CN113636244B

CN113636244B - Automatic loading and unloading box, garbage can transfer vehicle and garbage can loading and unloading control method

Info

Publication number: CN113636244B
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: 2023-05-09
Anticipated expiration: 2041-07-02
Also published as: CN113636244A

Abstract

The invention relates to an automatic loading and unloading box, a garbage can transfer vehicle 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 body is provided with a containing cavity, the loading and unloading righting device is movably arranged in the containing cavity and is used for loading and unloading the garbage bin and righting the garbage bin inclined in the containing cavity. A movable assembling and disassembling righting device is arranged in the accommodating cavity. In the process of transporting the garbage can, if the garbage can in the accommodating cavity inclines, the loading and unloading righting device moves to the inclined garbage can, and the inclined garbage can is righted, so that the transportation of the garbage can is facilitated, and the transportation efficiency of the garbage can is improved. Meanwhile, the environmental sanitation is kept, and the labor intensity of sanitation workers is reduced. In addition, the loading and unloading righting device not only can right the inclined garbage bin, but also can realize the loading and unloading of the garbage bin, and is beneficial to reducing the labor intensity of sanitation workers.

Description

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

Technical Field

The invention relates to the technical field of 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 truck is used for transporting garbage cans, so that the transporting efficiency of the garbage cans is improved. The existing garbage can transfer trolley can improve the transfer efficiency of the garbage can to a certain extent, but the loading and unloading operation of the garbage can still occupies more operation time of sanitation workers and has larger labor intensity, so that the transfer efficiency of the garbage can still needs to be improved.

Disclosure of Invention

Based on the above, it is necessary to provide an automatic loading and unloading bin, a garbage bin transfer vehicle and a garbage bin loading and unloading control method, which can effectively improve garbage bin transfer efficiency.

An automated handling case comprising:

the box body is provided with a containing cavity; and

the loading and unloading righting device is movably arranged in the accommodating cavity and is used for loading and unloading the garbage bin and righting the garbage bin inclined in the accommodating cavity, and comprises a loading and unloading mechanism and a righting mechanism, and at least part of the righting mechanism is connected to the loading and unloading mechanism;

the righting mechanism comprises a righting pressing plate which can move downwards and prop against the inclined top of the dustbin so as to right the dustbin.

In one embodiment, the handling and righting device further comprises a first driving mechanism, wherein the first driving mechanism is installed at the top of the accommodating cavity, and drives the handling mechanism to move longitudinally and/or transversely along the box body.

In one embodiment, the righting mechanism comprises a tilt detection assembly and a righting lifting power piece for driving the righting pressing plate to lift, the tilt detection assembly is used for detecting whether the dustbin tilts, and the righting lifting power piece can drive the righting pressing plate to move downwards and prop against the top of the tilted dustbin to right the dustbin according to a detection signal of the tilt detection assembly.

In one embodiment, the inclination detection assembly comprises an image acquisition unit and a control unit, the control unit is respectively in communication connection with the righting lifting power piece and the image acquisition unit, the image acquisition unit is used for acquiring inclination image information of the garbage 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 centralizing lifting power piece to act according to the inclined image signal of the garbage can.

In one embodiment, the image acquisition unit is mounted on 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 is inclined or not according to the image change of the grid point position, and determining the inclined garbage can position.

In one embodiment, the longitudinal tail end of the box body is provided with a loading and unloading opening communicated with the accommodating cavity, the first driving mechanism comprises a first translation power piece, a first sliding truss and two first longitudinal sliding rails, the two first longitudinal sliding rails extend towards the loading and unloading opening along the longitudinal direction and are arranged at intervals along the transverse direction, the two transverse ends of the first sliding truss are correspondingly connected with the two first longitudinal sliding rails in a sliding manner, the first translation power piece 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.

In one embodiment, the loading and unloading mechanism comprises a second translation power piece, a second sliding truss, a second longitudinal sliding rail, a lifting power piece and a lifting arm, wherein the second longitudinal sliding rail is arranged along the longitudinal direction of the box body, and the second translation power piece is connected with the second sliding truss and can drive the second sliding truss to move along the second longitudinal sliding rail; the lifting power piece is arranged on the second sliding truss and is in driving connection with one end of the lifting arm, the lifting power piece can drive the lifting arm to lift, and the other end of the lifting arm upwards extends out to form a bucket inserting tooth.

In one embodiment, the automated handling case further comprises a ranging sensor capable of sensing a change in vertical distance between the ranging sensor and the bottom of the case; the distance measuring sensor is connected with the lifting power piece, and the lifting power piece can control the lifting power piece to drive the bucket inserting teeth to lift 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, wherein 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 limit rubber blocks are arranged in the box body, and the first limit rubber blocks are arranged at intervals along the transverse direction and the longitudinal direction of the box body, so that the first limit rubber blocks can at least clamp two sides of each garbage can; and/or the second limiting rubber block is arranged at the front end of the longitudinal direction of the box body and is used for longitudinally clamping the garbage can.

