting rubber block is installed at the longitudinal front end of the box body and used for clamping the garbage can longitudinally.

A garbage can transfer trolley comprises a trolley main body and a loading and unloading box, wherein the loading and unloading box is arranged on the trolley main body.

A garbage can loading and unloading control method of a garbage can transfer vehicle comprises the following steps:

after loading of the garbage can is completed and/or before the garbage can in the containing cavity is unloaded, the loading and unloading righting device is controlled to right the garbage can inclined in the containing cavity.

In one embodiment, the controlling the loading and unloading righting device to righting the garbage can inclined in the containing cavity comprises: controlling a tilt detection component of the loading and unloading righting device to start and detecting whether the garbage can tilts or not; and receiving the inclined image information of the garbage can and controlling the first driving mechanism of the loading and unloading righting device and the righting lifting power part to act according to the inclined image information of the garbage can.

According to the automatic loading and unloading box, the garbage can transfer trolley and the garbage can loading and unloading control method, the garbage can in the accommodating cavity can incline in the transferring process of the automatic loading and unloading box. A movable loading and unloading righting device is arranged in the accommodating cavity. At the in-process that the garbage bin transported, if the slope appears in the garbage bin of holding intracavity, then loading and unloading are right the garbage bin position that the device moved to the slope to right the garbage bin of slope, the transportation of the garbage bin of being convenient for improves the transportation efficiency of garbage bin. Meanwhile, the garbage in the garbage can is prevented from overflowing as much as possible, so that the environmental sanitation is kept, and the labor intensity of sanitation workers is reduced. In addition, the loading and unloading righting device can not only righting the inclined garbage can, but also realizing the loading and unloading of the garbage can, and is beneficial to reducing the labor intensity of sanitation workers.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of a garbage can transfer vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a loading and unloading mechanism and a centering mechanism of the garbage can transfer vehicle shown in FIG. 1;

FIG. 3 is a front elevation view of the loading and unloading mechanism and the centering mechanism of the trashcan cart of FIG. 2;

FIG. 4 is a schematic view of a tilt detection mechanism in a lift truck configured to monitor and position a trash can in accordance with one embodiment of the present invention;

FIG. 5 is a schematic view of the dump box of FIG. 4 with the inner receptacle tilted rearward;

FIG. 6 is a front elevational view of the waste bin of the lift truck of FIG. 4;

FIG. 7 is a top plan view of the lift box of FIG. 4;

fig. 8 is a schematic view of the structure of the tailgate of the lift box shown in fig. 4.

The reference numbers illustrate: 10. a box body; 11. an accommodating cavity; 12. loading and unloading are open; 13. a first limit rubber block; 14. a second limiting rubber block; 20. assembling and disassembling the righting device; 21. a righting mechanism; 211. a tilt detection assembly; 2111. an image acquisition unit; 212. righting the pressure plate; 213. righting the lifting power part; 22. a first drive mechanism; 221. a first translational force member; 222. a first skidding truss; 223. a first longitudinal slide rail; 23. a loading and unloading mechanism; 231. a second translational force element; 232. a second skidding truss; 233. a second longitudinal slide rail; 234. lifting the power member; 235. a lift arm; 236. barrel inserting teeth; 237. a cross beam; 30. a ranging sensor; 40. a conveying mechanism; 50. hoisting a tail plate; 51. a connecting rod; 60. a trash can; 70. a vehicle body.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In order to effectively improve the transfer efficiency of the garbage can 60, the inventor of the application has carried out continuous thinking and research discovery, the garbage can 60 is in the garbage transport vehicle and in the transfer process, the phenomenon of inclination can be avoided, the existing garbage transport vehicle can only rely on sanitation workers to enter the carriage and manually righting the inclined garbage can 60, the labor intensity of the sanitation workers is increased, and the transfer efficiency of the garbage can 60 is also seriously influenced. Moreover, sanitation workers need to contact the trash can during manual operation, and if infectious virus and bacteria are stained on the trash can, the life health of the sanitation workers is threatened. In addition, the dumping trash can 60 may have a situation of trash overflow, which is not favorable for keeping the sanitation of the environment and also increases the cleaning workload of sanitation workers. It is also desirable to keep the trash can 60 upright as much as possible in order to prevent the trash in the trash can 60 from being discharged during the transfer.

In view of this, the present application provides a novel lift-off tote and trashcan cart. Referring to fig. 1, a lift box according to an embodiment of the present invention includes a box body 10 and a loading and unloading centralizer 20. The box body 10 is provided with an accommodating cavity 11, the loading and unloading centralizing device 20 is movably arranged in the accommodating cavity 11, and the loading and unloading centralizing device 20 is used for loading and unloading the garbage can 60 and centralizing the garbage can 60 inclined in the accommodating cavity 11.