The garbage can transfer vehicle comprises a vehicle main body and the automatic loading and unloading box, wherein the automatic loading and unloading box is arranged on the vehicle main body.

A garbage can loading and unloading control method of a garbage can transfer vehicle, the garbage can loading and unloading control method comprising:

and controlling the loading and unloading righting device to right the inclined garbage bin in the accommodating cavity after the garbage bin is loaded and/or before the garbage bin in the accommodating cavity is unloaded.

In one embodiment, the controlling the load righting device to straighten the inclined dustbin in the accommodating cavity comprises: the inclination detection component of the loading and unloading righting device is controlled to start and detect whether the garbage can is inclined or not; and receiving the inclination image information of the garbage can and controlling the first driving mechanism of the loading and unloading righting device and the righting lifting power piece to act according to the inclination image signal 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 be inclined in the transferring process of the automatic loading and unloading box. A movable assembling and disassembling righting device is arranged in the accommodating cavity. In the process of transporting the garbage can, if the garbage can in the accommodating cavity inclines, the loading and unloading righting device moves to the inclined garbage can, and the inclined garbage can is righted, so that the transportation of the garbage can is facilitated, and the transportation efficiency of the garbage can is improved. Meanwhile, the overflow of garbage in the garbage can is avoided as much as possible, which is beneficial to keeping the environmental sanitation and reducing the labor intensity of sanitation workers. In addition, the loading and unloading righting device not only can right the inclined garbage bin, but also can realize the loading and unloading of the garbage bin, and is beneficial to reducing the labor intensity of sanitation workers.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a garbage can transfer truck according to an embodiment of the present invention;

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

FIG. 3 is a front view of the loading and unloading mechanism and the righting mechanism of the trash can transfer truck shown in FIG. 2;

FIG. 4 is a schematic view of a structure of a tilt detection mechanism in an automatic loading and unloading bin for monitoring and positioning a garbage bin according to an embodiment of the present invention;

FIG. 5 is a schematic view illustrating a structure in which the trash can in the automatic loading and unloading bin is tilted backward as shown in FIG. 4;

FIG. 6 is a schematic view of the forward tilting of the trash can in the automatic loading and unloading bin shown in FIG. 4;

FIG. 7 is a top view of the automated tote shown in FIG. 4;

fig. 8 is a schematic view of the structure of the tail gate of the automatic loading and unloading box shown in fig. 4.

Reference numerals illustrate: 10. a case; 11. a receiving chamber; 12. loading and unloading the opening; 13. the first limit rubber block; 14. the second limit rubber block; 20. assembling and disassembling the righting device; 21. a righting mechanism; 211. a tilt detection assembly; 2111. an image acquisition unit; 212. centralizing the pressing plate; 213. centralizing the lifting power piece; 22. a first driving mechanism; 221. a first translational power member; 222. a first slip truss; 223. a first longitudinal rail; 23. a loading and unloading mechanism; 231. a second flat moving force member; 232. a second slip truss; 233. a second longitudinal rail; 234. lifting the power piece; 235. a lifting arm; 236. barrel inserting teeth; 237. a cross beam; 30. a ranging sensor; 40. a conveying mechanism; 50. a hoisting tail plate; 51. a connecting rod; 60. a garbage can; 70. a vehicle body.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In order to effectively improve the transportation efficiency of the garbage can 60, the inventor of the application has continuously thought and studied and found that the phenomenon of inclination of the garbage can 60 in and during the transportation of the garbage transport vehicle is unavoidable, and the existing garbage transport vehicle can only manually right the inclined garbage can 60 by means of entering a carriage by sanitation workers, so that the labor intensity of the sanitation workers is increased, and the transportation efficiency of the garbage can 60 is seriously affected. Moreover, sanitation workers need to contact the dustbin during manual operation, and if infectious virus bacteria are stained on the dustbin, life and health of the sanitation workers are threatened. In addition, the dumping garbage can 60 can overflow garbage, which is unfavorable for keeping the sanitation of the environment, and increases the cleaning workload of sanitation workers. It is also desirable to keep the trash can 60 in an upright position as much as possible in order to prevent the trash in the trash can 60 from being discharged during the transfer process.

In view of this, the application provides a novel automatic loading and unloading case and garbage bin transfer car (buggy). Referring to fig. 1, an automatic loading and unloading box according to an embodiment of the present invention includes a box body 10 and a loading and unloading righting device 20. The box body 10 is provided with a containing cavity 11, the loading and unloading righting device 20 is movably arranged in the containing cavity 11, and the loading and unloading righting device 20 is used for loading and unloading the garbage bin 60 and righting the garbage bin 60 inclined in the containing cavity 11.

In the above-described automatic loading and unloading box, the movable loading and unloading centering device 20 is provided in the accommodating chamber 11. In the process of transferring the garbage can 60, if the garbage can 60 in the accommodating cavity 11 is inclined, the loading and unloading righting device 20 moves to the inclined garbage can 60 and rights the inclined garbage can 60, so that the transfer of the garbage can 60 is facilitated, and the transfer efficiency of the garbage can 60 is improved. Meanwhile, the overflow of garbage in the garbage can 60 is avoided as much as possible, which is beneficial to keeping the 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 can realize loading and unloading of the garbage can 60, so that the labor intensity of sanitation workers can be reduced.

In one embodiment, referring to fig. 1, 3, 5 and 6, the handling centralizer 20 includes a handling mechanism 23, a centralizer 21 and a first drive mechanism 22. A first driving mechanism 22 is mounted 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 longitudinally and/or transversely along the box body 10. In the process of transferring the garbage can 60, if the 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, and then drives the righting mechanism 21 to move to the position above the inclined garbage can 60, and the righting mechanism 21 rights the inclined garbage can 60. Thus, under the cooperation of the first driving mechanism 22 and the righting mechanism 21, the inclined garbage can 60 in the accommodating cavity 11 can be righted, so that the garbage transferring efficiency is improved, the environmental sanitation is maintained, and the labor intensity of sanitation workers is reduced. In addition, the righting mechanism 21 is mounted on the loading and unloading mechanism 23, so that the movement interference of the righting mechanism 21 and the loading and unloading mechanism 23 can be avoided, the structure can be simplified, and the cost can be saved.

For convenience of understanding, L represents the longitudinal direction of the case, and S represents the transverse direction of the case.

Further, referring to fig. 3 and 4, the centering mechanism 21 includes a tilt detection assembly 211, a centering platen 212, and a centering lifting power member 213 that drives the centering platen 212 to move up and down. Specifically, the centering lifting power member 213 is mounted to the loading and unloading mechanism 23, and the centering pressing plate 212 is connected to the power output end of the centering lifting power member 213. The inclination detection assembly 211 is used for detecting whether the garbage can 60 is inclined, and the righting lifting power piece 213 can drive the righting pressing plate 212 to move downwards and press against the top of the inclined garbage can 60 according to the detection signal of the inclination detection assembly 211 so as to right the garbage can 60. In the process of transferring the garbage can 60, if the inclination detection assembly 211 detects that the garbage can 60 is inclined in the accommodating cavity 11, the righting mechanism 21 moves to the position above the inclined garbage can 60 according to the detection signal. The righting lifting power piece 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 can 60; the inclined trash can 60 is straightened by the straightening press 212. After the dustbin 60 is straightened, the righting lifting power member 213 drives the righting platen 212 to move upward. In this manner, a single inclined trash can 60 can be righted with the cooperation of the righting lift power member 213 and the righting platen 212. In addition, the contact area between the centralizing pressing plate 212 and the top of the inclined garbage can 60 is large, so that the inclined garbage can 60 can be accurately and quickly centralized; and, the righting pressure plate 212 has simple structure and low manufacturing cost.

Optionally, the above-mentioned centralizing lifting power piece 213 is an air cylinder, an oil 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, but not limited thereto.

Of course, in other embodiments, the centering mechanism 21 may also include vertically disposed centering columns and a centering lifting power member 213 that drives the vertical centering columns to move up and down, where the vertical centering columns are provided with at least four, and the at least four vertical centering columns correspond to at least four corners of the trash can 60. Alternatively, the righting mechanism 21 includes a robot arm mounted within the housing 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 connected with the centralizing lifting power piece 213 and the image acquisition unit 2111 in a communication manner, and the image acquisition unit 2111 is used for acquiring the inclination image information of the garbage can 60 in the accommodating cavity 11. The control unit is configured to: receives the inclination image information of the garbage can 60 and controls the first driving mechanism 22 and the righting lifting power member 213 to act according to the inclination image signal of the garbage can 60. In the process of transferring the garbage can 60, if the inclination detection component 211 detects that the garbage can 60 in the accommodating cavity 11 inclines, an inclination image signal is sent to the control unit, and the control unit controls the first driving mechanism 22 to act according to the inclination image signal to drive the loading and unloading mechanism 23 to move, so that the righting mechanism 21 is driven to move to the position above the inclined garbage can 60. Then, the control unit controls the righting lifting power member 213 to act, and the righting lifting power member 213 drives the righting platen 212 to straighten the inclined trash can 60. In this way, the inclined garbage can 60 is identified through the cooperation of the image acquisition unit 2111 and the control unit, so that the garbage can 60 can be automatically identified and monitored in a non-contact and high-precision mode, and the detection and positioning results are accurate and reliable.