In the above-described loading and unloading robot, the movable loading and unloading centering device 20 is provided in the housing chamber 11. In the transferring process of the garbage can 60, if the garbage can 60 in the accommodating cavity 11 inclines, the loading and unloading righting device 20 moves to the position of the inclined garbage can 60 and rights the inclined garbage can 60, the transferring of the garbage can 60 is facilitated, and the transferring efficiency of the garbage can 60 is improved. Meanwhile, the garbage in the garbage can 60 is prevented from overflowing as much as possible, which is beneficial to keeping environmental sanitation and reducing the labor intensity of sanitation workers. In addition, the loading and unloading righting device 20 can not only right the inclined garbage can 60, but also realize the loading and unloading of the garbage can 60, thus reducing the labor intensity of sanitation workers.

In one embodiment, referring to fig. 1, 3, 5 and 6, the handling and righting device 20 includes a handling mechanism 23, a righting mechanism 21 and a first drive mechanism 22. The first driving mechanism 22 is installed on the top of the accommodating cavity 11, at least part of the righting mechanism 21 is connected to the loading and unloading mechanism 23, and the first driving mechanism 22 drives the loading and unloading mechanism 23 to move along the longitudinal direction and/or the transverse direction of the box body 10. In the transferring process of the garbage can 60, if an inclined garbage can 60 appears in the accommodating cavity 11, the first driving mechanism 22 drives the loading and unloading mechanism 23 to move longitudinally and/or transversely along the box body 10, so as to drive the righting mechanism 21 to move above the inclined garbage can 60, and the righting mechanism 21 rights the inclined garbage can 60. So, under the cooperation of first actuating mechanism 22 and righting mechanism 21, can right the garbage bin 60 of holding intracavity 11 slope, improve rubbish transportation efficiency, keep sanitation simultaneously, reduce sanitationman's intensity of labour. Further, by mounting the centering mechanism 21 on the attachment/detachment mechanism 23, it is possible to avoid interference between the centering mechanism 21 and the attachment/detachment mechanism 23, and it is also possible to simplify the structure and save the cost.

For convenience of understanding, L is used to denote the longitudinal direction of the case, and S is used to denote the lateral direction of the case.

Further, referring to fig. 3 and 4, the centering mechanism 21 includes an inclination detecting assembly 211, a centering platen 212, and a centering elevating power member 213 for driving the centering platen 212 to move up and down. Specifically, the centering lift power member 213 is mounted on the loading and unloading mechanism 23, and the centering pressure plate 212 is connected to a power output end of the centering lift power member 213. The inclination detection component 211 is used for detecting whether the garbage can 60 is inclined, and the righting lifting power part 213 can drive the righting pressing plate 212 to move downwards and abut against the top of the inclined garbage can 60 according to a detection signal of the inclination detection component 211 so as to righting the garbage can 60. In the transferring process of the trash can 60, if the inclination detecting component 211 detects that the trash can 60 is inclined in the accommodating cavity 11, the righting mechanism 21 moves to the upper side of the inclined trash can 60 according to the detection signal. The righting lifting power part 213 is started to drive the righting pressing plate 212 to move downwards, so that the righting pressing plate 212 is pressed on the top of the inclined garbage bin 60; the inclined trash can 60 is centered under the centering pressure plate 212. After the trash can 60 is righted, the righting lifting power member 213 drives the righting pressing plate 212 to move upwards. In this way, a single tilted trash can 60 can be centered by the cooperation of the centering elevating power member 213 and the centering pressing plate 212. In addition, the contact area between the righting pressing plate 212 and the top of the inclined trash can 60 is large, so that the inclined trash can 60 can be righted accurately and quickly; moreover, the centering pressure plate 212 has a simple structure and low manufacturing cost.

Alternatively, the above-mentioned righting elevating power member 213 is a cylinder, or the like. Of course, in other embodiments, the centering lifting power member 213 may be other devices, for example, the centering lifting power member 213 includes a motor and a screw module, and the centering pressing plate 212 is fixed to the screw module, which is not limited thereto.

Of course, in other embodiments, the righting mechanism 21 may also include a vertically disposed righting column and a righting elevating power member 213 for driving the vertically disposed righting column to move up and down, and the number of the vertically disposed righting columns is at least four, and at least four of the vertically disposed righting columns correspond to four corners of the trash can 60. Alternatively, the righting mechanism 21 comprises a robot mounted within the enclosure 10.

Further, referring to fig. 1, 3 and 4, the tilt detection assembly 211 includes an image acquisition unit 2111 and a control unit. The control unit is respectively in communication connection with the righting lifting power part 213 and the image acquisition unit 2111, and the image acquisition unit 2111 is used for acquiring the inclined image information of the trash can 60 in the accommodating cavity 11. The control unit is configured to: receives the inclined image information of the trash can 60 and controls the first driving mechanism 22 and the righting elevating power member 213 to act according to the inclined image information of the trash can 60. In the transferring process of the trash can 60, if the inclination detection component 211 detects that the trash can 60 in the accommodating cavity 11 is inclined, an inclined image signal is sent to the control unit, the control unit controls the first driving mechanism 22 to act according to the inclined image signal, the loading and unloading mechanism 23 is driven to move, and then the righting mechanism 21 is driven to move to the upper side of the inclined trash can 60. Then, the control unit controls the action of the righting lifting power member 213, and the righting lifting power member 213 drives the righting pressing plate 212 to right the inclined trash can 60. Therefore, the inclined trash can 60 is identified through the matching of the image acquisition unit 2111 and the control unit, so that the trash can 60 can be automatically identified and monitored in a non-contact manner and with high precision, and the detection and positioning results are accurate and reliable.