Specifically, referring to fig. 4, the image acquisition unit 2111 is installed at a side portion of the case 10 and is disposed toward the trash can 60, and a plurality of grid points are disposed in the accommodating chamber 11 corresponding to an area of the trash can 60. The control unit receives the image acquired by the image acquisition unit 2111, and judges whether the trash can 60 is tilted or not and determines the tilted trash can 60 position according to the image change of the grid point position. The side portion of the case 10 is located in the longitudinal direction of the case 10. During the transportation of the trash can 60, the image acquisition unit 2111 acquires an image and transmits the image to the control unit. The control unit processes the received image, judges whether the garbage can 60 is inclined according to the image change of the grid point position, determines the inclined garbage can 60 position, and is convenient for controlling the first driving mechanism 22 to drive the righting mechanism 21 to move to the position of the inclined garbage can 60 and controlling the righting lifting power piece 213 to act. Thus, the garbage can 60 can be monitored and positioned by adopting the methods of grid distribution and image processing; and, can carry out comprehensive monitoring location to the garbage bin 60 in the holding chamber 11, make monitoring location result accurate reliable.

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

In particular to the present embodiment, referring to fig. 4, the image acquisition 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 case 10, and the panoramic camera uniformly distributes a plurality of grid points on the virtual wall.

In one embodiment, referring to fig. 1, 2 and 3, a longitudinal end of the case 10 is provided with a loading and unloading opening 12 communicating with the accommodating chamber 11. The first driving mechanism 22 includes a first translational power member 221, a first sliding truss 222, and two first longitudinal sliding rails 223, where the two first longitudinal sliding rails 223 extend longitudinally toward the loading and unloading opening 12 and are arranged at intervals in a lateral direction, two lateral ends of the first sliding truss 222 are correspondingly slidably connected with the two first longitudinal sliding rails 223, the first translational power 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 power member 221 is connected to the control unit. In the process of transferring the garbage can 60, if the inclined garbage can 60 is detected in the accommodating cavity 11 by the inclination detection assembly 211, the control unit controls the first translation power piece 221 to act, drives the first sliding truss 222 to move along the first longitudinal sliding rail 223, drives the righting mechanism 21 to move to the position of the inclined garbage can 60, and the righting mechanism 21 acts to right the inclined garbage can 60. Thus, the structure can be simplified, and the cost can be saved. In addition, the two lateral ends of the first sliding truss 222 are correspondingly slidably connected with the two first longitudinal sliding rails 223, so that the movement of the first sliding truss 222 has guiding performance and the movement stability is improved.

When garbage cans 60 are collected along a building, the number of garbage cans 60 may be singular, double, etc., and a conventional automatic loading and unloading bin cannot select an operation mode according to the number of garbage cans 60. Thus, in the present embodiment, the loading and unloading mechanisms 23 are provided with at least two, at least two loading and unloading mechanisms 23 can work independently, and at least two loading and unloading mechanisms 23 are mounted on the first sliding truss 222 along the transverse direction of the case 10. In this way, the single-tub operation mode, the double-tub operation mode or the multi-tub operation mode can be flexibly selected according to the number of the trash cans 60, the use is more flexible, and the loading and unloading efficiency of the trash cans 60 can be also improved.

In particular, in the present embodiment, two loading and unloading mechanisms 23 are provided, and the two loading and unloading mechanisms 23 are mounted to the first sliding truss 222 in the lateral direction of the case 10.

In one embodiment, referring to fig. 1 and 8, the automated handling case further includes a second drive mechanism and a lifting tail 50, the lifting tail 50 being provided with a sensing member for sensing the trash can 60. The second driving mechanism can drive the lifting tail 50 to move between a first position below the box 10 and a second position flush with the bottom of the box 10 according to the sensing signal of the sensing piece. Specifically, the automatic loading and unloading box further comprises a connecting rod 51, and the lifting tail plate 50 is in driving connection with the second driving mechanism through the connecting rod 51. When the automatic loading and unloading bin reaches the garbage collection point, after the lifting tail plate 50 is opened from the vertical state, the second driving mechanism drives the lifting tail plate 50 to descend from the second position to the first position, so that the lifting tail plate 50 descends below the bin body 10, for example, the lifting tail plate 50 is in contact with the ground. Pushing the garbage can 60 onto the lifting tail plate 50, and controlling the second driving mechanism to drive the lifting tail plate 50 to rise from the first position to the second position when the sensing piece senses the garbage can 60, 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 transported into the accommodating cavity 11. When the automatic loading and unloading case reaches the garbage transfer station, the lifting tail plate 50 is opened from the vertical state, the garbage can 60 is placed on the lifting tail plate 50, the sensing piece 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 side of the case body 10, and the garbage can 60 is conveniently pulled down manually. Thus, the lifting of the lifting tail plate 50 can be automatically realized, the lifting of the lifting tail plate 50 is not required to be manually controlled, and the labor is saved.

Optionally, the sensing element is a pressure sensor, a mechanical contact switch, or the like. In this 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 with the same function, which is not limited thereto.

Specifically, the case 10 is provided with a switch button, which is connected to the second driving mechanism. The second driving mechanism is controlled by the switch button, and drives the lifting tail plate 50 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 a position flush with the bottom of the box body 10 to a position where the vertical cover is arranged on the loading and unloading opening 12, so that the lifting tail plate 50 is closed. Of course, in other embodiments, the automated tote 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 automated tote also includes a transport mechanism 40. The conveying mechanism 40 is mounted to the bottom of the case 10 and is disposed to extend in the longitudinal direction of the case 10. Specifically, the conveying mechanism 40 extends toward the loading opening 12 in the longitudinal direction of the case 10. Alternatively, the conveyor 40 is a plate chain conveyor, belt conveyor, or the like. By providing 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, so that the labor intensity is reduced. The conveying mechanism 40 may include a plurality of conveying mechanisms arranged at intervals in the lateral direction, and the conveying mechanisms are arranged corresponding to the number of columns of the garbage cans 60 in the bin 10.

In addition, by providing the conveying mechanism 40, the continuous load of the loading and unloading mechanism 23 can be reduced, the wearing loss of wearing parts can be avoided, and the maintenance cost and the post-maintenance cost can be effectively reduced. And the continuous operation of barreling and unloading can be realized, the barrel loading and unloading time is shortened, and the working efficiency is greatly improved. Specifically, when it is desired to unload the bin, the conveyor 40 conveys the bin 60 in the longitudinal direction of the bin 10 to a position adjacent the loading and unloading opening 12. The handling mechanism 23 lifts the trash can 60, and transports and places the trash can 60 on the lifting tail 50. The lifting tail 50 is lowered to a position in contact with the ground, the trash can 60 is pulled down from the lifting tail 50, and then the lifting tail 50 is raised to a position flush with the conveyor 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 can 60 to a position close to the loading and unloading opening 12, the loading and unloading mechanism 23 continues to take the can, the garbage can 60 is conveyed and placed on the lifting tail plate 50, and the unloading of the second garbage can 60 is completed, and the cyclic continuous operation is completed. When a bucket is needed, the trash can 60 is pushed onto the lifting tail 50, and the lifting tail 50 moves upward to a position flush with the conveying mechanism 40. The loading and unloading mechanism 23 moves to a position for loading and unloading the 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 of conveying the garbage can 60 into the box body 10 by the conveying mechanism 40, the loading and unloading mechanism 23 moves to the position of the loading and unloading opening 12 to continuously take the garbage can, so that continuous operation is realized.

In one embodiment, referring to fig. 1 and 2, the handling mechanism 23 includes a second translational power member 231, a second sliding truss 232, a second longitudinal rail 233, a lifting power member 234, and a lifting arm 235. The second longitudinal sliding rail 233 is disposed along the longitudinal direction of the case 10, and the second translational power member 231 is connected to the second sliding truss 232 and is capable of driving the second sliding truss 232 to move along the second longitudinal sliding rail 233. The lifting power piece 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 piece 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. In this way, under the cooperation of the second translational power member 231, the second sliding truss 232, the second longitudinal sliding rail 233, the lifting power member 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 is used for loading and unloading operations, the loading and unloading mechanism 23 is positioned at one end of the box body 10 provided with the loading and unloading opening 12, and loading and unloading at the same end are realized, so that the internal space of the box body 10 can be saved, the external operation space is reduced, and the automatic loading and unloading box is suitable for garbage transfer of urban narrow streets and back street lanes.

When the garbage can 60 is required to be unloaded, the second translational power member 231 drives the second sliding truss 232 to move to a proper position along the second longitudinal sliding rail 233 when the garbage can 60 is moved to a position close to the loading and unloading opening 12. The lifting power member 234 drives the lifting arm 235 to move upwards, so that the bucket teeth 236 are inserted into the clamping grooves on the side of the garbage bin 60, and the garbage bin 60 is lifted. The second translational power member 231 drives the second sliding truss 232 to move along the second longitudinal rail 233, and transports the garbage can 60 to the outside of the bin 10. The lifting power piece 234 drives the lifting arm 235 to move downwards to drop the garbage 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 drive of the lifting power piece 234 so that the insert teeth 236 are separated from the clamping grooves on the side part of the garbage can 60.