Specifically, referring to fig. 4, the image capturing unit 2111 is mounted on the side of the housing 10 and is disposed toward the trash can 60, and a plurality of grid points are arranged in the accommodating chamber 11 corresponding to the area of the trash can 60. The control unit receives the image collected by the image collecting unit 2111, judges whether the garbage can 60 is inclined or not according to the image change of the grid point position and determines the inclined position of the garbage can 60. Note that the side portions of the casing 10 are located in the longitudinal direction of the casing 10. During the transportation of the trash can 60, the image acquisition unit 2111 acquires an image and sends the image to the control unit. The control unit processes the received image, judges whether the garbage can 60 is inclined or not according to the image change of the grid point position, determines the position of the inclined garbage can 60, is convenient to control the first driving mechanism 22 to drive the righting mechanism 21 to move to the position of the inclined garbage can 60, and controls the righting lifting power part 213 to act. Thus, the monitoring and positioning of the garbage can 60 can be realized by adopting a method of grid point arrangement and image processing; moreover, the garbage can 60 in the accommodating cavity 11 can be comprehensively monitored and positioned, so that the monitoring and positioning results are accurate and reliable.

Optionally, the image acquisition unit 2111 comprises a panoramic camera. Of course, in other embodiments, the image capturing unit 2111 may also include a plurality of cameras, and the trash can 60 is monitored and positioned by the plurality of cameras.

In the present embodiment, referring to fig. 4, the image capturing unit 2111 includes a panoramic camera. The panoramic camera is installed at the middle position of the side of the case 10. A vertical virtual wall is established along the side direction of the box body 10, and a plurality of grid points are uniformly distributed on the virtual wall by the panoramic camera.

In one embodiment, referring to fig. 1, 2 and 3, a loading and unloading opening 12 communicating with the accommodating chamber 11 is formed at one longitudinal end of the box body 10. The first driving mechanism 22 includes a first translational force member 221, a first sliding truss 222 and two first longitudinal sliding rails 223, the two first longitudinal sliding rails 223 extend towards the loading and unloading opening 12 along the longitudinal direction and are arranged at intervals along the transverse direction, the two transverse ends of the first sliding truss 222 are correspondingly connected with the two first longitudinal sliding rails 223 in a sliding manner, the first translational force member 221 is connected with the first sliding truss 222 and can drive the first sliding truss 222 to move along the first longitudinal sliding rails 223, and the loading and unloading mechanism 23 is disposed on the first sliding truss 222. Specifically, the first translational force member 221 is connected to the control unit. In the transferring process of the trash can 60, if the inclination detecting component 211 detects that there is an inclined trash can 60 in the accommodating cavity 11, the control unit controls the first translational force member 221 to move, drives the first sliding truss 222 to move along the first longitudinal slide rail 223, drives the righting mechanism 21 to move to the position of the inclined trash can 60, and the righting mechanism 21 moves to right the inclined trash can 60. Therefore, the structure can be simplified, and the cost can be saved. In addition, the two transverse ends of the first sliding truss 222 are correspondingly connected with the two first longitudinal sliding rails 223 in a sliding manner, so that the movement of the first sliding truss 222 has guidance, and the movement stability is improved.

When the trash cans 60 are collected along a building, the number of the trash cans 60 may be singular, even, etc., and the conventional robot chamber cannot select an operation mode according to the number of the trash cans 60. Therefore, in the present embodiment, at least two attachment/detachment mechanisms 23 are provided, at least two attachment/detachment mechanisms 23 can be independently operated, and at least two attachment/detachment mechanisms 23 are attached to the first sliding truss 222 in the lateral direction of the box body 10. Thus, a single-barrel operation mode, a double-barrel operation mode or a multi-barrel operation mode can be flexibly selected according to the number of the garbage cans 60, the use is more flexible, and the loading and unloading efficiency of the garbage cans 60 can be improved.

Specifically, in the present embodiment, two attachment/detachment mechanisms 23 are provided, and the two attachment/detachment mechanisms 23 are attached to the first sliding truss 222 in the lateral direction of the box body 10.