When the garbage can is required to be lifted, the second translation power piece 231 drives the second sliding truss 232 to move to the loading and unloading opening 12 along the second longitudinal sliding rail 233, and the lifting power piece 234 drives the lifting arm 235 to move upwards, so that the can inserting teeth 236 are inserted into the clamping grooves on two sides of the garbage can 60, and the garbage can 60 is lifted. The second translational power member 231 drives the second sliding truss 232 to move along the second longitudinal sliding rail 233 into the box 10, so as to drive the loading and unloading mechanism 23 and the garbage can 60 to move into the box 10. The lifting power member 234 drives the lifting arm 235 to move downwards so that the garbage can 60 falls on the conveying mechanism 40, and the lifting arm 235 continues to move downwards so that the can inserting teeth 236 are separated from the clamping grooves on the side part of the garbage can 60.

Further referring to fig. 1 and 2, the automated tote also includes a ranging sensor 30. Specifically, the end of the second longitudinal rail 233 near the loading and unloading opening 12 is mounted with a cross beam 237, and the ranging sensor 30 is mounted on the cross beam 237. The ranging sensor 30 is capable of sensing a change in the vertical distance between the ranging 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 bucket inserting teeth 236 to lift according to the sensing signal of the distance measuring sensor 30. During unloading of the trash can 60, when the trash can 60 is not conveyed below the ranging sensor 30, the ranging sensor 30 measures the distance from the ranging sensor 30 to the conveying mechanism 40; when the trash 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 trash can 60. If the distance sensor 30 senses a change in the distance value, the conveyance mechanism 40 is controlled to stop conveyance. Meanwhile, the lifting power piece 234 is controlled to drive the lifting arm 235 to move upwards, so that the bucket inserting teeth 236 are inserted into the clamping grooves on two sides of the garbage can 60. Thus, by arranging the distance measuring sensor 30, the self-positioning function of the garbage can 60 can be realized, and the garbage can teeth 236 can be conveniently inserted into the clamping grooves on two sides of the garbage can 60.

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

In one embodiment, referring to fig. 5, 6 and 7, a plurality of first limit rubber blocks 13 are installed in the case 10. The first limiting rubber blocks 13 are arranged at intervals along the transverse direction and the longitudinal direction of the box body 10, so that the first limiting rubber blocks 13 can at least clamp two sides of each dustbin 60. Specifically, each of the trash cans 60 is provided with one first limit rubber piece 13 on both sides in the longitudinal direction, respectively. Thus, the garbage can 60 can be prevented from sliding sideways in the process of transferring, so that the garbage can 60 can keep an upright state as far 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, by providing the first limiting rubber block 13, the friction between the side of the bin 10 and the garbage can 60 can be increased, and the forward tilting and backward tilting of the garbage can 60 can be reduced.

Specifically, a partition plate is provided in the case 10, and is provided in the longitudinal direction of the case 10 to partition adjacent two of the trash cans 60 in the transverse direction of the case 10. The first limiting rubber blocks 13 are longitudinally arranged on the inner wall 10 of the box body and on two sides of the isolation plate at intervals, and the first limiting rubber blocks 13 on the inner wall 10 of the box body and the first limiting rubber blocks 13 on the side parts of the isolation plate are correspondingly arranged, so that the first limiting rubber blocks 13 can at least clamp two sides of each garbage can 60.

Further, referring to fig. 5, 6 and 7, the front end of the case 10 in the longitudinal direction is provided with a second limit rubber block 14, and the second limit rubber block 14 is used for clamping the garbage can 60 in the longitudinal direction. Thus, in the process of forward tilting of the garbage can 60, the second limiting rubber block 14 can play a role of buffering, so that the garbage can 60 is prevented from being in hard contact with the box body 10, and the garbage can 60 and the box body 10 are effectively protected.

The front end of the case 10 in the longitudinal direction means an end of the case 10 away from the loading/unloading opening 12 in the longitudinal direction.

In this embodiment, referring to fig. 7, four first limiting rubber blocks 13 are disposed at intervals along the longitudinal direction of the box 10, four first limiting rubber blocks 13 are disposed at intervals along the transverse direction of the box 10, and the four rows of four columns of first limiting rubber blocks 13 can respectively clamp two sides of eight garbage cans 60. Two second spacing rubber blocks 14 are installed to the one end of box 10 that is kept away from loading and unloading uncovered 12, and two second spacing rubber blocks 14 set up along the horizontal interval of box 10 to contradict two garbage bins 60 that box 10 kept away from loading and unloading uncovered 12.

Referring to fig. 1, a transfer cart for a garbage can 60 according to an embodiment of the present invention includes a cart body 70 and the automatic loading and unloading box according to any of the above embodiments, wherein the automatic loading and unloading box is mounted on the cart body 70.

In the above-mentioned garbage can transfer vehicle, a movable loading and unloading righting device 20 is disposed in the accommodating cavity 11. In the process of transferring the garbage can 60, if the garbage can 60 in the accommodating cavity 11 is inclined, the loading and unloading righting device 20 moves to the inclined garbage can 60 and rights the inclined garbage can 60, so that the transfer of the garbage can 60 is facilitated, and the transfer efficiency of the garbage can 60 is improved. In addition, the loading and unloading righting device 20 not only can right the inclined garbage can 60, but also can realize loading and unloading of the garbage can 60, thereby being beneficial to reducing the labor intensity of sanitation workers.

The garbage can loading and unloading control method according to an embodiment of the present invention includes controlling the loading and unloading centering device 20 to centering the inclined garbage can 60 in the accommodating chamber 11 after loading the garbage can 60 and/or before unloading the garbage can 60 in the accommodating chamber 11. Thus, after the garbage can 60 is assembled and disassembled, the assembling and disassembling centralizing device 20 centralizes the inclined garbage can 60 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 rightes the inclined garbage can 60 in the accommodating cavity 11, so that the garbage can 60 is convenient to transport, the transport efficiency of the garbage can 60 is improved, and meanwhile, the labor intensity of sanitation workers is reduced.

Further, the garbage can 60 for controlling the loading and unloading centering device 20 to center the inclination in the accommodating cavity 11 comprises: receives the inclination image information of the garbage can 60 and controls the first driving mechanism 22 and the righting lifting power member 213 to act according to the inclination image signal of the garbage can 60. Specifically, the inclination detection assembly 211 detects whether the trash can 60 is inclined, and transmits the detected inclination image information to the control unit, which controls the first driving mechanism 22 and the centering lifting power member 213 to operate according to the inclination image signal. In the process of transferring the garbage can 60, if the garbage can 60 in the accommodating cavity 11 is detected to incline, 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 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 platen 212 to straighten the inclined trash can 60. Therefore, the inclined garbage can 60 is identified according to the image information, so that the garbage can 60 can be automatically identified and monitored in a non-contact and high-precision mode, and the detection and positioning results are accurate and reliable. In this embodiment, the working principle of the transfer cart for the garbage can 60 is as follows:

When the transfer truck of the garbage can 60 reaches the garbage collection point, the lifting tail plate 50 is opened and descends to a position in contact with the ground, and the garbage can 60 is pulled onto the lifting tail plate 50. The lifting tail plate 50 senses the pressure, and 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 power member 231 drives the second sliding truss 232 to move in the direction of the second longitudinal rail 233 to the position of the loading and unloading opening 12. The lifting power member 234 drives the lifting arm 235 to move upwards, so that the bucket inserting teeth 236 are inserted into the clamping grooves on two sides of the garbage can 60, and the garbage can 60 is lifted away from the lifting tail plate 50. The second translational power member 231 drives the second sliding truss 232 to move into the box 10 to a position close to the loading and unloading opening 12, the lifting power member 234 moves downwards, so that the garbage can 60 falls on the conveying mechanism 40, the lifting arm 235 continues to move downwards, and the insert teeth 236 are separated from the clamping grooves on two sides of the garbage can 60. The conveying mechanism 40 conveys the garbage can 60 into 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 is driven by the second translation power piece 231 to move to the position of the loading and unloading opening 12 to continuously take the garbage can, so that continuous operation is realized.