In one embodiment, referring to fig. 1 and 8, the lift box further comprises a second drive mechanism and a lift tail 50, the lift tail 50 being provided with a sensing member for sensing the trash can 60. The second driving mechanism can drive the lifting tail plate 50 to move between a first position below the box body 10 and a second position flush with the bottom of the box body 10 according to the sensing signal of the sensing piece. Specifically, the lift box further includes a link 51, and the lift gate 50 is drivingly connected to the second drive mechanism through the link 51. When the lift gate 50 is opened from the vertical position when the container reaches the waste collection point, the second driving mechanism drives the lift gate 50 to be lowered from the second position to the first position, and the lift gate 50 is lowered to a position below the container 10, for example, the lift gate 50 is brought into contact with the ground. The garbage can 60 is pushed onto the lifting tail plate 50, the sensing part senses the garbage can 60, and then the second driving mechanism is controlled to drive the lifting tail plate 50 to ascend from the first position to the second position, so that the lifting tail plate 50 is flush with the bottom of the box body 10, and the garbage can 60 can be conveniently conveyed into the accommodating cavity 11. When the automatic loading and unloading box reaches the garbage transfer station, the lifting tail plate 50 is opened from a vertical state, the garbage can 60 is placed on the lifting tail plate 50, the sensing part senses the garbage can 60, and then the second driving mechanism is controlled to drive the lifting tail plate 50 to descend from the second position to the first position, so that the lifting tail plate 50 moves to the lower part of the box body 10, and the garbage can 60 is conveniently pulled down manually. So, can realize jack-up tailboard 50's automatic rising, need not the lift of manual control jack-up tailboard 50, use manpower sparingly.

Optionally, the sensing element is a pressure sensor, a mechanical contact switch, or the like. In the present embodiment, the sensing element is a pressure sensor. The second driving mechanism is an oil cylinder, an air cylinder and the like. Of course, in other embodiments, the sensing element and the second driving mechanism may be other devices having the same function, and the invention is not limited thereto.

Specifically, the case 10 is provided with a switch button, which is connected with the second driving mechanism. The second driving mechanism is controlled by a switch button and drives the lifting tail plate 50 which is vertically covered on the loading and unloading opening 12 to move to a position flush with the bottom of the box body 10, so that the lifting tail plate 50 is opened; the second driving mechanism drives the lifting tail plate 50 to move from the position which is flush with the bottom of the box body 10 to the position which is vertically covered on the loading and unloading opening 12, so that the lifting tail plate 50 is closed. Of course, in other embodiments, the lift truck is equipped with a remote control by which the second drive mechanism is controlled to effect opening and closing of the lift gate 50.

In one embodiment, referring to fig. 1, the lift bin further includes a conveyor mechanism 40. The conveying mechanism 40 is installed at the bottom of the casing 10 and extends in the longitudinal direction of the casing 10. Specifically, the conveyor mechanism 40 extends in the longitudinal direction of the box 10 toward the loading/unloading opening 12. Alternatively, the conveying mechanism 40 is a plate chain conveying mechanism, a belt conveying mechanism, or the like. By arranging the conveying mechanism 40, the conveying mechanism 40 can automatically convey the garbage can 60 into the box body 10 or out of the box body 10, and the labor intensity is reduced. Wherein, the conveying mechanism 40 may include a plurality of garbage cans 60 arranged at intervals in the transverse direction, and is disposed corresponding to the number of rows of the garbage cans 60 in the box 10.

In addition, by providing the conveying mechanism 40, the continuous load of the attachment/detachment mechanism 23 can be reduced, the wearing parts can be prevented from being worn, and the maintenance and post-maintenance costs can be effectively reduced. Moreover, the continuous operation of barrel loading and unloading can be realized, the barrel loading and unloading time is shortened, and the working efficiency is greatly improved. Specifically, when the can discharge is required, the conveying mechanism 40 conveys the trash can 60 along the longitudinal direction of the box 10 to a position near the loading and unloading opening 12. The loading and unloading mechanism 23 lifts the garbage can 60, and carries and places the garbage can 60 on the lifting tail plate 50. The lift tail 50 is lowered to a ground contact position, the trash can 60 is pulled off the lift tail 50, and then the lift tail 50 is raised to a position flush with the conveyor mechanism 40. At the same time, the loading and unloading mechanism 23 is returned to a position close to the loading and unloading opening 12. In the process of returning the loading and unloading mechanism 23, the conveying mechanism 40 conveys the second garbage bin 60 to a position close to the loading and unloading opening 12, the loading and unloading mechanism 23 continues to take the garbage bin, the garbage bin 60 is conveyed and placed on the lifting tail plate 50, the unloading of the second garbage bin 60 is completed, and the circular continuous operation is performed. When the lifting of the bin is required, the bin 60 is pushed onto the lifting tail 50 and the lifting tail 50 is moved upwardly to a position flush with the conveyor mechanism 40. The loading and unloading mechanism 23 moves to the loading and unloading opening 12, lifts the garbage can 60 of the lifting tail plate 50, and conveys and places the garbage can 60 on the conveying mechanism 40. In the process that the conveying mechanism 40 conveys the garbage bin 60 to the interior of the box body 10, the loading and unloading mechanism 23 moves to the position of the loading and unloading opening 12 to continue to take the garbage bin, so that continuous operation is realized.