After the dustbin 60 is filled in the case 10, the second driving mechanism drives the lifting tail plate 50 to turn over and cover the loading and unloading opening 12, so that the case 10 is in a sealed state. The garbage can 60 transfer vehicle transports the garbage can 60 to the garbage transfer station, and after the garbage can 60 is stationary, the image acquisition unit 2111 lays a plurality of grid points on the virtual wall in the accommodating cavity 11. The image acquisition unit 2111 acquires an image and sends the image to the control unit, which determines whether the trash can 60 is tilted according to the image change 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, and then drives the righting mechanism 21 to move above the inclined garbage can 60, and the righting lifting power piece 213 drives the righting pressing plate 212 to move downwards, so that the righting pressing plate 212 acts on the top of the inclined garbage can 60, and the inclined garbage can 60 is flattened and righted. All inclined bins 60 within the bin 10 are centred in the manner 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 conveyor mechanism 40 conveys the trash can 60 outwardly and the ranging sensor 30 senses a change in 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 simultaneously, the lifting power piece 234 is controlled to move upwards, so that the bucket inserting teeth 236 are inserted into clamping grooves on two sides of the garbage bin 60, and the garbage bin 60 is lifted away from the conveying mechanism 40. The second translational power member 231 drives the second sliding truss 232 to move along the second longitudinal sliding rail 233, and the garbage can 60 is transported out of the case 10. The lifting power piece 234 drives the lifting arm 235 to move downwards to drop the garbage can 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 drive of the lifting power piece 234 so that the insert teeth 236 are separated from the clamping grooves on two sides of the garbage can 60. The lifting tail 50 moves downward, the trash can 60 reaches the ground, and the trash can 60 is removed from the lifting tail 50, and the lifting tail 50 returns to a position flush with the conveyor 40. At the same time, the second translational power member 231 drives the second sliding truss 232 to move along the second longitudinal sliding 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 can 60 to the loading and unloading opening 12, the loading and unloading mechanism 23 continues to take the can, conveys the garbage can 60 out of the box body 10 and places the garbage can 60 on the returned lifting tail plate 50, and the unloading of the second garbage can 60 is completed, and the cyclic continuous operation is completed.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

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

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. An automated tote, comprising:

the box body is provided with a containing cavity; and

2. The automated handling case of claim 1, wherein the handling centralizer further comprises a first drive mechanism mounted to a top of the housing cavity, the first drive mechanism driving the handling mechanism to move longitudinally and/or laterally of the case.

3. The automatic loading and unloading box according to claim 2, wherein the righting mechanism further comprises a tilt detection assembly and a righting lifting power piece for driving the righting pressing plate to lift, the tilt detection assembly is used for detecting whether the garbage can tilts, and the righting lifting power piece can drive the righting pressing plate to move downwards and press against the top of the tilted garbage can according to a detection signal of the tilt detection assembly so as to straighten the garbage can.

4. An automated handling case according to claim 3, wherein the tilt detection assembly comprises an image acquisition unit and a control unit, the control unit being in communication with the righting lifting power member and the image acquisition unit, respectively, the image acquisition unit being for acquiring tilt image information of the trash can in the receiving 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 centralizing lifting power piece to act according to the inclined image signal of the garbage can.

5. The automatic loading and unloading box according to claim 4, wherein the image acquisition unit is arranged on the side part of the box body and is used for being arranged towards the garbage can, and a plurality of grid points are arranged 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 is inclined or not according to the image change of the grid point position, and determining the inclined garbage can position.

6. The automatic loading and unloading box according to claim 2, wherein 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 power piece, a first sliding truss and two first longitudinal sliding rails, the two first longitudinal sliding rails extend towards the loading and unloading opening along the longitudinal direction and are arranged at intervals along the transverse direction, the two transverse ends of the first sliding truss are correspondingly connected with the two first longitudinal sliding rails in a sliding manner, the first translation power piece 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 automated handling case of claim 2, wherein the handling mechanism comprises a second translational power member, a second sliding truss, a second longitudinal rail, a lifting power member, and a lifting arm, the second longitudinal rail being disposed longitudinally of the case, the second translational power member being coupled to the second sliding truss and being capable of driving the second sliding truss to move along the second longitudinal rail; the lifting power piece is arranged on the second sliding truss and is in driving connection with one end of the lifting arm, the lifting power piece can drive the lifting arm to lift, and the other end of the lifting arm upwards extends out to form a bucket inserting tooth.

8. The automated handling case of claim 7, further comprising a ranging sensor capable of sensing a change in vertical distance between the ranging sensor and the bottom of the case; the distance measuring sensor is connected with the lifting power piece, and the lifting power piece can control the lifting power piece to drive the bucket inserting teeth to lift according to the sensing signal of the distance measuring sensor.

9. An automated handling tank according to any one of claims 1 to 8, further comprising a conveyor mechanism mounted to the bottom of the tank and disposed along the longitudinal extension of the tank; and/or the number of the groups of groups,

The automatic loading and unloading box further comprises a second driving mechanism and a lifting tail plate, wherein 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 number of the groups of groups,

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 the number of the groups of groups,

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

10. A dustbin transfer truck comprising a truck body and an automatic loading and unloading box according to any one of claims 1 to 9, the automatic loading and unloading box being mounted to the truck body.

11. A garbage can loading and unloading control method of a garbage can transfer truck according to claim 10, characterized by comprising:

12. The trash can handling control method according to claim 11, wherein the controlling the handling and righting device to right the trash can tilted in the accommodation chamber includes:

the inclination detection component of the loading and unloading righting device is controlled to start and detect whether the garbage can is inclined or not;

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