In one embodiment, referring to fig. 1 and 2, the handling mechanism 23 includes a second translational force member 231, a second skidding truss 232, a second longitudinal sliding rail 233, a lifting force member 234, and a lifting arm 235. The second longitudinal slide rail 233 is disposed along the longitudinal direction of the box body 10, and the second translational force member 231 is connected to the second sliding truss 232 and can drive the second sliding truss 232 to move along the second longitudinal slide rail 233. The lifting power part 234 is installed on the second sliding truss 232 and is in driving connection with one end of the lifting arm 235, the lifting power part 234 can drive the lifting arm 235 to lift, and the other end of the lifting arm 235 extends upwards to form a bucket-inserting tooth 236. Thus, under the matching of the second translational force element 231, the second sliding truss 232, the second longitudinal slide rail 233, the lifting force element 234 and the lifting arm 235, the garbage can 60 can be automatically assembled and disassembled, and the labor intensity of sanitation workers is reduced. In addition, when the automatic loading and unloading box carries out loading and unloading operation, the loading and unloading mechanism 23 is positioned at one end of the box body 10 provided with the loading and unloading opening 12 to realize loading and unloading at the same end, so that the internal space of the box body 10 can be saved, the external operation space can be reduced, and the automatic loading and unloading box is suitable for carrying out garbage transportation on narrow streets and back street lanes in cities.

When the trash can 60 is transported to a position close to the loading and unloading opening 12 when the trash can needs to be unloaded, the second translational force member 231 drives the second sliding truss 232 to move to a proper position along the second longitudinal sliding rail 233. The lifting power member 234 drives the lifting arm 235 to move upward, so that the insertion teeth 236 are inserted into the slots on the side of the trash can 60, and the trash can 60 is lifted. The second translational force member 231 drives the second sliding truss 232 to move along the second longitudinal sliding rail 233, so as to transport the trash can 60 out of the box 10. The lifting power member 234 drives the lifting arm 235 to move downwards to drop the trash can 60 on the lifting tail plate 50 which is flush with the bottom of the box body 10, and the lifting arm 235 continues to move downwards under the driving of the lifting power member 234, so that the latch teeth 236 are disengaged from the latch slots on the side of the trash can 60.

When the barrel needs to be lifted, the second translational force member 231 drives the second sliding truss 232 to move to the loading and unloading opening 12 along the second longitudinal slide rail 233, and the lifting force member 234 drives the lifting arm 235 to move upwards, so that the barrel inserting teeth 236 are inserted into the clamping grooves at the two sides of the garbage can 60, and the garbage can 60 is lifted. The second translational force member 231 drives the second sliding truss 232 to move along the second longitudinal slide rail 233 toward the inside of the box body 10, and further drives the loading and unloading mechanism 23 and the trash can 60 to move toward the inside of the box body 10. The lifting power member 234 drives the lifting arm 235 to move downwards, so that the garbage bin 60 falls on the conveying mechanism 40, and the lifting arm 235 continues to move downwards, so that the bin inserting teeth 236 are disengaged from the clamping grooves on the side portions of the garbage bin 60.

Further, referring to fig. 1 and 2, the lift box also includes a ranging sensor 30. Specifically, a cross beam 237 is installed at one end of the second longitudinal sliding rail 233 near the loading and unloading opening 12, and the distance measuring sensor 30 is installed on the cross beam 237. The distance measuring sensor 30 can sense a vertical distance change between the distance measuring sensor 30 and the bottom of the case 10. The distance measuring sensor 30 is connected with the lifting power piece 234, and the lifting power piece 234 can control the lifting power piece 234 to drive the barrel-inserting teeth 236 to lift up according to the sensing signal of the distance measuring sensor 30. During unloading of the garbage can 60, when the garbage can 60 is not conveyed to the position below the distance measuring sensor 30, the distance measuring sensor 30 measures the distance from the distance measuring sensor 30 to the conveying mechanism 40; when the garbage can 60 passes under the ranging sensor 30, the ranging sensor 30 measures the distance from the ranging sensor 30 to the top of the garbage can 60. If the distance measuring sensor 30 senses a change in the distance value, the conveying mechanism 40 is controlled to stop conveying. Meanwhile, the lifting power member 234 is controlled to drive the lifting arm 235 to move upwards, so that the inserting teeth 236 are inserted into the slots on both sides of the trash can 60. So, through setting up range sensor 30, can realize the self-align function of garbage bin 60, be convenient for insert the bucket tooth 236 and insert in the draw-in groove of garbage bin 60 both sides.

It is understood that the connection of the ranging sensor 30 to the lifting power member 234 means that the ranging sensor 30 is electrically or communicatively connected to the lifting power member 234. Optionally, the distance measuring sensor 30 is an infrared sensor. Of course, in other embodiments, the distance measuring sensor 30 may also be other devices with the same function, and is not limited thereto.

In one embodiment, referring to fig. 5, 6 and 7, a plurality of first stopper rubber 13 are installed in the case 10. A plurality of first spacing rubber blocks 13 set up along the horizontal and vertical interval of box 10, make first spacing rubber block 13 can carry out the centre gripping to the both sides of every garbage bin 60 at least. Specifically, each of the trash cans 60 is provided with a first limiting rubber block 13 at each of two sides in the longitudinal direction. Therefore, the garbage can 60 can be prevented from sliding laterally in the transferring process, and the garbage can 60 can be kept in an upright state as much as possible; meanwhile, the garbage can 60 can be prevented from being in hard contact with the side part of the box body 10, and the box body 10 and the garbage can 60 can be effectively protected. In addition, through setting up first spacing block rubber 13, can also increase the frictional force between box 10 lateral part and garbage bin 60, reduce the range that garbage bin 60 leaned forward and leaned backward.

Specifically, a partition plate is provided in the box body 10, and the partition plate is provided along a longitudinal direction of the box body 10 to partition two adjacent trash cans 60 along a transverse direction of the box body 10. A plurality of first spacing rubber blocks 13 are installed in the both sides of 10 inner walls and the division board of box along longitudinal interval to the first spacing rubber block 13 of box 10 inner walls and the first spacing rubber block 13 of division board lateral part correspond the setting, make first spacing rubber block 13 at least can carry out the centre gripping to the both sides of every garbage bin 60.

Further, referring to fig. 5, 6 and 7, a second stopper rubber 14 is mounted at the longitudinal front end of the box body 10, and the second stopper rubber 14 is used for clamping the trash can 60 in the longitudinal direction. So, at the in-process that garbage bin 60 leaned forward, spacing rubber block 14 of second can play the cushioning effect, avoids garbage bin 60 and box 10 rigid contact, effectively protects garbage bin 60 and box 10.

It should be noted that the longitudinal front end of the container 10 refers to the end of the container 10 that is longitudinally away from the loading/unloading opening 12.

In the embodiment, referring to fig. 7, four first limiting rubber blocks 13 are arranged at intervals along the longitudinal direction of the box 10, four first limiting rubber blocks 13 are arranged at intervals along the transverse direction of the box 10, and the four rows and four columns of first limiting rubber blocks 13 can respectively clamp two sides of eight trash cans 60. Two second limiting rubber blocks 14 are installed at one end, far away from the loading and unloading opening 12, of the box body 10, and the two second limiting rubber blocks 14 are arranged along the transverse interval of the box body 10 so as to interfere with the two garbage cans 60, far away from the loading and unloading opening 12, of the box body 10.

Referring to fig. 1, the transfer vehicle of the trash can 60 according to one embodiment of the present invention includes a vehicle body 70 and a lift box according to any one of the above embodiments, the lift box being mounted to the vehicle body 70.

The garbage can transfer trolley is provided with a movable loading and unloading righting device 20 in the accommodating cavity 11. In the transferring process of the garbage can 60, if the garbage can 60 in the accommodating cavity 11 inclines, the loading and unloading righting device 20 moves to the position of the inclined garbage can 60 and rights the inclined garbage can 60, the transferring of the garbage can 60 is facilitated, and the transferring efficiency of the garbage can 60 is improved. In addition, the loading and unloading righting device 20 can not only right the inclined garbage can 60, but also realize the loading and unloading of the garbage can 60, and is beneficial to reducing the labor intensity of sanitation workers.

The garbage can loading and unloading control method of an embodiment of the invention comprises the step of controlling the loading and unloading righting device 20 to righting the garbage cans 60 inclined in the accommodating cavity 11 after the loading of the garbage cans 60 is completed and/or before the garbage cans 60 in the accommodating cavity 11 are unloaded. Thus, after the garbage can 60 is loaded and unloaded, the loading and unloading righting device 20 rights the garbage can 60 inclined in the accommodating cavity 11, so that the garbage can 60 in the accommodating cavity 11 is effectively prevented from continuously dumping, and the labor intensity of sanitation workers is reduced; before unloading the garbage can 60 in the accommodating cavity 11, the loading and unloading righting device 20 rights the garbage can 60 inclined in the accommodating cavity 11, so that the garbage can 60 can be conveniently transported, the transporting efficiency of the garbage can 60 is improved, and the labor intensity of sanitation workers is reduced.

Further, the trash can 60 controlling the loading and unloading righting device 20 to right the inclination in the accommodating cavity 11 comprises: receives the inclined image information of the trash can 60 and controls the first driving mechanism 22 and the righting elevating power member 213 to act according to the inclined image information of the trash can 60. Specifically, the tilt detection component 211 detects whether the trash can 60 is tilted or not, and sends the detected tilt image information to the control unit, and the control unit controls the first driving mechanism 22 and the righting elevating power member 213 to act according to the tilt image signal. In the transferring process of the garbage can 60, if the garbage can 60 in the accommodating cavity 11 is detected to be inclined, the first driving mechanism 22 is controlled to act according to the inclined image signal, the loading and unloading mechanism 23 is driven to move, and then the righting mechanism 21 is driven to move to the upper side of the inclined garbage can 60. Then, the righting lifting power member 213 is controlled to act, and the righting lifting power member 213 drives the righting pressing plate 212 to right the inclined trash can 60. Therefore, the inclined garbage can 60 is identified according to the image information, and non-contact type and high-precision automatic identification and monitoring of the garbage can 60 are realized, so that the detection and positioning results are accurate and reliable. In this embodiment, the working principle of the garbage can 60 transfer vehicle is as follows:

when the trashcan 60 transfer vehicle reaches the dump point, the lift tail 50 opens and lowers to a position in contact with the ground, pulling the trashcan 60 onto the lift tail 50. When the lifting tail plate 50 senses the pressure, the second driving mechanism is controlled to drive the connecting rod 51 to turn over, so that the lifting tail plate 50 moves upwards to be flush with the conveying mechanism 40. The second translational force member 231 drives the second skidding truss 232 to move along the direction of the second longitudinal sliding rail 233 to the position of the loading and unloading opening 12. The lifting power 234 drives the lifting arm 235 to move upward, so that the insertion teeth 236 are inserted into the slots on both sides of the receptacle 60, lifting the receptacle 60 away from the lifting tail 50. The second translational force member 231 drives the second sliding truss 232 to move towards the inside of the box 10 to a position close to the loading/unloading opening 12, the lifting force member 234 moves downwards to drop the trash can 60 on the conveying mechanism 40, and the lifting arm 235 continues to move downwards to enable the can inserting teeth 236 to be pulled out from the clamping grooves at the two sides of the trash can 60. The conveying mechanism 40 conveys the garbage can 60 to the interior of the box body 10, and in the process that the conveying mechanism 40 conveys the garbage can 60 inwards, the loading and unloading mechanism 23 moves to the position of the loading and unloading opening 12 under the driving of the second translation force piece 231 to continue to take the garbage can, so that continuous operation is realized.

After the container 10 is filled with the trash can 60, the second driving mechanism drives the lifting tail board 50 to turn over and cover the loading and unloading opening 12, so that the container 10 is in a sealed state. The garbage can 60 is transported to the garbage transfer station by the garbage can 60 transfer vehicle, and after the garbage can 60 is static, the image acquisition unit 2111 lays a plurality of grid points on a virtual wall in the accommodating cavity 11. The image acquisition unit 2111 acquires an image and transmits the image to the control unit, and the control unit judges whether the trash can 60 is inclined according to the change of the image at the grid point. If the trash can 60 is tilted, the position of the tilted trash can 60 is determined. The first driving mechanism 22 drives the loading and unloading mechanism 23 to move according to the detection signal, so as to drive the righting mechanism 21 to move to the upper part of the inclined trash can 60, and the righting lifting power part 213 drives the righting pressing plate 212 to move downwards, so that the righting pressing plate 212 acts on the top of the inclined trash can 60, and the inclined trash can 60 is flattened and righted. All of the tilted trash cans 60 in the bin 10 are straightened as described above.

The lifting tail plate 50 is opened, and the second driving mechanism drives the connecting rod 51 to turn over, so that the lifting tail plate 50 is flush with the bottom of the conveying mechanism 40. The conveying mechanism 40 conveys the garbage can 60 outwards, and the distance measuring sensor 30 senses the change of the vertical distance. If the distance measuring sensor 30 senses the change of the distance value, the conveying mechanism 40 is controlled to stop conveying; and at the same time, the lifting power member 234 is controlled to move upwards, so that the insertion teeth 236 are inserted into the clamping grooves at the two sides of the garbage can 60, and the garbage can 60 is lifted away from the conveying mechanism 40. The second translational force member 231 drives the second sliding truss 232 to move along the second longitudinal sliding rail 233, so as to transport the trash can 60 out of the box 10. The lifting power member 234 drives the lifting arm 235 to move downwards to drop the garbage bin 60 on the lifting tail plate 50 which is flush with the conveying mechanism 40, and the lifting arm 235 continues to move downwards under the driving of the lifting power member 234, so that the bin inserting teeth 236 are disengaged from the clamping grooves on the two sides of the garbage bin 60. The lift tail 50 is moved downwardly and the bin 60 reaches the ground and the bin 60 is released from the lift tail 50 and the lift tail 50 is returned to a position flush with the conveyor mechanism 40. Meanwhile, the second translational force member 231 drives the second sliding truss 232 to move along the second longitudinal slide rail 233, so as to drive the loading and unloading mechanism 23 to move to a position close to the loading and unloading opening 12. In the process that the loading and unloading mechanism 23 returns to the position close to the loading and unloading opening 12, the conveying mechanism 40 conveys the second garbage bin 60 to the loading and unloading opening 12, the loading and unloading mechanism 23 continues to take the garbage bin, the garbage bin 60 is conveyed out of the box body 10 and placed on the lifting tail plate 50 which returns, the unloading of the second garbage bin 60 is completed, and the continuous operation is circulated.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A lift box, comprising:

the box body is provided with an accommodating cavity; and

2. The lift bin of claim 1, wherein the loading and unloading and righting device comprises a loading and unloading mechanism, a righting mechanism and a first drive mechanism, the first drive mechanism is mounted on the top of the receiving cavity, at least a portion of the righting mechanism is connected to the loading and unloading mechanism, and the first drive mechanism drives the loading and unloading mechanism to move along the longitudinal direction and/or the transverse direction of the bin body.

3. The lift truck of claim 2, wherein the righting mechanism comprises an inclination detection component, a righting platen and a righting lifting power component for driving the righting platen to move up and down, the inclination detection component is used for detecting whether the garbage can inclines, and the righting lifting power component can drive the righting platen to move downwards and abut against the top of the inclined garbage can to right the garbage can according to a detection signal of the inclination detection component.

4. The lift bin of claim 3, wherein the tilt detection assembly includes an image capture unit and a control unit, the control unit being in communication with the righting lift power element and the image capture unit, respectively, the image capture unit being configured to capture tilt image information of the trash can in the receptacle cavity, the control unit being configured to:

and receiving the inclined image information of the garbage can and controlling the first driving mechanism and the righting lifting power part to act according to the inclined image information of the garbage can.

5. The lift bin of claim 4 wherein the image capturing unit is mounted to a side of the housing and is configured to be disposed toward the trash can, and a plurality of grid points are disposed within the receiving cavity corresponding to an area of the trash can; the control unit is further configured to:

and receiving the image acquired by the image acquisition unit, judging whether the garbage can inclines or not according to the image change of the grid point position, and determining the inclined garbage can position.

6. The lift box of claim 2, wherein the longitudinal end of the box body is provided with a loading opening communicating with the receiving cavity, the first driving mechanism comprises a first translational force member, a first sliding truss and two first longitudinal sliding rails, the two first longitudinal sliding rails extend towards the loading opening along the longitudinal direction and are arranged at intervals along the transverse direction, two transverse ends of the first sliding truss are correspondingly connected with the two first longitudinal sliding rails in a sliding manner, the first translational force member is connected with the first sliding truss and can drive the first sliding truss to move along the first longitudinal sliding rails, and the loading and unloading mechanism is arranged on the first sliding truss.

7. The lift bin of claim 2 wherein said lift mechanism includes a second translational force member, a second skidding truss, a second longitudinal rail, a lift power member, and a lift arm, said second longitudinal rail being disposed longitudinally of said bin, said second translational force member being coupled to said second skidding truss and capable of driving said second skidding truss to move along said second longitudinal rail; the lifting power part is arranged on the second sliding truss and is in driving connection with one end of the lifting arm, the lifting power part can drive the lifting arm to lift, and bucket inserting teeth extend upwards from the other end of the lifting arm.

8. The lift bin of claim 7 further comprising a ranging sensor capable of sensing vertical distance changes between the ranging sensor and the bottom of the bin body; the distance measuring sensor is connected with the lifting power part, and the lifting power part can control the lifting power part to drive the barrel inserting teeth to lift up according to the sensing signal of the distance measuring sensor.

9. The lift bin of any one of claims 1 to 8, further comprising a conveyor mechanism mounted to the bottom of the bin and extending longitudinally of the bin; and/or the presence of a gas in the gas,

the automatic loading and unloading box further comprises a second driving mechanism and a lifting tail plate, the lifting tail plate is provided with an induction piece for inducing the garbage can, and the second driving mechanism can drive the lifting tail plate to move between a first position below the box body and a second position flush with the bottom of the box body according to an induction signal of the induction piece; and/or the presence of a gas in the gas,

a plurality of first limiting rubber blocks are arranged in the box body, and are arranged at intervals along the transverse direction and the longitudinal direction of the box body, so that the first limiting rubber blocks can at least clamp two sides of each garbage can; and/or the presence of a gas in the gas,

and a second limiting rubber block is arranged at the longitudinal front end of the box body and used for clamping the garbage can along the longitudinal direction.

10. A trashcan transfer car comprising a car body and a lift box according to any one of claims 1 to 9, said lift box being mounted to said car body.

11. A garbage can loading and unloading control method of the garbage can transfer vehicle according to claim 10, wherein the garbage can loading and unloading control method comprises:

12. The method of claim 11, wherein the controlling the loading and unloading centralizer to centralize the tilted trash can in the receptacle cavity comprises:

controlling a tilt detection component of the loading and unloading righting device to start and detecting whether the garbage can tilts or not;

and receiving the inclined image information of the garbage can and controlling the first driving mechanism of the loading and unloading righting device and the righting lifting power part to act according to the inclined image information of the garbage can.